CN117607848B - FDR-based radar positioning and ranging method - Google Patents
FDR-based radar positioning and ranging method Download PDFInfo
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- 230000006870 function Effects 0.000 description 9
- 238000005259 measurement Methods 0.000 description 9
- 238000005070 sampling Methods 0.000 description 8
- 238000002310 reflectometry Methods 0.000 description 6
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
- G01S13/26—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein the transmitted pulses use a frequency- or phase-modulated carrier wave
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
- G01S7/282—Transmitters
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
- G01S7/285—Receivers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
- G01S7/285—Receivers
- G01S7/295—Means for transforming co-ordinates or for evaluating data, e.g. using computers
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention relates to the field of radar detection, in particular to a radar positioning and ranging method based on FDR, wherein an envelope function is transmitted as a broadband radar detection signal, envelope detection is carried out on a received reflected signal, and an envelope signal is extracted; performing related operation on the extracted envelope signal and the same-frequency cosine function to obtain an in-phase component, and performing related operation on the extracted envelope signal and the same-frequency sine function to obtain a quadrature component; then calculating the radar positioning distance according to the relation between the positioning distance and the tangent value, the angular frequency and the transmission rate。The invention improves the positioning and ranging precision, and is simple and easy to realize.
Description
Technical Field
The invention relates to the field of radar detection, in particular to a radar positioning and ranging method based on FDR.
Background
Radar is a tool that detects an observed scene by radio transmission and reception. The radar has the advantage of resisting natural bad weather conditions and the like and can realize all-weather observation, so that the radar is highly valued in academia and industry. Through the accelerated development period of recent decades, various composite information such as polarization, airspace position, azimuth and altitude, distance, radial speed and the like of a target can be obtained by observing a scene through a modern radar system. The radar has wide application and plays a wide role in promoting economic development, assisting automatic driving, guaranteeing agricultural production and other fields.
Accurate ranging positioning is one of the key technologies that unmanned or intelligent driving needs to solve to improve safety and reliability. The radar realizes the positioning and ranging, and usually adopts a Time Domain Reflectometry (TDR), namely, the radar positioning and ranging is realized by calculating the time delay between a detection signal and a reflected signal, as shown in China patent application with the publication number of CN116819508A and named as a TDR-based radar positioning and ranging method. Therefore, measuring the time delay between the probe signal and the reflected signal is critical to radar location ranging accuracy. However, the method is susceptible to factors such as sampling clock jitter, waveform distortion, channel interference and the like, so that the acquired peak point is not an actual peak point, thereby causing delay measurement errors and increasing radar positioning ranging errors. The above disadvantage limits the application field of TDR, and it is difficult to meet the requirement for positioning accuracy in the field of close range accurate ranging.
Therefore, how to improve the accuracy of positioning and ranging of the short-range radar is a difficult problem to be solved in the radar detection field.
Disclosure of Invention
The technical purpose is that: in order to overcome the defects in the prior art, the invention provides a near-distance radar positioning and ranging method based on FDR.
The technical scheme is as follows: in order to achieve the above purpose, the FDR-based radar positioning ranging method disclosed by the invention is used for meeting the requirement of short-range positioning accuracy.
The invention discloses a radar positioning and ranging method based on FDR, which comprises the following steps:
step one: the emission envelope function isAnd wait to receive the reflected signal, whereinFor angular frequency +.>Is a time parameter;
step two: envelope detection is carried out on the received reflected signal, and an envelope signal is extractedWherein->Is time delay;
step three: extracting the envelope signalAnd the same frequency cosine function->Performing operation to obtain in-phase component->；
Step four: extracting the envelope signalAnd the same frequency sine function->Performing an operation to obtain orthogonal component->；
Step five: from the in-phase componentAnd the orthogonal component->Calculate tangent value +.>Said tangent value->Is +.>And the orthogonal component->The three satisfy the relation:
；
step six: from the tangent valueCalculating radar positioning distance +.>The positioning distance ∈>Is +.>Angular frequency->And transmission rate of electromagnetic wave->The fourth one satisfies the relation:
，
wherein,for the transmission rate of electromagnetic waves, +.>For angular frequency +.>Is time delay.
Further, the broadband radar detection signal is:
，
wherein,for angular frequency +.>Is the angular frequency of the chirp signal, +.>Is the frequency modulation slope.
Further, the in-phase componentIs +_associated with the envelope signal>Co-frequency cosine function->The three satisfy the relation:
，
wherein,T 1 for the envelope functionIs a time period of (a).
Further, the orthogonal componentIs +_associated with the envelope signal>And the same frequency sine function->The three satisfy the relation:
，
wherein,T 1 for the envelope functionIs a time period of (a).
Further, the chirp rateThe method comprises the following steps:
，
wherein,for the frequency modulation bandwidth of said chirp signal, < >>For the time period of said chirp signal said +.>Is in contact with the->The relation is satisfied:
。
compared with the prior art, the invention has the following technical effects:
(1) The positioning and ranging precision is improved, and the requirement of short-distance positioning and ranging can be met.
In the technical proposal disclosed by the invention, the in-phase component and the quadrature component of the envelope function of the reflected signal are calculated by designing detection signals, envelope detection and correlation operation, and on the basis, the method is based on the positioning distanceAnd tangent valueAngular frequency->And transmission rate of electromagnetic wave->The relation of the radar positioning distance measurement is calculated; rather than by measuring the time delay between the probe signal and the reflected signal. Therefore, in the technical scheme disclosed by the invention, radar positioning and ranging precision is less influenced by sampling clock jitter and waveform distortion. In the prior art, the positioning distance is usually obtained by directly comparing peak points of the measurement detection signal and the reflection signal to calculate the transmission delay, and the prior art scheme is easily affected by factors such as waveform distortion, sampling clock jitter, channel interference and the like, so that the compared peak points are not real peak points, thereby causing delay measurement errors and causing errors of radar positioning and ranging. Compared with the prior art, the technical scheme disclosed by the invention improves the accuracy of radar positioning and ranging.
(2) Is simple and easy to realize.
In the prior art, a Time Domain Reflectometry (TDR) is adopted to realize radar positioning ranging, the time delay between a detection signal and a reflected signal needs to be accurately measured, a precise clock signal is needed, a high-speed sampling sample, a large-scale memory, a high-speed arithmetic unit and the like are also needed, and the implementation of hardware is complex and the cost is high. In the technical scheme disclosed by the invention, the core components are an envelope detector and an arithmetic unit, and a high-speed sampler, a precise clock and the like are not needed. Compared with the prior art, the technical scheme disclosed by the invention is simple and easy to realize.
Additional advantages and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following and practice of the invention.
Detailed Description
The principles and features of the present invention are described below in connection with specific embodiments, examples of which are provided for illustration only and are not intended to limit the scope of the invention.
In the prior art, when a Time Domain Reflectometry (TDR) is adopted to realize the positioning and ranging of a short-distance radar, the method is easily influenced by factors such as sampling clock jitter, waveform distortion, channel interference and the like, so that the acquired peak point is not an actual peak point, delay measurement errors are caused, the positioning and ranging errors of the radar are increased, and the precision requirement of the short-distance ranging and positioning is difficult to meet.
In order to solve the problems in the prior art, the embodiment of the invention discloses a radar positioning and ranging method based on FDR (frequency domain reflection method). The method comprises the following steps:
step one: the emission envelope function isAnd wait to receive the reflected signal, whereinFor angular frequency +.>Is a time parameter;
step two: envelope detection is carried out on the received reflected signal, and an envelope signal is extractedWherein->Is time delay;
step three: extracting the envelope signalAnd the same frequency cosine function->Performing operation to obtain in-phase component->；
Step four: extracting the envelope signalAnd the same frequency sine function->Performing an operation to obtain orthogonal component->；
Step five: from the in-phase componentAnd the orthogonal component->Calculate tangent value +.>Said tangent value->Is +.>And the orthogonal component->The three satisfy the relation:
；
step six: from the tangent valueCalculating radar positioning distance +.>The positioning distance ∈>Is +.>Angular frequency->And transmission rate of electromagnetic wave->The fourth one satisfies the relation:
，
wherein,for the transmission rate of electromagnetic waves, +.>For angular frequency +.>Is time delay.
Further, in the technical scheme disclosed in the embodiment of the invention, the transmitted broadband radar detection signal is different from other radars, and the envelope function adopts a trigonometric function, and the specific signals are as follows:
，
wherein,for angular frequency +.>Is the angular frequency of the chirp signal, +.>Is the frequency modulation slope. In this embodiment, the frequency modulation slope +.>The method comprises the following steps:
，
wherein,Bis the frequency modulation bandwidth of the chirp signal,T 0 is the time period of the chirp signal.And (3) withω 0 The relation is satisfied:
。
in the prior art, the function of the envelope of the radar detection signal is typically used for pulse shaping or spectral optimization. In the technical scheme disclosed by the embodiment of the invention, the radar detection signal adopts an envelope functionWhich is matched with the envelope detection wave and has the function of enabling the envelope signal obtained by the envelope detection to be +.>The time delay parameter is included.
The time delay parameter is a key for realizing radar ranging positioning, and whether the time delay parameter can be accurately calculated directly relates to the accuracy of radar ranging positioning. In the prior art, time Domain Reflectometry (TDR) is implemented by directly measuring the time delay between a probe signal and a reflected signal, and measuring the time delay between the probe signal and the reflected signal is typically implemented by measuring the correlation signal peaks of the probe signal and the reflected signal. In measuring the correlation signal peak, a sliding threshold detection is typically used. However, the sliding threshold detection mode can only capture an "approximate" peak point of the related signal, but cannot capture a "real" peak point, and is susceptible to factors such as sampling clock jitter, waveform distortion, channel interference, and the like, so that the acquired peak point is not an actual peak point, thereby causing delay measurement errors and increasing radar positioning ranging errors. This range error may be acceptable for long range radar ranging, but for short range radar ranging, the relative error is large, and it is difficult to meet the range accuracy requirement.
In order to overcome the defects existing in the Time Domain Reflectometry (TDR) of the prior art and improve the accuracy of positioning and ranging of a short-range radar, in the technical scheme disclosed by the embodiment of the invention, the in-phase component and the quadrature component of an envelope function of a reflected signal are calculated by designing detection signals, envelope detection and correlation operation, and on the basis, the positioning distance is further basedAnd tangent valueAngular frequency->And transmission rate of electromagnetic wave->Instead of realizing radar location ranging by measuring the time delay between the detected signal and the reflected signal. In the technical scheme disclosed by the embodiment of the invention, the broadband detection signal emitted by the radar is represented by an envelope function>Is subjected to envelope detection to obtain an envelope signal +.>The method comprises the steps of enabling a time delay parameter between a detection signal and a reflection signal to be enveloped in the envelope signal; by calculating the envelope signal->In-phase and quadrature components of (a) to furtherStep time delay parameter conversion.
Further, in the technical scheme disclosed in the embodiment of the invention, the in-phase componentR(t) And envelope signalAnd the same frequency cosine function->The three satisfy the relation:
，
wherein,T 1 for the envelope functionIs a time period of (a).
Further, the orthogonal componentIs +_associated with the envelope signal>And the same frequency sine function->The three satisfy the relation:
，
wherein,T 1 for the envelope functionIs a time period of (a).
According to the analysis, in the technical scheme disclosed by the embodiment of the invention, the radar positioning distance is calculated based on the tangent value of the time delay parameter by designing the technical links such as detection signals, envelope detection, correlation operation and the likeThe radar positioning distance measurement is realized by measuring the time delay between the detection signal and the reflection signal instead of the size, so that the defect that the prior art scheme is easily influenced by factors such as waveform distortion, sampling clock jitter, channel interference and the like is overcome, the accuracy of radar positioning distance measurement is improved, and the requirement of short-distance radar positioning distance measurement is met.
Further, in the technical scheme disclosed by the embodiment of the invention, the core components for realizing radar positioning and ranging are an envelope detector and an arithmetic unit, and a high-speed sampler, a precise clock and the like are not involved. In the prior art, a Time Domain Reflectometry (TDR) method is adopted to realize radar positioning ranging, and time delay between a detection signal and a reflected signal needs to be accurately measured, which needs a precise clock signal, and also involves high-speed sampling, a large-scale memory, a high-speed arithmetic unit and the like, so that the implementation of hardware is complex, and the cost is high. Compared with the prior art, the technical scheme disclosed by the embodiment of the invention is simple and easy to realize, and is beneficial to improving economic benefit.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (5)
1. The radar positioning and ranging method based on FDR is characterized by comprising the following steps:
step one: the emission envelope function isIs to wait for the reception of a reflected signal, wherein +.>For angular frequency +.>Is a time parameter;
step two: receiving reflected signalsLine envelope detection for extracting envelope signalWherein->Is time delay;
step three: extracting the envelope signalAnd the same frequency cosine function->Performing operation to obtain in-phase component->；
Step four: extracting the envelope signalAnd the same frequency sine function->Performing an operation to obtain orthogonal component->；
Step five: from the in-phase componentAnd the orthogonal component->Calculate tangent value +.>The tangent valueIs +.>And the orthogonal component->The three satisfy the relation:
；
step six: from the tangent valueCalculating radar positioning distance +.>The positioning distance ∈>Tangent to the valueAngular frequency->And transmission rate of electromagnetic wave->The fourth one satisfies the relation:
，
wherein,for the transmission rate of electromagnetic waves, +.>For angular frequency +.>Is time delay.
2. The FDR-based radar location ranging method of claim 1, wherein the wideband radar detection signal is:
，
wherein,for angular frequency +.>Is the angular frequency of the chirp signal, +.>Is the frequency modulation slope.
3. The FDR-based radar location ranging method of claim 2, wherein the in-phase componentIs +_associated with the envelope signal>Co-frequency cosine function->The three satisfy the relation:
，
wherein,T 1 for the envelope functionIs a time period of (a).
4. The FDR-based radar location ranging method of claim 2, wherein the orthogonal componentIs +_associated with the envelope signal>And the same frequency sine function->The three satisfy the relation:
，
wherein,T 1 for the envelope functionIs a time period of (a).
5. The FDR-based radar location ranging method of claim 2, wherein the chirp rateThe method comprises the following steps:
，
wherein,for the frequency modulation bandwidth of said chirp signal, < >>For the time period of the chirp signal,the saidIs in contact with the->The relation is satisfied:
。
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