CN-115436945-B - Low-delay detection method and device for precision radar, storage medium and electronic device

CN115436945BCN 115436945 BCN115436945 BCN 115436945BCN-115436945-B

Abstract

The embodiment of the invention provides a low-delay detection method, a device, a storage medium and an electronic device of a precision radar, wherein the method comprises the steps of grouping target signals received by a receiving antenna of target equipment to obtain a plurality of groups of target signal groups, wherein the target signals are signals which are transmitted by a transmitting antenna of the target equipment and are formed by reflection of target objects, performing the following operation on each group of target signal groups to obtain positions of target objects corresponding to each group of target signal groups respectively, performing Fourier transformation of target dimensions on each signal included in the target signal groups to obtain a two-dimensional distance Doppler graph, performing digital beam wave formation on the two-dimensional distance Doppler graph to obtain a three-dimensional distance Doppler direction graph, and determining the positions of the target objects based on the three-dimensional distance Doppler direction graph. The method and the device solve the problem of poor real-time position of the determined object in the related technology, and achieve the effect of improving the real-time position of the determined object.

Inventors

ZHAO JIAYOU
FANG YONGJUN
DENG ZHIJI
ZHANG CHAOYANG

Assignees

浙江大华技术股份有限公司
浙江大华技术股份有限公司

Dates

Publication Date: 20260421
Application Date: 20220926
Priority Date: 20220926

Claims (12)

1. A method for low delay detection of a precision radar, comprising: Grouping target signals received by a receiving antenna of target equipment to obtain a plurality of groups of target signal groups, wherein the target signals are signals which are emitted by a transmitting antenna of the target equipment and are formed by reflection of a target object; The following operations are executed for each group of target signal groups, and the positions of the target objects corresponding to each group of target signal groups are obtained: Performing Fourier transform of target dimensions on each signal included in the target signal group to obtain a two-dimensional distance Doppler image, performing digital beam wave formation on the two-dimensional distance Doppler image to obtain a three-dimensional distance Doppler direction image, and determining the position of the target object based on the three-dimensional distance Doppler direction image; Grouping target signals received by a receiving antenna of target equipment to obtain a plurality of target signal groups, wherein the target signal groups comprise target sampling of the target signals to obtain first signals, demodulation of the first signals to obtain second signals, determination of parameter information of the second signals, determination of a first windowing function based on the parameter information, windowing of the second signals by using the first windowing function to obtain third signals, distance dimension Fourier transform of the third signals to obtain fourth signals, grouping of the fourth signals to obtain a plurality of target signal groups; the method comprises the steps of carrying out digital beam wave formation on the two-dimensional range-Doppler diagram to obtain a three-dimensional range-Doppler direction diagram, determining a target angle used for carrying out digital beam wave formation, determining a first weight of the receiving antenna based on the target angle, determining a target two-dimensional range-Doppler diagram corresponding to the target angle and included in the two-dimensional range-Doppler diagram, and splicing products of the first weight and the target two-dimensional range-Doppler diagram to obtain the three-dimensional range-Doppler direction diagram.
2. The method of claim 1, wherein demodulating the first signal to obtain the second signal comprises: Determining a random delay index of each Chirp included in the first signal, and performing the sampling number of the target samples on each Chirp; determining a ratio of the random delay index to the sample number; determining a first product of the first constant, the first imaginary number, the second constant, and the distance dimension index; Determining a second product of the ratio and the first product; determining a demodulation function based on a natural constant and an inverse of the second product; A product of the demodulation function and the first signal is determined as the second signal.
3. The method of claim 1, wherein grouping the fourth signals to obtain a plurality of groups of the target signal groups comprises: determining an additional phase of each Chirp included in the fourth signal, wherein the additional phase is an additional phase when the transmitting antenna transmits a signal; And grouping each Chirp included in the fourth signal based on the additional phases to obtain a plurality of target signal groups.
4. The method of claim 1, wherein determining the location of the target object based on the three-dimensional range-doppler-azimuth map comprises: determining a target azimuth of the target object and a target pitch angle of the target device based on the three-dimensional range-doppler-azimuth map; And determining the position of the target object based on the target azimuth angle and the target pitch angle.
5. The method of claim 4, wherein determining a target azimuth of the target object based on the three-dimensional range-doppler-azimuth map comprises: Determining an angle corresponding to a peak point included in a azimuth power spectrum included in the three-dimensional distance Doppler azimuth graph; Determining a second weight corresponding to each angle; determining a third product of the second weight and the target value; and determining an angle corresponding to a maximum value included in the third product as the target azimuth angle.
6. The method of claim 4, wherein after determining the target azimuth of the target object and the target pitch of the target device based on the three-dimensional range-doppler-azimuth map, the method further comprises: Determining a target Doppler velocity of the target object; determining a first matched filter based on the target doppler velocity, target azimuth angle, and target pitch angle; determining a target peak of a velocity dimension included in the two-dimensional range-doppler plot; Matching the first matched filter with the target peak value to obtain a matching result; determining the amplitude of the matching result; determining a target index corresponding to the maximum amplitude included in the amplitude; And determining the speed of the target object based on the target index.
7. The method of claim 6, wherein determining the velocity of the target object based on the target index comprises: determining a fourth product of the target index and a Doppler non-ambiguity period, wherein the Doppler non-ambiguity period is a predetermined period; determining the sum of the target Doppler velocity and the fourth product as the velocity of the target object.
8. The method of claim 1, wherein after fourier transforming each signal included in the set of target signals in a target dimension to obtain a two-dimensional range-doppler plot, the method further comprises: Under the condition that the distance between the target object and the target equipment is smaller than a preset distance, gridding an imaging area included in the two-dimensional range-Doppler graph to obtain a plurality of target grids; determining a first time delay from each of the target grids to the transmitting antenna and a second time delay from each of the target grids to the receiving antenna; determining a second matched filter based on the first delay and the second delay; determining an average radial distance of the target grid to the transmit antenna and the receive antenna based on the first time delay and the second time delay; Compensating the deviation distance based on the average radial distance to obtain a target distance; Determining a response value corresponding to the target distance in the two-dimensional range-doppler plot; determining a product of the response value and the second matched filter as a reflection value of the target object; A target imaging region of the target object is determined based on the reflection value.
9. The method of claim 8, wherein after determining a target imaging region of the target object based on the reflectance values, the method further comprises: fusing the target imaging areas respectively corresponding to each group of target signal groups to obtain fusion areas; updating the target imaging region based on the fusion region.
10. A low-delay detection device for a precision radar, comprising: The grouping module is used for grouping target signals received by a receiving antenna of target equipment to obtain a plurality of groups of target signal groups, wherein the target signals are signals which are emitted by a transmitting antenna of the target equipment and are formed by reflection of a target object; The determining module is used for executing the following operations for each group of target signal groups to obtain the positions of the target objects respectively corresponding to each group of target signal groups: Performing Fourier transform of target dimensions on each signal included in the target signal group to obtain a two-dimensional distance Doppler image, performing digital beam wave formation on the two-dimensional distance Doppler image to obtain a three-dimensional distance Doppler direction image, and determining the position of the target object based on the three-dimensional distance Doppler direction image; The grouping module is used for grouping target signals received by a receiving antenna of target equipment to obtain a plurality of groups of target signal groups, wherein the target signal groups are obtained by performing target sampling on the target signals to obtain first signals, demodulating the first signals to obtain second signals, determining parameter information of the second signals, determining a first windowing function based on the parameter information, performing windowing on the second signals by using the first windowing function to obtain third signals, performing distance dimension Fourier transform on the third signals to obtain fourth signals, and grouping the fourth signals to obtain a plurality of groups of target signal groups; The determining module is used for forming the digital beam wave on the two-dimensional range-Doppler graph to obtain a three-dimensional range-Doppler direction graph, determining a target angle used for forming the digital beam wave, determining a first weight of the receiving antenna based on the target angle, determining a target two-dimensional range-Doppler graph corresponding to the target angle and included in the two-dimensional range-Doppler graph, and splicing products of the first weight and the target two-dimensional range-Doppler graph to obtain the three-dimensional range-Doppler direction graph.
11. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein a computer program, wherein the computer program is arranged to execute the method of any of the claims 1 to 9 when run.
12. An electronic device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to run the computer program to perform the method of any of the claims 1 to 9.

Description

Low-delay detection method and device for precision radar, storage medium and electronic device Technical Field The embodiment of the invention relates to the field of communication, in particular to a low-delay detection method and device for a precision radar, a storage medium and an electronic device. Background The millimeter wave radar has wide application, is applicable to the automobile industry and ensures the active safety of the running of vehicles, and is applicable to industrial environments such as security perimeter radar, traffic queuing and flow statistics radar, vehicle speed measuring radar, holographic intersection sensing radar and the like. The application scenes have higher requirements on the ability of the millimeter wave radar to sense the surrounding environment, and the few key parameters affecting the sensing ability of the millimeter wave radar are the ranging range, wide area measuring ability, azimuth measuring ability and height measuring ability of the millimeter wave radar. Therefore, the radar with wide area measurement and wide coverage can better sense surrounding dynamic and static environment, further improve the safety performance of automatic driving, the accuracy of queuing/flow events and the like, and has excellent azimuth measurement capability and height measurement capability. In the related art, electronic scanning is generally performed by using a digital beam forming or analog beam forming mode, so that a very wide field angle can be realized, the measurement is far under the field angles, and meanwhile, large aperture measurement is realized by using a sparse array, so that the resolution of radar angle measurement is improved, but the method has the defects of long scanning time, low frame rate and difficulty in meeting the real-time measurement requirement, and meanwhile, the sparse array can cause the rise of sidelobe level, so that the false alarm rate is improved. However, the method of digital beam forming or analog beam forming is used for electronic scanning, which has the disadvantages of long scanning time, low frame rate and difficulty in meeting the real-time measurement requirement, and the method of mechanical rotation is used for realizing the scanning, which has the disadvantages of longer stability and short service life of mechanical scanning, and long measurement time and difficulty in meeting the real-time measurement requirement for high-resolution Doppler measurement. As is clear from this, the related art has a problem that the real-time property of determining the position of the object is poor. In view of the above problems in the related art, no effective solution has been proposed at present. Disclosure of Invention The embodiment of the invention provides a low-delay detection method and device for a precision radar, a storage medium and an electronic device, which are used for at least solving the problem of poor real-time position determination of an object in the related technology. According to one embodiment of the invention, a low-delay detection method of a precision radar is provided, and the method comprises the steps of grouping target signals received by a receiving antenna of target equipment to obtain multiple groups of target signal groups, wherein the target signals are signals which are emitted by a transmitting antenna of the target equipment and are formed by target object reflection, performing the following operation on each group of target signal groups to obtain positions of target objects corresponding to each group of target signal groups, performing Fourier transformation of target dimensions on each signal included in the target signal groups to obtain a two-dimensional range Doppler graph, performing digital beam wave formation on the two-dimensional range Doppler graph to obtain a three-dimensional range Doppler azimuth graph, and determining the positions of the target objects based on the three-dimensional range Doppler azimuth graph. According to another embodiment of the invention, a low-delay detection device of a precision radar is provided, which comprises a grouping module, a determining module and a determining module, wherein the grouping module is used for grouping target signals received by a receiving antenna of target equipment to obtain a plurality of groups of target signal groups, the target signals are signals which are emitted by a transmitting antenna of the target equipment and are formed by reflection of a target object, the determining module is used for executing the following operation on each group of target signal groups to obtain positions of the target object corresponding to each group of target signal groups, the Fourier transformation of target dimensions is carried out on each signal included in each group of target signal groups to obtain a two-dimensional range Doppler graph, digital beam wave formation is carried out on the two-dimensional range Doppler graph to obta