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Doppler ambiguity calculation method, and method and device for measuring target speed

A technology of Doppler ambiguity and Doppler velocity, which is applied in the calculation field of measuring target velocity and Doppler ambiguity. It can solve the problems of large amount of calculation, difficult to meet the requirements, short sweep time, etc., and achieve the calculation amount small effect

Pending Publication Date: 2022-01-11
ZONGMU TECH SHANGHAI CO LTD
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Problems solved by technology

In this case, in order to obtain a higher unambiguous speed, the sweep time is required to be very short, but it is actually difficult to meet the requirements
A commonly used method at present is to use repetition frequency staggering, but this method needs to send frequency sweep data once more, and needs to make a trade-off between the accumulation time and the number of chirp signals, and the calculation amount is relatively large

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  • Doppler ambiguity calculation method, and method and device for measuring target speed
  • Doppler ambiguity calculation method, and method and device for measuring target speed
  • Doppler ambiguity calculation method, and method and device for measuring target speed

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example 1

[0062] Example 1, the parameters of this example are as follows:

[0063] Number of transmitting antennas at the same time: 2, respectively named: Tx 0 ,Tx 1 ;

[0064] Transmit waveform: FMCW-CDMA(QPSK);

[0065] Center frequency: center frequency difference

[0066] Transmission method: Tx 0 Normal FMCW wave form (ie zero phase), Tx 1 Send waves cyclically with a phase difference of [0,π / 2,π,3π / 2], such as Figure 5 shown;

[0067] Initial launch phase:

[0068] Sweep times: 128;

[0069] Single chirp time: Tp=100us.

[0070] 1. According to the above waveform, the central 2D-FFT spectrum has the following characteristics:

[0071] a.Tx 1 in Tx 0 to the right of Tx 0 On the Doppler dimension, the distance is about 32 bins, and based on this, it is judged which transmitting antenna the target peak point on the spectrum comes from;

[0072] b.Tx 1 Move 32 bins to the left to remove the influence of the transmit phase, Tx 1 There is a frequency difference ...

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Abstract

The invention provides a Doppler ambiguity calculation method. The method comprises the following steps: enabling at least two transmitting antennas with different center frequencies to simultaneously transmit FMCW waveforms in a CDMA (Code Division Multiple Access) mode, wherein each transmitting antenna circularly transmits waves in a progressive increase manner in sequence according to each preset phase difference; receiving the echo signals to obtain intermediate frequency signals, performing Fourier transform, and calculating actual difference values of Doppler velocities corresponding to every two adjacent transmitting antennas according to actual peak values of frequency spectrums of the intermediate frequency signals; calculating a theoretical difference value of Doppler velocities corresponding to every two adjacent transmitting antennas in advance according to the center frequency of each transmitting antenna, and obtaining a one-to-one correspondence relationship between each theoretical difference value and Doppler ambiguity; and comparing each actual difference value with each theoretical difference value, and taking the Doppler ambiguity corresponding to the matched theoretical difference value as the actual ambiguity. The Doppler ambiguity can be solved by controlling the center frequency of the transmitting antenna, and then the real speed of the target is accurately calculated.

Description

technical field [0001] The invention relates to the technical field of vehicle radar, in particular to a calculation method of Doppler ambiguity, a method and a device for measuring target speed. Background technique [0002] The 77GHz millimeter-wave radar sensor is an important part of the automatic driving sensor. At present, the frequency-modulated continuous wave (Frequency Modulated Continuous Wave, referred to as FMCW) is used to scan the frequency of the millimeter-wave radar. The maximum fuzzy speed of the millimeter-wave radar is determined by the frequency The time Tc is determined. figure 1 It is a schematic diagram of a linear FMCW frequency sweep waveform based on TDMA (Time Division Multiplexing Access). In this way, the maximum unambiguous speed is less than 60kmh. However, this indicator is far less than the requirement of unambiguous speed, such as 240km / h for the corner radar and 500km / h for the front radar. In this case, in order to obtain a higher unam...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S7/41G01S13/58
CPCG01S7/41G01S13/581
Inventor 李钢张昕
Owner ZONGMU TECH SHANGHAI CO LTD
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