Radar integrated transmitting and receiving board and method based on multi-dimensional coding and joint demodulation

Abstract

The invention relates to a radar infrared integrated transmitting and receiving board which comprises a master control processing module, a multi-dimensional coding transmitting module and a joint receiving demodulation module. The main control module generates a composite time sequence instruction packet according to preset parameters, generates a chaos sequence based on a Logistic chaos model, and generates a chaos modulation radar signal and an infrared digital pulse signal according to the chaos sequence. And the transmitting module respectively drives a radar antenna and an infrared transmitting tube to transmit signals according to a specified time sequence by using the signals. The receiving module synchronously receives radar and infrared mixed return signals, and samples the radar and infrared mixed return signals into mixed digital signals according to an instruction packet time sequence; and then carrying out time domain cross-correlation operation to obtain a radar and infrared correlation function set. And the main control module locates and separates radar and infrared return signals in the mixed signals through related peak detection. According to the method, the anti-interference performance is improved by adopting chaotic multi-dimensional coding, and the comprehensive detection performance of the system is remarkably enhanced by effectively separating signals through joint receiving and demodulation.

Description

Technical Field

[0001] The present invention relates to the technical field of radar and sensor hardware integration, and in particular to a radar integrated transmitting and receiving board and method based on multi-dimensional coding and joint demodulation. Background Art

[0002] In the integrated application of radar, infrared, and vision sensors, traditional transmitter and receiver boards employ simple time-division multiplexing or independent processing, leading to multiple issues such as wasted hardware resources, high costs, and limited miniaturization. This design model results in independent and extensive duplication of signal processing modules for radar, infrared, and vision sensors, significantly increasing hardware costs and significantly expanding circuit board area. For example, in common industrial inspection equipment, independent radar, infrared, and vision signal processing circuits occupy over 60% of the circuit board space, significantly limiting the device's integration and portability. Furthermore, this duplication of modules wastes energy, increases operating costs, and reduces device endurance and affordability. In the current pursuit of miniaturization, lightweighting, and low power consumption, traditional design models are unable to meet the stringent performance requirements of modern industry, becoming a key bottleneck hindering the development of integrated applications of radar, infrared, and vision sensors. Innovative hardware architecture design is urgently needed to address these issues.

[0003] During signal transmission, interference between radar RF signals and infrared, visual, and other signals, as well as low immunity to complex environmental noise, are major obstacles to achieving high-precision detection in existing transmitter and receiver boards. For example, the "Doppler Microwave Radar Sensor Switch" (CN203352555U) transmitter circuit generates a high-frequency sine wave (approximately 0.1 GHz) solely through self-oscillation of transistor QS1. In complex electromagnetic environments, similar microwave signals or electromagnetic interference can easily distort the transmitted waveform, leading to errors in phase detection of the reflected echo. The high-frequency RF signals generated by radar operation are powerful and can easily interfere with weak signals from infrared and visual sensors. For example, in automotive collision avoidance systems, the 24 GHz or 77 GHz RF signals emitted by millimeter-wave radars can induce currents in the receiving circuits of infrared and visual sensors, causing distortion such as baseline drift and pulse distortion, leading to misjudgment of target distance. Conversely, the pulse modulation of infrared and visual signals also generates harmonic components, which interfere with the frequency stability of the radar signal and affect the radar's speed measurement accuracy. At the same time, traditional transmitter and receiver boards lack effective anti-interference design. Their built-in filtering circuits are unable to effectively eliminate complex interference sources, such as electromagnetic noise in urban environments and pulse interference from industrial equipment. Even with simple shielding structures, they struggle to resist broadband electromagnetic interference. This results in continuous noise accumulation during signal transmission, a continuous decrease in the signal-to-noise ratio, and ultimately a significant reduction in the accuracy and stability of target detection, making it difficult to meet the high-precision detection needs of intelligent transportation, security monitoring, and other fields.

[0004] The signal processing circuits in existing transmitter and receiver boards lack innovative design, failing to fully leverage the synergistic advantages of radar, infrared, and visual sensors. Traditional solutions often process radar, infrared, and visual data separately, failing to consider their complementary characteristics. This makes it difficult to efficiently integrate and deeply analyze multi-source data. For example, during target identification, relying solely on data from a single sensor fails to accurately determine characteristics such as the target's material and shape. Furthermore, the processing speed and accuracy of existing signal processing circuits are limited, making it difficult to quickly and accurately extract effective information from complex signals. This hinders the device's ability to identify and locate targets, providing comprehensive and accurate target information, and adapting to diverse application requirements in complex environments. Furthermore, existing technologies exhibit significant deficiencies in the power supply stability and reliability of the hardware architecture. Traditional power management modules often utilize a simple buck-stabilization design, which fails to effectively isolate power supply noise, resulting in widespread problems with excessive power ripple. Furthermore, the lack of comprehensive electromagnetic shielding and protection mechanisms makes radar, infrared, and visual sensors susceptible to external electromagnetic interference during operation. (For example, Microsource Photonics (Shenzhen) Co., Ltd.'s "A Laser Supercontinuum Perception System": CN111103575A) These problems make it impossible to provide a pure and stable working environment for radar, infrared, vision and other sensors, causing large fluctuations in equipment performance. During long-term operation or environmental changes, signal drift and increased detection errors are prone to occur, shortening the service life of the equipment and making it difficult to operate stably in scenarios with extremely high reliability requirements, such as industrial automation and security monitoring.

[0005] In summary, traditional radar, infrared, vision and other sensor integrated transmitter and receiver boards have significant deficiencies in hardware architecture, signal transmission, data processing and power supply stability. Their simple processing mode leads to waste of resources and high costs, frequent signal interference and noise problems, weak collaborative processing capabilities, and poor power supply reliability, making it difficult to meet the application requirements of modern high-precision, high-integration detection scenarios. Summary of the Invention

[0006] The purpose of the present invention is to address the defects of the prior art and provide a radar integrated transmitting and receiving board based on multi-dimensional coding and joint demodulation, comprising: The main control processing module is used to generate a composite timing trigger instruction packet according to the preset operating parameters of the radar and infrared detector, generate the transmission timing of the radar transmission signal, the transmission timing of the infrared transmission signal, the reception timing of the radar return signal, the sampling timing of the radar return signal, the reception timing of the infrared return signal, and the sampling timing of the infrared return signal according to the composite timing trigger instruction packet, generate a chaotic sequence according to the Logistic mapping chaos model, generate a chaotic modulated radar signal based on the chaotic sequence, and generate a chaotic modulated digital pulse signal based on the chaotic sequence; The multi-dimensional coding transmission module is used to generate a radar transmission signal based on the chaotic modulation radar signal. The radar transmission antenna transmits the radar transmission signal to a designated target according to the transmission timing of the radar transmission signal. The infrared driving circuit drives the infrared transmitting tube to generate an infrared transmission signal based on the chaotic modulation digital pulse signal. The infrared transmitting tube transmits the infrared transmission signal to the designated target according to the transmission timing of the infrared transmission signal. The joint receiving and demodulating module is used to receive a mixed analog signal according to the receiving timing of the radar return signal and the receiving timing of the infrared return signal, where the mixed analog signal includes the radar return signal and the infrared return signal reflected from the designated target, sample the mixed analog signal according to the sampling timing of the radar return signal and the sampling timing of the infrared return signal to obtain a mixed digital signal, and perform a time domain cross-correlation operation on the mixed digital signal to obtain a radar correlation function set and an infrared correlation function set; The main control processing module is also used to perform correlation peak detection based on the radar correlation function set and the infrared correlation function set to obtain the positions of the radar return signal and the infrared return signal in the mixed digital signal respectively, and separate the radar return signal and the infrared return signal in the mixed digital signal based on the positions.

[0007] Furthermore, it also includes: a signal processing acceleration module for obtaining the distance and speed of a designated target by performing FFT operation on the radar return signal, and inputting the infrared return signal into a peak holding circuit to obtain an extreme value of infrared pulse intensity; The main control processing module is also used to perform parallel weighted fusion operations on the distance, speed and infrared pulse intensity extreme value of the designated target to obtain the temperature of the designated target.

[0008] Furthermore, in the main control processing module, a composite timing trigger instruction packet is generated according to the preset operating parameters of the radar and the infrared detector. The specific method for generating the transmission timing of the radar transmission signal, the transmission timing of the infrared transmission signal, the reception timing of the radar return signal, the sampling timing of the radar return signal, the reception timing of the infrared return signal, and the sampling timing of the infrared return signal according to the composite timing trigger instruction packet is as follows: The preset operating parameters of the radar and infrared include the transmission cycle, radar transmission signal transmission delay, infrared transmission signal transmission delay, radar transmission signal pulse width, infrared transmission signal pulse width, radar return signal receiving window time, infrared return signal receiving window time, radar return signal sampling rate, infrared return signal sampling rate; Generate the transmission timing of radar transmission signal, the transmission timing of infrared transmission signal, the reception timing of radar return signal, the sampling timing of radar return signal, the reception timing of infrared return signal, and the sampling timing of infrared return signal based on the composite timing trigger instruction packet; The transmission timing of the radar transmission signal refers to that at the beginning of each transmission cycle, after waiting for the radar transmission signal transmission delay time, the radar transmission signal transmission is started, the radar transmission signal transmission duration is equal to the radar transmission signal pulse width, and the radar transmission signal transmission is ended after the radar transmission signal transmission duration ends; The emission timing of the infrared emission signal refers to that at the beginning of each emission cycle, after waiting for the infrared emission signal emission delay time, the infrared emission signal emission is started, the infrared emission signal emission duration is equal to the infrared emission signal pulse width, and the infrared emission signal emission is ended after the infrared emission signal emission duration ends; The radar return signal reception timing refers to the time when the radar transmission signal is completed and the radar return signal is received within the radar return signal reception window time; The sampling timing of the radar return signal refers to setting the sampling time interval according to the radar return signal sampling rate within the radar return signal receiving window; The receiving timing of the infrared return signal refers to the time when the infrared transmission signal is completed and the infrared return signal is received within the infrared return signal receiving window time; The sampling timing of the infrared return signal refers to setting the sampling time interval according to the infrared return signal sampling rate within the infrared return signal receiving window time.

[0009] Furthermore, in the main control processing module, a chaotic sequence is generated according to the Logistic mapping chaotic model, and a chaotic modulated radar signal is generated based on the chaotic sequence. The specific method for generating a chaotic modulated digital pulse signal based on the chaotic sequence is: The Logistic mapping formula is: n+1 =r·X n ·(1-X n ), where X n ∈(0,1) is the current value of the chaotic sequence, r∈(3.57,4] is the chaotic control parameter, after initialization according to the preset chaotic sequence initial value X0 and the chaotic control parameter r, in each calculation cycle, it is iterated once according to the Logistic mapping formula to obtain X n+1 , through continuous iteration, a chaotic sequence is obtained; Each chaotic sequence value is converted into a radar analog voltage in sequence at a fixed sampling rate to form a chaotic modulated radar signal; According to the preset chaotic modulated digital pulse signal period, each chaotic sequence value in the chaotic sequence is multiplied by the preset chaotic modulated digital pulse signal period in turn to obtain the high-level duration within the preset chaotic modulated digital pulse signal period, and the remaining time within the preset chaotic modulated digital pulse signal period is the low-level duration to obtain the chaotic modulated digital pulse signal.

[0010] Furthermore, in the multi-dimensional coding transmission module, the specific method of generating the radar transmission signal according to the chaotic modulation radar signal is: The chaotic modulated radar signal is input into the voltage-controlled oscillator inside the radar millimeter-wave chip, and the instantaneous frequency of the radar transmission signal f(t)=F+K is generated at the same time. mod ·s chaos (t), K mod is the FM sensitivity, F is the center frequency f c Continuous wave, s chaos (t) is the chaotic modulated radar signal; The specific method of the infrared driving circuit driving the infrared emitting tube to generate the infrared emission signal based on the chaotic modulated digital pulse signal is as follows: The infrared driving circuit is composed of a MOSFET push-pull circuit and a filter circuit. The MOSFET push-pull circuit converts the chaotic modulated digital pulse signal into a current pulse to turn on the infrared emitting tube to generate an infrared emission signal.

[0011] Furthermore, in the joint receiving and demodulating module, a specific method for performing a time domain cross-correlation operation on the mixed digital signal to obtain a radar correlation function set and an infrared correlation function set is as follows: Where τ is the time delay variable, which represents the propagation time of the signal to and from the target. R(τ) is the cross-correlation value at the time delay τ. s(t) is the received mixed analog signal. c(t) is the copy of the chaotic coding sequence. T is the integration window length, which is equal to the pulse width of the radar transmission signal or the pulse width of the infrared transmission signal. Finally, we get the radar correlation function set {R(τ1),R(τ2),...,R(τ N )}, τ N is the radar delay variable, the infrared correlation function set {R(τ1),R(τ2),...,R(τ M )}, τ M is the infrared time delay variable.

[0012] Furthermore, in the main control processing module, correlation peak detection is performed based on the radar correlation function set and the infrared correlation function set to obtain the positions of the radar return signal and the infrared return signal in the mixed digital signal, respectively. The specific method for separating the radar return signal and the infrared return signal in the mixed digital signal based on the positions is: In the radar correlation function set and the infrared correlation function set, the maximum value of the radar delay variable and the maximum value of the infrared delay variable are identified, and the radar time window is obtained by intercepting a time period equal to the pulse width of the radar transmission signal with the maximum value of the radar delay variable as the center. The infrared time window is obtained by intercepting a time period equal to the pulse width of the infrared transmission signal with the maximum value of the infrared delay variable as the center. The data of the mixed signal in the radar time window is retained, and the data outside the window is shielded to obtain the radar return signal. The data of the mixed signal in the infrared time window is retained, and the data outside the window is shielded to obtain the infrared return signal.

[0013] Furthermore, in the signal processing acceleration module, the specific method for obtaining the distance and speed of the designated target by performing FFT operation on the radar return signal is: Where X[k] is the frequency domain complex output of the radar return signal, x[n] is the time domain sampling point sequence of the radar return signal, n is the time domain index, k is the frequency domain index, N is the total number of sampling points, and j is the imaginary unit; Where A[k] is the frequency domain amplitude spectrum of the radar return signal, Re(X[k]) is the real part of the frequency domain complex output of the radar return signal, and Im(X[k]) is the imaginary part of the frequency domain complex output of the radar return signal. Among them, k peak A is the velocity dimension frequency index corresponding to the maximum value in the frequency domain amplitude spectrum of the radar return signal, speed [k] is the velocity dimension in the frequency domain amplitude spectrum of the radar return signal; Where v is the velocity of the specified target, λ is the radar wavelength, and f peak is the peak frequency, f s is the radar return signal sampling rate; Among them, k range A is the frequency index of the distance dimension corresponding to the maximum value in the frequency domain amplitude spectrum of the radar return signal, range [k] is the distance dimension in the frequency domain amplitude spectrum of the radar return signal; Where R is the distance to the target, c is the speed of light, S is the frequency modulation slope, N FFT is the number of FFT points.

[0014] Furthermore, in the main control processing module, a parallel weighted fusion operation is performed on the distance, speed and infrared pulse intensity extreme value of the designated target to obtain the temperature of the designated target in the following specific method: Among them, I IR is the extreme value of infrared pulse intensity, W R is the fusion weight coefficient of the distance to the specified target, W V Specifies the fusion weight coefficient of the target's velocity, W I is the fusion weight coefficient of the infrared pulse intensity extreme value, T is the temperature of the specified target, and b is the bias term.

[0015] A radar integrated transmission and reception method based on multi-dimensional coding and joint demodulation includes: generating a composite timing trigger instruction packet according to preset operating parameters of a radar and an infrared detector; generating a transmission timing of a radar transmission signal, a transmission timing of an infrared transmission signal, a reception timing of a radar return signal, a sampling timing of the radar return signal, a reception timing of the infrared return signal, and a sampling timing of the infrared return signal according to the composite timing trigger instruction packet; generating a chaotic sequence according to a logistic mapping chaotic model; generating a chaotic modulated radar signal based on the chaotic sequence; and generating a chaotic modulated digital pulse signal based on the chaotic sequence. A radar transmission signal is generated according to the chaotic modulated radar signal, and the radar transmission antenna transmits the radar transmission signal to a designated target according to a transmission timing of the radar transmission signal. An infrared driving circuit drives an infrared transmitting tube based on the chaotic modulated digital pulse signal to generate an infrared transmission signal, and the infrared transmitting tube transmits the infrared transmission signal to a designated target according to a transmission timing of the infrared transmission signal. receiving a mixed analog signal according to a reception timing of the radar return signal and a reception timing of the infrared return signal, the mixed analog signal including the radar return signal and the infrared return signal reflected from a designated target, sampling the mixed analog signal according to a sampling timing of the radar return signal and the sampling timing of the infrared return signal to obtain a mixed digital signal, performing a time domain cross-correlation operation on the mixed digital signal to obtain a radar correlation function set and an infrared correlation function set; Correlation peak detection is performed based on the radar correlation function set and the infrared correlation function set to obtain the positions of the radar return signal and the infrared return signal in the mixed digital signal respectively, and the radar return signal and the infrared return signal are separated from the mixed digital signal based on the positions.

[0016] The beneficial effects of the present invention are: 1. Through the combined design of a main control processing module and a multi-dimensional encoding transmitter module, this invention achieves hardware sharing between radar and infrared sensors, significantly reducing the duplication of circuits in traditional independent modules. Combined with the multi-stage filtering and isolation mechanism of the power management module, this effectively reduces device size, hardware costs, and energy consumption, enabling miniaturization and lightweighting, meeting the high-integration requirements of scenarios such as industrial inspection and security.

[0017] 2. This invention utilizes chaotic sequence modulation and precise timing control, generating pseudo-random signals through logistic mapping, thereby enhancing the interference resistance of radar and infrared signals. The parallel correlator and hardware comparator array in the joint receive and demodulation module enable rapid separation and noise suppression of mixed signals, resolving the issue of "signal interference leading to misjudgment" in the background art. Furthermore, the electrical isolation and filtering design of the power management module ensures pure power supply, significantly improving signal transmission stability and signal-to-noise ratio.

[0018] 3. The signal processing acceleration module utilizes the FFT calculation and peak hold circuit of the second DSP to achieve real-time feature extraction of radar and infrared return signals, accelerating processing speed. The parallel weighted fusion of the hardware MAC array fully leverages the complementary advantages of radar and infrared, solving the problem of "weak collaborative processing capabilities" and improving target detection accuracy, adapting to complex application scenarios such as intelligent transportation and industrial automation.

[0019] 4. This invention enhances the system's adaptability to environmental changes through dynamic parameter setting and chaotic modulation. The robust design of the power management module and peak hold circuit ensures long-term operational reliability, reduces signal drift and errors, and improves performance consistency in electromagnetic interference environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a system block diagram of the present invention.

[0021] Figure 2 This is the circuit diagram of the power management module.

[0022] Figure 3 This is the circuit diagram of the peak hold circuit. DETAILED DESCRIPTION

[0023] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0024] Example 1 like Figure 1As shown, a radar integrated transmitting and receiving board based on multi-dimensional coding and joint demodulation includes: Power management module, main control module, multi-dimensional coding and transmission module, joint receiving and demodulating module and signal processing acceleration module; The main control processing module includes an ARM processor, FPGA (field programmable gate array), DAC (digital-to-analog converter) and PWM (pulse width modulation). The FPGA includes the FPGA body, the first DSP (digital signal processor), the hardware comparator array and the hardware MAC array (hardware multiplier accumulator array). The multi-dimensional coding transmission module includes a radar millimeter wave chip, a radar transmitting antenna, an infrared driving circuit and an infrared transmitting tube; The joint receiving and demodulating module includes a receiving antenna, an ADC and a parallel correlator; The signal processing acceleration module includes a second DSP and a peak holding circuit; Among them, the main control processing module is used to enable the ARM to generate a composite timing trigger instruction packet according to the preset operating parameters of the radar and infrared detector and send the composite timing trigger instruction packet to the FPGA body. The FPGA body generates the transmission timing of the radar transmission signal, the transmission timing of the infrared transmission signal, the reception timing of the radar return signal, the sampling timing of the radar return signal, the reception timing of the infrared return signal, and the sampling timing of the infrared return signal according to the composite timing trigger instruction packet. The first DSP calculates and generates a chaotic sequence according to the Logistic mapping chaos model. The FPGA body controls the DAC through the IO interface to generate a chaotic modulated radar signal based on the chaotic sequence. The FPGA body controls the PWM through the IO interface to generate a chaotic modulated digital pulse signal based on the chaotic sequence. The multi-dimensional coding transmission module is used to enable the radar millimeter wave chip to generate a radar transmission signal based on the chaotic modulation radar signal. The radar transmission antenna transmits the radar transmission signal to a designated target according to the transmission timing of the radar transmission signal. The infrared driving circuit drives the infrared transmitting tube to generate an infrared transmission signal based on the chaotic modulation digital pulse signal. The infrared transmitting tube transmits the infrared transmission signal to the designated target according to the transmission timing of the infrared transmission signal. The joint receiving and demodulating module is used to enable the receiving antenna to receive a mixed analog signal according to the receiving timing of the radar return signal and the receiving timing of the infrared return signal. The mixed analog signal includes the radar return signal and the infrared return signal reflected from the designated target. The ADC samples the mixed analog signal according to the sampling timing of the radar return signal and the sampling timing of the infrared return signal to obtain a mixed digital signal. The parallel correlator performs a time domain cross-correlation operation on the mixed digital signal to obtain a radar correlation function set and an infrared correlation function set. The main control processing module is further used to perform correlation peak detection based on the radar correlation function set and the infrared correlation function set through the hardware comparator array to obtain the positions of the radar return signal and the infrared return signal in the mixed digital signal, and separate the radar return signal and the infrared return signal from the mixed digital signal based on the positions of the radar return signal and the infrared return signal in the mixed digital signal; The signal processing acceleration module is used to perform FFT calculation on the radar return signal through the second DSP to obtain the distance and speed of the specified target, and input the infrared return signal into the peak holding circuit to obtain the extreme value of the infrared pulse intensity; The main control processing module is also used to perform parallel weighted fusion operations on the distance, speed and infrared pulse intensity extreme value of the specified target through the hardware MAC array to obtain the temperature of the specified target.

[0025] The power management module is used to filter the input voltage, electrically isolate the filtered input voltage through the isolated DC-DC converter U1 to obtain a first-level isolation voltage, filter the first-level isolation voltage, convert the filtered first-level isolation voltage into an analog circuit working voltage through the LDO regulator U2, filter the analog circuit working voltage and connect it to the DAC, PWM, radar millimeter wave chip, infrared drive circuit, ADC, receiving antenna and peak hold circuit, convert the analog circuit working voltage into a digital circuit working voltage through the LDO regulator U3, filter the digital circuit working voltage and connect it to the ARM, FPGA body, first DSP, hardware comparator array and hardware MAC array, parallel correlator and second DSP.

[0026] like Figure 2As shown, one end of the positive electrode of the input power supply V1 is connected to one end of the capacitor C3 and the anode of the diode D1, and the negative electrode of the input power supply V1 is grounded; the other end of the capacitor C3 is grounded; the anode of the diode D1 is connected to the common node of the capacitor C3 and the positive electrode of the input power supply V1, and the cathode of the diode D1 is connected to one end of the inductor L2. The diode D1 is used to prevent power backflow; the other end of the inductor L2 is grounded; one end of the capacitor C4 is connected to one end of the inductor L2 and the input end of the isolated DC-DC converter U1, and the other end of the capacitor C4 is grounded. The capacitor C3, the inductor L2 and the capacitor C4 together constitute an input filter network to filter the input voltage; the isolation The output end of the isolated DC-DC converter U1 is connected to one end of the capacitor C2 and one end of the capacitor C5, and the output voltage is a primary isolation voltage. The ground end of the isolated DC-DC converter U1 is grounded; the other ends of the capacitor C2 and the capacitor C5 are both grounded, and the capacitors C2 and C5 form a primary isolation voltage filter network to filter the primary isolation voltage; the input end of the LDO regulator U2 is connected to one end of the capacitor C5, the output end of the LDO regulator U2 is connected to one end of the inductor L1, and the ground end of the LDO regulator U2 is grounded. The LDO regulator U2 is used to stabilize the primary isolation voltage into the operating voltage of the analog circuit; the other end of the inductor L1 is connected to the ground end of the LDO regulator U2. The inductor L1, the capacitor C1 and the resistor R1 are connected to one end of the capacitor C1, one end of the resistor R1 and the analog circuit power bus; the other end of the capacitor C1 and the other end of the resistor R1 are grounded respectively, and the inductor L1, the capacitor C1 and the resistor R1 together constitute an analog voltage filter network for filtering and damping the analog circuit working voltage output by the LDO voltage regulator U2; the input end of the LDO voltage regulator U3 is connected to the output end of the LDO voltage regulator U2, the output end of the LDO voltage regulator U3 is connected to one end of the capacitor C6, one end of the capacitor C7 and the digital circuit power bus, the ground end of the LDO voltage regulator U3 is grounded, and the LDO voltage regulator U3 is used to stabilize the analog circuit working voltage to Digital circuit operating voltage; the other end of capacitor C6 and the other end of capacitor C7 are both grounded, and capacitor C6 and capacitor C7 together constitute a digital voltage filter network for filtering the digital voltage output by U3; the analog circuit power bus is connected to one end of resistor R1, which is used to provide analog operating voltage for DAC, PWM module, radar millimeter wave chip, infrared drive circuit, ADC, receiving antenna and peak hold circuit; the digital circuit power bus is connected to one end of capacitor C7, which is used to provide digital operating voltage for ARM, FPGA body, first DSP, hardware comparator array, hardware MAC array, parallel correlator and second DSP.

[0027] The isolated DC-DC converter U1 effectively isolates power supply noise and reduces input voltage ripple and electromagnetic interference.

[0028] Through multi-stage filtering (input filtering, post-isolation filtering) and LDO voltage regulation, a pure and stable operating voltage is provided, ensuring the power supply reliability of analog circuits (such as ADCs and radar chips) and digital circuits (such as FPGAs and DSPs). This solves the problem of "poor power supply stability" and improves the long-term operating stability of equipment in complex environments (such as industrial electromagnetic noise), avoiding signal drift and increased detection errors.

[0029] (1) As a preferred embodiment, in the main control processing module, the ARM generates a composite timing trigger instruction packet according to the preset operating parameters of the radar and infrared and sends the composite timing trigger instruction packet to the FPGA body. The specific method for the FPGA body to generate the transmission timing of the radar transmission signal, the transmission timing of the infrared transmission signal, the reception timing of the radar return signal, the sampling timing of the radar return signal, the reception timing of the infrared return signal, and the sampling timing of the infrared return signal according to the composite timing trigger instruction packet is as follows: ARM runs the real-time control software RTOS built into ARM. The real-time control software RTOS generates a composite timing trigger instruction packet according to the preset operating parameters of the radar and infrared. ARM sends the composite timing trigger instruction packet to the FPGA body through the communication interface between ARM and the FPGA body. The preset operating parameters of the radar and infrared include the transmission period, the transmission delay of the radar transmission signal, the transmission delay of the infrared transmission signal, the pulse width of the radar transmission signal, the pulse width of the infrared transmission signal, the receiving window time of the radar return signal, the receiving window time of the infrared return signal, the sampling rate of the radar return signal, and the sampling rate of the infrared return signal. ARM dynamically sets the preset operating parameters of the radar and infrared. The FPGA body generates the transmission timing of the radar transmission signal, the transmission timing of the infrared transmission signal, the reception timing of the radar return signal, the sampling timing of the radar return signal, the reception timing of the infrared return signal, and the sampling timing of the infrared return signal based on the composite timing trigger instruction packet according to the hardware circuit logic built into the FPGA body; The transmission timing of the radar transmission signal refers to that at the beginning of each transmission cycle, after waiting for the radar transmission signal transmission delay time, the radar transmission signal transmission is started, the radar transmission signal transmission duration is equal to the radar transmission signal pulse width, and the radar transmission signal transmission is ended after the radar transmission signal transmission duration ends; The emission timing of the infrared emission signal refers to that at the beginning of each emission cycle, after waiting for the infrared emission signal emission delay time, the infrared emission signal emission is started, the infrared emission signal emission duration is equal to the infrared emission signal pulse width, and the infrared emission signal emission is ended after the infrared emission signal emission duration ends; The radar return signal reception timing refers to the time when the radar transmission signal is completed and the radar return signal is received within the radar return signal reception window time; The sampling timing of the radar return signal refers to setting the sampling time interval according to the radar return signal sampling rate within the radar return signal receiving window; The receiving timing of the infrared return signal refers to the time when the infrared transmission signal is completed and the infrared return signal is received within the infrared return signal receiving window time; The sampling timing of the infrared return signal refers to setting the sampling time interval according to the infrared return signal sampling rate within the infrared return signal receiving window time.

[0030] This system implements strict time-sharing multiplexing and dynamic scheduling of radar and infrared signals, avoiding hardware resource conflicts and signal interference caused by traditional "simple time-sharing multiplexing." Multi-stage filtering (input filtering and post-isolation filtering) and LDO voltage regulation provide a pure, stable operating voltage, ensuring reliable power supply for analog circuits (such as ADCs and radar chips) and digital circuits (such as FPGAs and DSPs). This resolves the issue of poor power supply stability, improves the long-term operational stability of the device in complex environments (such as industrial electromagnetic noise), and prevents signal drift and increased detection errors.

[0031] (2) As a preferred embodiment, in the main control processing module, the first DSP generates a chaotic sequence based on the Logistic mapping chaotic model, the FPGA body controls the DAC through the IO interface to generate a chaotic modulated radar signal based on the chaotic sequence, and the FPGA body controls the PWM through the IO interface to generate a chaotic modulated digital pulse signal based on the chaotic sequence. The specific method is as follows: The Logistic mapping formula is: n+1 =r·X n ·(1-X n ), where X n ∈(0,1) is the current value of the chaotic sequence, r∈(3.57,4] is the chaotic control parameter, the first DSP is initialized according to the preset chaotic sequence initial value X0 and the chaotic control parameter r, and in each calculation cycle, it iterates once according to the Logistic mapping formula to obtain X n+1 , the first DSP obtains the chaotic sequence through continuous iteration; the initial value X0 of the chaotic sequence is dynamically adjusted by ARM.

[0032] The chaotic sequence is mapped to the DAC input range. The DAC converts each chaotic sequence value into a radar analog voltage in sequence at a fixed sampling rate to form a chaotic modulated radar signal. According to the preset chaotic modulated digital pulse signal period, PWM multiplies each chaotic sequence value in the chaotic sequence by the preset chaotic modulated digital pulse signal period in turn to obtain the high-level duration within the preset chaotic modulated digital pulse signal period, and the remaining time within the preset chaotic modulated digital pulse signal period is the low-level duration to obtain the chaotic modulated digital pulse signal.

[0033] The pseudo-random characteristics of chaotic sequences (such as the parameter r∈(3.57,4]) enhance the anti-interference and confidentiality of the signal, and solve the problem of "the signal is susceptible to electromagnetic interference" in the background technology.

[0034] Through digital modulation (PWM generates pulse signals), the signal generation hardware is simplified, resource waste is reduced, and modulation efficiency is improved.

[0035] (3) As a preferred embodiment, in the multi-dimensional coding transmission module, the specific method for enabling the radar millimeter wave chip to generate a radar transmission signal according to the chaotic modulation radar signal is: The radar millimeter wave chip inputs the chaotic modulated radar signal into the voltage-controlled oscillator inside the radar millimeter wave chip, and simultaneously generates the instantaneous frequency f(t)=F+K of the radar transmission signal. mod ·s chaos (t), K mod is the FM sensitivity, F is the center frequency generated by the voltage-controlled oscillator inside the radar millimeter wave chip, f c Continuous wave, s chaos (t) is the chaotic modulated radar signal; The specific method of the infrared driving circuit driving the infrared emitting tube to generate the infrared emission signal based on the chaotic modulated digital pulse signal is as follows: The infrared driving circuit is composed of a MOSFET push-pull circuit and a filter circuit. The MOSFET push-pull circuit converts the chaotic modulated digital pulse signal into a current pulse to turn on the infrared emitting tube to generate an infrared emission signal.

[0036] A voltage-controlled oscillator combined with chaotic modulation achieves broadband frequency-modulated radar signals, enhancing immunity to interference (such as electromagnetic noise in urban environments) and addressing the issue of low resistance to ambient noise. A MOSFET push-pull circuit efficiently drives infrared emissions, reducing energy consumption and circuit area (the "significant increase in hardware costs" mentioned in the background technology) and improving transmission efficiency.

[0037] (4) As a preferred embodiment, in the joint receiving and demodulating module, the parallel correlator performs time domain cross-correlation operation on the mixed digital signal to obtain the radar correlation function set and the infrared correlation function set. The specific method is: Where τ is the time delay variable, which represents the propagation time of the signal to and from the target. R(τ) is the cross-correlation value at the time delay τ. s(t) is the received mixed analog signal. c(t) is the copy of the chaotic coding sequence. T is the integration window length, which is equal to the pulse width of the radar transmission signal or the pulse width of the infrared transmission signal. Finally, we get the radar correlation function set {R(τ1),R(τ2),...,R(τ N )}, τ N is the radar delay variable, the infrared correlation function set {R(τ1),R(τ2),...,R(τ M )}, τ M is the infrared time delay variable.

[0038] Parallel computing significantly accelerates the signal demodulation process, resolving the slow data processing speeds of traditional solutions and improving the real-time processing capabilities of mixed signals. Time-domain cross-correlation effectively separates radar and infrared signal components, reducing mutual interference (such as the impact of infrared harmonics on radar frequency stability) and improving the signal-to-noise ratio.

[0039] (5) As a preferred embodiment, in the main control processing module, the positions of the radar return signal and the infrared return signal in the mixed digital signal are obtained by performing correlation peak detection based on the radar correlation function set and the infrared correlation function set through the hardware comparator array. The specific method for separating the radar return signal and the infrared return signal from the mixed digital signal based on the positions of the radar return signal and the infrared return signal in the mixed digital signal is as follows: The hardware comparator array identifies the maximum value of the radar delay variable and the maximum value of the infrared delay variable in the radar related function set and the infrared related function set, and obtains the radar time window by intercepting the time period equal to the pulse width of the radar transmission signal with the maximum value of the radar delay variable as the center, and obtains the infrared time window by intercepting the time period equal to the pulse width of the infrared transmission signal with the maximum value of the infrared delay variable as the center. The data of the mixed signal in the radar time window is retained, the data outside the window is shielded, and the radar return signal is obtained. The data of the mixed signal in the infrared time window is retained, the data outside the window is shielded, and the infrared return signal is obtained.

[0040] A hardware comparator enables high-speed peak detection, eliminating software processing delays and resolving the issue of low target recognition accuracy, ensuring accurate signal location extraction in noisy environments. A time windowing mechanism shields out-of-window noise, reducing signal distortion and improving target detection stability and accuracy (for example, preventing distance misjudgments in vehicle-mounted systems).

[0041] (6) As a preferred embodiment, in the signal processing acceleration module, the second DSP performs FFT operation on the radar return signal to obtain the frequency domain characteristics of the specified target, and the infrared return signal is input into the peak holding circuit to obtain the infrared pulse intensity extreme value. The specific method is as follows: Where X[k] is the frequency domain complex output of the radar return signal, x[n] is the time domain sampling point sequence of the radar return signal, n is the time domain index, k is the frequency domain index, N is the total number of sampling points, and j is the imaginary unit; Where A[k] is the frequency domain amplitude spectrum of the radar return signal, Re(X[k]) is the real part of the frequency domain complex output of the radar return signal, and Im(X[k]) is the imaginary part of the frequency domain complex output of the radar return signal. Among them, k peak A is the velocity dimension frequency index corresponding to the maximum value in the frequency domain amplitude spectrum of the radar return signal, speed [k] is the velocity dimension in the frequency domain amplitude spectrum of the radar return signal; Where v is the velocity of the specified target, λ is the radar wavelength, and f peak is the peak frequency, f s is the radar return signal sampling rate; Among them, k range A is the frequency index of the distance dimension corresponding to the maximum value in the frequency domain amplitude spectrum of the radar return signal, range [k] is the distance dimension in the frequency domain amplitude spectrum of the radar return signal; Where R is the distance to the target, c is the speed of light, S is the frequency modulation slope, N FFT is the number of FFT points.

[0042] The operational amplifier U4 buffers the infrared return signal and drives the subsequent stage. The output end of the operational amplifier is connected to the anode of the diode D2. When the input signal level is higher than the voltage across the capacitor C8, the diode D2 is turned on to update the peak voltage value. When the input signal level is lower than the holding node voltage, the diode D2 is turned off, disconnecting the input signal path, so that the capacitor C8 maintains the peak voltage value. The peak voltage value of the capacitor C8 is the extreme value of the infrared pulse intensity.

[0043] like Figure 3As shown, the infrared return signal is connected to the non-inverting input terminal of the operational amplifier U4; the output terminal of the operational amplifier U4 is connected to the anode of the diode D2, the inverting input terminal of the operational amplifier U4 is connected to one end of the resistor R3, the negative power supply terminal of the operational amplifier U4 is grounded, the output terminal of the operational amplifier U4 is connected to the anode of the diode D2, and the positive power supply terminal of the operational amplifier U4 is connected to the 5V power supply network. The operational amplifier U4 acts as a buffer to drive the infrared return signal and provide low output impedance; The anode of diode D2 is connected to the output terminal of operational amplifier U4, and the cathode of diode D2 is connected to a common node connected to one end of capacitor C8, one end of resistor R2, and the non-inverting input terminal of operational amplifier U5; the other end of capacitor C8 is grounded; the other end of resistor R2 is grounded; the anode of diode D3 is connected to the inverting input terminal of operational amplifier U4, and the cathode of diode D3 is connected to the output terminal of operational amplifier U4; one end of resistor R3 is connected to the inverting input terminal of operational amplifier U4, and the other end of resistor R3 is grounded and connected to the inverting input terminal of operational amplifier U5; the positive power supply terminal of operational amplifier U5 is connected to the 5V power supply network, the negative power supply terminal of operational amplifier U5 is grounded, and the output terminal of operational amplifier U5 outputs the peak voltage value of capacitor C8.

[0044] The FFT operation and peak-hold circuit work together to efficiently extract signal features, addressing the issue of weak collaborative processing capabilities and accelerating data processing. The peak-hold circuit (which maintains the voltage peak through diode D2 and capacitor C8) ensures stable infrared intensity measurement, preventing baseline drift and improving reliability in dynamic environments.

[0045] (7) As a preferred embodiment, in the main control processing module, a specific method for performing a parallel weighted fusion operation on the distance, speed and infrared pulse intensity extreme value of the designated target through the hardware MAC array to obtain the temperature of the designated target is as follows: Among them, I IR is the extreme value of infrared pulse intensity, W R is the fusion weight coefficient of the distance to the specified target, W V Specifies the fusion weight coefficient of the target's velocity, W I is the fusion weight coefficient of the infrared pulse intensity extreme value, T is the temperature of the specified target, and b is the bias term.

[0046] Hardware-accelerated weighted fusion (MAC array parallel computing) realizes the real-time fusion of multi-sensor data, solves the problem of "difficulty in efficient fusion of multi-source data", and improves the accuracy of target recognition. R ,W V ,W I) can be adjusted dynamically, which enhances the system adaptability and provides high-precision target information output.

[0047] This invention addresses the issues of hardware resource waste and low integration: Addressing the issues of hardware resource waste, large circuit board area, high cost, and limited miniaturization caused by the simple time-division multiplexing or independent processing modes used by traditional transmitter and receiver boards, this patent achieves efficient hardware-level integration of radar, infrared, and visual signals through the innovative design of a multi-dimensional coding transmitter module and a joint receiver and demodulator module. Multi-dimensional coding imparts unique characteristics to radar, infrared, and visual signals, while the joint demodulation circuit utilizes coding correlation to separate signals, reducing duplicate circuit configurations, lowering hardware cost and circuit board area, and meeting the requirements for device miniaturization and integration.

[0048] This invention overcomes the challenges of signal interference and distortion: To address the mutual interference between radar RF signals and infrared, visual, and other signals, as well as signal distortion caused by complex environmental noise, this patent utilizes multidimensional coding modulation technology. Radar signals generate pseudo-random frequency modulation signals based on chaotic sequences, while infrared, visual, and other signals undergo pulse code modulation, giving both signals noise-like characteristics and coding differences, enhancing anti-interference capabilities. Furthermore, the tunable bandpass filter in the combined receive and demodulation module and the demodulation circuit based on a hardware correlator effectively suppress interference, separate signals, ensure signal integrity and accuracy, and improve target detection stability.

[0049] This patent addresses the problem of inefficient signal processing: existing signal processing circuits on transmitter and receiver boards cannot fully utilize the synergistic advantages of radar, infrared sensors, and other sensors. The introduction of a signal processing acceleration module utilizes a dedicated DSP accelerator and hardware acceleration architecture to rapidly complete operations such as signal filtering and feature extraction. The rich signal feature information acquired through multi-dimensional coded modulation is efficiently processed to achieve deep fusion and analysis of multi-source data, improving target recognition and positioning capabilities and providing users with comprehensive and accurate target information.

[0050] This invention improves hardware power supply and reliability deficiencies: Addressing the poor power supply stability and reliability of traditional hardware architectures, this patented design utilizes a layered, isolated power management module. This module utilizes an isolated DC-DC power converter combined with a low-noise LDO, along with multi-stage LC filtering circuits and overvoltage and overcurrent protection components, to effectively suppress power ripple and electromagnetic interference, providing stable, pure power to each module. This design ensures stable operation of radar, infrared, and visual sensors, reduces performance fluctuations, and extends equipment life, meeting the high-reliability requirements of industrial automation, security monitoring, and other applications.

[0051] Any material not described in detail in this specification is prior art known to those skilled in the art. Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0052] Example 2 A radar integrated transmission and reception method based on multi-dimensional coding and joint demodulation includes: generating a composite timing trigger instruction packet according to preset operating parameters of a radar and an infrared detector; generating a transmission timing of a radar transmission signal, a transmission timing of an infrared transmission signal, a reception timing of a radar return signal, a sampling timing of the radar return signal, a reception timing of the infrared return signal, and a sampling timing of the infrared return signal according to the composite timing trigger instruction packet; generating a chaotic sequence according to a logistic mapping chaotic model; generating a chaotic modulated radar signal based on the chaotic sequence; and generating a chaotic modulated digital pulse signal based on the chaotic sequence. A radar transmission signal is generated according to the chaotic modulated radar signal, and the radar transmission antenna transmits the radar transmission signal to a designated target according to a transmission timing of the radar transmission signal. An infrared driving circuit drives an infrared transmitting tube based on the chaotic modulated digital pulse signal to generate an infrared transmission signal, and the infrared transmitting tube transmits the infrared transmission signal to a designated target according to a transmission timing of the infrared transmission signal. receiving a mixed analog signal according to a reception timing of the radar return signal and a reception timing of the infrared return signal, the mixed analog signal including the radar return signal and the infrared return signal reflected from a designated target, sampling the mixed analog signal according to a sampling timing of the radar return signal and the sampling timing of the infrared return signal to obtain a mixed digital signal, performing a time domain cross-correlation operation on the mixed digital signal to obtain a radar correlation function set and an infrared correlation function set; Correlation peak detection is performed based on the radar correlation function set and the infrared correlation function set to obtain the positions of the radar return signal and the infrared return signal in the mixed digital signal respectively, and the radar return signal and the infrared return signal are separated from the mixed digital signal based on the positions.

[0053] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0054] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0055] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0056] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit its scope of protection. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that after reading the present invention, those skilled in the art may still make various changes, modifications or equivalent substitutions to the specific implementation methods of the invention, but these changes, modifications or equivalent substitutions are all within the scope of protection of the pending claims of the invention.

Claims

1. A radar integrated transmitting and receiving board based on multi-dimensional coding and joint demodulation, characterized in that: include: The main control processing module is used to generate a composite timing trigger instruction packet according to the preset operating parameters of the radar and infrared detector, generate the transmission timing of the radar transmission signal, the transmission timing of the infrared transmission signal, the reception timing of the radar return signal, the sampling timing of the radar return signal, the reception timing of the infrared return signal, and the sampling timing of the infrared return signal according to the composite timing trigger instruction packet, generate a chaotic sequence according to the Logistic mapping chaos model, generate a chaotic modulated radar signal based on the chaotic sequence, and generate a chaotic modulated digital pulse signal based on the chaotic sequence; The multi-dimensional coding transmission module is used to generate a radar transmission signal based on the chaotic modulation radar signal. The radar transmission antenna transmits the radar transmission signal to a designated target according to the transmission timing of the radar transmission signal. The infrared driving circuit drives the infrared transmitting tube to generate an infrared transmission signal based on the chaotic modulation digital pulse signal. The infrared transmitting tube transmits the infrared transmission signal to the designated target according to the transmission timing of the infrared transmission signal. The joint receiving and demodulating module is used to receive a mixed analog signal according to the receiving timing of the radar return signal and the receiving timing of the infrared return signal, where the mixed analog signal includes the radar return signal and the infrared return signal reflected from the designated target, sample the mixed analog signal according to the sampling timing of the radar return signal and the sampling timing of the infrared return signal to obtain a mixed digital signal, and perform a time domain cross-correlation operation on the mixed digital signal to obtain a radar correlation function set and an infrared correlation function set; The main control processing module is also used to perform correlation peak detection based on the radar correlation function set and the infrared correlation function set to obtain the positions of the radar return signal and the infrared return signal in the mixed digital signal respectively, and separate the radar return signal and the infrared return signal in the mixed digital signal based on the positions.

2. The radar integrated transmitting and receiving board based on multi-dimensional coding and joint demodulation according to claim 1, characterized in that: Also includes: The signal processing acceleration module is used to obtain the distance and speed of the specified target by performing FFT calculation on the radar return signal, and input the infrared return signal into the peak holding circuit to obtain the extreme value of the infrared pulse intensity; The main control processing module is also used to perform parallel weighted fusion operations on the distance, speed and infrared pulse intensity extreme value of the designated target to obtain the temperature of the designated target.

3. The radar integrated transmitting and receiving board based on multi-dimensional coding and joint demodulation according to claim 2, characterized in that: In the main control processing module, a composite timing trigger instruction packet is generated according to the preset operating parameters of the radar and infrared detector. The specific method for generating the transmission timing of the radar transmission signal, the transmission timing of the infrared transmission signal, the reception timing of the radar return signal, the sampling timing of the radar return signal, the reception timing of the infrared return signal, and the sampling timing of the infrared return signal according to the composite timing trigger instruction packet is as follows: The preset operating parameters of the radar and infrared include the transmission cycle, radar transmission signal transmission delay, infrared transmission signal transmission delay, radar transmission signal pulse width, infrared transmission signal pulse width, radar return signal receiving window time, infrared return signal receiving window time, radar return signal sampling rate, infrared return signal sampling rate; Generate the transmission timing of radar transmission signal, the transmission timing of infrared transmission signal, the reception timing of radar return signal, the sampling timing of radar return signal, the reception timing of infrared return signal, and the sampling timing of infrared return signal based on the composite timing trigger instruction packet; The transmission timing of the radar transmission signal refers to that at the beginning of each transmission cycle, after waiting for the radar transmission signal transmission delay time, the radar transmission signal transmission is started, the radar transmission signal transmission duration is equal to the radar transmission signal pulse width, and the radar transmission signal transmission is ended after the radar transmission signal transmission duration ends; The emission timing of the infrared emission signal refers to that at the beginning of each emission cycle, after waiting for the infrared emission signal emission delay time, the infrared emission signal emission is started, the infrared emission signal emission duration is equal to the infrared emission signal pulse width, and the infrared emission signal emission is ended after the infrared emission signal emission duration ends; The radar return signal reception timing refers to the time when the radar transmission signal is completed and the radar return signal is received within the radar return signal reception window time; The sampling timing of the radar return signal refers to setting the sampling time interval according to the radar return signal sampling rate within the radar return signal receiving window; The receiving timing of the infrared return signal refers to the time when the infrared transmission signal is completed and the infrared return signal is received within the infrared return signal receiving window time; The sampling timing of the infrared return signal refers to setting the sampling time interval according to the infrared return signal sampling rate within the infrared return signal receiving window time.

4. The radar integrated transmitting and receiving board based on multi-dimensional coding and joint demodulation according to claim 3, characterized in that: In the main control processing module, a chaotic sequence is generated according to the Logistic mapping chaotic model, and a chaotic modulated radar signal is generated based on the chaotic sequence. The specific method for generating a chaotic modulated digital pulse signal based on the chaotic sequence is as follows: The Logistic mapping formula is: n+1 =r·X n ·(1-X n ), where X n ∈(0,1) is the current value of the chaotic sequence, r∈(3.57,4] is the chaotic control parameter, after initialization according to the preset chaotic sequence initial value X0 and the chaotic control parameter r, in each calculation cycle, it is iterated once according to the Logistic mapping formula to obtain X n+1 , through continuous iteration, a chaotic sequence is obtained; Each chaotic sequence value is converted into a radar analog voltage in sequence at a fixed sampling rate to form a chaotic modulated radar signal; According to the preset chaotic modulated digital pulse signal period, each chaotic sequence value in the chaotic sequence is multiplied by the preset chaotic modulated digital pulse signal period in turn to obtain the high-level duration within the preset chaotic modulated digital pulse signal period, and the remaining time within the preset chaotic modulated digital pulse signal period is the low-level duration to obtain the chaotic modulated digital pulse signal.

5. The radar integrated transmitting and receiving board based on multi-dimensional coding and joint demodulation according to claim 4, characterized in that: In the multi-dimensional coding transmission module, the specific method of generating a radar transmission signal according to the chaotic modulation radar signal is: The chaotic modulated radar signal is input into the voltage-controlled oscillator inside the radar millimeter-wave chip, and the instantaneous frequency of the radar transmission signal f(t)=F+K is generated at the same time. mod ·s chaos (t), K mod is the FM sensitivity, F is the center frequency f c Continuous wave, s chaos (t) is the chaotic modulated radar signal; The specific method of the infrared driving circuit driving the infrared emitting tube to generate the infrared emission signal based on the chaotic modulated digital pulse signal is as follows: The infrared driving circuit is composed of a MOSFET push-pull circuit and a filter circuit. The MOSFET push-pull circuit converts the chaotic modulated digital pulse signal into a current pulse to turn on the infrared emitting tube to generate an infrared emission signal.

6. The radar integrated transmitting and receiving board based on multi-dimensional coding and joint demodulation according to claim 5, characterized in that: In the joint receiving and demodulating module, the specific method of performing time domain cross-correlation operation on the mixed digital signal to obtain the radar correlation function set and the infrared correlation function set is: Where τ is the time delay variable, which represents the propagation time of the signal to and from the target. R(τ) is the cross-correlation value at the time delay τ. s(t) is the received mixed analog signal. c(t) is the copy of the chaotic coding sequence. T is the integration window length, which is equal to the pulse width of the radar transmission signal or the pulse width of the infrared transmission signal. Finally, we get the radar correlation function set {R(τ1),R(τ2),...,R(τ N )}, τ N is the radar delay variable, the infrared correlation function set {R(τ1),R(τ2),...,R(τ M )}, τ M is the infrared time delay variable.

7. The radar integrated transmitting and receiving board based on multi-dimensional coding and joint demodulation according to claim 6, characterized in that: In the main control processing module, correlation peak detection is performed based on the radar correlation function set and the infrared correlation function set to obtain the positions of the radar return signal and the infrared return signal in the mixed digital signal, respectively. The specific method for separating the radar return signal and the infrared return signal in the mixed digital signal based on the positions is as follows: In the radar correlation function set and the infrared correlation function set, the maximum value of the radar delay variable and the maximum value of the infrared delay variable are identified, and the radar time window is obtained by intercepting a time period equal to the pulse width of the radar transmission signal with the maximum value of the radar delay variable as the center. The infrared time window is obtained by intercepting a time period equal to the pulse width of the infrared transmission signal with the maximum value of the infrared delay variable as the center. The data of the mixed signal in the radar time window is retained, and the data outside the window is shielded to obtain the radar return signal. The data of the mixed signal in the infrared time window is retained, and the data outside the window is shielded to obtain the infrared return signal.

8. The radar integrated transmitting and receiving board based on multi-dimensional coding and joint demodulation according to claim 7, characterized in that: In the signal processing acceleration module, the specific method for obtaining the distance and speed of the designated target by performing FFT operation on the radar return signal is as follows: Where X[k] is the frequency domain complex output of the radar return signal, x[n] is the time domain sampling point sequence of the radar return signal, n is the time domain index, k is the frequency domain index, N is the total number of sampling points, and j is the imaginary unit; Where A[k] is the frequency domain amplitude spectrum of the radar return signal, Re(X[k]) is the real part of the frequency domain complex output of the radar return signal, and Im(X[k]) is the imaginary part of the frequency domain complex output of the radar return signal. Among them, k peak A is the velocity dimension frequency index corresponding to the maximum value in the frequency domain amplitude spectrum of the radar return signal, speed [k] is the velocity dimension in the frequency domain amplitude spectrum of the radar return signal; Where v is the velocity of the specified target, λ is the radar wavelength, and f peak is the peak frequency, f s is the radar return signal sampling rate; Among them, k range A is the frequency index of the distance dimension corresponding to the maximum value in the frequency domain amplitude spectrum of the radar return signal, range [k] is the distance dimension in the frequency domain amplitude spectrum of the radar return signal; Where R is the distance to the target, c is the speed of light, S is the frequency modulation slope, N FFT is the number of FFT points.

9. The radar integrated transmitting and receiving board based on multi-dimensional coding and joint demodulation according to claim 8, characterized in that: In the main control processing module, a parallel weighted fusion operation is performed on the distance, speed, and infrared pulse intensity extreme value of the designated target to obtain the temperature of the designated target in the following specific method: Among them, I IR is the extreme value of infrared pulse intensity, W R is the fusion weight coefficient of the distance to the specified target, W V Specifies the fusion weight coefficient of the target's velocity, W I is the fusion weight coefficient of the infrared pulse intensity extreme value, T is the temperature of the specified target, and b is the bias term.

10. A radar integrated transmission and reception method based on multi-dimensional coding and joint demodulation, characterized in that: include: Generate a composite timing trigger instruction packet according to preset operating parameters of the radar and infrared detector, generate the transmission timing of the radar transmission signal, the transmission timing of the infrared transmission signal, the reception timing of the radar return signal, the sampling timing of the radar return signal, the reception timing of the infrared return signal, and the sampling timing of the infrared return signal according to the composite timing trigger instruction packet, generate a chaotic sequence according to the Logistic mapping chaos model, generate a chaotic modulated radar signal based on the chaotic sequence, and generate a chaotic modulated digital pulse signal based on the chaotic sequence; A radar transmission signal is generated according to the chaotic modulated radar signal, and the radar transmission antenna transmits the radar transmission signal to a designated target according to a transmission timing of the radar transmission signal. An infrared driving circuit drives an infrared transmitting tube based on the chaotic modulated digital pulse signal to generate an infrared transmission signal, and the infrared transmitting tube transmits the infrared transmission signal to a designated target according to a transmission timing of the infrared transmission signal. receiving a mixed analog signal according to a reception timing of the radar return signal and a reception timing of the infrared return signal, the mixed analog signal including the radar return signal and the infrared return signal reflected from a designated target, sampling the mixed analog signal according to a sampling timing of the radar return signal and the sampling timing of the infrared return signal to obtain a mixed digital signal, performing a time domain cross-correlation operation on the mixed digital signal to obtain a radar correlation function set and an infrared correlation function set; Correlation peak detection is performed based on the radar correlation function set and the infrared correlation function set to obtain the positions of the radar return signal and the infrared return signal in the mixed digital signal respectively, and the radar return signal and the infrared return signal are separated from the mixed digital signal based on the positions.

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