Method and apparatus for signal phase compensation, method for signal scrambling and descrambling, sensor

Abstract

The embodiment of the present application discloses a method for signal phase compensation. After receiving a test echo signal reflected by a test target object, a first chirp signal and a second chirp signal are determined from the test echo signal according to a preset sequence code. Among them, the first chirp signal is a signal that has been phase-scrambled, and the second chirp signal is a signal that has not been phase-scrambled. A phase compensation value is determined based on the phase of the first chirp signal and the phase of the second chirp signal. The current echo signal is phase-compensated using the phase compensation value to obtain a compensated signal, so as to facilitate target detection based on the compensated signal. It can be seen that after determining the phase compensation value based on the test echo signal, by using the phase compensation value to phase compensate the current echo signal, the accurate de-scrambling operation of the current echo signal can be effectively achieved, so as to avoid the problem of system phase difference caused by the limitations of hardware equipment, thereby improving the sensor's detection performance of the target object.

Description

[0001] This application claims the priority of a Chinese patent application with the application number 202010130870.6, titled "Method and Device for Signal Encryption / Decryption, Storage Medium and Radar System", which was filed with the Chinese Patent Office on February 28, 2020. The entire content of this application is incorporated herein by reference. Technical Field

[0002] This application relates to the technical field of signal anti-interference, and particularly to a method and device for signal phase compensation, a method for signal encryption / decryption, and a sensor. Background Art

[0003] In traditional radio devices, a separate phase scrambling / descrambling method is generally used to suppress interference.

[0004] However, the separate encryption / decryption structure will generate a system phase difference, which will further reduce the signal-to-noise ratio of the echo signal, increase the false alarm probability, and cause a decrease in the accuracy of detecting targets. Summary of the Invention

[0005] In view of this, embodiments of this application provide a method and device for signal phase compensation, a method for signal encryption / decryption, a computer-readable storage medium, a computer device, a sensor, a radio device and equipment, so as to improve the signal-to-noise ratio of the echo signal by compensating the system phase difference, thereby reducing the system false alarm probability and improving the detection performance of the device for targets.

[0006] To solve the above problems, the technical solutions provided by the embodiments of this application are as follows:

[0007] In the first aspect of the embodiments of this application, a method for signal phase compensation is provided, which can be applied to a sensor. The method includes: for the test echo signal received by the sensor, determining a first chirp signal and a second chirp signal based on the test echo signal; determining a phase compensation value according to the phase of the first chirp signal and the phase of the second chirp signal; and using the phase compensation value to perform phase compensation on the current echo signal received by the sensor to obtain a compensated signal; wherein, the first chirp signal is a signal after phase scrambling, the second chirp signal is a signal without phase scrambling, and the sensor performs target detection based on the compensated signal.

[0008] In this embodiment, upon receiving the test echo signal reflected by the test target object, the first chirp signal subjected to phase scrambling and the second chirp signal not subjected to phase scrambling are determined from the test echo signal according to a preset sequence code. Then, a phase compensation value is determined based on the phases of the first chirp signal and the second chirp signal. Finally, the current echo signal is phase-compensated using the phase compensation value to obtain a compensated signal, so as to facilitate target detection based on the compensated signal. It can be seen that after determining the phase compensation value based on the test echo signal, by using the phase compensation value to phase-compensate the current echo signal, the accurate descrambling operation of the current echo signal can be effectively achieved, so as to avoid the problem of system phase difference caused by the limitations of hardware devices, improve the signal-to-noise ratio of the received current echo signal, and further improve the detection performance of the sensor for the target object.

[0009] In this implementation manner, it can be applied to wireless electrical devices (such as sensors) with scrambling and descrambling separation. Based on the true value of the measurable scrambling phase value at the transmitting end, a preset sequence code can be used to obtain the phase compensation value based on the phases of the phase-scrambled and non-phase-scrambled signals, and the current echo signal is phase-compensated based on this phase compensation value, so as to ensure the compensation of the actual scrambling phase value, reduce the phase error, improve the signal-to-noise ratio of the signal, and further reduce the false alarm probability of the system and improve the detection performance for the target.

[0010] Optionally, the test echo signal is an echo signal formed by the signal transmitted by the sensor after being scrambled according to a preset sequence code and reflected by the test target object; the determining the first chirp signal and the second chirp signal based on the test echo signal includes: performing phase descrambling on the test echo signal according to a preset descrambling phase value to obtain a descrambled signal; and determining the first chirp signal and the second chirp signal based on the preset sequence code and the descrambled signal; wherein, the preset descrambling phase value corresponds to the preset sequence code.

[0011] In this implementation manner, the preset sequence code is used to perform scrambling and descrambling operations on the test signal. Since the preset sequence code matches the test environment and requirements, the phase values of various chirp signals during testing can be obtained quickly and accurately, so as to facilitate the subsequent relatively accurate system phase difference (i.e., the phase compensation value).

[0012] Optionally, the performing phase descrambling on the test echo signal according to a preset descrambling phase value to obtain a descrambled signal includes: performing digital-to-analog conversion and sampling on the test echo signal to obtain a digital test echo signal; and performing phase descrambling on the digital test echo signal according to the preset descrambling phase value to obtain the descrambled signal.

[0013] In this implementation, by performing scrambling and descrambling operations on the test signal based on the same preset sequence code, the phase values of various chirp signals during testing can be accurately obtained, facilitating subsequent more precise system phase difference (i.e., phase compensation value).

[0014] Optionally, determining the first chirp signal and the second chirp signal based on the preset sequence code and the descrambled signal includes: performing a fast Fourier transform in the distance dimension on the descrambled signal to obtain a first signal to be processed; and determining the first chirp signal and the second chirp signal from the first signal to be processed according to the preset sequence code.

[0015] In this implementation, the phase compensation value is obtained based on the result data of the fast Fourier transform in the distance dimension, that is, the phase compensation operation for the system phase difference is realized in the frequency domain.

[0016] Optionally, determining the phase compensation value according to the phase of the first chirp signal and the phase of the second chirp signal includes: determining a first phase value according to the average value of the phase values of the first chirp signals determined according to the preset sequence code; determining a second phase value according to the average value of the phase values of the second chirp signals determined according to the preset sequence code; and taking the difference between the first phase value and the second phase value as the phase compensation value.

[0017] In this implementation, to ensure that the obtained phase compensation value is more accurate, the average phase value corresponding to multiple first chirp signals, that is, the first phase value, and the average phase value corresponding to multiple second chirp signals, that is, the second phase value, can be obtained, and the difference between the first phase value and the second phase value is determined as the phase compensation value.

[0018] Optionally, the preset sequence code includes sequence code "0" and sequence code "1"; among them, the chirp signal corresponding to sequence code "1" is the first chirp signal, and the chirp signal corresponding to sequence code "0" is the second chirp signal.

[0019] In this implementation, since the sequence code corresponds to the chirp signal, the phase compensation value can be obtained very conveniently and quickly.

[0020] Optionally, the preset sequence code is a pseudo-random sequence code.

[0021] Optionally, in the pseudo-random sequence code, the number of sequence code "0" and sequence code "1" is the same.

[0022] Optionally, in the pseudo-random sequence code, the odd-numbered bits are sequence code "0", and the even-numbered bits are sequence code "1".

[0023] Optionally, the phase compensation of the current echo signal received by the sensor using the phase compensation value to obtain a compensated signal includes: before performing a fast Fourier transform in the velocity dimension on the current echo signal, using the phase compensation value to perform the phase compensation on the current echo signal to obtain the compensated signal.

[0024] Optionally, before performing a fast Fourier transform in the velocity dimension on the current echo signal, using the phase compensation value to perform the phase compensation on the current echo signal to obtain the compensated signal includes: after performing analog-to-digital conversion and digital sampling on the current echo signal and before the fast Fourier transform in the velocity dimension, using the phase compensation value to perform the phase compensation to obtain the compensated signal.

[0025] Optionally, after performing analog-to-digital conversion and digital sampling on the current echo signal and before the fast Fourier transform in the velocity dimension, using the phase compensation value to perform the phase compensation to obtain the compensated signal includes: between performing a fast Fourier transform in the range dimension and the fast Fourier transform in the velocity dimension on the current echo signal, using the phase compensation value to perform the phase compensation to obtain the compensated signal.

[0026] In this implementation manner, generally, the signal before performing the fast Fourier transform is referred to as a time-domain signal, and the signal after performing the fast Fourier transform is referred to as a frequency-domain signal. That is, the embodiments of the present application can perform phase compensation on frequency-domain data. At the same time, when performing a fast Fourier transform in the range dimension on the current echo signal, frequency information generated by the distance of the current target object can be obtained to determine the distance of the target object according to the frequency information.

[0027] Optionally, before performing the phase compensation, perform phase de-scrambling on the current echo signal.

[0028] In this implementation manner, the phase compensation method provided in this embodiment can also be used as a supplement to phase de-scrambling. That is, the receiving end first performs phase de-scrambling on the received signal, and then uses the phase compensation method provided in this embodiment to compensate the de-scrambled signal to further compensate for the difference between the scrambled phase value and the de-scrambled phase value, reduce the phase difference, improve the signal-to-noise ratio of the signal, and reduce the false alarm probability.

[0029] In a second aspect of the embodiments of the present application, a method for signal scrambling and descrambling is provided, which can be applied to a sensor. The method includes: performing phase scrambling processing on an initial signal using a current scrambling parameter to generate a transmitted signal; obtaining a current echo signal formed by reflection of the transmitted signal by a current target; and performing descrambling on the current echo signal based on a current descrambling phase value and a phase compensation value after performing analog-to-digital processing on the current echo signal and before performing fast Fourier transform processing in the velocity dimension; wherein the current descrambling phase value corresponds to the current scrambling parameter, and the phase compensation value is used to suppress the system phase difference of the sensor.

[0030] In this implementation manner, by using a phase compensation value set or measured in advance, compensation and descrambling operations are performed on the digital signal of the current echo signal, so that the system phase difference can be effectively removed, and further the accuracy and accuracy of target detection can be improved.

[0031] Optionally, the phase compensation value is a phase compensation value obtained based on the method described in any embodiment of the present application.

[0032] Optionally, after performing analog-to-digital processing on the current echo signal and before performing fast Fourier transform processing in the velocity dimension, performing descrambling on the current echo signal based on a current descrambling phase value and a phase compensation value includes: sequentially performing analog-to-digital processing, sampling processing, fast Fourier transform processing in the distance dimension, and fast Fourier transform processing in the velocity dimension on the current echo signal; and performing descrambling on the current echo signal based on a current descrambling phase value and a phase compensation value between any two processing steps of the analog-to-digital processing, the sampling processing, the fast Fourier transform processing in the distance dimension, and the fast Fourier transform processing in the velocity dimension.

[0033] Optionally, performing descrambling on the current echo signal based on a current descrambling phase value and a phase compensation value includes a first descrambling operation or a second descrambling operation; wherein,

[0034] The first descrambling operation includes: first performing descrambling on the current echo signal based on the current descrambling phase value to obtain a descrambled signal, and then performing phase compensation on the descrambled signal based on the phase compensation value;

[0035] The second descrambling operation includes: first correcting the current descrambling phase value using the phase compensation value to obtain a corrected descrambling phase value, and then performing descrambling on the current echo signal using the corrected descrambling phase value.

[0036] Optionally, when the first descrambling operation is adopted, between the sampling process and the range dimension fast Fourier transform process, the current echo signal is first descrambled based on the current descrambling phase value to obtain a descrambled signal; and after performing the range dimension fast Fourier transform process on the descrambled signal, the phase compensation is performed on the data obtained by the range dimension fast Fourier transform process by using the corrected descrambling phase value, and the velocity dimension fast Fourier transform is performed on the data obtained by the phase compensation.

[0037] Optionally, when the second descrambling operation is adopted, the second descrambling operation is performed between any two of the analog-to-digital process, the sampling process, the range dimension fast Fourier transform process, and the velocity dimension fast Fourier transform process.

[0038] In this implementation manner, the analog current echo signal is converted into a digital signal by performing an analog-to-digital process on the current echo signal. Then, a phase compensation operation is performed on the current echo signal converted into a digital signal to eliminate the scrambling phase, thereby eliminating the system phase difference of the sensor device.

[0039] Optionally, the current scrambling parameter is a current sequence code; wherein, the current sequence code is different from a preset sequence code, and the preset sequence code is used to determine the phase compensation value.

[0040] Optionally, the sensor is a MIMO sensor; wherein, the signal scrambling and descrambling are respectively performed on any transmitting and receiving channels of the MIMO sensor.

[0041] Optionally, the sensor device is a frequency modulated continuous wave (FMCW) radar device; the phase compensation operation may include: for any frame signal in the current echo signal, obtaining the average initial phase of the chirp signals corresponding to the respective code values in the pseudo-random sequence code; and performing phase compensation based on the difference between the average initial phases of the chirp signals corresponding to the respective code values.

[0042] Optionally, the phase compensation operation in the embodiments of the present application may be located between the range dimension fast Fourier transform process and the velocity dimension fast Fourier transform process; specifically, it may be used to obtain the average initial phase of the chirp signals corresponding to the respective code values of the same range gate for any frame in the current echo signal; and perform phase compensation based on the difference between the average initial phases of the chirps corresponding to the respective code values.

[0043] In the third aspect of the embodiments of the present application, a signal phase compensation device is provided, which can be applied to a sensor. The device includes: a first determination unit, configured to determine a first chirp signal and a second chirp signal based on the test echo signal for the test echo signal received by the sensor; a second determination unit, configured to determine a phase compensation value according to the phase of the first chirp signal and the phase of the second chirp signal; and a first compensation unit, configured to perform phase compensation on the current echo signal received by the sensor by using the phase compensation value to obtain a compensated signal; wherein, the first chirp signal is a signal with phase scrambling, the second chirp signal is a signal without phase scrambling, and the sensor performs target detection based on the compensated signal.

[0044] In the fourth aspect of the embodiments of the present application, a computer-readable storage medium is provided. A computer program is stored on the storage medium, and when the computer program is executed by a processor, it implements the signal phase compensation method described in any one of the embodiments of the present application, or the signal scrambling and descrambling method described in any one of the embodiments.

[0045] In the fifth aspect of the embodiments of the present application, a computer device is provided, which may include: a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, it implements the signal phase compensation method described in any one of the embodiments of the present application, or the signal scrambling and descrambling method described in any one of the embodiments.

[0046] In the sixth aspect of the embodiments of the present application, a sensor is provided, which may include: a radio frequency transmission channel, configured to generate an initial signal and perform phase scrambling processing on the initial signal by using current scrambling parameters to generate a transmission signal for transmitting the transmission signal; a radio frequency reception channel, configured to receive a current echo signal formed by the reflection of the transmission signal by a current target; and a signal processor, configured to perform descrambling on the current echo signal based on a current descrambling phase value and a phase compensation value after performing analog-to-digital processing on the current echo signal and before performing fast Fourier processing in the velocity dimension;

[0047] wherein, the current descrambling phase value corresponds to the current scrambling parameter, and the phase compensation value is used to suppress the system phase difference of the sensor.

[0048] Optionally, the sensor is an integrated circuit device.

[0049] Optionally, the integrated circuit is a millimeter-wave radar chip.

[0050] In the seventh aspect of the embodiments of the present application, a radio device is provided, which may include: a carrier; an integrated circuit as described in any embodiment of the present application, disposed on the carrier; an antenna, disposed on the carrier or integrated with the integrated circuit into an integrated device and disposed on the carrier to form an AiP structure; wherein, the integrated circuit is connected to the antenna and is used for transmitting and receiving radio signals.

[0051] In the eighth aspect of the embodiments of the present application, a device is provided, which may include: a device body; and a radio device as described in any embodiment of the present application disposed on the device body; wherein, the radio device is used for target detection and / or communication.

[0052] Specifically, on the basis of the above embodiments, in one embodiment of the present application, the radio device may be disposed outside the device body, in another embodiment of the present application, the radio device may also be disposed inside the device body, and in other embodiments of the present application, a part of the radio device may be disposed inside the device body and a part may be disposed outside the device body. The present application does not limit this and it depends on the specific situation.

[0053] It should be noted that the radio device can realize functions such as target detection and communication by transmitting and receiving signals.

[0054] In an optional embodiment, the above device body may be components and products applied in fields such as smart homes, transportation, smart home appliances, consumer electronics, monitoring, industrial automation, in-cabin detection, and healthcare; for example, the device body may be a smart transportation device (such as a car, bicycle, motorcycle, ship, subway, train, etc.), a security device (such as a camera), a smart wearable device (such as a bracelet, glasses, etc.), a smart home appliance (such as a TV, air conditioner, smart light, etc.), various communication devices (such as a mobile phone, tablet computer, etc.), as well as a barrier gate, smart traffic lights, smart signs, traffic cameras, and various industrial manipulators (or robots), and may also be various instruments for detecting vital sign parameters and various devices equipped with the instrument. The radio device may be the radio device described in any embodiment of the present application. The structure and working principle of the radio device have been described in detail in the above embodiments and will not be elaborated here one by one.

[0055] Thus, the embodiments of the present application have the following beneficial effects:

[0056] After receiving the test echo signal reflected by the test target object, the embodiment of the present application determines the first chirp signal with phase scrambling and the second chirp signal without phase scrambling from the test echo signal according to a preset sequence code (such as a pseudo-random sequence code, etc.). After determining the above two different chirp signals, the phase difference between the two signals, that is, the phase compensation value, is determined according to the first chirp signal and the second chirp signal. Finally, the test echo signal is phase-compensated by using the phase compensation value. Specifically, when performing a descrambling operation on the current echo signal, the phase compensation value can be used to phase-compensate the current echo signal, so that in the case of a traditional scrambling / descrambling separation structure, correct descrambling can be achieved by phase-compensating the current echo signal, avoiding the problem of system phase difference caused by the limitations of hardware devices, improving the signal-to-noise ratio of the received signal, and further improving the detection performance of the target object. Description of the Drawings

[0057] Figure 1 Schematic diagram of a phase scrambling radar system;

[0058] Figure 2 Schematic diagram of the principle of phase scrambling at the transmitting end;

[0059] Figure 3a Schematic diagram of the digital baseband processing flow;

[0060] Figure 3b Schematic diagram of the principle of phase descrambling at the receiving end;

[0061] Figure 3c Schematic diagram of the phase difference between the transmitting and receiving scrambling / descrambling;

[0062] Figure 3d Schematic diagram of the influence of the phase difference on the false alarm probability;

[0063] Figure 4 Flowchart of a signal phase compensation method provided by an embodiment of the present application;

[0064] Figure 5 Schematic diagram of a phase compensation principle provided by an embodiment of the present application;

[0065] Figure 6 Another schematic diagram of a phase compensation principle provided by an embodiment of the present application;

[0066] Figure 7 Another schematic diagram of a phase compensation principle provided by an embodiment of the present application;

[0067] Figure 8 Another schematic diagram of a phase compensation principle provided by an embodiment of the present application;

[0068] Figure 9A structural diagram of a multi - antenna radar system provided by an embodiment of the present application;

[0069] Figure 10 A flowchart of a signal scrambling and descrambling method provided by an embodiment of the present application;

[0070] Figure 11 A structural diagram of a signal phase compensation device provided by an embodiment of the present application;

[0071] Figure 12 A structural diagram of a sensor provided by an embodiment of the present application. Detailed implementation manners

[0072] To make the above - mentioned objects, features and advantages of the present application more obvious and understandable, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings and specific implementation manners.

[0073] To facilitate the understanding of the technical solutions provided by the embodiments of the present application, the following will take the radar as an example for illustration.

[0074] With the development of radar technology, the tasks of radar can not only measure the distance, azimuth and elevation angle of the target, but also measure the target speed, and obtain more information about the target from the echo signal.

[0075] To improve the accuracy of radar in measuring the target and avoid interference, generally, the phase scrambling method can be adopted, for example, for the transmitting and receiving ends of the radar system, a separate phase scrambling / descrambling method can be used to suppress interference.

[0076] However, traditional phase scrambling will generate a system phase difference, which will further reduce the signal - to - noise ratio of the echo signal, increase the false alarm probability of the radar system, and cause the accuracy of radar in detecting the target to decline.

[0077] Among them, phase scrambling means that the transmitting end uses a preset sequence code such as a pseudo - random sequence code to disrupt the initial phase of the chirp signal in the input initial signal. Specifically, as shown in Figure 1-2 The phase of the chirp signal corresponding to "0" in the pseudo - random sequence code remains unchanged as Φ 1 , and the phase of the chirp signal corresponding to "1" in the pseudo - random sequence code is scrambled, and the phase becomes Φ 2 . Among them, |Φ 1 - Φ 2 | = π. As shown in Figure 1As shown, the top waveform is the time-frequency variation curve of the chirp signal, the bottom one is the pseudo-random sequence code, and the middle part is the phase change of the transmitted signal. It can be seen that the phase of the transmitted signal corresponds to the pseudo-random sequence code. The phase of the transmitted signal corresponding to "0" in the pseudo-random sequence code remains unchanged, and the phase of the transmitted signal corresponding to "1" in the pseudo-random sequence code is flipped by plus or minus 180°.

[0078] Phase de-scrambling means that since the phase scrambling at the transmitting end changes the phase of the original signal, but this scrambling is known. After receiving the signal, the receiving end uses the pseudo-random sequence code to perform an operation of multiplying the chirp signal corresponding to "1" in the pseudo-random sequence code by "-1" to remove the scrambling. Among them, the phase de-scrambling operation is located in Figure 2 the digital baseband processing of the radar system shown. Specifically, as Figure 3a shown in the schematic diagram of the digital baseband processing structure, the digital signal after analog-to-digital conversion is sampled, and then the sampled signal is phase de-scrambled. The de-scrambling principle is as Figure 3b shown. For the chirp signal corresponding to "1" in the pseudo-random sequence code, it is multiplied by "-1", and the chirp signal corresponding to "0" in the pseudo-random sequence code does not undergo a change operation. Among them, based on the signal after phase de-scrambling, Fourier transform (fast fourier transform, FFT), constant false-alarm rate (CFAR), and direction of arrival (DOA) and other processes are performed in sequence, and then information such as the distance, speed, and angle of the target is obtained.

[0079] Among them, the false alarm probability refers to the probability that in a radar system, it is misjudged that there is a target when there is actually no target.

[0080] In actual applications, due to the limitations of the radar system itself, when the transmitting end performs phase scrambling, it cannot reach the preset scrambling threshold, while the receiving end still performs de-scrambling according to the de-scrambling threshold during de-scrambling, resulting in a difference between the actual scrambling phase value and the de-scrambling phase value, and further resulting in a phase difference between the chirp signal without scrambling and the chirp signal after de-scrambling. For example, the theoretical scrambling phase value is 180°, and when the transmitting end performs scrambling, when scrambling the transmitted analog signal by phase shifting, the actual scrambling phase value is 170°. When the receiving end performs de-scrambling, it performs de-scrambling on the digital signal and can achieve 180° de-scrambling. Therefore, there is a 10° system phase difference. As Figure 3c, Waveform 1 is the signal waveform corresponding to the actual scrambling phase value, where the scrambling value Φ2 < π, and waveform 2 is the signal waveform corresponding to the theoretical scrambling phase value, where the scrambling value Φ2 = π. There is a system phase difference between them, which will cause the signal-to-noise ratio of the detected received signal to decrease, thereby increasing the false alarm probability and affecting the radar's target detection performance. As Figure 3d shown, the greater the system phase difference, the greater the false alarm probability.

[0081] The traditional method to reduce the phase difference is to improve the structure of the transmitting end so that the scrambling phase value is as close as possible to the scrambling threshold. However, this method has high requirements for the performance of RF devices and is difficult to implement.

[0082] Based on this, the embodiments of the present application provide a phase compensation method at the receiving end. This method is based on the true value of the measurable scrambling phase value at the transmitting end, uses the true value of the scrambling phase for phase compensation, and then performs phase descrambling, thereby ensuring the compensation for the actual scrambling phase value, reducing the phase difference, increasing the signal-to-noise ratio of the signal, and thus reducing the false alarm probability of the system and improving the radar's target detection performance. It can be seen that through the method provided by the embodiments of the present application, the hardware performance requirements for the transmitting end are relatively low, enabling the receiving end to flexibly support the descrambling of signals with different scrambling phases.

[0083] Based on the above description, the signal phase compensation method provided by the embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0084] See Figure 4 , which is a flowchart of a signal phase compensation method provided by an embodiment of the present application. As Figure 4 shown, this method is applied to the receiving end and may include:

[0085] S401: For any test echo signal, determine a first chirp signal and a second chirp signal from the test echo signal according to a preset sequence code such as a pseudo-random sequence code.

[0086] In this embodiment, for any test echo signal received by the receiving end, the same operation is performed, that is, a first chirp signal and a second chirp signal are determined from the test echo signal according to the pseudo-random sequence code. That is, the signal that has been phase-scrambled at the transmitting end and the signal that has not been phase-scrambled at the transmitting end are found from the test echo signal. Among them, the first chirp signal is the signal that has been phase-scrambled based on the pseudo-random sequence code, and the second chirp signal is the signal that has not been phase-scrambled based on the pseudo-random sequence code.

[0087] It can be understood that when the transmitting end performs phase scrambling, generally, the chirp signal corresponding to "1" in the pseudo-random sequence code is phase-scrambled, and the chirp signal corresponding to "0" is not phase-scrambled. Since the same pseudo-random sequence code is used at the transmitting end and the receiving end, the receiving end can use the pseudo-random sequence code to determine the chirp signal that has undergone phase scrambling and the chirp signal that has not undergone phase scrambling from the test echo signal. That is, the chirp signal corresponding to "1" in the pseudo-random sequence code is determined as the first chirp signal, and the chirp signal corresponding to "0" in the pseudo-random sequence code is determined as the second chirp signal. For example, if the pseudo-random sequence code is 01010101, in the test echo signal, the chirp signals corresponding to the odd positions are the first chirp signals, and the chirp signals corresponding to the even positions are the second chirp signals. Of course, in some other alternative embodiments, the chirp signal corresponding to "0" in the pseudo-random sequence code can also be phase-scrambled, and then the chirp signal corresponding to "1" in the pseudo-random sequence code is the signal that has not been phase-scrambled. Among them, the number of sequence codes "0" and sequence codes "1" in the pseudo-random sequence is usually the same.

[0088] Among them, the test echo signal is the echo signal formed by the signal transmitted by the sensor after being scrambled based on the preset sequence code and reflected by the test target. The sensor determines the first chirp signal and the second chirp signal based on the test echo signal, specifically including: performing phase descrambling on the test echo signal according to the preset descrambling phase value to obtain the descrambled signal; determining the first chirp signal and the second chirp signal based on the preset sequence code and the descrambled signal. Among them, the preset descrambling phase value corresponds to the preset sequence code. For example, the preset descrambling phase value corresponding to "1" in the preset sequence code is "180°", and the preset descrambling phase value corresponding to "0" in the preset sequence code is "0°". That is, the sensor first uses the preset descrambling phase value (such as the descrambling threshold) to descramble the test echo signal to obtain the descrambled signal, and then determines the first chirp signal and the second chirp signal from the descrambled signal according to the preset sequence code.

[0089] Specifically, before the sensor descrambles the test echo signal, it can first perform digital-to-analog conversion and sampling on the test echo signal to obtain a digital test echo signal; then perform phase descrambling on the digital test echo signal according to the preset descrambling phase value to obtain the descrambled signal. In this implementation manner, performing the add-descrambling operation on the digital test echo signal based on the preset descrambling phase value can accurately obtain the phase values of various chirp signals during the test, so as to obtain a more accurate system phase difference (i.e., the phase compensation value) subsequently.

[0090] To implement the phase compensation operation in the frequency domain, after the sensor obtains the descrambled signal, it performs a fast Fourier transform on the descrambled signal in the distance dimension to obtain the first signal to be processed; the first chirp signal and the second chirp signal are determined from the first signal to be processed according to the preset sequence code. In this implementation manner, the phase compensation value is obtained based on the result data of the fast Fourier transform in the distance dimension, that is, the phase compensation operation for the system phase difference is implemented in the frequency domain.

[0091] S402: Determine the phase compensation value according to the phase of the first chirp signal and the phase of the second chirp signal.

[0092] After the first chirp signal and the second chirp signal are determined, the phase compensation value used for subsequent phase compensation can be determined by using the phase values of the two chirp signals. It can be understood that since the phase of the first chirp signal is scrambled and the phase of the second chirp signal is not scrambled, the phase scrambling value corresponding to the scrambling at the transmitting end can be obtained by subtracting the two, and this phase scrambling value is the phase compensation value.

[0093] It should be noted that since the transmitting end sends a detection signal, one frame of the detection signal includes multiple chirp signals. That is to say, when the receiving end receives the test echo signal reflected by the test target, the test echo signal includes multiple chirp signals, and the multiple chirp signals include the first chirp signal and the second chirp signal. Therefore, the receiving end can determine multiple first chirp signals and multiple second chirp signals. Then, when determining the phase compensation value according to the first chirp signal and the second chirp signal, the phase compensation value can be determined according to the average value of the phase values of the first chirp signal and the average value of the phase values of the second chirp signal. Specifically: the average value of the phase values of each first chirp signal determined according to the preset sequence code is determined as the first phase value; the average value of the phase values of each second chirp signal determined according to the preset sequence code is determined as the second phase value; the phase compensation value is determined according to the first phase value and the second phase value. For example, the average value of the chirp signal after phase scrambling is The average value of the chirp signal without phase scrambling is Then the phase compensation value is

[0094] In addition, in the embodiment of the present application, for the phase compensation value measurement step, a "strong target" can be used in a dark room to obtain the test echo signal, or in a relatively ideal test environment, such as in a relatively open area, there is only one or a type of "strong target" to obtain the test echo signal, that is, the data of the "strong target" in the obtained test echo signal can more realistically reflect the phase difference of the system. Among them, the "strong target" can be considered as the "target" in the test environment. Compared with the environmental objects, the energy of the echo signal reflected is much greater than that of other environmental objects, and the influence of other environmental objects on the phase error of the current test system can be ignored.

[0095] In an optional embodiment, after obtaining the above-mentioned phase compensation value (i.e., the system phase difference), in subsequent practical applications, it is only necessary to call up the phase compensation value for compensation operation. Alternatively, according to actual needs, the system phase difference can be tested again after a predetermined time period to update and correct the phase compensation value, so as to ensure the accuracy and real-time performance of the system phase difference compensation.

[0096] S403: Perform phase compensation on the current echo signal using the phase compensation value to obtain a compensated signal.

[0097] After the phase compensation value is obtained through the above operation, the sensor can detect the target based on the transmitted signal scrambled by the current scrambling parameters, and receive the current echo signal formed by the reflection of the target object. After the sensor receives the current echo signal, the phase compensation value can be used to perform phase compensation on the current echo signal. Specifically, the receiving end uses the phase compensation value to perform phase compensation on the current echo signal. It can be understood that when the scrambled phase value corresponding to the transmitting end is Φ, the corresponding phase compensation value is -Φ, and the disturbance is removed. Specifically, the sensor can also first use the descrambling value to phase descramble the current echo signal, obtain the descrambled signal, and then use the phase compensation value to phase compensate the descrambled signal.

[0098] It is understandable that after receiving the current echo signal, the sensor can perform a series of processing on the current echo signal to obtain relevant information of the target object according to the processing results. Among them, the series of processing includes analog-to-digital conversion, sampling, fast Fourier transform in distance dimension, fast Fourier transform in speed dimension, etc. Among them, the phase compensation operation can be performed between any two of the above processing steps. That is, the phase compensation can be performed before the sensor performs fast Fourier transform in speed dimension on the current echo signal, so as to perform fast Fourier transform in speed dimension on the compensated signal.

[0099] One way is to perform phase compensation on the current echo signal after analog-to-digital conversion and digital sampling and before performing fast Fourier transform in the range dimension to obtain a compensated signal. Specifically, perform fast Fourier transform in the range dimension on the compensated signal to obtain the frequency information generated by the distance of the target object, thereby determining the distance of the target object. Specifically, a frequency-modulated continuous wave radar can obtain the distance information of the target by comparing the difference between the frequency of the echo signal (received signal) at any moment and the frequency of the transmitted signal at this moment. The distance is proportional to the frequency difference between the two. Therefore, for determining the distance of the target object based on the frequency information generated by the distance of the target object, reference can be made to traditional calculation methods, which will not be elaborated in this embodiment. In addition, after performing fast Fourier transform in the range dimension on the compensated signal, fast Fourier transform can also be performed on the transformed signal in the velocity dimension to obtain the frequency information generated by the movement of the target object to determine the velocity of the target object. That is, the receiving end can also calculate the velocity of the target object based on the frequency difference caused by the movement of the target object. The specific calculation method can refer to the determination method of traditional frequency-modulated continuous wave radar, which will not be elaborated in this embodiment.

[0100] Another way is to perform phase compensation using the phase compensation value to obtain a compensated signal after performing fast Fourier transform in the range dimension on the current echo signal. In this implementation, first perform fast Fourier transform in the range dimension on the current echo signal, then perform phase compensation to obtain a compensated signal, and then perform fast Fourier transform in the velocity dimension on the compensated signal.

[0101] Generally, the signal before performing fast Fourier transform is called a time-domain signal, and the signal after performing fast Fourier transform is called a frequency-domain signal. That is, the embodiments of the present application can perform phase compensation on frequency-domain data. At the same time, when performing fast Fourier transform in the range dimension on the current echo signal, the frequency information generated by the distance of the current target object can be obtained to determine the distance of the target object based on this frequency information.

[0102] Based on the above description, after the receiving end receives the test echo signal reflected by the target object, it determines the first chirp signal and the second chirp signal from the test echo signal according to the pseudo-random sequence code. Among them, the first chirp signal is a signal with phase scrambling, and the second chirp signal is a signal without phase scrambling. After determining the above two different chirp signals, the phase difference between the two signals, that is, the phase compensation value, is determined according to the first chirp signal and the second chirp signal. Finally, the current echo signal (the signal reflected by the target object) is phase-compensated by using the phase compensation value to obtain the compensated signal. It can be seen that through the phase compensation method provided by the embodiments of the present application, without changing the existing structure of the transmitting end, correct descrambling can be achieved by phase-compensating the signal at the receiving end, avoiding the problem that the scrambling value at the transmitting end is different from the descrambling value at the receiving end due to the limitations of hardware devices, improving the signal-to-noise ratio of the received signal, and further improving the detection performance of the radar for the target object.

[0103] To facilitate the understanding of a series of operations performed by the sensor after receiving the current echo signal, the following will be described with reference to the accompanying drawings.

[0104] As Figure 5 shown in the processing flow, where 1D-FFT represents the fast Fourier transform of the signal in the range dimension, and 2D-FFT represents the fast Fourier transform of the signal after the 1-FFT transform in the velocity dimension. The receiving end can also calculate the deflection angle of the target object relative to the radar based on the range and velocity information of the target object, that is, realize angle measurement. Specifically, the Constant False Alarm Rate (CFAR) module can find the target frequency points that can reflect the target range / velocity from the two-dimensional frequency map output by the two fast Fourier transforms; then, the Direction of Arrival (DOA) module calculates the angle of the target object by using the phase difference of different receiving channels at the same target frequency point.

[0105] As Figure 6 shown in the processing process, when the current echo signal is obtained, before phase-compensating the current echo signal, a fast Fourier transform can be performed first. Specifically, a fast Fourier transform in the range dimension (i.e., 1D-FFT) is performed on the current echo signal to obtain the first current echo signal; then, the first current echo signal is phase-compensated by using the phase compensation value to obtain the compensated signal, and then a two-dimensional Fourier transform (i.e., 2D-FFT) is performed based on the compensated signal to obtain the data in the velocity dimension, and subsequent CFAR, DOA, etc. operations are continued to obtain various parameter information of the target.

[0106] Specifically, the first chirp signal in the first current echo signal is phase-compensated by using the phase compensation value. After obtaining the compensated signal, a fast Fourier transform in the velocity dimension can be performed on the signal to obtain the frequency information generated by the movement of the target object, so as to determine the velocity of the target object. That is, by performing a second fast Fourier transform on the compensated signal, the frequency information generated by the movement of the target object is obtained, and the velocity of the movement of the target object is determined by using this frequency information. Further, the receiving end can determine the angle of arrival (i.e., DOA) of the target object according to the frequency information generated by the movement of the target object and the frequency information generated by the distance of the target object. That is, the receiving end can determine the angle of the target object relative to the radar according to the above two frequency information.

[0107] As Figure 7 For the processing process shown, the phase compensation method provided in this embodiment can also be used as a supplement to phase de-scrambling. That is, the receiving end first performs phase de-scrambling on the received signal, and then uses the phase compensation method provided in this embodiment to compensate the de-scrambled signal to further compensate for the difference between the scrambled phase value and the de-scrambled phase value. Specifically, the receiving end determines a third chirp signal and a fourth chirp signal from the current echo signal according to the current sequence code. Among them, the third chirp signal is a signal phase-scrambled based on the current sequence code, and the fourth chirp signal is a signal not phase-scrambled based on the current sequence code; the third chirp signal in the current echo signal is phase-de-scrambled by using the de-scrambling phase value (i.e., the de-scrambling phase value corresponding to the above current sequence code) to obtain the de-scrambled current signal, and the de-scrambled current echo signal is phase-compensated by using the phase compensation value, thereby completely eliminating the phase difference. For example, when the transmitting end performs phase scrambling on the transmitted signal, the corresponding theoretical phase scrambling value is 180°, but due to system errors, the actual phase scrambling value is 170°, and when the receiving end performs phase de-scrambling on the received signal, the corresponding preset phase de-scrambling value is 180° (corresponding to the theoretical phase scrambling value), then there is a 10° phase difference. Then, by using the phase compensation method, it can be determined that the phase difference between the third chirp signal and the fourth chirp signal is 10°, and then the third chirp signal is compensated by 10°, thereby eliminating the influence of the system phase difference, improving the signal-to-noise ratio of the signal, reducing the false alarm probability, and thus improving the radar detection performance.

[0108] In addition, in this embodiment, the compensated signal can also be used to determine the distance and speed of the target object. Specifically, a fast Fourier transform (FFT) is performed on the compensated signal in the distance dimension to obtain the frequency information generated by the distance of the target object, so as to determine the distance of the target object. In addition, an FFT is performed on the signal after the FFT in the distance dimension in the speed dimension to obtain the frequency information generated by the movement of the target object, so as to determine the speed of the target object. Optionally, the angle of the target object is determined using the frequency information generated by the distance of the target object and the frequency information generated by the movement of the target object.

[0109] As Figure 8 shown in the processing procedure, if the current echo signal for which phase compensation is performed is a signal obtained after phase de-scrambling, then before performing phase compensation on the current echo signal, a fast Fourier transform can also be performed on the current echo signal in the distance dimension to obtain a second current echo signal; the second current echo signal is phase-compensated using the phase compensation value to obtain the compensated signal. Specifically, the second current echo signal is phase-compensated using the phase compensation value to obtain the compensated signal. It can be understood that when performing a fast Fourier transform on the current echo signal in the distance dimension, the frequency information generated by the distance of the target object can be obtained, and then the distance of the target object relative to the radar can be determined based on this frequency information.

[0110] Optionally, after obtaining the compensated signal, a fast Fourier transform can be performed on the compensated signal in the speed dimension to obtain the frequency information generated by the movement of the target object, so as to determine the movement speed of the target object based on this frequency information. In addition, when obtaining the frequency information generated by the movement of the target object and the frequency information generated by the distance of the target object, the deflection angle of the target object can also be determined based on the above two frequency information.

[0111] It should be noted that in practical applications, the radar can be either a single transmit antenna and a single receive antenna (i.e., a 1 transmit and 1 receive antenna), or multiple transmit antennas and multiple receive antennas (such as a MIMO antenna). As Figure 9 shown in the multi-antenna phase-scrambled radar system. For a device with at least two transmit antennas, a time-division transmission method can be used to enable each transmit antenna to sequentially transmit a chirp signal with phase scrambling according to a period, and the receiving end performs phase compensation on the chirp signal corresponding to "1" according to the pseudo-random sequence code used for scrambling. Among them, the phase compensation value is determined by the phase scrambling values corresponding to different transmit antennas. Among them, Figure 9 the structure of the digital baseband processing in Figures 5-8 any processing flow, and the specific implementation can refer to the above description, which will not be elaborated in this embodiment.

[0112] Of course, the radar can also use the code division transmission method to enable multiple transmitting antennas to simultaneously transmit chirp signals with phase scrambling. For any receiving antenna, the receiving end compensates the phase of the chirp signals corresponding to "1" according to the pseudo-random sequence code used during scrambling. Among them, the phase compensation value is determined by the phase scrambling value corresponding to different encodings of the transmitting antenna.

[0113] In addition, the embodiment of the present application also provides a signal scrambling and descrambling method, which will be described below with reference to the accompanying drawings.

[0114] See Figure 10 , which is a flowchart of a signal scrambling and descrambling method provided by the embodiment of the present application. As Figure 10 shown, this method can be applied to sensor devices such as radars. The method includes:

[0115] S1001: The transmitting end performs phase scrambling processing on the initial signal using the current scrambling parameter to generate a transmitted signal.

[0116] That is, the phase scrambling module at the transmitting end of the radar system can perform phase scrambling processing on the initial signal generated by the local oscillator according to the preset current scrambling parameter, thereby obtaining the transmitted signal. In practical applications, to ensure that the transmitted signal can detect the target object, before transmission, the transmitted signal is subjected to power amplification processing and then sent out through the transmitting antenna.

[0117] Among them, the current scrambling parameter can be the current sequence code, which is different from the preset sequence code. The preset sequence code is used to determine the phase compensation value. That is, the preset sequence code used during testing is different from the current sequence code used in actual target detection.

[0118] S1002: Obtain the current echo signal formed by the reflection of the transmitted signal by the detected target.

[0119] S1003: After performing analog-to-digital processing on the current echo signal and before performing fast Fourier processing in the velocity dimension, descramble the current echo signal according to the current descrambling phase value and the phase compensation value.

[0120] In this embodiment, when the receiving end receives the current echo signal returned by the target, it first performs analog-to-digital processing on the current echo signal to convert the analog current echo signal into a digital signal. Then, phase descrambling and phase compensation operations are performed on the current echo signal converted into a digital signal to eliminate the scrambling phase and the system phase difference of the radar device. Among them, the current descrambling phase value used for phase descrambling corresponds to the current scrambling parameter, and the phase compensation value is used to suppress the system phase difference of the sensor. The phase compensation value can be determined by Figure 4 the above embodiment.

[0121] In a possible implementation, after receiving the current echo signal, the receiving end can successively perform operations such as analog-to-digital processing, sampling processing, fast Fourier transform processing in the range dimension, and fast Fourier transform processing in the velocity dimension; meanwhile, between any two processing steps of analog-to-digital processing, sampling processing, fast Fourier transform processing in the range dimension, and fast Fourier transform processing in the velocity dimension, the current echo signal is de-scrambled based on the current de-scrambling phase value and the phase compensation value to perform de-scrambling, phase de-scrambling, and eliminate the system phase error. Among them, sampling processing refers to sampling the current echo signal converted into a digital signal to obtain valid data, and then performing processing such as fast Fourier transform in the range dimension on the sampled signal.

[0122] Specifically, de-scrambling the current echo signal based on the current de-scrambling phase value and the phase compensation value includes a first de-scrambling operation or a second de-scrambling operation. Among them, the first de-scrambling operation includes: first de-scrambling the current echo signal based on the current de-scrambling phase value to obtain a de-scrambled signal, and then performing phase compensation on the de-scrambled signal based on the phase compensation value. The second de-scrambling operation includes: first correcting the current de-scrambling phase value using the phase compensation value to obtain a corrected de-scrambling phase value, and then de-scrambling the current echo signal using the corrected de-scrambling phase value.

[0123] Optionally, when the first de-scrambling operation is adopted, between sampling processing and fast Fourier transform processing in the range dimension, the current echo signal can be first de-scrambled based on the current de-scrambling phase value to obtain a de-scrambled signal; after performing fast Fourier transform processing in the velocity dimension on the de-scrambled signal, the data obtained by fast Fourier transform processing in the range dimension is then phase-compensated using the corrected de-scrambling phase value, and fast Fourier transform processing in the velocity dimension is performed on the data obtained by phase compensation.

[0124] Optionally, when the second de-scrambling operation is adopted, the second de-scrambling operation is performed between any two processing steps of analog-to-digital processing, sampling processing, fast Fourier transform processing in the range dimension, and fast Fourier transform processing in the velocity dimension.

[0125] It should be noted that the phase compensation operation provided in this embodiment can be applied not only to sensor devices with a single antenna, but also to multiple transmit and receive antenna (Multiple-Input Multiple-Output, MIMO) sensors. When applied to MIMO sensors, the phase compensation operation is performed separately for any transceiver channel of the MIMO sensor. That is, for any transceiver channel, phase compensation is performed separately. Specifically, to improve the processing efficiency, phase compensation can be performed based on the transmit channel. In this case, the same phase compensation value is used for the transmit-receive channels formed by the same transmit channel for phase compensation operations. To further improve the efficiency, the same phase compensation value can also be used for each transmit-receive channel for phase compensation operations, provided that the difference between the system phase errors between different transmit channels is within an acceptable range.

[0126] In addition, when performing phase compensation for a MIMO sensor, phase compensation can also be performed separately for different transmit antennas of the MIMO sensor. The phase scrambling values corresponding to the same transmit antenna are the same, and different phase scrambling values corresponding to different transmit antennas. The receiving end determines the phase scrambling values corresponding to each transmit antenna, that is, the phase compensation values, and then uses the phase compensation values for phase compensation.

[0127] It should be noted that the specific implementation of the phase compensation operation in this embodiment can refer to the compensation method provided in the previous method embodiment, and will not be elaborated here in this embodiment.

[0128] Based on the above description, through the method provided in this embodiment, phase de-scrambling can be achieved by performing a phase compensation operation on the echo signal to eliminate the system phase difference and improve the signal-to-noise ratio.

[0129] Based on the above method embodiment, the present application provides a signal phase compensation device and a sensor, which will be described below with reference to the accompanying drawings respectively.

[0130] See Figure 11 , which is a structural diagram of a signal phase compensation device provided in an embodiment of the present application. The device is applied to a sensor and may include:

[0131] A first determination unit 1101, configured to determine a first chirp signal and a second chirp signal based on the test echo signal received by the sensor;

[0132] A second determination unit 1102, configured to determine a phase compensation value according to the phase of the first chirp signal and the phase of the second chirp signal; and

[0133] A first compensation unit 1103, configured to perform phase compensation on the current echo signal received by the sensor by using the phase compensation value to obtain a compensated signal;

[0134] Among them, the first chirp signal is a phase-scrambled signal, the second chirp signal is an un-phase-scrambled signal, and the sensor performs target detection based on the compensated signal.

[0135] Optionally, the test echo signal is an echo signal formed by the signal transmitted by the sensor after being scrambled based on a preset sequence code and reflected by the test target; the first determination unit 1101 is specifically configured to perform phase descrambling on the test echo signal according to a preset descrambling phase value to obtain a descrambled signal; and determine the first chirp signal and the second chirp signal based on the preset sequence code and the descrambled signal; wherein, the preset descrambling phase value corresponds to the preset sequence code.

[0136] Optionally, the first determination unit 1101 is specifically configured to perform digital-to-analog conversion and sampling on the test echo signal to obtain a digital test echo signal; and perform phase descrambling on the digital test echo signal according to the preset descrambling phase value to obtain the descrambled signal.

[0137] Optionally, the first determination unit 1101 is specifically configured to perform a fast Fourier transform in the distance dimension on the descrambled signal to obtain a first signal to be processed; and determine the first chirp signal and the second chirp signal from the first signal to be processed according to the preset sequence code.

[0138] Optionally, the second determination unit 1102 is specifically configured to determine a first phase value according to the average value of the phase values of the first chirp signals determined according to the preset sequence code; determine a second phase value according to the average value of the phase values of the second chirp signals determined according to the preset sequence code; and use the difference between the first phase value and the second phase value as the phase compensation value.

[0139] Optionally, the preset sequence code includes sequence code "0" and sequence code "1"; among them, the chirp signal corresponding to sequence code "1" is the first chirp signal, and the chirp signal corresponding to sequence code "0" is the second chirp signal.

[0140] Optionally, the preset sequence code is a pseudo-random sequence code.

[0141] Optionally, in the pseudo-random sequence code, the number of sequence code "0" and sequence code "1" is the same.

[0142] Optionally, in the pseudo-random sequence code, the odd bits are sequence code "0", and the even bits are sequence code "1".

[0143] Optionally, the first compensation unit 1103 is specifically configured to perform the phase compensation on the current echo signal by using the phase compensation value before performing a fast Fourier transform on the current echo signal in the velocity dimension, so as to obtain the compensated signal.

[0144] Optionally, the first compensation unit 1103 is specifically configured to perform the phase compensation by using the phase compensation value to obtain the compensated signal after performing analog-to-digital conversion and digital sampling on the current echo signal and before performing a fast Fourier transform in the velocity dimension.

[0145] Optionally, the first compensation unit 1103 is specifically configured to perform the phase compensation by using the phase compensation value to obtain the compensated signal between performing a fast Fourier transform in the range dimension and performing a fast Fourier transform in the velocity dimension on the current echo signal.

[0146] Optionally, the apparatus further includes: a first descrambling unit, configured to perform phase descrambling on the current echo signal before performing the phase compensation.

[0147] It should be noted that the implementation of each unit in this embodiment can refer to Figure 4 the relevant descriptions in the illustrated embodiment.

[0148] Refer to Figure 12 , which is a structural diagram of a sensor provided in an embodiment of the present application. The sensor includes:

[0149] An RF transmitting channel 1201, configured to generate an initial signal and perform phase scrambling processing on the initial signal by using a current scrambling parameter to generate a transmitted signal, and transmit the transmitted signal;

[0150] An RF receiving channel 1202, configured to receive a current echo signal formed by the transmitted signal being reflected by a current target;

[0151] A signal processor 1203, configured to perform descrambling on the current echo signal based on a current descrambling phase value and a phase compensation value after performing analog-to-digital processing on the current echo signal and before performing fast Fourier processing in the velocity dimension;

[0152] Wherein, the current descrambling phase value corresponds to the current scrambling parameter, and the phase compensation value is used to suppress the system phase difference of the sensor.

[0153] Optionally, the sensor is an integrated circuit device.

[0154] Optionally, the integrated circuit is a millimeter-wave radar chip.

[0155] Optionally, the phase compensation value is based onFigure 4 The method described above obtains the phase compensation value.

[0156] Optionally, the signal processor is specifically configured to perform analog-to-digital processing, sampling processing, range-dimension fast Fourier transform processing, and velocity-dimension fast Fourier transform processing on the echo signal in sequence; and between any two processing steps of the analog-to-digital processing, the sampling processing, the range-dimension fast Fourier transform processing, and the velocity-dimension fast Fourier transform processing, the current echo signal is descrambled based on the current descrambling phase value and the phase compensation value.

[0157] Optionally, the signal processor specifically includes a first descrambling operation or a second descrambling operation;

[0158] Among them, the first descrambling operation includes:

[0159] First, the current echo signal is descrambled based on the current descrambling phase value to obtain a descrambled signal, and then the descrambled signal is phase-compensated based on the phase compensation value.

[0160] The second descrambling operation includes:

[0161] First, the current descrambling phase value is corrected using the phase compensation value to obtain a corrected descrambling phase value, and then the current echo signal is descrambled using the corrected descrambling phase value.

[0162] Optionally, when the signal processor adopts the first descrambling operation, the signal processor is specifically configured to, between the sampling processing and the range-dimension fast Fourier transform processing steps, first descramble the current echo signal based on the current descrambling phase value to obtain a descrambled signal; and after performing the range-dimension fast Fourier transform processing on the descrambled signal, the data obtained by the range-dimension fast Fourier transform processing is phase-compensated using the corrected descrambling phase value, and the velocity-dimension fast Fourier transform is performed on the data obtained by the phase compensation.

[0163] Optionally, when the signal processor adopts the second descrambling operation, the signal processor is specifically configured to perform the second descrambling operation between any two processing steps of the analog-to-digital processing, the sampling processing, the range-dimension fast Fourier transform processing, and the velocity-dimension fast Fourier transform processing.

[0164] Optionally, the current scrambling parameter is the current sequence code; wherein, the current sequence code is different from the preset sequence code, and the preset sequence code is used to determine the phase compensation value.

[0165] Optionally, the sensor is a MIMO sensor; wherein, signal scrambling and descrambling are respectively performed for any transmitting and receiving channel of the MIMO sensor.

[0166] It should be noted that for the specific implementation of each module in this embodiment, reference may be made to Figure 10 the relevant descriptions in the illustrated embodiments.

[0167] The embodiment of the present application further provides a radio device, including:

[0168] A carrier;

[0169] As Figure 12 the integrated circuit described in, is disposed on the carrier;

[0170] An antenna, disposed on the carrier, or integrated with the integrated circuit to form an AiP structure on the carrier;

[0171] Wherein, the integrated circuit is connected to the antenna for transmitting and receiving radio signals.

[0172] The embodiment of the present application further provides a device, including:

[0173] A device body; and

[0174] The radio device as described above disposed on the device body;

[0175] Wherein, the radio device is used for target detection and / or communication.

[0176] Specifically, based on the above embodiments, in an embodiment of the present application, the radio device may be disposed outside the device body. In another embodiment of the present application, the radio device may also be disposed inside the device body. In other embodiments of the present application, part of the radio device may be disposed inside the device body and part may be disposed outside the device body. The present application does not make any limitation in this regard and it depends on specific circumstances.

[0177] It should be noted that the radio device can realize functions such as target detection and communication by transmitting and receiving signals.

[0178] In an alternative embodiment, the above device body can be components and products applied to fields such as intelligent housing, transportation, smart home, consumer electronics, monitoring, industrial automation, in-cabin detection, and healthcare; for example, the device body can be intelligent transportation devices (such as cars, bicycles, motorcycles, ships, subways, trains, etc.), security devices (such as cameras), smart wearable devices (such as bracelets, glasses, etc.), smart home devices (such as TVs, air conditioners, smart lights, etc.), various communication devices (such as mobile phones, tablets, etc.), and such as gate barriers, intelligent traffic lights, intelligent signs, traffic cameras, and various industrial manipulators (or robots), and can also be various instruments for detecting vital sign parameters and various devices equipped with such instruments. The radio device can be the radio device described in any embodiment of the present application. The structure and working principle of the radio device have been described in detail in the above embodiments and will not be elaborated here one by one.

[0179] An embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the signal phase compensation method or the signal scrambling / descrambling method described above is implemented.

[0180] An embodiment of the present application also provides a computer device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the signal phase compensation method or the signal scrambling / descrambling method described above is implemented.

[0181] It should be noted that the various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other. For the systems or devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method part.

[0182] It should be understood that in this application, "at least one (item)" means one or more, and "a plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that there can be three relationships. For example, "A and / or B" can mean: only A exists, only B exists, and both A and B exist at the same time. Among them, A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. "At least one (one) of the following" or its similar expressions refer to any combination of these items, including any combination of single items (ones) or plural items (ones). For example, at least one (one) of a, b, or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or plural.

[0183] It should also be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

[0184] The steps of the methods or algorithms described in connection with the embodiments disclosed herein can be implemented directly in hardware, software modules executed by a processor, or a combination of both. The software modules can be placed in a random access memory (RAM), memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium well-known in the technical field.

[0185] The above description of the disclosed embodiments enables those skilled in the art to implement or use this application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for signal phase compensation, characterized in that, applied to a sensor, the method includes: For the test echo signal received by the sensor in the test environment, determine a first chirp signal and a second chirp signal based on the test echo signal; Determine a phase compensation value according to the difference between the phase of the first chirp signal and the phase of the second chirp signal; and Use the phase compensation value to perform phase compensation on the system phase difference of the current echo signal received by the sensor during target detection to obtain a compensated signal; Wherein, the first chirp signal is a signal with phase scrambling, the second chirp signal is a signal without phase scrambling, and the sensor performs target detection based on the compensated signal.

2. The method according to claim 1, characterized in that, The test echo signal is an echo signal formed by the signal transmitted by the sensor after being scrambled based on a preset sequence code and reflected by the test target; The determining the first chirp signal and the second chirp signal based on the test echo signal includes: Performing phase descrambling on the test echo signal according to a preset descrambling phase value to obtain a descrambled signal; and Determining the first chirp signal and the second chirp signal based on the preset sequence code and the descrambled signal; Wherein, the preset descrambling phase value corresponds to the preset sequence code.

3. The method according to claim 2, characterized in that, The performing phase descrambling on the test echo signal according to a preset descrambling phase value to obtain a descrambled signal includes: Performing digital-to-analog conversion and sampling on the test echo signal to obtain a digital test echo signal; and Performing phase descrambling on the digital test echo signal according to the preset descrambling phase value to obtain the descrambled signal.

4. The method according to claim 2, characterized in that, The determining the first chirp signal and the second chirp signal based on the preset sequence code and the descrambled signal includes: Performing a fast Fourier transform in the distance dimension on the descrambled signal to obtain a first signal to be processed; and Determining the first chirp signal and the second chirp signal from the first signal to be processed according to the preset sequence code.

5. The method according to claim 1, characterized in that, The determining the phase compensation value according to the phase of the first chirp signal and the phase of the second chirp signal includes: Determining the average value of the phase values of the first chirp signals determined according to the preset sequence code as the first phase value; Determining the average value of the phase values of the second chirp signals determined according to the preset sequence code as the second phase value; and Taking the difference between the first phase value and the second phase value as the phase compensation value.

6. The method according to claim 5, characterized in that, The preset sequence code includes sequence code "0" and sequence code "1"; Wherein, the chirp signal corresponding to sequence code "1" is the first chirp signal, and the chirp signal corresponding to sequence code "0" is the second chirp signal.

7. The method according to claim 6, characterized in that, The preset sequence code is a pseudo-random sequence code.

8. The method according to claim 7, It is characterized in that In the pseudo-random sequence code, the number of sequence code "0" and the number of sequence code "1" are the same.

9. The method according to claim 7, It is characterized in that In the pseudo-random sequence code, odd-numbered bits are sequence code "0" and even-numbered bits are sequence code "1".

10. The method according to any one of claims 1 to 9, It is characterized in that The using the phase compensation value to perform phase compensation on the current echo signal received by the sensor to obtain a compensated signal includes: Before performing a velocity dimension fast Fourier transform on the current echo signal, the phase compensation is performed on the current echo signal using the phase compensation value to obtain the compensated signal.

11. The method according to claim 10, It is characterized in that Before performing a velocity dimension fast Fourier transform on the current echo signal, performing the phase compensation on the current echo signal using the phase compensation value to obtain the compensated signal includes: After performing analog-to-digital conversion and digital sampling on the current echo signal and before performing fast Fourier transform in the velocity dimension, the phase compensation is performed using the phase compensation value to obtain the compensated signal.

12. The method according to claim 11, It is characterized in that After performing analog-to-digital conversion and digital sampling on the current echo signal and before performing fast Fourier transform in the velocity dimension, performing the phase compensation using the phase compensation value to obtain the compensated signal comprises: The phase compensation is performed using the phase compensation value between performing the distance dimension fast Fourier transform and the speed dimension fast Fourier transform on the current echo signal to obtain the compensated signal.

13. The method according to claim 1, It is characterized in that Before performing the phase compensation, phase descrambling is performed on the current echo signal.

14. A method for signal scrambling and descrambling, It is characterized in that Applied to a sensor, the method comprises: Performing phase scrambling processing on the initial signal using the current scrambling parameter to generate a transmission signal; Acquiring a current echo signal formed by the transmission signal being reflected by the current target object during target detection; and After performing analog-to-digital processing on the current echo signal and before performing speed-dimensional fast Fourier processing, the current echo signal is descrambled based on the current descrambling phase value and the phase compensation value; the phase compensation value is: receiving a test echo signal in a test environment, determining a first chirp signal and a second chirp signal based on the test echo signal, and determining the phase compensation value according to the difference between the phase of the first chirp signal and the phase of the second chirp signal; the first chirp signal is a phase-scrambled signal, and the second chirp signal is a signal that has not been phase-scrambled; The current descrambling phase value corresponds to the current scrambling parameter, and the phase compensation value is used to suppress the system phase difference of the sensor.

15. The method according to claim 14, It is characterized in that the phase compensation value is the phase compensation value obtained based on the method described in any one of claims 1-9.

16. The method according to claim 14, it is characterized in that after performing analog-to-digital processing on the current echo signal and before performing fast Fourier transform processing in the velocity dimension, the current echo signal is de-scrambled based on the current de-scrambling phase value and the phase compensation value, including: performing analog-to-digital processing, sampling processing, fast Fourier transform processing in the range dimension, and fast Fourier transform processing in the velocity dimension on the current echo signal in sequence; and between any two of the analog-to-digital processing, the sampling processing, the fast Fourier transform processing in the range dimension, and the fast Fourier transform processing in the velocity dimension, the current echo signal is de-scrambled based on the current de-scrambling phase value and the phase compensation value.

17. The method according to claim 16, it is characterized in that the de-scrambling of the current echo signal based on the current de-scrambling phase value and the phase compensation value includes a first de-scrambling operation or a second de-scrambling operation; wherein, the first de-scrambling operation includes: first de-scrambling the current echo signal based on the current de-scrambling phase value to obtain a de-scrambled signal, and then performing phase compensation on the de-scrambled signal based on the phase compensation value; the second de-scrambling operation includes: first correcting the current de-scrambling phase value using the phase compensation value to obtain a corrected de-scrambling phase value, and then de-scrambling the current echo signal using the corrected de-scrambling phase value.

18. The method according to claim 17, it is characterized in that when the first de-scrambling operation is adopted, between the sampling processing and the fast Fourier transform processing in the range dimension, the current echo signal is first de-scrambled based on the current de-scrambling phase value to obtain a de-scrambled signal; and after performing the fast Fourier transform processing in the range dimension on the de-scrambled signal, phase compensation is performed on the data obtained by the fast Fourier transform processing in the range dimension using the corrected de-scrambling phase value, and fast Fourier transform processing in the velocity dimension is performed on the data obtained by the phase compensation.

19. The method according to claim 17, it is characterized in that when the second de-scrambling operation is adopted, the second de-scrambling operation is performed between any two of the analog-to-digital processing, the sampling processing, the fast Fourier transform processing in the range dimension, and the fast Fourier transform processing in the velocity dimension.

20. The method according to claim 14, it is characterized in that the current scrambling parameter is the current sequence code; wherein, the current sequence code is different from a preset sequence code, and the preset sequence code is used to determine the phase compensation value.

21. The method according to claim 14, it is characterized in that the sensor is a MIMO sensor; wherein, signal scrambling and de-scrambling are respectively performed on any transmitting and receiving channels of the MIMO sensor.

22. A signal phase compensation device, it is characterized in that applied to a sensor, the device includes: A first determination unit, configured to determine a first chirp signal and a second chirp signal based on the test echo signal for the test echo signal received by the sensor in a test environment; A second determination unit, configured to determine a phase compensation value according to a difference between a phase of the first chirp signal and a phase of the second chirp signal; and A first compensation unit, configured to perform phase compensation on a system phase difference of the current echo signal received by the sensor during target detection by using the phase compensation value to obtain a compensated signal; Wherein, the first chirp signal is a signal subjected to phase scrambling, the second chirp signal is a signal not subjected to phase scrambling, and the sensor performs target detection based on the compensated signal.

23. A computer-readable storage medium, Characterized in that, A computer program is stored on the storage medium, and when the computer program is executed by a processor, it implements the signal phase compensation method described in any one of claims 1-13, or the signal scrambling and descrambling method described in any one of claims 14-21.

24. A computer device, Characterized in that, Including: A memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, it implements the signal phase compensation method described in any one of claims 1-13, or the signal scrambling and descrambling method described in any one of claims 14-21.

25. A sensor, Characterized in that, Including: A radio frequency transmitting channel, configured to generate an initial signal, and perform phase scrambling processing on the initial signal by using a current scrambling parameter to generate a transmitted signal, and transmit the transmitted signal; A radio frequency receiving channel, configured to receive a current echo signal formed by reflection of the transmitted signal by a current target during target detection; And A signal processor, configured to perform descrambling on the current echo signal based on a current descrambling phase value and a phase compensation value after performing analog-to-digital processing on the current echo signal and before performing velocity dimension fast Fourier processing; the phase compensation value is: receiving a test echo signal in a test environment, determining a first chirp signal and a second chirp signal based on the test echo signal, and determining a phase compensation value according to a difference between a phase of the first chirp signal and a phase of the second chirp signal; the first chirp signal is a signal subjected to phase scrambling, and the second chirp signal is a signal not subjected to phase scrambling; Wherein, the current descrambling phase value corresponds to the current scrambling parameter, and the phase compensation value is used to suppress a system phase difference of the sensor.

26. The sensor according to claim 25, Characterized in that, The sensor is an integrated circuit device.

27. The sensor according to claim 26, Characterized in that, The integrated circuit is a millimeter wave radar chip.

28. A radio device, Characterized in that, Including: A carrier; The integrated circuit according to claim 26 or 27, disposed on the carrier; An antenna, which is disposed on the carrier or integrated with the integrated circuit to form an AiP structure as an integrated device disposed on the carrier; wherein the integrated circuit is connected to the antenna and is used for transmitting and receiving radio signals.

29. A device, characterized in that, comprising: a device body; and a radio device as described in claim 28 disposed on the device body; wherein the radio device is used for target detection and / or communication.

Images