Perception signal processing method and related device

Abstract

The embodiment of the present application provides a perception signal processing method and related devices, the method comprising: solving an optimization problem to obtain a first sequence and a second sequence; wherein the optimization problem is obtained based on an objective function and a constant modulus constraint condition of minimizing the sum of two functions, one of the two functions is composed of an autocorrelation function of a first variable and an autocorrelation function of a second variable, and the other of the two functions is composed of a cross-correlation function of the first variable and the second variable; wherein the first sequence is a solution of the first variable in the optimization problem, and the second sequence is a solution of the second variable in the optimization problem; constructing a target sequence according to the first sequence and the second sequence; transmitting the target sequence; the target sequence is used to perceive the target object. The first sequence and the second sequence obtained by solving the optimization problem can improve the perception performance of high-speed or variable-speed targets.

Description

Technical Field

[0001] The present application relates to the field of signal processing technology, and in particular to a perception signal processing method and related devices. Background Art

[0002] Radar relies on antennas to radiate signals into space and receive signals scattered by target objects to obtain relevant information about the target objects. The radiated signal has a certain form, such as continuous wave or pulse train, single frequency or frequency modulation, amplitude modulation or phase encoding. It also has polarization characteristics, which can be divided into horizontal direction parallel to the ground direction and vertical direction perpendicular to the ground direction. When the radar transmits signals to the target object in the horizontal polarization direction and vertical polarization direction at the same time (or in a very short time) and receives in two polarization directions accordingly. The received signal not only contains the changes in the characteristics of the target echo in the same polarization direction, but also contains the changes in the characteristics of the target echo in different polarization directions, which can provide rich information for the back-end to process. The ambiguity function is a mathematical tool for studying signals, which can reflect the accuracy and resolution of the signal in the two dimensions of distance and radial velocity. Summary of the invention

[0003] The embodiments of the present application provide a perception signal processing method and related equipment, and the first sequence and the second sequence obtained by solving the optimization problem can improve the perception accuracy of high-speed or variable-speed targets.

[0004] In a first aspect, an embodiment of the present application provides a perception signal processing method, which is applied to a transmitting device and may include: solving an optimization problem to obtain a first sequence and a second sequence; wherein the optimization problem is obtained based on an objective function and a constant modulus constraint condition for minimizing the sum of two functions, one of the two functions is composed of an autocorrelation function of a first variable and an autocorrelation function of a second variable, and the other of the two functions is composed of a cross-correlation function of the first variable and the second variable; wherein the first sequence is a solution of the first variable in the optimization problem, and the second sequence is a solution of the second variable in the optimization problem; constructing a target sequence based on the first sequence and the second sequence; transmitting the target sequence; the target sequence is used to perceive a target object.

[0005] Through the method provided in the first aspect, a target sequence for sensing a target object can be obtained and transmitted, and the target sequence is constructed according to the first sequence and the second sequence. The inventor of the present application found that if the autocorrelation sidelobe peak and the cross-correlation peak of the target sequence are low within a preset range, the first sequence and the second sequence need to have a low cross-correlation within the preset range, so the first sequence and the second sequence can be obtained by solving the optimization problem. Wherein, the optimization problem is obtained based on the objective function and the constant modulus constraint condition of minimizing the sum of two functions, one of the two functions is composed of the autocorrelation function of the first variable and the autocorrelation function of the second variable, and the other of the two functions is composed of the cross-correlation function of the first variable and the second variable; wherein the first sequence is the solution of the first variable in the optimization problem, and the second sequence is the solution of the second variable in the optimization problem. The first sequence and the second sequence obtained by solving the optimization problem are complementary sequences in the quasi-zero correlation zone with low cross-correlation characteristics within the preset range, and the first sequence and the second sequence have low interference and good perception performance, which can improve the perception accuracy of high-speed or variable-speed targets.

[0006] In a possible implementation manner, constructing a target sequence according to the first sequence and the second sequence includes:

[0007] The Alamouti matrix is ​​arranged according to the Prohait-Sue-Morse PTM sequence to obtain a new matrix, wherein the Alamouti matrix is ​​a matrix composed of the inverse complex conjugate of the first sequence and the inverse complex conjugate of the second sequence; a target sequence is determined according to the new matrix, wherein the target sequence includes a third sequence and a fourth sequence, the third sequence is the first row of the new matrix, and the fourth sequence is the second row of the new matrix.

[0008] In a possible implementation, the transmitting device includes a transmitting antenna in a vertical polarization direction and a transmitting antenna in a horizontal polarization direction; and transmitting the target sequence includes: transmitting the third sequence in sequence through the transmitting antenna in the vertical polarization direction according to a pulse repetition interval; and transmitting the fourth sequence in sequence through the transmitting antenna in the horizontal polarization direction according to a pulse repetition interval.

[0009] In a possible implementation, the optimization problem is:

[0010]

[0011] Among them, the C x (k) represents the kth autocorrelation function of the first variable x, and the C y (k) represents the kth autocorrelation function of the second variable y, and the C xy(k) represents the kth cross-correlation function of the first variable x and the second variable y; L represents the length of the first variable and the second variable; x k represents the kth symbol of the first variable x, the y k represents the kth code element of the second variable; the ω k represents a restriction condition of a preset range of the first sequence and the second sequence, α represents a preset weight coefficient.

[0012] In a possible implementation, solving the optimization problem to obtain the first sequence and the second sequence includes: k The value of is selected, and the optimization problem is solved to obtain the first sequence and the second sequence within the preset range [-Z+1, ...-1, 1, ...Z+1]; in, Z≤L.

[0013] In a possible implementation, the length of the first sequence and the length of the second sequence are both 2 n .

[0014] In a possible implementation, the 2 n is equal to 64;

[0015] The first sequence is: The first sequence is: 1.7341, 1.1340, -0.5472, 2.5963, 0.5515, -1.4643, -1.4746, 1.4715, -2.1159, 1.7596, 2.8734, 2.2515, 1.2418, -1.2562, 2.7622, ​​-1.2233, -0.3981, 2.6112, 2.2325, 2.7076, 0.9404, -2.3571, 1.9341, 1.8195, 0.5757, 1.9739, 0.5278, -0.1953, 0.3720, -0.8168, 1.6205, -1.0 901, -1.6636, -2.0341, -1.4480, 0.9057, 1.6821, 0.2329, -3.0069, -3.0584, 0.1641, 0.5060, 1.4893, -2.7575, -1.5898, 1.8278, 0.4952, 0.4564, 2.1698, 2.4325, -0.5816, 2.0195, 0.8338, -1.0606, -0.8028, -0.2512, 2.1051, -0.0719, 1.2728, -1.5233, 0.1539, 0.6289, 0.6322, 1.1099; the unit is radian;

[0016] The second sequence is: 2.6798, 2.4165, 1.0325, -2.1572, -1.6219, 1.0392, 1.5742, -1.8896, 2.1673, -1.0041, 2.6724, -0.4484, -1.5759, -0.7495, 0.8979, 0.2778, -0.6923, 2.5241, 0.4578, 0.8070, 2.4172, -1.6788, 2.3553, 2.5433, -0.4126, 0.4759, -1.4990, -1.3245, 1.1887, 2.9184, 2.6797, -1.2382, 1.2096, -1.1161, -2.2148, -0.8829, -0.8591, 2.0962, -0.6294, -0.1992, -0.3267, 1.9456, 1.3541, 1.2991, 1.8820, 2.7887, 0.1861, -1.9303, -0.2220, 2.6107, -1.5184, 2.0026, 1.9488, 3.0558, -1.3299, 1.0977, -1.6652, 2.3303, -2.0154, 2.4912, 1.5943, 1.8019, -0.6911, -1.5569; the unit is radians.

[0017] In a second aspect, an embodiment of the present application provides a perceptual signal processing method, which is applied to a receiving device, and the method includes: receiving a target sequence sent by a sending device; the target sequence is constructed based on a first sequence and a second sequence; the first sequence and the second sequence are obtained by solving an optimization problem; the optimization problem is obtained based on an objective function and a constant modulus constraint condition for minimizing the sum of two functions, one of the two functions is composed of an autocorrelation function of a first variable and an autocorrelation function of a second variable, and the other of the two functions is composed of a cross-correlation function of the first variable and the second variable; wherein the first sequence is a solution of the first variable in the optimization problem, and the second sequence is a solution of the second variable in the optimization problem; matching filtering is performed on the target sequence to obtain a matching filtering result, and perceptual information of the target object is obtained according to the matching filtering result.

[0018] Through the method provided in the second aspect, the receiving device matches the received target sequence through the matched filter group to obtain the matched filtering result, and the perception information can be obtained according to the matched filtering result. The fuzzy function is a mathematical tool for studying the perception signal, which can be a form of expression of the matched filtering result, including the self-fuzzy function and the mutual fuzzy function. The obtained self-fuzzy function has a good time domain autocorrelation characteristic within the preset range, indicating that the first sequence and the second sequence obtained by solving the optimization problem have good time domain autocorrelation characteristics and can have good perception performance; the self-fuzzy function obtained by the target sequence (including the third sequence and the fourth sequence) has a certain broadening characteristic in the Doppler dimension, indicating that the target sequence (including the third sequence and the fourth sequence) constructed by the first sequence and the second sequence has a good Doppler tolerance, and the target sequence (including the third sequence and the fourth sequence) also has a good time domain autocorrelation characteristic, which can realize the distance detection of high-speed or variable-speed targets.

[0019] In a possible implementation, the receiving device includes a receiving antenna in a vertical polarization direction and a receiving antenna in a horizontal polarization direction; the target sequence includes a third sequence and a fourth sequence, and the matching filtering of the target sequence to obtain a matched filtering result includes: matching filtering the third sequence and the fourth sequence through a matched filter group on the receiving antenna in the vertical polarization direction and a matched filter group on the receiving antenna in the horizontal polarization direction in sequence according to a pulse repetition interval to obtain a matched filtering result.

[0020] In a possible implementation, the optimization problem is:

[0021]

[0022] Among them, the C x (k) represents the kth autocorrelation function of the first variable x, and the C y (k) represents the kth autocorrelation function of the second variable y, and the C xy (k) represents the kth cross-correlation function of the first variable x and the second variable y; L represents the length of the first variable and the second variable; x k represents the kth symbol of the first variable x, the y k represents the kth code element of the second variable; the ω k represents a restriction condition of a preset range of the first sequence and the second sequence, α represents a preset weight coefficient.

[0023] In a possible implementation, solving the optimization problem to obtain the first sequence and the second sequence includes:

[0024] By solving the optimization problem ω k The value of is selected, and the optimization problem is solved to obtain the first sequence and the second sequence within the preset range [-Z+1, ... -1, 1, ... Z+1]; wherein, Z≤L.

[0025] In a third aspect, an embodiment of the present application provides a processing device for a perception signal, which may include: a solving unit, used to solve an optimization problem to obtain a first sequence and a second sequence; wherein the optimization problem is obtained based on an objective function and a constant modulus constraint condition of minimizing the sum of two functions, one of the two functions is composed of an autocorrelation function of a first variable and an autocorrelation function of a second variable, and the other of the two functions is composed of a cross-correlation function of the first variable and the second variable; wherein the first sequence is a solution of the first variable in the optimization problem, and the second sequence is a solution of the second variable in the optimization problem; a construction unit, used to construct a target sequence according to the first sequence and the second sequence; a transmitting unit, used to transmit the target sequence; the target sequence is used to perceive a target object.

[0026] In a possible implementation, the construction unit is specifically used to: arrange the Alamouti matrix according to the Prohaet-Sue-Morse PTM sequence to obtain a new matrix, wherein the Alamouti matrix is ​​a matrix constructed according to the inverse complex conjugate of the first sequence and the inverse complex conjugate of the second sequence; determine the target sequence according to the new matrix, wherein the target sequence includes a third sequence and a fourth sequence, the third sequence is the first row of the new matrix, and the fourth sequence is the second row of the new matrix.

[0027] In a possible implementation, the transmitting unit is specifically configured to: transmit the third sequence in sequence through the transmitting antenna in the vertical polarization direction according to a pulse repetition interval; and transmit the fourth sequence in sequence through the transmitting antenna in the horizontal polarization direction according to a pulse repetition interval.

[0028] In a possible implementation, the optimization problem is:

[0029]

[0030] Among them, the C x (k) represents the kth autocorrelation function of the first variable x, and the C y (k) represents the kth autocorrelation function of the second variable y, and the C xy(k) represents the kth cross-correlation function of the first variable x and the second variable y; L represents the length of the first variable and the second variable; x k represents the kth symbol of the first variable x, the y k represents the kth code element of the second variable; the ω k represents a restriction condition of a preset range of the first sequence and the second sequence, α represents a preset weight coefficient.

[0031] In a possible implementation, the solving unit is specifically used to:

[0032] By solving the optimization problem ω a The value of is selected, and the optimization problem is solved to obtain the first sequence and the second sequence within the preset range [-Z+1, ... -1, 1, ... Z+1]; wherein, Z≤L.

[0033] In a fourth aspect, an embodiment of the present application provides a sensory signal processing device, including:

[0034] A receiving unit, configured to receive a target sequence sent by a sending device; the optimization problem is obtained based on an objective function and a constant modulus constraint condition for minimizing the sum of two functions; the first sequence and the second sequence are obtained by solving the optimization problem; the optimization problem is obtained based on an objective function and a constant modulus constraint condition for minimizing the sum of two functions, one of the two functions is composed of an autocorrelation function of a first variable and an autocorrelation function of a second variable, and the other of the two functions is composed of a cross-correlation function of the first variable and the second variable; wherein the first sequence is a solution of the first variable in the optimization problem, and the second sequence is a solution of the second variable in the optimization problem;

[0035] The matching acquisition unit is used to perform matched filtering on the target sequence to obtain a matched filtering result, and acquire the perception information of the target object according to the matched filtering result.

[0036] In a possible implementation, the device includes a receiving antenna in the vertical polarization direction and a receiving antenna in the horizontal polarization direction; the target sequence includes a third sequence and a fourth sequence, and the matching unit is specifically used to: perform matched filtering on the third sequence and the fourth sequence through a matched filter group on the receiving antenna in the vertical polarization direction and a matched filter group on the receiving antenna in the horizontal polarization direction in turn according to a pulse repetition interval to obtain a matched filtering result.

[0037] In a fifth aspect, an embodiment of the present application provides a perception information transmitting device, comprising a processor, a memory and a transceiver, wherein the memory is used to store a computer program, the transceiver is used to receive and send data under the control of the processor, and the processor is used to call the computer program to execute the corresponding functions in the perception signal processing method provided in the first aspect.

[0038] In a sixth aspect, an embodiment of the present application provides a perception signal receiving device, comprising a processor, a memory and a transceiver, wherein the memory is used to store a computer program, the transceiver is used to receive and send data under the control of the processor, and the processor is used to call the computer program to execute the corresponding functions in the perception signal processing method provided in the second aspect.

[0039] In a seventh aspect, an embodiment of the present application provides a perceptual signal processing system, comprising a transmitting device and a receiving device, wherein: the transmitting device performs a corresponding function in the perceptual signal processing method provided in the third aspect or performs a corresponding function in the perceptual signal processing method provided in the fifth aspect. The receiving device performs a corresponding function in the perceptual signal processing method provided in the third aspect or performs a corresponding function in the perceptual signal processing method provided in the sixth aspect.

[0040] In an eighth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium is used to store a computer program. When the computer program is executed by a processor, the corresponding function in the perceptual signal processing method provided in the first aspect or the corresponding function in the perceptual signal processing method provided in the second aspect is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The following is an introduction to the drawings used in the embodiments of the present application.

[0042] Figure 1 This is an application scenario diagram of a perception signal processing method provided by an embodiment of the present application;

[0043] Figure 2 It is a flowchart of a method for processing a perception signal provided in an embodiment of the present application;

[0044] Figure 3 is a system model diagram of a perception signal processing method provided by an embodiment of the present application;

[0045] Figure 3a is a schematic diagram of a self-fuzzy function provided in an embodiment of the present application;

[0046] Figure 3b is a schematic diagram of a mutual fuzzy function provided in an embodiment of the present application;

[0047] Figure 4 is a structural schematic diagram of a sensing signal processing device provided in an embodiment of the present application;

[0048] Figure 5 is a schematic diagram of the structure of another sensing signal processing device provided in an embodiment of the present application;

[0049] Figure 6 is a schematic diagram of a perception signal transmitting device provided in an embodiment of the present application;

[0050] Figure 7 is a schematic diagram of a perception signal receiving device provided in an embodiment of the present application;

[0051] Figure 8 It is a schematic diagram of a perception signal processing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0052] The embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application.

[0053] The inventors of the present application have found that if the perception signal is directly composed of a Golay complementary sequence, a low mutual ambiguity function value cannot be obtained, and the perception accuracy is not high when the target object is perceived. The inventors of the present application have also found that if a low mutual ambiguity function value and a more ideal self-ambiguity function value are to be obtained within a preset range, the sequence constituting the perception signal needs to have a low mutual correlation.

[0054] See also Figure 1 , Figure 1It is a schematic diagram of an application scenario of perception signal processing provided by an embodiment of the present application, and the scenario includes a transmitting device 101, a receiving device 102 and a target object 103. The transmitting device 101 can transmit a perception signal in the form of a pulse string, and the pulse string includes a target sequence for sensing the target object 103, and the target sequence may include a third sequence and a fourth sequence. The transmitting device 101 includes a transmitting antenna in a vertical polarization direction V and a transmitting antenna in a horizontal polarization direction H. The transmitting antenna in the vertical polarization direction V sends the third sequence, and the transmitting antenna in the horizontal polarization direction H can send the fourth sequence. Among them, the third sequence and the fourth sequence are target sequences composed of the first sequence and the second sequence, respectively, and the first sequence and the second sequence are obtained by solving the optimization problem, and are quasi-zero correlation zone complementary sequences with local low cross-correlation, which can also be called quasi-Z complementary sequences or quasi-Z complementary pairs. The receiving device 102 also includes a receiving antenna in a vertical polarization direction V and a receiving antenna in a horizontal polarization direction H. A matched filter group is provided on the receiving antenna in the vertical polarization direction V to match the third sequence and the fourth sequence. A matched filter group is also provided on the receiving antenna in the horizontal polarization direction H to match the third sequence and the fourth sequence. When the third sequence and the fourth sequence are matched filtered by the matched filter on the receiving device 102, a matched filtering result can be obtained, and the perception information of the target object can be obtained through the matched filtering result. It can be understood that the perception information may include relevant information such as the position, angle, and speed of the target object.

[0055] The fuzzy function is a mathematical tool for studying perception signals and can be a form of expression of matched filtering results, including self-fuzzy function and mutual fuzzy function. The self-fuzzy function obtained has a good time domain autocorrelation characteristic within the preset range, indicating that the first sequence and the second sequence obtained by solving the optimization problem have good time domain autocorrelation characteristics and can have good perception performance; the self-fuzzy function obtained by the target sequence (including the third sequence and the fourth sequence) has a certain broadening characteristic in the Doppler dimension, indicating that the target sequence (including the third sequence and the fourth sequence) constructed by the first sequence and the second sequence has a good Doppler tolerance. At the same time, the target sequence (including the third sequence and the fourth sequence) also has a good time domain autocorrelation characteristic, which can realize the distance detection of high-speed or variable-speed targets.

[0056] Understandably, Figure 1 The application scenario diagram in the embodiment of the present application is only an exemplary implementation method. The application scenario diagram in the embodiment of the present application includes but is not limited to the above application scenario diagram.

[0057] See also Figure 2 , Figure 2 : is a flow chart of a method for processing a sensory signal provided in an embodiment of the present application, the method includes but is not limited to the following steps:

[0058] Step S200: The transmitting device solves the optimization problem to obtain a first sequence and a second sequence.

[0059] Specifically, the transmitting device can obtain a first sequence and a second sequence by solving an optimization problem, and the optimization problem is obtained based on an objective function and a constant modulus constraint condition of minimizing the sum of two functions, one of the two functions is composed of an autocorrelation function of the first variable and an autocorrelation function of the second variable, and the other of the two functions is composed of a cross-correlation function of the first variable and the second variable; wherein the first sequence is the solution of the first variable in the optimization problem, and the second sequence is the solution of the second variable in the optimization problem.

[0060] Optionally, the optimization problem is as shown in Formula 1-1:

[0061]

[0062] Among them, the C x (k) represents the kth autocorrelation function of the first variable x, and C y (k) represents the kth autocorrelation function of the second variable y, and the C xy (k) represents the cross-correlation function between the first variable x and the second variable y; L represents the length of the first variable x and the second variable y; x k represents the kth symbol of the first sequence, the y k represents the kth symbol of the second sequence; the optimization problem is an optimization problem about the first sequence and the second sequence; the ω a represents the limiting condition of the preset range of the first sequence and the second sequence, α represents a preset weight coefficient, and the value of α may be 0.5. It should be noted that the value of α may be selected according to actual conditions, and the present application embodiment does not impose any limitation thereto. It is understandable that |x k |=1,k=0,1,2,...,L-1and|y k |=1,k=0,1,2,...,L-1 is the constant modulus constraint of the optimization problem. When there is a constant modulus constraint, the constructed optimization problem can be a non-convex problem.

[0063] Optionally, by k The value of is selected, and the optimization problem is solved to obtain the first sequence and the second sequence within the preset range [-Z+1, ... -1, 1, ... Z+1]; wherein, Z≤L; In actual situations, the first and second sequences solved by the optimization problem only need to meet the requirements within the preset range, so by k The value of is used to ensure the preset range. k =0, in the interval length [-L+1,...,-Z,Z,...,L-1], the optimization function does not exist, so the first sequence and the second sequence in the preset range [-L+1,...,-Z,Z,...,L-1] cannot be obtained by solving the optimization function; ω k =1, within the preset range of [-Z+1,...,-1,1,...,Z-1], the optimization function exists, so by solving the optimization function, the first sequence and the second sequence within the specific interval length [-L+1,...,-Z,Z,...,L-1] can be obtained. It should be noted that ω k is the weight at each k delay.

[0064] For example, when L=6, the required preset range is [-2,2], k in the optimization problem is 0, 1, 2, ... 5, so for the optimization problem It can be converted as shown in formula 1-2,

[0065]

[0066] Because ω3=ω4=ω5=0, ω1=ω2=1,

[0067] So formula 1-2 can be, Therefore, solving the optimization problem obtains the first sequence and the second sequence within the preset range [-Z+1, ... -1, 1, ... Z+1].

[0068] For example, by adopting the idea of ​​Majorization Minimization algorithm to optimize the constructed optimization problem, assuming that the constructed optimization problem is the objective function f(θ), the Majorization Minimization algorithm is an iterative optimization method that uses the convexity of functions to find their minimum values. Its idea is that when the objective function f(θ) is difficult to optimize, the algorithm does not directly seek the optimal solution for the objective function, but can find another objective function u(θ) that is easier to optimize as a substitute, and then use this substitute function to solve. When u(θ) meets certain conditions, the optimal solution of u(θ) can be infinitely close to the optimal solution of f(θ). After each iteration, a new substitute function is constructed for the next iteration based on the solution, and then the new substitute function is optimized to obtain the solution for the next iteration. Through multiple iterations, a solution that is closer and closer to the optimal solution of the objective function can be obtained. Therefore, the three conditions that u(θ) needs to meet are: 1. Easy to optimize, 2. 3. f(θ (l) )=u(θ (l) ). Therefore, the following inequality can be derived from the conditions satisfied by u(θ): (l+1) )≤u(θ (l+1) ,θ (l) )≤u(θ (l) ,θ (l) )=f(θ (l) ), so we can solve min u(θ,θ (l+1) ), and we get θ (l+1) If ||θ (l+1) -θ (l) || is less than a given threshold, the iteration is stopped and θ (l+1) is the optimal solution. It should be noted that l represents the number of iterations.

[0069] Because in the optimization problem C x (k) = x H U k x,C y (k) = y H U k y, C xy (k) = x H U k y, where U k is an L×L Toeplitz matrix, and the elements of the kth diagonal are all 1, and all other elements are all 0, so the constructed optimization problem can be completely converted to:

[0070] Where z = [x T ,y T ] T , Therefore, the first sequence is the solution of the first variable x in the optimization problem and the second sequence is the solution of the second variable y in the optimization problem can be converted to the first sequence and the second sequence are the solutions of the third variable z in the optimization problem. It should be noted that k represents the discrete time sampling after autocorrelation. When the sequence length is L, k = -L+1 to L-1 can be obtained after autocorrelation.

[0071] So in z( l ), the optimization function of the optimization problem is shown in Formula 1-3:

[0072]

[0073] Where Z = zz H ,λ J is the largest eigenvalue of matrix J, λ u is a matrix The maximum eigenvalue of , l represents the number of iterations.

[0074]

[0075]

[0076] Because the first two terms of the optimization function of the optimization problem are independent of z, and the rest are constants except the last term, only the last term affects the optimization result. l ) can be equivalent to the following optimization problem:

[0077]

[0078] The optimization problem of formula 1-6 can be equivalently transformed into: in, then,

[0079]

[0080] Optionally, the length of the first sequence and the length of the second sequence are both 2 n .

[0081] Optionally, when 2 n When =64, it means L=64, so k=1,2,...,128 in formula 1-4, because 128 values ​​can be obtained by formula 1-4, of which 1 to 64 are the values ​​of the first sequence, and 65 to 128 are the values ​​of the second sequence.

[0082] The first and second sequences with lengths of 64 are obtained by solving the optimization problem; the unit is radian.

[0083] Among them, the specific values ​​of the first sequence with a length of 64 are: 1.7341, 1.1340, -0.5472, 2.5963, 0.5515, -1.4643, -1.4746, 1.4715, -2.1159, 1.7596, 2.8734, 2.2515, 1.2418, -1.2562, 2.7622, ​​-1.2233, -0.3981, 2.6112, 2.2325, 2.7076, 0.9404, -2.3571, 1.9341, 1.8195, 0.5757, 1.9739, 0.5278, -0.1953, 0.3720, -0.8168, 1.6205 , -1.0901, -1.6636, -2.0341, -1.4480, 0.9057, 1.6821, 0.2329, -3.0069, -3.0584, 0.1641, 0.5060, 1.4893, -2.7575, -1.5898, 1.8278, 0.4952, 0. 4564, 2.1698, 2.4325, -0.5816, 2.0195, 0.8338, -1.0606, -0.8028, -0.2512, 2.1051, -0.0719, 1.2728, -1.5233, 0.1539, 0.6289, 0.6322, 1.1099;

[0084] The specific values ​​of the second sequence with a length of 64 are: 2.6798, 2.4165, 1.0325, -2.1572, -1.6219, 1.0392, 1.5742, -1.8896, 2.1673, -1.0041, 2.6724, -0.4484, -1.5759, -0.7495, 0.8979, 0.2778, -0.6923, 2.5241, 0.4578, 0.8070, 2.4172, -1.6788, 2.3553, 2.5433, -0.4126, 0.4759, -1.4990, -1.3245, 1.1887, 2.9184, 2.6797, -1.2382, 1.2096, -1.1161, -2.2148, -0.8829, -0.8591, 2.0962, -0.6294, -0.1992, -0.3267, 1.9456, 1.3541, 1.2991, 1.8820, 2.7887, 0.1861, -1. 9303, -0.2220, 2.6107, -1.5184, 2.0026, 1.9488, 3.0558, -1.3299, 1.0977, -1.6652, 2.3303, -2.0154, 2.4912, 1.5943, 1.8019, -0.6911, -1.5569.

[0085] Optionally, when 2 n =128, the specific values ​​of the first sequence and the second sequence with a length of 128 are obtained by solving the optimization problem, and the unit is radian. The first sequence with a length of 128 includes sequence 1, sequence 2, sequence 3 and sequence 4 in Table 1; the second sequence with a length of 128 includes sequence 5, sequence 6, sequence 7, and sequence 8 in Table 1. See Table 1 for details.

[0086] Table 1

[0087]

[0088]

[0089] Optionally, when 2 n =256, the specific values ​​of the first sequence and the second sequence with a length of 256 are obtained by solving the optimization problem, and the unit is radian. The first sequence with a length of 256 includes sequence 1, sequence 2, sequence 3 and sequence 4 in Table 2; the second sequence with a length of 256 includes sequence 5, sequence 6, sequence 7, and sequence 8 in Table 2. See Table 2 for details.

[0090] Table 2

[0091]

[0092]

[0093]

[0094] Optionally, when 2 n =512, the specific values ​​of the first sequence and the second sequence with a length of 512 are obtained by solving the optimization problem, and the unit is radian. The first sequence with a length of 512 includes sequence 1, sequence 2, sequence 3 and sequence 4 in Table 3; the second sequence with a length of 512 includes sequence 5, sequence 6, sequence 7, and sequence 8 in Table 3. See Table 3 for details.

[0095] Table 3

[0096]

[0097]

[0098]

[0099]

[0100] Optionally, when 2 n =1024, the specific values ​​of the first sequence and the second sequence with a length of 1024 are obtained by solving the optimization problem, and the unit is radian. The first sequence with a length of 1024 includes sequence 1, sequence 2, sequence 3 and sequence 4 in Table 4; the second sequence with a length of 1024 includes sequence 5, sequence 6, sequence 7, and sequence 8 in Table 4. See Table 4 for details.

[0101] Table 4

[0102]

[0103]

[0104]

[0105]

[0106]

[0107]

[0108]

[0109] Optionally, when 2 n=2048, the specific values ​​of the first sequence and the second sequence with a length of 2048 are obtained by solving the optimization problem, and the unit is radian. The first sequence with a length of 2048 includes sequence 1, sequence 2, sequence 3 and sequence 4 in Table 5; the second sequence with a length of 2048 includes sequence 5, sequence 6, sequence 7, and sequence 8 in Table 5. See Table 5 for details.

[0110] Table 5

[0111]

[0112]

[0113]

[0114]

[0115]

[0116]

[0117]

[0118]

[0119]

[0120]

[0121]

[0122]

[0123] Step S201: The transmitting device constructs a target sequence according to the first sequence and the second sequence.

[0124] Specifically, after the first sequence and the second sequence with local low mutual correlation are obtained by solving the optimization problem, a target sequence can be constructed according to the first sequence and the second sequence.

[0125] Optionally, the Alamouti matrix is ​​arranged according to the Prouhet-Thue-Morse PTM sequence to obtain a new matrix, wherein the Alamouti matrix is ​​a matrix formed by the inverse complex conjugate of the first sequence and the inverse complex conjugate of the second sequence; a target sequence is determined according to the new matrix, wherein the target sequence includes a third sequence and a fourth sequence, the third sequence is the first row of the new matrix, and the fourth sequence is the second row of the new matrix. For example, the Alamouti matrix is ​​first determined to be The x in the matrix represents the inverse conjugate of the first sequence, and the y in the matrix represents the inverse complex conjugate of the second sequence; then determine the PTM (Prouhet-Thue-Morse) sequence, and give the PTM sequence as Its recursive definition is as follows: a0=0, a 2m =a m ,a 2m+1 =1-a m , m≥0; wherein, the length of the PTM sequence can be arbitrarily long. Generally speaking, the length of the PTM sequence can be N=2m+1, and m can usually be any integer from 2 to 5. It can be understood that the larger the m, the better the performance. The performance of the target sequence constructed when m is 5 is better than that of the target sequence constructed when m is 2. Finally, the Alamouti matrix composed of the first sequence and the second sequence can be arranged according to the PTM sequence to obtain a new matrix. The third sequence can be the first row of the new matrix, and the fourth sequence can be the second row of the new matrix.

[0126] For example, if the PTM sequence is 0110, then the four Alamouti matrices corresponding to the PTM sequence 0110 are A0 A1 A1 A0. These four Alamouti matrices can form a new matrix A = [A0 Α1 A1 A0]. The x in matrices A0 and A1 represents the first sequence obtained by solving the optimization problem, and the y represents the second sequence obtained by solving the optimization problem. It can be seen that the new matrix is ​​a 2×8 matrix, so the first row of the new matrix can be the third sequence, and the second row of the new matrix can be the fourth sequence.

[0127] Step S202: The transmitting device transmits the target sequence.

[0128] Specifically, because the target sequence is composed of the first sequence and the second sequence obtained by solving the optimization problem, transmitting the target sequence is to send the first sequence and the second sequence in a certain order, and the target sequence is used to perceive the target object.

[0129] Optionally, the transmitting device includes a transmitting antenna in a vertical polarization direction and a transmitting antenna in a horizontal polarization direction; and transmitting the target sequence includes: transmitting the third sequence in sequence through the transmitting antenna in the vertical polarization direction according to a pulse repetition interval; and transmitting the fourth sequence in sequence through the transmitting antenna in the horizontal polarization direction according to a pulse repetition interval.

[0130] For example, by arranging the Alamouti matrices according to the PTM sequence, a new matrix can be obtained. The first row in the new matrix can be the third sequence, and the second row in the new matrix can be the fourth sequence. If the PTM sequence is 1001, then the corresponding four Alamouti matrices are A1 A0 A0 A1. These four Alamouti matrices can form a new matrix A = [A1 A0 A0A1]; if the Alamouti matrix is Then the new matrix is ​​as shown in formula 1-8:

[0131]

[0132] Therefore, the third sequence transmitted by the transmitting antenna in the vertical polarization direction V can be: V =[-y -xx -yx -y -y -x], the fourth sequence transmitted by the transmitting antenna in the horizontal polarization direction H can be: s H =[x -yyxyxx -y], because x represents the first sequence obtained by solving the optimization problem, and y represents the second sequence obtained by solving the optimization problem, so in the 0th pulse repetition interval, -y is transmitted by the transmitting antenna in the vertical polarization direction V, and in the 1st pulse repetition interval, x is transmitted by the transmitting antenna in the vertical polarization direction V; similarly, in the 3rd pulse repetition interval, x is transmitted by the transmitting antenna in the horizontal polarization direction H, and in the 7th pulse repetition interval, -y is transmitted by the transmitting antenna in the vertical polarization direction V.

[0133] Optionally, the transmitting device includes a 2×2 multiple-input multiple-output (MIMO) system; transmitting the target sequence includes: transmitting the third sequence and the fourth sequence in sequence through the 2×2 MIMO system according to a pulse repetition interval.

[0134] Specifically, the 2×2 MIMO system includes two transmitting antennas, one of the two transmitting antennas transmits the third sequence according to a pulse repetition interval, and the other of the two transmitting antennas transmits the fourth sequence according to the pulse repetition interval.

[0135] Optionally, the transmitting device includes a transmitting antenna, and transmitting the target sequence includes: transmitting the target sequence in sequence through the transmitting antenna according to a pulse repetition interval.

[0136] Specifically, the target sequence includes a third sequence and a fourth sequence. Since the first sequence and the second sequence have certain orthogonal characteristics, the third sequence and the fourth sequence also have certain orthogonal characteristics. According to the orthogonal characteristics, the third sequence and the fourth sequence can be superimposed together and sent through one transmitting antenna according to the pulse repetition interval.

[0137] Step S203: The receiving device receives the target sequence sent by the sending device.

[0138] Specifically, the receiving device is the same as the transmitting device. When the receiving device includes a receiving antenna in the horizontal polarization direction H and a receiving antenna in the vertical polarization direction V, the target sequence sent by the transmitting device can be received by the receiving antenna in the horizontal polarization direction and the receiving antenna in the vertical polarization direction respectively; when the receiving device includes a 2×2 MIMO system, the target sequence sent by the transmitting device can be received by the receiving antenna of the 2×2 MIMO system; when the receiving device includes one receiving antenna, the target sequence sent by the transmitting device can be received by one receiving antenna. Wherein, the target sequence is constructed according to the first sequence and the second sequence; the first sequence and the second sequence are obtained by solving the optimization problem; the optimization problem is obtained based on the objective function and constant modulus constraint condition of minimizing the sum of two functions, one of the two functions is composed of the autocorrelation function of the first variable and the autocorrelation function of the second variable, and the other of the two functions is composed of the cross-correlation function of the first variable and the second variable; wherein, the first sequence is the solution of the first variable in the optimization problem, and the second sequence is the solution of the second variable in the optimization problem.

[0139] Step S204: The receiving device performs matched filtering on the target sequence to obtain a matched filtering result, and acquires the perception information of the target object according to the matched filtering result.

[0140] Specifically, the transmitting device can match the received target sequence through different matched filter groups to obtain matched filtering results. The perceptual information of the target object can be obtained from the matched filtering results to facilitate back-end processing.

[0141] Optionally, the receiving device includes a receiving antenna in the vertical polarization direction and a receiving antenna in the horizontal polarization direction; the target sequence includes a third sequence and a fourth sequence, and the matched filtering of the target sequence to obtain a matched filtering result includes: performing matched filtering on the third sequence and the fourth sequence through a matched filter group on the receiving antenna in the vertical polarization direction and a matched filter group on the receiving antenna in the horizontal polarization direction in sequence according to a pulse repetition interval to obtain a matched filtering result.

[0142] Specifically, for the receiving antenna in the vertical polarization direction V, the third sequence and the fourth sequence can be matched by configuring a matched filter group; similarly, for the receiving antenna in the horizontal polarization direction H, the third sequence and the fourth sequence can also be matched by configuring a matched filter group; finally, the matched filtering result can be obtained. It can be understood that different matched filtering results can be obtained according to actual needs, and the perception information of the target object can be obtained from these matched filtering results. It should be noted that the matched filter group may include multiple matched filters. It can be understood that the receiving antenna in the vertical polarization direction can receive the target sequence sent by the transmitting antenna in the vertical polarization direction and the transmitting antenna in the horizontal polarization direction; and the receiving antenna in the horizontal polarization direction can also receive the target sequence sent by the transmitting antenna in the vertical polarization direction and the transmitting antenna in the horizontal polarization direction. Because the transmitting device sends the target sequence in the pulse repetition interval, the receiving device also needs to match the received target sequence in the pulse repetition interval.

[0143] Optionally, the receiving device includes a 2×2 multiple-input multiple-output (MIMO) system; the 2×2 MIMO system includes two receiving antennas; the target sequence includes a third sequence and a fourth sequence; and performing matched filtering on the target sequence to obtain a matched filtering result includes:

[0144] The third sequence and the fourth sequence are matched in sequence through a matched filter group in the 2×2 MIMO system according to a pulse repetition interval to obtain a matched filtering result.

[0145] Optionally, the receiving device includes a receiving antenna; the target sequence includes a third sequence and a fourth sequence; and the matched filtering of the target sequence to obtain a matched filtering result includes: matching the third sequence and the second sequence through a matched filter group on the one receiving antenna in sequence according to a pulse repetition interval to obtain a matched filtering result.

[0146] Specifically, because the third sequence and the fourth sequence have an orthogonal characteristic, the third sequence and the fourth sequence can be matched by using different matched filters on one receiving antenna to obtain a matched filtering result.

[0147] Optionally, performing matched filtering on the target sequence to obtain a matched filtering result includes: performing matched filtering on the target sequence through a matched filter group to obtain a total output of a signal vector; obtaining the matched filtering result from the total output of the signal vector, and obtaining perceptual information of the target object based on the matched filtering result.

[0148] Specifically, for example, for a transmitting device including a transmitting antenna in a vertical polarization direction and a transmitting antenna in a horizontal polarization direction, in the nth pulse repetition interval, the received signal vector is rn =Hs n e jnθ ,in h VH represents the target scattering coefficient from horizontal polarization H into vertical polarization V, h HV represents the target scattering coefficient from vertical polarization V into horizontal polarization H, h VV represents the scattering coefficient of the target from vertical polarization V into vertical polarization V, h HH represents the target scattering coefficient from horizontal polarization H into horizontal polarization H, θ represents the Doppler frequency shift; s V,n represents the sequence sent by the transmitting antenna in the vertical polarization direction V during the nth pulse repetition interval, s H,n represents the sequence sent by the transmitting antenna in the horizontal polarization direction H; r V,n represents the sequence received by the receiving antenna in the vertical polarization direction V during the nth pulse repetition interval, r H,n Represents the sequence received by the receiving antenna in the horizontal polarization direction H. Because in each pulse repetition interval, the received target sequence needs to be matched to obtain the information vector, the total output of the signal vector can be the sum of the outputs of the signal vector in each pulse repetition interval. For example, in the nth pulse repetition interval, the output is as shown in formula 1-6:

[0149]

[0150] in,

[0151]

[0152]

[0153]

[0154] s * represents the conjugate of s.

[0155] Therefore, in all pulse repetition intervals, the total output of the signal vector can be obtained from formula 1-6:

[0156]

[0157] The fuzzy function can be obtained from the matrix expression of the total output of the signal vector, where the fuzzy function includes a self-fuzzy function and a mutual fuzzy function. It should be noted that the fuzzy function is one of the forms of expression of the matched filtering result. The matched filtering result can have multiple forms of expression, and the embodiment of the present application does not impose any restrictions. For example, according to formula 1-10, the fuzzy function can be obtained as follows:

[0158]

[0159] Generally speaking, the two fuzzy functions on the main diagonal in Formula 1-11 can be called self-fuzzy functions; the two fuzzy functions on the secondary diagonal in Formula 1-11 can be called mutual fuzzy functions. Fuzzy function is an effective tool for analyzing and studying perception signals, and the fuzzy function of perception signals is closely related to the extraction of perception information. The self-fuzzy function obtained in the embodiment of the present application has a low autocorrelation sidelobe peak within a preset range, and the mutual fuzzy function obtained has a low mutual correlation peak within a preset range. Therefore, the perception information of the target object obtained according to the fuzzy function may include: position information, angle information, and speed information. When the autocorrelation sidelobe peak and the mutual correlation peak of the first sequence and the second sequence are low, it can be explained that the perception signal composed of the first sequence and the second sequence can effectively suppress clutter, and more accurate perception information can be obtained, which means that the first sequence and the second sequence can improve the perception performance of high-speed or variable-speed targets.

[0160] According to the method provided in the embodiment of the present application, the transmitting device can obtain the target sequence for sensing the target object and transmit it, and the receiving device matches the received target sequence through the matched filter group to obtain the matched filtering result, and the perception information can be obtained according to the matched filtering result. The target sequence is constructed according to the first sequence and the second sequence. The inventor of the present application found that if the autocorrelation sidelobe peak and the cross-correlation peak of the target sequence within the preset range are low, the first sequence and the second sequence need to have a low cross-correlation within the preset range, so the first sequence and the second sequence can be obtained by solving the optimization problem. Among them, the optimization problem is obtained based on the objective function and the constant modulus constraint condition of minimizing the sum of two functions, one of the two functions is composed of the autocorrelation function of the first variable and the autocorrelation function of the second variable, and the other of the two functions is composed of the cross-correlation function of the first variable and the second variable; wherein the first sequence is the solution of the first variable in the optimization problem, and the second sequence is the solution of the second variable in the optimization problem. The first sequence and the second sequence obtained by solving the optimization problem are quasi-zero correlation zone complementary sequences with low cross-correlation characteristics within the preset range. The fuzzy function is a mathematical tool for studying perception signals and can be a form of expression of matched filtering results, including self-fuzzy function and mutual fuzzy function. The obtained self-fuzzy function has a good time domain autocorrelation characteristic within a preset range, indicating that the first sequence and the second sequence obtained by solving the optimization problem have good time domain autocorrelation characteristics and can have good perception performance. The self-fuzzy function obtained by the target sequence (including the third sequence and the fourth sequence) has a certain broadening characteristic in the Doppler dimension, which can indicate that the target sequence (including the third sequence and the fourth sequence) constructed by the first sequence and the second sequence has a good Doppler tolerance. At the same time, the target sequence (including the third sequence and the fourth sequence) also has a good time domain autocorrelation characteristic, which can realize the distance detection of high-speed or variable-speed targets.

[0161] See also Figure 3 , Figure 3 is a system model diagram of a perception signal processing method provided in an embodiment of the present application, Figure 3 The third sequence for sensing can be sent on the transmitting antenna 301 in the vertical polarization direction, respectively s V,0 ,s V,1 ,s V,2 , ..., s V,N-1 , where s V,1 represents the sequence transmitted from the transmitting antenna 301 in the vertical polarization direction in the first pulse repetition interval. Similarly, s V,N-1 represents the sequence transmitted by the transmitting antenna 301 in the vertical polarization direction in the (N-1)th pulse repetition interval. The transmitting antenna 302 in the horizontal polarization direction may also transmit a fourth sequence for sensing, which are sH,0 ,s H,1 ,s H,2 , ..., s H,N-1 , where s H,1 represents the sequence transmitted by the transmitting antenna 402 in the horizontal polarization direction in the first pulse repetition interval. Similarly, s H,N-1 represents the sequence transmitted from the transmitting antenna in the horizontal polarization direction 302 in the (N-1)th pulse repetition interval. The third sequence and the fourth sequence can be constructed by the first sequence and the second sequence respectively, and the first sequence and the second sequence are obtained by solving the optimization problem. The optimization problem is obtained based on the objective function of minimizing the sum of two functions and the constant modulus constraint condition, one of the two functions is composed of the autocorrelation function of the first variable and the autocorrelation function of the second variable, and the other of the two functions is composed of the cross-correlation function of the first variable and the second variable; wherein the first sequence is the solution of the first variable in the optimization problem, and the second sequence is the solution of the second variable in the optimization problem.

[0162] The first sequence and the second sequence obtained by solving the optimization problem are quasi-zero correlation zone complementary sequences, which can be called quasi-Z complementary sequences or quasi-Z complementary pairs. The third sequence and the fourth sequence can arrange the Alamouti matrix according to the PTM sequence to obtain a new matrix. The first row of the new matrix can be the third sequence, and the second row of the new matrix can be the fourth sequence. For example, firstly, by solving the optimization problem, the first sequence and the second sequence in the interval length [-16,16] and the length L of 64 can be obtained. It should be noted that the specific values ​​of the first sequence and the second sequence can refer to step S202; then the Alamouti matrix is ​​given as: Among them, x in matrix A0 and matrix A1 represents the solution of the first vector in the optimization problem, and y represents the solution of the second vector in the optimization problem; if the PTM sequence is 1001, the corresponding four Alamouti matrices are A1 A0 A0 A1, and these four Alamouti matrices can form a new matrix A = [A1 A0 A0 A1]; then the new matrix is ​​specifically: In the actual transmission process, the third sequence transmitted by the transmitting antenna in the vertical polarization direction V can be: V =[x-y-y-x-yx-y], correspondingly, s V,0 =x, The third sequence transmitted by the transmitting antenna in the horizontal polarization direction 302 may be: H =[yxx -yx -yyx], correspondingly, s H,0 =y, s H,3=-y, s H,5 =-y,s H,6 =y,s H,7 =-x. Among them, and They represent the reverse conjugation of x and y respectively.

[0163] When the transmitted third sequence and fourth sequence are reflected back, the vertical polarization receiving antenna 303 and the horizontal polarization receiving antenna 304 can receive the first sequence and the second sequence. Similarly, the N sequences received by the vertical polarization receiving antenna 303 can be expressed as: V,0 , r V,1 , r V,2 , ..., r V,N-1 ; The N sequences received by the receiving antenna 304 in the horizontal polarization direction can be expressed as: H,0 , r H,1 , r H,2 , ..., r H,N-1 For the vertical polarization direction V receiving antenna, there is a matched filter group 305, which can be used to match the third sequence and the fourth sequence to obtain a first signal vector. The first signal vector can be expressed as: For the receiving antenna 304 in the horizontal polarization direction, there is a matched filter group 306, which can be used to match the third sequence and the fourth sequence to obtain a second signal vector through the matched filter group 406. The second signal vector can be expressed as The total output of the first signal vector and the second signal vector together can be expressed as: O0, O1, O2, ..., O N-1 , where O N-1 Indicates that in the (N-1)th pulse repetition interval, the first signal vector and the second signal vector The total output of θ represents Doppler frequency shift, k represents discrete sampling after autocorrelation, and when L = 64, k = [-63, 63] after autocorrelation. It should be noted that the two fuzzy functions on the main diagonal are generally called self-fuzzy functions, and the two fuzzy functions on the secondary diagonal are called mutual fuzzy functions. The fuzzy function can be one of the manifestations of the matched filtering result.

[0164] So, for the third sequence of emission, s V =[x-y-y-x-y-xx-y], the fourth sequence emitted is s H=[yxx -yx -yyx] The calculation expression of the self-fuzzy function is shown in Formula 2-1:

[0165]

[0166] The calculation expression of the mutual fuzzy function is shown in formula 2-2:

[0167]

[0168] in,

[0169]

[0170]

[0171]

[0172] Finally, an example graph of the fuzzy function can be obtained, from which the perception information of the target object can be obtained.

[0173] See also Figure 3a , Figure 3a is an example diagram of a self-ambiguous function provided by an embodiment of the present application, which is a simulation diagram of a self-ambiguous function of a target sequence composed of a quasi-Z complementary sequence with a length of 64 in a preset range of [-16, 16]. Figure 3a The perception information of the target object can be obtained: the self-ambiguity function has a good time domain autocorrelation characteristic in the interval of interest with an interval length of [-16,16], indicating that the first sequence and the second sequence obtained by solving the optimization problem have good time domain autocorrelation characteristics and can have good perception performance; the self-ambiguity function obtained by the target sequence (including the third sequence and the fourth sequence) has a certain broadening characteristic in the Doppler dimension, indicating that the target sequence (including the third sequence and the fourth sequence) constructed by the first sequence and the second sequence has a good Doppler tolerance. At the same time, the target sequence (the third sequence and the fourth sequence) also has a good time domain autocorrelation characteristic, which can realize the distance detection of high-speed or variable-speed targets. Please refer to Figure 3b , Figure 3b is a schematic diagram of a mutual ambiguity function provided in an embodiment of the present application, which is a simulation diagram of a mutual ambiguity function of a target sequence composed of a quasi-Z complementary sequence of length 64 in an interval length of [-16, 16]. Figure 3b It can be seen that the mutual ambiguity function has very low time-frequency domain characteristics in the preset range of interest [-16, 16], indicating low interference between the first sequence and the second sequence.

[0174] See also Figure 4 , Figure 4is a schematic diagram of a structure of a sensor signal processing device provided in an embodiment of the present application. The sensor signal processing device may be Figure 2 The transmitting device or a module in the transmitting device in the illustrated embodiment, the sensing signal processing apparatus 40 may include a solving unit 401, a constructing unit 402 and a transmitting unit 403, wherein each unit is described in detail as follows.

[0175] A solving unit 401 is used to solve an optimization problem to obtain a first sequence and a second sequence; wherein the optimization problem is obtained based on an objective function and a constant modulus constraint condition of minimizing the sum of two functions, one of the two functions is composed of an autocorrelation function of a first variable and an autocorrelation function of a second variable, and the other of the two functions is composed of a cross-correlation function of the first variable and the second variable; wherein the first sequence is a solution of the first variable in the optimization problem, and the second sequence is a solution of the second variable in the optimization problem;

[0176] A construction unit 402, configured to construct a target sequence according to the first sequence and the second sequence;

[0177] The transmitting unit 403 is used to transmit the target sequence; the target sequence is used to sense the target object.

[0178] In a possible implementation, the construction unit 402 is specifically configured to:

[0179] Arranging the Alamouti matrix according to the Prohaet-Sou-Morse PTM sequence to obtain a new matrix, wherein the Alamouti matrix is ​​a matrix formed by the inverse complex conjugate of the first sequence and the inverse complex conjugate of the second sequence;

[0180] A target sequence is determined according to the new matrix, wherein the target sequence includes a third sequence and a fourth sequence, the third sequence is the first row of the new matrix, and the fourth sequence is the second row of the new matrix.

[0181] In a possible implementation, the sensing signal processing device 40 includes a transmitting antenna in a vertical polarization direction and a transmitting antenna in a horizontal polarization direction; the transmitting unit is specifically configured to:

[0182] Transmitting the third sequence in sequence through the transmitting antenna in the vertical polarization direction according to a pulse repetition interval;

[0183] The fourth sequence is transmitted sequentially through the transmitting antennas in the horizontal polarization direction according to a pulse repetition interval.

[0184] In a possible implementation, the optimization problem is:

[0185]

[0186] Among them, the C x (k) represents the kth autocorrelation function of the first variable x, and the C y (k) represents the kth autocorrelation function of the second variable y, and the C xy (k) represents the kth cross-correlation function of the first variable x and the second variable y; L represents the length of the first variable and the second variable; x k represents the kth symbol of the first variable x, the y k represents the kth code element of the second variable; the ω a represents a restriction condition of a preset range of the first sequence and the second sequence, α represents a preset weight coefficient.

[0187] In a possible implementation, the solving unit is specifically used to:

[0188] By solving the optimization problem ω a The value of is selected, and the optimization problem is solved to obtain the first sequence and the second sequence within the preset range [-Z+1, ... -1, 1, ... Z+1]; wherein, Z≤L.

[0189] It should be noted that the functions of the various functional units in the sensory signal processing device 40 described in the embodiment of the present application can be referred to in the above Figure 2 The relevant descriptions of S200 to S202 in the method embodiment are not repeated here.

[0190] See also Figure 5 , Figure 5 is a schematic diagram of the structure of another sensory signal processing device provided in an embodiment of the present application. The sensory signal processing device 50 may be Figure 5 The receiving device or a module in the receiving device in the illustrated embodiment, the sensing signal processing apparatus 50 may include a receiving unit 501 and a matching acquisition unit 502, wherein each unit is described in detail as follows.

[0191] A receiving unit 501 is used to receive a target sequence sent by a sending device; the target sequence is constructed according to a first sequence and a second sequence; the first sequence and the second sequence are obtained by solving an optimization problem; the optimization problem is obtained based on an objective function and a constant modulus constraint condition of minimizing the sum of two functions, one of the two functions is composed of an autocorrelation function of a first variable and an autocorrelation function of a second variable, and the other of the two functions is composed of a cross-correlation function of the first variable and the second variable; wherein the first sequence is a solution of the first variable in the optimization problem, and the second sequence is a solution of the second variable in the optimization problem;

[0192] The matching acquisition unit 502 is configured to perform matched filtering on the target sequence to obtain a matched filtering result, and acquire the perception information of the target object according to the matched filtering result.

[0193] In a possible implementation, the perception signal processing device 50 includes a receiving antenna in the vertical polarization direction and a receiving antenna in the horizontal polarization direction; the target sequence includes a third sequence and a fourth sequence, and the matching unit is specifically used to: perform matched filtering on the third sequence and the fourth sequence through the matched filter group on the receiving antenna in the vertical polarization direction and the matched filter group on the receiving antenna in the horizontal polarization direction according to the pulse repetition interval to obtain a matched filtering result.

[0194] It should be noted that the functions of the various functional units in the sensing signal processing device 50 described in the embodiment of the present application can be referred to in the above Figure 3 The relevant descriptions of S203 to S206 in the method embodiment are not repeated here.

[0195] See also Figure 6 , Figure 6 6 is a schematic diagram of a perception signal transmitting device provided in an embodiment of the present application, wherein the perception signal transmitting device 60 includes a processor 601, a memory 602, and a transmitting dual-polarized antenna 603. The processor 601 includes a target sequence generating subsystem 601b and a transmitting subsystem 601a, and the processor 601, the memory 602, and the transmitting dual-polarized antenna 603 are interconnected via a bus 604.

[0196] The memory 602 includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or portable read-only memory (CD-ROM), and the memory 602 is used for related computer programs and data.

[0197] The processor 601 may be one or more central processing units (CPUs). When the processor 601 is a CPU, the CPU may be a single-core CPU or a multi-core CPU.

[0198] The processor 601 reads the computer program code stored in the memory 602 to perform the following operations:

[0199] Solving the optimization problem obtains a first sequence and a second sequence; wherein the optimization problem is obtained based on an objective function and a constant modulus constraint condition of minimizing the sum of two functions, one of the two functions is composed of an autocorrelation function of a first variable and an autocorrelation function of a second variable, and the other of the two functions is composed of a cross-correlation function of the first variable and the second variable; wherein the first sequence is a solution of the first variable in the optimization problem, and the second sequence is a solution of the second variable in the optimization problem; constructing a target sequence based on the first sequence and the second sequence.

[0200] The transmitting dual-polarized antenna 603 includes a transmitting antenna in a horizontal polarization direction and a transmitting antenna in a vertical polarization direction, and is used to transmit a target sequence; the target sequence is used to sense a target object.

[0201] It should be noted that the functions of the various functional units in the perception signal transmitting device 60 described in the embodiment of the present application can be referred to in the above Figure 2 The descriptions related to S200 to S202 in the method embodiment are not repeated here.

[0202] See also Figure 7 , Figure 7 is a schematic diagram of a perception signal receiving device provided in an embodiment of the present application, wherein the perception signal receiving device 70 includes a receiving dual-polarized antenna 701, a processor 702, and a memory 703. The processor 702 includes a receiving subsystem 702a and a processing subsystem 702b, and the processor 702, the memory 703, and the receiving dual-polarized antenna 701 are interconnected via a bus 704.

[0203] The memory 703 includes, but is not limited to, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), or a portable read-only memory (CD-ROM), and the memory 703 is used for related computer programs and data. The communication interface 803 is used to receive and transmit data.

[0204] The processor 702 may be one or more central processing units (CPUs). When the processor 702 is a CPU, the CPU may be a single-core CPU or a multi-core CPU.

[0205] The receiving dual-polarized antenna 701 includes a receiving antenna in a vertical polarization direction and a receiving antenna in a horizontal polarization direction, and is used to receive a target sequence sent by a perception signal sending device 60; the target sequence is constructed based on a first sequence and a second sequence; the first sequence and the second sequence are obtained by solving an optimization problem; the optimization problem is obtained based on an objective function and a constant modulus constraint condition for minimizing the sum of two functions, one of the two functions is composed of an autocorrelation function of a first variable and an autocorrelation function of a second variable, and the other of the two functions is composed of a cross-correlation function of the first variable and the second variable; wherein the first sequence is a solution of the first variable in the optimization problem, and the second sequence is a solution of the second variable in the optimization problem.

[0206] The processor 601 reads the computer program code stored in the memory 602 to perform the following operations:

[0207] Matched filtering is performed on the target sequence to obtain a matched filtering result, and perception information of the target object is acquired according to the matched filtering result.

[0208] It should be noted that the functions of the various functional units in the perception signal receiving device 70 described in the embodiment of the present application can be referred to in the above Figure 2 The relevant descriptions of S203 to S206 in the method embodiment are not repeated here.

[0209] See also Figure 8 , Figure 8 is a schematic diagram of a perception signal processing system provided in an embodiment of the present application. The perception signal processing system 80 includes a perception signal transmitting device 60 and a perception signal receiving device 70 .

[0210] It should be noted that the functions of the perception signal transmitting device 60 in the perception signal processing system 90 described in the embodiment of the present application can be referred to in the above Figure 2 The related descriptions of S200 to S202 in the method embodiment described above and the functions of the functional units in the perception signal receiving device 70 in the perception signal processing system 80 described in the embodiment of the present application can be referred to in the above Figure 2 The relevant descriptions of 202 to S206 in the method embodiment are not repeated here.

[0211] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the order of the actions described, because according to the present application, some steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0212] In the several embodiments provided in the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the above-mentioned units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0213] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0214] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0215] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server or a network device, etc., specifically a processor in a computer device) to perform all or part of the steps of the above-mentioned methods of each embodiment of the present application. Among them, the aforementioned storage medium may include: U disk, mobile hard disk, magnetic disk, optical disk, read-only memory (Read-Only Memory, abbreviated: ROM) or random access memory (Random Access Memory, abbreviated: RAM) and other media that can store program codes.

[0216] As described above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for processing a perceptual signal, characterized in that: Applicable to transmitting equipment, including: Solving an optimization problem to obtain a first sequence and a second sequence; wherein the optimization problem is obtained based on an objective function and a constant modulus constraint condition of minimizing the sum of two functions, one of the two functions is composed of an autocorrelation function of a first variable and an autocorrelation function of a second variable, and the other of the two functions is composed of a cross-correlation function of the first variable and the second variable; wherein the first sequence is a solution of the first variable in the optimization problem, and the second sequence is a solution of the second variable in the optimization problem; constructing a target sequence according to the first sequence and the second sequence; The target sequence is emitted; the target sequence is used to sense the target object.

2. The method according to claim 1, characterized in that The step of constructing a target sequence according to the first sequence and the second sequence includes: Arranging the Alamouti matrix according to the Prohaet-Sou-Morse PTM sequence to obtain a new matrix, wherein the Alamouti matrix is ​​a matrix formed by the inverse complex conjugate of the first sequence and the inverse complex conjugate of the second sequence; A target sequence is determined according to the new matrix, wherein the target sequence includes a third sequence and a fourth sequence, the third sequence is the first row of the new matrix, and the fourth sequence is the second row of the new matrix.

3. The method according to claim 2, characterized in that: The transmitting device includes a transmitting antenna in a vertical polarization direction and a transmitting antenna in a horizontal polarization direction; and transmitting the target sequence includes: Transmitting the third sequence in sequence through the transmitting antenna in the vertical polarization direction according to a pulse repetition interval; The fourth sequence is transmitted sequentially through the transmitting antennas in the horizontal polarization direction according to a pulse repetition interval.

4. The method according to any one of claims 1 to 3, characterized in that: The optimization problem is: Among them, the C x (k) represents the kth autocorrelation function of the first variable x, the Cy(k) represents the kth autocorrelation function of the second variable y, and the C xy (k) represents the kth cross-correlation function of the first variable x and the second variable y; L represents the length of the first variable and the second variable; x k represents the kth symbol of the first variable x, the y k represents the kth code element of the second variable; the ω k represents a restriction condition of a preset range of the first sequence and the second sequence, α represents a preset weight coefficient.

5. The method according to claim 4, characterized in that Solving the optimization problem to obtain the first sequence and the second sequence includes: By solving the optimization problem ω k The value of is selected, and the optimization problem is solved to obtain the first sequence and the second sequence within the preset range [-Z+1, ... -1, 1, ... Z+1]; wherein, 6. The method according to claim 1, characterized in that The length of the first sequence and the length of the second sequence are both 2 n .

7. The method according to claim 6, characterized in that 2 n is equal to 64; The first sequence is: 1.7341, 1.1340, -0.5472, 2.5963, 0.5515, -1.4643, -1.4746, 1.4715, -2.1159, 1.7596, 2.8734, 2.2515, 1.2418, -1.2562, 2.7622, ​​-1.2233, -0.3981, 2.6112, 2.2325, 2.7076, 0.9404, -2.3571, 1.9341, 1.8195, 0.5757, 1.9739, 0.5278, -0.1953, 0.3720, -0.8168, 1.6205, -1.0901, -1.6 636, -2.0341, -1.4480, 0.9057, 1.6821, 0.2329, -3.0069, -3.0584, 0.1641, 0.5060, 1.4893, -2.7575, -1.5898, 1.8278, 0.4952, 0.4564, 2.1698, 2.4325, -0.5816, 2.0195, 0.8338, -1.0606, -0.8028, -0.2512, 2.1051, -0.0719, 1.2728, -1.5233, 0.1539, 0.6289, 0.6322, 1.1099; the unit is radians; The second sequence is: 2.6798, 2.4165, 1.0325, -2.1572, -1.6219, 1.0392, 1.5742, -1.8896, 2.1673, -1.0041, 2.6724, -0.4484, -1.5759, -0.7495, 0.8979, 0.2778, -0.6923, 2.5241, 0.4578, 0.8070, 2.4172, -1.6788, 2.3553, 2.5433, -0.4126, 0.4759, -1.4990, -1.3245, 1.1887, 2.9184, 2.6797, -1.2382, 1.2096, -1.1161, -2.2148, -0.8829, -0.8591, 2.0962, -0.6294, -0.1992, -0.3267, 1.9456, 1.3541, 1.2991, 1.8820, 2.7887, 0.1861, -1.9303, -0.2220, 2.6107, -1.5184, 2.0026, 1.9488, 3.0558, -1.3299, 1.0977, -1.6652, 2.3303, -2.0154, 2.4912, 1.5943, 1.8019, -0.6911, -1.5569; the unit is radians.

8. A method for processing a perceptual signal, characterized in that: Applied to a receiving device, the method comprises: Receive a target sequence sent by a transmitting device; the target sequence is constructed based on a first sequence and a second sequence; the first sequence and the second sequence are obtained by solving an optimization problem; the optimization problem is obtained based on an objective function and a constant modulus constraint condition of minimizing the sum of two functions, one of the two functions is composed of an autocorrelation function of a first variable and an autocorrelation function of a second variable, and the other of the two functions is composed of a cross-correlation function of the first variable and the second variable; wherein the first sequence is a solution of the first variable in the optimization problem, and the second sequence is a solution of the second variable in the optimization problem; Matched filtering is performed on the target sequence to obtain a matched filtering result, and perception information of the target object is acquired according to the matched filtering result.

9. The method according to claim 8, characterized in that The receiving device includes a receiving antenna in a vertical polarization direction and a receiving antenna in a horizontal polarization direction; The target sequence includes a third sequence and a fourth sequence, and performing matched filtering on the target sequence to obtain a matched filtering result includes: According to the pulse repetition interval, matched filtering is performed on the third sequence and the fourth sequence through the matched filter group on the receiving antenna in the vertical polarization direction and the matched filter group on the receiving antenna in the horizontal polarization direction in sequence to obtain matched filtering results.

10. The method according to claim 8 or 9, characterized in that: The optimization problem is: Among them, the C x (k) represents the kth autocorrelation function of the first variable x, and the C y (k) represents the kth autocorrelation function of the second variable y, and the C xy (k) represents the kth cross-correlation function of the first variable x and the second variable y; L represents the length of the first variable and the second variable; x k represents the kth symbol of the first variable x, the y k represents the kth code element of the second variable; the ω k represents a restriction condition of a preset range of the first sequence and the second sequence, α represents a preset weight coefficient.

11. The method according to claim 10, characterized in that The method further comprises: By solving the optimization problem ω k The value of is selected, and the optimization problem is solved to obtain the first sequence and the second sequence within the preset range [-Z+1, ...-1, 1, ...Z+1]; in, 12. A sensory signal processing device, characterized in that: include: A solving unit, used for solving an optimization problem to obtain a first sequence and a second sequence; wherein the optimization problem is obtained based on an objective function and a constant modulus constraint condition of minimizing the sum of two functions, one of the two functions is composed of an autocorrelation function of a first variable and an autocorrelation function of a second variable, and the other of the two functions is composed of a cross-correlation function of the first variable and the second variable; wherein the first sequence is a solution of the first variable in the optimization problem, and the second sequence is a solution of the second variable in the optimization problem; A construction unit, configured to construct a target sequence according to the first sequence and the second sequence; The transmitting unit is used to transmit the target sequence; the target sequence is used to sense the target object.

13. The device according to claim 12, characterized in that The construction unit is specifically used for: Arranging the Alamouti matrix according to the Prohaet-Sou-Morse PTM sequence to obtain a new matrix, wherein the Alamouti matrix is ​​a matrix formed by the inverse complex conjugate of the first sequence and the inverse complex conjugate of the second sequence; A target sequence is determined according to the new matrix, wherein the target sequence includes a third sequence and a fourth sequence, the third sequence is the first row of the new matrix, and the fourth sequence is the second row of the new matrix.

14. The device according to claim 13, characterized in that The device comprises a transmitting antenna in a vertical polarization direction and a transmitting antenna in a horizontal polarization direction; the transmitting unit is specifically used for: Transmitting the third sequence in sequence through the transmitting antenna in the vertical polarization direction according to a pulse repetition interval; The fourth sequence is transmitted sequentially through the transmitting antennas in the horizontal polarization direction according to a pulse repetition interval.

15. A sensor signal processing device, characterized in that: include: A receiving unit, used for receiving a target sequence sent by a sending device; The target sequence is constructed based on the first sequence and the second sequence; the first sequence and the second sequence are obtained by solving an optimization problem; the optimization problem is obtained based on an objective function and a constant modulus constraint condition of minimizing the sum of two functions, one of the two functions is composed of an autocorrelation function of a first variable and an autocorrelation function of a second variable, and the other of the two functions is composed of a cross-correlation function of the first variable and the second variable; wherein the first sequence is a solution of the first variable in the optimization problem, and the second sequence is a solution of the second variable in the optimization problem; The matching acquisition unit is used to perform matched filtering on the target sequence to obtain a matched filtering result, and acquire the perception information of the target object according to the matched filtering result.

16. The device according to claim 15, characterized in that The device includes a receiving antenna in a vertical polarization direction and a receiving antenna in a horizontal polarization direction; the target sequence includes a third sequence and a fourth sequence, and the matching acquisition unit is specifically used to: According to the pulse repetition interval, matched filtering is performed on the third sequence and the fourth sequence through the matched filter group on the receiving antenna in the vertical polarization direction and the matched filter group on the receiving antenna in the horizontal polarization direction in sequence to obtain matched filtering results.

17. A sensing signal transmitting device, characterized in that: The method comprises a processor, a memory and a transceiver, wherein the memory is used to store a computer program, the transceiver is used to receive and send data under the control of the processor, and the processor is used to call the computer program to execute the method described in any one of claims 1 to 7.

18. A perception signal receiving device, characterized in that: It comprises a processor, a memory and a transceiver, wherein the memory is used to store a computer program, the transceiver is used to receive and send data under the control of the processor, and the processor is used to call the computer program to execute the method described in any one of claims 8 to 11.

19. A perception signal processing system, characterized in that: It includes transmitting equipment and receiving equipment, including: The transmitting device is the apparatus described in claims 12-14 or the device described in claim 17; The receiving device is the apparatus described in claim 15 or 16 or the device described in claim 18.

20. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 11 is implemented.

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