Radar ranging and speed measuring device and method

Abstract

The present invention discloses a radar ranging and speed measuring device and method, the device comprising: a first measuring module, transmitting a first frequency modulated continuous wave signal and receiving a first echo signal and a second echo signal at the same time, obtaining a digital signal representing the frequency difference between the first frequency modulated continuous wave signal and the first echo signal; a second measuring module, transmitting a second frequency modulated continuous wave signal while the first measuring module transmits the first frequency modulated continuous wave signal, receiving the first echo signal and the second echo signal, obtaining a digital signal representing the frequency difference between the second frequency modulated continuous wave signal and the second echo signal; a signal processing module, performing data processing on the digital signals output by the first measuring module and the second measuring module, obtaining the distance and speed information of the target object. The present invention can simultaneously realize the transmission, reception and processing of FMCW signals with a positive slope and FMCW signals with a negative slope, effectively shortening the speed and ranging time of the radar.

Description

Technical Field

[0001] The present invention relates to the field of radar measurement technology, and in particular to a radar ranging and speed measuring device and method. Background Art

[0002] Radar is the transliteration of the English word Radar, which comes from the abbreviation of radio detection and ranging, meaning "radio detection and ranging", that is, using radio methods to discover targets and determine their spatial positions. Therefore, radar is also called "radio positioning". Radar is an electronic device that uses electromagnetic waves to detect targets. Radar emits electromagnetic waves to illuminate the target and receives its echo, thereby obtaining information such as the distance from the target to the electromagnetic wave emission point, the rate of change of distance (radial velocity), azimuth, and altitude.

[0003] Generally speaking, the radars nowadays are basically frequency modulated continuous wave (FMCW) radars. The main advantages of this type of radar are low radiation power, high ranging and speed measurement accuracy, relatively simple equipment, easy to implement solid-state design, good electronic countermeasure (ECM) and low probability of intercept (LPI) performance, etc. The working principle is to use FMCW radar to transmit frequency modulation continuous in space, detect its echo signal at the same time, and then use the echo signal and part of the transmitted signal for coherent mixing to obtain a difference frequency signal containing the target distance and speed information, and then process and detect the difference frequency signal to obtain the target distance and speed.

[0004] However, in order to obtain the distance and speed information of the target object through the above frequency difference, the existing FMCW radar generally adopts the modulation method of triangular wave to obtain the distance and speed information of the target object, that is, it is necessary to transmit FMCW signals with positive slopes and FMCW signals with negative slopes in sequence, and extract the distance and speed information through the obtained frequency differences. However, since the transmission, reception and processing of FMCW signals with positive slopes and FMCW signals with negative slopes are carried out in sequence, it belongs to serial processing, and its processing speed is slow, which is difficult to apply to scenarios with strict requirements on processing time.

[0005] Therefore, it is necessary to provide an improved technical solution to overcome the above technical problems existing in the prior art. Summary of the invention

[0006] In order to solve the above technical problems, the present invention provides a radar ranging and speed measurement device and method, which can simultaneously realize the transmission, reception and processing of FMCW signals with a positive slope and FMCW signals with a negative slope, and can effectively shorten the speed and ranging time of the radar.

[0007] According to a first aspect of the present disclosure, a radar ranging and speed measuring device is provided, comprising: a first measuring module, transmitting a first frequency modulated continuous wave signal, and simultaneously receiving a first echo signal and a second echo signal, wherein the first measuring module is used to perform mixing, complex filtering and analog-to-digital conversion processing on the received echo signal and the transmitted first frequency modulated continuous wave signal to obtain a first digital signal and a second digital signal representing a frequency difference between the first frequency modulated continuous wave signal and the first echo signal;

[0008] a second measuring module, which transmits a second frequency modulated continuous wave signal while the first measuring module transmits the first frequency modulated continuous wave signal, and simultaneously receives the first echo signal and the second echo signal, and the second measuring module is used for performing mixing, complex filtering and analog-to-digital conversion on the received echo signal and the transmitted second frequency modulated continuous wave signal to obtain a third digital signal and a fourth digital signal representing a frequency difference between the second frequency modulated continuous wave signal and the second echo signal;

[0009] a signal processing module, performing data processing on the first digital signal, the second digital signal, the third digital signal, and the fourth digital signal to obtain distance and speed information of the target object,

[0010] The first echo signal is a reflection signal of the first FMCW signal on the target object, and the second echo signal is a reflection signal of the second FMCW signal on the target object.

[0011] Optionally, the frequency of the first FMCW signal increases linearly with time, and the frequency of the second FMCW signal decreases linearly with time.

[0012] Optionally, the first measurement module includes:

[0013] A first signal source, used for generating the first frequency modulated continuous wave signal and a first local oscillation signal and a second local oscillation signal having a first local oscillation frequency;

[0014] a first antenna, configured to transmit the first frequency modulated continuous wave signal and receive the first echo signal and the second echo signal;

[0015] A first orthogonal mixer, configured to mix the first echo signal and the second echo signal with the first local oscillator signal and the second local oscillator signal respectively to obtain a first intermediate frequency signal and a second intermediate frequency signal;

[0016] a first complex filter, configured to perform complex filtering on the first intermediate frequency signal and the second intermediate frequency signal to obtain a first analog signal and a second analog signal respectively representing a frequency difference between the first local oscillator signal and the second local oscillator signal and the first echo signal;

[0017] The first analog-to-digital converter performs analog-to-digital conversion on the first analog signal and the second analog signal to obtain a first digital signal and a second digital signal.

[0018] Optionally, a phase difference between the first local oscillator signal and the second local oscillator signal is 180 degrees.

[0019] Optionally, at the same moment, a difference between the first local oscillation frequency and the frequency of the first echo signal is greater than 0, and a difference between the first local oscillation frequency and the frequency of the second echo signal is less than 0.

[0020] Optionally, the first complex filter transmits positive frequency signals and suppresses negative frequency signals.

[0021] Optionally, the second measurement module includes:

[0022] A second signal source, used for generating the second frequency modulated continuous wave signal and a third local oscillation signal and a fourth local oscillation signal having a second local oscillation frequency;

[0023] a second antenna, configured to transmit the second frequency modulated continuous wave signal and receive the first echo signal and the second echo signal while the first antenna transmits the first frequency modulated continuous wave signal;

[0024] A second orthogonal mixer is used to mix the first echo signal and the second echo signal with the third local oscillator signal and the fourth local oscillator signal respectively to obtain a third intermediate frequency signal and a fourth intermediate frequency signal;

[0025] a second complex filter, configured to perform complex filtering on the third intermediate frequency signal and the fourth intermediate frequency signal to obtain a third analog signal and a fourth analog signal respectively representing a frequency difference between the third local oscillator signal and the fourth local oscillator signal and the second echo signal;

[0026] The second analog-to-digital converter performs analog-to-digital conversion on the third analog signal and the fourth analog signal to obtain a third digital signal and a fourth digital signal.

[0027] Optionally, a phase difference between the third local oscillation signal and the fourth local oscillation signal is 180 degrees.

[0028] Optionally, at the same moment, a difference between the second local oscillation frequency and the frequency of the first echo signal is greater than 0, and a difference between the second local oscillation frequency and the frequency of the second echo signal is less than 0.

[0029] Optionally, the second complex filter transmits negative frequency signals and suppresses positive frequency signals.

[0030] According to a second aspect of the present disclosure, a radar ranging and speed measurement method is provided, comprising: transmitting a first frequency modulated continuous wave signal to a target object via a first antenna, and simultaneously transmitting a second frequency modulated continuous wave signal to the target object via a second antenna;

[0031] simultaneously receiving a first echo signal and a second echo signal;

[0032] Mixing the first echo signal and the second echo signal with two local oscillator signals of the first frequency-modulated continuous wave signal respectively to obtain a first intermediate frequency signal and a second intermediate frequency signal;

[0033] Mixing the first echo signal and the second echo signal with two local oscillator signals of the second frequency-modulated continuous wave signal respectively to obtain a third intermediate frequency signal and a fourth intermediate frequency signal;

[0034] Performing complex filtering and analog-to-digital conversion on the first intermediate frequency signal and the second intermediate frequency signal to obtain a first digital signal and a second digital signal representing a frequency difference between the first frequency modulated continuous wave signal and the first echo signal;

[0035] Performing complex filtering and analog-to-digital conversion on the third intermediate frequency signal and the fourth intermediate frequency signal to obtain a third digital signal and a fourth digital signal representing a frequency difference between the second frequency modulated continuous wave signal and the second echo signal;

[0036] performing data processing on the first digital signal, the second digital signal, the third digital signal, and the fourth digital signal to obtain distance and speed information of the target object,

[0037] The frequency of the first FMCW signal increases linearly with time, and the frequency of the second FMCW signal decreases linearly with time.

[0038] Optionally, a phase difference between two local oscillator signals of the first frequency modulated continuous wave signal and a phase difference between two local oscillator signals of the second frequency modulated continuous wave signal are both 180 degrees.

[0039] Optionally, the first intermediate frequency signal and the second intermediate frequency signal include a positive frequency signal part and a negative frequency signal part, and performing complex filtering on the first intermediate frequency signal and the second intermediate frequency signal includes filtering out the negative frequency signal part in the first intermediate frequency signal and the second intermediate frequency signal.

[0040] Optionally, the third intermediate frequency signal and the fourth intermediate frequency signal include a positive frequency signal part and a negative frequency signal part, and performing complex filtering on the third intermediate frequency signal and the fourth intermediate frequency signal includes filtering out the positive frequency signal part in the third intermediate frequency signal and the fourth intermediate frequency signal.

[0041] The beneficial effects of the present invention include at least:

[0042] In the radar ranging and speed measuring device of the embodiment of the present invention, the first measuring module and the second measuring module simultaneously transmit an FMCW signal with a positive slope (i.e., a first frequency modulated continuous wave signal) and an FMCW signal with a negative slope (i.e., a second frequency modulated continuous wave signal) to the target object, simultaneously receive the reflected first echo signal and the second echo signal, and simultaneously perform mixing, complex filtering and analog-to-digital conversion processing on the received signal and the respective transmitted signals to obtain a corresponding digital signal, thereby realizing the parallel transmission, reception and processing of the FMCW signal with a positive slope and the FMCW signal with a negative slope, thereby effectively shortening the speed measurement and ranging time of the radar.

[0043] It should be noted that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 A schematic diagram of the structure of a radar ranging and speed measuring device according to an embodiment of the present invention is shown;

[0045] Figure 2 A schematic diagram showing the structures of a first frequency modulated continuous wave signal and a second frequency modulated continuous wave signal and their respective local oscillator signals and echo signals provided in an embodiment of the present invention is shown;

[0046] Figure 3 A schematic diagram of the structure of an orthogonal mixer provided according to an embodiment of the present invention is shown;

[0047] Figure 4 A schematic diagram showing the amplitude-frequency characteristics of a complex filter provided according to an embodiment of the present invention is shown;

[0048] Figure 5 A schematic flow chart of a radar ranging and speed measurement method according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0049] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0050] Figure 1 FIG. 2 is a schematic diagram showing the structure of a radar ranging and speed measuring device provided by an embodiment of the present invention. Figure 1As shown, the radar ranging and speed measuring device includes: a first measuring module 100, a second measuring module 200 and a signal processing module 300. Among them, the first measuring module 100 transmits a first frequency modulated continuous wave signal and receives an echo signal at the same time. The second measuring module 200 transmits a second frequency modulated continuous wave signal and receives an echo signal at the same time as the first measuring module 100 transmits the first frequency modulated continuous wave signal. It can be understood that the echo signals received by the first measuring module 100 and the second measuring module 200 respectively include a first echo signal generated by the first frequency modulated continuous wave signal reflected on the target object and a second echo signal generated by the second frequency modulated continuous wave signal reflected on the target object.

[0051] The first measurement module 100 is also used to obtain a first digital signal and a second digital signal representing a frequency difference between the first frequency modulated continuous wave signal and the first echo signal in the echo signal after performing orthogonal mixing, complex filtering and analog-to-digital conversion on the received echo signal and the transmitted first frequency modulated continuous wave signal. Exemplarily, the first measurement module 100 further includes: a first signal source 120, a first antenna 110, a first orthogonal mixer 130, a first complex filter 140 and a first analog-to-digital converter 150.

[0052] The first signal source 120 is used to generate a first frequency modulated continuous wave signal and two local oscillator signals (including a first local oscillator signal and a second local oscillator signal) having a first local oscillator frequency and a phase difference of 180 degrees. In this embodiment, the frequency of the first frequency modulated continuous wave signal generated by the first signal source 120 increases linearly with time, that is, the slope-time waveform of the first frequency modulated continuous wave signal has a positive slope, such as Figure 2 As shown in the solid line portion, at the same time, the local oscillation frequencies of the two local oscillation signals generated by the first signal source 120 are the same as the frequency of the first FMCW signal.

[0053] The first antenna 110 is connected to the first signal source 120, and is used to transmit the first frequency modulated continuous wave signal and receive the first echo signal and the second echo signal. As can be seen from the above, since the present invention simultaneously transmits the first frequency modulated continuous wave signal with a positive slope and the second frequency modulated continuous wave signal with a negative slope to the target object, the echo signal received by the first antenna 110 includes the first echo signal and the second echo signal.

[0054] The first orthogonal mixer 130 is connected to the first signal source 120 and the first antenna 110 respectively, and is used to perform orthogonal mixing on the first echo signal and the second echo signal with the first local oscillator signal and the second local oscillator signal respectively to obtain a first intermediate frequency signal and a second intermediate frequency signal. Figure 3The first orthogonal mixer 130 in the embodiment of the present invention includes a first mixer 301 and a second mixer 302. The first input end of the first mixer 301 receives an echo signal including both a first echo signal and a second echo signal, and the second input end of the first mixer 301 receives a first local oscillator signal. The first mixer 301 is used to simultaneously perform orthogonal mixing on the first echo signal, the second echo signal and the first local oscillator signal, and then output a first intermediate frequency signal including a difference frequency signal representing the first local oscillator signal and the first echo signal, and a difference frequency signal representing the first local oscillator signal and the second echo signal at its output end I. The first input end of the second mixer 302 receives an echo signal that includes both the first echo signal and the second echo signal, and the second input end of the second mixer 302 receives a second local oscillator signal. The second mixer 302 is used to simultaneously perform orthogonal mixing on the first echo signal, the second echo signal and the second local oscillator signal, and then output at its output end Q a second intermediate frequency signal that includes both a difference frequency signal representing the second local oscillator signal and the first echo signal, and a difference frequency signal representing the second local oscillator signal and the second echo signal.

[0055] The first complex filter 140 is used to perform complex filtering on the first intermediate frequency signal and the second intermediate frequency signal to obtain a first analog signal and a second analog signal representing the frequency difference between the first local oscillator signal and the second local oscillator signal and the first echo signal. In this embodiment, the amplitude-frequency characteristic of the first complex filter 140 is as follows: Figure 4 As shown by the solid line in , the first complex filter 140 passes and can only pass positive frequency signals within its passband, that is, the first complex filter 140 can transmit positive frequency signals and suppress negative frequency signals.

[0056] refer to Figure 2 Based on the principle of signal reflection, it can be known that at the same time, the difference between the first local oscillation frequency of the first local oscillation signal and the second local oscillation signal and the frequency of the first echo signal is always greater than 0, that is, the difference frequency signal representing the first local oscillation signal and the first echo signal in the first intermediate frequency signal is a positive frequency signal, and the difference frequency signal representing the second local oscillation signal and the first echo signal in the second intermediate frequency signal is a positive frequency signal, and by reasonably setting the start and end frequencies of the first frequency modulated continuous wave signal and the second frequency modulated continuous wave signal (for example, setting the end frequency of the first frequency modulated continuous wave signal to be less than or equal to the end frequency of the second frequency modulated continuous wave signal), the difference between the first local oscillation frequency of the first local oscillation signal and the second local oscillation signal and the frequency of the second echo signal can be always less than 0. In this way, by the complex filtering processing of the first intermediate frequency signal and the second intermediate frequency signal by the first complex filter 140, the difference frequency signal parts of the first local oscillation signal and the second local oscillation signal and the second echo signal can be filtered out in the first intermediate frequency signal and the second intermediate frequency signal, so as to realize the extraction of the difference frequency signal based on the first echo signal.

[0057] The first analog-to-digital converter 150 performs analog-to-digital conversion on the first analog signal and the second analog signal to obtain a first digital signal and a second digital signal.

[0058] The second measurement module 200 is also used to obtain a third digital signal and a fourth digital signal representing the frequency difference between the second frequency modulated continuous wave signal and the second echo signal in the echo signal after performing orthogonal mixing, complex filtering and analog-to-digital conversion on the received echo signal and the transmitted second frequency modulated continuous wave signal. Exemplarily, the second measurement module 200 further includes: a second signal source 220, a second antenna 210, a second orthogonal mixer 230, a second complex filter 240 and a second analog-to-digital converter 250.

[0059] The second signal source 220 is used to generate a second frequency modulated continuous wave signal and two local oscillator signals (including a third local oscillator signal and a fourth local oscillator signal) having a second local oscillator frequency and a phase difference of 180 degrees. In this embodiment, the frequency of the second frequency modulated continuous wave signal generated by the second signal source 220 decreases linearly with time, that is, the slope-time waveform of the second frequency modulated continuous wave signal has a negative slope, such as Figure 2 As shown in the dotted line portion, at the same time, the local oscillation frequencies of the two local oscillation signals generated by the second signal source 220 are the same as the frequency of the second FMCW signal.

[0060] The second antenna 210 is connected to the second signal source 220, and is used to transmit the second frequency modulated continuous wave signal and receive the first echo signal and the second echo signal. As can be seen from the above, since the present invention simultaneously transmits the first frequency modulated continuous wave signal with a positive slope and the second frequency modulated continuous wave signal with a negative slope to the target object, the echo signal received by the second antenna 210 includes the first echo signal and the second echo signal.

[0061] The second orthogonal mixer 230 is connected to the second signal source 220 and the second antenna 210 respectively, and is used to perform orthogonal mixing on the first echo signal and the second echo signal with the third local oscillator signal and the fourth local oscillator signal respectively to obtain a third intermediate frequency signal and a fourth intermediate frequency signal. Figure 3The second orthogonal mixer 230 in the embodiment of the present invention includes a first mixer 301 and a second mixer 302. The first input end of the first mixer 301 receives an echo signal including both the first echo signal and the second echo signal, and the second input end of the first mixer 301 receives a third local oscillator signal. The first mixer 301 is used to simultaneously perform orthogonal mixing on the first echo signal, the second echo signal and the third local oscillator signal, and then output a third intermediate frequency signal including a difference frequency signal representing the third local oscillator signal and the first echo signal, and a difference frequency signal representing the third local oscillator signal and the second echo signal at its output end I. The first input end of the second mixer 302 receives an echo signal that simultaneously includes the first echo signal and the second echo signal, and the second input end of the second mixer 302 receives the fourth local oscillator signal. The second mixer 302 is used to simultaneously perform orthogonal mixing on the first echo signal, the second echo signal and the fourth local oscillator signal, and then output at its output end Q a fourth intermediate frequency signal that simultaneously includes a difference frequency signal representing the fourth local oscillator signal and the first echo signal, and a difference frequency signal representing the fourth local oscillator signal and the second echo signal.

[0062] The second complex filter 240 is used to perform complex filtering on the third intermediate frequency signal and the fourth intermediate frequency signal to obtain a third analog signal and a fourth analog signal respectively representing the frequency difference between the third local oscillator signal and the fourth local oscillator signal and the second echo signal. In this embodiment, the amplitude-frequency characteristic of the second complex filter 240 is as follows: Figure 4 As shown by the dotted line in , the second complex filter 240 passes and can only pass negative frequency signals within its passband, that is, the second complex filter 240 can transmit negative frequency signals and suppress positive frequency signals.

[0063] refer to Figure 2 Based on the principle of signal reflection, it can be known that at the same time, the difference between the second local oscillation frequency of the third local oscillation signal and the fourth local oscillation signal and the frequency of the first echo signal is always greater than 0, that is, the difference frequency signal representing the third local oscillation signal and the first echo signal in the third intermediate frequency signal is a positive frequency signal, and the difference frequency signal representing the fourth local oscillation signal and the first echo signal in the second intermediate frequency signal is a positive frequency signal, and by reasonably setting the start and end frequencies of the first frequency modulated continuous wave signal and the second frequency modulated continuous wave signal (for example, setting the end frequency of the first frequency modulated continuous wave signal to be less than or equal to the end frequency of the second frequency modulated continuous wave signal), the difference between the second local oscillation frequency of the third local oscillation signal and the fourth local oscillation signal and the frequency of the second echo signal can be always less than 0. In this way, by performing complex filtering on the third intermediate frequency signal and the fourth intermediate frequency signal by the second complex filter 240, the difference frequency signal parts of the third local oscillation signal and the fourth local oscillation signal and the first echo signal can be filtered out in the third intermediate frequency signal and the fourth intermediate frequency signal, thereby realizing the extraction of the difference frequency signal based on the second echo signal.

[0064] The second analog-to-digital converter 250 performs analog-to-digital conversion on the third analog signal and the fourth analog signal to obtain a third digital signal and a fourth digital signal.

[0065] The signal processing module 300 is connected to the first measurement module 100 and the second measurement module 200 respectively, and performs data processing on the first digital signal, the second digital signal, the third digital signal and the fourth digital signal to obtain the distance and speed information of the target object. The specific structure of the signal processing module 300 and the specific processing process of performing data processing on the first digital signal, the second digital signal, the third digital signal and the fourth digital signal to obtain the distance and speed information of the target object can be understood by referring to the solution of the prior art. Since it does not affect the understanding of the protection point of the present application, it will not be described in detail in this article.

[0066] Based on the above description, in the radar ranging and speed measuring device of the embodiment of the present invention, the first measuring module 100 and the second measuring module 200 simultaneously generate a first frequency modulated continuous wave signal with a positive slope and a second frequency modulated continuous wave signal with a negative slope based on their respective signal sources, and transmit them to the target object through their respective antennas at the same time. Compared with the serial transmission method of the positive slope signal and the negative slope signal in the traditional sampled triangular wave form frequency modulated continuous wave signal, the present invention can effectively save the transmission and reception time of the frequency modulated continuous wave signal. Since the present invention transmits the first frequency modulated continuous wave signal with a positive slope and the second frequency modulated continuous wave signal with a negative slope to the target object in parallel, the antennas in the first measuring module 100 and the second measuring module 200 will also simultaneously receive the echo signals generated by the two frequency modulated continuous wave signals at the same time, but the embodiment of the present invention also provides respective orthogonal mixers and complex filters in the first measuring module 100 and the second measuring module 200, respectively. The present invention can reasonably set the start and end frequencies of the first frequency modulated continuous wave signal and the second frequency modulated continuous wave signal, so that in the same time, the echo signal frequency of the first frequency modulated continuous wave signal with a positive slope is always less than its local oscillator signal frequency, and the echo signal frequency of the second frequency modulated continuous wave signal with a negative slope is always greater than its local oscillator signal frequency, and then based on the first complex filter 140 that can only realize the transmission of positive frequency signals and the second complex filter 240 that can only realize the transmission of negative frequency signals, the useful signal in the intermediate frequency signal output by the first orthogonal mixer 130 and the second orthogonal mixer 230 can be distinguished and extracted. Since the mixing, filtering and analog-to-digital conversion processes of the two echo signals are carried out simultaneously, the present invention can also effectively save the signal processing time of the difference frequency signal of the frequency modulated continuous wave signal and its echo signal. Then, by performing corresponding signal processing on the obtained digital signal, the distance and speed information of the target object can be quickly obtained. The present invention can simultaneously realize the transmission, reception and processing of FMCW signals with a positive slope and FMCW signals with a negative slope, thereby effectively shortening the speed measurement and distance measurement time of the radar.

[0067] Furthermore, the present invention also discloses a radar ranging and speed measuring method, which can be applied to Figures 1 to 4 The radar ranging and speed measuring device shown in FIG. Figure 5 As shown, the radar ranging and speed measuring method includes executing the following steps:

[0068] In step S1 , a first frequency modulated continuous wave signal is transmitted to a target object via a first antenna, and a second frequency modulated continuous wave signal is transmitted to the target object via a second antenna.

[0069] In this embodiment, the first measurement module 100 and the second measurement module 200 simultaneously generate a first frequency modulated continuous wave signal with a positive slope and a second frequency modulated continuous wave signal with a negative slope based on their respective signal sources, and transmit them to the target object through their respective antennas at the same time. The frequency of the first frequency modulated continuous wave signal increases linearly with time, and the frequency of the second frequency modulated continuous wave signal decreases linearly with time.

[0070] In step S2, a first echo signal and a second echo signal are received simultaneously.

[0071] In this embodiment, the echo signals received by the first antenna 110 in the first measurement module 100 and the second antenna 210 in the second measurement module 200 both include a first echo signal portion and a second echo signal portion.

[0072] In step S3, the first echo signal and the second echo signal are mixed with two local oscillator signals of the first frequency-modulated continuous wave signal respectively to obtain a first intermediate frequency signal and a second intermediate frequency signal.

[0073] In this embodiment, the echo signal received by the first antenna 110 and the two local oscillator signals having the first local oscillator frequency and a phase difference of 180 degrees generated by the first signal source 120 in the first measurement module 100 are simultaneously input into the first orthogonal mixer 130 for orthogonal mixing to obtain the first intermediate frequency signal and the second intermediate frequency signal. For details, please refer to the above description of the first orthogonal mixer 130, which will not be repeated here.

[0074] In step S4, the first echo signal and the second echo signal are mixed with two local oscillator signals of the second frequency-modulated continuous wave signal respectively to obtain a third intermediate frequency signal and a fourth intermediate frequency signal.

[0075] In this embodiment, the echo signal received by the second antenna 210 and the two local oscillator signals having the second local oscillator frequency and a phase difference of 180 degrees generated by the second signal source 220 in the second measurement module 200 are simultaneously input into the second orthogonal mixer 230 for orthogonal mixing to obtain the third intermediate frequency signal and the fourth intermediate frequency signal. For details, please refer to the above description of the second orthogonal mixer 230, which will not be repeated here.

[0076] In step S5, complex filtering and analog-to-digital conversion are performed on the first intermediate frequency signal and the second intermediate frequency signal to obtain a first digital signal and a second digital signal representing the frequency difference between the first frequency modulated continuous wave signal and the first echo signal.

[0077] In this embodiment, the first intermediate frequency signal and the second intermediate frequency signal include a positive frequency signal portion and a negative frequency signal portion, and the complex filtering of the first intermediate frequency signal and the second intermediate frequency signal includes filtering out the negative frequency signal portion in the first intermediate frequency signal and the second intermediate frequency signal. For details, please refer to the above description of the first complex filter 140, which will not be repeated here.

[0078] In step S6, complex filtering and analog-to-digital conversion are performed on the third intermediate frequency signal and the fourth intermediate frequency signal to obtain a third digital signal and a fourth digital signal representing the frequency difference between the second frequency modulated continuous wave signal and the second echo signal.

[0079] In this embodiment, the third intermediate frequency signal and the fourth intermediate frequency signal include a positive frequency signal portion and a negative frequency signal portion, and the complex filtering of the third intermediate frequency signal and the fourth intermediate frequency signal includes filtering out the positive frequency signal portion in the third intermediate frequency signal and the fourth intermediate frequency signal. For details, please refer to the aforementioned description of the second complex filter 240 for understanding, which will not be repeated here.

[0080] In step S7, data processing is performed on the first digital signal and the second digital signal, and the third digital signal and the fourth digital signal to obtain distance and speed information of the target object.

[0081] In summary, the first measurement module and the second measurement module in the radar ranging and speed measuring device in the embodiment of the present invention simultaneously transmit an FMCW signal with a positive slope (i.e., a first frequency modulated continuous wave signal) and an FMCW signal with a negative slope (i.e., a second frequency modulated continuous wave signal) to the target object, simultaneously receive the reflected first echo signal and the second echo signal, and simultaneously perform mixing, complex filtering and analog-to-digital conversion on the received signal and the respective transmitted signals to obtain a corresponding digital signal, thereby realizing the parallel transmission, reception and processing of the FMCW signal with a positive slope and the FMCW signal with a negative slope, thereby effectively shortening the speed measurement and ranging time of the radar.

[0082] Finally, it should be noted that: Obviously, the above embodiments are only examples for clearly explaining the present invention, and are not intended to limit the implementation methods. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from this are still within the scope of protection of the present invention.

Claims

1. A radar ranging and speed measuring device, wherein: include: A first measurement module transmits a first frequency modulated continuous wave signal having a positive slope, and simultaneously receives a first echo signal and a second echo signal, wherein the first measurement module is used to perform mixing, complex filtering and analog-to-digital conversion on the received echo signal and the transmitted first frequency modulated continuous wave signal to obtain a first digital signal and a second digital signal representing a frequency difference between the first frequency modulated continuous wave signal and the first echo signal; a second measuring module, which transmits a second frequency modulated continuous wave signal having a negative slope while the first measuring module transmits the first frequency modulated continuous wave signal, and simultaneously receives the first echo signal and the second echo signal, and the second measuring module is used for performing mixing, complex filtering and analog-to-digital conversion on the received echo signal and the transmitted second frequency modulated continuous wave signal to obtain a third digital signal and a fourth digital signal representing a frequency difference between the second frequency modulated continuous wave signal and the second echo signal; a signal processing module, performing data processing on the first digital signal, the second digital signal, the third digital signal, and the fourth digital signal to obtain distance and speed information of the target object, The first echo signal is a reflection signal of the first FMCW signal on the target object, and the second echo signal is a reflection signal of the second FMCW signal on the target object.

2. The radar ranging and speed measuring device according to claim 1, wherein: The frequency of the first FMCW signal increases linearly with time, and the frequency of the second FMCW signal decreases linearly with time.

3. The radar ranging and speed measuring device according to claim 2, wherein: The first measurement module comprises: A first signal source, used for generating the first frequency modulated continuous wave signal and a first local oscillation signal and a second local oscillation signal having a first local oscillation frequency; a first antenna, configured to transmit the first frequency modulated continuous wave signal and receive the first echo signal and the second echo signal; A first orthogonal mixer, configured to mix the first echo signal and the second echo signal with the first local oscillator signal and the second local oscillator signal respectively to obtain a first intermediate frequency signal and a second intermediate frequency signal; a first complex filter, configured to perform complex filtering on the first intermediate frequency signal and the second intermediate frequency signal to obtain a first analog signal and a second analog signal respectively representing a frequency difference between the first local oscillator signal and the second local oscillator signal and the first echo signal; The first analog-to-digital converter performs analog-to-digital conversion on the first analog signal and the second analog signal to obtain a first digital signal and a second digital signal.

4. The radar ranging and speed measuring device according to claim 3, wherein: The phase difference between the first local oscillation signal and the second local oscillation signal is 180 degrees.

5. The radar ranging and speed measuring device according to claim 3, wherein: At the same time, a difference between the first local oscillation frequency and the frequency of the first echo signal is greater than 0, and a difference between the first local oscillation frequency and the frequency of the second echo signal is less than 0.

6. The radar ranging and speed measuring device according to claim 5, wherein: The first complex filter transmits positive frequency signals and suppresses negative frequency signals.

7. The radar ranging and speed measuring device according to claim 3, wherein: The second measurement module comprises: A second signal source, used for generating the second frequency modulated continuous wave signal and a third local oscillation signal and a fourth local oscillation signal having a second local oscillation frequency; a second antenna, configured to transmit the second frequency modulated continuous wave signal and receive the first echo signal and the second echo signal while the first antenna transmits the first frequency modulated continuous wave signal; A second orthogonal mixer is used to mix the first echo signal and the second echo signal with the third local oscillator signal and the fourth local oscillator signal respectively to obtain a third intermediate frequency signal and a fourth intermediate frequency signal; a second complex filter, configured to perform complex filtering on the third intermediate frequency signal and the fourth intermediate frequency signal to obtain a third analog signal and a fourth analog signal respectively representing a frequency difference between the third local oscillator signal and the fourth local oscillator signal and the second echo signal; The second analog-to-digital converter performs analog-to-digital conversion on the third analog signal and the fourth analog signal to obtain a third digital signal and a fourth digital signal.

8. The radar ranging and speed measuring device according to claim 7, wherein: The phase difference between the third local oscillation signal and the fourth local oscillation signal is 180 degrees.

9. The radar ranging and speed measuring device according to claim 7, wherein: At the same time, a difference between the second local oscillation frequency and the frequency of the first echo signal is greater than 0, and a difference between the second local oscillation frequency and the frequency of the second echo signal is less than 0.

10. The radar ranging and speed measuring device according to claim 9, wherein: The second complex filter transmits negative frequency signals and suppresses positive frequency signals.

11. A radar ranging and speed measuring method, wherein: include: Transmitting a first frequency modulated continuous wave signal to the target object via the first antenna, and transmitting a second frequency modulated continuous wave signal to the target object via the second antenna; simultaneously receiving a first echo signal and a second echo signal; Mixing the first echo signal and the second echo signal with two local oscillator signals of the first frequency-modulated continuous wave signal respectively to obtain a first intermediate frequency signal and a second intermediate frequency signal; Mixing the first echo signal and the second echo signal with two local oscillator signals of the second frequency-modulated continuous wave signal respectively to obtain a third intermediate frequency signal and a fourth intermediate frequency signal; Performing complex filtering and analog-to-digital conversion on the first intermediate frequency signal and the second intermediate frequency signal to obtain a first digital signal and a second digital signal representing a frequency difference between the first frequency modulated continuous wave signal and the first echo signal; Performing complex filtering and analog-to-digital conversion on the third intermediate frequency signal and the fourth intermediate frequency signal to obtain a third digital signal and a fourth digital signal representing a frequency difference between the second frequency modulated continuous wave signal and the second echo signal; performing data processing on the first digital signal, the second digital signal, the third digital signal, and the fourth digital signal to obtain distance and speed information of the target object, The frequency of the first FMCW signal increases linearly with time, and the frequency of the second FMCW signal decreases linearly with time.

12. The radar ranging and speed measuring method according to claim 11, wherein: The phase difference between the two local oscillator signals of the first frequency modulated continuous wave signal and the phase difference between the two local oscillator signals of the second frequency modulated continuous wave signal are both 180 degrees.

13. The radar ranging and speed measuring method according to claim 11, wherein: The first intermediate frequency signal and the second intermediate frequency signal include a positive frequency signal part and a negative frequency signal part, and the complex filtering of the first intermediate frequency signal and the second intermediate frequency signal includes filtering out the negative frequency signal part in the first intermediate frequency signal and the second intermediate frequency signal.

14. The radar ranging and speed measuring method according to claim 11, wherein: The third intermediate frequency signal and the fourth intermediate frequency signal include a positive frequency signal part and a negative frequency signal part, and the complex filtering of the third intermediate frequency signal and the fourth intermediate frequency signal includes filtering out the positive frequency signal part in the third intermediate frequency signal and the fourth intermediate frequency signal.

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