An active maneuvering distance measurement method in millimeter wave radar

Abstract

The present invention provides an active maneuvering distance measurement method in a millimeter wave radar, which includes: based on the millimeter wave radar antenna, transmitting a frequency modulation signal within a target frequency range in the target direction, and receiving an echo signal of the frequency modulation signal; determining a difference frequency signal based on the frequency modulation signal and the echo signal, and determining the peak position of the difference frequency signal based on discrete transformation; controlling the millimeter wave radar antenna to move toward the peak position, and continuously measuring until the peak value jumps, the millimeter wave radar antenna stops moving and records the current measured distance; based on the movement distance of the millimeter wave radar antenna and the measured distance, the target distance between the measured object and the millimeter wave rangefinder is obtained. The distance between the measured object and the millimeter wave rangefinder is detected by the millimeter radar wave, and the frequency resolution of the discrete transformation of the difference frequency signal is improved by actively moving the millimeter wave radar antenna during the ranging process, so that the measurement result is more accurate, and the measurement result is ensured to be accurate and reliable.

Description

Technical Field

[0001] The present invention relates to the technical field of radar ranging, and in particular to an active maneuvering ranging method in a millimeter wave radar. Background Art

[0002] At present, the ranging principle of the radar ranging device is to send a radar signal through the transmitter of the radar ranging device, and receive the echo signal corresponding to the target generated by the reflection of the radar signal by the target within the field of view through the receiver of the radar ranging device, and calculate the distance between the target and the radar ranging device by measuring the delay time from sending the radar signal to receiving the echo signal of the target;

[0003] However, in practical applications, a single FFT transform is mainly used, and since a portion of the radar signal may be reflected by the inner wall or window of the radar ranging device during transmission, thereby generating a stray echo signal, the distance measurement of the target by the echo signal received by the receiver is low in accuracy;

[0004] Therefore, the present invention provides an active maneuvering distance measurement method in a millimeter wave radar, which is used to detect the distance between the object to be measured and the millimeter wave rangefinder through millimeter radar waves. At the same time, during the ranging process, the frequency resolution of the discrete transformation of the difference frequency signal is improved by actively moving the millimeter wave radar antenna, so that the measurement result is more accurate and reliable. Summary of the invention

[0005] The present invention provides an active maneuvering distance measurement method in a millimeter wave radar, which is used to detect the distance between a measured object and a millimeter wave rangefinder through millimeter radar waves, and at the same time, in the distance measurement process, the frequency resolution of discrete transformation of a difference frequency signal is improved by actively moving the millimeter wave radar antenna, so that the measurement result is more accurate and reliable.

[0006] The present invention provides an active maneuvering distance measurement method in a millimeter wave radar, comprising:

[0007] Step 1: transmitting a frequency modulated signal within a target frequency range toward a target direction based on a millimeter wave radar antenna, and receiving an echo signal of the frequency modulated signal;

[0008] Step 2: determining a difference frequency signal based on the frequency modulation signal and the echo signal, and determining a peak position of the difference frequency signal based on discrete transformation;

[0009] Step 3: Control the millimeter-wave radar antenna to move toward the peak position, and continue measuring until the peak value jumps, then the millimeter-wave radar antenna stops moving and records the currently measured distance;

[0010] Step 4: Obtain the target distance between the measured object and the millimeter wave rangefinder based on the movement distance of the millimeter wave radar antenna and the measured distance.

[0011] Preferably, an active maneuvering distance measurement method in a millimeter wave radar, in step 1, transmitting a frequency modulated signal within a target frequency range toward a target direction based on a millimeter wave radar antenna, comprises:

[0012] Acquire an initial millimeter wave signal generated by a millimeter wave rangefinder, and determine an initial frequency value corresponding to the initial millimeter wave signal;

[0013] The millimeter wave rangefinder calls a preset linear frequency modulation pulse based on the target frequency range to modulate the initial frequency value corresponding to the initial millimeter wave signal continuously increasing or decreasing the frequency within the target frequency range, and amplifies the power of the modulated initial millimeter wave to obtain a frequency modulation signal;

[0014] The frequency modulated signal is transmitted toward the target direction based on the millimeter wave radar antenna.

[0015] Preferably, in an active maneuvering distance measurement method in a millimeter wave radar, in step 1, receiving an echo signal of the frequency modulation signal comprises:

[0016] Acquire the echo signal, and perform analog-to-digital conversion on the echo signal to obtain a digital echo signal corresponding to the echo signal, wherein the echo signal is obtained by reflecting the frequency modulated signal after encountering the detected object in the target direction;

[0017] The digital echo signal is multiplied by a preset reference local oscillator signal, and the target interference frequency in the digital echo signal is removed to obtain a target echo signal.

[0018] Preferably, in an active maneuvering distance measurement method in a millimeter wave radar, in step 2, a difference frequency signal is determined based on the frequency modulation signal and the echo signal, and a peak position of the difference frequency signal is determined based on a discrete transformation, comprising:

[0019] Acquire the frequency modulated signal emitted by the millimeter wave rangefinder and the received echo signal, and determine the calculation expression of the instantaneous phase of the frequency modulated signal, and at the same time, perform mixing processing on the frequency modulated signal and the echo signal;

[0020] Acquire the carrier frequency, frequency modulation bandwidth and frequency modulation period of the frequency modulation signal, and determine the transmission speed of the frequency modulation signal based on the carrier frequency, frequency modulation bandwidth and frequency modulation period, and determine the time delay value between the frequency modulation signal and the echo signal based on the mixing processing result and the transmission speed of the frequency modulation signal;

[0021] The time delay value is substituted into the calculation expression based on the instantaneous phase of the frequency modulated signal to obtain the instantaneous phase of the difference frequency signal to be determined, and at the same time, the corresponding relationship between the carrier frequency and the frequency modulation bandwidth of the difference frequency signal to be determined and the carrier frequency and the frequency modulation bandwidth of the frequency modulated signal is determined;

[0022] Obtaining a target difference frequency signal based on the instantaneous phase of the difference frequency signal to be determined and the corresponding relationship;

[0023] Preprocessing the target difference frequency signal, and performing FFT operation on the preprocessed target difference frequency signal to obtain a signal spectrum of the target difference frequency signal;

[0024] Determine the amplitude values ​​of the target difference frequency signal at different positions based on the signal spectrum, and determine the maximum amplitude value among the amplitude values ​​as the peak value of the target difference frequency signal;

[0025] The millimeter wave rangefinder analyzes the peak value, determines the target position corresponding to the peak value, and records the target position.

[0026] Preferably, an active maneuvering distance measurement method in a millimeter wave radar obtains a target difference frequency signal based on the instantaneous phase and the corresponding relationship of the difference frequency signal to be determined, including:

[0027] Acquire the obtained target difference frequency signal, and extract the frequency value of the target difference frequency signal;

[0028] comparing the frequency value with a preset frequency value;

[0029] If the frequency value is greater than or equal to the preset frequency value, it is determined that the target difference frequency signal is wrong, and the millimeter wave radar antenna is re-controlled to transmit a frequency modulation signal in the target direction;

[0030] Otherwise, it is determined that the target difference frequency signal is correct, the current transmission frequency and frequency modulation period of the frequency modulation signal are determined, and the transmission frequency and modulation period are recorded and stored.

[0031] Preferably, in an active maneuvering distance measurement method in a millimeter wave radar, in step 3, the millimeter wave radar antenna is controlled to move toward the peak position, and the measurement is continued until the peak value jumps, the millimeter wave radar antenna stops moving and records the currently measured distance, including:

[0032] Acquire the peak position of the difference frequency signal, and preset the ranging controller to control the millimeter wave radar antenna to actively move toward the peak position, wherein the peak position is the position of the object to be measured;

[0033] The millimeter wave radar antenna continuously transmits the frequency modulation signal toward the target direction based on the active movement process and determines in real time whether the peak value of the difference frequency signal fluctuates;

[0034] When the peak value of the difference frequency signal jumps, the preset ranging controller controls the millimeter wave radar antenna to stop moving, and determines the phase change value when the peak value jumps;

[0035] Determine the critical point of the distance bin where the position of the object to be measured is located based on the phase change value, and determine the frequency value of the difference frequency signal generated between the object to be measured and the millimeter wave radar antenna based on the critical point;

[0036] Determine the propagation time of the difference frequency signal based on the frequency value, and simultaneously determine the propagation speed of the difference frequency signal;

[0037] Determine a final distance value from the object to be measured to the millimeter wave radar antenna based on the propagation time and the propagation speed;

[0038] Otherwise, the preset ranging controller controls the millimeter-wave radar antenna to continue to actively move toward the peak position until the peak value of the difference frequency signal jumps.

[0039] Preferably, an active maneuvering distance measurement method in a millimeter wave radar, when the peak value of the difference frequency signal jumps, the preset distance measurement controller controls the millimeter wave radar antenna to stop moving, and determines the phase change value when the peak value jumps, including:

[0040] Acquire the current position information of the millimeter wave radar antenna when the preset ranging controller controls the millimeter wave radar antenna to stop moving, and monitor in real time whether the measured object is displaced;

[0041] When the object under test is displaced, the peak value change of the difference frequency signal after FFT operation is determined in real time, and the peak value change is recorded in real time;

[0042] Determine the final distance between the measured object and the millimeter wave radar antenna after the displacement based on the real-time recording result;

[0043] Otherwise, the detection of the distance to the object to be measured is completed.

[0044] Preferably, an active maneuvering distance measurement method in a millimeter wave radar, wherein a preset distance measurement controller controls the millimeter wave radar antenna to actively move toward the peak position direction, comprising a stepping motor, a lead screw and a millimeter wave radar antenna;

[0045] The preset distance measuring controller is connected to the stepping motor;

[0046] The stepping motor is connected to the lead screw;

[0047] The screw rod is connected to the millimeter wave radar antenna;

[0048] The preset distance measurement controller controls the stepping motor to push the lead screw to move forward, and the lead screw drives the millimeter wave radar antenna to actively move toward the peak position.

[0049] Preferably, in an active maneuvering distance measurement method in a millimeter wave radar, in step 4, obtaining the target distance between the measured object and the millimeter wave rangefinder based on the moving distance of the millimeter wave radar antenna and the measured distance includes:

[0050] Acquire the current position information of the millimeter wave radar antenna when it stops moving, and determine the initial position information of the millimeter wave radar antenna;

[0051] Determine the active maneuvering distance of the millimeter-wave radar antenna based on the current position information and the initial position information, and simultaneously obtain the current measured distance recorded when the millimeter-wave radar antenna stops moving;

[0052] The active maneuvering distance of the millimeter wave radar antenna is summed with the currently measured distance to obtain the target distance between the measured object and the millimeter wave rangefinder.

[0053] Preferably, an active maneuvering distance measurement method in a millimeter wave radar, obtaining a target distance between the measured object and a millimeter wave rangefinder, comprises:

[0054] Acquire the target distance between the measured object and the millimeter wave rangefinder, and determine the relative direction between the measured object and the millimeter wave rangefinder;

[0055] Determine the number of items to be recorded based on the target distance and relative direction, and match a target record report form from a preset record report template library based on the number of items to be recorded;

[0056] The target distance and the relative direction are recorded based on the target record report, and the recording result is transmitted to the management terminal for storage management.

[0057] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings.

[0058] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0060] Figure 1 This is a flow chart of an active maneuvering distance measurement method in a millimeter wave radar in an embodiment of the present invention;

[0061] Figure 2 It is a schematic diagram of frequency modulation signal and echo signal processing in an active maneuvering distance measurement method in a millimeter wave radar in an embodiment of the present invention;

[0062] Figure 3 A distance measurement principle diagram of an active maneuvering distance measurement method in a millimeter wave radar in an embodiment of the present invention;

[0063] Figure 4 The present invention is a structural diagram of a millimeter wave rangefinder in an active maneuvering range measurement method in a millimeter wave radar in an embodiment of the present invention. DETAILED DESCRIPTION

[0064] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0065] Embodiment 1:

[0066] This embodiment provides an active maneuvering distance measurement method in a millimeter wave radar, such as Figure 1 As shown, including:

[0067] Step 1: transmitting a frequency modulated signal within a target frequency range toward a target direction based on a millimeter wave radar antenna, and receiving an echo signal of the frequency modulated signal;

[0068] Step 2: determining a difference frequency signal based on the frequency modulation signal and the echo signal, and determining a peak position of the difference frequency signal based on discrete transformation;

[0069] Step 3: Control the millimeter-wave radar antenna to move toward the peak position, and continue measuring until the peak value jumps, then the millimeter-wave radar antenna stops moving and records the currently measured distance;

[0070] Step 4: Obtain the target distance between the measured object and the millimeter wave rangefinder based on the movement distance of the millimeter wave radar antenna and the measured distance.

[0071] In this embodiment, the target direction refers to the direction that needs to be detected by the millimeter wave radar antenna to see if it contains the object to be detected. For example, when the millimeter wave radar antenna is loaded on an aircraft, it is necessary to detect whether there are foreign objects ahead of the aircraft route, where the direction ahead of the aircraft route is the target direction.

[0072] In this embodiment, the target frequency range is set in advance and is used to set the frequency of the transmission signal within the frequency range.

[0073] In this embodiment, the frequency modulation signal refers to a signal that is continuously increased or decreased within a target frequency range, thereby forming a frequency modulation signal.

[0074] In this embodiment, the echo signal refers to the millimeter wave signal returned by the frequency modulation signal after it contacts the object to be measured, and has the same shape as the frequency modulation signal, but has a time delay.

[0075] In this embodiment, the difference frequency signal refers to the frequency difference between the frequency modulation signal and the echo signal at a certain moment, that is, the difference frequency signal.

[0076] In this embodiment, determining the peak position of the difference frequency signal based on discrete transformation means that when the device is turned on, the millimeter wave sent performs fuzzy detection on the object to be measured to determine the approximate initial position of the object to be measured.

[0077] In this embodiment, the millimeter-wave radar antenna stops moving and records the currently measured distance, which means that when the millimeter-wave radar antenna detects a peak jump during movement, it indicates that the millimeter-wave radar antenna detects the object to be measured. At this time, the distance between the object to be measured and the millimeter radar antenna can be obtained by calculation.

[0078] In this embodiment, the target distance between the object to be measured and the millimeter wave rangefinder obtained based on the movement distance of the millimeter wave radar antenna and the measured distance refers to the final detection distance after the millimeter wave radar antenna moves plus the movement distance of the millimeter wave radar antenna, which is the final detection distance.

[0079] The beneficial effects of the above technical solution are: the distance between the object to be measured and the millimeter wave rangefinder is detected by millimeter radar waves, and the frequency resolution of the discrete transformation of the difference frequency signal is improved by actively moving the millimeter wave radar antenna during the ranging process, so that the measurement result is more precise and the measurement result is accurate and reliable.

[0080] Embodiment 2:

[0081] Based on the above-mentioned embodiment 1, this embodiment provides an active maneuvering distance measurement method in a millimeter wave radar. In step 1, a frequency modulation signal within a target frequency range is transmitted toward a target direction based on a millimeter wave radar antenna, including:

[0082] Acquire an initial millimeter wave signal generated by a millimeter wave rangefinder, and determine an initial frequency value corresponding to the initial millimeter wave signal;

[0083] The millimeter wave rangefinder calls a preset linear frequency modulation pulse based on the target frequency range to modulate the initial frequency value corresponding to the initial millimeter wave signal continuously by increasing or decreasing the frequency within the target frequency range, and amplifies the power of the modulated initial millimeter wave to obtain a frequency modulation signal;

[0084] The frequency modulated signal is transmitted toward the target direction based on the millimeter wave radar antenna.

[0085] In this embodiment, the initial millimeter wave signal refers to an initial signal generated by the millimeter wave rangefinder itself, which is a signal that has not been frequency modulated.

[0086] In this embodiment, the initial frequency value refers to the frequency value corresponding to the initial millimeter wave signal. This frequency value may not meet the radar detection requirements and frequency modulation is required.

[0087] In this embodiment, the preset linear frequency modulation pulse is set in advance and is used to modulate the frequency value of the initial millimeter wave signal.

[0088] The beneficial effect of the above technical solution is that by adjusting the frequency value and power of the generated initial millimeter wave signal, it is convenient to detect the object under test in the target direction more effectively, thereby providing a guarantee for accurately measuring the distance between the object under test and the millimeter wave rangefinder.

[0089] Embodiment 3:

[0090] On the basis of the above-mentioned embodiment 1, this embodiment provides an active maneuvering distance measurement method in a millimeter wave radar. In step 1, receiving the echo signal of the frequency modulation signal includes:

[0091] Acquire the echo signal, and perform analog-to-digital conversion on the echo signal to obtain a digital echo signal corresponding to the echo signal, wherein the echo signal is obtained by reflecting the frequency modulated signal after encountering the detected object in the target direction;

[0092] The digital echo signal is multiplied by a preset reference local oscillator signal to remove the target interference frequency in the digital echo signal to obtain a target echo signal.

[0093] In this embodiment, analog-to-digital conversion refers to converting the collected echo signal from an analog signal into a digital signal, so as to facilitate the analysis of the signal and thereby determine the approximate position range of the object to be measured.

[0094] In this embodiment, the preset reference local oscillator signal is set in advance and is used to perform operations with the echo signal to offset the quadratic phase term in the digital echo signal whose frequency changes linearly with time, leaving only the point frequency signal related to the target position, thereby preparing for subsequent processing of the echo signal.

[0095] In this embodiment, the target interference frequency refers to a local signal with abnormal frequency caused by external interference in the removed echo signal.

[0096] In this embodiment, the target echo signal refers to a millimeter wave signal obtained by processing the received original echo signal and can be directly used for signal analysis.

[0097] The beneficial effect of the above technical solution is: by receiving the echo signal and processing the echo signal, it provides convenience for determining the bilateral critical points of the distance bin where the object to be measured is located according to the echo signal, thereby providing a guarantee for ensuring that the measurement result is accurate and reliable.

[0098] Embodiment 4:

[0099] On the basis of the above-mentioned embodiment 1, this embodiment provides an active maneuvering distance measurement method in a millimeter wave radar, wherein in step 2, a difference frequency signal is determined based on the frequency modulation signal and the echo signal, and a peak position of the difference frequency signal is determined based on a discrete transformation, including:

[0100] Acquire the frequency modulated signal emitted by the millimeter wave rangefinder and the received echo signal, and determine the calculation expression of the instantaneous phase of the frequency modulated signal, and at the same time, perform mixing processing on the frequency modulated signal and the echo signal;

[0101] Acquire the carrier frequency, frequency modulation bandwidth and frequency modulation period of the frequency modulation signal, and determine the transmission speed of the frequency modulation signal based on the carrier frequency, frequency modulation bandwidth and frequency modulation period, and determine the time delay value between the frequency modulation signal and the echo signal based on the mixing processing result and the transmission speed of the frequency modulation signal;

[0102] The time delay value is substituted into the calculation expression based on the instantaneous phase of the frequency modulated signal to obtain the instantaneous phase of the difference frequency signal to be determined, and at the same time, the corresponding relationship between the carrier frequency and the frequency modulation bandwidth of the difference frequency signal to be determined and the carrier frequency and the frequency modulation bandwidth of the frequency modulated signal is determined;

[0103] Obtaining a target difference frequency signal based on the instantaneous phase of the difference frequency signal to be determined and the corresponding relationship;

[0104] Preprocessing the target difference frequency signal, and performing FFT operation on the preprocessed target difference frequency signal to obtain a signal spectrum of the target difference frequency signal;

[0105] Determine the amplitude values ​​of the target difference frequency signal at different positions based on the signal spectrum, and determine the maximum amplitude value among the amplitude values ​​as the peak value of the target difference frequency signal;

[0106] The millimeter wave rangefinder analyzes the peak value, determines the target position corresponding to the peak value, and records the target position.

[0107] In this embodiment, the calculation expression of the instantaneous phase refers to that determined according to the expression of the frequency modulated signal wave, wherein the expression of the frequency modulated signal wave can be theoretically calculated by microwave technology.

[0108] In this embodiment, the frequency mixing process refers to mixing the frequency of the frequency modulation signal with the echo signal to obtain a third microwave signal. The specific principle diagram is as follows: Figure 2 shown.

[0109] In this embodiment, the delay value refers to the fact that the FM signal and the echo signal are the same in shape. When the FM signal contacts the object under test, an echo signal is obtained. The echo signal has a phase difference with the FM signal during transmission, which is the delay.

[0110] In this embodiment, the difference frequency signal refers to a microwave signal corresponding to the frequency difference between the frequency modulation signal and the echo signal at a certain moment.

[0111] In this embodiment, the difference frequency signal to be determined refers to a difference frequency signal obtained according to the frequency modulation signal and the echo signal.

[0112] In this embodiment, preprocessing the target difference frequency signal refers to removing the interference frequency or interference signal in the target difference frequency signal, wherein the interference frequency or interference signal is a microwave signal that is irrelevant to the object under test.

[0113] In this embodiment, the FFT operation refers to discrete transformation, and the phase and peak conditions of the difference frequency signal are obtained through discrete transformation. The spectrum diagram thereof is discontinuous, and there is a concept of frequency resolution, which facilitates determination of the approximate position of the object under test.

[0114] In this embodiment, the signal spectrum refers to displaying the phase and corresponding amplitude values ​​of the difference frequency signal in the form of a chart.

[0115] In this embodiment, the millimeter wave rangefinder analyzes the peak value, and determining the target position corresponding to the peak value means analyzing the peak value and the phase corresponding to the peak value by a professional instrument to obtain the approximate position of the object to be measured.

[0116] The beneficial effect of the above technical solution is: by processing the frequency modulation signal and the echo signal, it is ensured that the obtained difference frequency signal is sufficiently accurate, and at the same time, the approximate position of the object to be measured is accurately determined based on the difference frequency signal, thereby providing a guarantee for accurately detecting the distance between the object to be measured and the millimeter wave rangefinder.

[0117] Embodiment 5:

[0118] On the basis of the above-mentioned embodiment 4, this embodiment provides an active maneuvering distance measurement method in a millimeter wave radar, which obtains a target difference frequency signal based on the instantaneous phase and the corresponding relationship of the difference frequency signal to be determined, including:

[0119] Acquire the obtained target difference frequency signal, and extract the frequency value of the target difference frequency signal;

[0120] comparing the frequency value with a preset frequency value;

[0121] If the frequency value is greater than or equal to the preset frequency value, it is determined that the target difference frequency signal is wrong, and the millimeter wave radar antenna is re-controlled to transmit a frequency modulation signal in the target direction;

[0122] Otherwise, it is determined that the target difference frequency signal is correct, the current transmission frequency and frequency modulation period of the frequency modulation signal are determined, and the transmission frequency and modulation period are recorded and stored.

[0123] In this embodiment, the preset frequency value is set in advance and is used to measure whether the frequency value of the obtained difference frequency signal is within a normal cognitive range, so as to facilitate the verification of the validity of the difference frequency signal.

[0124] The beneficial effect of the above technical solution is: by detecting the frequency value of the difference frequency signal, it is ensured that the obtained difference frequency signal is accurate and effective, and it is also convenient to accurately detect the critical point of the distance bin where the object to be measured is located according to the difference frequency signal, which provides convenience for detecting the distance between the object to be measured and the millimeter wave rangefinder.

[0125] Embodiment 6:

[0126] Based on the above embodiment 1, this embodiment provides an active maneuvering distance measurement method in a millimeter wave radar. In step 3, the millimeter wave radar antenna is controlled to move toward the peak position, and the measurement is continued until the peak value jumps, the millimeter wave radar antenna stops moving and records the current measured distance, including:

[0127] Acquire the peak position of the difference frequency signal, and preset the ranging controller to control the millimeter wave radar antenna to actively move toward the peak position, wherein the peak position is the position of the object to be measured;

[0128] The millimeter wave radar antenna continuously transmits the frequency modulation signal toward the target direction based on the active movement process and determines in real time whether the peak value of the difference frequency signal fluctuates;

[0129] When the peak value of the difference frequency signal jumps, the preset ranging controller controls the millimeter wave radar antenna to stop moving, and determines the phase change value when the peak value jumps;

[0130] Determine the critical point of the distance bin where the position of the object to be measured is located based on the phase change value, and determine the frequency value of the difference frequency signal generated between the object to be measured and the millimeter wave radar antenna based on the critical point;

[0131] Determine the propagation time of the difference frequency signal based on the frequency value, and simultaneously determine the propagation speed of the difference frequency signal;

[0132] Determine a final distance value from the object to be measured to the millimeter wave radar antenna based on the propagation time and the propagation speed;

[0133] Otherwise, the preset ranging controller controls the millimeter-wave radar antenna to continue to actively move toward the peak position until the peak value of the difference frequency signal jumps.

[0134] In this embodiment, the preset ranging controller is a part of the millimeter wave rangefinder, which is used to control the stepper motor to push the lead screw to move back and forth, thereby realizing the active movement of the millimeter wave radar antenna.

[0135] In this embodiment, the purpose of determining in real time whether the peak value of the difference frequency signal fluctuates is to accurately find the critical point of the distance bin where the object to be measured is located, thereby facilitating the elimination of the problem of inaccurate detection results caused by simply measuring the distance using millimeter waves.

[0136] In this embodiment, the phase change value refers to the jump condition of the peak position of the difference frequency signal after the FFT operation. Whether the peak value jumps can be accurately determined by the phase change value.

[0137] In this embodiment, the distance bin is because the FFI operation is performed on the difference frequency signal, wherein FFT is a discrete transformation, and its spectrum diagram is discontinuous, and there is a concept of frequency resolution. Therefore, the distance in front of the millimeter wave rangefinder is divided into several distance segments, and each segment is a distance bin. The purpose is to improve the resolution of the distance solution, that is, to improve the accuracy of the distance detection.

[0138] In this embodiment, the propagation time is calculated based on the frequency value of the difference frequency signal.

[0139] In this embodiment, determining the final distance value from the object to be measured to the millimeter-wave radar antenna refers to the distance between the object to be measured and the millimeter-wave radar antenna at the current position measured after the millimeter-wave radar antenna stops moving.

[0140] In this embodiment, when detecting the distance by the difference frequency signal, a high-speed ADC is generally used to collect the IF signal, and then the FFT algorithm is used to obtain the frequency peak of the IF signal. This method is also suitable for multi-target monitoring, because objects at different distances can correspond to different peaks on the FFT. The distance measurement principle diagram is shown in FIG. Figure 3 shown.

[0141] In this embodiment, when the preset ranging controller controls the millimeter-wave radar antenna to actively move toward the peak position, the critical point of the bidirectional range bin can also be found to obtain two ranging values, and the average can be used to obtain a higher-precision ranging value.

[0142] The beneficial effect of the above technical solution is: by controlling the millimeter-wave radar antenna to actively move, the distance between the object to be measured and the millimeter-wave radar antenna can be accurately detected while determining the approximate position of the object to be measured, thereby providing a reliable and accurate guarantee for accurately obtaining the actual distance between the object to be measured and the millimeter-wave rangefinder.

[0143] Embodiment 7:

[0144] On the basis of the above-mentioned embodiment 6, this embodiment provides an active maneuvering distance measurement method in a millimeter wave radar, when the peak value of the difference frequency signal jumps, the preset distance measurement controller controls the millimeter wave radar antenna to stop moving, and determines the phase change value when the peak value jumps, including:

[0145] Acquire the current position information of the millimeter wave radar antenna when the preset ranging controller controls the millimeter wave radar antenna to stop moving, and monitor in real time whether the measured object is displaced;

[0146] When the object under test is displaced, the peak value change of the difference frequency signal after FFT operation is determined in real time, and the peak value change is recorded in real time;

[0147] Determine the final distance between the measured object and the millimeter wave radar antenna after the displacement based on the real-time recording result;

[0148] Otherwise, the detection of the distance to the object to be measured is completed.

[0149] In this embodiment, the current position information refers to the position of the millimeter wave rangefinder after it stops moving for the first time after being powered on.

[0150] In this embodiment, determining the final distance between the measured object and the millimeter-wave radar antenna after displacement based on real-time recording results means that after the millimeter-wave rangefinder moves sequentially, when subsequent objects are displaced, the millimeter-wave rangefinder does not need to move again, and can track the peak position and the corresponding phase in real time through the difference frequency signal, thereby accurately obtaining the detection distance.

[0151] The beneficial effect of the above technical solution is: by determining the transmitting position of the millimeter radar antenna, the distance of the object can be accurately detected as it changes with position, without the need to repeatedly move the millimeter radar antenna, thereby improving the distance detection efficiency and facilitating accurate calculation of the distance.

[0152] Embodiment 8:

[0153] Based on the above-mentioned embodiment 6, this embodiment provides an active maneuvering distance measurement method in a millimeter wave radar, such as Figure 4 As shown, the preset ranging controller controls the millimeter-wave radar antenna to actively move toward the peak position direction, and includes a stepping motor, a lead screw and a millimeter-wave radar antenna;

[0154] The preset distance measuring controller is connected to the stepping motor;

[0155] The stepping motor is connected to the lead screw;

[0156] The screw rod is connected to the millimeter wave radar antenna;

[0157] The preset distance measurement controller controls the stepping motor to push the lead screw to move forward, and the lead screw drives the millimeter wave radar antenna to actively move toward the peak position.

[0158] The beneficial effect of the above technical solution is: the millimeter-wave radar antenna is pushed forward and backward by the movement of the stepper motor electric screw, the movement of the millimeter-wave radar antenna is accurately controlled, and convenience is provided for accurately detecting the actual distance between the object to be measured and the millimeter-wave rangefinder.

[0159] Embodiment 9:

[0160] On the basis of the above-mentioned embodiment 1, this embodiment provides an active maneuvering distance measurement method in a millimeter wave radar. In step 4, the target distance between the measured object and the millimeter wave rangefinder is obtained based on the moving distance of the millimeter wave radar antenna and the measured distance, including:

[0161] Acquire the current position information of the millimeter wave radar antenna when it stops moving, and determine the initial position information of the millimeter wave radar antenna;

[0162] Determine the active maneuvering distance of the millimeter-wave radar antenna based on the current position information and the initial position information, and simultaneously obtain the current measured distance recorded when the millimeter-wave radar antenna stops moving;

[0163] The active maneuvering distance of the millimeter wave radar antenna is summed with the currently measured distance to obtain the target distance between the measured object and the millimeter wave rangefinder.

[0164] In this embodiment, the initial position information refers to the position of the millimeter wave radar antenna when it is not moved.

[0165] In this embodiment, the active moving distance is the distance moved by the position number millimeter wave radar antenna when searching for the critical point of the recording bin.

[0166] In this embodiment, the target distance refers to the distance between the object to be measured and the millimeter wave rangefinder.

[0167] The beneficial effect of the above technical solution is: by summing the distance detected after the millimeter-wave radar antenna is actively moved and the distance moved by the millimeter-wave radar antenna, the error rate of detecting the distance only by discrete transformation is avoided, and by combining the two, the accuracy of distance detection is improved.

[0168] Embodiment 10:

[0169] On the basis of the above-mentioned Embodiment 9, this embodiment provides an active maneuvering distance measurement method in a millimeter wave radar, which obtains the target distance between the measured object and the millimeter wave rangefinder, including:

[0170] Acquire the target distance between the measured object and the millimeter wave rangefinder, and determine the relative direction between the measured object and the millimeter wave rangefinder;

[0171] Determine the number of items to be recorded based on the target distance and relative direction, and match a target record report form from a preset record report template library based on the number of items to be recorded;

[0172] The target distance and the relative direction are recorded based on the target record report, and the recording result is transmitted to the management terminal for storage management.

[0173] In this embodiment, the relative direction refers to the specific orientation of the object to be measured in the millimeter wave rangefinder, for example, it may be the east direction or the west direction.

[0174] In this embodiment, the number of items to be recorded refers to the number of items recorded in the report form, that is, the target distance and the relative direction are two item numbers.

[0175] In this embodiment, the preset record report template library is set in advance and stores a plurality of report templates internally.

[0176] In this embodiment, the target report sheet refers to a report sheet template suitable for recording the current target distance and relative direction, and is one of the preset record report templates in the library.

[0177] The beneficial effect of the above technical solution is: by recording the detected distance and the relative direction between the object to be measured and the millimeter wave rangefinder, it is convenient for the management terminal to promptly find the object to be measured in the target direction, so as to take corresponding measures in time, thereby improving the practicality of distance detection.

[0178] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. An active maneuvering distance measurement method in a millimeter wave radar, characterized in that: include: Step 1: transmitting a frequency modulated signal within a target frequency range toward a target direction based on a millimeter wave radar antenna, and receiving an echo signal of the frequency modulated signal; Step 2: determining a difference frequency signal based on the frequency modulation signal and the echo signal, and determining a peak position of the difference frequency signal based on discrete transformation; Step 3: Control the millimeter-wave radar antenna to move toward the peak position, and continue measuring until the peak value jumps, then the millimeter-wave radar antenna stops moving and records the currently measured distance; Step 4: obtaining a target distance between the measured object and the millimeter wave rangefinder based on the moving distance of the millimeter wave radar antenna and the measured distance; Wherein, in step 2, determining a difference frequency signal based on the frequency modulation signal and the echo signal, and determining a peak position of the difference frequency signal based on discrete transformation, includes: Acquire the frequency modulated signal emitted by the millimeter wave rangefinder and the received echo signal, and determine the calculation expression of the instantaneous phase of the frequency modulated signal, and at the same time, perform mixing processing on the frequency modulated signal and the echo signal; Acquire the carrier frequency, frequency modulation bandwidth and frequency modulation period of the frequency modulation signal, and determine the transmission speed of the frequency modulation signal based on the carrier frequency, frequency modulation bandwidth and frequency modulation period, and determine the time delay value between the frequency modulation signal and the echo signal based on the mixing processing result and the transmission speed of the frequency modulation signal; The time delay value is substituted into the calculation expression based on the instantaneous phase of the frequency modulated signal to obtain the instantaneous phase of the difference frequency signal to be determined, and at the same time, the corresponding relationship between the carrier frequency and the frequency modulation bandwidth of the difference frequency signal to be determined and the carrier frequency and the frequency modulation bandwidth of the frequency modulated signal is determined; Obtaining a target difference frequency signal based on the instantaneous phase of the difference frequency signal to be determined and the corresponding relationship; Preprocessing the target difference frequency signal, and performing FFT operation on the preprocessed target difference frequency signal to obtain a signal spectrum of the target difference frequency signal; Determine the amplitude values ​​of the target difference frequency signal at different positions based on the signal spectrum, and determine the maximum amplitude value among the amplitude values ​​as the peak value of the target difference frequency signal; The millimeter wave rangefinder analyzes the peak value, determines the target position corresponding to the peak value, and records the target position.

2. The active maneuvering distance measurement method in a millimeter wave radar according to claim 1, characterized in that: In step 1, a frequency modulated signal within a target frequency range is transmitted toward a target direction based on a millimeter wave radar antenna, including: Acquire an initial millimeter wave signal generated by a millimeter wave rangefinder, and determine an initial frequency value corresponding to the initial millimeter wave signal; The millimeter wave rangefinder calls a preset linear frequency modulation pulse based on the target frequency range to modulate the initial frequency value corresponding to the initial millimeter wave signal continuously by increasing or decreasing the frequency within the target frequency range, and amplifies the power of the modulated initial millimeter wave to obtain a frequency modulation signal; The frequency modulated signal is transmitted toward the target direction based on the millimeter wave radar antenna.

3. The active maneuvering distance measurement method in a millimeter wave radar according to claim 1, characterized in that: In step 1, receiving the echo signal of the frequency modulation signal includes: Acquire the echo signal, and perform analog-to-digital conversion on the echo signal to obtain a digital echo signal corresponding to the echo signal, wherein the echo signal is obtained by reflecting the frequency modulated signal after encountering the detected object in the target direction; The digital echo signal is multiplied by a preset reference local oscillator signal to remove the target interference frequency in the digital echo signal to obtain a target echo signal.

4. The active maneuvering distance measurement method in a millimeter wave radar according to claim 1, characterized in that: Obtaining a target difference frequency signal based on the instantaneous phase and the corresponding relationship of the difference frequency signal to be determined, including: Acquire the obtained target difference frequency signal, and extract the frequency value of the target difference frequency signal; comparing the frequency value with a preset frequency value; If the frequency value is greater than or equal to the preset frequency value, it is determined that the target difference frequency signal is wrong, and the millimeter wave radar antenna is re-controlled to transmit a frequency modulation signal in the target direction; Otherwise, it is determined that the target difference frequency signal is correct, the current transmission frequency and frequency modulation period of the frequency modulation signal are determined, and the transmission frequency and modulation period are recorded and stored.

5. The active maneuvering distance measurement method in a millimeter wave radar according to claim 1, characterized in that: In step 3, the millimeter wave radar antenna is controlled to move toward the peak position, and the measurement is continued until the peak value jumps, the millimeter wave radar antenna stops moving and records the current measured distance, including: Acquire the peak position of the difference frequency signal, and preset the ranging controller to control the millimeter wave radar antenna to actively move toward the peak position, wherein the peak position is the position of the object to be measured; The millimeter wave radar antenna continuously transmits the frequency modulation signal toward the target direction based on the active movement process and determines in real time whether the peak value of the difference frequency signal fluctuates; When the peak value of the difference frequency signal jumps, the preset ranging controller controls the millimeter wave radar antenna to stop moving, and determines the phase change value when the peak value jumps; Determine the critical point of the distance bin where the position of the object to be measured is located based on the phase change value, and determine the frequency value of the difference frequency signal generated between the object to be measured and the millimeter wave radar antenna based on the critical point; Determine the propagation time of the difference frequency signal based on the frequency value, and simultaneously determine the propagation speed of the difference frequency signal; Determine a final distance value from the object to be measured to the millimeter wave radar antenna based on the propagation time and the propagation speed; Otherwise, the preset ranging controller controls the millimeter-wave radar antenna to continue to actively move toward the peak position until the peak value of the difference frequency signal jumps.

6. The active maneuvering distance measurement method in a millimeter wave radar according to claim 5, characterized in that: When the peak value of the difference frequency signal jumps, the preset ranging controller controls the millimeter wave radar antenna to stop moving, and determines the phase change value when the peak value jumps, including: Acquire the current position information of the millimeter wave radar antenna when the preset ranging controller controls the millimeter wave radar antenna to stop moving, and monitor in real time whether the measured object is displaced; When the object under test is displaced, the peak value change of the difference frequency signal after FFT operation is determined in real time, and the peak value change is recorded in real time; Determine the final distance between the measured object and the millimeter wave radar antenna after the displacement based on the real-time recording result; Otherwise, the detection of the distance to the object to be measured is completed.

7. The active maneuvering distance measurement method in a millimeter wave radar according to claim 5, characterized in that: The preset ranging controller controls the millimeter wave radar antenna to actively move toward the peak position direction, and includes a stepping motor, a lead screw and a millimeter wave radar antenna; The preset distance measuring controller is connected to the stepping motor; The stepping motor is connected to the lead screw; The screw rod is connected to the millimeter wave radar antenna; The preset distance measurement controller controls the stepping motor to push the lead screw to move forward, and the lead screw drives the millimeter wave radar antenna to actively move toward the peak position.

8. The active maneuvering distance measurement method in a millimeter wave radar according to claim 1, characterized in that: In step 4, obtaining the target distance between the measured object and the millimeter wave rangefinder based on the movement distance of the millimeter wave radar antenna and the measured distance includes: Acquire the current position information of the millimeter wave radar antenna when it stops moving, and determine the initial position information of the millimeter wave radar antenna; Determine the active maneuvering distance of the millimeter-wave radar antenna based on the current position information and the initial position information, and simultaneously obtain the current measured distance recorded when the millimeter-wave radar antenna stops moving; The active maneuvering distance of the millimeter wave radar antenna is summed with the currently measured distance to obtain the target distance between the measured object and the millimeter wave rangefinder.

9. The active maneuvering distance measurement method in a millimeter wave radar according to claim 8, characterized in that: Obtaining the target distance between the measured object and the millimeter wave rangefinder includes: Acquire the target distance between the measured object and the millimeter wave rangefinder, and determine the relative direction between the measured object and the millimeter wave rangefinder; Determine the number of items to be recorded based on the target distance and relative direction, and match a target record report form from a preset record report template library based on the number of items to be recorded; The target distance and the relative direction are recorded based on the target record report, and the recording result is transmitted to the management terminal for storage management.

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