MIMO radar channel separation method, device and MIMO radar

Abstract

The present invention provides a channel separation method, device and MIMO radar of a MIMO radar. The MIMO radar includes M transmitting antennas and N receiving antennas, and the method includes: obtaining different transmission signal parameter values ​​corresponding to each transmitting antenna in the M transmitting antennas, and the echo signal received by each receiving antenna; processing the echo signals received by the N receiving antennas to obtain range-Doppler data; extracting all peaks in the range-Doppler data, and taking each peak as a channel data; determining the transmitting antenna corresponding to each channel data according to the peak value and the transmission signal parameter value. The present invention determines the transmitting antenna corresponding to each channel data, that is, realizes the channel separation of the MIMO radar in the DDMA mode, and then can measure the angle of the detected target based on the DDMA-MIMO radar.

Description

Technical Field

[0001] The present invention relates to the technical field of MIMO radars, and in particular to a channel separation method and device of a MIMO radar and a MIMO radar. Background Art

[0002] Multiple-input Multiple-output (MIMO) radar is a radar that uses multiple antennas at both ends of the transmitter and the receiver to transmit and receive signals. Channel separation of MIMO radar means that, assuming that the MIMO radar includes M transmitting antennas and N receiving antennas, the echo signal received by each receiving antenna is virtualized into M channel data, a total of M×N channel data, and the corresponding relationship between each channel data and the transmitting antenna is determined. After the echo signal received by the receiving antenna in the MIMO radar is channel-separated, the M×N channel data can be reasonably sorted according to the result of channel separation, and the angle of the detected target can be determined according to the sorted channel data.

[0003] Among them, in the field of MIMO radar technology, signals can be sent and received through time division multiple access (Time Division Multiple Access, TDMA), frequency division multiple access (FDMA), Doppler division multiple access (DDMA) and other transceiver diversity modes. Usually, TDMA-MIMO radar can transmit alternately at different times through multiple transmitting antennas, and perform channel separation based on time orthogonality. FDMA-MIMO radar can transmit alternately in different frequency bands through multiple transmitting antennas at the same time, and perform channel separation based on frequency band orthogonality. For DDMA-MIMO radar, it aims to transmit simultaneously through multiple transmitting antennas, and realize channel separation based on the orthogonality of the Doppler domain, but how to determine the transmitting antenna corresponding to each channel data based on the orthogonality of the Doppler domain, there is no reliable and effective solution. Therefore, for MIMO radars in DDMA mode, how to accurately realize channel separation is a problem that needs to be solved based on DDMA-MIMO radar for angle measurement of detection targets. Summary of the invention

[0004] The embodiments of the present invention provide a channel separation method and device for a MIMO radar and a MIMO radar, so as to solve the problem that the current MIMO radar in a DDMA mode cannot achieve channel separation.

[0005] In a first aspect, an embodiment of the present invention provides a channel separation method for a MIMO radar, wherein the MIMO radar includes M transmitting antennas and N receiving antennas, wherein M and N are both positive integers greater than 1, and the channel separation method includes:

[0006] Obtaining a transmission signal parameter value corresponding to each of the M transmission antennas and an echo signal received by each receiving antenna, wherein all the transmission antennas transmit detection signals at the same time and the transmission signal parameter values ​​of the detection signals corresponding to each of the M transmission antennas are different;

[0007] Processing the echo signals received by the N receiving antennas to obtain range-Doppler data;

[0008] Extracting all peak values ​​in the range-Doppler data, and taking each peak value as a channel of data;

[0009] The transmitting antenna corresponding to each channel data is determined according to the peak value and the transmitting signal parameter value.

[0010] In a possible implementation manner, determining the transmitting antenna corresponding to each channel data according to the peak value and the transmit signal parameter value includes:

[0011] Determine, according to the peak values ​​and the transmit signal parameter values, the transmit signal parameter value corresponding to each peak value;

[0012] The transmitting antenna corresponding to each channel data is determined according to the transmitting signal parameter value corresponding to each peak value and the transmitting signal parameter value corresponding to each transmitting antenna.

[0013] In a possible implementation manner, determining the transmit signal parameter value corresponding to each peak value according to the peak value and the transmit signal parameter value includes:

[0014] Sorting the peak values ​​and the transmission signal parameter values ​​respectively according to the same preset order to obtain a first order after the peak values ​​are sorted and a second order after the transmission signal parameter values ​​are sorted;

[0015] Determine that the transmission signal parameter value corresponding to the peak value at any position in the first sequence is the transmission signal parameter value corresponding to the same position in the second sequence.

[0016] In a possible implementation, the transmission signal parameter value includes: a transmission signal amplitude value or a transmission signal power value;

[0017] When the transmit signal parameter value is the transmit signal power value, acquiring the transmit signal parameter value corresponding to each transmit antenna includes:

[0018] Obtaining a transmission signal amplitude value of a detection signal corresponding to each transmitting antenna;

[0019] The square of the transmit signal amplitude value is calculated to obtain the transmit signal power value corresponding to each transmit antenna.

[0020] In a possible implementation, the transmit signal parameter value includes: a transmit signal normalized power value;

[0021] The obtaining of the transmission signal parameter value corresponding to each transmission antenna includes:

[0022] Obtaining a transmission signal power value of a detection signal corresponding to each transmitting antenna;

[0023] Compare the transmission signal power values ​​of the detection signals corresponding to all the transmission antennas to determine the maximum transmission signal power of all the transmission antennas;

[0024] The ratio of each transmit signal power value to the maximum transmit signal power is calculated in sequence to obtain a normalized transmit signal power value corresponding to each transmit antenna.

[0025] In a possible implementation, the processing of the echo signals received by the N receiving antennas to obtain the range-Doppler data includes:

[0026] Perform range-Doppler two-dimensional Fourier transform on the echo signal received by each of the N receiving antennas to obtain range-Doppler data corresponding to each receiving antenna.

[0027] In a possible implementation, after performing a range-Doppler two-dimensional Fourier transform on an echo signal corresponding to each of the N receiving antennas to obtain range-Doppler data corresponding to each receiving antenna, the method further includes:

[0028] Accumulating and summing the amplitudes of the range-Doppler data corresponding to all receiving antennas to obtain the range-Doppler data after detection and accumulation;

[0029] The step of extracting all peak values ​​in the range-Doppler data and taking each peak value as a channel of data includes:

[0030] All peak values ​​in the detected and accumulated range-Doppler data are extracted, and each peak value in the detected and accumulated range-Doppler data is used as a channel data.

[0031] In a second aspect, an embodiment of the present invention provides a channel separation device for a MIMO radar, wherein the MIMO radar includes M transmitting antennas and N receiving antennas, wherein M and N are both positive integers greater than 1, and the channel separation device includes:

[0032] an acquisition module, used to acquire a transmission signal parameter value corresponding to each of the M transmission antennas and an echo signal received by each receiving antenna, wherein all the transmission antennas transmit detection signals at the same time and the transmission signal parameter values ​​of the detection signals corresponding to each of the M transmission antennas are different;

[0033] A first processing module, used for processing the echo signals received by the N receiving antennas to obtain range-Doppler data;

[0034] A second processing module is used to extract all peak values ​​in the range-Doppler data and use each peak value as a channel of data;

[0035] The channel separation module is used to determine the transmitting antenna corresponding to each channel data according to the peak value and the transmitting signal parameter value.

[0036] In a third aspect, an embodiment of the present invention provides a MIMO radar, including a control device, the control device including a memory and a processor, the memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory to execute the method described in the first aspect or any possible implementation method of the first aspect.

[0037] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method described in the first aspect or any possible implementation method of the first aspect are implemented.

[0038] The embodiment of the present invention provides a channel separation method, device and MIMO radar of a MIMO radar, wherein the MIMO radar includes M transmitting antennas and N receiving antennas, wherein M and N are both positive integers greater than 1. The channel separation method of the MIMO radar provided by the embodiment of the present invention obtains the echo signal received by each receiving antenna, processes the echo signal corresponding to the N receiving antennas, obtains the range-Doppler data, then extracts all the peaks in the range-Doppler data, and uses each peak as a channel data; then obtains the different transmission signal parameter values ​​corresponding to each transmitting antenna in the M transmitting antennas, and based on the principle that the peak value obtained after processing the echo signal received by each receiving antenna, that is, the number of channel data is the same as the number of transmitting antennas, determines the transmitting antenna corresponding to each channel data according to the peak value and the transmission signal parameter value. That is, the channel separation of the MIMO radar in the DDMA mode is realized, and then the angle of the detected target can be measured based on the DDMA-MIMO radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0040] Figure 1 is a flow chart of an implementation method of a MIMO radar channel separation method provided by an embodiment of the present invention;

[0041] Figure 2 is a schematic diagram of range-Doppler data provided by an embodiment of the present invention;

[0042] Figure 3 is a schematic diagram of all peaks in range-Doppler data provided by an embodiment of the present invention;

[0043] Figure 4 It is a structural schematic diagram of a channel separation device of a MIMO radar provided by an embodiment of the present invention;

[0044] Figure 5 Schematic diagram of a control device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0045] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present invention. However, it should be clear to those skilled in the art that the present invention may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present invention.

[0046] In order to make the purpose, technical solutions and advantages of the present invention more clear, specific embodiments will be described below in conjunction with the accompanying drawings.

[0047] See also Figure 1 , which shows a flow chart of the channel separation method of the MIMO radar provided by an embodiment of the present invention. The MIMO radar includes M transmitting antennas and N receiving antennas, where M and N are both positive integers greater than 1. The channel separation method of the MIMO radar is described in detail as follows:

[0048] In step 101, a transmission signal parameter value corresponding to each of the M transmission antennas and an echo signal received by each receiving antenna are obtained.

[0049] All transmitting antennas transmit detection signals simultaneously, and the transmission signal parameter values ​​of the detection signals corresponding to each transmitting antenna in the M transmitting antennas are different.

[0050] In this embodiment, the number of all transmitting antennas in the MIMO radar may be K, and the K transmitting antennas may include a number of transmitting antennas whose corresponding relationships with the channel data are known, and M transmitting antennas whose corresponding relationships with the channel data are unknown, M≤K, and K is a positive integer greater than 1. Since the MIMO radar includes M transmitting antennas whose corresponding relationships with the channel data are not determined, and also includes N receiving antennas, that is, after each of the N receiving antennas receives the echo signal, M channel data can be virtually obtained after processing, and the N receiving antennas can virtually obtain M×N channel data in total, and it is necessary to determine the corresponding relationship between each channel data in the M×N channel data and each transmitting antenna in the M transmitting antennas to perform channel separation.

[0051] The transmission signal parameter value is the value of the transmission signal parameter corresponding to the detection signal transmitted by each transmission antenna. For several transmission antennas that are known to have a corresponding relationship with the channel data, the transmission signal parameter values ​​of the detection signals corresponding to the several transmission antennas can be the same or different. For the other M transmission antennas, in order to utilize the different transmission signal parameter values ​​of the detection signals corresponding to the various transmission antennas, the channel data virtually obtained after processing the echo signals received by the receiving antennas is also different, and then the subsequent channel separation is performed, which requires that the transmission signal parameter values ​​of the detection signals corresponding to each of the M transmission antennas are different.

[0052] Exemplarily, assume that the MIMO radar includes four transmitting antennas, where the correspondence between the transmitting antenna Tx1 and the transmitting antenna Tx2 and the channel data is known, and the correspondence between the transmitting antenna Tx3 and the transmitting antenna Tx4 and the channel data is unknown. Then, the transmitting signal parameter value of the detection signal corresponding to the transmitting antenna Tx1 and the transmitting signal parameter value of the detection signal corresponding to the transmitting antenna Tx2 may be the same or different, while the transmitting signal parameter value of the detection signal corresponding to the transmitting antenna Tx3 and the transmitting signal parameter value of the detection signal corresponding to the transmitting antenna Tx4 need to be different.

[0053] Optionally, the transmission signal parameter value may be any one of a transmission signal amplitude value, a transmission signal power value, and a transmission signal normalized power value.

[0054] When the transmission signal parameter value is a transmission signal amplitude value, the transmission signal parameter value corresponding to each transmission antenna is obtained, that is, the transmission signal amplitude value of the detection signal corresponding to each transmission antenna is directly obtained.

[0055] When the transmit signal parameter value is a transmit signal power value, obtaining the transmit signal parameter value corresponding to each transmit antenna may include: obtaining a transmit signal amplitude value of the detection signal corresponding to each transmit antenna, calculating the square of the transmit signal amplitude value, and obtaining a transmit signal power value corresponding to each transmit antenna.

[0056] When the transmission signal parameter value is the normalized power value of the transmission signal, obtaining the transmission signal parameter value corresponding to each transmitting antenna may include: obtaining the transmission signal power value of the detection signal corresponding to each transmitting antenna; comparing the transmission signal power values ​​of the detection signals corresponding to all transmitting antennas to determine the maximum transmission signal power of all transmitting antennas; and calculating the ratio of each transmission signal power value to the maximum transmission signal power in turn to obtain the normalized power value of the transmission signal corresponding to each transmitting antenna.

[0057] Regardless of whether the transmission signal parameter value is the transmission signal amplitude value, the transmission signal power value, or the transmission signal normalized power value, it is based on the fact that the transmission signal parameter values ​​of the detection signal corresponding to the transmitting antenna are not equal. Therefore, the channel data virtually obtained after processing the echo signal received by the receiving antenna is also not equal, and subsequent channel separation is performed.

[0058] When the transmission signal parameter value is the transmission signal amplitude value, the different transmission signal amplitude values ​​of the detection signals corresponding to each transmitting antenna are obtained, and the channel data virtually obtained after processing the echo signals received by each receiving antenna are made to correspond to the transmission signal amplitude value. The corresponding relationship between each channel data and the transmitting antenna can be determined, and the channel separation of the MIMO radar in the DDMA mode can be realized.

[0059] When the transmission signal parameter value is the transmission signal power value, since the transmission signal power value is the square of the transmission signal amplitude value, the transmission signal amplitude value of the detection signal corresponding to each transmission antenna in the MIMO radar can be set to be different, so that the transmission signal power value of the detection signal corresponding to each transmission antenna is different, or the transmission signal power value of the detection signal corresponding to each transmission antenna in the MIMO radar can be directly set to be different. Based on the transmission signal power value, the corresponding relationship between each channel data in the receiving antenna and the transmitting antenna can be more accurately determined.

[0060] When setting the transmission signal amplitude value or the transmission signal power value of the detection signal corresponding to each transmitting antenna, the order may be sequential from large to small, from small to large, or randomly.

[0061] When the transmit signal parameter value is a transmit signal normalized power value, the transmit signal power value can be directly or indirectly obtained, and then the transmit signal power value is further processed to obtain the transmit signal normalized power value corresponding to each transmit antenna. Based on the transmit signal normalized power value, the correspondence between each channel data and the transmit antenna can be determined more accurately and conveniently.

[0062] For example, assume that the DDMA-MIMO radar includes 3 transmitting antennas and 4 receiving antennas. At a certain moment, the 3 transmitting antennas work simultaneously, and the signals transmitted are A1*Sig1, A2*Sig2, and A3*Sig3. Among them, A1~A3 are the transmission signal amplitude values ​​of the detection signals transmitted by the 3 transmitting antennas, and Sig1~Sig3 are the transmission signal forms of the detection signals transmitted by the 3 transmitting antennas.

[0063] On this basis, the transmission signal power values ​​P1 to P3 of the detection signals transmitted by the three transmitting antennas can be obtained through P1 = A1^2, P2 = A2^2, and P3 = A3^2.

[0064] On this basis, the maximum power of the transmitted signal in the three transmitting antennas can be determined by Pmax=max(P1, P2, P3), and then normalized calculation is performed, then:

[0065] The normalized power value of the transmission signal of the transmission antenna Tx1 is Nor_P1=P1 / Pmax.

[0066] The normalized power value of the transmission signal of the transmission antenna Tx2 is Nor_P2=P2 / Pmax.

[0067] The normalized power value of the transmission signal of the transmission antenna Tx3 is Nor_P3=P3 / Pmax.

[0068] In step 102, the echo signals received by the N receiving antennas are processed to obtain range-Doppler data.

[0069] Optionally, processing the echo signals received by the N receiving antennas to obtain range-Doppler data may include:

[0070] Perform range-Doppler two-dimensional Fourier transform on the echo signal received by each of the N receiving antennas to obtain range-Doppler data corresponding to each receiving antenna.

[0071] For example, after the DDMA-MIMO radar receives the echo signal through multiple receiving antennas, each receiving antenna can perform a range-Doppler two-dimensional Fourier transform on the echo signal, with the number of FFT points in the range dimension being recorded as N1 and the number of FFT points in the Doppler dimension being recorded as N2, thereby obtaining the following: Figure 2The fast-time-slow-time range-Doppler spectrum distribution shown is also called range-Doppler data (Range-Doppler Map, RD_MAP). For example, for 4 receiving antennas, the RD_MAP data volume of each receiving antenna is N1*N2, and the total data volume is N1*N2*4.

[0072] In step 103, all peaks in the range-Doppler data are extracted, and each peak is used as a channel of data.

[0073] Among them, in the application background of the DDMA-MIMO radar of this embodiment, affected by Doppler modulation, the number of peaks in the RD_MAP obtained by processing the echo signal received by a certain receiving antenna is the same as the number of transmitting antennas in the MIMO radar, that is, for any receiving antenna in the MIMO radar, the detection signal transmitted by each transmitting antenna will correspond to a peak in the RD_MAP after being reflected by the detection target (that is, the echo signal received by the receiving antenna), so each peak in the RD_MAP is a channel data. The transmission signal parameter values ​​of the detection signal corresponding to the transmitting antenna are different, and the channel data, that is, the corresponding peaks in the RD_MAP are also different. Therefore, after the receiving antenna receives the echo signal, the echo signal is processed to obtain the RD_MAP, and all the peaks in the RD_MAP are extracted, which can be used to subsequently determine the corresponding relationship between each channel data and the transmitting antenna. Determining the corresponding relationship between each channel data and the transmitting antenna, that is, realizing the channel separation of the MIMO radar in the DDMA mode, and then each channel data (that is, each peak in the RD_MAP corresponding to each receiving antenna) can be reasonably sorted according to the result of the channel separation, and the angle of the detection target can be determined according to the sorted channel data.

[0074] For example, under certain Doppler modulation, the three transmitting antennas of the MIMO radar simultaneously transmit detection signals, such as Figure 3 As shown, there are three peaks in the RD_MAP of the echo signal reflected by the detection target received by a certain receiving antenna, that is, there are three channel data, and the transmitting antennas corresponding to the three channel data need to be determined.

[0075] Optionally, after performing a range-Doppler two-dimensional Fourier transform on an echo signal received by each of the N receiving antennas to obtain range-Doppler data corresponding to each receiving antenna, the method may further include:

[0076] The amplitudes of the range-Doppler data corresponding to all receiving antennas are accumulated and summed to obtain the range-Doppler data after detection and accumulation.

[0077] Correspondingly, all peaks in the range-Doppler data are extracted, and each peak is used as a channel of data, which may include:

[0078] All peak values ​​in the range-Doppler data after detection and accumulation are extracted, and each peak value in the range-Doppler data after detection and accumulation is used as one channel of data.

[0079] For example, detection accumulation may be performed on the RD_MAPs of the four receiving antennas, that is, the amplitude of each RD_MAP may be calculated respectively, and the amplitudes of the four receiving RD_MAPs may be added and accumulated to obtain the RD_MAP after detection accumulation.

[0080] This embodiment can improve the signal-to-noise ratio of the echo signal received by the receiving antenna and reduce the influence of noise through detection accumulation, so as to improve the detection performance of the MIMO radar in the DDMA mode for detecting targets in a complex environment.

[0081] Optionally, extracting all peaks in the range-Doppler data may include: performing constant false alarm target detection on the range-Doppler data, and extracting all peaks in the detection result.

[0082] Among them, in the RD_MAP of each receiving antenna, or in the RD_MAP after detection accumulation, constant virtual police Target detection (Constant False Alarm Rate, CFAR) is used to obtain all peaks in the detection results. Among them, the CFAR target detection method can be CA-CFAR, SO-CFAR, GO-CFAR, etc. The idea is to slide the window in each range Doppler unit of RD_MAP to determine whether the target exists.

[0083] In this embodiment, better performance can be achieved by extracting all peaks in the range-Doppler data using the CFAR target detection method.

[0084] In step 104, the transmitting antenna corresponding to each channel data is determined according to the peak value and the transmission signal parameter value.

[0085] Optionally, determining the transmitting antenna corresponding to each channel data according to the peak value and the transmission signal parameter value may include:

[0086] According to the peak values ​​and the transmission signal parameter values, the transmission signal parameter value corresponding to each peak value is determined.

[0087] The transmitting antenna corresponding to each channel data is determined according to the transmitting signal parameter value corresponding to each peak value and the transmitting signal parameter value corresponding to each transmitting antenna.

[0088] In this embodiment, if the transmission signal parameter value of the detection signal corresponding to the transmitting antenna is large, the peak value obtained by the echo signal received by the receiving antenna after processing is also large, and if the transmission signal parameter value of the detection signal corresponding to the transmitting antenna is small, the peak value obtained by the echo signal received by the receiving antenna after processing is also small. Therefore, according to this principle, the transmission signal parameter value corresponding to each peak value can be determined, and each transmission signal parameter value corresponds to a transmitting antenna, so the corresponding relationship between each peak value, that is, each channel data and the transmitting antenna can be determined.

[0089] Optionally, determining the transmit signal parameter value corresponding to each peak value according to the peak value and the transmit signal parameter value may include:

[0090] The peak values ​​and the transmission signal parameter values ​​are respectively sorted according to the same preset order to obtain a first order after the peak values ​​are sorted and a second order after the transmission signal parameter values ​​are sorted.

[0091] Determine that the transmission signal parameter value corresponding to the peak value at any position in the first sequence is the transmission signal parameter value corresponding to the same position in the second sequence.

[0092] In this embodiment, the transmission signal parameter value corresponding to each peak value is determined by sorting the peak values ​​and the transmission signal parameter values ​​respectively.

[0093] The preset order may be from large to small, from small to large, or other random order. This embodiment does not limit the preset order.

[0094] In addition to the above embodiments, the process of determining the transmission signal parameter value corresponding to each peak value may also adopt other methods, as long as the result of the determination is that a large peak value corresponds to a large transmission signal parameter value, and a small peak value corresponds to a small transmission signal parameter value.

[0095] Exemplarily, the process of determining the transmission signal parameter value corresponding to each peak value can be: selecting the maximum value among the peak values ​​and the maximum value among the transmission signal parameter values, corresponding the largest peak value to the maximum transmission signal parameter value, and then selecting the maximum value among the remaining peak values ​​and the maximum value among the remaining transmission signal parameter values, corresponding the largest peak among the remaining peak values ​​to the largest transmission signal parameter value among the remaining transmission signal parameter values... and so on, until the transmission signal parameter value corresponding to each peak value is determined.

[0096] The channel separation method of the MIMO radar is further described below through specific embodiments.

[0097] For example, assume that the MIMO radar has three transmitting antennas Tx1, Tx2, and Tx3, and the normalized power values ​​of the detection signals transmitted by the three transmitting antennas Tx1, Tx2, and Tx3 are [1, 0.7, 0.8] respectively, and the corresponding relationships between the three transmitting antennas Tx1, Tx2, and Tx3 and the channel data are unknown. The amplitudes of the three peaks of the RD_MAP of a certain receiving antenna after CFAR target detection are [50dB, 40dB, 30dB] respectively, that is, the three channel data of a certain receiving antenna are [50dB, 40dB, 30dB] respectively. In addition, the positions of the three peaks in the distance dimension in RD_MAP are the same, and the positions in the Doppler dimension are [10, 50, 90] respectively. Then, according to the channel separation method of the above MIMO radar, the process of determining the corresponding relationship between the above three channel data and the transmitting antenna is as follows:

[0098] The normalized power values ​​of the transmitted signals of each transmitting antenna and the amplitudes of each peak are used to perform pairing one by one. Specifically, the normalized power values ​​of the transmitted signals of each transmitting antenna and the amplitudes of each peak are sorted respectively, and paired one by one according to the relationship between the normalized power value of the transmitted signal and the amplitude of the Doppler peak.

[0099] The sorting can be from largest to smallest or from smallest to largest.

[0100] The normalized power values ​​of the transmitted signals of the above three transmitting antennas are sorted from large to small as 1, 0.8, and 0.7, respectively, and the peak amplitudes are sorted from large to small as 50dB, 40dB, and 30dB, respectively. The corresponding relationship between the channel data and the transmitted signal parameter value is: 50dB-1, 40dB-0.8, 30dB-0.7, and the corresponding relationship between the transmitted signal parameter value and the transmitting antenna is: 1-TX1, 0.7-Tx2, 0.8-Tx3, so the corresponding relationship between the channel data and the transmitting antenna is: 50dB-Tx1, 40dB-Tx3, 30dB-Tx2.

[0101] In addition, the position of the channel data in RD_MAP, the corresponding relationship between the channel data and the transmitting antenna can be further determined: 10-50dB-Tx1, 50-40dB-Tx3, 90-30dB-Tx2. By determining the corresponding relationship between each channel data and the transmitting antenna, and further determining the position of each channel data in RD_MAP, the corresponding relationship between the channel data and the transmitting antenna, the DDMA mode MIMO radar can achieve low false alarm and high detection channel separation, and then determine the angle of the target detection based on the result of channel separation.

[0102] The channel separation method of the MIMO radar provided by the embodiment of the present invention obtains the echo signal received by each receiving antenna, processes the echo signals corresponding to the N receiving antennas, obtains the range-Doppler data, then extracts all the peaks in the range-Doppler data, and uses each peak as a channel data; then obtains the different transmission signal parameter values ​​corresponding to each transmitting antenna in the M transmitting antennas, and based on the principle that the number of peak values ​​obtained after processing the echo signal received by each receiving antenna, that is, the number of channel data is the same as the number of transmitting antennas, the transmitting antenna corresponding to each channel data is determined according to the peak value and the transmission signal parameter value. That is, the channel separation of the MIMO radar in the DDMA mode is realized, and then the angle of the detected target can be measured based on the DDMA-MIMO radar.

[0103] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0104] The following is an embodiment of the device of the present invention. For details not described in detail therein, reference may be made to the corresponding method embodiment described above.

[0105] Figure 4 The structure diagram of the channel separation device of the MIMO radar provided by the embodiment of the present invention is shown. For the convenience of explanation, only the part related to the embodiment of the present invention is shown, which is described in detail as follows:

[0106] like Figure 4 As shown, the MIMO radar includes M transmitting antennas and N receiving antennas, where M and N are both positive integers greater than 1. The channel separation device of the MIMO radar includes: an acquisition module 41, a first processing module 42, a second processing module 43 and a channel separation module 44.

[0107] An acquisition module 41 is used to obtain a transmission signal parameter value corresponding to each of the M transmission antennas and an echo signal received by each receiving antenna, wherein all the transmission antennas transmit detection signals at the same time and the transmission signal parameter values ​​of the detection signals corresponding to each of the M transmission antennas are different;

[0108] A first processing module 42 is used to process the echo signals received by the N receiving antennas to obtain range-Doppler data;

[0109] A second processing module 43 is used to extract all peak values ​​in the range-Doppler data and use each peak value as a channel data;

[0110] The channel separation module 44 is used to determine the transmitting antenna corresponding to each channel data according to the peak value and the transmission signal parameter value.

[0111] The channel separation device of the MIMO radar provided by the embodiment of the present invention obtains the echo signal received by each receiving antenna, processes the echo signals corresponding to the N receiving antennas, obtains the range-Doppler data, then extracts all the peaks in the range-Doppler data, and uses each peak as a channel data; then obtains the different transmission signal parameter values ​​corresponding to each transmitting antenna in the M transmitting antennas, and based on the principle that the number of peak values ​​obtained after processing the echo signal received by each receiving antenna, that is, the number of channel data is the same as the number of transmitting antennas, determines the transmitting antenna corresponding to each channel data according to the peak value and the transmission signal parameter value. That is, the channel separation of the MIMO radar in the DDMA mode is realized, and then the angle of the detected target can be measured based on the DDMA-MIMO radar.

[0112] In one possible implementation, the channel separation module 44 can be used to determine the transmit signal parameter value corresponding to each peak value based on the peak value and the transmit signal parameter value; determine the transmit antenna corresponding to each channel data based on the transmit signal parameter value corresponding to each peak value and the transmit signal parameter value corresponding to each transmit antenna.

[0113] In a possible implementation, the channel separation module 44 can be used to sort the peak values ​​and the transmission signal parameter values ​​in the same preset order, respectively, to obtain a first order after the peak values ​​are sorted and a second order after the transmission signal parameter values ​​are sorted; and to determine that the transmission signal parameter value corresponding to the peak value at any position in the first order is the transmission signal parameter value corresponding to the same position in the second order.

[0114] In one possible implementation, the transmission signal parameter value includes: a transmission signal amplitude value or a transmission signal power value; when the transmission signal parameter value is the transmission signal power value, the acquisition module 41 can be used to obtain the transmission signal amplitude value of the detection signal corresponding to each transmitting antenna; calculate the square of the transmission signal amplitude value to obtain the transmission signal power value corresponding to each transmitting antenna.

[0115] In one possible implementation, the transmission signal parameter value includes: a normalized transmission signal power value; an acquisition module 41, which can be used to obtain the transmission signal power value of the detection signal corresponding to each transmitting antenna; compare the transmission signal power values ​​of the detection signals corresponding to all transmitting antennas to determine the maximum transmission signal power of all transmitting antennas; calculate the ratio of each transmission signal power value to the maximum transmission signal power in turn, and obtain the normalized transmission signal power value corresponding to each transmitting antenna.

[0116] In a possible implementation, the first processing module 42 may be configured to perform a range-Doppler two-dimensional Fourier transform on an echo signal received by each of the N receiving antennas to obtain range-Doppler data corresponding to each receiving antenna.

[0117] In one possible implementation, after performing a range-Doppler two-dimensional Fourier transform on the echo signal received by each of the N receiving antennas to obtain the range-Doppler data corresponding to each receiving antenna, the first processing module 42 can also be used to accumulate and sum the amplitudes of the range-Doppler data corresponding to all the receiving antennas to obtain the range-Doppler data after detection and accumulation; the second processing module 43 can be used to extract all peak values ​​in the range-Doppler data after detection and accumulation, and use each peak value in the range-Doppler data after detection and accumulation as a channel data.

[0118] Figure 5 Schematic diagram of a control device provided by an embodiment of the present invention. Figure 5 As shown, the control device 5 of this embodiment includes: a processor 50, a memory 51, and a computer program 52 stored in the memory 51 and executable on the processor 50. When the processor 50 executes the computer program 52, the steps of the channel separation method embodiments of the above-mentioned MIMO radar are implemented, for example Figure 1 Alternatively, when the processor 50 executes the computer program 52, the functions of the modules in the above-mentioned device embodiments are realized, for example, Figure 4 The functions of the modules 41 to 44 are shown.

[0119] Exemplarily, the computer program 52 may be divided into one or more modules / units, which are stored in the memory 51 and executed by the processor 50 to implement the present invention. The one or more modules / units may be a series of computer program instruction segments capable of implementing specific functions, which are used to describe the execution process of the computer program 52 in the control device 5. For example, the computer program 52 may be divided into Figure 4 Modules 41 to 44 are shown.

[0120] The control device 5 may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The control device 5 may include, but is not limited to, a processor 50 and a memory 51. Those skilled in the art will appreciate that Figure 5It is only an example of the control device 5 and does not constitute a limitation of the control device 5. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the control device may also include input and output devices, network access devices, buses, etc.

[0121] The processor 50 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0122] The memory 51 may be an internal storage unit of the control device 5, such as a hard disk or memory of the control device 5. The memory 51 may also be an external storage device of the control device 5, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the control device 5. Further, the memory 51 may also include both an internal storage unit of the control device 5 and an external storage device. The memory 51 is used to store the computer program and other programs and data required by the control device. The memory 51 may also be used to temporarily store data that has been output or is to be output.

[0123] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0124] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0125] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0126] In the embodiments provided by the present invention, it should be understood that the disclosed devices / control devices and methods can be implemented in other ways. For example, the device / control device embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0127] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0128] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0129] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned channel separation method embodiments of each MIMO radar can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device that can carry the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practices in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practices, computer-readable media does not include electrical carrier signals and telecommunication signals.

[0130] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A channel separation method for a MIMO radar, wherein the MIMO radar comprises M transmitting antennas and N receiving antennas, wherein M and N are both positive integers greater than 1, characterized in that: include: Obtaining a transmission signal parameter value corresponding to each of the M transmission antennas and an echo signal received by each receiving antenna, wherein all the transmission antennas transmit detection signals at the same time and the transmission signal parameter value of the detection signal corresponding to each of the M transmission antennas is different; the transmission signal parameter value is any one of a transmission signal amplitude value, a transmission signal power value, and a transmission signal normalized power value; Processing the echo signals received by the N receiving antennas to obtain range-Doppler data; Extracting all peak values ​​in the range-Doppler data, and taking each peak value as a channel of data; Determine the transmitting antenna corresponding to each channel data according to the peak value and the transmitting signal parameter value; The step of determining the transmitting antenna corresponding to each channel data according to the peak value and the transmit signal parameter value includes: Determine, according to the peak values ​​and the transmit signal parameter values, the transmit signal parameter value corresponding to each peak value; Determine the transmitting antenna corresponding to each channel data according to the transmitting signal parameter value corresponding to each peak value and the transmitting signal parameter value corresponding to each transmitting antenna; Wherein, determining the transmission signal parameter value corresponding to each peak value according to the peak value and the transmission signal parameter value includes: Sorting the peak values ​​and the transmission signal parameter values ​​respectively according to the same preset order to obtain a first order after the peak values ​​are sorted and a second order after the transmission signal parameter values ​​are sorted; Determine that the transmission signal parameter value corresponding to the peak value at any position in the first sequence is the transmission signal parameter value corresponding to the same position in the second sequence.

2. The channel separation method of MIMO radar according to claim 1, characterized in that: The transmission signal parameter value includes: a transmission signal amplitude value or a transmission signal power value; When the transmit signal parameter value is the transmit signal power value, acquiring the transmit signal parameter value corresponding to each transmit antenna includes: Obtaining a transmission signal amplitude value of a detection signal corresponding to each transmitting antenna; The square of the transmit signal amplitude value is calculated to obtain the transmit signal power value corresponding to each transmit antenna.

3. The channel separation method of MIMO radar according to claim 1, characterized in that: The transmission signal parameter value includes: a transmission signal normalized power value; The obtaining of the transmission signal parameter value corresponding to each transmission antenna includes: Obtaining a transmission signal power value of a detection signal corresponding to each transmitting antenna; Compare the transmission signal power values ​​of the detection signals corresponding to all the transmission antennas to determine the maximum transmission signal power of all the transmission antennas; The ratio of each transmit signal power value to the maximum transmit signal power is calculated in sequence to obtain a normalized transmit signal power value corresponding to each transmit antenna.

4. The channel separation method of MIMO radar according to any one of claims 1-2, characterized in that: The processing of the echo signals received by the N receiving antennas to obtain range-Doppler data includes: Perform range-Doppler two-dimensional Fourier transform on the echo signal received by each of the N receiving antennas to obtain range-Doppler data corresponding to each receiving antenna.

5. The channel separation method of MIMO radar according to claim 4, characterized in that: After performing a range-Doppler two-dimensional Fourier transform on the echo signal received by each of the N receiving antennas to obtain the range-Doppler data corresponding to each receiving antenna, the method further includes: Accumulating and summing the amplitudes of the range-Doppler data corresponding to all receiving antennas to obtain the range-Doppler data after detection and accumulation; The step of extracting all peak values ​​in the range-Doppler data and taking each peak value as a channel of data includes: All peak values ​​in the detected and accumulated range-Doppler data are extracted, and each peak value in the detected and accumulated range-Doppler data is used as a channel data.

6. A channel separation device for a MIMO radar, the MIMO radar comprising M transmitting antennas and N receiving antennas, wherein M and N are both positive integers greater than 1, characterized in that: include: an acquisition module, used to acquire a transmission signal parameter value corresponding to each of the M transmission antennas, and an echo signal received by each receiving antenna, wherein all the transmission antennas transmit detection signals at the same time and the transmission signal parameter value of the detection signal corresponding to each of the M transmission antennas is different; the transmission signal parameter value is any one of a transmission signal amplitude value, a transmission signal power value, and a transmission signal normalized power value; A first processing module, used for processing the echo signals received by the N receiving antennas to obtain range-Doppler data; A second processing module is used to extract all peak values ​​in the range-Doppler data and use each peak value as a channel of data; A channel separation module, used to determine the transmitting antenna corresponding to each channel data according to the peak value and the transmitting signal parameter value; Wherein, the channel separation module is specifically used for: Determine, according to the peak values ​​and the transmit signal parameter values, the transmit signal parameter value corresponding to each peak value; Determine the transmitting antenna corresponding to each channel data according to the transmitting signal parameter value corresponding to each peak value and the transmitting signal parameter value corresponding to each transmitting antenna; Wherein, the channel separation module is specifically used for: Sorting the peak values ​​and the transmission signal parameter values ​​respectively according to the same preset order to obtain a first order after the peak values ​​are sorted and a second order after the transmission signal parameter values ​​are sorted; Determine that the transmission signal parameter value corresponding to the peak value at any position in the first sequence is the transmission signal parameter value corresponding to the same position in the second sequence.

7. A MIMO radar, characterized in that: The invention comprises a control device, wherein the control device comprises a memory and a processor, wherein the memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory to execute the method as claimed in any one of claims 1 to 5.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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