Synthetic aperture millimeter wave radar, signal processing method thereof, and clock device

Abstract

This application provides a synthetic aperture millimeter-wave radar (SAPMW) signal processing method. The SAPMW radar performs circular motion. The method includes: processing the echo signal to obtain a processed signal, the processed signal including an initial phase; performing a Fourier transform on the initial phase along the rotation direction of the SAPMW radar to obtain a transformed phase; performing phase compensation on the transformed phase to obtain a compensated phase; performing phase compensation on the processed signal based on the compensated phase to obtain a first compensated signal; and processing the first compensated signal to obtain a target signal. Furthermore, this application also provides a SAPMW radar and a clock device. The SAPMW radar signal processing method provided in this application can accurately achieve three-dimensional deformation sensing and has strong monitoring capabilities.

Description

Technical Field

[0001] This application relates to the field of millimeter-wave radar technology, and in particular to a synthetic aperture millimeter-wave radar and its signal processing method and clock device. Background Technology

[0002] Synthetic Aperture Radar (SAR) imaging technology is a long-range, high-resolution ground imaging technique capable of operating in all weather and time conditions. In addition to its imaging capabilities, SAR signals carry historical distance information from the illuminated target to the radar, enabling SAR to simultaneously perform imaging and ranging / localization. If two SAR systems simultaneously observe the same area, the target's elevation can be measured using triangulation principles, combined with the SAR's ranging capability. Under zero-baseline conditions, SAR systems can achieve millimeter-level or even sub-millimeter-level long-range deformation sensing capabilities.

[0003] Indoor SAR systems utilize linear guide rails to induce radar movement, creating synthetic aperture conditions. Further, by repeatedly observing the same area using zero-baseline interferometry, deformation changes over time are measured, enabling monitoring and early warning of the observed area. Since conventional SAR imaging projects a three-dimensional scene onto the slant-range plane, while the deformation measured by indoor SAR systems is actually the projection of the actual deformation onto the slant-range plane, three-dimensional deformation sensing can be achieved by altering the guide rail height to create a height baseline, or by using circular motion. However, precise height positioning is difficult to achieve, and relying on two-dimensional imaging methods for three-dimensional deformation sensing introduces significant errors. Summary of the Invention

[0004] In view of this, it is necessary to provide a synthetic aperture millimeter-wave radar, its signal processing method, and a clock device, which can accurately realize three-dimensional deformation sensing and have strong monitoring capabilities.

[0005] In a first aspect, embodiments of this application provide a synthetic aperture millimeter-wave radar signal processing method, wherein the synthetic aperture millimeter-wave radar performs circular motion, and the synthetic aperture millimeter-wave radar signal processing method includes:

[0006] The echo signal is processed to obtain a processed signal, wherein the processed signal includes an initial phase;

[0007] The initial phase is subjected to a Fourier transform along the rotation direction of the synthetic aperture millimeter-wave radar to obtain the transformed phase;

[0008] The transformed phase is phase-compensated to obtain a compensated phase;

[0009] The processed signal is phase-compensated according to the compensation phase to obtain a first compensation signal; and

[0010] The first compensation signal is processed to obtain the target signal.

[0011] Secondly, embodiments of this application provide a synthetic aperture millimeter-wave radar, the synthetic aperture millimeter-wave radar comprising:

[0012] Memory, used to store program instructions; and

[0013] A processor is used to execute the program instructions to implement the synthetic aperture millimeter-wave radar signal processing method as described above.

[0014] Thirdly, embodiments of this application provide a clock device, the clock device including a pointer and a synthetic aperture millimeter-wave radar as described above, the synthetic aperture millimeter-wave radar being disposed on the pointer, the synthetic aperture millimeter-wave radar moving in a circular motion with the pointer.

[0015] The aforementioned synthetic aperture millimeter-wave radar, its signal processing method, and clocking device estimate the deformation in three directions by mapping the echo signal to the three-dimensional wavenumber domain, converting the radar coordinates into polar coordinates, and using a polar coordinate format algorithm to perform three-dimensional imaging of the target object, thereby obtaining a three-dimensional image of the target object. The imaging process does not require any assumptions about the target plane height and has three-dimensional deformation sensing capabilities, thus enabling perception of the observation area of ​​the synthetic aperture millimeter-wave radar. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0017] Figure 1 A flowchart of a synthetic aperture millimeter-wave radar signal processing method provided in an embodiment of this application.

[0018] Figure 2 This is a first sub-flowchart of the synthetic aperture millimeter-wave radar signal processing method provided in the embodiments of this application.

[0019] Figure 3 This is a second sub-flowchart of the synthetic aperture millimeter-wave radar signal processing method provided in the embodiments of this application.

[0020] Figure 4The third sub-flowchart of the synthetic aperture millimeter-wave radar signal processing method provided in the embodiments of this application.

[0021] Figure 5 The fourth sub-flowchart of the synthetic aperture millimeter-wave radar signal processing method provided in the embodiments of this application.

[0022] Figure 6 The fifth sub-flowchart of the synthetic aperture millimeter-wave radar signal processing method provided in the embodiments of this application.

[0023] Figure 7 This is a schematic diagram illustrating an application scenario of the synthetic aperture millimeter-wave radar signal processing method provided in the embodiments of this application.

[0024] Figure 8 for Figure 7 The diagram shows a schematic of the radar coordinate system of a synthetic aperture millimeter-wave radar.

[0025] Figure 9 for Figure 7 The image shown is a schematic diagram of a synthetic aperture millimeter-wave radar.

[0026] Figure 10 This is a schematic diagram of the internal structure of a synthetic aperture millimeter-wave radar provided in an embodiment of this application.

[0027] Figure 11 This is a schematic diagram of the internal structure of the clock device provided in an embodiment of this application.

[0028] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0030] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar planned objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data are interchangeable where appropriate; in other words, the described embodiments are implemented according to a sequence other than that illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, may also include other content; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0031] It should be noted that the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" and "second" may explicitly or implicitly include one or more of that feature. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0032] Please refer to the following: Figure 1 , Figure 7 and Figure 8 , Figure 1 This is a flowchart of a synthetic aperture millimeter-wave radar signal processing method provided in an embodiment of this application. Figure 7 This is a schematic diagram illustrating an application scenario of the synthetic aperture millimeter-wave radar signal processing method provided in the embodiments of this application. Figure 8 This is a schematic diagram of a radar coordinate system provided in an embodiment of this application. Figure 7 Taking the illustrated application scenario as an example, the synthetic aperture millimeter-wave radar 10 is placed in an indoor environment and performs circular motion around a fixed point. The fixed point is located on a wall indoors. For instance, if a clock is hung on the wall, the synthetic aperture millimeter-wave radar 10 can be positioned on the clock's hands, and as the hands move, it performs circular motion around the clock's center point.

[0033] The synthetic aperture millimeter-wave radar signal processing method is applied to the synthetic aperture millimeter-wave radar 10 to process the echo signals received by the synthetic aperture millimeter-wave radar 10, thereby monitoring target objects. The synthetic aperture millimeter-wave radar signal processing method specifically includes the following steps.

[0034] Step S102: Process the echo signal to obtain a processed signal.

[0035] In this embodiment, the detection signal emitted by the synthetic aperture millimeter-wave radar 10 is a millimeter wave, and the detection signal is reflected by the target object to form an echo signal. Specifically, during the scanning process, the ray direction of the synthetic aperture millimeter-wave radar 10 to the target object, i.e., the radar line-of-sight direction, is constantly changing. The echo signal can be represented as: Where θ represents the rotation angle of the synthetic aperture millimeter-wave radar 10; β represents the antenna rotation angle of the synthetic aperture millimeter-wave radar 10; B r The bandwidth of the detection signal of the synthetic aperture millimeter-wave radar 10 is represented by τ; the time constant is represented by r. a λ represents the target slant range, i.e., the distance between the synthetic aperture millimeter-wave radar 10 and the target object; λ represents the wavelength.

[0036] The synthetic aperture millimeter-wave radar 10 receives echo signals and processes them to obtain a processed signal. The processed signal includes an initial phase. In this embodiment, the synthetic aperture millimeter-wave radar 10 constructs a radar coordinate system and performs de-skewing and anti-skewing processing on the echo signals to obtain the processed signal in the radar coordinate system.

[0037] A radar coordinate system is constructed based on the circular motion of the synthetic aperture millimeter-wave radar 10. In this embodiment, the origin of the radar coordinate system is the center of the circle in which the synthetic aperture millimeter-wave radar 10 performs its circular motion. Figure 8 As shown, O represents the center of the circular motion of the synthetic aperture millimeter-wave radar 10, i.e., the origin of the coordinate system. The synthetic aperture millimeter-wave radar 10 moves in a counterclockwise direction around O. S represents the synthetic aperture millimeter-wave radar 10, and r represents the radius of rotation of the synthetic aperture millimeter-wave radar 10. Taking the plane in which the synthetic aperture millimeter-wave radar 10 moves in a circular motion as the motion plane, mutually perpendicular x-axis and y-axis are constructed on the motion plane, and a z-axis perpendicular to the motion plane is constructed along the direction away from the wall. T represents the target object. Where c, located on the z-axis, represents the center of the observation area of ​​the synthetic aperture millimeter-wave radar 10.

[0038] In some feasible embodiments, the synthetic aperture millimeter-wave radar 10 can also rotate clockwise around O.

[0039] If we define the projection of the three-dimensional displacement onto the radar line of sight as Δr, then the echo signal can be expressed as: The estimator of the projection can be expressed as:

[0040]

[0041] Since the position of the target object on the image is known, projecting the estimated projection onto the x, y, and z axes respectively yields three orthogonal deformation variables [,Δy,Δz]. Based on these deformation variables [,Δy,Δz], and then imaging the height to obtain the height information, the image of the target object can be obtained.

[0042] The echo signal undergoes deskewing and anti-skew processing to obtain the processed signal in the radar coordinate system. In this embodiment, the processed signal is represented as follows: Where sS(θ,f r ) represents the processed signal; θ represents the rotation angle, i.e., the angle between the radius corresponding to S and the x-axis; β represents the antenna rotation angle of the synthetic aperture millimeter-wave radar 10; f τ Indicates frequency; B r f represents the bandwidth of the detection signal of the synthetic aperture millimeter-wave radar 10; o This indicates the system carrier frequency of the synthetic aperture millimeter-wave radar 10; r a The slant range (r) represents the distance between the target object (S) and the target object (T). c This represents the reference slope distance, i.e., the distance between S and the center c of the observation area. Where f... τ =k r ·(τ-τ c ). k r τ represents the center wavenumber; τ represents the time constant; τ c =2r c / c.

[0043] Step S104: Perform a Fourier transform on the initial phase along the rotation direction of the synthetic aperture millimeter-wave radar to obtain the transformed phase.

[0044] The initial phase is subjected to Fourier transform along the rotation direction of the synthetic aperture millimeter-wave radar 10, that is, the phase factor of the processed signal is subjected to Fourier transform along the rotation angle direction to obtain the transformed phase.

[0045] The specific process of performing a Fourier transform on the initial phase along the rotation direction of the synthetic aperture millimeter-wave radar 10 to obtain the transformed phase will be described in detail below.

[0046] Step S106: Perform phase compensation on the transformed phase to obtain the compensated phase.

[0047] In this embodiment, phase compensation is performed on the secondary phase of the transformed phase to obtain a compensated phase. Specifically, the secondary phase of the transformed phase is compensated according to a preset secondary phase compensation function.

[0048] The specific process of performing phase compensation on the transformed phase to obtain the compensated phase will be described in detail below.

[0049] Step S108: Perform phase compensation on the processed signal according to the compensation phase to obtain the first compensation signal.

[0050] The processed signal is phase-compensated based on the compensation phase to obtain the first compensation signal.

[0051] The specific process of performing phase compensation on the processed signal based on the compensation phase to obtain the first compensated signal will be described in detail below.

[0052] Step S110: Process the first compensation signal to obtain the target signal.

[0053] In this embodiment, the first compensation signal is subjected to Fourier transform, phase compensation, and inverse Fourier transform operations in sequence to obtain the target signal.

[0054] The specific process of processing the first compensation signal to obtain the target signal will be described in detail below.

[0055] In the above embodiments, by mapping the echo signal to the three-dimensional wavenumber domain, the deformation in three directions is estimated, the radar coordinates are converted into polar coordinates, and a polar coordinate format algorithm is used to perform three-dimensional imaging of the target object, thereby obtaining a three-dimensional image of the target object. The imaging process does not require any assumptions about the height of the target plane and has three-dimensional deformation sensing capability, thereby realizing the perception of the observation area of ​​the synthetic aperture millimeter-wave radar.

[0056] Please refer to the following: Figure 2 This is the first sub-flowchart of the synthetic aperture millimeter-wave radar signal processing method provided in the embodiments of this application. Step S104 specifically includes the following steps.

[0057] Step S202: Obtain the initial phase of the processed signal in the radar coordinate system.

[0058] The initial phase of the processed signal in the radar coordinate system can be obtained from the processed signal. In this embodiment, the initial phase is expressed as:

[0059] Step S204: Process the initial phase to obtain the target phase.

[0060] The initial phase is converted from the radar coordinate system to the polar coordinate system to obtain the target phase.

[0061] The specific process of processing the initial phase to obtain the target phase will be described in detail below.

[0062] Step S206: Perform a Fourier transform on the target phase along the rotation direction of the synthetic aperture millimeter-wave radar to obtain the transformed phase.

[0063] A Fourier transform is performed on the target phase along the rotation direction of the synthetic aperture millimeter-wave radar 10, i.e., the direction in which θ increases, to obtain the transformed phase.

[0064] The specific process of performing a Fourier transform on the target phase along the rotation direction of the synthetic aperture millimeter-wave radar to obtain the transformed phase will be described in detail below.

[0065] In the above embodiments, the radar coordinate system is converted into a polar coordinate system, and the phase factor of the processed signal is Fourier transformed along the rotation angle direction of the synthetic aperture millimeter-wave radar using a polar coordinate format algorithm to obtain the transformed phase.

[0066] Please refer to the following: Figure 3 This is the second sub-flowchart of the synthetic aperture millimeter-wave radar signal processing method provided in the embodiments of this application. Step S204 specifically includes the following steps.

[0067] Step S302: Construct a spherical coordinate system with the center of the observation area of ​​the synthetic aperture millimeter-wave radar as the center.

[0068] A spherical coordinate system is constructed with the center c of the observation area of ​​the synthetic aperture millimeter-wave radar 10 as the sphere center. In this embodiment, the z-axis of the spherical coordinate system is the same as the z-axis of the radar coordinate system, and the distance between the target object T and the center c of the observation area is ρ.

[0069] In this embodiment, S is represented in spherical coordinates as S(r c The target object T is represented in spherical coordinates as (α, θ).

[0070] Step S304: Calculate the phase in spherical coordinates based on the initial phase as the target phase.

[0071] In this embodiment, let The initial phase is represented by ρ, that is, substituting ρ into Formula 1 yields the initial phase. Specifically, the initial phase can be expressed as: Where Φ represents the phase.

[0072] Expanding ρ into a power series down to the quadratic term, the initial phase can be expressed as:

[0073] S(r) c ,α,θ) and Substituting into Formula 2, we can obtain the target phase. The target phase is expressed as:

[0074] Let K x =Ksinαcosθ, K y =Ksinαsinθ, K z=Kcosα, z p =ρcosη, then the target phase can be simplified to:

[0075] Please refer to the following: Figure 4 This is the third sub-flowchart of the synthetic aperture millimeter-wave radar signal processing method provided in the embodiments of this application. Step S206 specifically includes the following steps.

[0076] Step S402: Convert the target phase into the plane phase corresponding to the center plane.

[0077] The target phase is converted into the plane phase corresponding to the central plane. In this embodiment, the central plane is parallel to the plane in which the synthetic aperture millimeter-wave radar 10 performs circular motion, and the center c of the observation area is located on the central plane. That is to say, the central plane is parallel to the motion plane, and in the central plane z = z c At this point, η = 90 degrees.

[0078] In this embodiment, the plane phase corresponding to the target phase in the central plane is represented as:

[0079]

[0080] The second term of the plane phase is a quadratic error with respect to θ; the third term of the plane phase is independent of θ but related to ρ.

[0081] Step S404: Perform a Fourier transform on the planar phase along the rotation direction of the synthetic aperture millimeter-wave radar to obtain the transformed phase.

[0082] A Fourier transform is performed on the planar phase along the rotation direction of the synthetic aperture millimeter-wave radar 10, that is, a Fourier transform is performed on the planar phase along θ. In this embodiment, the transformed phase can be expressed as: Among them, K θ =2πf θ ,f θ =f a / ω. Therefore, the stationary phase point is K. θ ≈-Kρsinαsinθ.

[0083] In this embodiment, the compensation function is: Substituting the compensation function into Equation 3 yields the compensated phase. Correspondingly, the compensated phase obtained by performing phase compensation on the transformed phase can be expressed as:

[0084] In the above embodiments, by converting the target phase into a planar phase corresponding to the central plane, the target phase is focused within the central plane, and imaging is performed height-by-height to obtain the height information of the target object, effectively avoiding the problem of three-dimensional interpolation. Simultaneously, phase compensation of the transformed phase can effectively improve the accuracy of the imaging results.

[0085] Please refer to the following: Figure 5 This is the fourth sub-flowchart of the synthetic aperture millimeter-wave radar signal processing method provided in the embodiments of this application. Before executing step S108, the synthetic aperture millimeter-wave radar signal processing method further includes the following steps.

[0086] Step S502: Convert the spherical coordinate system to a rectangular coordinate system.

[0087] To facilitate imaging, the spherical coordinate system is converted to a rectangular coordinate system.

[0088] In this embodiment, converting the spherical coordinate system to a rectangular coordinate system specifically involves interpolating along the range and azimuth directions of the synthetic aperture millimeter-wave radar 10 at preset angles to convert the spherical coordinate system to a rectangular coordinate system. Since the imaging scanning angle of the synthetic aperture millimeter-wave radar 10 is 360 degrees, the preset angle is set to 45 degrees.

[0089] Specifically, first, interpolation is performed along the distance direction, dividing the region into areas with a preset angle as the boundary. After resampling, the sampled points are distributed in a wedge-shaped region. Then, interpolation is performed along the azimuth direction, dividing the region into areas with a preset angle as the boundary. After resampling, the sampled points are distributed in a rectangular region. This converts the spherical coordinate system into a rectangular coordinate system.

[0090] In some feasible embodiments, the preset angle can be set according to actual imaging needs, and is not limited here.

[0091] Step S504: Calculate the compensated phase in the rectangular coordinate system.

[0092] Based on the representation of the compensated phase in spherical coordinates, the representation of the compensated phase in rectangular coordinates is calculated. In this embodiment, phase compensation is performed on the processed signal based on the compensated phase in rectangular coordinates to obtain a first compensated signal. Specifically, the first compensated signal is represented as follows:

[0093] In the above embodiments, interpolation from polar coordinates to rectangular coordinates is performed in regions defined by a preset angle direction, thereby converting the spherical coordinate system to a rectangular coordinate system, which can effectively improve the execution performance of the algorithm. At the same time, decomposing the two-dimensional interpolation into two one-dimensional interpolations can effectively solve the problem that it is very difficult to use a two-dimensional method in the process of interpolating from polar coordinates to rectangular coordinates in a two-dimensional plane.

[0094] Please refer to the following: Figure 6 This is the fifth sub-flowchart of the synthetic aperture millimeter-wave radar signal processing method provided in the embodiments of this application. Step S110 specifically includes the following steps.

[0095] Step S602: Perform a Fourier transform on the first compensation signal along the range direction of the synthetic aperture millimeter-wave radar to obtain the transformed signal.

[0096] A Fourier transform is performed on the first compensated signal along the range direction of the synthetic aperture millimeter-wave radar 10 to obtain the transformed signal. In this embodiment, the transformed signal is represented as:

[0097] Step S604: Perform linear phase compensation on the transformed signal to obtain the second compensated signal.

[0098] Linear phase compensation is performed on the transformed signal to obtain the second compensated signal. In this embodiment, the second compensated signal is represented as: sS2(θ,f r )=FFT{ss1(θ,τ)}·exp[j2πf r τ c ]·exp[-j2πf r τ c ′).

[0099] Step S606: Perform an inverse Fourier transform on the second compensation signal along the range direction of the synthetic aperture millimeter-wave radar to obtain the target signal.

[0100] The target signal is obtained by performing an inverse Fourier transform on the second compensated signal along the range direction of the synthetic aperture millimeter-wave radar 10. In this embodiment, the target signal is represented as:

[0101] In the above embodiments, a transformed signal is obtained by performing a Fourier transform on the first compensation signal, a second compensation signal is obtained by compensating the linear phase of the transformed signal, and then an inverse Fourier transform is performed on the second compensation signal along the distance direction to obtain the target signal.

[0102] Taking a synthetic aperture millimeter-wave radar (SAR) with a transmission and detection signal of 77 GHz as an example, let's set the SAR's rotation radius to 1 meter and the detection signal bandwidth to 1 GHz. Then, the SAR's imaging will look like... Figure 9 As shown, the dots in the box represent the target objects.

[0103] In this embodiment, synthetic aperture millimeter-wave radar can replace traditional cameras for monitoring indoor environments. The synthetic aperture millimeter-wave radar signal processing algorithm has high altitude measurement accuracy, makes no assumptions about height, has smaller three-dimensional deformation sensing errors, and provides more accurate monitoring of the observation area. Circular imaging of the echo signal further expands the observation range.

[0104] Please refer to the following: Figure 10 This is a schematic diagram of the internal structure of a synthetic aperture millimeter-wave radar provided in an embodiment of this application. The synthetic aperture millimeter-wave radar 10 includes a memory 11 and a processor 12. The memory 11 is used to store program instructions, and the processor 12 is used to execute the program instructions to implement the above-described synthetic aperture millimeter-wave radar signal processing method.

[0105] In some embodiments, the processor 12 may be a central processing unit (CPU), controller, microcontroller, microprocessor or other data processing chip, used to run program instructions stored in the memory 11.

[0106] The memory 11 includes at least one type of readable storage medium, including flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory 11 may be an internal storage unit of a computer device, such as a hard disk. In other embodiments, the memory 11 may be an external storage device of a computer device, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., provided on the computer device. Furthermore, the memory 11 may include both internal and external storage units of the computer device. The memory 11 can be used not only to store application software and various types of data installed on the computer device, such as code implementing synthetic aperture millimeter-wave radar signal processing methods, but also to temporarily store data that has been output or will be output.

[0107] Please refer to the following: Figure 11 This is a schematic diagram of the internal structure of the clock device provided in the embodiments of this application. The clock device 20 includes a pointer 21 and a synthetic aperture millimeter-wave radar 10. The specific structure of the synthetic aperture millimeter-wave radar 10 is as described in the above embodiments. Since the clock device 20 adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0108] In this embodiment, the synthetic aperture millimeter-wave radar 10 is positioned on the pointer 21, and the synthetic aperture millimeter-wave radar 10 moves in a circular motion with the pointer 21. Specifically, the synthetic aperture millimeter-wave radar 10 can be positioned at the end of the pointer 21 away from the center point.

[0109] In some feasible embodiments, the clock device 20 may be provided with a circular track, and the synthetic aperture millimeter-wave radar 10 is disposed on the circular track and moves in a circular motion along the circular track.

[0110] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

[0111] The above-listed embodiments are merely preferred embodiments of this application and should not be construed as limiting the scope of this application. Therefore, any equivalent variations made in accordance with the claims of this application shall still fall within the scope of this application.

Claims

1. A synthetic aperture millimeter-wave radar signal processing method, characterized in that, The synthetic aperture millimeter-wave radar signal processing method is applied to a synthetic aperture millimeter-wave radar, which performs circular motion. The synthetic aperture millimeter-wave radar signal processing method includes: A radar coordinate system is constructed, and the echo signal is processed to obtain a processed signal, wherein the processed signal includes an initial phase; The initial phase is subjected to a Fourier transform along the rotation direction of the synthetic aperture millimeter-wave radar to obtain the transformed phase; The transformed phase is phase-compensated to obtain a compensated phase; The processed signal is phase-compensated according to the compensation phase to obtain a first compensation signal; and The first compensation signal is processed to obtain the target signal; Specifically, performing a Fourier transform on the initial phase along the rotation direction of the synthetic aperture millimeter-wave radar to obtain the transformed phase includes: acquiring the initial phase of the processed signal in the radar coordinate system; converting the initial phase from the radar coordinate system to the polar coordinate system to obtain the target phase; converting the target phase into a planar phase corresponding to the central plane, wherein the central plane is parallel to the plane in which the synthetic aperture millimeter-wave radar performs circular motion, and the center of the observation area is located in the central plane; and performing a Fourier transform on the planar phase along the rotation direction of the synthetic aperture millimeter-wave radar to obtain the transformed phase.

2. The synthetic aperture millimeter-wave radar signal processing method as described in claim 1, characterized in that, The specific steps of processing the echo signal to obtain the processed signal include: A radar coordinate system is constructed, wherein the origin of the radar coordinate system is the center of the circle in which the synthetic aperture millimeter-wave radar undergoes circular motion; and The echo signal is subjected to deskewing and anti-skew processing to obtain the processed signal in the radar coordinate system.

3. The synthetic aperture millimeter-wave radar signal processing method as described in claim 1, characterized in that, Processing the initial phase to obtain the target phase specifically includes: A spherical coordinate system is constructed with the center of the observation area of ​​the synthetic aperture millimeter-wave radar as the center; and The target phase is calculated based on the initial phase in the spherical coordinate system.

4. The synthetic aperture millimeter-wave radar signal processing method as described in claim 3, characterized in that, Before performing phase compensation on the processed signal according to the compensation phase to obtain the first compensated signal, the synthetic aperture millimeter-wave radar signal processing method further includes: Transform the spherical coordinate system into a rectangular coordinate system; and Calculate the compensated phase in the Cartesian coordinate system.

5. The synthetic aperture millimeter-wave radar signal processing method as described in claim 4, characterized in that, Converting the spherical coordinate system to a rectangular coordinate system specifically includes: Interpolation is performed along the range and azimuth directions of the synthetic aperture millimeter-wave radar at preset angles to convert the spherical coordinate system into a rectangular coordinate system.

6. The synthetic aperture millimeter-wave radar signal processing method as described in claim 1, characterized in that, Processing the first compensation signal to obtain the target signal specifically includes: The first compensated signal is subjected to a Fourier transform along the range direction of the synthetic aperture millimeter-wave radar to obtain the transformed signal; The transformed signal is linearly phase-compensated to obtain a second compensated signal; and The target signal is obtained by performing an inverse Fourier transform on the second compensated signal along the range direction of the synthetic aperture millimeter-wave radar.

7. A synthetic aperture millimeter-wave radar, characterized in that, The synthetic aperture millimeter-wave radar includes: Memory, used to store program instructions; and A processor for executing the program instructions to implement the synthetic aperture millimeter-wave radar signal processing method as described in any one of claims 1 to 6.

8. A clock device, characterized in that, The clock device includes a pointer and a synthetic aperture millimeter-wave radar as described in claim 7, wherein the synthetic aperture millimeter-wave radar is disposed on the pointer and the synthetic aperture millimeter-wave radar moves in a circular motion with the pointer.

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