Radar networking method, radar and non-volatile readable storage medium

Abstract

The application relates to the field of radar technology and discloses a radar networking method, a nonvolatile readable storage medium and a radar. The radar networking method is applied to a radar to be networked, and the method comprises the following steps: determining transmission timing information of a target radar, acquiring networking delay information, and controlling the radar to be networked to perform a networking operation of joining a radar network according to the transmission timing information and the networking delay information. The radar to be networked provided by the embodiment can effectively join the radar network by tracking the transmission timing information of the target radar and combining the networking delay information. This method belongs to a time-sharing synchronization method, and compared with the method of allocating instantaneous working bandwidth to each radar to be networked, the embodiment can relatively compatibly network more radars. In addition, the networking delay information can avoid same-frequency interference formed between the radar to be networked and the networking radars after the radar to be networked joins the radar network, and therefore, the radar to be networked can reliably work after joining the radar network.

Description

Technical Field

[0001] This invention relates to the field of radar technology, specifically to a radar networking method, a non-volatile readable storage medium, and a radar. Background Technology

[0002] Related technologies typically employ multiple Frequency Modulated Continuous Wave (FMCW) radars networked together to meet omnidirectional detection requirements. However, within a radar network, mutual spectrum contamination between FMCW radars can easily occur. To overcome this issue, related technologies provide a spectrum allocation method: the total operating bandwidth of the radar network is divided into different instantaneous operating bandwidths based on the number of FMCW radars, and a corresponding instantaneous operating bandwidth is allocated to each FMCW radar. Since the total operating bandwidth remains constant, each FMCW radar enjoys a relatively clean spectrum environment, thus reducing mutual interference between FMCW radars and enabling effective target detection.

[0003] Since the instantaneous operating bandwidth determines the core performance indicators of each frequency-modulated continuous wave (FM-CRW) radar, improving range resolution typically requires increasing the instantaneous operating bandwidth. Because the total operating bandwidth is fixed, spectrum allocation methods divide the total operating bandwidth into a few large instantaneous operating bandwidths to meet the requirement of strong range resolution for each FM-CRW radar. However, this method can lead to the radar network being unable to accommodate the addition of a large number of FM-CRW radars. Summary of the Invention

[0004] One objective of this invention is to provide a radar networking method, a non-volatile readable storage medium, and a radar, aiming to solve the technical problem of how to accommodate a large number of radars into a radar network while ensuring that multiple radars do not interfere with each other.

[0005] In a first aspect, embodiments of the present invention provide a radar networking method, applied to radars to be networked, comprising:

[0006] Determine the transmission timing information of the target radar, which is a networked radar that has joined the radar network;

[0007] Obtain network latency information;

[0008] Based on the transmission timing information and the networking delay information, the radar to be networked is controlled to perform a networking operation to join the radar network, wherein each networking radar in the radar network is a frequency-modulated continuous wave radar.

[0009] Optionally, the transmission timing information of the target radar includes:

[0010] Listen to the transmitted signals of each of the networked radars;

[0011] Based on the transmission signals of each of the networked radars, select the networked radar that meets the networking conditions as the target radar.

[0012] The transmission timing information of the target radar is determined based on the transmission signal of the target radar.

[0013] Optionally, the monitoring of the transmitted signals of each of the networked radars includes:

[0014] Obtain the pre-set target center frequency;

[0015] Listen to the transmitted signals of each of the networked radars based on the target's center frequency.

[0016] Optionally, determining the target center frequency includes:

[0017] Select any one of the preset operating frequency points as the reference frequency point;

[0018] If the transmission signal of each of the networked radars is detected at the reference frequency, then the reference frequency is taken as the target center frequency.

[0019] Optionally, selecting a network radar that meets the networking conditions as the target radar based on the transmitted signals of each of the network radars includes:

[0020] The transmitted signal of each of the network radars is analyzed based on the target center frequency of the frequency-modulated continuous wave to obtain the pulse envelope corresponding to the target center frequency, wherein the pulse envelopes of each of the network radars are sequentially formed into a pulse group.

[0021] If the pulse envelope of the networked radar matches the specified order in the pulse group, then the networked radar is determined to meet the networking conditions, and the networked radar is selected as the target radar.

[0022] Optionally, the specified order is the order in which the last networked radar to join the radar network is located within the radar network.

[0023] Optionally, the transmission timing information includes the beam switching time, and determining the transmission timing information of the target radar based on the transmission signal of the target radar includes:

[0024] Based on the transmitted signal of the target radar, determine the coherent processing interval of the target radar;

[0025] The rising edge signal is obtained by traversing the transmitted signal of the target radar according to the coherent processing interval.

[0026] The time corresponding to the rising edge signal is recorded as the beam switching time.

[0027] Optionally, the transmission timing information includes the pulse repetition period, and determining the transmission timing information of the target radar based on the transmission signal of the target radar includes:

[0028] Acquire the first pulse group and the second pulse group adjacent to the target radar;

[0029] Determine the envelopes of two pulses in the same order in the first pulse group and the second pulse group;

[0030] Calculate the time difference between the envelopes of two pulses in the same order;

[0031] The time difference is used as the pulse repetition period of the target radar.

[0032] Optionally, obtaining network latency information includes:

[0033] Calculate the maximum delay information based on the preset maximum detection range and speed of light;

[0034] The network latency information is determined based on the maximum latency information.

[0035] Optionally, before determining the network delay information, the radar networking method further includes: acquiring protection time information; the step of determining the network delay information based on the maximum delay information includes: determining the network delay information based on the maximum delay information and the protection time information.

[0036] Optionally, the transmission timing information includes beam switching time, pulse repetition period, and signal bandwidth, wherein the pulse repetition period consists of a preset modulation period and a preset frequency sweep fallback time. The step of controlling the radar to be networked to perform the network joining operation based on the transmission timing information and the network delay information includes:

[0037] The signal transmission time is determined based on the beam switching time of the target radar and the network delay information;

[0038] At the signal transmission time, the radar to be networked is controlled to synchronously transmit radio frequency signals according to the modulation period and the signal bandwidth.

[0039] Optionally, before performing the networking operation to join the radar network, the radar networking method further includes:

[0040] Determine the number of networked radars in the radar network;

[0041] Calculate the transmission allocation time based on the number of networks and the network delay information;

[0042] Based on the transmission allocation duration and the modulation period of the radar network, it is determined whether the radar to be networked can be added to the radar network.

[0043] Optionally, determining the number of networked radars in the radar network includes:

[0044] Acquire a pulse group, the pulse group comprising at least one pulse envelope;

[0045] Determine the number of pulses in the pulse envelope contained in the pulse group, wherein the number of pulses represents the number of network groups.

[0046] Optionally, determining whether the radar to be networked can join the radar network based on the transmission allocation duration and the modulation period of the radar network includes:

[0047] If the transmission allocation duration is less than or equal to the modulation period of the radar network, then the radar to be networked is determined to be able to join the radar network.

[0048] In a second aspect, embodiments of the present invention provide a radar, comprising:

[0049] A transmitter used to transmit radio frequency signals;

[0050] Receiver, used to receive echo signals; and

[0051] A signal processor includes at least one processor and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the radar networking method described above.

[0052] In a third aspect, embodiments of the present invention provide a non-volatile readable storage medium storing computer-executable instructions, which are used to cause a signal processor to execute the aforementioned radar networking method.

[0053] Fourthly, embodiments of the present invention also provide a computer program product, the computer program product including a computer program stored on a non-volatile readable storage medium, the computer program including program instructions, which, when executed by a signal processor, cause the signal processor to execute the radar networking method described above.

[0054] In the radar networking method provided in this embodiment of the invention, the transmission timing information of the target radar is determined. The target radar is a networked radar that has already joined the radar network. Networking delay information is acquired. Based on the transmission timing information and the networking delay information, the radar to be networked is controlled to perform the networking operation to join the radar network. Each networked radar in the radar network is a frequency-modulated continuous wave radar. The radar to be networked provided in this embodiment can effectively join the radar network by tracking the transmission timing information of the target radar and combining it with the networking delay information. This approach is a time-division synchronization approach. Compared with the approach of allocating instantaneous working bandwidth to each radar to be networked, this embodiment can relatively accommodate more radars for networking. In addition, the networking delay information can avoid co-channel interference between the radar to be networked and other networked radars after joining the radar network. Therefore, the radar to be networked can work reliably after joining the radar network. Attached Figure Description

[0055] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0056] Figure 1 This is a schematic diagram of the radar structure provided in an embodiment of the present invention;

[0057] Figure 2 A timing diagram for the generation of transmitted signals and the reception of echo signals by a frequency-modulated continuous wave radar provided in an embodiment of the present invention;

[0058] Figure 3 This is a flowchart illustrating a radar networking method provided in an embodiment of the present invention;

[0059] Figure 4 The timing diagram of the 0th to 3rd frequency-modulated continuous wave radars generating transmitted signals and received echo signals based on time-division synchronization is provided for embodiments of the present invention, wherein the maximum delay information is used as the networking delay information;

[0060] Figure 5 This is a schematic diagram of the architecture of the radar network formed by the 0th to the 3rd frequency-modulated continuous wave radars according to an embodiment of the present invention.

[0061] Figure 6 The timing diagram for the generation of transmitted signals and received echo signals by the 0th to 3rd frequency-modulated continuous wave radars based on time-division synchronization is provided in the embodiments of the present invention. The sum of the maximum delay information and the protection time information is used as the networking delay information.

[0062] Figure 7 Based on Figure 6The provided timing diagram includes a schematic diagram of the pulse envelope obtained by the third frequency modulated continuous wave radar listening to the transmitted signals of the 0th, 1st, and 2nd frequency modulated continuous wave radars based on the target center frequency.

[0063] Figure 8 This is a schematic diagram of the radar networking device provided in an embodiment of the present invention;

[0064] Figure 9 This is a schematic diagram of the circuit structure of a signal processor provided in an embodiment of the present invention. Detailed Implementation

[0065] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort are within the scope of protection of this invention.

[0066] It should be noted that, unless otherwise specified, the various features in the embodiments of this invention can be combined with each other, all of which are within the protection scope of this invention. Furthermore, although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than the module division in the device or the order in the flowchart. Moreover, the terms "first," "second," and "third" used in this invention do not limit the data or execution order, but only distinguish identical or similar items with essentially the same function and effect.

[0067] This invention provides a radar, wherein the radar is a frequency-modulated continuous wave radar, which is a radar capable of transmitting a continuous wave signal with varying frequency within a pulse repetition period. The continuous wave signal is a signal with a continuous and uninterrupted waveform, and the shape of the continuous wave signal can be a triangular wave or a sawtooth wave, etc.

[0068] Please see Figure 1 The radar 100 includes a transmitter 11, a receiver 12, and a signal processor 13.

[0069] Transmitter 11 is used to transmit radio frequency signals. For example... Figure 1As shown, transmitter 11 includes a waveform generator 111, a voltage-controlled oscillator 112, a power divider 113, a power amplifier 114, and a transmitting antenna 115. The waveform generator 111 generates a modulation signal corresponding to the waveform; for example, it generates a triangular wave modulation signal or a sawtooth wave modulation signal. The voltage-controlled oscillator 112 generates a continuous high-frequency, constant-amplitude signal whose frequency changes over time according to the corresponding waveform, based on the modulation signal. The power divider 113 transmits a portion of the high-frequency, constant-amplitude signal to the power amplifier 114, which amplifies this portion to obtain the transmitted signal. The transmitted signal is radiated outwards as a radio wave signal through the transmitting antenna 115. The power divider 113 uses another portion of the high-frequency, constant-amplitude signal as the signal for this frame.

[0070] Receiver 12 includes a receiving antenna 121, a mixer 122, a filter amplifier 123, and an AD sampler 124. When a radio wave signal encounters a target, it returns as an echo signal to the receiving antenna 121, which is then fed into the antenna. The mixer 122 mixes the echo signal with the current frame signal to obtain a beat signal. The filter amplifier 123 filters and amplifies the beat signal. The AD sampler 124 samples the amplified beat signal and transmits the sampled beat signal to the signal processor 13.

[0071] The signal processor 13 processes the beat signal to obtain its frequency, and determines parameters such as the target's distance or speed based on the beat signal's frequency. The signal processor 13 is capable of executing the radar networking methods described in the various embodiments below, in order to connect the individual radars 100 into a radar network.

[0072] It is understood that the multiple frequency-modulated continuous wave radars provided in this embodiment can form a passive phased array radar network or an active phased array radar network. To facilitate understanding of the radar networking method provided in this embodiment, this embodiment first describes the operating timing sequence of a single frequency-modulated continuous wave radar.

[0073] Please see Figure 2 Each wavelength dwell time is set with N linearly modulated pulse signals, each with a bandwidth of B, a modulation period of T0, a pulse repetition period of Prt, and a close-range sampling duration of τ. m0 The sampling duration for each pulse repetition cycle is τ. s The preset frequency sweep fallback time is t. w Then the following relationship exists:

[0074]

[0075] Prt=T0+t w

[0076] T0 = ​​τ m0 +τ s

[0077] Where F0 is the center frequency, F(t) is the frequency function with respect to time, and B0 is the effective signal bandwidth corresponding to the effective sampling time. B0 determines the range resolution of the frequency-modulated continuous wave radar. The range resolution ΔR is:

[0078]

[0079]

[0080] Each pulse repetition cycle has a sweep fall-off time set to complete the sweep fall-off operation of the radar hardware. Although the sweep fall-off time is short, the echo signal contains a rich array of transient frequency components in the range of F0 to F0+B, which can interfere with the detection of targets.

[0081] In multi-target scenarios, echo signals reflected from close range can easily mask echo signals reflected from long range, thus interfering with the detection of distant objects by frequency-modulated continuous wave radar. Therefore, if... Figure 2 As shown, this embodiment can achieve a near-distance sampling duration τ m0 The delay time is set to be longer than the initial received echo signal, and during the sampling phase, the delay interval caused by nearby targets is avoided; that is, the sampling time τ is used for nearby targets. m0 The sampling starts at the beginning of the sampling period and ends at the end of the modulation period. The echo signal is sampled between the beginning and end of the sampling period. This eliminates the interference caused by the transient frequency of nearby objects and retains only the constant frequency range of the beat signal, thereby enhancing the reliability of the target detection.

[0082] Depend on Figure 2 As can be seen, since the spectrum corresponding to the sweep fall-off time is nonlinear, the nonlinearly changing spectrum contains a lot of transient frequency components, which will affect the detection of distant objects. Therefore, this embodiment takes the end of the modulation period as the sampling end point, so as to avoid the interference caused by the nonlinear spectrum corresponding to the sweep fall-off time and improve the performance of detecting targets.

[0083] To prevent transient frequencies from interfering with the target, let the detection range be R. max0 The intermediate frequency of the beat signal is IF max The following relationship exists:

[0084] As another aspect of this invention, this embodiment provides a radar networking method applied to radars to be networked. Please refer to... Figure 3 Radar networking methods include:

[0085] S31: Determine the target radar's transmission timing information.

[0086] In this step, the target radar is a networked radar already integrated into the radar network. Each networked radar in the network is a frequency-modulated continuous wave (FM-CW) radar. The radar to be integrated into the network is the radar that needs to be added to the network. The radar network is a topology network composed of these networked radars. The performance parameters of the radar to be integrated into the network and the networked radars are identical. Each networked radar operates according to a function of frequency and time. It generates a transmission signal to detect the target.

[0087] It is understandable that the target radar can be any of the networked radars. For example, if the 0th FM continuous wave radar, the 1st FM continuous wave radar, and the 2nd FM continuous wave radar form a radar network, then the 0th FM continuous wave radar, the 1st FM continuous wave radar, and the 2nd FM continuous wave radar are all networked radars. When the 3rd FM continuous wave radar, as a radar to be networked, needs to join the radar network, it can choose any one of the 0th FM continuous wave radar, the 1st FM continuous wave radar, and the 2nd FM continuous wave radar as the target radar.

[0088] It is also understandable that the target radar can be the last radar to join the radar network. For example, in a radar network formed by the 0th FM continuous wave radar, the 1st FM continuous wave radar, and the 2nd FM continuous wave radar, the 2nd FM continuous wave radar is the last radar to join the network, and therefore, the 2nd FM continuous wave radar is the target radar.

[0089] Transmission timing information is used to indicate the timing of the target radar's output radio frequency signal. This information includes beam switching time, modulation period, pulse repetition period, and signal bandwidth. The beam switching time is the moment the beam switches from one frequency band to another. The modulation period is the time it takes for the frequency-modulated continuous wave radar to transmit from the lowest frequency to the highest frequency. Figure 2 As shown, the lowest frequency is F0, and the highest frequency is Fmax. The pulse repetition period consists of a preset modulation period and a preset sweep fall-off time. The sweep fall-off time is the time it takes for the transmitted signal of the frequency-modulated continuous wave radar to fall back to the lowest frequency from the highest frequency. The sweep fall-off time is determined by the hardware of the frequency-modulated continuous wave radar and is usually a fixed value. The signal bandwidth is the difference between the highest and lowest frequencies.

[0090] Please combine Figure 2 Time t0 is the beam switching moment, B is the signal bandwidth, T0 is the modulation period, and t w Prt is the sweep frequency fallback time, and Prt is the pulse repetition period, where Prt = T0 + tw The target radar transmits radio frequency signals based on the transmission timing information. This is equivalent to the target radar using the beam switching time t0 as the signal transmission time, and transmitting radio frequency signals according to the modulation period T0 and the signal bandwidth B to detect the target.

[0091] S32: Obtain network latency information.

[0092] In this step, the network delay information is used to avoid co-channel interference between the radar to be networked and the radar networked after the radar to be networked joins the radar network.

[0093] In some embodiments, obtaining network latency information includes the following steps: calculating maximum latency information based on a preset maximum detection range and the speed of light, and determining network latency information based on the maximum latency information.

[0094] The maximum detection range is the maximum distance that the radar to be networked or the networked radar can detect. Since the performance parameters of the radar to be networked and the networked radar are the same, the maximum detection range of the networked radar is the same as that of the radar to be networked.

[0095] The maximum delay information is calculated based on the preset maximum detection range and speed of light, including: the maximum delay information is calculated according to Formula 1, as follows: Among them, t delay For maximum delay information, R max1 Where c is the maximum detection range and c is the speed of light.

[0096] In some embodiments, determining the network latency information based on the maximum latency information includes: using the maximum latency information as the network latency information.

[0097] In some embodiments, determining the network latency information based on the maximum latency information includes: selecting a specified duration as the network latency information, wherein the specified duration is greater than the maximum latency information.

[0098] This embodiment determines the networking delay information based on the maximum detection range of the networked radar. Then, after a delay consistent with the networking delay information, the transmission timing information of the radar to be networked is inserted. Even if the radar to be networked is within the maximum detection range of the networked radar, this embodiment can avoid the radar to be networked being a strong active jammer with a fixed distance from the networked radar. This ensures that the radar to be networked will not form co-channel interference with the networked radar after joining the radar network, which is beneficial to improving the compatibility and application range of the radar network.

[0099] Please see Figure 4 In the timing diagram of each frequency modulated continuous wave radar, the solid line represents the frequency change line of the transmitted signal, and the dashed line represents the frequency change line of the echo signal. The frequency change pattern of the transmitted signal is the same as that of the echo signal, exhibiting a sawtooth wave pattern.

[0100] When the 0th frequency modulated continuous wave radar first starts working, the function of its frequency and time is:

[0101] The first frequency-modulated continuous wave radar and the zeroth frequency-modulated continuous wave radar are networked to form a radar network. Therefore, the first frequency-modulated continuous wave radar delays the maximum delay information t after the beam switching time of the zeroth frequency-modulated continuous wave radar. delay Then insert the transmission timing information of the first frequency modulated continuous wave radar.

[0102] The second frequency-modulated continuous wave radar is networked with the first frequency-modulated continuous wave radar to form a radar network. Therefore, the second frequency-modulated continuous wave radar delays the maximum delay information t after the beam switching time of the first frequency-modulated continuous wave radar. delay Then the transmission timing information of the second frequency modulated continuous wave radar is inserted, and so on, without going into details again.

[0103] Please see Figure 5 The 0th frequency modulated continuous wave radar 50, the 1st frequency modulated continuous wave radar 51, and the 2nd frequency modulated continuous wave radar 52 are configured according to... Figure 4 The illustrated embodiment uses a network to detect target 54, wherein the third frequency-modulated continuous wave radar 53 needs to be added to the radar network. The maximum detection range of the 0th frequency-modulated continuous wave radar 50, the 1st frequency-modulated continuous wave radar 51, the 2nd frequency-modulated continuous wave radar 52, and the 3rd frequency-modulated continuous wave radar 53 is R. max1 .

[0104] According to the principles of radar detection, when an object is within the maximum detection range of an FM continuous wave radar, the radar processes the echo signal reflected by the object, thus detecting it. When the object is outside the maximum detection range, although the FM continuous wave radar will receive the echo signal reflected by the object, the delay of this echo signal is relatively large, at least greater than the maximum delay information, and the FM continuous wave radar will filter out this echo signal.

[0105] When the networking delay information of the third FM continuous wave radar 53 is less than the maximum delay information, the third FM continuous wave radar 53 will insert its transmission timing information after the beam switching time of the second FM continuous wave radar 52, after delaying the networking delay information. The second FM continuous wave radar 52 will receive the transmitted signal generated by the third FM continuous wave radar 53. Because the networking delay information of the third FM continuous wave radar 53 is small, the second FM continuous wave radar 52 will process and analyze the transmitted signal generated by the third FM continuous wave radar 53, and finally display the position of the third radar 53 on the second FM continuous wave radar 52. However, in reality, the third FM continuous wave radar 53 is not a target to be detected, but as an active interference object with a fixed distance from the network radar and strong interference, it is frequently detected by the second FM continuous wave radar 52.

[0106] When the networking delay information of the third FM continuous wave radar 53 is greater than or equal to the maximum delay information, although the second FM continuous wave radar 52 will receive the transmitted signal generated by the third FM continuous wave radar 53, the second FM continuous wave radar 52 will not analyze the transmitted signal generated by the third FM continuous wave radar 53 due to the large networking delay information of the third FM continuous wave radar 53, and the position of the third FM continuous wave radar 53 will not be displayed on the second FM continuous wave radar 52. This ensures that the third FM continuous wave radar 53 will not cause co-channel interference with the second FM continuous wave radar 52 and other radars after joining the radar network.

[0107] In some embodiments, before determining the network delay information, the radar networking method further includes: acquiring protection time information, where the protection time information is a time margin for the radar to be networked to join the radar network, extended by the maximum delay information. Determining the network delay information based on the maximum delay information includes: determining the network delay information based on the maximum delay information and the protection time information.

[0108] The network delay information is determined based on the maximum delay information and protection time information, including: calculating the network delay information according to Formula 2, as follows: t all =t delay +t proc , where t all For network latency information, t proc To protect time information.

[0109] In some embodiments, determining the network delay information based on the maximum delay information and the protection time information includes: using the sum of the maximum delay information and the protection time information as the network delay information.

[0110] Please see Figure 6The 0th frequency modulated continuous wave radar 50 starts operating. The 1st frequency modulated continuous wave radar 51 and the 0th frequency modulated continuous wave radar 50 are networked to form a radar network. Therefore, the 1st frequency modulated continuous wave radar 51 delays the maximum delay information t after the beam switching time of the 0th frequency modulated continuous wave radar 50. delay Then the transmission timing information of the first frequency modulated continuous wave radar 51 is inserted.

[0111] The second frequency-modulated continuous wave radar 52 is networked with the first frequency-modulated continuous wave radar 51 to form a radar network. Therefore, the second frequency-modulated continuous wave radar 52 delays the maximum delay information t after the beam switching time of the first frequency-modulated continuous wave radar 51. delay and protection time information t proc Then the transmission timing information of the second frequency modulated continuous wave radar 52 is inserted, and so on, without going into details again.

[0112] This embodiment adds protection time information after the maximum delay information, with the maximum delay information t. delay and protection time information t proc Then insert the transmission timing information and protection time information t of the radar to be networked. proc It provides sufficient time margin, which can more reliably avoid co-channel interference with the networked radar after the radar to be networked is added to the radar network, thus improving the robustness of the radar network.

[0113] S33: Based on the launch timing information and network delay information, control the radar to be networked to perform the network joining operation.

[0114] The transmission timing information includes the beam switching time, modulation period, and signal bandwidth. Based on the transmission timing information and network delay information, controlling the radar to be networked to perform the network joining operation includes the following steps: determining the signal transmission time based on the target radar's beam switching time and network delay information; at the signal transmission time, controlling the radar to be networked to synchronously transmit radio frequency signals according to the modulation period and signal bandwidth.

[0115] In some embodiments, determining the signal transmission time based on the beam switching time and network delay information of the target radar includes: when the target radar is the last radar to join the radar network, adding the beam switching time and network delay information together to obtain the signal transmission time. For example, the beam switching time of the target radar is t. alter Signal transmission time t tran =t alter +t all , t tran This refers to the moment the signal was transmitted.

[0116] In some embodiments, determining the signal transmission time based on the beam switching time and network delay information of the target radar includes: when the target radar is not the last radar to join the radar network, determining the order difference between the last radar to join the radar network and the target radar, and determining the signal transmission time based on the beam switching time, network delay information, and order difference. The order difference is the difference between the order in which the last radar to join the radar network joined the radar network and the order in which the target radar joined the radar network.

[0117] In some embodiments, determining the order difference between the networked radar and the target radar that is last added to the radar network includes: analyzing the transmitted signal of each networked radar according to the target center frequency of the frequency-modulated continuous wave radar to obtain the pulse envelope corresponding to the target center frequency. The pulse envelopes of each networked radar are sequentially arranged into pulse groups. The order of the last pulse envelope in the pulse group is selected as the order of the networked radar that is last added to the radar network. The order of a specified pulse envelope in the pulse group is selected as the order of the target radar that is added to the radar network. The specified pulse envelope is the pulse envelope formed by the radar to be networked in the listening mode when it detects the transmitted signal of the target radar according to the target center frequency.

[0118] Please see Figure 7 The 0th, 1st, and 2nd FM continuous wave radars have formed a radar network, and the 3rd FM continuous wave radar needs to be added to the network. The 3rd FM continuous wave radar operates in listening mode and listens for the transmitted signals of the 0th, 1st, and 2nd FM continuous wave radars based on the target's center frequency. Since the 0th FM continuous wave radar, the 1st FM continuous wave radar, and the 2nd FM continuous wave radar have formed a radar network, and the transmission signals of the 0th FM continuous wave radar, the 1st FM continuous wave radar, and the 2nd FM continuous wave radar are transmitted synchronously in sequence, the 3rd FM continuous wave radar generates three pulse envelopes in sequence according to the transmission signals of each network radar detected at the target center frequency point. These are the 0th pulse envelope 200, the 1st pulse envelope 201, and the 2nd pulse envelope 202. The 0th pulse envelope 200, the 1st pulse envelope 201, and the 2nd pulse envelope 202 are sequentially combined into a pulse group.

[0119] The second pulse envelope 202 is the last pulse envelope of the pulse group, and is the third in sequence. That is, the second pulse envelope 202 is generated by the second frequency-modulated continuous wave radar, which is the last radar to join the radar network. In this embodiment, either the 0th frequency-modulated continuous wave radar or the 1st frequency-modulated continuous wave radar can be selected as the target radar, that is, either the first pulse envelope 101 or the second pulse envelope 102 can be selected as the specified pulse envelope.

[0120] If the 0th frequency-modulated continuous wave radar is selected as the target radar, the 0th frequency-modulated continuous wave radar is the first in the radar network, and the 2nd frequency-modulated continuous wave radar is the third. Therefore, the order difference between the 2nd frequency-modulated continuous wave radar and the 0th frequency-modulated continuous wave radar is 3-1=2.

[0121] If the first frequency-modulated continuous wave radar is selected as the target radar, the first frequency-modulated continuous wave radar is the second in the radar network, and the second frequency-modulated continuous wave radar is the third. Therefore, the order difference between the second frequency-modulated continuous wave radar and the first frequency-modulated continuous wave radar is 3-2=1.

[0122] In some embodiments, determining the signal transmission time based on the beam switching time, network delay information, and sequence difference includes: multiplying the network delay information and sequence difference to obtain a multiplication result, and adding the multiplication result to the beam switching time to obtain the signal transmission time. For example, this embodiment determines the signal transmission time according to the following formula, as shown below: Signal transmission time t tran =t alter +n*t all , where n is the order difference.

[0123] The radar to be networked provided in this embodiment can effectively join the radar network by tracking the transmission timing information of the target radar and combining it with the network delay information. This approach is a time-division synchronization method. Compared with the method of allocating instantaneous operating bandwidth to each radar to be networked, this embodiment can be relatively compatible with networking more radars. In addition, the network delay information can avoid co-channel interference between the radar to be networked and other networked radars after joining the radar network. Therefore, the radar to be networked can operate reliably after joining the radar network.

[0124] In some embodiments, determining the transmission timing information of the target radar includes the following steps: controlling the radar to be networked to send a network request to each networked radar, so that each networked radar sends its own transmission timing information to the radar to be networked according to the network request; obtaining the transmission timing information sent by each networked radar; and filtering out the transmission timing information of the target radar from the transmission timing information sent by each networked radar according to the radar identifier of the target radar.

[0125] It is understandable that the communication method between the radar to be networked and other radars in the network can be either wired or wireless. Wired communication methods include various communication methods that utilize tangible media such as metal wires and optical fibers to transmit information. Wireless communication methods include 6G, 5G, 4G, 3G, 2G, CDMA, ZigBee, Bluetooth, wireless broadband, ultra-wideband, or CDMA2000, etc.

[0126] The radar to be networked provided in this embodiment obtains the transmission timing information of the networked radar based on the communication method. Since the communication method is more reliable than the eavesdropping method, the information is less likely to be missed or deviated, and the anti-interference ability is better. Therefore, this embodiment can obtain relatively reliable and accurate transmission timing information.

[0127] In some embodiments, determining the transmission timing information of the target radar includes the following steps:

[0128] S311: Listen to the transmission signals of each network radar.

[0129] S312: Based on the transmitted signals of each network radar, select the network radar that meets the networking conditions as the target radar.

[0130] S313: Determine the transmission timing information of the target radar based on the transmission signal of the target radar.

[0131] In S311, in some embodiments, the radar to be networked operates in a listening mode in order to listen to the transmission signals of each network radar. The listening mode is a mode in which the radar to be networked does not generate a transmission signal but receives the transmission signals of the network radar.

[0132] Please combine Figure 5 The third frequency-modulated continuous wave radar 53 operates in listening mode, listening to the transmitted signals generated by the 0th frequency-modulated continuous wave radar 50, the 1st frequency-modulated continuous wave radar 51 and the 2nd frequency-modulated continuous wave radar 52.

[0133] In some embodiments, listening to the transmitted signals of each network radar includes the following steps: acquiring a pre-set target center frequency, and listening to the transmitted signals of each network radar based on the target center frequency. The target center frequency is the center frequency of each network radar; that is, in the radar network, each network radar scans frequencies based on the same center frequency. Please refer to... Figure 5 The frequency-time function of the 0th frequency-modulated continuous wave radar 50, the 1st frequency-modulated continuous wave radar 51, and the 2nd frequency-modulated continuous wave radar 52 is as follows: In this embodiment, the center frequency F0 is used as the target center frequency. After the third frequency-modulated continuous wave radar 53 is added to the radar network as a radar to be networked, the center frequency of the third frequency-modulated continuous wave radar 53 is also the center frequency F0.

[0134] Determining the target center frequency includes the following steps: Select any operating frequency from a preset set of operating frequencies as a reference frequency. If the transmission signals of each network radar are detected at the reference frequency, then the reference frequency is taken as the target center frequency. If the transmission signals of each network radar are not detected at the reference frequency, then another operating frequency is selected from the preset set of operating frequencies as the reference frequency. This embodiment uses a frequency sweep method to determine the target center frequency. This ensures that the corresponding center frequency is found among multiple center frequencies without omission, guaranteeing that when the network radar listens at the target center frequency, the transmission signals of each network radar can be reliably detected.

[0135] The preset operating frequency set includes M operating frequencies, where M is a positive integer, and M and the frequencies of the operating frequencies are customized by the designer according to business requirements. For example, the preset operating frequency set... All are operating frequencies.

[0136] In this embodiment, when the radar networking method provided in the above embodiments is used for networking, the radar network can accommodate a maximum number of radars at a single operating frequency point. The maximum number of radars is the rounded result of the modulation period divided by the networking delay information, that is: N = Round(T0t) all N is the maximum number of radars, and Round() is the rounding function. When this embodiment supports the radar network operating at M different operating frequencies, then, within the total signal bandwidth, the radar network can support a maximum of M*N frequency-modulated continuous wave radars.

[0137] As mentioned earlier, when the preset working frequency set In this embodiment, the operating frequency can be selected. For reference frequency, if operating at the working frequency... The absence of detected transmission signals from any of the networked radars indicates that none of the networked radars operate at their designated frequencies. Since the frequency is used as the center point for frequency sweeping, this embodiment needs to select another working frequency point from the preset working frequency point set as the reference frequency point. For example, selecting a working frequency point as... This is the reference frequency. If operating at the frequency... The fact that the transmitted signals of each network radar were detected indicates that each network radar operates at the same frequency. The operating frequency is selected as the center frequency for frequency sweeping. As the target center frequency.

[0138] In S312, selecting a network radar that meets the networking conditions as the target radar based on the transmitted signals of each network radar includes the following steps: Analyzing the transmitted signal of each network radar based on the target center frequency of the frequency-modulated continuous wave radar to obtain the pulse envelope corresponding to the target center frequency. The pulse envelopes of each network radar are sequentially grouped into pulse groups. If the order of the pulse envelopes of the network radars in the pulse group matches a specified order, then the network radar meets the networking conditions, and the network radar is selected as the target radar. If the order of the pulse envelopes of the network radars in the pulse group does not match the specified order, then the network radar does not meet the networking conditions.

[0139] The specified order is a designer-defined order. In some embodiments, the specified order is k, and the network radar with the specified timing is the kth network radar to join the radar network, for example, k is 1, 2, or 3. Please refer to... Figure 5 In this embodiment, k=1. When the 0th FM continuous wave radar starts working, the 1st FM continuous wave radar and the 0th FM continuous wave radar form a network. For the 1st FM continuous wave radar, this embodiment selects the 0th FM continuous wave radar as the target radar. Similarly, the 2nd FM continuous wave radar needs to join the radar network, and in this embodiment, the 0th FM continuous wave radar is still selected as the target radar.

[0140] In this embodiment, k=2. When the second FM-MC continuous wave radar needs to join the radar network composed of the first and second FM-MC continuous wave radars, this embodiment selects the first radar as the target radar for the second FM-MC continuous wave radar. Similarly, when the third FM-MC continuous wave radar needs to join the radar network, this embodiment still selects the first FM-MC continuous wave radar as the target radar.

[0141] In some embodiments, the specified order is the order in which the last radar to join the radar network is located within the network. When the 0th FM continuous wave radar starts operating, and the 1st FM continuous wave radar networks with the 0th FM continuous wave radar, the 0th FM continuous wave radar is the last radar to join the network for the 1st FM continuous wave radar, and its specified order is 1. In this embodiment, the 0th FM continuous wave radar is selected as the target radar.

[0142] The second FM-MC (FMCM) continuous wave radar needs to be added to the radar network. For the second FM-MC radar, the first FM-MC radar is the last radar to be added to the network, with the designated order being 2. In this embodiment, the first FM-MC radar is selected as the target radar. Similarly, the third FM-MC radar needs to be added to the radar network. For the third FM-MC radar, the second FM-MC radar is the last radar to be added to the network, with the designated order being 3. In this embodiment, the second FM-MC radar is selected as the target radar.

[0143] In this embodiment, the order in which the last radar to join the radar network is selected as the specified order is chosen. This avoids the need for complex calculations or code logic to obtain the transmission timing information, thus improving the efficiency of obtaining the transmission timing information.

[0144] The process of analyzing the transmitted signal of each network radar based on the target center frequency of the frequency-modulated continuous wave radar includes: listening to the transmitted signal of each network radar based on the target center frequency of the frequency-modulated continuous wave radar to obtain the transmitted signal corresponding to the target center frequency, and generating a pulse envelope based on the transmitted signal corresponding to the target center frequency.

[0145] When the specified order is the order of the last networked radar to join the radar network, and the pulse envelope of the networked radar matches the specified order in the pulse group, it indicates that the networked radar is the last networked radar to join the radar network. After the networked radar can track the beam switching time of the networked radar, the transmission timing information is inserted after a delay corresponding to the network delay information.

[0146] In S313, after the networked radar receives the transmission signal from the target radar, it can determine the transmission timing information of the target radar based on the transmission signal.

[0147] The radar to be networked listens to the transmission signals of each network radar in order to find the transmission signal of the target radar from the transmission signals of each network radar. Compared with the passive method of determining the transmission signal of the target radar, it is beneficial for the radar to be networked to join the radar network more flexibly and with high mobility.

[0148] As mentioned above, the transmission timing information includes the beam switching time. Determining the transmission timing information of the target radar based on the transmission signal of the target radar includes: determining the coherent processing interval of the target radar based on the transmission signal of the target radar, traversing the transmission signal of the target radar according to the coherent processing interval to obtain the rising edge signal, and recording the time corresponding to the rising edge signal as the beam switching time.

[0149] The Coherent Processing Interval (CPI) refers to the interval in which a radar transmits a combination of i pulses at a corresponding pulse repetition period. Determining the CPI based on the target radar's transmitted signal includes processing the target radar's transmitted signal using a preset time integration algorithm to determine the CPI.

[0150] In this embodiment, the transmitted signals of the target radar are traversed according to the coherent processing interval. It is determined whether the transmitted signal of the target radar is a rising edge signal. If it is, the time corresponding to the rising edge signal is recorded as the beam switching time. If not, it is determined whether the next transmitted signal in the target radar is a rising edge signal.

[0151] When the network radar generates a transmitted signal with a fixed pulse repetition period, that is, when the network radar transmits a combination of signals containing i pulses with a fixed pulse repetition period, and the repetition period of each two adjacent pulses is the same, this embodiment only needs to determine one pulse repetition period contained in the coherent processing interval. Please refer to... Figure 6 In this embodiment, only one pulse repetition period Prt needs to be determined.

[0152] As mentioned earlier, the transmission timing information includes the pulse repetition period. Determining the transmission timing information of the target radar based on its transmitted signal includes the following steps: acquiring the first and second adjacent pulse groups of the target radar; identifying the two pulse envelopes of the same order in the first and second pulse groups; calculating the time difference between the two pulse envelopes of the same order; and using the time difference as the pulse repetition period of the target radar.

[0153] Please combine Figure 7 The 0th pulse envelope 200, the 1st pulse envelope 201, and the 2nd pulse envelope 202 sequentially form the first pulse group, and the 3rd pulse envelope 203, the 4th pulse envelope 204, and the 5th pulse envelope 205 sequentially form the second pulse group. The first pulse group and the second pulse group are adjacent in time sequence.

[0154] Pulse envelope 200 (0th pulse), 201 (1st pulse), and 202 (2nd pulse) are the 1st, 2nd, and 3rd pulses in the first pulse group, respectively. Pulse envelope 203 (3rd pulse), 204 (4th pulse), and 205 (5th pulse) are the 1st, 2nd, and 3rd pulses in the second pulse group, respectively. Therefore, pulse envelope 200 and 203 are a pair of pulse envelopes in the same order, generated by radar 0. Pulse envelope 201 and 204 are a pair of pulse envelopes in the same order, generated by radar 1. Pulse envelope 202 and 205 are a pair of pulse envelopes in the same order, generated by radar 2.

[0155] Assuming the target radar is the second frequency-modulated continuous wave radar, since the 0th, 1st, and 2nd frequency-modulated continuous wave radars all generate transmitted signals regularly, the time difference between any two pulse envelopes of the same order can be used as the pulse repetition period of the target radar. Therefore, in this embodiment, the time difference between the 0th pulse envelope 200 and the 3rd pulse envelope 203, or the time difference between the 1st pulse envelope 201 and the 4th pulse envelope 204, or the time difference between the 2nd pulse envelope 202 and the 5th pulse envelope 205 can be used as the pulse repetition period of the target radar.

[0156] In some embodiments, the difference from the above embodiments is that when the network radar generates a transmitted signal with a varying pulse repetition period, that is, when the network radar transmits a signal combination containing i pulses with a varying pulse repetition period, each pair of adjacent pulse repetition periods is different, and the pulse repetition periods within the coherent processing interval are staggered. This embodiment needs to determine each pulse repetition period included in the coherent processing interval. Therefore, the transmission timing information includes at least two pulse repetition periods. This embodiment determines the coherent processing interval based on the transmitted signal of the target radar, processes the transmitted signal of the target radar according to the preset PRI staggered algorithm and the coherent processing interval, and obtains each pulse repetition period included in the coherent processing interval.

[0157] As mentioned earlier, the transmission timing information includes the modulation period. Determining the transmission timing information of the target radar based on the target radar's transmission signal includes subtracting a preset sweep fallback time from the target radar's pulse repetition period to obtain the modulation period.

[0158] As mentioned earlier, the transmission timing information includes the signal bandwidth. Determining the transmission timing information of the target radar based on the target radar's transmission signal includes: accessing a preset database to obtain the signal bandwidth.

[0159] When the radar to be networked obtains the beam switching time and modulation period of the target radar and calls the locally stored signal bandwidth, it can determine the signal transmission time based on the beam switching time and network delay information of the target radar. At the signal transmission time, it controls the radar to be networked to transmit radio frequency signals synchronously according to the modulation period and signal bandwidth.

[0160] After the radar to be networked joins the radar network, the radar networking method also includes: acquiring interference indication information sent by the designated network radar, and determining whether the radar to be networked will interfere with the designated network radar after joining the radar network based on the interference indication information. The designated network radar can be a target radar or radars in a specified order, such as a 0th frequency modulated continuous wave radar.

[0161] In some embodiments, the interference indication information includes the amplitude of the echo signal. Determining whether the radar to be networked interferes with the designated networked radar after joining the radar network based on the interference indication information includes: when the radar to be networked joins the radar network, determining whether the amplitude of the echo signal detected by the designated networked radar is continuously greater than a preset amplitude threshold within a preset time period; if so, it is determined that the radar to be networked interferes with the designated networked radar after joining the radar network; otherwise, it is determined that the radar to be networked does not interfere with the designated networked radar after joining the radar network. This embodiment can automatically detect networked radars through radar interference indication information, which is beneficial to improving networking efficiency and reliability. When the radar to be networked interferes with the designated networked radar after joining the radar network, either the radar to be networked or the designated networked radar will report the interference situation to the user, who will then manually handle the abnormal situation.

[0162] Before performing the networking operation to join the radar network, the radar networking method further includes the following steps: determining the number of radars to be networked in the radar network, calculating the transmission allocation duration based on the number of networks and the networking delay information, and determining whether the radar to be networked can join the radar network based on the transmission allocation duration and the modulation period of the radar network.

[0163] In some embodiments, determining the number of networked radars in a radar network includes: acquiring the transmission timing information sent by each networked radar based on the communication method, counting the number of transmission timing information sent by each networked radar, and using the number of information as the number of networked radars.

[0164] In some embodiments, determining the number of networked radars in a radar network includes: acquiring pulse groups, each pulse group including at least one pulse envelope, and determining the number of pulses in the pulse envelope contained in the pulse group, wherein the number of pulses represents the number of networked radars. (Please refer to...) Figure 7 Each pulse group has 3 pulse envelopes, therefore, the number of networked radars forming the current radar network is 3.

[0165] The calculation of the transmission allocation time based on the number of networks and network latency information includes: The transmission allocation time is calculated according to the following formula, as follows: t en =α*t all , t en The launch duration is allocated, and α represents the number of network segments.

[0166] Determining whether a radar to be networked can join a radar network based on the transmission allocation duration and the modulation period of the radar network includes the following steps: If the transmission allocation duration is less than or equal to the modulation period of the radar network, then the radar to be networked is determined to be able to join the radar network. In some embodiments, if the transmission allocation duration is greater than the modulation period of the radar network, then this embodiment determines that the radar to be networked cannot join the radar network.

[0167] For example, when the transmission allocation time is longer than the modulation period, in order to ensure that each networked radar synchronously generates transmission signals within one modulation period without co-channel interference, after deducting the time zone occupied by the networking delay information of each networked radar on the time axis of the modulation period, the remaining unoccupied time zones cannot accommodate the insertion of the networking delay information of the radar to be networked. Therefore, the radar to be networked cannot join the radar network. When the transmission allocation time is shorter than the modulation period, it means that the remaining unoccupied time zones can accommodate the insertion of the networking delay information of the radar to be networked. Therefore, the radar to be networked can join the radar network.

[0168] This embodiment determines whether a radar to be networked can join the radar network by allocating transmission time and modulation period. This avoids the problem of co-channel interference between the radar to be networked and other networked radars after the radar joins the radar network, which helps to improve the robustness of the radar network.

[0169] In summary, the radar networking method provided in this embodiment enables networked radars to scan at the same center frequency, which can be considered as not changing the radar's operating frequency. Based on the time-division synchronization method, the transmission timing information of the target radar is monitored and tracked. Then, time resource assessment and timing optimization are performed. After a delay consistent with the network delay information, the transmission timing information that is completely synchronized with the target radar is inserted. This solves the problem of co-channel interference when multiple radars operate at the same operating frequency, alleviates the contradiction between total signal bandwidth and instantaneous operating bandwidth, and improves the radar network's radar carrying capacity.

[0170] It should be noted that in the above embodiments, there is no necessarily a certain order between the steps. Those skilled in the art can understand from the description of the embodiments of the present invention that the above steps may have different execution orders in different embodiments, that is, they may be executed in parallel or in turn, etc.

[0171] As another aspect of the present invention, this embodiment provides a radar networking device. The radar networking device can be a software module, which includes several instructions stored in a memory. A processor can access the memory and execute the instructions to complete the radar networking methods described in the above embodiments.

[0172] In some implementations, the radar networking device can also be constructed from hardware components. For example, the radar networking device can be constructed from one or more chips, which can work in coordination to complete the radar networking methods described in the various embodiments above. As another example, the radar networking device can also be constructed from various logic devices, such as general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), microcontrollers, ARM (Acorn RISC Machine) or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or any combination of these components.

[0173] Please see Figure 8 The radar networking device 800 includes a timing determination module 81, a delay acquisition module 82, and a radar networking module 83.

[0174] The timing determination module 81 is used to determine the transmission timing information of the target radar, which is a networked radar that has joined the radar network. The delay acquisition module 82 is used to acquire the network delay information. The radar networking module 83 is used to control the radar to be networked to perform the network joining operation based on the transmission timing information and the network delay information. Each networked radar in the radar network is a frequency-modulated continuous wave radar.

[0175] The radar to be networked provided in this embodiment can effectively join the radar network by tracking the transmission timing information of the target radar and combining it with the network delay information. This approach is a time-division synchronization method. Compared with the method of allocating instantaneous operating bandwidth to each radar to be networked, this embodiment can be relatively compatible with networking more radars. In addition, the network delay information can avoid co-channel interference between the radar to be networked and other networked radars after joining the radar network. Therefore, the radar to be networked can operate reliably after joining the radar network.

[0176] In some embodiments, the timing determination module 81 is specifically used to: listen to the transmission signals of each network radar, select the network radar that meets the networking conditions as the target radar based on the transmission signals of each network radar, and determine the transmission timing information of the target radar based on the transmission signals of the target radar.

[0177] In some embodiments, the timing determination module 81 is further specifically used to: determine the target center frequency point, and listen to the transmission signals of each network radar according to the target center frequency point in the listening mode.

[0178] In some embodiments, the timing determination module 81 is further specifically used to: select any one working frequency point from the preset working frequency point set as a reference frequency point, and if the transmission signal of each network radar is detected at the reference frequency point, then the reference frequency point is used as the target center frequency point.

[0179] In some embodiments, the timing determination module 81 is further specifically used to: analyze the transmitted signal of each network radar according to the target center frequency of the frequency-modulated continuous wave radar to obtain the pulse envelope corresponding to the target center frequency, wherein the pulse envelopes of each network radar are sequentially arranged into pulse groups, and if the pulse envelopes of the network radar match the specified order in the pulse group, it is determined that the network radar meets the networking conditions, and the network radar is selected as the target radar.

[0180] In some embodiments, the specified order is the order in which the last networked radar to join the radar network is located within the radar network.

[0181] In some embodiments, the transmission timing information includes the beam switching time, and the timing determination module 81 is further specifically used to: determine the coherent processing interval of the target radar according to the transmission signal of the target radar, traverse the transmission signal of the target radar according to the coherent processing interval to obtain the rising edge signal, and record the time corresponding to the rising edge signal as the beam switching time.

[0182] In some embodiments, the transmission timing information includes the pulse repetition period, and the timing determination module 81 is further specifically used to: acquire the first pulse group and the second pulse group adjacent to the target radar, determine the two pulse envelopes of the same order in the first pulse group and the second pulse group, calculate the time difference of the two pulse envelopes of the same order, and use the time difference as the pulse repetition period of the target radar.

[0183] In some embodiments, the delay acquisition module 82 is specifically used to: calculate the maximum delay information based on the preset maximum detection range and the speed of light, and determine the network delay information based on the maximum delay information.

[0184] In some embodiments, please refer to [link / reference] before determining network latency information. Figure 8 The radar networking device 800 also includes a time acquisition module 84, which is used to acquire protection time information. The delay acquisition module 82 is also specifically used to determine the networking delay information based on the maximum delay information and the protection time information.

[0185] In some embodiments, the transmission timing information includes beam switching time, modulation period and signal bandwidth. The radar networking module 83 is specifically used to: determine the signal transmission time according to the beam switching time of the target radar and the networking delay information, and at the signal transmission time, control the radar to be networked to synchronously transmit radio frequency signals according to the modulation period and signal bandwidth.

[0186] In some embodiments, please refer to the following before performing the networking operation to join the radar network: Figure 8 The radar networking device also includes a quantity determination module 85, a duration calculation module 86, and an addition determination module 87.

[0187] The quantity determination module 85 is used to determine the number of networked radars in the radar network, the duration calculation module 86 is used to calculate the transmission allocation duration based on the number of networked radars and the network delay information, and the addition determination module 87 is used to determine whether the radar to be networked can be added to the radar network based on the transmission allocation duration and the modulation period of the radar network.

[0188] In some embodiments, the quantity determination module 85 is specifically used to: obtain a pulse group, the pulse group including at least one pulse envelope, determine the number of pulses in the pulse envelope contained in the pulse group, and use the number of pulses as the number of networks.

[0189] In some embodiments, the addition determining module 87 is specifically used to: determine that the radar to be networked can be added to the radar network if the transmission allocation duration is less than or equal to the modulation period of the radar network.

[0190] It should be noted that the radar networking device described above can execute the radar networking method provided in the embodiments of the present invention, and has the corresponding functional modules and beneficial effects of the method. Technical details not described in detail in the embodiments of the radar networking device can be found in the radar networking method provided in the embodiments of the present invention.

[0191] Please see Figure 9 , Figure 9 This is a schematic diagram of the circuit structure of a signal processor provided in an embodiment of the present invention. The signal processor may employ a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field-programmable gate array, a microcontroller, an ARM or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination of these components.

[0192] like Figure 9 As shown, the signal processor 900 includes one or more processors 91 and a memory 92. Wherein, Figure 9 Taking a processor 91 as an example, the processor 91 and the memory 92 can be connected via a bus or other means. Figure 9 Taking the example of a connection between China and Israel via a bus.

[0193] The memory 92, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to the radar networking method in the embodiments of the present invention. The processor 91 executes various functional applications and data processing of the radar networking device by running the non-volatile software programs, instructions, and modules stored in the memory 92, thereby realizing the functions of the radar networking method provided in the above method embodiments and the various modules or units in the above device embodiments.

[0194] Memory 92 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, memory 92 may optionally include memory remotely located relative to processor 91, which can be connected to processor 91 via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0195] The program instructions / modules are stored in the memory 92 and, when executed by one or more processors 91, execute the radar networking method in any of the above method embodiments.

[0196] This invention also provides a non-volatile computer storage medium storing computer-executable instructions that are executed by one or more processors, for example... Figure 9 One of the processors 91 enables the one or more processors to execute the radar networking methods described in the above embodiments.

[0197] This invention also provides a computer program product, which includes a computer program stored on a non-volatile computer-readable storage medium. The computer program includes program instructions, which, when executed by a signal processor, cause the signal processor to execute the radar networking method described in the above embodiments.

[0198] The device or equipment embodiments described above are merely illustrative. The unit modules described as separate components may or may not be physically separate. The components shown as module units may or may not be physical units; that is, they may be located in one place or distributed across multiple network module units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0199] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented using software plus a general-purpose hardware platform, or of course, using hardware. Based on this understanding, the above technical solutions, in essence or the parts that contribute to the related technology, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0200] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; under the concept of the present invention, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the present invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A radar networking method, applied to radars to be networked, characterized in that, include: The transmission timing information of the target radar is determined. The target radar is a networked radar that has joined the radar network. The transmission timing information includes beam switching time, pulse repetition period and signal bandwidth. The pulse repetition period consists of a preset modulation period and a preset frequency sweep fallback time. Obtaining network latency information includes: calculating maximum latency information based on a preset maximum detection range and speed of light; and determining network latency information based on the maximum latency information. Based on the transmission timing information and the networking delay information, the radar to be networked is controlled to perform a networking operation to join the radar network, including: determining the signal transmission time based on the beam switching time of the target radar and the networking delay information; at the signal transmission time, controlling the radar to be networked to synchronously transmit radio frequency signals according to the modulation period and the signal bandwidth; wherein, each networked radar in the radar network is a frequency-modulated continuous wave radar.

2. The radar networking method according to claim 1, characterized in that, The transmission timing information of the target radar includes: Listen to the transmitted signals of each of the networked radars; Based on the transmission signals of each of the networked radars, select the networked radar that meets the networking conditions as the target radar. The transmission timing information of the target radar is determined based on the transmission signal of the target radar.

3. The radar networking method according to claim 2, characterized in that, The monitoring of the transmitted signals of each of the networked radars includes: Obtain the pre-set target center frequency; Listen to the transmitted signals of each of the networked radars based on the target's center frequency.

4. The radar networking method according to claim 3, characterized in that, Determining the target center frequency includes: Select any one of the preset operating frequency points as the reference frequency point; If the transmission signal of each of the networked radars is detected at the reference frequency, then the reference frequency is taken as the target center frequency.

5. The radar networking method according to claim 2, characterized in that, The step of selecting a network radar that meets the networking conditions as the target radar based on the transmitted signals of each of the network radars includes: Based on the target center frequency of the frequency-modulated continuous wave radar, the transmitted signal of each of the network radars is analyzed to obtain the pulse envelope corresponding to the target center frequency, wherein the pulse envelopes of each of the network radars are sequentially formed into a pulse group. If the pulse envelope of the networked radar matches the specified order in the pulse group, then the networked radar is determined to meet the networking conditions, and the networked radar is selected as the target radar.

6. The radar networking method according to claim 5, characterized in that, The specified order refers to the order in which the last networked radar to join the radar network is located within the radar network.

7. The radar networking method according to claim 2, characterized in that, The transmission timing information includes the beam switching time, and determining the transmission timing information of the target radar based on the transmission signal of the target radar includes: Based on the transmitted signal of the target radar, determine the coherent processing interval of the target radar; The rising edge signal is obtained by traversing the transmitted signal of the target radar according to the coherent processing interval. The time corresponding to the rising edge signal is recorded as the beam switching time.

8. The radar networking method according to claim 2, characterized in that, The transmission timing information includes the pulse repetition period, and determining the transmission timing information of the target radar based on the transmission signal of the target radar includes: Acquire the first pulse group and the second pulse group adjacent to the target radar; Determine the envelopes of two pulses in the same order in the first pulse group and the second pulse group; Calculate the time difference between the envelopes of two pulses in the same order; The time difference is used as the pulse repetition period of the target radar.

9. The radar networking method according to claim 1, characterized in that, Before determining the network delay information, the radar networking method further includes: Obtain protection time information; The step of determining the network latency information based on the maximum latency information includes: The network delay information is determined based on the maximum delay information and the protection time information.

10. The radar networking method according to any one of claims 1 to 8, characterized in that, Before performing the networking operation to join the radar network, the radar networking method further includes: Determine the number of networked radars in the radar network; Calculate the transmission allocation time based on the number of networks and the network delay information; Based on the transmission allocation duration and the modulation period of the radar network, it is determined whether the radar to be networked can be added to the radar network.

11. The radar networking method according to claim 10, characterized in that, Determining the number of networked radars in the radar network includes: Acquire a pulse group, the pulse group comprising at least one pulse envelope; Determine the number of pulses in the pulse envelope contained in the pulse group, wherein the number of pulses represents the number of network groups.

12. The radar networking method according to claim 10, characterized in that, The step of determining whether the radar to be networked can join the radar network based on the transmission allocation duration and the modulation period of the radar network includes: If the transmission allocation duration is less than or equal to the modulation period of the radar network, then the radar to be networked is determined to be able to join the radar network.

13. A radar, characterized in that, include: A transmitter used to transmit radio frequency signals; A receiver, used to receive echo signals; and A signal processor includes at least one processor and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the radar networking method as described in any one of claims 1 to 12.

14. A non-volatile readable storage medium, characterized in that, The device stores computer-executable instructions for causing an electronic device to perform the radar networking method as described in any one of claims 1 to 12.

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