A UWB positioning and radar multiplexing system and method with radar waveform repair function

Abstract

The present invention discloses a UWB positioning and radar multiplexing system and method with a radar waveform repair function, the system comprising: a main control circuit board, and a UWB transmitter, a UWB receiver and a UWB RF front-end antenna integrated on the main control circuit board; the UWB transmitter and the UWB receiver are respectively connected to the UWB RF front-end antenna; the UWB RF front-end antenna amplifies, filters, performs orthogonal mixing and transmits and receives wireless signals for RF; the system integrates the UWB positioning function with the radar function, thereby realizing accurate positioning of targets in the vehicle and motion information detection of targets without RF connection capability. The main control scheduling module coordinates the communication and data transmission between the modules, effectively solving the conflict problem between the positioning function and the radar function. The radar waveform repair module dynamically searches for various types of mutations and repairs various waveforms corresponding thereto, handles abnormal conditions in the radar signal, and ensures the stability and reliability of the radar function.

Description

Technical Field

[0001] The present invention relates to the field of wireless communications for automotive interconnection and industrial interconnection, and in particular to the field of positioning and radar, and more specifically to a UWB positioning and radar multiplexing system and method with radar waveform repair function. Background Art

[0002] At present, in the new field of automotive interconnection and industrial interconnection, in addition to the need to accurately locate user devices (such as mobile phones, keys, tags) and other targets with RF connection capabilities, in-vehicle base stations or industrial base stations also need to detect the motion information of some targets without RF connection capabilities (such as human movement, kicking movements, breathing in living object detection, obstacle movement, etc.), so radar functions are needed to cooperate to form an integrated system of positioning and radar functions. Together, they can complete advanced functions such as living object detection to prevent children from locking the car, smart kicking of the trunk, gesture control, target tracking and guidance, etc.

[0003] UltraWideband (UWB) is a carrier-free communication technology that uses nanosecond to picosecond non-sinusoidal narrow pulses to transmit data. Since ultra-wideband signals have ultra-high time resolution, they can achieve high positioning accuracy. At the same time, due to the ultra-large bandwidth, it is not enough to only intercept part of the frequency band content to recover the information, so it has strong confidentiality capabilities and is suitable for high-confidential positioning communication scenarios such as digital car keys.

[0004] Its bandwidth is very large, and it is difficult for general narrowband interference to affect it, making it have strong anti-interference ability. In addition, the UWB band also has excellent penetration. Experiments show that UWB electromagnetic waves have good penetration ability on trees, grass, walls, etc. Therefore, ultra-wideband technology is also very suitable for radar functions. This makes it possible to integrate such UWB positioning function and UWB radar function system.

[0005] Of course, the radar in the system can also be implemented using other frequency bands such as millimeter wave technology, laser technology, etc., but because the cost of UWB radar is much lower than that of millimeter wave radar and lidar, and it can also share RF hardware resources with the UWB positioning system, it has attracted much attention in the market.

[0006] However, in the prior art, when the UWB base station is performing the positioning function, multiple user equipment UE (User Equipment) such as mobile phones, keys, and tags will randomly access the system. If the UWB radar in the same frequency band is detecting multiple radar targets RT (Radar Target), in the current way: either let the UE wait until the radar function cycle is completed, which will cause a huge delay in the access of the UE positioning function; or force the positioning function to be occupied, which will cause the radar function to lose short-term data, causing interference or instability. Therefore, it is a dilemma in terms of technical means, which is a problem that technicians in this field need to solve urgently. Summary of the invention

[0007] In view of this, the present invention provides a UWB positioning and radar multiplexing system and method with radar waveform repair function, which can solve the problem that the radar function loses data due to UE random access system and the two interfere with each other.

[0008] In order to achieve the above object, the present invention adopts the following technical solution:

[0009] In a first aspect, the present invention provides a UWB positioning and radar multiplexing system with a radar waveform repair function, comprising: a main control circuit board, and a UWB transmitter, a UWB receiver and a UWB radio frequency front-end antenna integrated on the main control circuit board; the UWB transmitter and the UWB receiver are respectively connected to the UWB radio frequency front-end antenna; the UWB radio frequency front-end antenna amplifies, filters, performs orthogonal mixing and transmits and receives radio signals;

[0010] The main control circuit board includes: a main control scheduling module, a positioning function module, a gate, a radar function module and a radar waveform repair module;

[0011] The main control scheduling module is used for data solution and decision processing, and is responsible for coordinating and managing the communication and data transmission between the positioning function module, the gate, and the radar function module;

[0012] The positioning function module is used to receive the UWB signal of the UWB receiver, calculate the time difference data of the UWB signal, and obtain the position data; and to negotiate with the peripheral device for the communication transmission information after access;

[0013] The gate is used to receive instructions from the main control scheduling module and switch the transmission source of the UWB transmitter;

[0014] The radar function module is used to detect and track the detection target, extract the motion characteristics of various detection targets, send the extracted radar data to the main control scheduling module, and receive the timing notification of the main control scheduling module;

[0015] The radar waveform repair module is used to dynamically search for various types of mutations and repair various waveforms corresponding thereto, send waveform repair data to the radar function module, and receive timing notifications from the radar function module.

[0016] Furthermore, the main control scheduling module specifically includes:

[0017] A solution unit is used to solve the final position data and radar data and make decisions on operating external devices;

[0018] The management unit is used to notify the radar function module and switch the selector after judging the legitimacy of the ID and key of the external device.

[0019] Furthermore, the radar function module specifically includes:

[0020] The detection unit is used to generate radar transmission waveform sequences for different application scenarios, and to perform cumulative analysis of the radar reflection waves of the detection targets through channel impulse responses, so as to detect and track the detection targets;

[0021] A solution unit, used for filtering and anti-interference solution of fast time domain and slow time domain reflection data;

[0022] The extraction unit is used to extract the motion features of various detection targets, send the extracted radar data to the main control scheduling module, and receive the timing notification of the main control scheduling module.

[0023] Furthermore, the radar waveform repair module specifically includes: a mutation dynamic searcher and a waveform repairer;

[0024] The mutation dynamic searcher includes: a first type of mutation searcher;

[0025] The first type of mutation searcher is used for randomly accessing the user equipment positioning function, causing the radar to be occupied and paused, and upon receiving the trigger notification of the main control scheduling module, detecting the mutation point and abnormal point in the radar signal at this time, and recording the first segment data and the tail end data before and after the mutation point and the abnormal point appear;

[0026] The waveform repairer is used to repair the corresponding radar signal waveform data by using polynomial interpolation according to the first-type mutation searcher recording the first segment data and the tail end data before and after the mutation point and the abnormal point appear.

[0027] Furthermore, the mutation dynamic searcher also includes: a second type of mutation searcher;

[0028] The second type of mutation searcher is used to detect short-term interference caused by the environment or other UWB modules in a sliding search window manner by detecting whether the phase data in the radar signal has a mutation at this time;

[0029] The waveform repairer is used to remove or filter out interference data in the corresponding radar signal waveform data when the second type mutation searcher searches for a mutation in the phase data of the radar signal.

[0030] In a second aspect, the present invention also provides a UWB positioning and radar multiplexing method with a radar waveform repair function, using a UWB positioning and radar multiplexing system with a radar waveform repair function as in any of the above embodiments, to repair the radar signal waveform data corresponding to the detected target motion information when the UWB positioning function and the UWB radar function share radio frequency hardware resources.

[0031] Further, the method comprises the following steps:

[0032] S101, starting the radar function module, and starting the first type mutation searcher, the second type mutation searcher and the waveform repairer in the radar waveform repair module; wherein the waveform repair of the second type mutation searcher starts immediately;

[0033] S102, the UWB receiver transmits data to the positioning function module and the radar function module at the same time, and the positioning function module continuously monitors whether there is a legitimate user device applying for access;

[0034] S103, obtaining a positioning function access request randomly initiated by a user device;

[0035] S104, after the positioning function module parses the legitimate request of the user equipment, it applies to the main control scheduling module to occupy the UWB transmitter, and reports the occupation start time T1b and end time T1c; the main control scheduling module determines whether there is other user equipment occupying the channel, if there is no conflict, switches the gate to the positioning function module to occupy the UWB transmitter, and notifies the radar function module of the start and end time of this occupation, and switches the gate back to the radar function module to occupy the UWB transmitter after the positioning task is completed;

[0036] S105, after receiving the occupancy notification, the radar function module notifies the second type mutation searcher and waveform repairer in the radar waveform repair module to suspend the search and repair functions;

[0037] S106, after receiving the occupancy notification, the radar function module notifies the first type mutation searcher in the radar waveform repair module to find the start time T1a and the end time T1d in the waveform repair data buffer, and obtain the first section reference data of T1a-T1b and the last section reference data of T1c-T1d;

[0038] S107, the radar waveform repair module repairs the middle waveform data of all radar targets with the first reference data and the last reference data, and then fills the repaired data back to the radar function module, and performs the search of the second type mutation searcher and the repair function of the waveform repairer again.

[0039] It can be seen from the above technical solutions that, compared with the prior art, the present invention discloses a UWB positioning and radar multiplexing system with a radar waveform repair function, which integrates the UWB positioning function with the radar function to achieve accurate positioning of targets inside the vehicle and motion information detection of targets without RF connection capabilities. The main control scheduling module coordinates the communication and data transmission between the various modules, effectively solving the conflict problem between the positioning function and the radar function. The radar waveform repair module dynamically searches for various types of mutations and repairs the corresponding waveforms, handles abnormal conditions in radar signals, and ensures the stability and reliability of radar functions. In addition, the system has a low cost and can be widely used in large-scale automobiles and industrial equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0041] Figure 1 A schematic diagram of the structure of a UWB positioning and radar multiplexing system with radar waveform repair function provided by the present invention.

[0042] Figure 2 A schematic diagram of a radar signal waveform for detecting target motion information provided by the radar of the present invention.

[0043] Figure 3 A flow chart of the UWB positioning and radar multiplexing method with radar waveform repair function provided by the present invention. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] Embodiment 1:

[0046] Reference Figure 1 As shown, the embodiment of the present invention discloses a UWB positioning and radar multiplexing system with a radar waveform repair function, comprising: a main control circuit board, and a UWB transmitter, a UWB receiver and a UWB RF front-end antenna integrated on the main control circuit board; the UWB transmitter and the UWB receiver are respectively connected to the UWB RF front-end antenna; the UWB RF front-end antenna amplifies, filters, performs orthogonal mixing and transmits and receives wireless signals for RF;

[0047] Each module makes the system meet the following standards:

[0048] CCC (Car Connectivity Consortium) vehicle networking alliance standard;

[0049] IEEE802.15.4zUWB ultra-wideband wireless communication standard.

[0050] UWB transmitter: responsible for implementing the UWB physical layer TX function according to the CCC protocol and 802.15.4z protocol, including short-time pulse generation, pulse code modulation, pilot data generation, data scrambling, etc.

[0051] UWB receiver: responsible for implementing the UWB physical layer RX function according to the CCC protocol and 802.15.4z protocol, including high-speed ADC (analog-to-digital converter) sampling, pilot data cross-correlation synchronization, pulse code demodulation, data descrambling, CIR (channel impulse response) accumulation, etc.

[0052] The above-mentioned main control circuit board includes: a main control scheduling module, a positioning function module, a gate, a radar function module and a radar waveform repair module;

[0053] in,

[0054] 1) Main control and scheduling module, used for data solution and decision processing, as well as responsible for coordinating and managing the communication and data transmission between the positioning function module, the gate, and the radar function module. Specifically including:

[0055] A solution unit is used to solve the final position data and radar data and make decisions on operating external devices;

[0056] The management unit is used to notify the radar function module and switch the selector after judging the legitimacy of the ID and key of the external device.

[0057] The main control scheduling module is responsible for solving the final position data and radar data, and making decisions on operating external devices (such as door locks, alarms, robotic arms, etc.), or passing the decision data to other external solving modules through interfaces such as CAN / LIN; it is responsible for judging the legitimacy of the UE's ID and key. For specific legitimacy judgments, please refer to the CCC Internet of Vehicles Alliance standard; in the present invention, it is also responsible for notifying the radar function module and switching the selector after judging the legitimacy of the UE's ID and key.

[0058] 2) Positioning function module, used to receive UWB signals from UWB receivers, calculate the time difference data of UWB signals, obtain location data, and negotiate with peripherals for communication and transmission information after access. That is, in the scenario of car interconnection, high-precision positioning of in-car targets is achieved by using ultra-wideband technology (UWB), and communication and data transmission are carried out with user equipment (UE).

[0059] For example, it is responsible for calculating the time difference data using TOF (Time Of Flight), TDOA (Time Difference Of Arrival), AOA (Angle Of Arrival) and other methods to obtain the position data; it is responsible for assembling and unpacking the MAC layer (media access layer) and LINK layer (link transmission layer) according to the CCC protocol and 802.15.4z protocol; it is responsible for negotiating with the UE on various communication transmission information after access (positioning frame timing method, positioning frame encryption method, positioning frame transmission channel, etc.).

[0060] 3) The selector is used to receive instructions from the main control scheduling module and switch the transmission source of the UWB transmitter; it helps to realize the multiplexing of UWB positioning and radar functions.

[0061] 4) Radar function module, used to detect and track the detection target, extract the motion features of various detection targets, and send the extracted radar data and the timing notification of the main control scheduling module to the main control scheduling module. Use radar technology to detect and track the motion information of targets without RF connection capability, and exchange data with the main control scheduling module.

[0062] The radar functional modules include:

[0063] The detection unit is used to generate radar transmission waveform sequences for different application scenarios, and to perform cumulative analysis of the radar reflection waves of the detection targets through channel impulse responses, so as to detect and track the detection targets;

[0064] A solution unit, used for filtering and anti-interference solution of fast time domain and slow time domain reflection data;

[0065] The extraction unit is used to extract the motion features of various detection targets, send the extracted radar data to the main control scheduling module, and receive the timing notification of the main control scheduling module.

[0066] Radar function module: responsible for generating radar transmission waveform sequences for different application scenarios, and accumulating and analyzing the radar reflection waves of RT through CIR (channel impulse response). The analysis of wavefront reflection data at different distances in the same transmission cycle is called fast time domain analysis; the analysis of wavefront reflection data at the same distance in different transmission cycles is called slow time domain analysis. The radar function module is responsible for various filtering and anti-interference algorithms in the fast and slow time domains; responsible for the feature extraction of various RTs (such as regular breathing of living things, a legal kicking action, the movement of goods in a factory or warehouse, etc.), and reports the radar data results of feature extraction to the main control scheduling module and receives the timing notification of the main control scheduling module.

[0067] 5) Radar waveform repair module, which is used to dynamically search for various types of mutations and repair the corresponding waveforms, send waveform repair data to the radar function module and receive timing notifications from the radar function module.

[0068] Radar waveform repair module, refer to Figure 1 As shown, it specifically includes: a mutation dynamic searcher and a waveform repairer;

[0069] The mutation dynamic searcher includes: a first type of mutation searcher and a second type of mutation searcher;

[0070] Among them, the first type of mutation searcher is used to randomly access the user equipment positioning function, causing the radar to be occupied and paused. When receiving the trigger notification from the main control scheduling module, it detects the mutation points and abnormal points in the radar signal at this time, and records the first and last data before and after the mutation points and abnormal points appear; the waveform repairer is used to record the first and last data before and after the mutation points and abnormal points appear according to the first type of mutation searcher. The data uses polynomial interpolation to repair the corresponding radar signal waveform data.

[0071] The second type of mutation searcher is used to detect short-term interference caused by the environment or other UWB modules in a sliding search window manner by detecting whether the phase data in the radar signal has a mutation at this time; the waveform repairer is used to eliminate or filter out the interference data in the corresponding radar signal waveform data when the second type of mutation searcher searches for a mutation in the phase data in the radar signal.

[0072] like Figure 2 The figure is a schematic diagram of radar signal waveforms for detecting target motion information, such as radar signals corresponding to the detection of breathing of living things in the car, gestures in the car, or kicking movements outside the car. Figure 2The upper middle part is the positioning enable signal, which may be accessed by user equipment UE1, UE2, UE3 (such as mobile phones, keys, tags) at any time; the middle part is the radar enable signal, and the lower part is the phase representation of the radar reflection signal. Among them, the positioning access of UE1 causes the phase waveform of the radar reflection signal to be torn apart for a short time (T1b-T1c time period), and the short-term interference caused by other factors is obtained by the second type of mutation searcher.

[0073] Figure 2 The type 1 mutation searcher (indicating the first type of mutation searcher) in the figure is to deal with the "occupancy pause" caused by the random access of the UE positioning function to the radar. It is implemented in the form of "front and back enhancement windows" triggered by the notification of the main control scheduling module. Usually, its duration depends on the duration of the positioning function. According to the CCC regulations, the general duration is 6ms to 14ms, while the duration of the RT radar target action is generally longer, such as 4000ms for a breath and 500ms for a kick... The time width of the "front and back enhancement window" of the type 1 mutation searcher should be greater than the maximum possible "occupancy pause" time width, and it must be ensured that the first and last data before and after the "occupancy pause" can be retained in the cache.

[0074] Figure 2 The type 2 mutation searcher (representing the second type of mutation searcher) in the figure is used to deal with the "short-term interference" generated by the environment or other UWB modules (such as the UWB base stations of other vehicles around it), which generally lasts less than 1ms, and the search window time width should be greater than the maximum possible "short-term interference" time width. Since the type 2 mutation is random and unpredictable, the searcher is implemented in a "sliding search window" manner, and determines whether a mutation has occurred based on the characteristics of the phase data itself, rather than directly notifying the main control scheduling module like the type 1 mutation searcher. For example: the radar sampling rate is 1ms, and the assumed physical meaning of the phase change of 30° at two consecutive sampling points is that the object moves 100mm, which means that the RT speed is as high as 100m / s, but the radar only cares about and monitors movements with a speed less than 2m / s. This type of mutation is defined as a type 2 mutation, and is automatically repaired using but not limited to the "phase tracking limit algorithm".

[0075] Take the car interconnection scenario as an example:

[0076] In the field of automobile interconnection, the UWB positioning and radar multiplexing system with radar waveform repair function of the present invention is applied to the base station in the car, and the user equipment such as mobile phones, keys, tags, etc. are accurately located through the UWB positioning function, and the radar function is used to detect the actions and targets in the car. For example, the system can realize the function of detecting living things in the car to prevent children from locking it. When there are active targets in the car, the system will issue an alarm in time to prevent accidents. In addition, the system can also realize the function of intelligent kicking the trunk, and realize the intelligent opening of the trunk by detecting and identifying the kicking action. At the same time, the system also supports advanced functions such as gesture control and target tracking guidance, providing passengers in the car with a more convenient and intelligent user experience. It can effectively solve the conflict between the positioning function and the radar function, and handle abnormal conditions in the radar signal by dynamically searching for various types of mutations and repairing various waveforms corresponding to them, so as to ensure the stability and reliability of the radar function.

[0077] For example, taking the industrial Internet scenario as an example:

[0078] In the field of industrial interconnection, the system is applied to industrial base stations, and uses the UWB positioning function to achieve high-precision positioning of industrial equipment and targets, while using the radar function to detect and track obstacles and moving targets in the industrial environment. For example, in a warehouse or factory, the system can monitor and manage the movement of goods, improving the efficiency and accuracy of warehouse management. In addition, the system can also be applied to respiratory monitoring in living object detection, realizing respiratory status monitoring of moving targets (such as humans or animals) in a specific area, and providing support for security and environmental monitoring.

[0079] The present invention provides a UWB positioning and radar multiplexing system with a radar waveform repair function, which integrates the UWB positioning function with the radar function to achieve accurate positioning of targets inside the vehicle and detection of motion information of targets without radio frequency connection capabilities. The main control scheduling module coordinates the communication and data transmission between the various modules, effectively resolving the conflict between the positioning function and the radar function. The radar waveform repair module dynamically searches for various types of mutations and repairs the corresponding waveforms, handles abnormal conditions in the radar signal, and ensures the stability and reliability of the radar function. In addition, the system has a low cost and can be widely used in large-scale automobiles and industrial equipment.

[0080] Embodiment 2:

[0081] Based on the same inventive concept, the present invention also provides a UWB positioning and radar multiplexing method with a radar waveform repair function, using a UWB positioning and radar multiplexing system with a radar waveform repair function as in the above-mentioned embodiment 1, to realize repairing the radar signal waveform data corresponding to the detected target motion information when the UWB positioning function and the UWB radar function share radio frequency hardware resources.

[0082] Reference Figure 3 As shown, the method comprises the following steps:

[0083] S101, starting the radar function module, and starting the first type mutation searcher, the second type mutation searcher and the waveform repairer in the radar waveform repair module; wherein the waveform repair of the second type mutation searcher starts immediately;

[0084] S102, the UWB receiver transmits data to the positioning function module and the radar function module at the same time, and the positioning function module continuously monitors whether there is a legitimate user device applying for access;

[0085] S103, obtaining a positioning function access request randomly initiated by a user device;

[0086] S104, after the positioning function module parses the legitimate request of the user equipment, it applies to the main control scheduling module to occupy the UWB transmitter, and reports the occupation start time T1b and end time T1c; the main control scheduling module determines whether there is other user equipment occupying the channel, if there is no conflict, switches the gate to the positioning function module to occupy the UWB transmitter, and notifies the radar function module of the start and end time of this occupation, and switches the gate back to the radar function module to occupy the UWB transmitter after the positioning task is completed;

[0087] S105, after receiving the occupancy notification, the radar function module notifies the second type mutation searcher and waveform repairer in the radar waveform repair module to suspend the search and repair functions;

[0088] S106, after receiving the occupancy notification, the radar function module notifies the first type mutation searcher in the radar waveform repair module to find the start time T1a and the end time T1d in the waveform repair data buffer, and obtain the first section reference data of T1a-T1b and the last section reference data of T1c-T1d;

[0089] S107, the radar waveform repair module repairs the middle waveform data of all radar targets with the first reference data and the last reference data, and then fills the repaired data back to the radar function module, and performs the search of the second type mutation searcher and the repair function of the waveform repairer again.

[0090] In step S101:

[0091] The first type of mutation searcher: It is used to deal with the "occupancy pause" caused by the random access of the UE positioning function to the radar. It is implemented in the form of "front and back enhancement windows" triggered by the notification of the main control scheduling module. Usually, its duration depends on the duration of the positioning function. According to the CCC regulations, the general duration is 6ms~14ms, and the duration of RT radar target actions is generally longer, such as 4000ms for a breath and 500ms for a kick... The time width of the "front and back enhancement windows" of the first type of mutation searcher should be greater than the maximum possible "occupancy pause" time width, and it must be ensured that the first and last data before and after the "occupancy pause" can be retained in the cache.

[0092] The second type of mutation searcher: It is used to deal with the "short-term interference" generated by the environment or other UWB modules. The duration is generally less than 1ms, and the search window time width should be greater than the maximum possible "short-term interference" time width. Since the second type of mutation searcher is random and unpredictable, the searcher is implemented in a "sliding search window" manner, and determines whether a mutation has occurred by the characteristics of the phase data itself, rather than directly notifying the main control scheduling module like the first type of mutation searcher. For example: the radar sampling rate is 1ms, and the assumed physical meaning of the phase change of 30° between two consecutive sampling points is that the object moves 100mm, which means that the RT speed is as high as 100m / s, but the radar only cares about and monitors the movement of the speed less than 2m / s, so this type of mutation is defined as the second type of mutation, and the waveform repairer uses but is not limited to the "phase tracking limit algorithm" to automatically repair it.

[0093] In steps S102 to S104:

[0094] Mainly to ensure that Figure 2 The start time T1b and end time T1c shown are accurately and timely notified to the radar function module, and after the end time T1c is reached, the gate is quickly switched back to the radar module to occupy the UWB transmitter.

[0095] In step S105:

[0096] To prevent two independent type 1 mutation searchers and type 2 mutation searchers from simultaneously repairing the "occupancy pause" as their respective mutation objects, causing cache data confusion or repeated operations, the second type mutation searcher is first closed and then reopened after step S107 is completed.

[0097] In steps S106-S107:

[0098] like Figure 2As shown, the first section reference data of T1a~T1b and the last section reference data of T1c~T1d are obtained. The number of sampling points required for the reference data depends on the restoration algorithm used and the drastic change of the target phase curve. The more reference points, the higher the restoration accuracy.

[0099] The "polynomial interpolation algorithm" is used for repair, but not limited to. Since all points in the "front and back enhancement window" of the first type mutation searcher need to be repaired before the filling in S107 is returned, the algorithm delay is the width of the "front and back enhancement window" plus the calculation delay. Therefore, the length of the reference data needs to be selected according to the actual situation.

[0100] In this embodiment, based on the integration of UWB positioning function and UWB radar function, this method can avoid the conflict between positioning function and radar function existing in the prior art. With high-precision positioning capability, it can realize accurate positioning and motion information detection of targets in the car or industrial environment, bringing more intelligent and efficient application solutions to the field of automotive interconnection and industrial interconnection. At the same time, due to the use of ultra-wideband technology, it has the advantages of strong anti-interference ability and high confidentiality of information transmission, and is suitable for scenarios with high requirements for data security.

[0101] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0102] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A UWB positioning and radar multiplexing system with radar waveform repair function, characterized in that: include: A main control circuit board, and a UWB transmitter, a UWB receiver and a UWB RF front-end antenna integrated on the main control circuit board; the UWB transmitter and the UWB receiver are respectively connected to the UWB RF front-end antenna; The UWB RF front-end antenna amplifies, filters, performs orthogonal mixing, and transmits and receives wireless signals; The main control circuit board includes: a main control scheduling module, a positioning function module, a gate, a radar function module and a radar waveform repair module; The main control scheduling module is used for data solution and decision processing, and is responsible for coordinating and managing the communication and data transmission between the positioning function module, the gate, and the radar function module; The positioning function module is used to receive the UWB signal of the UWB receiver, calculate the time difference data of the UWB signal, and obtain the position data; and to negotiate with the user equipment for the communication transmission information after access; and transmit the position data to the main control scheduling module; and also to apply to the main control scheduling module to occupy the UWB transmitter after parsing the request of the user equipment that meets the authority; The gate is used to receive instructions from the main control scheduling module and switch the transmission source of the UWB transmitter; The radar function module is used to detect and track the detection target, extract the motion characteristics of various detection targets, send the extracted radar data to the main control scheduling module, and receive the timing notification of the main control scheduling module; The radar waveform repair module is used to dynamically search for various types of mutations and repair various waveforms corresponding thereto, send waveform repair data to the radar function module and receive timing notifications from the radar function module; The radar waveform repair module specifically includes: a mutation dynamic searcher and a waveform repairer; The mutation dynamic searcher includes: a first type of mutation searcher and a second type of mutation searcher; The first type of mutation searcher is used for randomly accessing the user equipment positioning function, causing the radar to be occupied and paused, and upon receiving the trigger notification of the main control scheduling module, detecting the mutation point and abnormal point in the radar signal at this time, and recording the first segment data and the tail end data before and after the mutation point and the abnormal point appear; The waveform repairer is used to repair the corresponding radar signal waveform data by using polynomial interpolation according to the first segment data and tail end data before and after the mutation point and abnormal point appearing recorded by the first type mutation searcher; The second type of mutation searcher is used to detect short-term interference caused by the environment or other UWB modules in a sliding search window manner by detecting whether the phase data in the radar signal has a mutation at this time; The waveform repairer is also used to remove or filter out interference data in the corresponding radar signal waveform data when the second type mutation searcher searches for a mutation in the phase data of the radar signal.

2. The UWB positioning and radar multiplexing system with radar waveform repair function according to claim 1 is characterized in that: The main control scheduling module specifically includes: A solution unit is used to solve the final position data and radar data and make decisions on operating external devices; The management unit is used to notify the radar function module and switch the selector after judging the legitimacy of the ID and key of the external device.

3. The UWB positioning and radar multiplexing system with radar waveform repair function according to claim 1 is characterized in that: The radar function module specifically includes: The detection unit is used to generate radar transmission waveform sequences for different application scenarios, and to perform cumulative analysis of the radar reflection waves of the detection targets through channel impulse responses, so as to detect and track the detection targets; A solution unit, used for filtering and anti-interference solution of fast time domain and slow time domain reflection data; The extraction unit is used to extract the motion features of various detection targets, send the extracted radar data to the main control scheduling module, and receive the timing notification of the main control scheduling module.

4. A UWB positioning and radar multiplexing method with radar waveform repair function, characterized in that: A UWB positioning and radar multiplexing system with a radar waveform repair function according to any one of claims 1 to 3 is used to repair radar signal waveform data corresponding to target motion information when the UWB positioning function and the UWB radar function share radio frequency hardware resources.

5. The UWB positioning and radar multiplexing method with radar waveform repair function according to claim 4 is characterized in that: The following steps are involved: S101, starting the radar function module, and starting the first type mutation searcher, the second type mutation searcher and the waveform repairer in the radar waveform repair module; wherein the waveform repair of the second type mutation searcher starts immediately; S102, the UWB receiver transmits the data to the positioning function module and the radar function module at the same time, and the positioning function module continuously monitors whether there is a user device with the required permissions applying for access; S103, obtaining a positioning function access request randomly initiated by a user device; S104, after the positioning function module parses the permission request of the user equipment, it applies to the main control scheduling module to occupy the UWB transmitter, and reports the occupation start time T1b and end time T1c; The main control scheduling module determines whether the channel is occupied by other user equipment. If there is no conflict, the gate is switched to the positioning function module to occupy the UWB transmitter, and the radar function module is notified of the start and end time of this occupation. After the positioning task is completed, the gate is switched back to the radar function module to occupy the UWB transmitter. S105, after receiving the occupancy notification, the radar function module notifies the second type mutation searcher and waveform repairer in the radar waveform repair module to suspend the search and repair functions; S106, after receiving the occupancy notification, the radar function module notifies the first type mutation searcher in the radar waveform repair module to find the start time T1a and the end time T1d in the waveform repair data buffer, and obtain the first section reference data of T1a~T1b and the last section reference data of T1c~T1d; S107, the radar waveform repair module repairs the middle waveform data of all radar targets with the first reference data and the last reference data, and then fills the repaired data back to the radar function module, and performs the search of the second type mutation searcher and the repair function of the waveform repairer again.

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