A method of target range and velocity measurement

Abstract

This invention discloses a method for measuring target distance and velocity. The method includes: transmitting signals through transmitting antennas, each with a different slow-time dimension slope; determining the distance and velocity units corresponding to each transmitting antenna; determining the target's actual velocity under each transmitting antenna, and using the average of these actual velocities as the target's measured velocity; and determining the target's actual distance under each transmitting antenna, and using the average of these actual distances as the target's measured distance. This method improves the accuracy of target distance and velocity measurements by setting the slow-time dimension slope, number of ramps, ramp duration, and fast-time dimension bandwidth of each transmitting antenna to transmit signals that meet certain conditions. Based on this, the transmitted and received signals are processed accordingly to obtain the target's measured velocity and measured distance relative to the radar.

Description

Technical Field

[0001] This invention relates to the field of radar technology, and more particularly to a method for measuring target distance and velocity. Background Technology

[0002] With the booming development of the automotive industry, radar is increasingly being installed in cars for purposes such as reducing traffic accident rates and assisting driving, becoming part of the car's driving assistance system.

[0003] Currently, multiple-input multiple-output (MIMO) radars typically use frequency-modulated continuous wave (FMCW) waveforms. Their range resolution is inversely proportional to their bandwidth; a wider bandwidth results in higher range resolution, and with the same bandwidth, more sampling points mean a longer range. However, due to limitations in the hardware intermediate frequency bandwidth and sampling rate of MIMO radars, the range resolution cannot be too high, thus affecting the accuracy of target distance measurement. Furthermore, due to the limited sampling rate in the slow time dimension, time-division multiplexing MIMO radars often exhibit velocity ambiguity, with a low unambiguous velocity range, which cannot meet the speed measurement requirements of automotive radars, thus affecting the accuracy of target velocity measurement.

[0004] Therefore, improving the accuracy of target range and velocity measurements by the aforementioned MIMO radar is a pressing technical problem that needs to be solved. Summary of the Invention

[0005] This invention provides a method for measuring target distance and speed, with improved measurement accuracy of target distance and speed.

[0006] According to one aspect of the present invention, a method for measuring target distance and velocity is provided, comprising:

[0007] For each of the multiple transmitting antennas of the radar, a signal is transmitted through the transmitting antenna, wherein the center frequency difference between adjacent transmitting antennas is different, the slow time dimension slope of each transmitting antenna is different, the number of ramps of each transmitting antenna is the same, the ramp duration of each transmitting antenna is the same, the fast time dimension bandwidth of each transmitting antenna is the same, and the number of fast time dimension sampling points of each transmitting antenna is the same. The center frequency difference is the difference between the center frequencies of adjacent ramps in the transmitting antenna.

[0008] Based on the signal transmitted by the transmitting antenna and the signal received by the receiving antenna, the range unit and velocity unit corresponding to the transmitting antenna are determined, wherein the received signal is the signal reflected by the target to the transmitted signal, the target is the object detected by the radar, and the target is at least one;

[0009] For each target, the true velocity of the target under each transmitting antenna is determined based on the range unit and velocity unit of the target under each transmitting antenna, and the average value of the true velocity of the target under each transmitting antenna is determined as the measured velocity of the target relative to the radar;

[0010] Based on the target's measured velocity, the target's initial velocity under each transmitting antenna, and the target's actual velocity under each transmitting antenna, the target's actual distance under each transmitting antenna is determined, and the average of the target's actual distance under each transmitting antenna is determined as the target's measured distance relative to the radar.

[0011] According to another aspect of the present invention, a target distance and velocity measuring device is provided, comprising:

[0012] The transmitting module is used to transmit signals through each of the multiple transmitting antennas of the radar, wherein the center frequency difference between adjacent transmitting antennas is different, the slow time dimension slope of each transmitting antenna is different, the number of ramps of each transmitting antenna is the same, the ramp duration of each transmitting antenna is the same, the fast time dimension bandwidth of each transmitting antenna is the same, and the number of fast time dimension sampling points of each transmitting antenna is the same. The center frequency difference is the difference between the center frequencies of adjacent ramps in the transmitting antenna.

[0013] The unit determination module is used to determine the range unit and velocity unit corresponding to the transmitting antenna based on the signal transmitted by the transmitting antenna and the signal received by the receiving antenna, wherein the received signal is the signal reflected by the target to the transmitted signal, the target is the object detected by the radar, and the target is at least one.

[0014] A velocity determination module is used to determine the true velocity of each target under each transmitting antenna based on the range unit and velocity unit of the target under each transmitting antenna, and to determine the average value of the true velocity of the target under each transmitting antenna as the measured velocity of the target relative to the radar.

[0015] The distance determination module is used to determine the true distance of the target under each transmitting antenna based on the measured speed of the target, the initial speed of the target under each transmitting antenna, and the actual speed of the target under each transmitting antenna, and to determine the average of the true distances of the target under each transmitting antenna as the measured distance of the target relative to the radar.

[0016] According to another aspect of the present invention, a radar is provided, the radar comprising:

[0017] At least one processor; and

[0018] A memory communicatively connected to the at least one processor; wherein,

[0019] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the target distance and speed measurement method according to any embodiment of the present invention.

[0020] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the target distance and velocity measurement method according to any embodiment of the present invention.

[0021] The technical solution of this invention first involves transmitting signals through each of the multiple transmitting antennas of a radar. Among these, adjacent transmitting antennas have different center frequency differences, different slow-time dimension slopes, the same number of ramps, the same ramp duration, the same fast-time dimension bandwidth, and the same number of fast-time dimension sampling points. The center frequency difference is the difference in center frequencies between adjacent ramps within the transmitting antenna. Then, based on the signals transmitted by the transmitting antennas and received by the receiving antennas, the range element and velocity element corresponding to each transmitting antenna are determined. The received signal is the signal reflected by the target in response to the transmitted signal. The target is the object detected by the radar, and there is at least one target. Then, for each target, the true velocity of the target under each transmitting antenna is determined based on the range and velocity units of the target under each transmitting antenna, and the average of the true velocities under each transmitting antenna is determined as the measured velocity of the target relative to the radar. Finally, based on the measured velocity of the target, the initial velocity of the target under each transmitting antenna, and the true velocity of the target under each transmitting antenna, the true distance of the target under each transmitting antenna is determined, and the average of the true distances under each transmitting antenna is determined as the measured distance of the target relative to the radar. This technical solution, by setting the center frequency difference, slow time dimension slope, number of ramps, ramp duration, fast time dimension bandwidth, and number of fast time dimension sampling points of each transmitting antenna, transmits signals that meet the conditions. Based on this, by processing the signals transmitted and received by the transmitting antennas accordingly, the measured velocity and measured distance of the target relative to the radar can be obtained, thereby improving the measurement accuracy of target distance and velocity.

[0022] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a flowchart illustrating a target distance and velocity measurement method provided in Embodiment 1 of the present invention;

[0025] Figure 2 This is a flowchart illustrating a target distance and velocity measurement method provided in Embodiment 2 of the present invention;

[0026] Figure 3 This is a schematic diagram illustrating the implementation of a signal waveform transmitted by a transmitting antenna according to Embodiment 2 of the present invention;

[0027] Figure 4 This is a schematic diagram illustrating the implementation of target azimuth angle measurement according to Embodiment 2 of the present invention;

[0028] Figure 5 This is a schematic diagram illustrating the implementation of a radar according to Embodiment 2 of the present invention;

[0029] Figure 6 This is a schematic diagram of the structure of a target distance and speed measuring device provided in Embodiment 3 of the present invention;

[0030] Figure 7 This is a schematic diagram of the structure of a radar provided in Embodiment 4 of the present invention. Detailed Implementation

[0031] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0032] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0033] Example 1

[0034] Figure 1 This is a flowchart illustrating a target distance and velocity measurement method provided in Embodiment 1 of the present invention. This method is applicable to situations where the target distance and velocity of a radar are measured to improve the radar measurement accuracy. The method can be executed by a target distance and velocity measurement device, which can be implemented by software and / or hardware and is generally integrated on the radar. In this embodiment, the radar can be a MIMO radar with an FMCW waveform.

[0035] like Figure 1 As shown in Embodiment 1 of the present invention, a method for measuring target distance and velocity includes the following steps:

[0036] S110, For each of the multiple transmitting antennas of the radar, a signal is transmitted through the transmitting antenna.

[0037] In this embodiment, the transmitting antenna can be understood as an antenna used to transmit signals. The center frequency difference can be understood as the difference in center frequencies between adjacent ramps in the transmitting antenna. The ramp can be understood as the ramp in the waveform of the signal transmitted by the transmitting antenna. The center frequency can be understood as the frequency at the center point of the ramp. The slow time dimension slope can be understood as the waveform slope in the slow time dimension. The ramp duration can be understood as the duration of the ramp. The fast time dimension bandwidth can be understood as the waveform bandwidth in the fast time dimension. The slow time dimension and the fast time dimension can be understood as two time dimensions in the radar waveform domain. The number of fast time dimension sampling points can be understood as the number of sampling points for the signal in the fast time dimension.

[0038] The radar in this embodiment may include multiple transmitting antennas, each corresponding to a number used to identify it, such as 1, 2, 3, etc. Each transmitting antenna can transmit signals in ascending order of its number; that is, after transmitting antenna 1 completes its signal transmission, the next transmitting antenna is numbered 2, and so on, until all transmitting antennas have completed their signal transmission. This employs time-division multiplexing to transmit waveforms.

[0039] Among these, the center frequency difference between adjacent transmitting antennas is different; the slow time dimension slope of each transmitting antenna is different; the number of ramps of each transmitting antenna is the same; the ramp duration of each transmitting antenna is the same; the bandwidth of each transmitting antenna in the fast time dimension is the same; and the number of sampling points in the fast time dimension of each transmitting antenna is the same.

[0040] The intervals between adjacent ramps of each transmitting antenna are different; for example, in a dual transmitting antenna, the time interval between two adjacent ramps of transmitting antenna 1 is Ts1, and the time interval between two adjacent ramps of transmitting antenna 2 is Ts2, so Ts1 and Ts2 are different.

[0041] S120. Based on the signal transmitted by the transmitting antenna and the signal received by the receiving antenna, determine the distance unit and velocity unit corresponding to the transmitting antenna.

[0042] In this embodiment, the receiving antenna can be understood as an antenna used to receive signals. The received signal can be understood as the signal reflected by a target from the transmitted signal, received by the receiving antenna. The target can be understood as the object detected by the radar; there can be at least one target. For each transmitting antenna, the transmitting antenna can correspond to a range unit and a velocity unit for each target. The range unit can be understood as a frequency domain signal unit representing the distance of the target relative to the transmitting antenna. The velocity unit can be understood as a frequency domain signal unit representing the velocity of the target relative to the transmitting antenna.

[0043] This section does not specify how to determine the range and velocity elements corresponding to the transmitting antenna based on the signals transmitted and received by the transmitting antenna. For example, the transmitted and received signals can be mixed first to obtain a mixed signal; then, the mixed signal can be processed by Fast Fourier Transform (FFT) in the range dimension to obtain a range matrix; then, the range matrix can be processed by FFT in the velocity dimension to obtain a velocity matrix; finally, the velocity matrix can be filtered for noise to obtain the range and velocity elements corresponding to the transmitting antenna.

[0044] S130. For each target, determine the target's true velocity under each transmitting antenna based on the range unit and velocity unit of the target under each transmitting antenna, and determine the average of the target's true velocity under each transmitting antenna as the target's measured velocity relative to the radar.

[0045] In this embodiment, true speed can be understood as the actual speed of the target relative to the transmitting antenna. One transmitting antenna corresponds to one true speed. Measured speed can be understood as the speed of the target relative to the radar.

[0046] For each target under each transmitting antenna, the target's true velocity under each transmitting antenna can be determined based on the range and velocity units of the target under each transmitting antenna, and the average of the target's true velocity under each transmitting antenna is determined as the target's measured velocity relative to the radar.

[0047] This section does not specify how to determine the target's true velocity under each transmitting antenna based on the target's range and velocity units. For example, for each transmitting antenna, the initial velocity and initial distance of the target under that transmitting antenna can be calculated using the corresponding formula based on the target's range and velocity units under that transmitting antenna and the sign of the slow time dimension slope of that transmitting antenna. Then, based on the coefficient representing the maximum unambiguity of the velocity measurement under that transmitting antenna, and the target's initial velocity and initial distance under that transmitting antenna, the true velocity of the target under that transmitting antenna can be calculated using the corresponding formula.

[0048] S140. Based on the measured velocity of the target, the initial velocity of the target under each transmitting antenna, and the actual velocity of the target under each transmitting antenna, determine the actual distance of the target under each transmitting antenna, and determine the average of the actual distances of the target under each transmitting antenna as the measured distance of the target relative to the radar.

[0049] In this embodiment, the true distance can be understood as the actual distance of the target relative to the transmitting antenna. One transmitting antenna corresponds to one true distance. The measured distance can be understood as the distance of the target relative to the radar.

[0050] For each target under each transmitting antenna, the true distance of the target under each transmitting antenna can be determined based on the target's measured velocity, the target's initial velocity under each transmitting antenna, and the target's actual velocity under each transmitting antenna. The average of the true distances of the target under each transmitting antenna is then determined as the target's measured distance relative to the radar.

[0051] This section does not specify how to determine the true distance of the target under each transmitting antenna based on the target's measured velocity, the target's initial velocity under each transmitting antenna, and the target's actual velocity under each transmitting antenna. For example, for each transmitting antenna, the velocity difference between the target's actual velocity under that transmitting antenna and the target's measured velocity can be determined first. Then, the compensation value used for distance compensation measurement can be calculated according to the corresponding formula. Finally, the true distance of the target under that transmitting antenna can be calculated based on the calculated compensation value and the corresponding formula.

[0052] The present invention provides a target range and velocity measurement method. First, for each of the multiple transmitting antennas of a radar, signals are transmitted through the transmitting antenna. Among the transmitting antennas, adjacent numbered transmitting antennas have different center frequency differences, different slow-time dimension slopes, the same number of ramps, the same ramp duration, the same fast-time dimension bandwidth, and the same number of fast-time dimension sampling points. The center frequency difference is the difference in center frequencies between adjacent ramps of the transmitting antennas. Then, based on the signals transmitted by the transmitting antennas and the signals received by the receiving antennas, the range element and velocity corresponding to the transmitting antenna are determined. The system comprises a unit where the received signal is the signal reflected by the target in response to the transmitted signal, the target being the object detected by the radar, and there being at least one target. Then, for each target, the actual velocity of the target under each transmitting antenna is determined based on the range and velocity units of the target under each transmitting antenna, and the average of the actual velocities of the target under each transmitting antenna is determined as the measured velocity of the target relative to the radar. Finally, based on the measured velocity of the target, the initial velocity of the target under each transmitting antenna, and the actual velocity of the target under each transmitting antenna, the actual distance of the target under each transmitting antenna is determined, and the average of the actual distances of the target under each transmitting antenna is determined as the measured distance of the target relative to the radar. Using the above method, by setting the center frequency difference, slow time dimension slope, number of ramps, ramp duration, fast time dimension bandwidth, and number of fast time dimension sampling points of each transmitting antenna, signals meeting certain conditions are transmitted. Based on this, by processing the signals transmitted and received by the transmitting antennas accordingly, the measured velocity and measured distance of the target relative to the radar can be obtained, thereby improving the measurement accuracy of target distance and velocity.

[0053] Example 2

[0054] Figure 2This is a flowchart illustrating a target distance and velocity measurement method according to Embodiment 2 of the present invention. Embodiment 2 refines the above embodiments. In this embodiment, the process of determining the distance and velocity units corresponding to the transmitting antenna based on the signals transmitted by the transmitting antenna and received by the receiving antenna, and the process of determining the target's actual velocity under each transmitting antenna based on the distance and velocity units under each transmitting antenna, are described in detail. It should be noted that technical details not described in detail in this embodiment can be found in any of the above embodiments. Figure 2 As shown, the method includes:

[0055] like Figure 2 As shown in Embodiment 2 of the present invention, a method for measuring target distance and velocity includes the following steps:

[0056] S210, For each of the multiple transmitting antennas of the radar, a signal is transmitted through the transmitting antenna.

[0057] S220. The signal transmitted by the transmitting antenna and the signal received by the receiving antenna are mixed to obtain the intermediate frequency signal corresponding to the transmitting antenna.

[0058] In this embodiment, frequency mixing can be understood as the process of mixing two signals of different frequencies and obtaining a third frequency signal through a frequency selection circuit. The intermediate frequency signal can be understood as the signal obtained after frequency mixing.

[0059] S230. Perform range-dimensional FFT processing on the intermediate frequency signal to obtain a range-dimensional matrix.

[0060] In this embodiment, the range matrix can be understood as a matrix representing the frequency domain signal of each target in the range dimension. There is no specific limitation on how to perform range-dimensional FFT processing on the intermediate frequency signal to obtain the range matrix. For example, the fast time dimension sampling points can be used as the number of sampling points for FFT processing to perform range-dimensional FFT processing on the intermediate frequency signal to obtain the range matrix.

[0061] S240. Perform velocity-dimensional FFT processing on the distance-dimensional matrix to obtain the velocity-dimensional matrix.

[0062] In this embodiment, the velocity dimension matrix can be understood as a matrix representing the frequency domain signal of each target in the velocity dimension. There is no specific limitation on how to perform velocity-dimensional FFT processing on the range dimension matrix to obtain the velocity dimension matrix. For example, the number of ramps of the transmitting antenna can be used as the number of sampling points for FFT processing to perform velocity-dimensional FFT processing on the range dimension matrix to obtain the velocity dimension matrix.

[0063] S250. Perform noise signal filtering on the velocity matrix to obtain the range element and velocity element corresponding to the transmitting antenna.

[0064] In this embodiment, the specific method for noise signal filtering of the velocity dimension matrix is ​​not limited. For example, the velocity dimension matrix can be first processed by non-coherent integration (NCI) to obtain the NCI matrix, and the formula can be S. NCI =∑|S 2D | 2 S 2D S represents the velocity matrix. NCI The obtained NCI matrix is ​​represented by [insert matrix here]. The Constant False-Alarm Rate (CFAR) criterion is then used to select points on the NCI matrix to filter out noise signals, yielding the range and velocity elements corresponding to the transmitting antenna.

[0065] S260. For each target, determine the initial velocity and initial distance of the target under the transmitting antenna based on the distance unit, velocity unit, and the slow time dimension slope sign of the transmitting antenna.

[0066] In this embodiment, the slow time dimension slope sign can be understood as a sign representing the positive or negative sign of the slow time dimension slope, such as a positive sign and a negative sign.

[0067] This section does not specify how to determine the initial velocity and initial distance of the target under the transmitting antenna based on the range and velocity units of the target under the transmitting antenna and the sign of the slow time dimension slope of the transmitting antenna. For example, one can first determine whether the sign of the slow time dimension slope is positive or negative, and then calculate the corresponding initial velocity and initial distance of the target under the transmitting antenna based on the range and velocity units of the target under the transmitting antenna using the calculation formula corresponding to the sign of the slow time dimension slope.

[0068] Optionally, the initial velocity and initial range of the target under the transmitting antenna are determined based on the range element, velocity element, and the sign of the slow-time dimension slope of the transmitting antenna, including:

[0069] If the slope of the slow time dimension of the transmitting antenna is positive, the initial velocity and initial distance of the target under the transmitting antenna are determined according to the following formula:

[0070]

[0071] If the slope of the slow time dimension of the transmitting antenna is negative, the initial velocity and initial distance of the target under the transmitting antenna are determined according to the following formula:

[0072]

[0073] Among them, v o r represents the initial velocity of the target under the transmitting antenna. o The initial distance of the target under the transmitting antenna; c is the speed of light; f d The Doppler frequency of the transmitting antenna. f b The beat frequency of the transmitting antenna. vi and ri are the velocity and range units of the target under the transmitting antenna, respectively; N v The number of ramps in the transmitting antenna; Ts is the time interval between adjacent ramps in the transmitting antenna; f s N is the sampling frequency of the radar for the intermediate frequency signal; r is the number of fast time dimension sampling points for the transmitting antenna; f0 is the signal center frequency of the transmitting antenna; k is a pre-set conventional coefficient. t s B represents the duration of the ramp from the transmitting antenna. fast B is the fast time-dimensional bandwidth of the transmitting antenna; slow T represents the slow time dimension bandwidth of the transmitting antenna; f This represents the total duration of the signal transmitted by the antenna.

[0074] S270. Determine the true velocity of the target under the transmitting antenna based on the unambiguity coefficient of the transmitting antenna, the initial velocity of the target under the transmitting antenna, and the maximum unambiguity velocity of the transmitting antenna.

[0075] In this embodiment, the unambiguity coefficient can be understood as a coefficient characterizing the maximum degree of unambiguity in velocity measurement. The maximum unambiguous velocity can be understood as the maximum velocity that the transmitting antenna can measure without ambiguity. Here, there is no specific limitation on determining the target's true velocity under the transmitting antenna based on the unambiguity coefficient of the transmitting antenna, the target's initial velocity under the transmitting antenna, and the maximum unambiguous velocity of the transmitting antenna. For example, the target's true velocity under the transmitting antenna can be calculated using appropriate formulas based on the unambiguity coefficient of the transmitting antenna, the target's initial velocity under the transmitting antenna, and the maximum unambiguous velocity of the transmitting antenna.

[0076] Optionally, the true velocity of the target under the transmitting antenna is determined based on the unambiguity coefficient of the transmitting antenna, the initial velocity of the target under the transmitting antenna, and the maximum unambiguity velocity of the transmitting antenna, including:

[0077] The target's true velocity under the transmitting antenna is determined using the following formula:

[0078] v = v o +n*v max ;

[0079] Where v is the target's true velocity under the transmitting antenna; n is the unambiguity coefficient of the transmitting antenna; v max The maximum unambiguous velocity of the transmitting antenna.

[0080] Optionally, determine the unambiguity coefficients for each transmitting antenna, including:

[0081] For the transmitting antenna numbered 1, iterate through each first coefficient value within the set range corresponding to the transmitting antenna numbered 1, and substitute the iterated first coefficient values ​​into the following formula to obtain the second coefficient values ​​corresponding to each transmitting antenna except for the transmitting antenna numbered 1:

[0082]

[0083] in, This is the second coefficient value for the transmitting antenna numbered l; v o1 The initial velocity of the transmitting antenna numbered 1; v is the first coefficient value traversed; max1 v represents the maximum unambiguous velocity of the transmitting antenna numbered 1; ol Let v be the initial velocity of the transmitting antenna numbered l, where l = 2, 3, ..., m, and m is the total number of transmitting antennas of the radar; maxl The maximum unambiguous velocity of the transmitting antenna numbered l;

[0084] For each second coefficient value corresponding to each transmitting antenna, the absolute value of the difference between the second coefficient value and the rounded value of the second coefficient value is determined as the target absolute value of the difference of the second coefficient value;

[0085] Determine the smallest absolute value of the target difference from the absolute values ​​of the target differences corresponding to each transmitting antenna;

[0086] The first coefficient value corresponding to the smallest absolute value of the target difference is determined as the unambiguous coefficient of the transmitting antenna numbered 1, and the second coefficient values ​​corresponding to the smallest absolute value of the target difference are respectively determined as the unambiguous coefficients of the transmitting antennas with the corresponding numbers.

[0087] In this embodiment, the set value range can be understood as a pre-defined range of values, which is not specifically limited here and can be set according to actual needs. The first coefficient value can be understood as a value within the set value range. The second coefficient value can be understood as a coefficient value calculated based on the first coefficient value. The rounded value can be understood as the value after rounding to the nearest integer. The target difference absolute value can be understood as the difference absolute value corresponding to the second coefficient value.

[0088] S280. The average of the target's actual speed under each transmitting antenna is determined as the target's measured speed relative to the radar.

[0089] S290. Based on the measured velocity of the target, the initial velocity of the target under each transmitting antenna, and the actual velocity of the target under each transmitting antenna, determine the actual distance of the target under each transmitting antenna, and determine the average of the actual distances of the target under each transmitting antenna as the measured distance of the target relative to the radar.

[0090] Optionally, the measured velocity of the target, the initial velocity of the target under each transmitting antenna, and the actual velocity of the target under each transmitting antenna are used to determine the actual distance of the target under each transmitting antenna, including:

[0091] For each transmitting antenna, determine the velocity difference between the target's actual velocity under the transmitting antenna and the target's measured velocity;

[0092] The distance compensation value for the target under the transmitting antenna is determined based on the velocity difference and the following formula:

[0093]

[0094] in, This is the distance compensation value for the target under the transmitting antenna. This is the speed difference;

[0095] The true distance of the target under the transmitting antenna is determined based on the distance compensation value and the following formula:

[0096]

[0097] Where r is the actual distance of the target under the transmitting antenna, k is a preset product coefficient, and k < 1.

[0098] The distance compensation value can be understood as a compensation value used to compensate for the initial distance in order to obtain the true distance.

[0099] Embodiment 2 of the present invention provides a method for determining the range and velocity units corresponding to a transmitting antenna based on the signals transmitted by the transmitting antenna and received by the receiving antenna, and for determining the target's true velocity under each transmitting antenna based on the range and velocity units under each transmitting antenna. Using this method, by performing range-dimensional FFT and velocity-dimensional FFT based on the mixed intermediate frequency signal and filtering out noise signals, the range and velocity units corresponding to the transmitting antennas can be obtained without interference noise signals. Furthermore, the calculated unambiguity coefficient, initial velocity, and initial distance are used to calculate the unambiguous true velocity and true distance. Based on these accurate true velocity and true distance, a more accurate measurement of velocity and distance can be obtained, thereby effectively improving the measurement accuracy of target distance and velocity.

[0100] The present invention will be described by way of example below.

[0101] Figure 3 This is a schematic diagram illustrating the implementation of a signal waveform transmitted by a transmitting antenna according to Embodiment 2 of the present invention. Figure 3 As shown, taking two transmitting antennas (i.e., transmitting antenna 1 is TX1 and transmitting antenna 2 is TX2) as an example, the time interval between two adjacent ramps of TX1 is Ts1, and the time interval between two adjacent ramps of TX2 is Ts2. Ts1 and Ts2 are different.

[0102] Figure 4 This is a schematic diagram illustrating the implementation of target azimuth angle measurement according to Embodiment 2 of the present invention. Figure 4 As shown, in the design of a MIMO radar array, it is possible to make the receiving channels of different transmitting antennas of the equivalent virtual array spatially overlap. For example, the Nth receiving channel (RX′) of the first transmitting antenna (TX1) N The first receive channel (RX″1) of the second transmit antenna (TX2) overlaps with the first receive channel (RX″1), and RX′ is applied. N The waveform phase difference between the two transmitting antennas is calculated using the two receiving channels RX″1: that is... In the formula For the phase of the Nth receiving channel of the first transmitting antenna, This refers to the phase of the first receiving channel of the second transmitting antenna.

[0103] Assume the original received signal data of TX1 and TX2 are x TX2 (k), x TX2 (k), then after phase compensation, we have The received data from TX2 is updated to

[0104] Therefore, the equivalent virtual received data is: The target azimuth angle can be obtained by performing an FFT transformation on it. The target azimuth angle can be understood as the azimuth angle of the target relative to the radar.

[0105] The method proposed in this invention uses different ramp spacing and different, oppositely signified, slow-time dimension ramps between different transmitting antennas to achieve velocity deambiguity, resulting in a large unambiguous velocity range and a wide velocity measurement range. The center frequency of each ramp of the transmitted waveform is different, without changing the fast-time dimension bandwidth, but utilizing the slow-time dimension bandwidth. This allows the radar to have high range resolution while maintaining hardware feasibility and increasing range resolution. Based on the spatial overlap of the equivalent virtual array elements of the MIMO array, it can accurately solve for the target's azimuth angle.

[0106] Figure 5 This is a schematic diagram illustrating the implementation of a radar according to Embodiment 2 of the present invention. Figure 5 As shown, radar 10 includes at least one set of transmitting antenna arrays 11 and at least one set of receiving antenna arrays 12, wherein the transmitting antenna array includes a plurality of transmitting antenna elements and the receiving antenna array includes a plurality of receiving antenna elements. The transmitting and receiving antennas are respectively connected to radio frequency components, which include couplers 13, mixers 14, analog-to-digital converters 15, and voltage-controlled oscillators 16. Signal processing module 18 performs signal modulation, controls waveform generation through waveform generator 17, generates frequency-modulated continuous wave signals by voltage-controlled oscillators 16, and splits the transmitted signal into two paths by mixer 13. One path is radiated through transmitting antenna 11, and the other path serves as a local oscillator signal, which is mixed with the signal received by receiving array 12 in mixer 14 to generate an intermediate frequency signal. The analog signal is converted into a digital signal in analog-to-digital converter 15 and sent to signal processing module 18 for target detection. The result of signal processing is exchanged with other devices through component 19.

[0107] The signal processing module 18 reads the digital received signal sent by the analog-to-digital conversion module 15, stores it in the internal storage unit of the signal processing module 18, and loads a pre-designed computer program to perform various appropriate actions and processes.

[0108] The signal processing module 18 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, central processing unit (CPU), digital signal processor (DSP), field-programmable gate array (FPGA), microcontroller unit (MCU), etc. The signal processing module 18 performs the various methods and processes described above, such as target distance and velocity measurement methods.

[0109] Interaction interface 19 enables the radar to interact with the outside world, such as interacting with a computer to read target test information through a host computer; or interacting with an in-vehicle system to enable the car to make warnings, avoidance and other responses.

[0110] Example 3

[0111] Figure 6 This is a schematic diagram of a target distance and speed measuring device provided in Embodiment 3 of the present invention. This device can be implemented by software and / or hardware. Figure 6 As shown, the device includes:

[0112] The transmitting module 310 is used to transmit signals through each of the multiple transmitting antennas of the radar, wherein the center frequency difference between adjacent transmitting antennas is different, the slow time dimension slope of each transmitting antenna is different, the number of ramps of each transmitting antenna is the same, the ramp duration of each transmitting antenna is the same, the fast time dimension bandwidth of each transmitting antenna is the same, and the number of fast time dimension sampling points of each transmitting antenna is the same. The center frequency difference is the difference between the center frequencies of adjacent ramps in the transmitting antenna.

[0113] The unit determination module 320 is used to determine the range unit and velocity unit corresponding to the transmitting antenna based on the signal transmitted by the transmitting antenna and the signal received by the receiving antenna, wherein the received signal is the signal reflected by the target to the transmitted signal, the target is the object detected by the radar, and the target is at least one.

[0114] The velocity determination module 330 is used to determine the true velocity of the target under each transmitting antenna based on the range unit and velocity unit of the target under each transmitting antenna for each target, and to determine the average value of the true velocity of the target under each transmitting antenna as the measured velocity of the target relative to the radar.

[0115] The distance determination module 340 is used to determine the true distance of the target under each transmitting antenna based on the measured speed of the target, the initial speed of the target under each transmitting antenna, and the actual speed of the target under each transmitting antenna, and to determine the average of the true distances of the target under each transmitting antenna as the measured distance of the target relative to the radar.

[0116] In this embodiment, the device first transmits signals through the transmitting module 310 to each of the radar's multiple transmitting antennas. The center frequency difference between adjacent transmitting antennas is different, the slow-time dimension slope is different, the number of ramps is the same, the ramp duration is the same, the fast-time dimension bandwidth is the same, and the number of fast-time dimension sampling points is the same. The center frequency difference is the difference in center frequencies between adjacent ramps in the transmitting antenna. Then, the unit determination module 320 determines the range and velocity units corresponding to the transmitting antennas based on the signals transmitted and received by the receiving antennas. The received signal is the signal reflected by the target in response to the transmitted signal. The target is the object detected by the radar, and there is at least one target. Then, the velocity determination module 330 determines the target's true velocity under each transmitting antenna based on the target's range and velocity units under each transmitting antenna, and the average of the true velocities under each transmitting antenna is determined as the target's measured velocity relative to the radar. Finally, the distance determination module 340 determines the target's true distance under each transmitting antenna based on the target's measured velocity, initial velocity under each transmitting antenna, and true velocity under each transmitting antenna, and the average of the true distances under each transmitting antenna is determined as the target's measured distance relative to the radar. This device transmits signals that meet certain conditions by setting the center frequency difference, slow time dimension slope, number of ramps, ramp duration, fast time dimension bandwidth, and number of fast time dimension sampling points for each transmitting antenna. Based on this, the corresponding processing of the transmitted and received signals by the transmitting antennas can obtain the target's measured velocity and measured distance relative to the radar, thereby improving the accuracy of target distance and velocity measurements.

[0117] Optionally, the cell determination module 320 includes:

[0118] A mixing processing unit is used to perform mixing processing on the signal transmitted by the transmitting antenna and the signal received by the receiving antenna to obtain the intermediate frequency signal corresponding to the transmitting antenna;

[0119] The first processing unit is used to perform a range-dimensional Fast Fourier Transform (FFT) on the intermediate frequency signal to obtain a range-dimensional matrix, wherein the range-dimensional matrix is ​​a matrix representing the frequency domain signal of each target in the range dimension.

[0120] The second processing unit is used to perform velocity-dimensional FFT processing on the distance-dimensional matrix to obtain a velocity-dimensional matrix, wherein the velocity-dimensional matrix is ​​a matrix representing the frequency domain signal of each target in the velocity dimension;

[0121] The third processing unit is used to perform noise signal filtering on the velocity matrix to obtain the range element and velocity element corresponding to the transmitting antenna.

[0122] Optionally, the speed determination module 330 includes:

[0123] The first determining unit is configured to, for each transmitting antenna, determine the initial velocity and initial distance of the target under the transmitting antenna based on the distance unit and velocity unit of the target under the transmitting antenna and the slow time dimension slope sign of the transmitting antenna;

[0124] The second determining unit is used to determine the true speed of the target under the transmitting antenna based on the unambiguity coefficient of the transmitting antenna, the initial speed of the target under the transmitting antenna, and the maximum unambiguity speed of the transmitting antenna, wherein the unambiguity coefficient is a coefficient characterizing the maximum unambiguity of speed measurement.

[0125] Optionally, the first determining unit includes:

[0126] The first determining subunit is used to determine the initial velocity and initial distance of the target under the transmitting antenna according to the following formula if the slow time dimension slope of the transmitting antenna is positive:

[0127]

[0128] The second determining subunit is used to determine the initial velocity and initial distance of the target under the transmitting antenna according to the following formula if the slow time dimension slope of the transmitting antenna is negative:

[0129]

[0130] Among them, v o The initial velocity of the target under the transmitting antenna; r o The initial distance of the target under the transmitting antenna is c; the speed of light is f. d The Doppler frequency of the transmitting antenna is... f b The beat frequency of the transmitting antenna. vi and ri are the velocity and range units of the target under the transmitting antenna, respectively; N v The number of ramps in the transmitting antenna; Ts is the time interval between adjacent ramps in the transmitting antenna; f s N is the sampling frequency of the radar for the intermediate frequency signal; r f0 is the number of fast time dimension sampling points of the transmitting antenna; f0 is the signal center frequency of the transmitting antenna; k is a preset conventional coefficient. t sB is the duration of the ramp of the transmitting antenna; fast B is the fast time-dimensional bandwidth of the transmitting antenna; slow T represents the slow-time dimension bandwidth of the transmitting antenna; f The total duration of the signal transmitted by the transmitting antenna.

[0131] Optionally, the second determining unit includes:

[0132] The third determining subunit is used to determine the true velocity of the target under the transmitting antenna according to the following formula:

[0133] v = v o +n*v max ;

[0134] Where v is the actual velocity of the target under the transmitting antenna; n is the unambiguity coefficient of the transmitting antenna; v max The maximum unambiguous velocity of the transmitting antenna.

[0135] Optionally, the device may also include:

[0136] The traversal module is used to sequentially traverse each first coefficient value within the set value range corresponding to the transmitting antenna numbered 1, and substitute the traversed first coefficient values ​​into the following formula to obtain the second coefficient value corresponding to each of all transmitting antennas except the transmitting antenna numbered 1:

[0137]

[0138] in, This is the second coefficient value for the transmitting antenna numbered l; v o1 The initial velocity of the transmitting antenna numbered 1; v is the first coefficient value traversed; max1 The maximum unambiguous velocity of the transmitting antenna numbered 1; v ol Let v be the initial velocity of the transmitting antenna numbered l, where l = 2, 3, ..., m, and m is the total number of transmitting antennas of the radar; maxl The maximum unambiguous velocity of the transmitting antenna numbered l;

[0139] The first absolute value determination module is used to determine the absolute value of the difference between the second coefficient value and the rounded value of the second coefficient value as the target absolute value of the second coefficient value for each second coefficient value corresponding to each transmitting antenna.

[0140] The second absolute value determination module is used to determine the smallest absolute value of the target difference from the absolute values ​​of the target differences corresponding to each of the transmitting antennas;

[0141] The coefficient determination module is used to determine the first coefficient value corresponding to the minimum absolute value of the target difference as the unambiguous coefficient of the transmitting antenna numbered 1, and to determine each of the second coefficient values ​​corresponding to the minimum absolute value of the target difference as the unambiguous coefficient of the transmitting antenna with the corresponding number.

[0142] Optionally, the distance determination module 340 includes:

[0143] The difference determination unit is used to determine the speed difference between the actual speed of the target under the transmitting antenna and the measured speed of the target for each transmitting antenna;

[0144] The compensation value determination unit is used to determine the distance compensation value of the target under the transmitting antenna based on the velocity difference and the following formula:

[0145]

[0146] in, The distance compensation value for the target under the transmitting antenna. The speed difference;

[0147] The distance determination unit is used to determine the true distance of the target under the transmitting antenna based on the distance compensation value and the following formula:

[0148]

[0149] Where r is the actual distance of the target under the transmitting antenna, k is a preset product coefficient, and k < 1.

[0150] The target distance and speed measuring device provided in the embodiments of the present invention can execute the target distance and speed measuring method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method.

[0151] Example 4

[0152] Figure 7 This is a schematic diagram of a radar structure provided in Embodiment 4 of the present invention. Figure 7As shown, the radar 20 includes at least one processor 21, and a memory and multiple transmitting antennas 30 communicatively connected to the at least one processor 21, such as a read-only memory (ROM) 22, a random access memory (RAM) 23, etc. The memory stores computer programs executable by the at least one processor. The processor 21 can perform various appropriate actions and processes based on the computer program stored in the ROM 22 or loaded from the storage unit 28 into the RAM 23. The RAM 23 can also store various programs and data required for the operation of the radar 20. The processor 21, ROM 22, RAM 23, and transmitting antennas 30 are interconnected via a bus 24. An input / output (I / O) interface 25 is also connected to the bus 24.

[0153] Multiple components in radar 20 are connected to I / O interface 25, including: input unit 26, such as keyboard, mouse, etc.; output unit 27, such as various types of displays, speakers, etc.; storage unit 28, such as disk, optical disk, etc.; and communication unit 29, such as network card, modem, wireless transceiver, etc. Communication unit 29 allows radar 20 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0154] Processor 21 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 21 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 21 performs the various methods and processes described above, such as target distance and velocity measurement methods.

[0155] In some embodiments, the target range and velocity measurement method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 28. In some embodiments, part or all of the computer program may be loaded into and / or mounted on radar 20 via ROM 22 and / or communication unit 29. When the computer program is loaded into RAM 23 and executed by processor 21, one or more steps of the target range and velocity measurement method described above may be performed. Alternatively, in other embodiments, processor 21 may be configured to perform the target range and velocity measurement method by any other suitable means (e.g., by means of firmware).

[0156] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0157] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0158] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0159] To provide interaction with the user, the systems and techniques described herein can be implemented on a radar having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the radar. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0160] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0161] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0162] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0163] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for measuring target distance and velocity, characterized in that, Applied to radar, the method includes: For each of the multiple transmitting antennas of the radar, a signal is transmitted through the transmitting antenna, wherein the center frequency difference between adjacent transmitting antennas is different, the slow time dimension slope of each transmitting antenna is different, the number of ramps of each transmitting antenna is the same, the ramp duration of each transmitting antenna is the same, the fast time dimension bandwidth of each transmitting antenna is the same, and the number of fast time dimension sampling points of each transmitting antenna is the same. The center frequency difference is the difference between the center frequencies of adjacent ramps in the transmitting antenna. Based on the signal transmitted by the transmitting antenna and the signal received by the receiving antenna, the range unit and velocity unit corresponding to the transmitting antenna are determined, wherein the received signal is the signal reflected by the target to the transmitted signal, the target is the object detected by the radar, and the target is at least one; For each target, the true velocity of the target under each transmitting antenna is determined based on the range unit and velocity unit of the target under each transmitting antenna, and the average value of the true velocity of the target under each transmitting antenna is determined as the measured velocity of the target relative to the radar; Based on the target's measured velocity, the target's initial velocity under each transmitting antenna, and the target's actual velocity under each transmitting antenna, the target's actual distance under each transmitting antenna is determined, and the average of the target's actual distance under each transmitting antenna is determined as the target's measured distance relative to the radar.

2. The method according to claim 1, characterized in that, Based on the signals transmitted by the transmitting antenna and received by the receiving antenna, the range element and velocity element corresponding to the transmitting antenna are determined, including: The signal transmitted by the transmitting antenna and the signal received by the receiving antenna are mixed to obtain the intermediate frequency signal corresponding to the transmitting antenna; The intermediate frequency signal is processed by a range-dimensional Fast Fourier Transform (FFT) to obtain a range-dimensional matrix, wherein the range-dimensional matrix is ​​a matrix representing the frequency domain signal of each target in the range dimension; The distance dimension matrix is ​​subjected to velocity dimension FFT processing to obtain a velocity dimension matrix, wherein the velocity dimension matrix is ​​a matrix representing the frequency domain signal of each target in the velocity dimension; The velocity matrix is ​​subjected to noise signal filtering to obtain the range element and velocity element corresponding to the transmitting antenna.

3. The method according to claim 1, characterized in that, Determining the target's true velocity under each transmitting antenna based on the target's range and velocity units under each transmitting antenna includes: For each transmitting antenna, the initial velocity and initial distance of the target under the transmitting antenna are determined based on the range element, velocity element, and slow time dimension slope sign of the transmitting antenna. The true velocity of the target under the transmitting antenna is determined based on the unambiguity coefficient of the transmitting antenna, the initial velocity of the target under the transmitting antenna, and the maximum unambiguity velocity of the transmitting antenna. The unambiguity coefficient is a coefficient characterizing the maximum degree of unambiguity in velocity measurement.

4. The method according to claim 3, characterized in that, Based on the target's range and velocity units under the transmitting antenna and the slow-time slope sign of the transmitting antenna, the initial velocity and initial range of the target under the transmitting antenna are determined, including: If the slope of the slow time dimension of the transmitting antenna is positive, the initial velocity and initial distance of the target under the transmitting antenna are determined according to the following formula: If the slope of the slow time dimension of the transmitting antenna is negative, the initial velocity and initial distance of the target under the transmitting antenna are determined according to the following formula: Among them, v o The initial velocity of the target under the transmitting antenna; r o The initial distance of the target under the transmitting antenna is c; the speed of light is f. d The Doppler frequency of the transmitting antenna is... f b The beat frequency of the transmitting antenna. vi and ri are the velocity and range units of the target under the transmitting antenna, respectively; N v The number of ramps in the transmitting antenna; Ts is the time interval between adjacent ramps in the transmitting antenna; f s N is the sampling frequency of the radar for the intermediate frequency signal; r f0 is the number of fast time dimension sampling points of the transmitting antenna; f0 is the signal center frequency of the transmitting antenna; k is a preset conventional coefficient. t s B is the duration of the ramp of the transmitting antenna; fast B is the fast time-dimensional bandwidth of the transmitting antenna; slow T represents the slow-time dimension bandwidth of the transmitting antenna; f The total duration of the signal transmitted by the transmitting antenna.

5. The method according to claim 3, characterized in that, Determining the true velocity of the target under the transmitting antenna based on the unambiguity coefficient of the transmitting antenna, the initial velocity of the target under the transmitting antenna, and the maximum unambiguity velocity of the transmitting antenna includes: The true velocity of the target under the transmitting antenna is determined using the following formula: v=v o +n*v max ; Where v is the actual velocity of the target under the transmitting antenna; n is the unambiguity coefficient of the transmitting antenna; v max The maximum unambiguous velocity of the transmitting antenna.

6. The method according to claim 3, characterized in that, Determine the unambiguity coefficients for each transmitting antenna, including: For the transmitting antenna numbered 1, each first coefficient value within the set value range corresponding to the transmitting antenna numbered 1 is sequentially traversed, and the traversed first coefficient values ​​are substituted into the following formula to obtain the second coefficient value corresponding to each transmitting antenna among all transmitting antennas except the transmitting antenna numbered 1: in, This is the second coefficient value for the transmitting antenna numbered l; v o1 The initial velocity of the transmitting antenna numbered 1; v is the first coefficient value traversed; max1 The maximum unambiguous velocity of the transmitting antenna numbered 1; v ol Let v be the initial velocity of the transmitting antenna numbered l, where l = 2, 3, ..., m, and m is the total number of transmitting antennas of the radar; maxl The maximum unambiguous velocity of the transmitting antenna numbered l; For each second coefficient value corresponding to each transmitting antenna, the absolute value of the difference between the second coefficient value and the rounded value of the second coefficient value is determined as the target absolute value of the difference of the second coefficient value; Determine the smallest absolute value of the target difference from the absolute values ​​of the target differences corresponding to each of the aforementioned transmitting antennas; The first coefficient value corresponding to the minimum absolute value of the target difference is determined as the unambiguity coefficient of the transmitting antenna numbered 1, and the second coefficient values ​​corresponding to the minimum absolute value of the target difference are respectively determined as the unambiguity coefficients of the transmitting antennas with the corresponding numbers.

7. The method according to claim 1, characterized in that, Based on the measured velocity of the target, the initial velocity of the target under each transmitting antenna, and the actual velocity of the target under each transmitting antenna, the true distance of the target under each transmitting antenna is determined, including: For each transmitting antenna, determine the velocity difference between the target's actual velocity under that transmitting antenna and the target's measured velocity; The distance compensation value for the target under the transmitting antenna is determined based on the velocity difference and the following formula: in, The distance compensation value for the target under the transmitting antenna. The speed difference; The true distance of the target under the transmitting antenna is determined based on the distance compensation value and the following formula: Where r is the actual distance of the target under the transmitting antenna, k is a preset product coefficient, and k < 1.

8. A target distance and velocity measuring device, characterized in that, Configured in the radar, including: The transmitting module is used to transmit signals through each of the multiple transmitting antennas of the radar, wherein the center frequency difference between adjacent transmitting antennas is different, the slow time dimension slope of each transmitting antenna is different, the number of ramps of each transmitting antenna is the same, the ramp duration of each transmitting antenna is the same, the fast time dimension bandwidth of each transmitting antenna is the same, and the number of fast time dimension sampling points of each transmitting antenna is the same. The center frequency difference is the difference between the center frequencies of adjacent ramps in the transmitting antenna. The unit determination module is used to determine the range unit and velocity unit corresponding to the transmitting antenna based on the signal transmitted by the transmitting antenna and the signal received by the receiving antenna, wherein the received signal is the signal reflected by the target to the transmitted signal, the target is the object detected by the radar, and the target is at least one. A velocity determination module is used to determine the true velocity of each target under each transmitting antenna based on the range unit and velocity unit of the target under each transmitting antenna, and to determine the average value of the true velocity of the target under each transmitting antenna as the measured velocity of the target relative to the radar. The distance determination module is used to determine the true distance of the target under each transmitting antenna based on the measured speed of the target, the initial speed of the target under each transmitting antenna, and the actual speed of the target under each transmitting antenna, and to determine the average of the true distances of the target under each transmitting antenna as the measured distance of the target relative to the radar.

9. A radar, characterized in that, The radar includes: Multiple transmitting antennas; At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the target distance and velocity measurement method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the target distance and velocity measurement method according to any one of claims 1-7.

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