Received signal compensation method and device, integrated circuit and radio device

Abstract

The invention discloses a received signal compensation method, a received signal compensation device, an integrated circuit and a radio device, for an FMCW radar with at least two receiving channels and unequal lengths of lines, compensation is carried out on the receiving unequal lengths of digital baseband signals in a digital domain according to the length difference between the receiving channels, and the receiving unequal lengths of the digital baseband signals are compensated. The problem that relative time delay is generated by different receiving channels due to line length differences among the receiving channels is solved, the quality of received signals is improved, and the receiving performance is improved.

Description

Technical Field

[0001] The present application relates to but is not limited to radar technology, and in particular to a method, device, integrated circuit and radio device for compensating a received signal based on a frequency modulated continuous wave (FMCW) radar. Background Art

[0002] In order to improve the radar measurement accuracy, multi-antenna receiving technology is usually used. Under the multi-antenna technology, in order to achieve better isolation between each receiving antenna, it is becoming increasingly difficult to design the same antenna feeder length for different receiving antennas.

[0003] Unequal length antenna feeders can solve the above antenna design problems. Unequal length antenna feeders can achieve better link budget, simpler antenna design and routing, lower antenna coupling, better target resolution performance, smaller modules and costs. However, the difference in antenna feeder length between each receiving channel will inevitably lead to the problem of relative delay in different receiving channels. In other words, due to the inconsistency of the receiving antenna feeder length, the quality of the received signal will be reduced, resulting in poor reception performance. Summary of the invention

[0004] The present application provides a received signal compensation method and device, which can improve the quality of received signals and thus enhance the receiving performance.

[0005] An embodiment of the present invention provides a received signal compensation method, which can be applied to an FMCW radar having at least two receiving channels and unequal line lengths, wherein the at least two receiving channels include a reference receiving channel and at least one other receiving channel having a length difference compared to the reference receiving channel; for any of the receiving channels, the method includes: processing an echo signal received by the receiving channel to obtain a digital baseband signal; and compensating the digital baseband signal obtained after processing based on the length difference between the receiving channel and the reference receiving channel and the frequency information of a transmitted signal corresponding to the received echo signal.

[0006] Optionally, the unequal lengths of the lines include: unequal lengths of receiving antenna feed lines and / or unequal lengths of RXLOs.

[0007] Optionally, the frequency information of the transmitted signal corresponding to the received echo signal includes: a sweep bandwidth, a sweep period or a sweep center frequency.

[0008] Optionally, the unequal lengths of the lines include unequal lengths of receiving antenna feeders; the compensating for the digital baseband signal obtained after processing includes: obtaining the echo signal received by the reference receiving channel according to the time delay caused by the length of the reference receiving antenna feeder corresponding to the reference receiving channel; processing the echo signal to obtain the digital baseband signal of the reference receiving antenna at the receiving end; generating the echo signal received by the receiving channel i according to the time delay caused by the length of the feeder of the receiving antenna i corresponding to the receiving channel i and the echo signal received by the reference receiving channel; processing the echo signal to obtain the digital baseband signal of the receiving antenna i at the receiving end; the receiving channel is any one of the remaining at least one receiving channel; and using the difference between the digital baseband signal of the receiving antenna i at the receiving end and the digital baseband signal of the reference receiving antenna at the receiving end, compensating for the digital baseband signal of the receiving antenna i at the receiving end.

[0009] Optionally, the unequal line lengths include unequal RXLO lengths; the compensating the processed digital baseband signal comprises: obtaining an echo signal received by the reference receiving channel according to a delay generated by a reference RXLO length corresponding to a reference receiving antenna corresponding to the reference receiving channel; processing the echo signal to obtain a digital baseband signal of the reference receiving antenna at the receiving end; and compensating the digital baseband signal according to a delay generated by a reference RXLO length corresponding to a reference receiving antenna corresponding to the reference receiving channel i. i The time delay caused by the length and the echo signal received by the reference receiving channel are used to generate the echo signal received by the receiving channel i; the digital baseband signal of the receiving antenna i at the receiving end is obtained after processing the echo signal; the receiving channel is any receiving channel of the remaining at least one receiving channel; and the digital baseband signal of the receiving antenna i at the receiving end is compensated by using the difference between the digital baseband signal of the receiving antenna i at the receiving end and the digital baseband signal of the reference receiving antenna at the receiving end.

[0010] Optionally, the unequal line lengths include unequal lengths of receiving antenna feeders and unequal lengths of RXLOs; the compensating the processed digital baseband signal may include: acquiring an echo signal received by the reference receiving channel according to a delay caused by a reference receiving antenna feeder length corresponding to the reference receiving channel and a delay caused by a reference RXLO length corresponding to the reference receiving antenna; processing the echo signal to obtain a digital baseband signal of the reference receiving antenna at the receiving end; compensating the digital baseband signal according to a delay caused by a feeder length of receiving antenna i corresponding to receiving channel i and a delay caused by a reference RXLO length corresponding to receiving antenna i; iThe time delay caused by the length and the echo signal received by the reference receiving channel are used to generate the echo signal received by the receiving channel i; after processing the echo signal, a digital baseband signal of the receiving antenna i at the receiving end is obtained; the receiving channel is any receiving channel of the remaining at least one receiving channel; and the digital baseband signal of the receiving antenna i at the receiving end is compensated by using the difference between the digital baseband signal of the receiving antenna i at the receiving end and the digital baseband signal of the reference receiving antenna at the receiving end.

[0011] Optionally, the echo signal received by the receiving channel is processed to obtain a digital baseband signal, including: obtaining the echo signal received by the reference channel according to the delay caused by the feeder length of the reference receiving antenna corresponding to the reference receiving channel and the delay caused by the reference RXLO length corresponding to the reference receiving antenna; obtaining the echo signal received by the reference channel according to the delay caused by the feeder length of the receiving antenna i corresponding to the receiving channel i and the delay caused by the RXLO length corresponding to the receiving antenna i ... i The time delay caused by the length and the echo signal received by the reference receiving channel are used to generate the echo signal received by the receiving channel i; the echo signal received by the receiving channel i and the echo signal received by the reference receiving channel are processed to obtain the digital baseband signal of the receiving antenna i at the receiving end and the digital baseband signal of the reference receiving antenna at the receiving end.

[0012] Optionally, the digital baseband signal of the receiving antenna i at the receiving end may be compensated based on the frequency sweep bandwidth, the chirp effective edge period, and the delay of the current receiving antenna compared to the reference antenna. For example, using the formula 0≤t≤T, the compensation is performed on the digital baseband signal of the receiving antenna i at the receiving end; wherein β represents the frequency sweep bandwidth, T represents the time for the frequency of a single chirp signal of the FMCW radar to rise, and μ i1 represents the delay caused by the feeder length of the receiving antenna i relative to the feeder length of the reference antenna, μ i2 Indicates the RXLO corresponding to the receiving antenna i i The delay caused by the length relative to the reference RXLO length.

[0013] Optionally, the method may further include: performing a first phase compensation on the digital baseband signal of the receiving antenna i at the receiving end by utilizing the difference between the digital baseband signal of the receiving antenna i at the receiving end and the digital baseband signal of the reference receiving antenna at the receiving end.

[0014] Optionally, the digital baseband signal of the receiving antenna i at the receiving end may be compensated based on the frequency sweep bandwidth, the chirp effective edge period, and the delay of the current receiving antenna compared to the reference antenna. For example, the formula 0≤t≤T, the first phase compensation is performed on the digital baseband signal of the receiving antenna i at the receiving end; wherein β represents the frequency sweep bandwidth, T represents the time for the frequency of a single chirp signal of the FMCW radar to rise, and f c is the center frequency of the swept frequency signal, τ2 represents the delay caused by the reference RXLO length corresponding to the reference receiving antenna, μ i1 represents the delay caused by the feeder length of the receiving antenna i relative to the feeder length of the reference antenna, μ i2 Indicates the RXLO corresponding to the receiving antenna i i The delay caused by the length relative to the reference RXLO length.

[0015] Optionally, the received signal compensation method may further include: performing a second phase compensation on the digital baseband signal of the receiving antenna i at the receiving end by utilizing the difference between the digital baseband signal of the receiving antenna i at the receiving end and the digital baseband signal of the reference receiving antenna at the receiving end.

[0016] Optionally, the second phase compensation may be performed on the digital baseband signal of the receiving antenna i at the receiving end based on the frequency sweep bandwidth, the chirp effective edge period, the delay generated by the reference antenna, and the delay of the current receiving antenna compared to the reference antenna. For example, using the formula 0≤t≤T, the second phase compensation is performed on the digital baseband signal of the receiving antenna i at the receiving end; wherein β represents the frequency sweep bandwidth, T represents the time for the frequency of a single chirp signal of the FMCW radar to rise, τ1 represents the delay caused by the feeder length of the reference receiving antenna, τ2 represents the delay caused by the reference RXLO length corresponding to the reference receiving antenna, and μ i1 Indicates the time delay caused by the feeder length of the receiving antenna i relative to the feeder length of the reference antenna.

[0017] Optionally, the compensation operation may be performed based on the frequency sweep bandwidth, the chirp effective edge period, the center frequency of the frequency sweep signal, and the delay of the current receiving antenna compared to the reference antenna. For example, the formula 0≤t≤T, the compensation is performed on the digital baseband signal of the receiving antenna i at the receiving end; wherein β represents the frequency sweep bandwidth, T represents the time for the frequency of a single chirp signal of the FMCW radar to rise, and f c is the center frequency of the sweep signal, μ i1 Indicates the time delay caused by the feeder length of the receiving antenna i relative to the feeder length of the reference antenna.

[0018] Optionally, the acquiring the echo signal received by the reference receiving channel may include: acquiring a first receiving signal x(t-τ1) input from the reference receiving antenna to a mixer on the receiving channel where the reference receiving antenna is located via a low noise amplifier LNA, and a second receiving signal x(t-τ2) input to the mixer on the receiving channel where the reference receiving antenna is located via a local oscillator LO;

[0019] The obtained first received signal x(t-τ1) and the second received signal x(t-τ2) are correlated to obtain the echo signal x(t-τ1)x received by the reference receiving channel. * (t-τ2);

[0020]

[0021]

[0022]

[0023] Where, β represents the frequency sweep bandwidth, T represents the time for the frequency of a single chirp signal of the FMCW radar to rise, θ represents the initial phase of the signal, and f c is the center frequency of the swept frequency signal, τ1 represents the time delay caused by the feeder length of the reference receiving antenna, and τ2 represents the time delay caused by the reference RXLO length corresponding to the reference receiving antenna.

[0024] Optionally, generating the echo signal received by the receiving channel i may include: obtaining a third receiving signal x(t-τ1-μ t) input from the receiving antenna i via the LNA to the mixer on the receiving channel where the receiving antenna i is located. i1 ), and the fourth receiving signal x(t-τ2-μ ) inputted into the mixer on the receiving channel where the receiving antenna i is located through the local oscillator LO i2 ); The third received signal x(t-τ1-μ i1 ) and the fourth received signal x(t-τ2-μ i2 ) is correlated to obtain the echo x(t-τ1-μ received by the receiving channel i i1 )x * (t-τ2-μ i2 ); represents the time delay caused by the feeder length of the receiving antenna i relative to the feeder length of the reference antenna, μ i2 Indicates the RXLO corresponding to the receiving antenna i i The delay caused by the length relative to the reference RXLO length.

[0025] An embodiment of the present application further provides a computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions are used to execute the received signal compensation method described in any embodiment of the present application.

[0026] An embodiment of the present application also provides a device for implementing received signal compensation, which may include a memory and a processor, and the memory stores the following instructions that can be executed by the processor: used to execute the steps of the received signal compensation method described in any embodiment of the present application.

[0027] A received signal compensation device is also provided in an embodiment of the present application, which can be applied to an FMCW radar having at least two receiving channels and unequal line lengths, comprising: a processing module and a compensation module; the processing module is used to process the echo signal received by any receiving channel to obtain a digital baseband signal; the at least two receiving channels include a reference receiving channel and at least one other receiving channel having a length difference compared to the reference receiving channel; the compensation module is used to compensate the digital baseband signal obtained after processing based on the length difference between the receiving channel and the reference receiving channel and the frequency information of the transmitted signal corresponding to the received echo signal.

[0028] Optionally, the compensation module adopts the received signal compensation method described in any embodiment of the present application to compensate the digital baseband signal obtained after processing.

[0029] Optionally, the processing module is further used to: perform low-pass filtering on the echo signal received by the receiving channel; and convert the signal after the low-pass filtering into the digital baseband signal.

[0030] Optionally, the unequal line lengths include unequal lengths of receiving antenna feeders; the compensation module is used to: obtain an echo signal received by the reference receiving channel according to the time delay caused by the length of the reference receiving antenna feeder corresponding to the reference receiving channel; obtain a digital baseband signal of the reference receiving antenna at the receiving end after processing the echo signal; generate an echo signal received by the receiving channel i according to the time delay caused by the length of the feeder of the receiving antenna i corresponding to the receiving channel i and the echo signal received by the reference receiving channel; obtain a digital baseband signal of the receiving antenna i at the receiving end after processing the echo signal; and compensate for the digital baseband signal of the receiving antenna i at the receiving end by using the difference between the digital baseband signal of the receiving antenna i at the receiving end and the digital baseband signal of the reference receiving antenna at the receiving end.

[0031] Optionally, the unequal line lengths include unequal RXLO lengths; the compensation module may be used to: obtain an echo signal received by the reference receiving channel according to a delay generated by a reference RXLO length corresponding to a reference receiving antenna corresponding to the reference receiving channel; obtain a digital baseband signal of the reference receiving antenna at the receiving end after processing the echo signal; and obtain a digital baseband signal of the reference receiving antenna at the receiving end according to a delay generated by a reference RXLO length corresponding to a reference receiving antenna corresponding to the reference receiving channel i. i The time delay caused by the length and the echo signal received by the reference receiving channel are used to generate the echo signal received by the receiving channel i; the digital baseband signal of the receiving antenna i at the receiving end is obtained after processing the echo signal; and the digital baseband signal of the receiving antenna i at the receiving end is compensated by using the difference between the digital baseband signal of the receiving antenna i at the receiving end and the digital baseband signal of the reference receiving antenna at the receiving end.

[0032] Optionally, the unequal line lengths include unequal lengths of receiving antenna feeders and unequal lengths of RXLOs; the compensation module may be used to: obtain an echo signal received by the reference receiving channel according to a delay caused by a reference receiving antenna feeder length corresponding to the reference receiving channel and a delay caused by a reference RXLO length corresponding to the reference receiving antenna; obtain a digital baseband signal of the reference receiving antenna at the receiving end after processing the echo signal; and compensate the received antenna according to a delay caused by a feeder length of receiving antenna i corresponding to receiving channel i and a delay caused by a reference RXLO length corresponding to receiving antenna i. i The time delay caused by the length and the echo signal received by the reference receiving channel are used to generate the echo signal received by the receiving channel i; the digital baseband signal of the receiving antenna i at the receiving end is obtained after processing the echo signal; and the digital baseband signal of the receiving antenna i at the receiving end is compensated by using the difference between the digital baseband signal of the receiving antenna i at the receiving end and the digital baseband signal of the reference receiving antenna at the receiving end.

[0033] Optionally, the processing module includes a first processing module, a second processing module and a third processing module; the first processing module is used to obtain the echo received by the reference channel according to the delay caused by the reference receiving antenna feeder length corresponding to the reference receiving channel and the delay caused by the reference RXLO length corresponding to the reference receiving antenna; the second processing module is used to obtain the echo received by the reference channel according to the delay caused by the feeder length of the receiving antenna i corresponding to the receiving channel i and the delay caused by the RXLO length corresponding to the receiving antenna i iThe time delay caused by the length and the echo signal received by the reference receiving channel are used to generate the echo signal received by the receiving channel i; the third processing module is used to process the echo signal received by the receiving channel i and the echo signal received by the reference receiving channel to obtain the digital baseband signal of the receiving antenna i at the receiving end and the digital baseband signal of the reference receiving antenna at the receiving end; the compensation module is used to compensate the digital baseband signal of the receiving antenna i at the receiving end by using the difference between the digital baseband signal of the receiving antenna i at the receiving end and the digital receiving signal of the reference receiving antenna at the receiving end.

[0034] Optionally, the compensation module may be used to adopt 0≤t≤T, the compensation is performed on the digital baseband signal of the receiving antenna i at the receiving end; wherein β represents the frequency sweep bandwidth, T represents the time for the frequency of a single chirp signal of the FMCW radar to rise, and μ i1 represents the delay caused by the feeder length of the receiving antenna i relative to the feeder length of the reference antenna, μ i2 Indicates the RXLO corresponding to the receiving antenna i i The delay caused by the length relative to the reference RXLO length.

[0035] Optionally, the compensation module can also be used to perform a first phase compensation on the digital baseband signal of the receiving antenna i at the receiving end by using the difference between the digital baseband signal of the receiving antenna i at the receiving end and the digital receiving signal of the reference receiving antenna at the receiving end.

[0036] Optionally, the compensation module may adopt 0≤t≤T, the first phase compensation is performed on the digital baseband signal of the receiving antenna i at the receiving end; wherein β represents the frequency sweep bandwidth, T represents the time for the frequency of a single chirp signal of the FMCW radar to rise, and μ i1 represents the delay caused by the feeder length of the receiving antenna i relative to the feeder length of the reference antenna, μ i2 Indicates the RXLO corresponding to the receiving antenna i i The delay caused by the length relative to the reference RXLO length; f c is the center frequency of the scanning signal, and τ2 represents the time delay caused by the reference RXLO length corresponding to the reference receiving antenna.

[0037] Optionally, the compensation module is further used to: perform a second phase compensation on the digital baseband signal of the receiving antenna i at the receiving end by utilizing the difference between the digital baseband signal of the receiving antenna i at the receiving end and the digital receiving signal of the reference receiving antenna at the receiving end.

[0038] Optionally, the compensation module may adopt 0≤t≤T, the second phase compensation is performed on the digital baseband signal of the receiving antenna i at the receiving end; τ1 represents the time delay caused by the feeder length of the reference receiving antenna.

[0039] Optionally, the compensation module is used to adopt 0≤t≤T, the compensation is performed on the digital baseband signal of the receiving antenna i at the receiving end; wherein β represents the frequency sweep bandwidth, T represents the time for the frequency of a single chirp signal of the FMCW radar to rise, and f c is the center frequency of the sweep signal, μ i1 Indicates the time delay caused by the feeder length of the receiving antenna i relative to the feeder length of the reference antenna.

[0040] Optionally, the compensation module may include: a first multiplier M1, a second multiplier M2, and a first digital local oscillator; the input of the first digital local oscillator includes θ0 and Δθ containing information for compensation, and the output of the first digital local oscillator The output of the first digital local oscillator One input of the first multiplier M1 is the preprocessed receiving signal of the receiving antenna i at the receiving end. Another input of the first multiplier M1 is the output LO_I of the first digital local oscillator. The output of the first multiplier M1 is the real part Y of the signal received by the compensated receiving antenna i. i _I; One input of the second multiplier M2 is the preprocessed digital baseband signal of the receiving antenna i at the receiving end Another input of the second multiplier M2 is the output LO_Q of the first digital local oscillator, and the output of the second multiplier M2 is the imaginary part Y of the compensated receiving signal received by the receiving antenna i i _Q.

[0041] Optionally, the compensation module may include: a third multiplier M3, a fourth multiplier M4, a fifth multiplier M5, a sixth multiplier M6, a first adder S1, a second adder S2, and a second digital local oscillator; the input of the second digital local oscillator includes θ0 and Δθ containing information for compensation, and the output of the second digital local oscillator The output of the second digital local oscillator One input of the third multiplier M3 is the real part of the digital baseband signal of the receiving antenna i at the receiving end after preprocessing. Another input of the third multiplier M3 is the output LO_I of the second digital local oscillator, and the output of the third multiplier M3 is an input of the second adder; the input of the fourth multiplier M4 is the output LO_Q of the second digital local oscillator, and the output of the fourth multiplier M4 is an input of the first adder; an input of the fifth multiplier M5 is the imaginary part of the digital baseband signal of the receiving antenna i at the receiving end after preprocessing Another input of the fifth multiplier M5 is the output LO_I of the second digital local oscillator, and the output of the fifth multiplier M5 is another input of the first adder; the input of the sixth multiplier M6 is the output LO_Q of the second digital local oscillator, and the output of the sixth multiplier M6 is connected to another input of the first adder; the two inputs of the first adder S1 are the output of the fourth multiplier M4 and the output of the fifth multiplier M5, respectively, and the output of the first adder S1 is the real part Y of the compensated receiving signal received by the receiving antenna i i _I; The two inputs of the second adder S2 are the output of the third multiplier M3 and the output of the sixth multiplier M6, and the output of the first adder S1 is the compensated imaginary part Y of the receiving signal received by the receiving antenna i i _Q.

[0042] An embodiment of the present application also provides an integrated circuit, which may include: a signal transceiver channel for transmitting a radio signal and receiving an echo signal formed by the radio signal being reflected by a target object; and a received signal compensation device as described in any embodiment of the present application, which compensates the digital baseband signal obtained after processing.

[0043] An embodiment of the present application also provides a radio device, which may include: a carrier; the integrated circuit described in any embodiment of the present application, which is arranged on the carrier; and an antenna, which is arranged on the carrier and is used to send and receive radio signals.

[0044] An embodiment of the present application also provides a terminal device, which may include: a device body; a radio device as described in any embodiment of the present application arranged on the device body, and the radio device is used for target detection and / or communication.

[0045] The embodiment of the present application is for an FMCW radar having at least two receiving channels and lines of unequal lengths. By compensating for the unequal reception lengths of digital baseband signals in the digital domain according to the length difference between the receiving channels, the problem of relative delays in different receiving channels inevitably caused by the difference in line lengths between the receiving channels is eliminated, the quality of the received signal is improved, and thus the receiving performance is improved.

[0046] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings are used to provide further understanding of the technical solution of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the present application and do not constitute a limitation on the technical solution of the present application.

[0048] Figure 1 A schematic diagram of a transceiver link in an embodiment of the present application;

[0049] Figure 2 A schematic diagram of an antenna feeder in a multi-receiving antenna in an embodiment of the present application;

[0050] Figure 3 It is a flowchart of a received signal compensation method in an embodiment of the present application;

[0051] Figure 4 A schematic diagram of a flow chart of an embodiment of a received signal compensation method in an embodiment of the present application;

[0052] Figure 5 This is a schematic diagram of the structure of the received signal compensation device in an embodiment of the present application;

[0053] Figure 6 This is a schematic diagram of the composition structure of an embodiment of a received signal compensation device in an embodiment of the present application;

[0054] Figure 7 This is a schematic diagram of a first circuit embodiment of a compensation module in an embodiment of the present application;

[0055] Figure 8 Schematic diagram of a second circuit embodiment of the compensation module in the embodiment of the present application. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solution and advantages of the present application more clear, the embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other arbitrarily without conflict.

[0057] In order to facilitate understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. Embodiments of the present application are provided in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0058] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0059] It is understood that the terms "first" and "second" used in this application are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0060] It can be understood that the “connection” in the following embodiments should be understood as “electrical connection”, “communication connection”, etc. if the connected circuits, modules, units, etc. have electrical signals or data transmission between each other.

[0061] When used herein, the singular forms "a", "an", and "said / the" may also include plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "include / comprise" or "have" and the like specify the presence of stated features, wholes, steps, operations, components, parts, or combinations thereof, but do not exclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof. At the same time, the term "and / or" used in this specification includes any and all combinations of the relevant listed items.

[0062] The electromagnetic wave of the transmission signal emitted by the transmitting antenna of the radar is a high-frequency continuous wave, and its frequency changes regularly with time. The waveform of the high-frequency continuous wave can be a sawtooth or a triangle. Taking the waveform of the high-frequency continuous wave as a sawtooth wave as an example, each sawtooth wave is called a chirp, and the duration of each chirp signal is T, which is called a cycle. The frequency of each chirp increases linearly with time. After the transmission signal encounters the target object, it will be reflected back by the target object, and the reflected electromagnetic wave can be called an echo signal. The receiving antenna of the radar system can receive the echo signal, and the radar system can identify the received echo signal according to the transmission signal, and based on the mixer, mix the echo signal with the transmission signal to obtain the difference frequency signal of the transmission signal and the echo signal.

[0063] Figure 1 Schematic diagram of a transceiver link in an embodiment of the present application, such as Figure 1As shown, it may include a transmitting link and a receiving link, etc. Among them, the transmitting link may include a digital baseband signal source (Baseband), a direct digital frequency synthesizer (TX DDFS), an IQ digital-to-analog converter (IQDAC), a low-pass filter (LPF), an IQ modulator (IQModulator), a power amplifier (PA, Power Amplifier), etc. connected in sequence, and the signal amplified by the PA is radiated to a preset spatial area through a transmitting antenna. The receiving link may include a low noise amplifier (LNA, Low Noise Amplifier), a real mixer (Real Mixer), a trans-impedance amplifier (TIA, Trans-Impedance Amplifier), a low pass filter (LPF), a high pass filter (HPF, High-Pass Filter), a real analog-to-digital converter (Real ADC), etc. connected in sequence. That is to say, the echo signal received by the receiving antenna is processed by the above-mentioned LNA, Real Mixer, TIA, LPF, HPF and Real ADC in sequence, and then converted into a real digital baseband signal. The subsequent digital signal processing module processes the real digital baseband signal to obtain parameter information of the target such as distance, speed, angle, height and micro-motion characteristics.

[0064] Optionally, in an embodiment of the present application, the receiving link may include a receiving antenna, which may be connected through a peripheral port of the chip and formed on a carrier such as a PCB board. In some optional embodiments, the receiving antenna may also be integrated on the chip package to form AiP or AoP, that is, a chip structure with a packaged antenna.

[0065] In order to improve the radar measurement accuracy, multi-antenna receiving technology is usually used. The length from the receiving antenna to the low noise amplifier (LNA) (referred to as the receiving antenna feeder length in this application) is different, which will cause the RF signal to pass through different receiving antennas. In addition, since each receiving antenna channel uses the same local oscillator (LO), the length from the LO to the mixer (Mixer) of each receiving channel (referred to as the RXLO length in this application) is different, which will cause relative delay problems in different receiving channels. Figure 2 Schematic diagram of antenna feeder in multiple receiving antennas in an embodiment of the present application. Figure 2 In the receiving end shown, the dotted lines shown by numbers 10, 11, 12, and 13 respectively represent the lengths from different receiving antennas to the LNA; the dotted lines shown by numbers 20, 21, 22, and 23 respectively represent the lengths from the LO to different mixers of each receiving channel.

[0066] In order to eliminate the problem of relative delay between different receiving channels caused by differences in line lengths, the embodiments of the present application provide a received signal compensation method and device, which can improve the quality of the received signal and thus enhance the receiving performance.

[0067] Figure 3 : is a flow chart of a received signal compensation method in an embodiment of the present application. The received signal compensation method provided in an embodiment of the present application is applied to an FMCW radar having at least two receiving channels and lines of unequal lengths; wherein the at least two receiving channels include a reference receiving channel and at least one other receiving channel having a length difference with the reference receiving channel; such as Figure 3 As shown, including:

[0068] Step 300: For any receiving channel, the echo signal received by the receiving channel is processed to obtain a digital baseband signal.

[0069] In an exemplary embodiment, the processing of the echo signal received by the receiving channel in this step may include but is not limited to low-pass filtering, analog-to-digital conversion, etc.

[0070] Step 301: Compensate the processed digital baseband signal based on the length difference between the receiving channel and the reference receiving channel and the frequency information of the transmitting signal corresponding to the received echo signal.

[0071] In an exemplary embodiment, the frequency information of the transmission signal corresponding to the received echo signal may include but is not limited to the sweep bandwidth, the sweep period, the sweep center frequency, etc.

[0072] In an exemplary embodiment, the unequal line lengths may include unequal receive antenna feed line lengths and / or unequal RXLO lengths.

[0073] The received signal compensation method provided in the embodiment of the present application compensates for the unequal reception length of the digital baseband signal in the digital domain according to the length difference between the receiving channels for an FMCW radar having at least two receiving channels and lines of unequal lengths, thereby eliminating the problem of relative delays in different receiving channels inevitably caused by the difference in line lengths between the receiving channels, improving the quality of the received signal, and thus improving the receiving performance.

[0074] In an exemplary embodiment, the unequal lengths of the lines include unequal lengths of receiving antenna feed lines; step 301 may include:

[0075] Acquire the echo signal received by the reference receiving channel according to the time delay caused by the feeder length of the reference receiving antenna corresponding to the reference receiving channel; obtain the digital baseband signal of the reference receiving antenna at the receiving end after processing the echo signal;

[0076] Generate an echo signal received by receiving channel i according to the time delay caused by the feeder length of receiving antenna i corresponding to receiving channel i and the echo signal received by the obtained reference receiving channel; and obtain a digital baseband signal of receiving antenna i at the receiving end after processing the echo signal;

[0077] The digital baseband signal of the receiving antenna i at the receiving end is compensated by using the difference between the digital baseband signal of the receiving antenna i at the receiving end and the digital baseband signal of the reference receiving antenna at the receiving end.

[0078] In an exemplary embodiment, the unequal line lengths include unequal RXLO lengths; step 301 includes:

[0079] Acquire the echo signal received by the reference receiving channel according to the time delay generated by the reference RXLO length corresponding to the reference receiving antenna corresponding to the reference receiving channel; obtain the digital baseband signal of the reference receiving antenna at the receiving end after processing the echo signal;

[0080] According to the RXLO corresponding to the receiving antenna i corresponding to the receiving channel i i The time delay generated by the length and the echo signal received by the obtained reference receiving channel are used to generate the echo signal received by the receiving channel i; after processing the echo signal, a digital baseband signal of the receiving antenna i at the receiving end is obtained;

[0081] The digital baseband signal of the receiving antenna i at the receiving end is compensated by using the difference between the digital baseband signal of the receiving antenna i at the receiving end and the digital baseband signal of the reference receiving antenna at the receiving end.

[0082] In an exemplary embodiment, the unequal line lengths include unequal lengths of receiving antenna feed lines and unequal lengths of RXLOs; and compensating the processed digital baseband signal in step 301 may include:

[0083] Acquire an echo signal received by a reference receiving channel according to a time delay generated by a reference receiving antenna feeder length corresponding to the reference receiving channel and a time delay generated by a reference RXLO length corresponding to the reference receiving antenna; and obtain a digital baseband signal of the reference receiving antenna at a receiving end after processing the echo signal;

[0084] According to the delay caused by the length of the receiving antenna i feeder corresponding to the receiving channel i and the RXLO corresponding to the receiving antenna i i The time delay caused by the length and the echo signal received by the obtained reference receiving channel are used to generate the echo signal received by the receiving channel i; the digital baseband signal of the receiving antenna i at the receiving end is obtained after processing the echo signal;

[0085] The digital baseband signal of the receiving antenna i at the receiving end is compensated by using the difference between the digital baseband signal of the receiving antenna i at the receiving end and the digital baseband signal of the reference receiving antenna at the receiving end.

[0086] Figure 4 This is a flow chart of an embodiment of a received signal compensation method in an embodiment of the present application, which is applied to an FMCW radar having at least two receiving channels and unequal line lengths, wherein the at least two receiving channels include a reference receiving channel and at least one remaining receiving channel i having a length difference compared to the reference receiving channel, where i is an integer greater than or equal to 1; the antenna corresponding to the reference receiving channel is the reference receiving antenna, and the antenna corresponding to the receiving channel i is the receiving antenna i; in this embodiment, taking the unequal line lengths including unequal lengths of receiving antenna feeders and unequal lengths of RXLO as an example, it may include:

[0087] Step 400: Acquire an echo signal received by a reference receiving channel according to a time delay caused by a reference receiving antenna feeder length corresponding to the reference receiving channel and a time delay caused by a reference RXLO length corresponding to the reference receiving antenna.

[0088] In an exemplary embodiment, acquiring an echo signal received by a reference receiving channel includes:

[0089] Obtain a first receiving signal x(t-τ1) input from a reference receiving antenna via an LNA to a mixer on a receiving channel where the reference receiving antenna is located, and a second receiving signal x(t-τ2) input from a local oscillator LO to a mixer on a receiving channel where the reference receiving antenna is located;

[0090] The obtained first received signal x(t-τ1) and the second received signal x(t-τ2) are correlated to obtain the echo signal x(t-τ1)x received by the reference receiving channel. * (t-τ2);

[0091] Wherein τ1 represents the time delay caused by the feeder length of the reference receiving antenna, and τ2 represents the time delay caused by the reference RXLO length corresponding to the reference receiving antenna.

[0092] If we do not consider the relative delay of the RF signal passing through different receiving antennas due to the inconsistency of the receiving antenna feeder length, and the relative delay of different receiving channels due to the difference in RXLO length, then the echo signal x(t) received by each receiving channel at the receiving end is as shown in formula (1):

[0093]

[0094] In formula (1), β represents the frequency sweep bandwidth, T represents the frequency rise time of a single chirp signal of the FMCW radar, θ represents the initial phase of the signal, and f c is the center frequency of the swept signal.

[0095] For the reference receiving antenna corresponding to the reference receiving channel, assuming that the time delay caused by the reference receiving antenna feeder length F is τ1, then, according to formula (1), the first receiving signal x(t-τ1) input from the reference receiving antenna through the LNA to the mixer on the receiving channel where the reference receiving antenna is located is as shown in formula (2):

[0096]

[0097] Assuming that the time delay generated by the reference RXLO length corresponding to the reference receiving antenna is τ2, then according to formula (1), the second receiving signal x(t-τ2) of the mixer on the receiving channel where the reference receiving antenna is located through the LO input is as shown in formula (3):

[0098]

[0099] According to the delay caused by the reference receiving antenna feeder length and the delay caused by the reference RXLO length corresponding to the reference receiving antenna, after passing through the mixer, the echo signal received by the reference receiving channel is x(t-τ1)x * (t-τ2).

[0100] Step 401: Delay caused by the length of the feeder line of receiving antenna i corresponding to receiving channel i and the RXLO corresponding to receiving antenna i i The time delay generated by the length and the echo signal received by the obtained reference receiving channel are used to generate the echo signal received by the receiving channel i; wherein i is an integer greater than or equal to 1.

[0101] In an exemplary embodiment, generating an echo signal received by a receiving channel i includes:

[0102] Obtain the third receiving signal x(t-τ1-μ from the receiving antenna i through the LNA input to the mixer on the receiving channel where the receiving antenna i is located i1 ), and the fourth receiving signal x(t-τ2-μ i2 );

[0103] The third received signal x(t-τ1-μ i1 ) and the fourth received signal x(t-τ2-μ i2 ) is correlated to obtain the echo signal x(t-τ1-μ i1 )x *(t-τ2-μ i2 );

[0104] Among them, μ i1 represents the delay caused by the feeder length of the receiving antenna i relative to the feeder length of the reference antenna, μ i2 Indicates the RXLO corresponding to the receiving antenna i i The delay caused by the length relative to the reference RXLO length.

[0105] For a receiving antenna i among multiple receiving antennas, assume that the feeder length of receiving antenna i is F i The time delay relative to the reference antenna feeder length F is μ i1 , RXLO corresponding to receiving antenna i i The delay caused by the length relative to the reference RXLO length is μ i2 , then, the antenna feed line length F1 and RXLO i After the length passes through the Mixer on the receiving channel where the receiving antenna i is located, the echo signal x(t-τ1-μ i1 )x * (t-τ2-μ i2 ) is shown in formula (4):

[0106]

[0107] In formula (4), represents the initial digital mixer phase within each chirp; represents the digital mixer beat frequency compensation; Denotes different receiving antenna delays μ i1 compensate.

[0108] From formula (4), the relationship between the echo signal received by the reference receiving channel and the echo signal received by the receiving channel i due to time delay can be deduced as formula (5):

[0109]

[0110] Step 402: Process the echo signal received by the receiving channel i and the echo signal received by the reference receiving channel to obtain a digital baseband signal of the receiving antenna i at the receiving end and a digital baseband signal of the reference receiving antenna at the receiving end.

[0111] In an exemplary embodiment, the processing of the received echo signal in this step may include but is not limited to low-pass filtering, analog-to-digital conversion, etc.

[0112] Step 403: Compensate the digital baseband signal of the receiving antenna i at the receiving end by using the difference between the digital baseband signal of the receiving antenna i at the receiving end and the digital receiving signal of the reference receiving antenna at the receiving end.

[0113] In an exemplary embodiment, the digital baseband signal of receiving antenna i at the receiving end can be compensated based on the frequency sweep bandwidth, the chirp effective edge period, and the delay of the current receiving antenna compared with the reference antenna. For the convenience of description, analog signals are still used for description. According to formula (5), it can be used 0≤t≤T, frequency compensation is performed on the digital baseband signal of receiving antenna i at the receiving end.

[0114] The received signal compensation method provided in the embodiment of the present application eliminates the delay caused by the length of the feeder of the receiving antenna i and the RXLO corresponding to the receiving antenna i by compensating the frequency of the received signal of the receiving antenna i at the receiving end. i The time delay caused by the length partially affects the received signal of the receiving antenna i at the receiving end, improving the quality of the received signal and thus improving the receiving performance.

[0115] In an exemplary instance, the received signal compensation method provided in an embodiment of the present application may also include: performing a first phase compensation on the digital baseband signal of the receiving antenna i at the receiving end by utilizing the difference between the digital baseband signal of the receiving antenna i at the receiving end and the digital baseband signal of the reference receiving antenna at the receiving end.

[0116] In one embodiment, the first phase compensation can be performed on the digital baseband signal of the receiving antenna i at the receiving end based on the sweep bandwidth, the chirp effective edge period, the center frequency of the sweep signal, and the delay of the current receiving antenna compared to the reference antenna. For the convenience of description, an analog signal is still used for description. According to formula (5), it can be used 0≤t≤T, a first phase compensation is performed on the received signal of the receiving antenna i at the receiving end.

[0117] The received signal compensation method provided in the embodiment of the present application further eliminates the delay caused by the feeder length of the receiving antenna i and the RXLO corresponding to the receiving antenna i by compensating the first phase of the received signal of the receiving antenna i at the receiving end. i The influence of the time delay caused by the length on the received signal of the receiving antenna i at the receiving end further improves the quality of the received signal, thereby improving the receiving performance.

[0118] In an exemplary instance, the received signal compensation method provided in an embodiment of the present application, on the basis of frequency compensation, or on the basis of frequency compensation and first phase compensation, may also include: performing a second phase compensation on the received signal of the receiving antenna i at the receiving end by using the difference between the received signal of the receiving antenna i at the receiving end and the received signal of the reference receiving antenna at the receiving end.

[0119] In one embodiment, the second phase compensation can be performed on the digital baseband signal of the receiving antenna i at the receiving end based on the frequency sweep bandwidth, the chirp effective edge period, the delay generated by the reference antenna, and the delay of the current receiving antenna compared to the reference antenna. For the convenience of description, the analog signal is still used for description. According to formula (5), it can be used 0≤t≤T, a second phase compensation is performed on the received signal of the receiving antenna i at the receiving end.

[0120] The received signal compensation method provided in the embodiment of the present application eliminates the delay caused by the feeder length of the receiving antenna i and the RXLO corresponding to the receiving antenna i by performing the second phase compensation on the received signal of the receiving antenna i at the receiving end. i The influence of the time delay caused by the length on the received signal of the receiving antenna i at the receiving end better improves the quality of the received signal, thereby improving the receiving performance.

[0121] In an exemplary embodiment, frequency compensation, first phase compensation and second phase compensation are performed on the received signal of receiving antenna i at the receiving end by using the difference between the digital baseband signal of receiving antenna i at the receiving end and the digital baseband signal of the reference receiving antenna at the receiving end.

[0122] In one embodiment, for the convenience of description, analog signals are still used for description. According to formula (5), The received signal of the receiving antenna i at the receiving end is compensated. The received signal compensation method provided in this embodiment effectively eliminates the delay caused by the feeder length of the receiving antenna i and the RXLO corresponding to the receiving antenna i by compensating the received signal of the receiving antenna i at the receiving end. i The influence of the time delay caused by the length on the received signal of the receiving antenna i at the receiving end further improves the quality of the received signal, thereby improving the receiving performance.

[0123] In one embodiment, in actual use, the information used for compensation can be Simplified to:

[0124] The present application also provides a computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions are used to execute any of the above-mentioned received signal compensation methods.

[0125] The present application further provides a device for implementing received signal compensation, comprising a memory and a processor, wherein the memory stores the following instructions executable by the processor: used to execute the steps of any of the received signal compensation methods described above.

[0126] Figure 5 FIG. 1 is a schematic diagram of the structure of the received signal compensation device in an embodiment of the present application, which is applied to a FMCW radar having at least two receiving channels and lines of unequal lengths, such as Figure 5 As shown, processing module, compensation module; wherein,

[0127] A processing module, for processing the echo signal received by any receiving channel to obtain a digital baseband signal; wherein the at least two receiving channels include a reference receiving channel and at least one other receiving channel having a length difference with the reference receiving channel;

[0128] The compensation module is used to compensate the processed digital baseband signal based on the length difference between the receiving channel and the reference receiving channel and the frequency information of the transmitting signal corresponding to the received echo signal.

[0129] In an exemplary embodiment, the unequal line lengths may include unequal receive antenna feed line lengths and / or unequal RXLO lengths.

[0130] The received signal compensation device provided in the embodiment of the present application compensates for the unequal reception length of the digital baseband signal in the digital domain according to the length difference between the receiving channels for an FMCW radar having at least two receiving channels and lines of unequal lengths, thereby eliminating the problem of relative delays in different receiving channels caused by the difference in line lengths between the receiving channels, improving the quality of the received signal, and thus improving the receiving performance.

[0131] In an exemplary embodiment, the unequal lengths of the lines include unequal lengths of receiving antenna feed lines; the compensation module may be used to:

[0132] The echo signal received by the reference receiving channel is obtained according to the time delay caused by the feeder length of the reference receiving antenna corresponding to the reference receiving channel; the digital baseband signal of the reference receiving antenna at the receiving end is obtained after processing the echo signal; the echo signal received by the receiving channel i is generated according to the time delay caused by the feeder length of the receiving antenna i corresponding to the receiving channel i and the obtained echo signal received by the reference receiving channel; the digital baseband signal of the receiving antenna i at the receiving end is obtained after processing the echo signal; the digital baseband signal of the receiving antenna i at the receiving end is compensated by using the difference between the digital baseband signal of the receiving antenna i at the receiving end and the digital baseband signal of the reference receiving antenna at the receiving end.

[0133] In an exemplary embodiment, the line unequal lengths include RXLO unequal lengths; the compensation module may be used to:

[0134] According to the delay generated by the reference RXLO length corresponding to the reference receiving antenna corresponding to the reference receiving channel, the echo signal received by the reference receiving channel is obtained; after processing the echo signal, the digital baseband signal of the reference receiving antenna at the receiving end is obtained; according to the RXLO length corresponding to the receiving antenna i corresponding to the receiving channel i, the digital baseband signal of the reference receiving antenna at the receiving end is obtained; i The time delay generated by the length and the echo signal received by the obtained reference receiving channel are used to generate the echo signal received by the receiving channel i; the digital baseband signal of the receiving antenna i at the receiving end is obtained after processing the echo signal; and the digital baseband signal of the receiving antenna i at the receiving end is compensated by using the difference between the digital baseband signal of the receiving antenna i at the receiving end and the digital baseband signal of the reference receiving antenna at the receiving end.

[0135] In an exemplary embodiment, the unequal line lengths include unequal lengths of receiving antenna feed lines and unequal lengths of RXLOs; the compensation module may be used to:

[0136] According to the delay caused by the reference receiving antenna feeder length corresponding to the reference receiving channel and the delay caused by the reference RXLO length corresponding to the reference receiving antenna, the echo signal received by the reference receiving channel is obtained; after processing the echo signal, a digital baseband signal of the reference receiving antenna at the receiving end is obtained; according to the delay caused by the feeder length of the receiving antenna i corresponding to the receiving channel i and the delay caused by the RXLO length corresponding to the receiving antenna i i The time delay caused by the length and the echo signal received by the obtained reference receiving channel are used to generate the echo signal received by the receiving channel i; the digital baseband signal of the receiving antenna i at the receiving end is obtained after processing the echo signal; and the digital baseband signal of the receiving antenna i at the receiving end is compensated by using the difference between the digital baseband signal of the receiving antenna i at the receiving end and the digital baseband signal of the reference receiving antenna at the receiving end.

[0137] In an exemplary embodiment, the processing module is further used to: perform low-pass filtering on the echo signal received by the receiving channel; and convert the signal after the low-pass filtering into a digital baseband signal.

[0138] Figure 6 Schematic diagram of the structure of the received signal compensation device in the embodiment of the present application. Figure 6 As shown, it may include: a first processing module, a second processing module, a third processing module, and a compensation module; wherein,

[0139] A first processing module, configured to obtain an echo signal received by a reference receiving channel according to a time delay generated by a reference receiving antenna feeder length corresponding to the reference receiving channel and a time delay generated by a reference RXLO length corresponding to the reference receiving antenna;

[0140] The second processing module is used to generate a delay generated by the length of the feeder line of the receiving antenna i corresponding to the receiving channel i and the RXLO corresponding to the receiving antenna i. i The time delay generated by the length and the echo signal received by the obtained reference receiving channel are used to generate the echo signal received by the receiving channel i;

[0141] A third processing module, used to process the echo signal received by the receiving channel i and the echo signal received by the reference receiving channel to obtain a digital baseband signal of the receiving antenna i at the receiving end and a digital baseband signal of the reference receiving antenna at the receiving end;

[0142] The compensation module is used to compensate the digital baseband signal of the receiving antenna i at the receiving end by using the difference between the digital baseband signal of the receiving antenna i at the receiving end and the digital receiving signal of the reference receiving antenna at the receiving end.

[0143] In an exemplary embodiment, for the convenience of description, analog signals are still used for description here, and the compensation module can be used for:

[0144] use 0≤t≤T, frequency compensation is performed on the digital baseband signal of receiving antenna i at the receiving end; wherein,

[0145] β represents the frequency sweep bandwidth, T represents the time it takes for the frequency of a single chirp signal of the FMCW radar to rise, and μ i1 represents the delay caused by the feed line length of the receiving antenna i relative to the feed line length of the reference antenna, μ i2 Indicates the RXLO corresponding to the receiving antenna i i The delay caused by the length relative to the reference RXLO length.

[0146] In an exemplary embodiment, the compensation module may use the received signal compensation method described in any one of the embodiments of the present application to compensate the digital baseband signal obtained after processing.

[0147] In an exemplary embodiment, the compensation module is further configured to:

[0148] The first phase compensation is performed on the digital baseband signal of the receiving antenna i at the receiving end by using the difference between the digital baseband signal of the receiving antenna i at the receiving end and the digital receiving signal of the reference receiving antenna at the receiving end.

[0149] In one embodiment, for the convenience of description, analog signals are still used for description. The compensation module can be used 0≤t≤T, a first phase compensation is performed on the received signal of the receiving antenna i at the receiving end; wherein,

[0150] f c is the center frequency of the swept frequency signal, and τ2 represents the time delay caused by the reference RXLO length corresponding to the reference receiving antenna.

[0151] The receiving signal compensation device provided in the embodiment of the present application further eliminates the delay caused by the length of the feeder of the receiving antenna i and the RXLO corresponding to the receiving antenna i by compensating the first phase of the receiving signal of the receiving antenna i at the receiving end. i The influence of the time delay caused by the length on the received signal of the receiving antenna i at the receiving end further improves the quality of the received signal, thereby improving the receiving performance.

[0152] In an exemplary embodiment, the compensation module is further configured to:

[0153] The digital baseband signal of the receiving antenna i at the receiving end is subjected to second phase compensation by using the difference between the digital baseband signal of the receiving antenna i at the receiving end and the digital receiving signal of the reference receiving antenna at the receiving end.

[0154] In one embodiment, for the convenience of description, analog signals are still used for description. The compensation module can be used 0≤t≤T, a second phase compensation is performed on the received signal of the receiving antenna i at the receiving end; wherein τ1 represents the time delay caused by the feeder length of the reference receiving antenna.

[0155] The receiving signal compensation device provided in the embodiment of the present application eliminates the delay caused by the length of the feeder of the receiving antenna i and the RXLO corresponding to the receiving antenna i by performing the second phase compensation on the receiving signal of the receiving antenna i at the receiving end. i The influence of the time delay caused by the length on the received signal of the receiving antenna i at the receiving end better improves the quality of the received signal, thereby improving the receiving performance.

[0156] In an exemplary embodiment, the compensation module is used to compensate the digital baseband signal of the receiving antenna i at the receiving end based on the difference between the digital baseband signal of the receiving antenna i at the receiving end and the digital received signal of the reference receiving antenna at the receiving end. In one embodiment, the digital baseband signal of the receiving antenna i at the receiving end can be compensated based on the sweep bandwidth, the chirp effective edge period, the center frequency of the sweep signal, and the delay of the current receiving antenna compared to the reference antenna. For the convenience of description, analog signals are still used for description here, and the compensation module can adopt 0≤t≤T, the received signal of receiving antenna i at the receiving end is compensated.

[0157] Figure 7 Schematic diagram of a first circuit embodiment of the compensation module in the embodiment of the present application. Figure 7 As shown, before compensating the received signal RX of the receiving antenna i at the receiving end, the received signal RX of the receiving antenna i at the receiving end can be compensated by the third processing module. i Perform one-way preprocessing, for example, after processing through a low-pass filter (LPF) and a digital-to-analog converter (ADC), the preprocessed digital baseband signal of the receiving antenna i at the receiving end is obtained, which is expressed as Will Enter the compensation module.

[0158] Figure 7 In the first embodiment shown, the information used for compensation middle, is θ0, f c μ1 is Δθ. Information used for compensation It can be expressed as In the first embodiment, if Figure 7 As shown, the compensation module may include: a first multiplier M1, a second multiplier M2, and a first digital local oscillator (Digital LO generator); wherein the input of the first digital local oscillator includes θ0 and Δθ of information used for compensation, and the output of the first digital local oscillator The output of the first digital local oscillator One input of the first multiplier M1 is the preprocessed digital baseband signal of the receiving antenna i at the receiving end. Another input of the first multiplier M1 is the output LO_I of the first digital local oscillator. The output of the first multiplier M1 is the real part Y of the signal received by the compensated receiving antenna i. i _I; One input of the second multiplier M2 is the preprocessed receiving signal of the receiving antenna i at the receiving end Another input of the second multiplier M2 is the output LO_Q of the first digital local oscillator, and the output of the second multiplier M2 is the imaginary part Y of the compensated receiving signal received by the receiving antenna i i _Q. The compensated receiving signal of receiving antenna i can be expressed as

[0159] Figure 8 Schematic diagram of a second circuit embodiment of the compensation module in the embodiment of the present application. Figure 8 As shown, before compensating the received signal RX of the receiving antenna i at the receiving end, the received signal RX of the receiving antenna i at the receiving end can be compensated by the third processing module. i The real part and the imaginary part of the signal are preprocessed respectively, for example, by processing the first LPF and the first ADC to obtain the preprocessed digital baseband signal RX of the receiving antenna i at the receiving end i The real part of The digital baseband signal RX of the receiving antenna i at the receiving end after preprocessing is obtained through the second LPF and the second ADC. i The imaginary part of Will Enter the compensation module separately.

[0160] Figure 8 In the second embodiment shown, the information used for compensation middle, is θ0, f c μ1 is Δθ. Information used for compensation It can be expressed as In the second embodiment, if Figure 6 As shown, the compensation module may include: a third multiplier M3, a fourth multiplier M4, a fifth multiplier M5, a sixth multiplier M6, a first adder S1, a second adder S2, and a second digital local oscillator; wherein the input of the second digital local oscillator includes θ0 and Δθ of the information used for compensation, and the output of the second digital local oscillator The output of the second digital local oscillator One input of the third multiplier M3 is the real part of the received signal of the receiving antenna i at the receiving end after preprocessing. Another input of the third multiplier M3 is the output LO_I of the second digital local oscillator, and the output of the third multiplier M3 is connected to an input of the second adder; the input of the fourth multiplier M4 is the output LO_Q of the second digital local oscillator, and the output of the fourth multiplier M4 is connected to an input of the first adder; an input of the fifth multiplier M5 is the imaginary part of the received signal of the receiving antenna i at the receiving end after preprocessing Another input of the fifth multiplier M5 is the output LO_I of the second digital local oscillator, and the output of the fifth multiplier M5 is connected to another input of the first adder; the input of the sixth multiplier M6 is the output LO_Q of the second digital local oscillator, and the output of the sixth multiplier M6 is connected to another input of the first adder; the two inputs of the first adder S1 are the output of the fourth multiplier M4 and the output of the fifth multiplier M5, respectively, and the output of the first adder S1 is the real part Y of the received signal of the receiving antenna i after compensation i _I; The two inputs of the second adder S2 are the output of the third multiplier M3 and the output of the sixth multiplier M6, and the output of the first adder S1 is the compensated imaginary part Y of the receiving signal received by the receiving antenna i i _Q. The compensated receiving signal of receiving antenna i can be expressed as

[0161] In an exemplary embodiment, the first processing module may be used to:

[0162] Obtain a first receiving signal x(t-τ1) input from a reference receiving antenna via an LNA to a mixer on a receiving channel where the reference receiving antenna is located, and a second receiving signal x(t-τ2) input from a local oscillator LO to a mixer on a receiving channel where the reference receiving antenna is located;

[0163] The obtained first received signal x(t-τ1) and the second received signal x(t-τ2) are correlated to obtain the echo signal x(t-τ1)x received by the reference receiving channel. * (t-τ2); where

[0164]

[0165]

[0166] in,

[0167] In an exemplary embodiment, the second processing module may be used to:

[0168] Obtain the third receiving signal x(t-τ1-μ from the receiving antenna i through the LNA input to the mixer on the receiving channel where the receiving antenna i is located i1 ), and the fourth receiving signal x(t-τ2-μ i2 );

[0169] The third received signal x(t-τ1-μ i1 ) and the fourth received signal x(t-τ2-μ i2 ) is correlated to obtain the echo signal x(t-τ1-μi1 )x * (t-τ2-μ i2 );

[0170] in,

[0171] An embodiment of the present application also provides an integrated circuit, which may include: a signal transceiver channel for transmitting a radio signal and receiving an echo signal formed by the radio signal being reflected by a target object; and a received signal compensation device as described in any embodiment of the present application, which compensates the digital baseband signal obtained after processing.

[0172] In some optional embodiments, the integrated circuit may be a millimeter wave radar chip or a laser radar chip (such as an FMCW laser radar chip), etc., for obtaining information such as the distance, angle, speed, shape, size, surface roughness and dielectric properties of the target. Optionally, the integrated circuit may be an antenna-in-package (Antenna-In-Package, referred to as AiP) chip structure, an antenna-on-package (Antenna-On-Package, referred to as AoP) chip structure or an antenna-on-chip (Antenna-On-Chip, referred to as AoC) chip structure, etc.

[0173] In an optional embodiment, different integrated circuits (such as chips) can be combined with each other to form a cascade structure. For the sake of simplicity, they are not elaborated here, but it should be understood that the technologies that people in this field should know based on the contents recorded in this application should be included in the scope of this application.

[0174] The embodiments of the present application also provide a radio device, which may include: a carrier; the integrated circuit described in any embodiment of the present application, which is arranged on the carrier; an antenna, which is arranged on the carrier and is used to send and receive radio signals. The antenna can be integrated with the integrated circuit as an integrated device arranged on the carrier (that is, the antenna can be an antenna arranged in an AiP or AoC structure at this time), and the integrated circuit can also be two separate components from the antenna, which are connected to form a system-on-chip (System on Chip, abbreviated as: SoC) structure. The carrier can be a printed circuit board (Printed Circuit Board, abbreviated as: PCB), such as a development board, a data acquisition board or a mainboard of a device, and the first transmission line can be a PCB trace.

[0175] An embodiment of the present application also provides a terminal device, which may include: a device body; a radio device as described in any embodiment of the present application arranged on the device body, and the radio device is used for target detection and / or communication.

[0176] Specifically, based on the above embodiments, in some optional embodiments of the present application, the radio device may be arranged outside the device body, or arranged inside the device body, and in other optional embodiments of the present application, the radio device may also be arranged partially inside the device body and partially outside the device body. The embodiments of the present application are not limited to this, and the specific situation may be determined.

[0177] In some optional embodiments, the above-mentioned device body can be a component and product used in fields such as smart cities, smart homes, transportation, smart homes, consumer electronics, security monitoring, industrial automation, in-cabin detection (such as smart cockpits), medical devices and health care. For example, the device body can be intelligent transportation equipment (such as cars, bicycles, motorcycles, ships, subways, trains, etc.), security equipment (such as cameras), liquid level / flow rate detection equipment, smart wearable devices (such as bracelets, glasses, etc.), smart home devices (such as sweeping robots, door locks, televisions, air conditioners, smart lights, etc.), various communication devices (such as mobile phones, tablet computers, etc.), and gates, smart traffic lights, smart signs, traffic cameras and various industrialized mechanical arms (or robots), etc., and can also be various instruments for detecting life characteristic parameters and various equipment equipped with the instruments, such as life characteristic detection in car cabins, indoor personnel monitoring, smart medical equipment, consumer electronic equipment, etc.

[0178] The radio device may be the radio device described in any embodiment of the present application. The structure and working principle of the radio device have been described in detail in the above embodiments and will not be repeated here.

[0179] It should be noted that radio devices can achieve functions such as target detection and / or communication by transmitting and receiving radio signals to provide the device body with detection target information and / or communication information, thereby assisting or even controlling the operation of the device body.

[0180] For example, when the above-mentioned device body is applied to an advanced driving assistance system (ADAS), the radio device (such as millimeter wave radar, lidar, etc.) as a vehicle-mounted sensor can assist the ADAS system to realize application scenarios such as adaptive cruise control, automatic braking assistance (Autonomous Emergency Braking, AEB), blind spot detection warning (Blind Spot Detection, BSD), lane change assist warning (Lane Change Assist, LCA), rear cross traffic alert (RCTA), parking assistance, rear vehicle warning, collision avoidance, pedestrian detection, etc., and can also be used in application scenarios such as car door opening collision avoidance, etc.

[0181] Although the embodiments disclosed in this application are as above, the contents described are only embodiments adopted to facilitate understanding of this application and are not intended to limit this application. Any technician in the field to which this application belongs can make any modifications and changes in the form and details of implementation without departing from the spirit and scope disclosed in this application, but the scope of patent protection of this application shall still be based on the scope defined in the attached claims.

Claims

1. A received signal compensation method, It is characterized in that Applicable to a FMCW radar having at least two receiving channels and lines of unequal lengths, wherein the at least two receiving channels include a reference receiving channel and at least one other receiving channel having a length difference with the reference receiving channel; For any of the receiving channels, the method includes: Processing the echo signal received by the receiving channel to obtain a digital baseband signal; The digital baseband signal obtained after the processing is compensated based on the length difference between the receiving channel and the reference receiving channel and the frequency information of the transmitting signal corresponding to the received echo signal.

2. The received signal compensation method according to claim 1, in, The unequal lengths of the lines include: unequal lengths of receiving antenna feed lines and / or unequal lengths of RXLOs.

3. The received signal compensation method according to claim 1, in, The frequency information of the transmission signal corresponding to the received echo signal includes: a frequency sweep bandwidth, a frequency sweep period or a frequency sweep center frequency.

4. The received signal compensation method according to claim 1, in, The unequal lengths of the lines include unequal lengths of receiving antenna feed lines; The compensating the processed digital baseband signal comprises: Acquire the echo signal received by the reference receiving channel according to the time delay caused by the feeder length of the reference receiving antenna corresponding to the reference receiving channel; obtain the digital baseband signal of the reference receiving antenna at the receiving end after processing the echo signal; Generate an echo signal received by the receiving channel i according to the time delay caused by the feeder length of the receiving antenna i corresponding to the receiving channel i and the echo signal received by the reference receiving channel; and obtain a digital baseband signal of the receiving antenna i at the receiving end after processing the echo signal; wherein the receiving channel is any one of the remaining at least one receiving channel; The digital baseband signal of the receiving antenna i at the receiving end is compensated by using the difference between the digital baseband signal of the receiving antenna i at the receiving end and the digital baseband signal of the reference receiving antenna at the receiving end.

5. The received signal compensation method according to claim 1, in, The unequal line lengths include unequal RXLO lengths; The compensating the processed digital baseband signal comprises: Acquire an echo signal received by the reference receiving channel according to a time delay generated by a reference RXLO length corresponding to a reference receiving antenna corresponding to the reference receiving channel; and obtain a digital baseband signal of the reference receiving antenna at a receiving end after processing the echo signal; According to the RXLO corresponding to the receiving antenna i corresponding to the receiving channel i i The time delay generated by the length and the echo signal received by the reference receiving channel are used to generate the echo signal received by the receiving channel i; after processing the echo signal, a digital baseband signal of the receiving antenna i at the receiving end is obtained; wherein the receiving channel is any receiving channel of the remaining at least one receiving channel; The digital baseband signal of the receiving antenna i at the receiving end is compensated by using the difference between the digital baseband signal of the receiving antenna i at the receiving end and the digital baseband signal of the reference receiving antenna at the receiving end.

6. The received signal compensation method according to claim 1, in, The unequal line lengths include unequal lengths of receiving antenna feed lines and unequal lengths of RXLOs; The compensating the processed digital baseband signal comprises: Acquire an echo signal received by the reference receiving channel according to a time delay generated by a reference receiving antenna feeder length corresponding to the reference receiving channel and a time delay generated by a reference RXLO length corresponding to the reference receiving antenna; and obtain a digital baseband signal of the reference receiving antenna at a receiving end after processing the echo signal; According to the delay caused by the length of the feeder line of the receiving antenna i corresponding to the receiving channel i and the RXLO i The time delay generated by the length and the echo signal received by the reference receiving channel are used to generate the echo signal received by the receiving channel i; after processing the echo signal, a digital baseband signal of the receiving antenna i at the receiving end is obtained; wherein the receiving channel is any receiving channel of the remaining at least one receiving channel; The digital baseband signal of the receiving antenna i at the receiving end is compensated by using the difference between the digital baseband signal of the receiving antenna i at the receiving end and the digital baseband signal of the reference receiving antenna at the receiving end.

7. The received signal compensation method according to claim 4, 5 or 6, in, The echo signal received by the receiving channel is processed to obtain a digital baseband signal, including: Acquire an echo signal received by the reference channel according to a time delay caused by a reference receiving antenna feeder length corresponding to the reference receiving channel and a time delay caused by a reference RXLO length corresponding to the reference receiving antenna; According to the delay caused by the length of the receiving antenna i feeder corresponding to the receiving channel i and the RXLO corresponding to the receiving antenna i i The time delay caused by the length and the echo signal received by the reference receiving channel are used to generate the echo signal received by the receiving channel i; The echo signal received by the receiving channel i and the echo signal received by the reference receiving channel are processed to obtain a digital baseband signal of the receiving antenna i at the receiving end and a digital baseband signal of the reference receiving antenna at the receiving end.

8. The received signal compensation method according to claim 7, in, Based on the frequency sweep bandwidth, the chirp effective edge period and the delay of the current receiving antenna compared with the reference antenna, the digital baseband signal of the receiving antenna i at the receiving end is compensated.

9. The received signal compensation method according to claim 8, further comprising: include: A first phase compensation is performed on the digital baseband signal of the receiving antenna i at the receiving end by using the difference between the digital baseband signal of the receiving antenna i at the receiving end and the digital baseband signal of the reference receiving antenna at the receiving end.

10. The received signal compensation method according to claim 9, in, Based on the sweep bandwidth, the chirp effective edge period, the center frequency of the sweep signal, and the delay of the current receiving antenna compared to the reference antenna, the first phase compensation is performed on the digital baseband signal of the receiving antenna i at the receiving end.

11. The received signal compensation method according to claim 8 or 10, further comprising: include: The digital baseband signal of the receiving antenna i at the receiving end is subjected to second phase compensation by utilizing the difference between the digital baseband signal of the receiving antenna i at the receiving end and the digital baseband signal of the reference receiving antenna at the receiving end.

12. The received signal compensation method according to claim 11, in, Based on the frequency sweep bandwidth, the chirp effective edge period, the delay generated by the reference antenna, and the delay of the current receiving antenna compared to the reference antenna, the second phase compensation is performed on the digital baseband signal of the receiving antenna i at the receiving end.

13. The received signal compensation method according to claim 7, wherein the compensation include: Based on the frequency sweep bandwidth, the chirp effective edge period, the center frequency of the frequency sweep signal, and the delay of the current receiving antenna compared to the reference antenna, the digital baseband signal of the receiving antenna i at the receiving end is compensated.

14. The received signal compensation method according to claim 7, in, The acquiring of the echo signal received by the reference receiving channel comprises: Obtain a first receiving signal x(t-τ) input from the reference receiving antenna to the mixer on the receiving channel where the reference receiving antenna is located via a low noise amplifier LNA 1 ), and the second receiving signal x(t-τ) inputted into the mixer on the receiving channel where the reference receiving antenna is located through the local oscillator LO 2 ); The first received signal x(t-τ 1 ) and the second received signal x(t-τ 2 ) is correlated to obtain the echo signal x(t-τ received by the reference receiving channel 1 )x * (t-τ 2 );in, in, Where, β represents the frequency sweep bandwidth, T represents the time for the frequency of a single chirp signal of the FMCW radar to rise, θ represents the initial phase of the signal, and f c is the center frequency of the sweep signal, τ 1 represents the delay caused by the feeder length of the reference receiving antenna, τ 2 Indicates the time delay caused by the reference RXLO length corresponding to the reference receiving antenna.

15. The received signal compensation method according to claim 14, in, The generating the echo signal received by the receiving channel i includes: Obtain a third receiving signal x(t-τ) input from the receiving antenna i through the LNA to the mixer on the receiving channel where the receiving antenna i is located 1 -μ i1 ), and the fourth receiving signal x(t-τ) inputted into the mixer on the receiving channel where the receiving antenna i is located through the local oscillator LO 2 -μ i2 ); The third received signal x(t-τ 1 -μ i1 ) and the fourth received signal x(t-τ 2 -μ i2 ) is correlated to obtain the echo x(t-τ received by the receiving channel i 1 -μ i1 )x * (t-τ 2 -μ i2 ); in, μ i1 represents the delay caused by the feeder length of the receiving antenna i relative to the feeder length of the reference antenna, μ i2 Indicates the RXLO corresponding to the receiving antenna i i The delay caused by the length relative to the reference RXLO length. 16 . A computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions are used to execute the received signal compensation method according to claim 1 .

17. A device for implementing received signal compensation, comprising a memory and a processor, in, The memory stores the following instructions executable by the processor: used to execute the steps of the received signal compensation method described in any one of claims 1 to claim 15.

18. A received signal compensation device, It is characterized in that The invention is applied to a FMCW radar having at least two receiving channels and lines of unequal lengths, comprising: a processing module and a compensation module; wherein: A processing module, for processing the echo signal received by any receiving channel to obtain a digital baseband signal; wherein the at least two receiving channels include a reference receiving channel and at least one other receiving channel having a length difference with the reference receiving channel; The compensation module is used to compensate the processed digital baseband signal based on the length difference between the receiving channel and the reference receiving channel and the frequency information of the transmitting signal corresponding to the received echo signal.

19. The received signal compensation device according to claim 18, in, The compensation module uses the received signal compensation method according to any one of claims 1 to 15 to compensate the processed digital baseband signal.

20. The received signal compensation device according to claim 18 or 19, in, The compensation module includes: a first multiplier M1, a second multiplier M2, and a first digital local oscillator; wherein, The input of the first digital local oscillator includes a θ 0 and Δθ, the output of the first digital local oscillator The output of the first digital local oscillator One input of the first multiplier M1 is the preprocessed receiving signal of the receiving antenna i at the receiving end. Another input of the first multiplier M1 is the output LO_I of the first digital local oscillator. The output of the first multiplier M1 is the real part Y of the signal received by the compensated receiving antenna i. i _I; One input of the second multiplier M2 is the preprocessed digital baseband signal of the receiving antenna i at the receiving end. Another input of the second multiplier M2 is the output LO_Q of the first digital local oscillator, and the output of the second multiplier M2 is the imaginary part Y of the compensated receiving signal received by the receiving antenna i i _Q.

21. The received signal compensation device according to claim 20, in, The compensation module includes: a third multiplier M3, a fourth multiplier M4, a fifth multiplier M5, a sixth multiplier M6, a first adder S1, a second adder S2, and a second digital local oscillator; wherein, The input of the second digital local oscillator includes a θ 0 and Δθ, the output of the second digital local oscillator The output of the second digital local oscillator One input of the third multiplier M3 is the real part of the digital baseband signal of the receiving antenna i at the receiving end after preprocessing. Another input of the third multiplier M3 is the output LO_I of the second digital local oscillator, and the output of the third multiplier M3 is an input of the second adder; The input of the fourth multiplier M4 is the output LO_Q of the second digital local oscillator, and the output of the fourth multiplier M4 is an input of the first adder; One input of the fifth multiplier M5 is the imaginary part of the digital baseband signal of the receiving antenna i at the receiving end after preprocessing. Another input of the fifth multiplier M5 is the output LO_I of the second digital local oscillator, and the output of the fifth multiplier M5 is another input of the first adder; The input of the sixth multiplier M6 is the output LO_Q of the second digital local oscillator, and the output of the sixth multiplier M6 is connected to another input of the first adder; The two inputs of the first adder S1 are the output of the fourth multiplier M4 and the output of the fifth multiplier M5. The output of the first adder S1 is the real part Y of the signal received by the receiving antenna i after compensation. i _I; The two inputs of the second adder S2 are the output of the third multiplier M3 and the output of the sixth multiplier M6. The output of the first adder S1 is the compensated imaginary part Y of the receiving signal received by the receiving antenna i. i _Q.

22. An integrated circuit, It is characterized in that include: A signal transceiver channel, used for transmitting a radio signal and receiving an echo signal formed by the radio signal being reflected by a target object; as well as The received signal compensation device as described in any one of claims 18 to 21 compensates the digital baseband signal obtained after processing.

23. A radio device, It is characterized in that include: Carrier; The integrated circuit as claimed in claim 22, disposed on the carrier; The antenna is arranged on the carrier and is used for sending and receiving radio signals.

24. A terminal device, It is characterized in that include: Equipment body; The radio device according to claim 23 is arranged on the device body, and is used for target detection and / or communication.

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