Received Signal Compensation Method, Apparatus, Integrated Circuit, and Radio Device

Abstract

The present application discloses a method, apparatus, integrated circuit, and radio device for compensating received signals. For an FMCW radar with at least two receiving channels and unequal line lengths, compensation for unequal reception of digital baseband signals is performed in the digital domain according to the length difference between the receiving channels, eliminating the problem of relative time delays in different receiving channels inevitably caused by the line length difference between the receiving channels, improving the quality of received signals, and thus enhancing the reception performance.

Description

Technical Field

[0001] This application relates to, but is not limited to, radar technology, and particularly to a method, device, integrated circuit, and radio device for compensating received signals based on a Frequency Modulated Continuous Wave (FMCW) radar. Background Art

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

[0003] Unequal-length antenna feeders can solve the above antenna design problems. Unequal-length antenna feeders can achieve better link budgets, simpler antenna designs and routing, lower inter-antenna coupling, better target angle resolution performance, smaller modules, and lower costs. However, due to the difference in antenna feeder lengths between the receiving channels, different receiving channels will inevitably have a problem of relative time delay, that is, due to the inconsistency of the receiving antenna feeder lengths, the quality of the received signals will be reduced, resulting in poor receiving performance. Summary of the Invention

[0004] This application provides a method and device for compensating received signals, which can improve the quality of received signals and thus enhance the receiving performance.

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

[0006] Optionally, the unequal line lengths include: unequal lengths of receiving antenna feeders and / or unequal lengths of RXLO.

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

[0008] Optionally, the unequal line lengths include unequal lengths of the receiving antenna feeders; compensating the processed digital baseband signal includes: obtaining the echo signal received by the reference receiving channel according to the time delay generated 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 generated by the length of the receiving antenna i feeder 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 channels; compensating 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.

[0009] Optionally, the unequal line lengths include unequal RXLOs; compensating the processed digital baseband signal includes: obtaining the echo signal received by the reference receiving channel according to the time delay generated by the length of the reference RXLO corresponding to the reference receiving antenna of the reference receiving channel; processing the echo signal to obtain the digital baseband signal of the reference receiving antenna at the receiving end; according to the receiving channel i i the time delay generated by the length of the corresponding RXLO of the receiving antenna i and the echo signal received by the reference receiving channel, generating the echo signal received by the receiving channel i; 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 channels; compensating 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.

[0010] Optionally, the unequal line lengths include unequal lengths of the receiving antenna feeders and unequal RXLOs; compensating the processed digital baseband signal may include: obtaining the echo signal received by the reference receiving channel according to the time delay generated by the length of the reference receiving antenna feeder corresponding to the reference receiving channel and the time delay generated by the length of the reference RXLO corresponding to the reference receiving antenna; processing the echo signal to obtain the digital baseband signal of the reference receiving antenna at the receiving end; according to the time delay generated by the length of the receiving antenna i feeder corresponding to the receiving channel i and the RXLO iGenerate the echo signal received by the receiving channel i based on the time delay generated by the length and the echo signal received by the reference receiving channel; obtain the digital baseband signal of the receiving antenna i at the receiving end after processing the echo signal; the receiving channel is any one of the remaining at least one receiving channels; 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 baseband signal of the reference receiving antenna at the receiving end.

[0011] Optionally, obtaining the digital baseband signal after processing the echo signal received by the receiving channel includes: obtaining the echo signal received by the reference channel according to the time delay generated by the length of the reference receiving antenna feeder corresponding to the reference receiving channel and the time delay generated by the length of the reference RXLO corresponding to the reference receiving antenna; according to the time delay generated by the length of the receiving antenna i feeder corresponding to the receiving channel i and the RXLO i Generate the echo signal received by the receiving channel i based on the time delay generated by the length and the echo signal received by the reference receiving channel; 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.

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

[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 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.

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

[0015] Optionally, the receiving signal compensation method may further include: 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 to perform a second phase compensation on the digital baseband signal of the receiving antenna i 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 sweep bandwidth, the chirp effective edge period, the time delay generated by the reference antenna, and the time delay of the current receiving antenna relative to the reference antenna. For example, using the formula For 0≤t≤T, perform the second phase compensation on the digital baseband signal of the receiving antenna i at the receiving end; where β represents the sweep bandwidth, T represents the time for the frequency of a single chirp signal of the FMCW radar to increase, τ1 represents the time delay caused by the feeder length of the reference receiving antenna, τ2 represents the time delay generated by the reference RXLO length corresponding to the reference receiving antenna, μ i1 represents the time delay generated 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 sweep bandwidth, the chirp effective edge period, the center frequency of the sweep signal, and the time delay of the current receiving antenna relative to the reference antenna, etc. For example, the formula For 0≤t≤T, perform the compensation on the digital baseband signal of the receiving antenna i at the receiving end; where β represents the sweep bandwidth, T represents the time for the frequency of a single chirp signal of the FMCW radar to increase, f c is the center frequency of the sweep signal, μ i1 represents the time delay generated by the feeder length of the receiving antenna i relative to the feeder length of the reference antenna.

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

[0019] Performing correlation processing on the obtained first received signal x(t - τ1) and second received signal x(t - τ2) to obtain the echo signal x(t - τ1)x * (t - τ2) received by the reference receiving channel;

[0020]

[0021]

[0022]

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

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

[0025] An embodiment of the present application also provides a computer-readable storage medium storing computer-executable instructions for executing 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. The memory stores the following instructions executable by the processor: steps for executing the received signal compensation method described in any embodiment of the present application.

[0027] An embodiment of the present application also provides a received signal compensation device, which can be applied to an FMCW radar with at least two receiving channels and unequal line lengths, including: a processing module and a compensation module; the processing module is configured 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 configured 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 transmitted signal corresponding to the received echo signal.

[0028] Optionally, the compensation module compensates the processed digital baseband signal by using the received signal compensation method described in any embodiment of the present application.

[0029] Optionally, the processing module is further configured to: perform low-pass filtering on the echo signal received by the receiving channel; convert the signal after 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 configured to: obtain the echo signal received by the reference receiving channel according to the time delay generated by the length of the reference receiving antenna feeder corresponding to the reference receiving channel; process the echo signal to obtain the digital baseband signal of the reference receiving antenna at the receiving end; generate the echo signal received by the receiving channel i according to the time delay generated by the length of the receiving antenna i feeder corresponding to the receiving channel i and the echo signal received by the reference receiving channel; process the echo signal to obtain the digital baseband signal of the receiving antenna i at the receiving end; 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 baseband signal of the reference receiving antenna at the receiving end.

[0031] Optionally, the unequal line lengths include unequal RXLO lengths; the compensation module can be configured to: obtain 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; process the echo signal to obtain the digital baseband signal of the reference receiving antenna at the receiving end; according to the time delay generated by the RXLO i length corresponding to the receiving antenna i corresponding to the receiving channel i and the echo signal received by the reference receiving channel, generate the echo signal received by the receiving channel i; process the echo signal to obtain the digital baseband signal of the receiving antenna i at the receiving end; use 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 to compensate the digital baseband signal of the receiving antenna i at the receiving end.

[0032] Optionally, the unequal line lengths include unequal lengths of the receiving antenna feeder lines and unequal RXLO lengths; the compensation module can be configured to: obtain the echo signal received by the reference receiving channel according to the time delay generated by the length of the reference receiving antenna feeder line corresponding to the reference receiving channel and the time delay generated by the reference RXLO length corresponding to the reference receiving antenna; process the echo signal to obtain the digital baseband signal of the reference receiving antenna at the receiving end; according to the time delay generated by the length of the receiving antenna feeder line i corresponding to the receiving channel i and the RXLO i length corresponding to the receiving antenna i, and the echo signal received by the reference receiving channel, generate the echo signal received by the receiving channel i; process the echo signal to obtain the digital baseband signal of the receiving antenna i at the receiving end; use 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 to compensate the digital baseband signal of the receiving antenna i 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 configured to obtain the echo received by the reference channel according to the time delay generated by the length of the reference receiving antenna feeder line corresponding to the reference receiving channel and the time delay generated by the reference RXLO length corresponding to the reference receiving antenna; the second processing module is configured to process the time delay generated by the length of the receiving antenna feeder line i corresponding to the receiving channel i and the RXLO iGenerate the echo signal received by the receiving channel i based on the time delay caused by the length and the echo signal received by the reference receiving channel; a third processing module, configured 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 configured 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 received signal of the reference receiving antenna at the receiving end.

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

[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 received signal of the reference receiving antenna at the receiving end.

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

[0037] Optionally, the compensation module is further configured to: perform a second 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 received signal of the reference receiving antenna at the receiving end.

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

[0039] Optionally, the compensation module is used to adopt For 0≤t≤T, perform the compensation on the digital baseband signal of the receiving antenna i at the receiving end; where β represents the swept frequency bandwidth, T represents the time for the frequency of a single chirp signal of the FMCW radar to increase, f c is the center frequency of the swept frequency signal, μ i1 represents the time delay generated by the length of the feeder of the receiving antenna i relative to the length of the feeder 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 The output of the first digital local oscillator One input of the first multiplier M1 is the received signal of the receiving antenna i at the receiving end after preprocessing Another input of the first multiplier M1 is the output LO_I of the first digital local oscillator, and the output of the first multiplier M1 is the real part Y i _I of the received signal of the receiving antenna i after compensation; one input of the second multiplier M2 is the digital baseband signal of the receiving antenna i at the receiving end after preprocessing 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 i _Q of the received signal of the receiving antenna i after compensation.

[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 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; an 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 received 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; an 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 respectively the output of the fourth multiplier M4 and the output of the fifth multiplier M5, and the output of the first adder S1 is the real part Y i _I of the received signal of the received antenna i after compensation; the two inputs of the second adder S2 are respectively 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 imaginary part Y i _Q of the received signal of the received antenna i after compensation.

[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 reflection of the radio signal by a target; and a received signal compensation device as described in any embodiment of the present application for compensating the processed digital baseband signal.

[0043] An embodiment of the present application also provides a radio device, which may include: a carrier; the integrated circuit as described in any embodiment of the present application, disposed on the carrier; and an antenna, disposed on the carrier, for transmitting and receiving radio signals.

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

[0045] For the FMCW radar with at least two receiving channels and unequal line lengths in the embodiment of the present application, by compensating for the unequal reception of the digital baseband signal in the digital domain according to the length difference between the receiving channels, the problem of relative time delay generated by different receiving channels inevitably caused by the line length difference between the receiving channels is eliminated, the quality of the received signal is improved, and thus the receiving performance is enhanced.

[0046] Other features and advantages of the present invention will be set forth in the following description, and in part will be obvious from the description, or may be learned by practice of the present invention. The objectives and other advantages of the present invention may be realized and attained by the structure particularly pointed out in the specification, claims as well as the drawings. Description of the Drawings

[0047] The drawings are used to provide a further understanding of the technical solutions 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 solutions of the present application, and do not constitute a limitation to the technical solutions of the present application.

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

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

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

[0051] Figure 4 It is a schematic flowchart of an embodiment of a received signal compensation method in an embodiment of the present application;

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

[0053] Figure 6 It 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 It is a schematic diagram of a first circuit embodiment of a compensation module in an embodiment of the present application;

[0055] Figure 8 It is a schematic diagram of a second circuit embodiment of a compensation module in an embodiment of the present application. Detailed Embodiments

[0056] To make the objectives, technical solutions and advantages of the present application clearer and more understandable, the embodiments of the present application will be described in detail below with reference to the drawings. It should be noted that, without conflict, the embodiments and features in the embodiments of the present application may be combined with each other arbitrarily.

[0057] To facilitate the understanding of the present application, the present application will be described more comprehensively below with reference to the relevant drawings. Embodiments of the present application are given in the drawings. However, the present application may be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided 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 commonly understood by one of ordinary skill in the technical field to which this application belongs. The terms used 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 can be understood that the terms "first" and "second" used in this application are only for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of this application, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0060] It can be understood that for "connection" in the following embodiments, if there is an electrical signal or data transfer between the connected circuits, modules, units, etc., it should be understood as "electrical connection", "communication connection", etc.

[0061] As used herein, the singular forms "a", "an" and "the" may also include the plural forms unless the context clearly dictates otherwise. It should also be understood that the terms "comprises / comprising" or "has / including" etc. specify the presence of the stated features, wholes, steps, operations, components, parts or combinations thereof, but do not preclude 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 related 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 this high-frequency continuous wave can be a sawtooth wave or a triangle wave, etc. Taking the waveform of the high-frequency continuous wave as a sawtooth wave as an example, each sawtooth wave is called a chirp, the duration of each chirp signal is T, which is called a period, and the frequency of each chirp increases linearly with time. After the transmission signal encounters the target, it will be reflected back by the target, 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 between the transmission signal and the echo signal.

[0063] Figure 1 For a schematic diagram of a transceiver link in an embodiment of this application, as Figure 1As shown, it may include a transmitting link, a receiving link, etc. Among them, the transmitting link may include a digital baseband signal source (Baseband), a direct digital frequency synthesizer (TX DDFS), a 10IQ digital-to-analog converter (IQDAC), a low-pass filter (LPF), an IQ modulator (IQModulator), a power amplifier (PA, Power Amplifier), etc. connected in sequence. At the same time, 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, LowNoiseAmplifier), a real mixer (Real Mixer), a trans-impedance amplifier (TIA, Trans-ImpedanceAmplifier), 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, RealMixer, TIA, LPF, HPF, and Real ADC in sequence and then converted into a real digital baseband signal. The subsequent digital signal processing module can process this real digital baseband signal to obtain parameter information such as the target's distance, speed, angle, height, and micro-motion characteristics.

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

[0065] To improve the radar measurement accuracy, multi-antenna reception technology is usually used. Different lengths of the receiving antenna to the low-noise amplifier (LNA) (referred to as the receiving antenna feeder length in this application) will cause a relative time delay problem for the radio frequency signals passing through different receiving antennas. Moreover, since each receiving antenna channel uses the same local oscillator (LO), different lengths of the LO to the mixer (Mixer) of each receiving channel (referred to as the RXLO length in this application) will cause a relative time delay problem for different receiving channels. Figure 2 It is a schematic diagram of the antenna feeder in the multi-receiving antenna in the embodiments of the present application, as Figure 2 In the receiving end shown, the dotted lines labeled 10, 11, 12, and 13 respectively represent the lengths of different receiving antennas to the LNA; the dotted lines labeled 20, 21, 22, and 23 respectively represent the lengths of the LO to the different Mixers of each receiving channel.

[0066] In order to eliminate the problem that different receiving channels inevitably generate relative time delays due to the difference in line lengths between the receiving channels, the embodiments of the present application provide a method and device for compensating received signals, which can improve the quality of received signals and thus enhance the receiving performance.

[0067] Figure 3 FIG. 4 is a schematic flowchart of the method for compensating received signals in the embodiments of the present application. The method for compensating received signals provided by the embodiments of the present application is applied to an FMCW radar having at least two receiving channels with unequal line lengths. Among them, the at least two receiving channels include a reference receiving channel and at least one other receiving channel having a length difference compared with the reference receiving channel. As Figure 3 shown, it includes:

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

[0069] In an exemplary example, 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: 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, compensate the processed digital baseband signal.

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

[0072] In an exemplary example, the unequal line lengths may include unequal lengths of receiving antenna feeders and / or unequal lengths of RXLOs.

[0073] For an FMCW radar having at least two receiving channels with unequal line lengths, the method for compensating received signals provided by the embodiments of the present application compensates for the unequal reception of the digital baseband signal in the digital domain according to the length difference between the receiving channels, eliminates the problem that different receiving channels inevitably generate relative time delays due to the difference in line lengths, improves the quality of received signals, and thus enhances the receiving performance.

[0074] In an exemplary example, the unequal line lengths include unequal lengths of receiving antenna feeders; Step 301 may include:

[0075] Obtain the echo signal received by the reference receiving channel according to the time delay generated by the length of the reference receiving antenna feeder corresponding to the reference receiving channel; process the echo signal to obtain the digital baseband signal of the reference receiving antenna at the receiving end;

[0076] Generate the echo signal received by receiving channel i based on the time delay generated by the feeder length of receiving antenna i corresponding to receiving channel i and the echo signal received by the reference receiving channel obtained; after processing the echo signal, obtain the digital baseband signal of receiving antenna i at the receiving end;

[0077] Compensate the digital baseband 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.

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

[0079] Obtain 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; after processing the echo signal, obtain the digital baseband signal of the reference receiving antenna at the receiving end;

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

[0081] Compensate the digital baseband 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.

[0082] In an exemplary example, the unequal line lengths include unequal receiving antenna feeders and unequal RXLOs; the compensation for the processed digital baseband signal in step 301 may include:

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

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

[0085] 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 baseband signal of the reference receiving antenna at the receiving end.

[0086] Figure 4 FIG. 4 is a schematic flow chart of an embodiment of the received signal compensation method in this application, which is applied to an FMCW radar with at least two receiving channels and unequal line lengths. Among them, at least two receiving channels include a reference receiving channel, and at least one other receiving channel i with 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 the receiving antenna feeder lines and unequal lengths of the RXLO as an example, it may include:

[0087] Step 400: Obtain the echo signal received by the reference receiving channel according to the time delay generated by the length of the reference receiving antenna feeder line corresponding to the reference receiving channel and the time delay generated by the length of the reference RXLO corresponding to the reference receiving antenna.

[0088] In an exemplary example, obtaining the echo signal received by the reference receiving channel includes:

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

[0090] Perform correlation processing on the obtained first received signal x(t - τ1) and second received signal x(t - τ2) to obtain the echo signal x(t - τ1)x * (t - τ2);

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

[0092] If the problem of relative time delay generated by the radio frequency signal passing through different receiving antennas due to the inconsistency of the lengths of the receiving antenna feeder lines and the problem of relative time delay generated by different receiving channels due to different lengths of the RXLO are not considered. 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 sweep bandwidth, T represents the time for the frequency of a single chirp signal of the FMCW radar to increase, 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 feeder length F of the reference receiving antenna is τ1, then, according to formula (1), the first received signal x(t - τ1) input from the reference receiving antenna to the mixer on the receiving channel where the reference receiving antenna is located through the LNA is shown in formula (2):

[0096]

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

[0098]

[0099] According to the time delay generated by the feeder length of the reference receiving antenna and the time delay generated by the length of the reference RXLO 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: Generate the echo signal received by receiving channel i according to the time delay generated by the feeder length of receiving antenna i corresponding to receiving channel i and the time delay generated by the RXLO i length corresponding to receiving antenna i, and the obtained echo signal received by the reference receiving channel; where i is an integer greater than or equal to 1.

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

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

[0103] Perform correlation processing on the obtained third received signal x(t - τ1 - μ i1 ) and the fourth received signal x(t - τ2 - μ i2 ) to obtain the echo signal x(t - τ1 - μ i1 )x *(t - τ2 - μ i2 );

[0104] where μ i1 represents the time delay generated by the feeder length of the receiving antenna i relative to the feeder length of the reference antenna, and μ i2 represents the time delay generated by the length of the RXLO corresponding to the receiving antenna i i relative to the length of the reference RXLO.

[0105] For a certain receiving antenna i among multiple receiving antennas, assuming that the time delay generated by the feeder length F i of the receiving antenna i relative to the feeder length F of the reference antenna is μ i1 , and the time delay generated by the length of the RXLO i corresponding to the receiving antenna i relative to the length of the reference RXLO is μ i2 , then, after the feeder length F1 and the length of the RXLO i pass 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 ) received by the receiving channel i is as 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; represents the compensation for the different receiving antenna delays μ i1 .

[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 the 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 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.

[0111] In an exemplary example, the processing performed on 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 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 received signal of the reference receiving antenna at the receiving end.

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

[0114] The received signal compensation method provided by the embodiments of the present application eliminates the time delay generated by the feeder length of receiving antenna i and the time delay generated by the length of the RXLO corresponding to receiving antenna i through the frequency compensation of the received signal of receiving antenna i at the receiving end i and partially affects the received signal of receiving antenna i at the receiving end, improving the received signal quality, thereby enhancing the receiving performance.

[0115] In an exemplary example, the received signal compensation method provided by the embodiments of the present application may further include: performing first-phase compensation on the digital baseband 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.

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

[0117] The received signal compensation method provided by the embodiments of the present application further eliminates the time delay generated by the feeder length of receiving antenna i and the time delay generated by the length of the RXLO corresponding to receiving antenna i through the first-phase compensation of the received signal of receiving antenna i at the receiving end i and further affects the received signal of receiving antenna i at the receiving end, further improving the received signal quality, thereby enhancing the receiving performance.

[0118] In an exemplary example, the received signal compensation method provided by the embodiments of the present application, on the basis of frequency compensation, or on the basis of frequency compensation and first-phase compensation, may further include: using the difference between the received signal of receiving antenna i at the receiving end and the received signal of the reference receiving antenna at the receiving end to perform second-phase compensation on the received signal of receiving antenna i at the receiving end.

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

[0120] The received signal compensation method provided by the embodiments of the present application, through the second-phase compensation of the received signal of receiving antenna i at the receiving end, eliminates the time delay generated by the feeder length of receiving antenna i and the time delay generated by the RXLO i length corresponding to receiving antenna i on the received signal of receiving antenna i at the receiving end, better improves the quality of the received signal, and thus improves the receiving performance.

[0121] In an exemplary example, 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 to perform frequency compensation, first-phase compensation, and second-phase compensation on the received signal of receiving antenna i at the receiving end.

[0122] In one embodiment, for the convenience of description, an analog signal is still used for description here. According to formula (5), Compensation is performed on the received signal of receiving antenna i at the receiving end. The received signal compensation method provided by this embodiment, through the compensation of the received signal of receiving antenna i at the receiving end, well eliminates the time delay generated by the feeder length of receiving antenna i and the time delay generated by the RXLO i length corresponding to receiving antenna i on the received signal of receiving antenna i at the receiving end, further improves the quality of the received signal, and thus improves the receiving performance.

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

[0124] The present application also provides a computer-readable storage medium storing computer-executable instructions for executing the received signal compensation method described in any one of the above.

[0125] The present application further provides a device for implementing received signal compensation, including a memory and a processor. The memory stores instructions executable by the processor for performing the steps of the received signal compensation method described in any one of the above.

[0126] Figure 5 It is a schematic structural diagram of the received signal compensation device in an embodiment of the present application, applied to an FMCW radar with at least two receiving channels and unequal line lengths, such as Figure 5 shown, a processing module, a compensation module; wherein,

[0127] The processing module is configured to process the echo signal received by any receiving channel to obtain a digital baseband signal. 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.

[0128] The compensation module is configured 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 transmitted signal corresponding to the received echo signal.

[0129] In an exemplary example, the unequal line lengths may include unequal lengths of receiving antenna feeders and / or unequal lengths of RXLO.

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

[0131] In an exemplary example, the unequal line lengths include unequal lengths of receiving antenna feeders; the compensation module may be configured to:

[0132] Obtain the echo signal received by the reference receiving channel according to the time delay generated by the length of the reference receiving antenna feeder corresponding to the reference receiving channel; after processing the echo signal, obtain the digital baseband signal of the reference receiving antenna at the receiving end; generate the echo signal received by receiving channel i according to the time delay generated by the length of the feeder of receiving antenna i corresponding to receiving channel i and the obtained echo signal received by the reference receiving channel; after processing the echo signal, obtain the digital baseband signal of receiving antenna i at the receiving end; use 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 to compensate the digital baseband signal of receiving antenna i at the receiving end.

[0133] In an exemplary example, the unequal line lengths include unequal RXLOs; the compensation module can be used for:

[0134] Obtain the echo signal received by the reference receiving channel according to the time delay generated by the length of the reference RXLO corresponding to the reference receiving antenna corresponding to the reference receiving channel; after processing the echo signal, obtain the digital baseband signal of the reference receiving antenna at the receiving end; according to the time delay generated by the length of the RXLO i corresponding to receiving antenna i corresponding to receiving channel i and the obtained echo signal received by the reference receiving channel, generate the echo signal received by receiving channel i; after processing the echo signal, obtain the digital baseband signal of receiving antenna i at the receiving end; use 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 to compensate the digital baseband signal of receiving antenna i at the receiving end.

[0135] In an exemplary example, the unequal line lengths include unequal feeder lengths of the receiving antennas and unequal RXLOs; the compensation module can be used for:

[0136] Obtain the echo signal received by the reference receiving channel according to the time delay generated by the length of the reference receiving antenna feeder corresponding to the reference receiving channel and the time delay generated by the length of the reference RXLO corresponding to the reference receiving antenna; after processing the echo signal, obtain the digital baseband signal of the reference receiving antenna at the receiving end; according to the time delay generated by the length of the feeder of receiving antenna i corresponding to receiving channel i and the time delay generated by the RXLO i corresponding to receiving antenna i, and the obtained echo signal received by the reference receiving channel, generate the echo signal received by receiving channel i; after processing the echo signal, obtain the digital baseband signal of receiving antenna i at the receiving end; use 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 to compensate the digital baseband signal of receiving antenna i at the receiving end.

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

[0138] Figure 6 FIG. is a schematic structural diagram of an embodiment of a received signal compensation device in an embodiment of the present application, as Figure 6 shown, which may include: a first processing module, a second processing module, a third processing module, and a compensation module; wherein,

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

[0140] The second processing module is configured to generate the echo signal received by the receiving channel i according to the time delay generated by the length of the receiving antenna i feeder corresponding to the receiving channel i and the time delay generated by the RXLO i length corresponding to the receiving antenna i, and the obtained echo signal received by the reference receiving channel;

[0141] The third processing module is configured 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;

[0142] The compensation module is configured 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 received signal of the reference receiving antenna at the receiving end.

[0143] In an exemplary example, for convenience of description, an analog signal is still used for description here, and the compensation module may be configured to:

[0144] Adopt 0≤t≤T to perform frequency compensation on the digital baseband signal of the receiving antenna i at the receiving end; wherein,

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

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

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

[0148] Use the difference between the digital baseband signal of receiving antenna i at the receiving end and the digital received signal of the reference receiving antenna at the receiving end to perform a first phase compensation on the digital baseband signal of receiving antenna i at the receiving end.

[0149] In one embodiment, for the sake of convenience of description, an analog signal is still used here for description, and the compensation module may adopt 0 ≤ t ≤ T to perform a first phase compensation on the received signal of receiving antenna i at the receiving end; where

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

[0151] The received signal compensation device provided by the embodiments of the present application further eliminates the time delay generated by the feeder length of receiving antenna i and the time delay generated by the RXLO length corresponding to receiving antenna i for the received signal of receiving antenna i at the receiving end through the first phase compensation of the received signal of receiving antenna i at the receiving end, further improves the quality of the received signal, and thus improves the receiving performance. i In an exemplary instance, the compensation module is further configured to:

[0152] Use the difference between the digital baseband signal of receiving antenna i at the receiving end and the digital received signal of the reference receiving antenna at the receiving end to perform a second phase compensation on the digital baseband signal of receiving antenna i at the receiving end.

[0153] In one embodiment, for the sake of convenience of description, an analog signal is still used here for description, and the compensation module may adopt

[0154] 0 ≤ t ≤ T to perform a second phase compensation on the received signal of receiving antenna i at the receiving end; where τ1 represents the time delay caused by the feeder length of the reference receiving antenna.

[0155] The received signal compensation device provided by the embodiments of the present application eliminates the time delay generated by the feeder length of receiving antenna i and the time delay generated by the RXLO length corresponding to receiving antenna i for the received signal of receiving antenna i at the receiving end through the second phase compensation of the received signal of receiving antenna i at the receiving end, better improves the quality of the received signal, and thus improves the receiving performance. i

[0156] ​​In an exemplary example, a compensation module is configured to receive the difference between the digital baseband signal of antenna i at the receiving end and the digital received signal of the reference receiving antenna at the receiving end, and compensate the digital baseband signal of antenna i at the receiving end. In one embodiment, the digital baseband signal of 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 time delay of the current receiving antenna relative to the reference antenna. For ease of description, an analog signal is still used here for description, and the compensation module can use 0 ≤ t ≤ T to compensate the received signal of antenna i at the receiving end.

[0157] Figure 7 FIG. is a schematic diagram of the first circuit embodiment of the compensation module in the embodiments of the present application. As Figure 7 shown, before compensating the received signal of antenna i at the receiving end, the received signal RX of antenna i at the receiving end can be first preprocessed by a third processing module. For example, after being processed by a low-pass filter (LPF) and an analog-to-digital converter (ADC), the digital baseband signal of antenna i at the receiving end after preprocessing is obtained, denoted as i and input into the compensation module. Input into the compensation module.

[0158] Figure 7 In the first embodiment shown, the information for compensation In is θ0, f c μ1 is Δθ. The information for compensation can be expressed as In the first embodiment, as Figure 7 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 the 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 digital baseband signal of antenna i at the receiving end after preprocessing Another input of the first multiplier M1 is the output LO_I of the first digital local oscillator, and the output of the first multiplier M1 is the real part Y i _I of the received signal of antenna i after compensation; One input of the second multiplier M2 is the received signal of antenna i at the receiving end after preprocessing 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 received signal of the compensated receiving antenna i. i _Q. The received signal of the compensated receiving antenna i can be expressed as

[0159] Figure 8 is a schematic diagram of the second circuit embodiment of the compensation module in the embodiments of the present application. As Figure 8 shown, before compensating the received signal of the receiving antenna i at the receiving end, the real and imaginary parts of the received signal RX of the receiving antenna i at the receiving end can be preprocessed by a third processing module first. For example, through the first LPF and the first ADC processing, the digital baseband signal RX of the receiving antenna i at the receiving end after preprocessing is obtained. i The real part of is denoted as i through the first LPF and the first ADC processing, and the real part of the digital baseband signal RX of the receiving antenna i at the receiving end after preprocessing is obtained. The imaginary 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 processing, and is denoted as i Input into the compensation module respectively.

[0160] Figure 8 In the second embodiment shown, the information for compensation In is θ0, f c μ1 is Δθ. The information for compensation can be expressed as In the second embodiment, as Figure 6 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 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 one input of the second adder; one 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 one input of the first adder; one 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; an 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 respectively the output of the fourth multiplier M4 and the output of the fifth multiplier M5, and the output of the first adder S1 is the real part Y i _I of the received signal of the receiving antenna i after compensation; the two inputs of the second adder S2 are respectively 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 imaginary part Y i _Q of the received signal of the receiving antenna i after compensation. The received signal of the receiving antenna i after compensation can be expressed as

[0161] In an exemplary example, the first processing module can be used to:

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

[0163] Perform correlation processing on the obtained first received signal x(t - τ1) and second received signal x(t - τ2) to obtain the echo signal x(t - τ1)x * (t - τ2); where,

[0164]

[0165]

[0166] where,

[0167] In an exemplary example, the second processing module can be used to:

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

[0169] Perform correlation processing on the obtained third received signal x(t - τ1 - μ i1 ) and fourth received signal x(t - τ2 - μ i2 ) to obtain the echo signal x(t - τ1 - μi1 )x * (t - τ2 - μ i2 );

[0170] Wherein,

[0171] The embodiment of the present application further provides an integrated circuit, which may include: a signal transceiver channel for transmitting radio signals and receiving echo signals formed by reflection of the radio signals by a target; and a received signal compensation device as described in any embodiment of the present application for compensating the processed digital baseband signal.

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

[0173] In an alternative embodiment, different integrated circuits (such as chips) may be combined with each other to form a cascade structure. For the sake of simplicity of description, it will not be elaborated herein, but it should be understood that all technologies that those skilled in the art should know based on the content recorded in the present application should be included within the scope recorded in the present application.

[0174] The embodiment of the present application further provides a radio device, which may include: a carrier; the integrated circuit as described in any embodiment of the present application, disposed on the carrier; an antenna, disposed on the carrier, for transmitting and receiving radio signals. Wherein, the antenna may be integrated with the integrated circuit into an integrated device and disposed on the carrier (that is, at this time, the antenna may be the antenna provided in the AiP or AoC structure), and the integrated circuit may also be two separate components from the antenna, and form a System on Chip (SoC) structure through connection. The carrier may be a Printed Circuit Board (PCB), such as a development board, a data acquisition board, or the main board of a device, and the first transmission line may be a PCB trace.

[0175] The embodiment of the present application further provides a terminal device, which may include: a device body; the radio device as described in any embodiment of the present application disposed 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 alternative embodiments of the present application, the radio device may be disposed outside the device body or inside the device body. In other alternative embodiments of the present application, a part of the radio device may be disposed inside the device body and a part may be disposed outside the device body. The embodiments of the present application do not limit this, and it may be determined according to specific circumstances.

[0177] In some alternative embodiments, the above device body may be components and products applied to fields such as smart cities, smart homes, transportation, smart home appliances, consumer electronics, security monitoring, industrial automation, in-cabin detection (such as intelligent cockpits), medical devices, and health care. For example, the device body may be an intelligent transportation device (such as a car, bicycle, motorcycle, ship, subway, train, etc.), a security device (such as a camera), a liquid level / flow rate detection device, a smart wearable device (such as a bracelet, glasses, etc.), a smart home appliance (such as a floor cleaning robot, door lock, TV, air conditioner, smart light, etc.), various communication devices (such as a mobile phone, tablet computer, etc.), as well as a gate, smart traffic lights, smart signs, traffic cameras, and various industrial robotic arms (or robots), and may also be various instruments for detecting vital sign parameters and various devices equipped with the instrument, such as in-car vital sign detection in a car, indoor personnel monitoring, intelligent medical devices, consumer electronic devices, 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 elaborated here one by one.

[0179] It should be noted that the radio device can achieve functions such as target detection and / or communication by transmitting and receiving radio signals, so as to provide detection target information and / or communication information to the device body, and thus assist or even control the operation of the device body.

[0180] For example, when the above-mentioned device body is applied to an Advanced Driving Assistance System (ADAS), wireless electrical devices (such as millimeter-wave radars, lidar, etc.) serving as in-vehicle sensors can assist the ADAS system in realizing application scenarios such as adaptive cruise control, autonomous emergency braking (AEB), blind spot detection (BSD), lane change assist (LCA), rear cross traffic alert (RCTA), parking assistance, warning of following vehicles, anti-collision, pedestrian detection, etc. At the same time, it can also be applied to application scenarios such as anti-collision when opening the door of a vehicle.

[0181] Although the embodiments disclosed in this application are as described above, the content described is only an embodiment adopted for the convenience of understanding this application and is not intended to limit this application. Any person skilled in the art within the scope of this application can make any modifications and changes in the form and details of the implementation without departing from the spirit and scope disclosed in this application. However, the scope of patent protection of this application shall still be subject to the scope defined by the appended claims.

Claims

1. A method for compensating received signals, characterized in that, Applied to an FMCW radar with at least two receiving channels and unequal line lengths, 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 one of the receiving channels, the method includes: After processing the echo signal received by the receiving channel, a digital baseband signal is obtained: according to the time delay generated by the reference receiving antenna feeder length corresponding to the reference receiving channel and the time delay generated by the reference RXLO length corresponding to the reference receiving antenna, the echo signal received by the reference receiving channel is acquired; according to the time delay generated by the receiving antenna i feeder length corresponding to the receiving channel i and the RXLO i length-generated time delay, and the echo signal received by the reference receiving channel, the echo signal received by the receiving channel i is generated; by processing the echo signal received by the receiving channel i and the echo signal received by the reference receiving channel, 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 are obtained; Compensating 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 transmitted signal corresponding to the received echo signal; The unequal line lengths include: unequal lengths of receiving antenna feeders and / or unequal lengths of RXLO, where the length of RXLO is the length from the local oscillator LO to the mixer of each receiving channel.

2. The received signal compensation method according to claim 1, wherein, The frequency information of the transmitted signal corresponding to the received echo signal includes: sweep bandwidth, sweep period, or sweep center frequency.

3. The received signal compensation method according to claim 1, wherein The unequal line lengths include unequal lengths of receiving antenna feeders; Compensating the processed digital baseband signal includes: Obtaining the echo signal received by the reference receiving channel according to the time delay generated 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 generated by the length of the receiving antenna i feeder 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; where the receiving channel is any one of the at least one other receiving channels; Compensating 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.

4. The received signal compensation method according to claim 1, wherein, The unequal line lengths include unequal lengths of RXLO; Compensating the processed digital baseband signal includes: Obtaining the echo signal received by the reference receiving channel according to the time delay generated by the length of the reference RXLO corresponding to the reference receiving antenna of the reference receiving channel; processing the echo signal to obtain the digital baseband signal of the reference receiving antenna at the receiving end; Based on the time delay generated by the length corresponding to the RXLO of the receiving antenna i corresponding to the receiving channel i, and the echo signal received by the reference receiving channel, generate the echo signal received by the receiving channel i; after processing the echo signal, obtain the digital baseband signal of the receiving antenna i at the receiving end; wherein, the receiving channel is any one of the remaining at least one receiving channel; i Based on the time delay generated by the length corresponding to the RXLO of the receiving antenna i corresponding to the receiving channel i, and the echo signal received by the reference receiving channel, generate the echo signal received by the receiving channel i; after processing the echo signal, obtain the digital baseband signal of the receiving antenna i at the receiving end; wherein, the receiving channel is any one of the remaining at least one receiving channel; Compensating 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.

5. The received signal compensation method according to claim 1, wherein, The unequal line lengths include unequal lengths of receiving antenna feeders and unequal lengths of RXLO; Compensating the processed digital baseband signal includes: Obtaining the echo signal received by the reference receiving channel according to the time delay generated by the length of the reference receiving antenna feeder corresponding to the reference receiving channel and the time delay generated by the length of the reference RXLO corresponding to the reference receiving antenna; processing the echo signal to obtain the digital baseband signal of the reference receiving antenna at the receiving end; Based on the time delay generated by the feeder length of receiving antenna i corresponding to the receiving channel i and the time delay generated by the length of RXLO corresponding to receiving antenna i, and the echo signal received by the reference receiving channel, generate the echo signal received by the receiving channel i; after processing this echo signal, obtain the digital baseband signal of receiving antenna i at the receiving end; wherein, the receiving channel is any one of the remaining at least one receiving channel; i Based on the time delay generated by the feeder length of receiving antenna i corresponding to the receiving channel i and the time delay generated by the length of RXLO corresponding to receiving antenna i, and the echo signal received by the reference receiving channel, generate the echo signal received by the receiving channel i; after processing this echo signal, obtain the digital baseband signal of receiving antenna i at the receiving end; wherein, the receiving channel is any one of the remaining at least one receiving channel; 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 baseband signal of the reference receiving antenna at the receiving end.

6. The received signal compensation method according to claim 1, wherein, Perform the compensation on the digital baseband signal of the receiving antenna i at the receiving end based on the sweep bandwidth, the chirp effective edge period, and the time delay of the current receiving antenna relative to the reference receiving antenna.

7. The received signal compensation method according to claim 6 further includes: Perform a first phase compensation 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, the time delay generated by the reference RXLO length corresponding to the reference receiving antenna, the time delay generated by the current receiving antenna feeder length relative to the reference antenna feeder length, and the time delay generated by the RXLO length corresponding to the current receiving antenna relative to the reference RXLO length.

8. The received signal compensation method according to claim 6 or 7 further includes: Perform a second phase compensation 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 time delay caused by the reference receiving antenna feeder length, the time delay generated by the reference RXLO length corresponding to the reference receiving antenna, and the time delay generated by the current receiving antenna feeder length relative to the reference antenna feeder length.

9. The received signal compensation method according to claim 1, wherein the compensation includes: Perform the compensation 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 time delay of the current receiving antenna relative to the reference receiving antenna.

10. The received signal compensation method according to claim 1, wherein, The obtaining of the echo signal received by the reference receiving channel includes: Obtain a first received signal x(t - τ1) that enters the mixer on the receiving channel where the reference receiving antenna is located through the low-noise amplifier LNA from the reference receiving antenna, and a second received signal x(t - τ2) that enters the mixer on the receiving channel where the reference receiving antenna is located through the local oscillator LO. Perform correlation processing on the obtained first received signal x(t - τ1) and second received signal x(t - τ2) to obtain the echo signal x(t - τ1)x * (t - τ2); where, Among them, Among them, β represents the sweep bandwidth, T represents the time for the frequency of a single chirp signal of the FMCW radar to increase, θ represents the initial phase of the signal, and f c is the center frequency of the sweep signal, τ1 represents the time delay caused by the feeder length of the reference receiving antenna, and τ2 represents the time delay generated by the length of the reference RXLO corresponding to the reference receiving antenna.

11. The received signal compensation method according to claim 10, wherein, The generating of the echo signal received by the receiving channel i includes: Obtain the third received signal \(x(t - \tau_1 - \mu)\) that enters the mixer on the receiving channel where the receiving antenna \(i\) is located from the receiving antenna \(i\) through the LNA i1 ), and the fourth received signal \(x(t - \tau_2 - \mu)\) that enters the mixer on the receiving channel where the receiving antenna \(i\) is located through the local oscillator LO i2 ); For the obtained third received signal x(t - τ1 - μ i1 ) and fourth received signal x(t - τ2 - μ i2 ), perform correlation processing to obtain the echo x(t - τ1 - μ i1 )x * (t - τ2 - μ i2 ) received by the receiving channel i; Among them, μ i1 represents the time delay generated by the feeder length of the receiving antenna i relative to the feeder length of the reference receiving antenna, μ i2 represents the RXLO corresponding to the receiving antenna i i The time delay generated by the length relative to the reference RXLO length.

12. A computer-readable storage medium stores computer-executable instructions for executing the received signal compensation method according to any one of claims 1-11.

13. A device for implementing reception signal compensation, comprising a memory and a processor, wherein, The memory stores the following instructions executable by the processor: steps for executing the received signal compensation method according to any one of claims 1-11.

14. A received signal compensation device, characterized in that, Applied to an FMCW radar having at least two receiving channels with unequal line lengths, including: a processing module, a compensation module; wherein, The processing module is configured to process the echo signal received by the receiving channel for any receiving channel to obtain a digital baseband signal; wherein, 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. A compensation module, configured 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 transmitted signal corresponding to the received echo signal; and further configured to: perform a first phase compensation on the digital baseband signal at the receiving end of the receiving antenna i based on the sweep bandwidth, the chirp effective edge period, the center frequency of the sweep signal, the time delay generated by the reference RXLO length corresponding to the reference receiving antenna, the time delay generated by the current receiving antenna feeder length relative to the reference antenna feeder length, and the time delay generated by the RXLO length corresponding to the current receiving antenna relative to the reference RXLO length; and / or perform a second phase compensation on the digital baseband signal at the receiving end of the receiving antenna i based on the sweep bandwidth, the chirp effective edge period, the time delay caused by the reference receiving antenna feeder length, the time delay generated by the reference RXLO length corresponding to the reference receiving antenna, and the time delay generated by the current receiving antenna feeder length relative to the reference antenna feeder length. The unequal line lengths include: unequal lengths of the receiving antenna feeders and / or unequal lengths of the RXLOs, where the length of the RXLO is the length from the local oscillator LO to the mixer of each receiving channel.

15. The received signal compensation device according to claim 14, wherein, The compensation module compensates the processed digital baseband signal by using the received signal compensation method according to any one of claims 1 to 11.

16. The received signal compensation device according to claim 14 or 15, wherein, The compensation module includes: a first multiplier M1, a second multiplier M2, and a first digital local oscillator; where 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 where θ0 is Δθ is f c μ1, β represents the sweep bandwidth, f c is the center frequency of the swept-frequency signal, and μ1 represents the time delay generated by the length of the receiving antenna feeder relative to the length of the reference receiving antenna feeder; One input of the first multiplier M1 is the received signal of the preprocessed 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, and the output of the first multiplier M1 is the real part Y i _I of the received signal of the compensated receiving antenna i; One input of the second multiplier M2 is the digital baseband signal of the preprocessed 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 i _Q of the received signal of the receiving antenna i after compensation 17. The received signal compensation device according to claim 16, wherein, 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; where 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 preprocessed receiving antenna i at the receiving end. 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 one 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 preprocessed receiving antenna i at the receiving end. 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 the other input of the first adder. The two inputs of the first adder S1 are respectively the outputs of the fourth multiplier M4 and the fifth multiplier M5, and the output of the first adder S1 is the real part Y i _I of the received signal received by the compensated receiving antenna i; The two inputs of the second adder S2 are respectively 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 imaginary part Y_Q of the received signal of the compensated receiving antenna i. i _Q.

18. An integrated circuit, characterized in that, Including: A signal transceiver channel, configured to transmit a radio signal and receive an echo signal formed by reflection of the radio signal by a target. And Compensate the processed digital baseband signal by using the received signal compensation device according to any one of claims 14 - 17.

19. A radio device, characterized in that, Including: A carrier; The integrated circuit according to claim 18 is disposed on the carrier; An antenna, disposed on the carrier, for transmitting and receiving radio signals.

20. A terminal device, characterized in that, Including: A device body; The radio device according to claim 19 is disposed on the device body, and the radio device is used for target detection and / or communication.

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