A micro-displacement radar detection method, system, device and storage medium

Abstract

The present invention relates to the field of micro-displacement detection technology, and specifically to a micro-displacement radar detection method, system, equipment and storage medium, and the steps are as follows: the radar transmits multiple groups of linear frequency modulation signals with different carrier frequencies for detection, and each group of signals includes multiple pulses; the echo received by each pulse is subjected to FFT transformation, and the results after FFT processing of all pulse groups are accumulated to obtain the range Doppler matrix of any pulse group; the range Doppler matrix of the first pulse group is subjected to target detection to obtain the detection target position, and the radar is repeatedly transmitted, and the fuzzy displacement is obtained by solving the phase difference of the detection target position; the phase difference between the detection target position and the detection target position of the subsequent pulse group is solved to obtain the rough displacement; the fuzzy displacement is solved based on the rough displacement to obtain the real displacement of the target. The present invention can increase the target signal-to-noise ratio, improve the detection capability and stability, and can accurately solve the target displacement even if the target displacement is greater than the radar wavelength.

Description

Technical Field

[0001] The present invention relates to the technical field of micro-displacement detection, and in particular to a micro-displacement radar detection method, system, device and storage medium. Background Art

[0002] Displacement detection is a basic technology with a wide range of applications in various fields. For example, in industrial manufacturing, this technology can facilitate the precise processing and monitoring of workpieces. The technology is extended to measuring the deformation and vibration of buildings and structures, which can achieve condition monitoring and identification of structural damage or defects. High-quality detection of tiny displacements can not only bring high precision and safety, but also promote the development and innovation of related technologies, and have an important impact on society and the economy.

[0003] Millimeter-wave radar has the advantages of short wavelength and low cost, and can be used for high-precision displacement deformation detection; however, if millimeter-wave radar high-resolution imaging is used for deformation detection, the cost is high and is not conducive to widespread application; if only the target displacement at a part of the detection area is to be detected, only the echo phase can be used for calculation and analysis, but when using the echo phase for calculation and analysis, if the actual displacement of the target point exceeds the radar wavelength, it cannot be accurately solved, which will cause the radar to calculate the displacement of the target. Deviation. Summary of the invention

[0004] The purpose of the present invention is to provide a micro-displacement radar detection method, system, device and storage medium. The detection is performed by using multiple groups of linear frequency modulation signals with different carrier frequencies, which can increase the signal-to-noise ratio of the target, improve the detection capability and stability, and when resolving ambiguity, the real displacement can be obtained by signal processing with different carrier frequencies. Even if the target displacement is greater than the radar wavelength, it can be accurately solved, so as to solve the problem that when the echo phase is used for calculation and analysis, if the actual displacement of the target point exceeds the radar wavelength, it cannot be accurately solved.

[0005] The present invention is implemented by the following technical solution: a micro-displacement radar detection method, the method comprising the following steps:

[0006] The radar transmits a plurality of groups of linear frequency modulation signals with different carrier frequencies to detect the target and obtain echoes, wherein each group of the linear frequency modulation signals includes a plurality of pulses;

[0007] Perform fast Fourier transform processing on the echo received by each pulse, and accumulate the results of fast Fourier transform processing of all pulse groups to obtain the range Doppler matrix of any pulse group;

[0008] Perform target detection on the range Doppler matrix of the first pulse group to obtain the detected target position , and the radar transmits repeatedly, and performs target detection on the range Doppler matrix of the first pulse group of repeated transmission to obtain the detected target position , by solving the detection target position Detection target position The phase difference is obtained to obtain the fuzzy displacement of the target ;

[0009] Perform target detection on the range Doppler matrix of the subsequent pulse group to obtain the detected target position , by solving the detection target position Detection target position The phase difference is used to obtain the rough displacement of the target. ;

[0010] Based on the rough displacement Resolving blur displacement , get the real displacement of the target .

[0011] According to a preferred embodiment, the rough displacement Resolving blur displacement , get the real displacement of the target , including:

[0012] The rough displacement corresponding to each subsequent pulse group Take the average and get the average rough displacement ;

[0013] Based on fuzzy displacement and the average rough displacement Add together to get the real displacement of the target .

[0014] According to a preferred embodiment, among the multiple groups of linear frequency modulation signals with different carrier frequencies emitted by the radar, the carrier frequency difference of adjacent linear frequency modulation signals is Less than radar carrier frequency .

[0015] According to a preferred embodiment, the detection target position is solved Detection target position The phase difference is obtained to obtain the fuzzy displacement of the target The expression is as follows:

[0016]

[0017] In the above formula, Indicates the detection target position Detection target position The phase difference, Represents a complex signal The imaginary part of Represents a complex signal The real part of represents the target distance unit, represents the speed unit, It indicates the propagation speed of electromagnetic waves in the air;

[0018] The solution to detect the target position Detection target position The phase difference is used to obtain the rough displacement of the target. The expression is as follows:

[0019]

[0020] In the above formula, Indicates the detection target position Detection target position The phase difference, Represents a complex signal The imaginary part of , Indicates the number of groups of linear frequency modulation signals transmitted by the radar, Represents a complex signal The real part of .

[0021] The present invention also provides a micro-displacement radar detection system, the system comprising:

[0022] An echo acquisition module, used for detecting a target and obtaining an echo by transmitting a plurality of groups of linear frequency modulation signals with different carrier frequencies by the radar, wherein each group of the linear frequency modulation signals includes a plurality of pulses;

[0023] The FFT processing module is used to perform fast Fourier transform processing on the echo received by each pulse, and accumulate the results of the fast Fourier transform processing of all pulse groups to obtain the range Doppler matrix of any pulse group;

[0024] The first phase difference acquisition module is used to detect the target on the range Doppler matrix of the first pulse group and obtain the detected target position. , and the radar transmits repeatedly, and performs target detection on the range Doppler matrix of the first pulse group of repeated transmission to obtain the detected target position , by solving the detection target position Detection target position The phase difference is obtained to obtain the fuzzy displacement of the target ;

[0025] The second phase difference acquisition module is used to detect the target on the range Doppler matrix of the subsequent pulse group to obtain the detected target position. , by solving the detection target position Detection target position The phase difference is used to obtain the rough displacement of the target. ;

[0026] A fuzzy resolution module is used to calculate the rough displacement based on the Resolving blur displacement , get the real displacement of the target .

[0027] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described above when executing the computer program.

[0028] The present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the method described above is implemented.

[0029] The technical solutions of a micro-displacement radar detection method, system, equipment and storage medium provided by the present invention have at least the following advantages and beneficial effects: the present invention adopts multiple groups of linear frequency modulation signals with different carrier frequencies for detection, which can increase the signal-to-noise ratio of the target, improve the detection capability and stability, and when resolving ambiguity, the real displacement can be obtained by signal processing with different carrier frequencies, and even if the target displacement is greater than the radar wavelength, it can be accurately solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A schematic diagram of a flow chart of a micro-displacement radar detection method provided in Example 1 of the present invention;

[0031] Figure 2 A schematic diagram of a radar waveform provided in Example 1 of the present invention. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0033] Example 1

[0034] Figure 1This is a flow chart of a method for detecting micro-displacement by radar provided in Example 1 of the present invention. Figure 1 As shown, the micro-displacement radar detection method includes the following steps:

[0035] Echo acquisition steps:

[0036] The radar transmits P groups of linear frequency modulation signals with different carrier frequencies to detect the target and obtain echoes. The carrier frequency of each group of linear frequency modulation signals is set to , ; Carrier frequency difference between adjacent linear frequency modulation signals Less than radar carrier frequency , for example when hour, Optional .

[0037] Each group of linear frequency modulation signals includes multiple pulses, each pulse is a linear frequency modulation signal with a modulation bandwidth of B and a modulation time of T. The radar waveform is shown in FIG. Figure 2 It should be noted that the present invention uses multiple groups of linear frequency modulation signals with different carrier frequencies for detection, which can increase the signal-to-noise ratio of the target and improve the detection capability and stability compared to a single pulse.

[0038] FFT processing steps:

[0039] Perform fast Fourier transform on the echo received by each pulse to obtain the target echo distance dimension spectrum , is the echo frequency, , is the number of pulses contained in each group of the linear frequency modulation signals, Indicates Pulse group The distance spectrum of a pulse. It should be noted that due to the echo frequency Distance to target There is a one-to-one correspondence, and the corresponding relationship is ,therefore Can also be written as ,in The speed at which electromagnetic waves propagate in the air. Indicates the modulation slope of the linear frequency modulation signal.

[0040] Furthermore, the range-dimensional spectrum of each target echo after fast Fourier transform of all pulse groups is obtained. Accumulate and obtain the range Doppler matrix of any pulse group. The pulse group obtains a total of P range Doppler matrices, denoted as .

[0041] First phase difference acquisition step:

[0042] right , that is, the range-Doppler matrix of the first pulse group Perform target detection to obtain the position of the target you are interested in. ; Assume the target distance unit of interest , speed unit , then the echo information can be expressed as .

[0043] The radar transmits repeatedly, and the range Doppler matrix of the first pulse group of repeated transmission is used for target detection to obtain the detected target position. ; Further, the target position will be detected Detection target position In comparison, by solving the detection target position Detection target position The phase difference is obtained to obtain the fuzzy displacement of the target , the expression is as follows:

[0044]

[0045] In the above formula, Indicates the detection target position Detection target position The phase difference, Represents a complex signal The imaginary part of Represents a complex signal The real part of represents the target distance unit, Indicates speed unit.

[0046] Second phase difference acquisition step:

[0047] Perform target detection on the range-Doppler matrix of the subsequent pulse group and obtain The detection target position ; Further, the target position will be detected Detection target position In comparison, by solving the detection target position Detection target position The phase difference is used to obtain the rough displacement of the target. , the expression is as follows:

[0048]

[0049] In the above formula, Indicates the detection target position Detection target position The phase difference, Represents a complex signal The imaginary part of , Indicates the number of groups of linear frequency modulation signals transmitted by the radar, Represents a complex signal The real part of .

[0050] Fuzzy solution steps:

[0051] Based on the rough displacement Resolving blur displacement , get the real displacement of the target In this embodiment, the fuzzy resolution step is specifically as follows: the rough displacement corresponding to each subsequent pulse group Take the average and get the average rough displacement , ; Further, based on the fuzzy displacement and the average rough displacement Add together to get the real displacement of the target , .

[0052] It should be noted that when resolving ambiguity, the real displacement can be obtained through signal processing with different carrier frequencies, and even if the target displacement is larger than the radar wavelength, it can be accurately solved.

[0053] Example 2

[0054] Based on the technical solution provided in Example 1, this embodiment provides a detection system applied to the micro-displacement radar detection method provided in Example 1. The micro-displacement radar detection system includes an echo acquisition module, an FFT processing module, a first phase difference acquisition module, a second phase difference acquisition module and a fuzzy resolution module.

[0055] Among them, the echo acquisition module is used to detect the target and obtain the echo by transmitting multiple groups of linear frequency modulation signals with different carrier frequencies by the radar, and each group of linear frequency modulation signals includes multiple pulses; the FFT processing module is used to perform fast Fourier transform processing on the echo received by each pulse, and accumulate the results after the fast Fourier transform processing of all pulse groups to obtain the range Doppler matrix of any pulse group; the first phase difference acquisition module is used to perform target detection on the range Doppler matrix of the first pulse group to obtain the detected target position , and the radar repeatedly transmits to obtain the detected target position , by solving the detection target position Detection target position The phase difference is obtained to obtain the fuzzy displacement of the target The second phase difference acquisition module is used to detect the target position by solving Detection target position The phase difference is used to obtain the rough displacement of the target. ; A fuzzy resolution module for calculating the rough displacement Resolve the blur and get the real displacement of the target .

[0056] Example 3

[0057] This embodiment provides an electronic device based on the technical solution provided in Embodiment 1. The electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the method described in Embodiment 1 when executing the computer program.

[0058] Example 4

[0059] Based on the technical solution provided in Example 1, this embodiment provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the method described in Example 1 is implemented.

[0060] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A micro-displacement radar detection method, characterized in that: The method comprises the following steps: The radar transmits a plurality of groups of linear frequency modulation signals with different carrier frequencies to detect the target and obtain echoes, wherein each group of the linear frequency modulation signals includes a plurality of pulses; Perform fast Fourier transform processing on the echo received by each pulse, and accumulate the results of fast Fourier transform processing of all pulse groups to obtain the range Doppler matrix of any pulse group; Perform target detection on the range Doppler matrix of the first pulse group to obtain the detected target position , and the radar transmits repeatedly, and performs target detection on the range Doppler matrix of the first pulse group of repeated transmission to obtain the detected target position , by solving the detection target position and the detection target position The phase difference is obtained to obtain the fuzzy displacement of the target ; Perform target detection on the range Doppler matrix of the subsequent pulse group to obtain the detected target position , by solving the detection target position and the detection target position The phase difference is used to obtain the rough displacement of the target. ; Based on the rough displacement Resolving blur displacement , get the real displacement of the target ; The rough displacement based on Resolving blur displacement , get the real displacement of the target , specifically including: The rough displacement corresponding to each subsequent pulse group Take the average and get the average rough displacement ; Based on fuzzy displacement and the average rough displacement Add together to get the real displacement of the target .

2. The micro-displacement radar detection method according to claim 1, characterized in that: Among the plurality of groups of linear frequency modulation signals with different carrier frequencies emitted by the radar, the carrier frequency difference of adjacent linear frequency modulation signals is Less than radar carrier frequency .

3. The micro-displacement radar detection method according to claim 2, characterized in that: The solution to detect the target position and the detection target position The phase difference is obtained to obtain the fuzzy displacement of the target The expression is as follows: In the above formula, Indicates the detection target position and the detection target position The phase difference, Represents a complex signal The imaginary part of Represents a complex signal The real part of represents the target distance unit, represents the speed unit, It indicates the propagation speed of electromagnetic waves in the air; The solution to detect the target position and the detection target position The phase difference is used to obtain the rough displacement of the target. The expression is as follows: In the above formula, Indicates the detection target position and the detection target position The phase difference, Represents a complex signal The imaginary part of , Indicates the number of groups of linear frequency modulation signals transmitted by the radar, Represents a complex signal The real part of .

4. A micro-displacement radar detection system, characterized in that the system include: An echo acquisition module, used for detecting a target and obtaining an echo by transmitting a plurality of groups of linear frequency modulation signals with different carrier frequencies by the radar, wherein each group of the linear frequency modulation signals includes a plurality of pulses; The FFT processing module is used to perform fast Fourier transform processing on the echo received by each pulse, and accumulate the results of the fast Fourier transform processing of all pulse groups to obtain the range Doppler matrix of any pulse group; The first phase difference acquisition module is used to detect the target on the range Doppler matrix of the first pulse group and obtain the detected target position. , and the radar transmits repeatedly, and performs target detection on the range Doppler matrix of the first pulse group of repeated transmission to obtain the detected target position , by solving the detection target position and the detection target position The phase difference is obtained to obtain the fuzzy displacement of the target ; The second phase difference acquisition module is used to detect the target on the range Doppler matrix of the subsequent pulse group to obtain the detected target position. , by solving the detection target position and the detection target position The phase difference is used to obtain the rough displacement of the target. ; A fuzzy resolution module is used to calculate the rough displacement based on the Resolving blur displacement , get the real displacement of the target ; Based on the rough displacement Resolving blur displacement , get the real displacement of the target , specifically including: The rough displacement corresponding to each subsequent pulse group Take the average and get the average rough displacement ; Based on fuzzy displacement and the average rough displacement Add together to get the real displacement of the target .

5. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method according to any one of claims 1 to 3 is implemented.

6. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 3 is implemented.

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