Signal parameter generation method, device and system and sensing equipment

Abstract

The invention provides a signal parameter generation method, device and system and sensing equipment. The signal parameter generation method comprises the following steps that an original signal is input, the original signal is an R-dimensional signal containing M frequency components, and M and R are both larger than or equal to 1; intercepting I sub-signals from the original signal, wherein I is greater than or equal to 1; and establishing a plurality of equations about the I sub-signals, and solving the equations to obtain signal parameters of the original signal, the signal parameters including one or more of an amplitude parameter, a phase parameter, a frequency parameter and a damping coefficient. According to the signal parameter generation method, device and system and the sensing equipment, the accuracy and reliability of signal parameter estimation can be remarkably improved.

Description

Technical Field

[0001] The present application mainly relates to the field of signal processing, and in particular to a signal parameter generation method, device, system and sensing equipment. Background Art

[0002] In many practical engineering applications, the signals transmitted by sensors need to be processed by specific algorithms to obtain relevant useful information, such as distance, position, speed, etc. This information is actually calculated by estimating the parameters of the signal and then using physical laws. Therefore, signal parameter estimation is a very important issue in many engineering applications.

[0003] Signal parameters include the frequency, phase, amplitude, and damping coefficient of the signal. Different practical applications require different parameters. The parameters to be estimated may be the frequency of the signal, the amplitude of the signal, or the frequency and phase of the signal, or all the parameters, depending on the specific application scenario. For one-dimensional or multi-dimensional signals with multiple frequencies (discrete frequencies), especially when the different frequencies are very close in the spectrum, existing methods cannot accurately and robustly estimate the parameters of the signal. Summary of the invention

[0004] The technical problem to be solved by the present application is to provide a signal parameter generation method, device, system and sensing equipment, which can significantly improve the accuracy and reliability of signal parameter estimation.

[0005] To solve the above technical problems, the present application provides a signal parameter generation method, comprising the following steps: inputting an original signal, wherein the original signal is an R-dimensional signal containing M frequency components, wherein M and R are both greater than or equal to 1; extracting I sub-signals from the original signal, wherein I is greater than or equal to 1; and constructing multiple equations about the I sub-signals, and solving the multiple equations to obtain signal parameters of the original signal, wherein the signal parameters include one or more of an amplitude parameter, a phase parameter, a frequency parameter and a damping coefficient.

[0006] In one embodiment of the present application, the signal parameter generation method also includes: obtaining frequency domain values ​​and peak point coordinates corresponding to one or more peaks in the sub-signal spectrum corresponding to each of the sub-signals; and including the frequency domain values ​​and peak point coordinates in the equation.

[0007] In one embodiment of the present application, obtaining the frequency domain values ​​and peak point coordinates corresponding to one or more peaks of the sub-signal spectrum corresponding to each of the sub-signals includes: performing a Discrete Fourier Transform (DFT), a zero-padding Fourier transform, an interpolation Fourier transform or a CZT transform on the original signal, and obtaining the frequency domain values ​​and peak point coordinates corresponding to one or more peaks in the original signal spectrum; calculating the frequency domain values ​​and peak point coordinates corresponding to one or more peaks of the sub-signal spectrum corresponding to each of the sub-signals.

[0008] In one embodiment of the present application, obtaining the frequency domain values ​​and peak point coordinates corresponding to one or more peaks of the sub-signal spectrum corresponding to each of the sub-signals includes: performing discrete Fourier transform, zero-padding Fourier transform, interpolation Fourier transform or CZT transform on a first part of the I sub-signals, and obtaining the frequency domain values ​​and peak point coordinates corresponding to one or more peaks in the sub-signal spectrum corresponding to the first part of the sub-signals; calculating the frequency domain values ​​and peak point coordinates corresponding to one or more peaks in the sub-signal spectrum corresponding to the second part of the I sub-signals.

[0009] In one embodiment of the present application, the frequency domain value is a DFT value.

[0010] In one embodiment of the present application, the sub-signal includes Where i=1,...,I, r=1,...,R, is the length of the i-th sub-signal in the r-th dimension.

[0011] In one embodiment of the present application, the original signal includes s(n1, ..., n R ):

[0012]

[0013] and:

[0014]

[0015] where F r and N r are the sampling frequency and signal length of the rth dimension, A m and are the amplitude parameter and initial phase of the original signal of the mth frequency component of the original signal, respectively, m,r and β m,r are the frequency parameter and damping coefficient of the mth frequency component of the original signal in the rth dimension, η i =1,2,... is the downsampling rate of the ith sub-signal; and are the amplitude parameters and initial phase of the mth frequency component of the ith sub-signal, respectively. is the initial point index of the i-th sub-signal; is the discrete Fourier transform frequency of the mth frequency component of the ith sub-signal in the rth dimension, where Defined as

[0016] In one embodiment of the present application, it is assumed that the peak point of the spectrum of the pth frequency component of the i-th sub-signal in the r-th dimension is The DFT of the i-th sub-signal is taken at the point The value of is written as in,

[0017]

[0018] In one embodiment of the present application, the signal parameter generation method further includes converting the formula Apply to all peak points of the spectrum corresponding to I sub-signals to obtain 2M*I equations as follows:

[0019]

[0020] in,

[0021]

[0022] W=diag{W 1 , W 2 , …, W I}

[0023]

[0024] in,

[0025]

[0026] In an embodiment of the present application, when the equation is a nonlinear equation, the method further includes: calculating an initial value of the signal parameter.

[0027] In one embodiment of the present application, the step of solving the equation includes solving it using Levenberg-Marquardt or Newton-Raphson or Gaussian-Newton algorithm.

[0028] In one embodiment of the present application, in the step of extracting I sub-signals from the original signal, the number I of the extracted sub-signals satisfies the following condition: I≥R+1.

[0029] In one embodiment of the present application, if the signal parameters of the original signal do not include the damping coefficient, then in the step of extracting I sub-signals from the original signal, the number I of the extracted sub-signals satisfies the following condition: I≥ceil(R / 2)+1.

[0030] In one embodiment of the present application, if the original signal is a periodic signal with a known mathematical model, the method further includes setting the value of M to 1.

[0031] In one embodiment of the present application, if some of the signal parameters of the original signal have a mutually correlated calculation relationship, the method also includes a step of intercepting I sub-signals from the original signal, wherein the minimum value of the intercepted number I of the sub-signals is set to 1 or the sub-signal is equal to the original signal.

[0032] In one embodiment of the present application, among the signal parameters of the original signal, the frequency parameter and the phase have a mutually correlated calculation relationship, and the damping coefficient is 0 or less than a damping coefficient threshold.

[0033] In an embodiment of the present application, the original signal includes an intermediate frequency signal generated by mixing an FMCW signal or a CTFM signal.

[0034] In one embodiment of the present application, when the original signal is an intermediate frequency signal generated by mixing the FMCW or CTFM signal, the frequency-phase relationship of the intermediate frequency signal is as follows:

[0035]

[0036] Where κ=f0 / B, f0 and B are the initial frequency and effective bandwidth of the FMCW or CTFM signal, respectively, and T is the sampling time length of the intermediate frequency signal. is the phase jump caused by the reflection of the FMCW or CTFM signal on the surface of the object, and the equation includes:

[0037]

[0038] in

[0039]

[0040] The present application also provides a signal parameter generating device, comprising:

[0041] A signal receiving end configured to receive an original signal;

[0042] an operation module, configured to generate signal parameters of the original signal according to the original signal by using the method described above, wherein the signal parameters include one or more of an amplitude parameter, a phase parameter, a frequency parameter and a damping coefficient; and

[0043] The signal output terminal is configured to output the signal parameters of the original signal.

[0044] The present application also provides a sensing device, comprising the signal parameter generating device as described above.

[0045] In one embodiment of the present application, the sensing device includes a radar device or a sonar device.

[0046] In one embodiment of the present application, the radar device includes a laser radar device, a millimeter wave radar device or an ultrasonic radar device.

[0047] The present application also provides a signal parameter generation system, comprising: a memory for storing instructions executable by a processor; and a processor for executing the instructions to implement the method as described above.

[0048] The present application also provides a computer-readable medium storing a computer program code, wherein the computer program code implements the method as described above when executed by a processor.

[0049] Compared with the prior art, the present application has the following advantages: the present application can accurately restore the signal parameters of the original signal by extracting sub-signals from the original signal and establishing equations with the same or more number of unknown parameters and then solving them, thereby significantly improving the accuracy and reliability of signal parameter estimation. Furthermore, by calculating the frequency domain value corresponding to the peak value in the sub-signal spectrum corresponding to each sub-signal, and including the frequency domain value in the equation, the calculation difficulty can be reduced and the calculation efficiency can be improved. In some embodiments, the calculation process can be further optimized for original signals with different characteristics, thereby reducing the calculation difficulty and improving the calculation efficiency. The present application can be widely used in some specific application fields, such as radar equipment and sonar equipment, so as to improve the accuracy of distance measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The accompanying drawings are included to provide a further understanding of the present application. They are included and constitute a part of the present application. The accompanying drawings illustrate embodiments of the present application and together with the present specification serve to explain the principles of the present application. In the accompanying drawings:

[0051] Figure 1 It is a flowchart of a signal parameter generation method according to an embodiment of the present application;

[0052] Figure 2is a flow chart of a signal parameter generating method according to another embodiment of the present application;

[0053] Figure 3 and Figure 4 They are schematic diagrams of sub-signal interception methods of a one-dimensional original signal and a two-dimensional original signal in a signal parameter generation method according to an embodiment of the present application;

[0054] Figure 5 is a structural diagram of a signal parameter generating device according to an embodiment of the present application; and

[0055] Figure 6 It is a system block diagram of a signal parameter generation system according to an embodiment of the present application. DETAILED DESCRIPTION

[0056] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for the description of the embodiments. Obviously, the drawings described below are only some examples or embodiments of the present application. For ordinary technicians in this field, the present application can also be applied to other similar scenarios based on these drawings without creative work. Unless it is obvious from the language environment or otherwise explained, the same reference numerals in the figures represent the same structure or operation.

[0057] As shown in this application and claims, unless the context clearly indicates an exception, the words "a", "an", "an" and / or "the" do not refer to the singular and may also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0058] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so that once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0059] In addition, it should be noted that the use of words such as "first" and "second" to define components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above words have no special meaning and cannot be understood as limiting the scope of protection of this application. In addition, although the terms used in this application are selected from well-known and commonly used terms, some terms mentioned in the specification of this application may be selected by the applicant at his or her discretion, and their detailed meanings are explained in the relevant parts of the description of this article. In addition, it is required to understand this application not only by the actual terms used, but also by the meaning implied by each term.

[0060] An embodiment of the present application refers to Figure 1 A signal parameter generation method 10 (hereinafter referred to as "method 10") is proposed, which can significantly improve the accuracy and reliability of signal parameter estimation. Figure 1 The accompanying drawings use flow charts to illustrate the operations performed by the system according to the embodiments of the present application. It should be understood that the preceding or following operations are not necessarily performed precisely in order. Instead, the various steps may be processed in reverse order or simultaneously. At the same time, other operations may be added to these processes, or one or more operations may be removed from these processes.

[0061] according to Figure 1 , method 10 includes the following steps: Step 11 is to input the original signal, the original signal is an R-dimensional signal containing M frequency components, wherein M and R are both greater than or equal to 1. It should be noted that the original signal used in the present application contains M frequency components, which can be understood by those skilled in the art as M discrete frequency components. Step 12 is to intercept I sub-signals from the original signal, where I is greater than or equal to 1. Step 13 is to form multiple equations about the I sub-signals, and then solve the multiple equations to obtain the signal parameters of the original signal, wherein the signal parameters include one or more of amplitude parameters, phase parameters, frequency parameters and damping coefficients.

[0062] This application includes Figure 1 In multiple embodiments, since the original signal is an R-dimensional signal containing M frequency components, the original signal can be represented as follows: the original signal includes s(n1,...,n R ), specifically,

[0063]

[0064] Among them, n r =0,…,N r -1, F r and N r are the sampling frequency and signal length of the rth dimension, A m and are the amplitude parameter and initial phase of the mth frequency component of the original signal, f m,r and β m,r are the frequency parameter and damping coefficient of the mth frequency component of the original signal in the rth dimension respectively.

[0065] In step 12, each of the I sub-signals also contains an R-dimensional signal of M frequency components. Exemplarily, Figure 3 and Figure 4 Schematic diagrams of extracting I sub-signals for a one-dimensional signal and a two-dimensional signal are shown respectively. Figure 3 , which shows a schematic diagram of extracting two sub-signals from a given one-dimensional original signal, wherein 31 and 32 represent the regions where the first sub-signal and the second sub-signal are located, respectively. Figure 4 , for a given two-dimensional sinusoidal signal as the original signal, Figure 4 The three rectangular boxes in are the three intercepted sub-signals, and the rectangular box of each sub-signal corresponds to different position coordinates.

[0066] In step 13, since the signal parameters of each sub-signal are either the same or related to each other, and the signal parameters of each sub-signal and the signal parameters of the original signal, I sub-signals can be cut out from the original signal, and a group of equations about the signal parameters can be established for each sub-signal to obtain equations equal to or more than the number of unknown signal parameters (that is, the number of equations is greater than or equal to the total number of unknown parameters), and the signal parameters of the original signal can be obtained by solving them.

[0067] In the above technical solution of the present application, by intercepting multiple sub-signals from the original signal, since the parameters of each sub-signal are either the same or related to each other, and the parameters of each sub-signal and the signal parameters of the original signal, the parameters of the original signal can be obtained by establishing a group of equations about the signal parameters and solving them, and the solution result has very high accuracy and reliability.

[0068] Figure 2 FIG. 1 is a flow chart of a signal parameter generation method according to another embodiment of the present application. Figure 2 As shown, steps 21 and 22 of the signal parameter generation method 20 are similar to steps 11 and 12 of the previous embodiment and are not expanded here. The method 20 also includes, in step 23, obtaining frequency domain values ​​and peak point coordinates corresponding to one or more peaks in the sub-signal spectrum corresponding to each sub-signal. Here, the frequency domain value includes the amplitude and phase of the peak point. The specific process of step 23 will be described in detail below. In the following description, the DFT value is taken as an example of the frequency domain value.

[0069] To facilitate subsequent calculations, assume that the discrete Fourier transform frequency of the mth frequency component in the rth dimension is:

[0070]

[0071] definition:

[0072]

[0073] The original signal can be rewritten as:

[0074]

[0075] Perform Fourier transform on the original signal, and then we can get the original signal s(n1,...,n R ) is as follows:

[0076]

[0077] On this basis, it is assumed that the peak point of the spectrum of the pth frequency component in the rth dimension is at k p,r According to formula (4), the DFT of the signal at point (k p,1 ,…,k p,R ) can be written as

[0078]

[0079] Here, (k p,1 ,…,k p,R ) are the peak point coordinates.

[0080] Among them, W r (k) is the length of N r The kth spectral line of the DFT of the rectangular window, W r The expression of (k) is

[0081]

[0082] According to formula (6), we can get:

[0083]

[0084] Where S pIt can be calculated by formula (5). It can be observed that each peak point can obtain 2 equations, so a total of 2M equations can be obtained through M peak points. Since the signal parameters of the original signal to be solved have M amplitude parameters, M phase parameters, M*R frequency parameters and M*R damping coefficients, there are a total of 2M+2M*R unknown parameters to be solved. By cutting out I sub-signals from the original signal (each sub-signal contains M peaks) to obtain equations that are equal to or more than the number of unknown parameters (that is, the number of equations is greater than or equal to the total number of unknown parameters), these unknown quantities can be further solved.

[0085] In multiple embodiments of the present application, preferably, the number of segments I of the sub-signal preferably satisfies the following condition: I≥R+1. Specifically, since each sub-signal can provide 2M equations, the present application proposes that in some embodiments, at least R+1 sub-signals are required to facilitate equation solving, that is, I≥R+1. For example, if the original signal is a one-dimensional signal, that is, R=1, assuming M=1, then according to the above constraints, I is greater than or equal to 2 (that is, two or more sub-signals are obtained). For such an original signal, the total number of original parameters (unknown parameters) to be calculated is 2M+2M*R=4, so Figure 1 In the step 14 shown, at least 4 equations need to be constructed in order to solve all the original parameters. Therefore, when I is at least 2, the number of equations is at least 2M*I, that is, 4 equations, which can meet the above requirements for solving all the original parameters, and the solution results are more comprehensive and complete. Of course, the present application is not limited to this. If some original parameters are solved or the original signal has specific properties, or the above I≥R+1 constraint condition may not be strictly enforced, this will be further described in detail below.

[0086] On this basis, for Figure 2 In step 23 of the method 20 shown, if it is necessary to calculate the frequency domain value and peak point coordinates corresponding to one or more peaks of the sub-signal spectrum corresponding to each sub-signal, this step can be specifically implemented as the following process:

[0087] Assume that the length of the sub-signal in the rth dimension, the initial point index and the downsampling rate are and η i The downsampling rate is a measure of downsampling, which means that the interval η in the original signal is retained after downsampling. i The sampling points of And define the i-th sub-signal as:

[0088]

[0089] in,

[0090]

[0091] Assume that the peak point of the spectrum of the pth frequency component of the i-th sub-signal in the r-th dimension is The DFT of the ith sub-signal is calculated at the point The value of is written as:

[0092]

[0093] Here, is the peak point coordinate.

[0094] in,

[0095]

[0096] Further preferably, step 24 further comprises the following steps: Apply to all peak points of the spectrum corresponding to I sub-signals to obtain 2M*I equations as follows:

[0097]

[0098] in,

[0099]

[0100] W=diag{W 1 , W 2 , …, W I}

[0101]

[0102] in,

[0103]

[0104] In the above formula (14), the diag function is a function used to create a block diagonal matrix.

[0105] As an alternative, instead of performing discrete Fourier transform, zero-filling Fourier transform, interpolation Fourier transform, CZT transform or other known transforms on the first part of the sub-signals among the I sub-signals instead of the entire original signal, and obtaining the frequency domain value (such as DFT value) and peak point coordinates corresponding to one or more peaks in the sub-signal spectrum corresponding to the first part of the sub-signals. The first part of the sub-signals can be one or more sub-signals. Then, since the frequency domain value and peak point coordinates of the first part of the sub-signals have been calculated, it is only necessary to calculate the frequency domain value and peak point coordinates corresponding to one or more peaks in the sub-signal spectrum corresponding to the second part of the sub-signals among the I sub-signals. The second part of the sub-signals are sub-signals other than the first part of the sub-signals.

[0106] Although the above description is made with DFT values, it can be understood that the frequency domain value calculated in step 23 may also be other types of values, such as CZT values.

[0107] It should be noted that, depending on the type of original signal being processed, for some types of original signals, such as Figure 2 The 2M*I equations constructed in step 24 are nonlinear equations, but it is not excluded that for some specific signal types, only linear equations need to be established in step 24. In particular, based on the above calculation method, preferably, when Figure 2 When the equation constructed in step 24 of the method 20 shown is a nonlinear equation, the method 20 further includes calculating initial values ​​of signal parameters.

[0108] Specifically, Figure 2 In the calculation process shown, discrete Fourier transform, zero-filling Fourier transform, interpolation Fourier transform, CZT transform or other known transforms are performed on the original signal or the first part of the sub-signal, and the initial value of the signal parameter is calculated. This involves two ways of calculating the initial value of the signal parameter, namely, discrete Fourier transform, zero-filling Fourier transform, interpolation Fourier transform, CZT transform or other known transforms are performed on the original signal and the sub-signal respectively. Since discrete Fourier transform, zero-filling Fourier transform, interpolation Fourier transform or CZT transform are also required when determining the frequency domain value and peak point coordinates corresponding to one or more peaks in step 23, the results of discrete Fourier transform, zero-filling Fourier transform, interpolation Fourier transform or CZT transform can be used to determine the frequency domain value and peak point coordinates corresponding to one or more peaks and calculate the initial value of the signal parameter.

[0109] Specifically, if Figure 2 In step 23, the discrete Fourier transform, zero-filling Fourier transform, interpolation Fourier transform or CZT transform is performed on the original signal, and this result can be directly used when calculating the initial value thereafter. Conversely, if the initial value is calculated before calculating the frequency domain value and the peak point coordinates in step 23, this result can be used in step 23 to directly calculate the frequency domain value and peak point coordinates corresponding to one or more peaks of the sub-signal spectrum corresponding to each of the sub-signals.

[0110] In addition, if Figure 2In step 23, discrete Fourier transform, zero-filling Fourier transform, interpolation Fourier transform or CZT transform are performed on the sub-signals, and more than one sub-signal is intercepted in the previous step, then in this step, the initial value is calculated only for the spectrum corresponding to one of the sub-signals. Conversely, if the initial value is calculated for the spectrum corresponding to one of the sub-signals before step 23, this result can be directly used in step 23, that is, the sub-signal that has been subjected to discrete Fourier transform, zero-filling Fourier transform, interpolation Fourier transform or CZT transform is directly obtained, and for other sub-signals, the frequency domain value and peak point coordinates corresponding to the corresponding peak need to be obtained by calculation. Preferably, other sub-signals do not need to calculate the complete spectrum, but only need to calculate the peak points therein.

[0111] In some embodiments, a more accurate peak point coordinate is obtained by using zero-filling Fourier transform (i.e., zero-filling method), interpolation Fourier transform, CZT method, or other known methods. And used to obtain the frequency domain value corresponding to one or more peaks in the sub-signal spectrum corresponding to each sub-signal. Specifically, use Substituting the peak point coordinates in formulas (11)-(15) Calculation is performed so that the final calculated signal parameters are more accurate.

[0112] In some embodiments, a more accurate peak point coordinate is obtained by using zero-filling Fourier transform (i.e., zero-filling method), interpolation Fourier transform, CZT method, or other known methods. A more accurate initial value of the signal parameter is calculated using the more accurate peak point coordinate (ie, the peak point frequency).

[0113] Preferably, in such an embodiment, the step of solving the equation includes solving it using Levenberg-Marquardt or Newton-Raphson or Gaussian-Newton algorithms. Of course, it is understood that the algorithms for solving the above equations are only exemplary, and the present application is not limited to these algorithms.

[0114] According to the above description, in the step of extracting I sub-signals from the original signal, it is preferred to make I≥R+1, so as to obtain a more complete and comprehensive solution. In different application scenarios of the present application, considering the different types of original signals processed, the calculation method can be further optimized to improve the calculation speed and accuracy.

[0115] First, if the signal parameters of the original signal do not include the damping coefficient, then in the step of extracting I sub-signals from the original signal, the number of sub-signals I to be extracted does not need to satisfy the constraint condition of I≥R+1, but only needs to satisfy the following condition: I≥ceil(R / 2)+1. Among them, the ceil function is an upward rounding function. Specifically, for such a signal, since the signal parameters of the original signal do not include the damping coefficient (which can also be called the attenuation factor in some cases), for example, some signals whose amplitudes basically do not decay significantly with time and space, the total number of signal parameters (i.e., unknown parameters) of such original signals is 2M+M*R. After simplifying the number of I mentioned above, the number of equations can be reduced, thereby reducing the pressure of solving the equations, and improving the calculation accuracy on the basis of saving computing power.

[0116] Furthermore, if the original signal is a periodic signal with a known mathematical model, the value of M can be set to 1. For example, such an original signal can be a square wave, a triangle wave, a sawtooth wave, etc. In this case, M=1 can be directly set to reduce the number of equations and obtain the solution value of the corresponding signal parameter, which is simple and convenient. For example, taking a square wave as an example, the frequency is f1 and the phase is The signal expression of the square wave is:

[0117]

[0118] Its Fourier expansion is

[0119]

[0120] After sampling

[0121]

[0122] In such an embodiment, although the original signal is a multi-frequency signal, since the frequency, amplitude and phase of other frequency components are related to the frequency, amplitude and phase of the fundamental frequency, it is actually only necessary to calculate the peak value of the signal fundamental frequency or any frequency. Therefore, by setting the value of M to 1, the number of equations can be effectively reduced, thereby reducing the amount of calculation for solving the equations.

[0123] On this basis, in some embodiments, if some parameters of the signal parameters of the original signal have a correlation calculation relationship, then Figure 1 Step 12 as shown or Figure 2In the process of extracting I sub-signals from the original signal in step 22 shown, the minimum value of the number of sub-signals I to be intercepted is set to 1 and the sub-signal can be equal to the original signal. In such an embodiment, a more special class is, for example, a signal parameter of the original signal, in which the frequency parameter and the phase have a mutually related calculation relationship, and the damping coefficient is 0 or less than the damping coefficient threshold; that is, there are only M unknown amplitude parameters and M unknown frequency parameters or phase parameters, so the number of unknown quantities of the signal parameters in the original signal is 2M. In such an embodiment, in order to make the parameter estimation most accurate, the application scenario of the technical solution of the present application can be extended to a more extreme case, that is, the entire original signal is used as the extracted sub-signal to perform the same analysis and solution process described above, so as to obtain a more accurate signal parameter estimation value. Exemplarily, such an original signal includes an intermediate frequency signal generated by mixing between the transmitting wave and the receiving wave in an FMCW (Frequency Modulated Continuous Wave) or CTFM (Continuous Transmission Frequency Modulation) radar or sonar.

[0124] More specifically, when the original signal is an intermediate frequency signal generated by an FMCW or CTFM radar or sonar, the frequency-phase relationship of the intermediate frequency signal is as follows:

[0125]

[0126] Where κ = f0 / B, f0 and B are the initial frequency and effective bandwidth of the FMCW or CTFM signal, T is the sampling time length of the intermediate frequency signal, It is the phase jump caused by the reflection of the FMCW or CTFM signal on the surface of the object. At this time, the above formula 13 can be further simplified to the following formula:

[0127]

[0128] Another aspect of this application refers to Figure 5 A signal parameter generating device 40 is also proposed, and the parameter generating device 40 includes a signal receiving terminal 41, an operation module 42, and a signal output terminal 43. The signal receiving terminal 41 is configured to receive an original signal; the operation module 42 is configured to generate signal parameters of the original signal according to the original signal using the signal parameter generating method proposed in any embodiment of the present application, wherein the signal parameters include one or more of an amplitude parameter, a phase parameter, a frequency parameter, and a damping coefficient. The signal output terminal 43 is configured to output the signal parameters of the original signal.

[0129] Another aspect of the present application provides a sensor device, which may include a radar device and a sonar device, wherein the radar device / sonar device includes the signal parameter generating device provided in the present application, for example, Figure 5 The signal parameter generating device 40 shown. Specifically, the radar device includes a laser radar device, a millimeter wave radar device or an ultrasonic radar device. In such an application scenario, since it is usually necessary to estimate parameters such as frequency to obtain an estimated value of the distance, the more accurate the frequency estimation, the more accurate the estimated value of the distance. After adopting the solution of the present application, since the accuracy of the signal parameter estimation value in the original signal can be significantly improved, the distance estimation value for radar, sonar and other equipment can reach a micron level of accuracy, achieving a significant improvement in performance.

[0130] Another aspect of the present application also proposes a signal parameter generation system, comprising: a memory for storing instructions executable by a processor; and a processor for executing the instructions to implement the signal parameter generation method proposed in any embodiment of the present application. Specifically, the signal parameter generation system is, for example, Figure 6 The signal parameter generation system 50 is shown. Figure 6 The signal parameter generation system 50 may include an internal communication bus 51, a processor 52, a read-only memory (ROM) 53, a random access memory (RAM) 54, and a communication port 55. When applied on a personal computer, the signal parameter generation system 50 may also include a hard disk 56.

[0131] The internal communication bus 51 can realize data communication between components of the signal parameter generation system 50. The processor 52 can perform calculations, judgments, and prompts. In some embodiments, the processor 52 can be composed of one or more processors. The communication port 55 can realize data communication between the signal parameter generation system 50 and the outside. In some embodiments, the signal parameter generation system 50 can send and receive information and data from the network through the communication port 55.

[0132] The signal parameter generation system 50 may also include different forms of program storage units and data storage units, such as a hard disk 56, a read-only memory (ROM) 53 and a random access memory (RAM) 54, which can store various data files used for computer processing and / or communication, and possible program instructions executed by the processor 52. The processor executes these instructions to implement the main part of the method. The results processed by the processor are transmitted to the user device through the communication port and displayed on the user interface.

[0133] In addition, the present application also proposes a computer-readable medium storing a computer program code, and the computer program code implements the above-mentioned signal parameter generation method when executed by a processor.

[0134] The basic concepts have been described above. Obviously, for those skilled in the art, the above application disclosure is only an example and does not constitute a limitation of the present application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements and amendments to the present application. Such modifications, improvements and amendments are suggested in the present application, so such modifications, improvements and amendments still belong to the spirit and scope of the exemplary embodiments of the present application.

[0135] At the same time, the present application uses specific words to describe the embodiments of the present application. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of the present application. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or more in different positions in this specification does not necessarily refer to the same embodiment. In addition, some features, structures or characteristics in one or more embodiments of the present application can be appropriately combined.

[0136] Some aspects of the present application may be performed entirely by hardware, entirely by software (including firmware, resident software, microcode, etc.), or by a combination of hardware and software. The above hardware or software may be referred to as "data blocks", "modules", "engines", "units", "components" or "systems". The processor may be one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DAPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, or combinations thereof. In addition, various aspects of the present application may be expressed as computer products located in one or more computer-readable media, which include computer-readable program codes. For example, computer-readable media may include, but are not limited to, magnetic storage devices (e.g., hard disks, floppy disks, tapes ...), optical disks (e.g., compact disks CDs, digital versatile disks DVDs ...), smart cards, and flash memory devices (e.g., cards, sticks, key drives ...).

[0137] A computer-readable medium may include a propagated data signal containing computer program code, such as in baseband or as part of a carrier wave. The propagated signal may have a variety of manifestations, including electromagnetic, optical, etc., or a suitable combination. A computer-readable medium may be any computer-readable medium other than a computer-readable storage medium, which may be connected to an instruction execution system, device or apparatus to communicate, propagate or transmit a program for use. The program code on the computer-readable medium may be propagated via any suitable medium, including radio, cable, fiber optic cable, radio frequency signal, or similar medium, or any combination of the above mediums.

[0138] Similarly, it should be noted that in order to simplify the description of the disclosure of this application and thus help understand one or more application embodiments, in the above description of the embodiments of this application, multiple features are sometimes merged into one embodiment, figure or description thereof. However, this disclosure method does not mean that the features required by the object of this application are more than the features mentioned in the claims. In fact, the features of the embodiments are less than all the features of the single embodiment disclosed above.

[0139] In some embodiments, numbers describing the number of components and attributes are used. It should be understood that such numbers used in the description of the embodiments are modified by the modifiers "about", "approximately" or "substantially" in some examples. Unless otherwise specified, "about", "approximately" or "substantially" indicate that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may change according to the required features of individual embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and adopt the general method of retaining digits. Although the numerical domains and parameters used to confirm the breadth of their range in some embodiments of the present application are approximate values, in specific embodiments, the setting of such numerical values ​​is as accurate as possible within the feasible range.

[0140] Although the present application has been described with reference to the current specific embodiments, ordinary technicians in this technical field should recognize that the above embodiments are only used to illustrate the present application, and various equivalent changes or substitutions may be made without departing from the spirit of the present application. Therefore, as long as the changes and modifications to the above embodiments are within the essential spirit of the present application, they will fall within the scope of the claims of the present application.

Claims

1. A signal parameter generation method, characterized in that: The steps include: Input an original signal, where the original signal is an R-dimensional signal containing M frequency components, where both M and R are greater than or equal to 1; Extracting I sub-signals from the original signal, where I is greater than or equal to 1; A plurality of equations about the I sub-signals are constructed, and the plurality of equations are solved to obtain signal parameters of the original signal, wherein the signal parameters include one or more of an amplitude parameter, a phase parameter, a frequency parameter and a damping coefficient.

2. The method according to claim 1, characterized in that Also includes: Obtaining frequency domain values ​​and peak point coordinates corresponding to one or more peaks in the sub-signal spectrum corresponding to each of the sub-signals; The frequency domain values ​​and peak point coordinates are included in the equation.

3. The method according to claim 2, characterized in that Obtaining frequency domain values ​​and peak point coordinates corresponding to one or more peaks of a sub-signal spectrum corresponding to each of the sub-signals includes: Performing Fourier transform, zero-filling Fourier transform, interpolation Fourier transform or CZT transform on the original signal, and obtaining frequency domain values ​​and peak point coordinates corresponding to one or more peaks in the spectrum of the original signal; The frequency domain values ​​and peak point coordinates corresponding to one or more peaks of the sub-signal spectrum corresponding to each of the sub-signals are calculated.

4. The method according to claim 2, characterized in that Acquiring frequency domain values ​​and peak point coordinates corresponding to one or more peaks of a sub-signal spectrum corresponding to each of the sub-signals includes: Performing discrete Fourier transform, zero-padding Fourier transform, interpolation Fourier transform or CZT transform on a first part of the I sub-signals, and obtaining frequency domain values ​​and peak point coordinates corresponding to one or more peaks in a sub-signal spectrum corresponding to the first part of the sub-signals; Calculate frequency domain values ​​and peak point coordinates corresponding to one or more peaks in a sub-signal spectrum corresponding to a second part of sub-signals in the I sub-signals.

5. The method according to any one of claims 2 to 4, characterized in that: The frequency domain value is a DFT value.

6. The method according to claim 1, characterized in that The sub-signals include Where i=1,...,I, r=1,...,R, is the length of the i-th sub-signal in the r-th dimension.

7. The method according to claim 6, characterized in that: The original signal includes s(n1,...,n R ): and: Among them, F r and N r are the sampling frequency and signal length of the rth dimension, A m and are the amplitude parameter and initial phase of the original signal of the mth frequency component of the original signal, respectively, m,r and β m,r are the frequency parameter and damping coefficient of the mth frequency component of the original signal in the rth dimension, η i =1,2,... is the downsampling rate of the ith sub-signal; and are the amplitude parameters and initial phase of the mth frequency component of the ith sub-signal, respectively. is the initial point index of the i-th sub-signal; is the discrete Fourier transform frequency of the mth frequency component of the ith sub-signal in the rth dimension, where Defined as 8. The method according to claim 7, characterized in that Assume that the peak point of the spectrum of the pth frequency component of the i-th sub-signal in the r-th dimension is The DFT of the i-th sub-signal is taken at the point The value of is written as in, 9. The method according to claim 8, characterized in that It also includes the formula Apply to all peak points of the spectrum corresponding to I sub-signals to obtain 2M*I equations as follows: in, S=[s 1 ,s 2 ,…,s I ] T In=diag{In 1 ,IN 2 ,…,IN I } A=[a 1 ,a 2 ,…,a I ] T , in, 10. The method according to any one of claims 1 to 4, characterized in that: When the equation is a nonlinear equation, the method further comprises: An initial value of the signal parameter is calculated.

11. The method according to claim 10, characterized in that The step of solving the equation includes solving it using Levenberg-Marquardt or Newton-Raphson or Gaussian-Newton algorithm.

12. The method according to any one of claims 1 to 4, characterized in that: In the step of extracting I sub-signals from the original signal, the number I of the extracted sub-signals satisfies the following condition: I≥R+1.

13. The method according to any one of claims 1 to 4, characterized in that: If the signal parameters of the original signal do not include the damping coefficient, then in the step of extracting I sub-signals from the original signal, the number I of the extracted sub-signals satisfies the following condition: I≥ceil(R / 2)+1.

14. The method according to any one of claims 1 to 4, characterized in that: If the original signal is a periodic signal with a known mathematical model, the method further includes setting the value of M to 1.

15. The method according to any one of claims 1 to 4, characterized in that: If some of the signal parameters of the original signal have a mutually correlated calculation relationship, the method also includes, in the step of intercepting I sub-signals from the original signal, setting the minimum value of the intercepted number I of the sub-signals to 1 or setting the sub-signal to be equal to the original signal.

16. The method according to claim 15, characterized in that Among the signal parameters of the original signal, the frequency parameter and the phase have a mutually correlated calculation relationship, and the damping coefficient is 0 or less than a damping coefficient threshold.

17. The method according to claim 1 or 16, characterized in that The original signal includes an intermediate frequency signal generated by mixing the FMCW signal or the CTFM signal.

18. The method according to claim 17, characterized in that When the original signal is an intermediate frequency signal generated by mixing the FMCW or CTFM signal, the frequency-phase relationship of the intermediate frequency signal is as follows: Where κ=f0 / B, f0 and B are the initial frequency and effective bandwidth of the FMCW or CTFM signal, respectively, and T is the sampling time length of the intermediate frequency signal. is the phase jump caused by the reflection of the FMCW or CTFM signal on the surface of the object, and the equation includes: in 。 19. A signal parameter generating device, characterized in that: include: A signal receiving end configured to receive an original signal; an operation module, configured to generate a signal parameter of the original signal according to the method according to any one of claims 1 to 18, wherein the signal parameter includes one or more of an amplitude parameter, a phase parameter, a frequency parameter and a damping coefficient; and The signal output terminal is configured to output the signal parameters of the original signal.

20. A sensing device, characterized in that: The sensing device comprises the signal parameter generating apparatus as claimed in claim 19.

21. The sensing device according to claim 20, characterized in that The sensing device includes a radar device or a sonar device.

22. The sensing device according to claim 21, characterized in that The radar device includes a laser radar device, a millimeter wave radar device or an ultrasonic radar device.

23. A signal parameter generation system, comprising: a memory for storing instructions executable by a processor; and a processor, configured to execute the instructions to implement the method according to any one of claims 1-18.

24. A computer readable medium storing computer program code, wherein the computer program code, when executed by a processor, implements the method according to any one of claims 1 to 18.

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