Target translation compensation and three-dimensional imaging method and system of close-range millimeter wave MIMO radar

Abstract

The invention provides a target translation compensation and three-dimensional imaging method and system for a close-range millimeter wave MIMO radar, and the method and system achieve the high-quality real-time three-dimensional imaging. The method comprises the following steps: receiving echo data and movement speed of a tested person, and carrying out phase calibration from multi-station sampling to single-station sampling on the echo data; performing two-dimensional Fourier transform and motion compensation in x and y directions on the echo data after phase calibration based on the motion speed of the tested person; performing two-dimensional inverse Fourier transform on the echo data after two-dimensional Fourier transform and operation compensation in the wave number domain # imgabs0 # and # imgabs1 # directions; performing coherent superposition on the echo data after the two-dimensional inverse Fourier transform to obtain echo data after motion compensation of the tested person; based on a static target three-dimensional imaging algorithm principle, processing the echo data after motion compensation of the tested person to obtain two-dimensional images of each distance direction plane; and performing traversal synthesis processing on the two-dimensional image in each distance direction plane to obtain a three-dimensional image of the tested person.

Description

Technical Field

[0001] The present application relates to the field of image imaging, and in particular to a method and system for target translation compensation and three-dimensional imaging of a close-range millimeter-wave MIMO radar. Background Art

[0002] In recent years, as the global anti-terrorism situation has become increasingly severe, security inspection and bomb disposal in large public places such as airports, railway stations, stadiums and important government departments have received widespread attention from all countries. Active millimeter wave imaging technology can easily penetrate clothing and other coverings to image hidden objects, providing reliable high-resolution images required to detect hidden threats. Security inspection equipment based on active millimeter wave imaging technology can detect hidden threats of metal and non-metal objects, such as guns, ceramic knives, plastics, liquid explosives, contraband and narcotics. At the same time, it is non-ionizing radiation, has low emission power and is harmless to the human body; compared with traditional manual search and security inspection methods, it has the advantages of high efficiency and non-contact. At present, active millimeter wave imaging systems for personnel security inspections have been deployed at airports in many countries such as the United States, the United Kingdom, the Netherlands, Australia, Japan and China. Millimeter wave imaging is now widely used for personnel security inspections in airports, security checkpoints and other related public or military areas.

[0003] The millimeter wave security inspection system for moving people is based on SAR imaging technology under the combination of multiple-input multiple-output (MIMO) sparse planar array and all-electric scanning and digital beamforming. Compared with the fixed standing scanning millimeter wave security inspection system, this type of system scans and detects the inspected person moving through the imaging system by high-speed all-electric scanning and real-time signal processing, and outputs three-dimensional imaging and detection results in real-time video. Since the imaging system can continuously receive scattered echo data by frame during the movement of the inspected person, possible hidden threats can be seen from different angles; and if the system provides a high frame rate, hidden threats can be tracked in different frames, thereby improving the detection performance. In addition, this type of pass-through imaging system does not require the inspected person to cooperate with a specific position and posture. It only needs to walk or stand on a conveyor to pass through the security inspection equipment, which can improve the security inspection experience of the inspected person and greatly improve the throughput of the system.

[0004] However, the movement of the inspected person during the imaging process of this type of system will lead to a decrease in imaging quality and image blur. Therefore, how to compensate for the movement of the target to ensure real-time high-quality imaging is a problem that needs to be solved. Summary of the invention

[0005] The embodiments of the present application provide a method and system for target translation compensation and three-dimensional imaging of a close-range millimeter-wave MIMO radar, which performs phase compensation on the echo of a moving target in the wavenumber domain, thereby achieving complete compensation for the target translation. A fast echo block compensation method is also used to compensate for the block echoes, thereby greatly improving the three-dimensional imaging efficiency and achieving high-quality real-time three-dimensional imaging of a close-range active millimeter-wave security inspection system.

[0006] In order to achieve the above objectives, this application adopts the following technical solutions:

[0007] In a first aspect, the present application provides a target translation compensation and three-dimensional imaging method for a short-range millimeter-wave MIMO radar, the method comprising:

[0008] Receive the echo data and movement speed of the person being measured, and perform phase calibration from multi-station sampling to single-station sampling on the echo data;

[0009] Based on the movement speed of the person being measured, the echo data after phase calibration is subjected to two-dimensional Fourier transform and motion compensation in the x and y directions;

[0010] Wavenumber domain analysis of the 2D Fourier transformed and compensated echo data and 2D inverse Fourier transform of the direction;

[0011] Performing coherent superposition on the echo data after two-dimensional inverse Fourier transformation to obtain the echo data after motion compensation of the person under test;

[0012] Based on the principle of the stationary target three-dimensional imaging algorithm, the echo data after motion compensation of the measured person is processed to obtain two-dimensional imaging of each distance plane;

[0013] The two-dimensional images in each range plane are traversed and synthesized to obtain a three-dimensional image of the person being measured.

[0014] In a possible design scheme, the method of the first aspect further includes receiving echo data and movement speed of the measured person, including:

[0015] Receiving echo data of the person being measured obtained by detecting the person being measured by the millimeter wave detection device;

[0016] The moving speed of the person being measured is received from the distance sensor which detects the person being measured.

[0017] A possible design scheme, the method of the first aspect also includes, based on the movement speed of the measured person, performing two-dimensional Fourier transform and motion compensation on the echo data after phase calibration in the x and y directions, including: decomposing the movement speed of the measured person to obtain the speed v in the x, y and z directions respectively x 、vy 、v z ; Based on v x 、v y 、v z , perform two-dimensional Fourier transform and motion compensation in the x and y directions on the phase-calibrated echo data.

[0018] In a possible design scheme, the method of the first aspect further includes, based on the principle of a stationary target three-dimensional imaging algorithm, processing the echo data after motion compensation of the measured person to obtain two-dimensional imaging of each distance plane, including:

[0019] The echo data after motion compensation of the measured person are subjected to imaging area distance stratification, imaging plane compensation, two-dimensional IFFT and coherent superposition of each frequency point to obtain two-dimensional imaging of each distance plane.

[0020] In a second aspect, the present application provides another method for target translation compensation and three-dimensional imaging of a short-range millimeter-wave MIMO radar, the method comprising:

[0021] Receive the echo data and movement speed of the person being measured, and perform phase calibration from multi-station sampling to single-station sampling on the echo data;

[0022] Based on the movement speed and the acquisition time required to acquire one frame of echo data, determine the movement distance of the person being measured within the acquisition time;

[0023] Based on the movement distance and azimuth resolution, the echo data after phase calibration is divided into blocks, so that the movement distance of the target within the acquisition time of each block of echo data cannot exceed the preset resolution unit, wherein the azimuth resolution is preset;

[0024] Based on the motion speed, two-dimensional Fourier transform and motion compensation are performed on each block of echo data in the x and y directions;

[0025] The wave number domain is performed on each echo data after 2D Fourier transform and operation compensation. and 2D inverse Fourier transform of the direction;

[0026] Performing coherent superposition on each block of echo data after two-dimensional inverse Fourier transformation to obtain each block of echo data after motion compensation;

[0027] Then, each block of echo data after motion compensation is superimposed to obtain the echo data of the measured person after motion compensation;

[0028] Based on the principle of the stationary target three-dimensional imaging algorithm, the echo data after motion compensation of the measured person is processed to obtain two-dimensional imaging of each distance plane;

[0029] The two-dimensional images in each range plane are traversed and synthesized to obtain a three-dimensional image of the person being measured.

[0030] In a third aspect, the present application provides a target translation compensation and three-dimensional imaging system for a short-range millimeter-wave MIMO radar, the system comprising: a receiving module, a processing module, and a synthesis module;

[0031] The receiving module is used to receive the echo data and movement speed of the person being measured, and to perform phase calibration from multi-station sampling to single-station sampling on the echo data;

[0032] The processing module is used to perform two-dimensional Fourier transform and motion compensation in the x and y directions on the echo data after phase calibration based on the movement speed of the person being measured; and to perform wave number domain processing on the echo data after two-dimensional Fourier transform and motion compensation. and The two-dimensional inverse Fourier transform of the direction; the coherent superposition of the echo data after the two-dimensional inverse Fourier transform is performed to obtain the echo data after the motion compensation of the measured person; it is also used to process the echo data after the motion compensation of the measured person based on the principle of the three-dimensional imaging algorithm of the stationary target to obtain the two-dimensional imaging of each distance plane;

[0033] The synthesis module is used to perform traversal synthesis processing on the two-dimensional imaging in each distance plane to obtain a three-dimensional image of the person being measured.

[0034] In a fourth aspect, the present application further provides a target translation compensation and three-dimensional imaging system for a short-range millimeter-wave MIMO radar, the system comprising: a receiving module, a processing module and a synthesis module;

[0035] The receiving module is used to receive the echo data and movement speed of the person being measured, and to perform phase calibration from multi-station sampling to single-station sampling on the echo data;

[0036] The processing module is used to determine the movement distance of the measured person within the acquisition time based on the movement speed and the acquisition time required to acquire one frame of echo data; to divide the echo data after phase calibration into blocks based on the movement distance and azimuth resolution, so that the movement distance of the target within the acquisition time of each block of echo data cannot exceed a preset resolution unit, wherein the azimuth resolution is preset; to perform two-dimensional Fourier transform and motion compensation in the x and y directions on each block of echo data based on the movement speed; and to perform wave number domain on each block of echo data after the two-dimensional Fourier transform and motion compensation. and direction; for coherently superimposing each block of echo data after the two-dimensional inverse Fourier transform to obtain each block of echo data after motion compensation; and for superimposing each block of echo data after motion compensation to obtain echo data of the measured person after motion compensation; and also for processing the echo data of the measured person after motion compensation based on the principle of the stationary target three-dimensional imaging algorithm to obtain two-dimensional imaging of each distance plane;

[0037] The synthesis module is used to perform traversal synthesis processing on the two-dimensional imaging in each distance plane to obtain a three-dimensional image of the person being measured.

[0038] In the embodiment of the present application, the phase compensation of the echo of the moving target is performed in the wave number domain, thereby achieving complete compensation for the target translation; the block echo compensation can also be performed by adopting the method of fast echo block compensation, which greatly reduces the amount of calculation of the compensation algorithm compared to the separate compensation of each equivalent phase center, and can greatly improve the efficiency of three-dimensional imaging. In short, the method of the present application has a high tolerance for the error of the motion information used in the compensation, and the algorithm has good robustness, which can achieve high-quality real-time three-dimensional imaging of the close-range active millimeter wave security inspection system.

[0039] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0041] Figure 1 A schematic diagram of the flow chart of a target translation compensation and three-dimensional imaging method for a short-range millimeter-wave MIMO radar provided in an embodiment of the present application;

[0042] Figure 2 A schematic diagram of a target translational pass-through imaging system for a short-range millimeter-wave MIMO radar provided in an embodiment of the present application;

[0043] Figure 3 Schematic diagram of echo blocking of the fast echo blocking wavenumber domain compensation method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application. At the same time, in the description of the embodiments of the present application, the terms "first", "second", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more features. In the description of the embodiments of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0045] Figure 1 A schematic flow chart of a method for target translation compensation and three-dimensional imaging of a short-range millimeter-wave MIMO radar provided in an embodiment of the present application.

[0046] The process of the target translation compensation and three-dimensional imaging method of the short-range millimeter-wave MIMO radar is as follows:

[0047] Step S1, receiving the echo data and movement speed of the person being measured, and performing phase calibration from multi-station sampling to single-station sampling on the echo data.

[0048] It can be understood that in this step, the echo data of the person under test is received from the millimeter wave detection device through detection of the person under test, and the movement speed of the person under test is received from the distance sensor through detection of the person under test.

[0049] For example, Figure 2 As shown, it is assumed that the person under inspection moves along the x-axis direction at a speed v through the planar array imaging system. During the signal acquisition process, the human body moves, and the movement is regarded as an overall translation.

[0050] Assume that the scanning time required for the system to collect (transmit and receive) a frame of signal is T I Since this time is very short, about tens of milliseconds, the motion speed v can be considered as a fixed value in the imaging processing of a frame of signal. For any point (x, y, z) on the human body surface, its reflection characteristic is defined as f(x, y, z). During the scanning process, the xy plane corresponds to the nth equivalent phase center (n x , n y , the scanning time of the transmitting and receiving unit of Z1 is T n (T n <<T I ), assuming that there are N equivalent phase centers, n = 0, 1, ..., N-1, then the equivalent phase center (n x , n y, the echo data of Z1) is

[0051]

[0052] in, is the wave number, c is the propagation speed of electromagnetic waves, and the attenuation of amplitude with distance is ignored. The exponential term in formula (1) is expressed as x , n y , Z1), the spherical wave can be written as the superposition of multiple plane waves, and the above formula can be written as

[0053]

[0054] in, and The range of variation is (-2k, 2k).

[0055] From equation (2), when the person being examined moves, the echo data of each equivalent phase center has a coupling phase term related to its scanning time. This term will result in wavenumber domain imaging plane compensation during the imaging process After that, the 3D image obtained by inverse Fourier transform in the azimuth direction is defocused and blurred. Similarly, when the person under examination moves along the y and z directions, there is a coupled phase term and These items will cause different forms of defocus blur in the obtained three-dimensional image. Therefore, phase calibration and motion compensation in the following steps are required.

[0056] It can be understood that since the system adopts multi-station sampling with separate transmitter and receiver, it is necessary to perform multi-station-single-station phase calibration on the echo data. Taking the center of the imaging area as the reference point for calibration, the calibrated data is

[0057]

[0058] Among them, R u (n x , n y , ω) is the echo data of the reference point in multi-station mode, R0(n x ,n y , ω) is the echo data of the reference point in single-station mode, that is

[0059]

[0060] in, is the transmitting unit position, is the receiving unit location, is the reference point position, is the phase center position.

[0061] S2, based on the movement speed of the person being measured, the echo data after phase calibration is subjected to two-dimensional Fourier transform and motion compensation in the x and y directions.

[0062] It should be noted that the linear distance offset ΔR that varies with time is introduced for the target motion. n =vT n In the case of scanning, the nth equivalent phase center (n x , n y , the scanning time of Z1 is T n , assuming that there are N equivalent phase centers, n = 0, 1, .... N-1, then the formula (2) The term is a quadratic phase related to both the scanning time and the equivalent phase center position. The distance the target moves is different for each spatial equivalent phase center.

[0063] It is proposed to compensate the target range phase corresponding to the scanning time in the wave number domain for the echo of each equivalent phase center. Then the compensated echoes are coherently superimposed to obtain new three-dimensional echo data of the entire scanning plane. The formula of the proposed compensation method is:

[0064]

[0065] In addition, the movement speed of the person being measured is decomposed to obtain the speed v in the x, y and z directions respectively. x 、v y 、v z ; Based on v x 、v y 、v z , perform two-dimensional Fourier transform and motion compensation in the x and y directions on the phase-calibrated echo data.

[0066] Corresponding to the example of step S1 above, the sampled data of each phase center is subjected to a two-dimensional Fourier transform along the (x, y) direction, and corresponding motion compensation is performed, and the following is obtained:

[0067]

[0068] S3, wave number domain analysis of the echo data after 2D Fourier transformation and operation compensation and The two-dimensional inverse Fourier transform of the direction.

[0069] S4, performing coherent superposition on the echo data after the two-dimensional inverse Fourier transform to obtain the echo data after the motion compensation of the measured person.

[0070] Corresponding to the example of step S2 above, steps S3 and S4 are specifically as follows: A two-dimensional inverse Fourier transform is performed in the direction, and the data of each phase center are coherently superimposed to obtain the motion-compensated echo data.

[0071]

[0072] S5, based on the principle of the stationary target three-dimensional imaging algorithm, the echo data after motion compensation of the measured person is processed to obtain two-dimensional imaging of each distance plane.

[0073] That is to say, the echo data after motion compensation of the measured person is subjected to imaging area distance stratification, imaging plane compensation, two-dimensional IFFT and coherent superposition of each frequency point to obtain two-dimensional imaging of each distance plane, which is expressed as follows:

[0074]

[0075] Among them, the above-mentioned dispersion relation of plane waves in free space or homogeneous medium is

[0076] S6, performing traversal synthesis processing on the two-dimensional images in each range plane to obtain a three-dimensional image of the person being measured.

[0077] f(x,y,ω)=comp(f′(x,y,ω,z0),z0) (11)

[0078] Among them, comp(f′, z0) represents the traversal synthesis of the layered distance plane in the function f′.

[0079] In summary, in the embodiments of the present application, phase compensation is performed on the echo of the moving target in the wavenumber domain, thereby achieving complete compensation for the target's translation; block echo compensation can also be performed by using fast echo block compensation, which greatly reduces the amount of calculation of the compensation algorithm compared to the separate compensation of each equivalent phase center, and can greatly improve the efficiency of three-dimensional imaging. In short, the method of the present application has a high tolerance for the error of the motion information used in the compensation, and the algorithm has good robustness, which can achieve high-quality real-time three-dimensional imaging of the close-range active millimeter wave security inspection system.

[0080] Another implementation of the present application is to propose a method for echo block wavenumber domain compensation to achieve target translation compensation and three-dimensional imaging system for close-range millimeter wave MIMO radar. The method processes the equivalent phase center in blocks according to the sampling time sequence, and the specific steps are as follows.

[0081] Step S101, receiving the echo data and movement speed of the person being measured, and performing phase calibration from multi-station sampling to single-station sampling on the echo data.

[0082] Step S102, based on the movement speed and the acquisition time required to acquire one frame of echo data, determine the movement distance of the person under test within the acquisition time.

[0083] For example, assuming that the speed of the person being measured is 1.5 m / s and the scanning time required to collect one frame of echo data is 50 ms, the target movement distance during the echo data collection process is 7.5 cm.

[0084] Step S103, based on the movement distance and azimuth resolution, the phase-calibrated echo data is divided into blocks, so that the movement distance of the target within the acquisition time of each block of echo data cannot exceed a preset resolution unit, wherein the azimuth resolution is preset.

[0085] Exemplarily, the azimuth resolution is preset to 5 mm, and the imaging performance can be kept constant when the movement distance of the measured target does not exceed 1.5 resolution units.

[0086] Corresponding to the above step S101, it can be known that the moving distance of the target within 50 milliseconds is: 7.5 cm.

[0087] If the target moves 7.5 cm in 50 ms and the size of each resolution unit is 5 mm, then the distance of 1.5 resolution units is 0.75 cm (1.5×5 mm).

[0088] Therefore, the movement distance of 7.5 cm cannot exceed 0.75 cm in each echo block. If we divide the echo into 10 blocks, the movement distance of each echo block is approximately: 0.75 cm, ensuring that the movement distance in each echo data block does not exceed 1.5 resolution units.

[0089] For greater accuracy and to ensure the quality of the compensated image, one may choose to divide the echo into 16 blocks, such as Figure 3 As shown, this allows for more precise compensation and reduces motion compensation errors.

[0090] Step S104: performing two-dimensional Fourier transform and motion compensation in the x and v directions on each block of echo data based on the motion speed.

[0091] Step S105, performing wave number domain analysis on each echo data after two-dimensional Fourier transformation and operation compensation. and The two-dimensional inverse Fourier transform of the direction.

[0092] Step S106, coherently superimpose each block of echo data after the two-dimensional inverse Fourier transform to obtain each block of echo data after motion compensation.

[0093] Step S107, superimposing each block of motion-compensated echo data to obtain motion-compensated echo data of the person under test.

[0094] Step S108, based on the principle of the stationary target three-dimensional imaging algorithm, the echo data after motion compensation of the measured person is processed to obtain two-dimensional imaging of each range plane.

[0095] Step S109, performing traversal synthesis processing on the two-dimensional images in each range plane to obtain a three-dimensional image of the person being measured.

[0096] The echo block wavenumber domain compensation method first calculates the total movement distance of the target within the sampling time according to the movement speed, and then calculates the number of echo blocks according to the azimuth resolution to ensure that the movement distance of the target does not exceed 1.5 resolution units within each echo acquisition time. This method can realize the translational compensation of the target and greatly reduce the computational complexity of the compensation algorithm.

[0097] Combination of the above Figure 1-Figure 3 The target translation compensation and three-dimensional imaging method of the short-range millimeter-wave MIMO radar provided in the embodiment of the present application are described in detail.

[0098] The following describes a target translation compensation and three-dimensional imaging system of a short-range millimeter-wave MIMO radar provided by an embodiment of the present application. The system specifically includes: a receiving module, a processing module and a synthesis module.

[0099] The receiving module is used to receive the echo data and movement speed of the person being measured, and to perform phase calibration from multi-station sampling to single-station sampling on the echo data;

[0100] The processing module is used to perform two-dimensional Fourier transform and motion compensation in the x and y directions on the echo data after phase calibration based on the movement speed of the person being measured; and to perform wave number domain processing on the echo data after two-dimensional Fourier transform and motion compensation. and The two-dimensional inverse Fourier transform of the direction; the coherent superposition of the echo data after the two-dimensional inverse Fourier transform is performed to obtain the echo data after the motion compensation of the measured person; it is also used to process the echo data after the motion compensation of the measured person based on the principle of the three-dimensional imaging algorithm of the stationary target to obtain the two-dimensional imaging of each distance plane;

[0101] The synthesis module is used to perform traversal synthesis processing on the two-dimensional imaging in each distance plane to obtain a three-dimensional image of the person being measured.

[0102] Optionally, a receiving module is used to receive the echo data and movement speed of the person under test, including: a receiving module is used to receive the echo data of the person under test obtained by detecting the person under test from a millimeter wave detection device; and, a receiving module is used to receive the movement speed of the person under test obtained by detecting the person under test from a distance sensor.

[0103] Optionally, the processing module is used to perform two-dimensional Fourier transform and motion compensation in the x and y directions on the echo data after phase calibration based on the movement speed of the person being measured, including:

[0104] Decompose the movement speed of the person being measured to obtain the speed v in the x, y and z directions respectively. x 、v y 、v z ;

[0105] Based on v x 、v y 、v z , perform two-dimensional Fourier transform and motion compensation in the x and y directions on the phase-calibrated echo data.

[0106] Optionally, a processing module is used to process the echo data after motion compensation of the measured person based on the principle of the stationary target three-dimensional imaging algorithm to obtain two-dimensional imaging of each distance plane, including:

[0107] The echo data after motion compensation of the measured person are subjected to imaging area distance stratification, imaging plane compensation, two-dimensional IFFT and coherent superposition of each frequency point to obtain two-dimensional imaging of each distance plane.

[0108] Another target translation compensation and three-dimensional imaging system of a short-range millimeter-wave MIMO radar provided in an embodiment of the present application is described below. The system specifically includes: a receiving module, a processing module and a synthesis module.

[0109] The receiving module is used to receive the echo data and movement speed of the person being measured, and to perform phase calibration from multi-station sampling to single-station sampling on the echo data;

[0110] The processing module is used to determine the movement distance of the measured person within the acquisition time based on the movement speed and the acquisition time required to acquire one frame of echo data; to divide the echo data after phase calibration into blocks based on the movement distance and azimuth resolution, so that the movement distance of the target within the acquisition time of each block of echo data cannot exceed a preset resolution unit, wherein the azimuth resolution is preset; to perform two-dimensional Fourier transform and motion compensation in the x and y directions on each block of echo data based on the movement speed; and to perform wave number domain on each block of echo data after the two-dimensional Fourier transform and motion compensation. and direction; for coherently superimposing each block of echo data after the two-dimensional inverse Fourier transform to obtain each block of echo data after motion compensation; and for superimposing each block of echo data after motion compensation to obtain echo data of the measured person after motion compensation; and also for processing the echo data of the measured person after motion compensation based on the principle of the stationary target three-dimensional imaging algorithm to obtain two-dimensional imaging of each distance plane;

[0111] The synthesis module is used to perform traversal synthesis processing on the two-dimensional imaging in each distance plane to obtain a three-dimensional image of the person being measured.

[0112] In addition, for the above-mentioned specific implementation of the system, since it is basically similar to the method implementation, the description is relatively simple, and the relevant parts can be referred to the partial description of the method implementation. Moreover, it should be noted that in each module of the system of the present application, the components therein are logically divided according to the functions to be implemented, but the present application is not limited thereto, and the components can be re-divided or combined as needed.

[0113] Another aspect of the embodiments of the present invention further provides an electronic device for implementing the above-mentioned integrated optical waveguide electric field sensor time domain waveform reconstruction method, and the electronic device is not limited to being a terminal device or a server in the system. The electronic device is not limited to including a memory and a processor, the memory stores a computer program, and the processor is configured to execute the steps in any of the above-mentioned method embodiments through the computer program.

[0114] Another aspect of the embodiments of the present invention provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the method provided in various optional embodiments of the above-mentioned integrated optical waveguide electric field sensor time domain waveform reconstruction method. The computer program is configured to execute the steps of any of the above-mentioned method embodiments when running.

[0115] The above is a description of a specific embodiment of the present specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the specific order or sequential order shown in the process depicted in the drawings is not necessarily required to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0116] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A method for target translation compensation and three-dimensional imaging of a short-range millimeter-wave MIMO radar, characterized in that: The method comprises: Receiving echo data and movement speed of the person being measured, and performing phase calibration from multi-station sampling to single-station sampling on the echo data; Based on the movement speed of the measured person, performing two-dimensional Fourier transform and motion compensation in the x and y directions on the echo data after phase calibration; The two-dimensional Fourier transformed and compensated echo data are subjected to wave number domain and 2D inverse Fourier transform of the direction; Performing coherent superposition on the echo data after the two-dimensional inverse Fourier transform to obtain the echo data after motion compensation of the measured person; Based on the principle of the stationary target three-dimensional imaging algorithm, the echo data of the measured person after motion compensation is processed to obtain two-dimensional imaging of each distance plane; The two-dimensional images in each range plane are subjected to traversal synthesis processing to obtain a three-dimensional image of the measured person.

2. The target translation compensation and three-dimensional imaging method of the short-range millimeter wave MIMO radar according to claim 1 is characterized in that: The receiving of the echo data and the movement speed of the measured person includes: Receiving echo data of the person under test obtained by detecting the person under test by a millimeter wave detection device; The moving speed of the measured person is received by detecting the measured person from a distance sensor.

3. The target translation compensation and three-dimensional imaging method of the short-range millimeter wave MIMO radar according to claim 1 is characterized in that: The method of performing two-dimensional Fourier transform and motion compensation on the echo data after phase calibration in the x and y directions based on the movement speed of the measured person comprises: decomposing the movement speed of the measured person to obtain the speed v in the x, y and z directions respectively. x 、v y 、v z Based on the v x 、v y 、v z , performing two-dimensional Fourier transform and motion compensation in x and y directions on the phase-calibrated echo data.

4. The target translation compensation and three-dimensional imaging method of the short-range millimeter wave MIMO radar according to claim 1 is characterized in that: The method based on the principle of the stationary target three-dimensional imaging algorithm processes the echo data after motion compensation of the measured person to obtain two-dimensional imaging of each distance plane, including: The echo data after motion compensation of the measured person is subjected to imaging area distance stratification, imaging plane compensation, two-dimensional IFFT and coherent superposition of each frequency point to obtain two-dimensional imaging of each distance plane.

5. A method for target translation compensation and three-dimensional imaging of a short-range millimeter-wave MIMO radar, characterized in that: The method comprises: Receiving echo data and movement speed of the person being measured, and performing phase calibration from multi-station sampling to single-station sampling on the echo data; Based on the movement speed and the acquisition time required to acquire one frame of the echo data, determining the movement distance of the measured person within the acquisition time; Based on the movement distance and azimuth resolution, the phase-calibrated echo data is divided into blocks, so that the movement distance of the target within the acquisition time of each block of echo data cannot exceed a preset resolution unit, wherein the azimuth resolution is preset; Based on the motion speed, performing two-dimensional Fourier transform and motion compensation in the x and y directions on each block of echo data; The wave number domain is performed on each echo data after the two-dimensional Fourier transform and operation compensation. and 2D inverse Fourier transform of the direction; Performing coherent superposition on each block of echo data after the two-dimensional inverse Fourier transform to obtain each block of echo data after motion compensation; Then, each block of the motion-compensated echo data is superimposed to obtain the motion-compensated echo data of the measured person; Based on the principle of the stationary target three-dimensional imaging algorithm, the echo data of the measured person after motion compensation is processed to obtain two-dimensional imaging of each distance plane; The two-dimensional images in each range plane are subjected to traversal synthesis processing to obtain a three-dimensional image of the measured person.

6. A target translation compensation and three-dimensional imaging system for a short-range millimeter-wave MIMO radar, characterized in that: The system comprises: A receiving module, used for receiving echo data and movement speed of the person being measured, and performing phase calibration from multi-station sampling to single-station sampling on the echo data; A processing module is used to perform two-dimensional Fourier transform and motion compensation in the x and y directions on the echo data after phase calibration based on the movement speed of the measured person; and to perform wave number domain processing on the echo data after two-dimensional Fourier transform and motion compensation. and direction; coherently superimpose the echo data after the two-dimensional inverse Fourier transform to obtain the echo data after the motion compensation of the measured person; and process the echo data after the motion compensation of the measured person based on the principle of the stationary target three-dimensional imaging algorithm to obtain the two-dimensional imaging of each distance plane; The synthesis module is used to perform traversal synthesis processing on the two-dimensional images in each range plane to obtain a three-dimensional image of the measured person.

7. The target translation compensation and three-dimensional imaging system of the short-range millimeter wave NIMO radar according to claim 6 is characterized in that: The receiving module is used to receive the echo data and movement speed of the person being measured, and includes: The receiving module is used to receive the echo data of the person under test obtained by detecting the person under test from the millimeter wave detection device; and receive the movement speed of the person under test obtained by detecting the person under test from the distance sensor.

8. The target translation compensation and three-dimensional imaging system of the short-range millimeter-wave MIMO radar according to claim 6, characterized in that: The processing module is used to perform two-dimensional Fourier transform and motion compensation on the echo data after phase calibration in the x and y directions based on the movement speed of the measured person, including: decomposing the movement speed of the measured person to obtain the speed v in the x, y and z directions respectively. x 、v y 、v z Based on the v x 、v y 、v z , performing two-dimensional Fourier transform and motion compensation in x and y directions on the phase-calibrated echo data.

9. The target translation compensation and three-dimensional imaging system of the short-range millimeter-wave MIMO radar according to claim 6, characterized in that: The processing module is used to process the echo data of the measured person after motion compensation based on the principle of the stationary target three-dimensional imaging algorithm to obtain two-dimensional imaging of each distance plane, including: The echo data after motion compensation of the measured person is subjected to imaging area distance stratification, imaging plane compensation, two-dimensional IFFT and coherent superposition of each frequency point to obtain two-dimensional imaging of each distance plane.

10. A target translation compensation and three-dimensional imaging system for a short-range millimeter-wave MIMO radar, characterized in that: The system comprises: A receiving module, used for receiving echo data and movement speed of the person being measured, and performing phase calibration from multi-station sampling to single-station sampling on the echo data; A processing module is used to determine the movement distance of the measured person within the acquisition time based on the movement speed and the acquisition time required to acquire one frame of the echo data; to divide the echo data after the phase calibration into blocks based on the movement distance and azimuth resolution, so that the movement distance of the target within the acquisition time of each block of echo data cannot exceed a preset resolution unit, wherein the azimuth resolution is preset; to perform two-dimensional Fourier transform and motion compensation in the x and y directions on each block of echo data based on the movement speed; and to perform wave number domain on each block of echo data after the two-dimensional Fourier transform and motion compensation. and direction; for coherently superimposing each block of echo data after the two-dimensional inverse Fourier transform to obtain each block of echo data after motion compensation; and for superimposing each block of echo data after motion compensation to obtain the echo data of the measured person after motion compensation; and for processing the echo data of the measured person after motion compensation based on the principle of the stationary target three-dimensional imaging algorithm to obtain two-dimensional imaging of each distance plane; The synthesis module is used to perform traversal synthesis processing on the two-dimensional images in each range plane to obtain a three-dimensional image of the measured person.

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