Radar height measurement and radio frequency transceiving integrated system

Abstract

The invention relates to the technical field of radar measurement, in particular to a radar height measurement and radio frequency transceiving integrated system which comprises a signal processing module, a channel linkage scheduling module, a path stability judgment module, a frequency distribution management module and a positioning path feedback module. According to the invention, through amplitude peak point and time drift extraction, energy sudden change identification precision is enhanced, signal feature discrimination is improved, a screening channel is matched by using a beam main lobe and an energy center, efficient coupling of direction and energy is realized, path stability analysis introduces power attenuation and energy continuity evaluation, and available section identification accuracy is improved. The signal-to-noise ratio and the channel stable value are considered in frequency selection, the path spectrum utilization continuity is enhanced, frequency mapping is combined with round-trip time difference and height point coverage, the vertical positioning precision and the beam drop point judgment capability are improved, and the adaptability and reliability of radar measurement in a dynamic environment are integrally enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of radar measurement, and particularly to a radar altitude measurement and radio frequency transceiver integrated system. Background Art

[0002] The technical field of radar measurement includes related technologies for accurately detecting and identifying the distance, speed, altitude, and azimuth information of target objects. This technical field is based on the emission, reception, and processing of electromagnetic waves, and uses the reflection characteristics of waves to measure the spatial parameters of targets. Radar measurement is widely used in many fields such as aerospace, military defense, traffic navigation, and remote sensing detection. Its core contents include the generation and modulation of radar signals, beam control, detection and analysis of echo signals, extraction of target features, and representation of measurement results. With the improvement of system integration, radar measurement is tending towards miniaturization, integration, and multi-functional fusion, involving multiple sub-directions such as frequency synthesis, electromagnetic compatibility, antenna design, and high-speed digital processing.

[0003] Among them, the radar altitude measurement and radio frequency transceiver integrated system refers to a radar system used to measure the altitude of target objects, integrating the radio frequency transmission and reception functions. Aiming at the problems of structural separation, module redundancy, and large path loss in radar altitude measurement, by adopting a single-chip design method, the key circuits of the radio frequency transmission link and the reception link are built in the same integrated circuit structure, and at the same time, a coaxial conduction structure and a frequency selection mechanism for high-frequency signal transmission are matched to realize the switching control of the transmission and reception paths.

[0004] The prior art has problems such as single signal processing dimension and rough spatial matching mechanism in the altitude detection link, resulting in limited integrity and accuracy of target information extraction. Since the traditional system pays insufficient attention to the change law of echo energy, it is difficult to identify the energy mutation or concentrated section, thus affecting the effective extraction of signal characteristics. Multi-channel scheduling is mostly based on fixed configurations or preset rules, lacking a dynamic adaptation mechanism for the current energy concentration direction, which easily leads to the deviation of the beam configuration direction from the energy concentration area and increases the path loss. The stability judgment of the reflection path mostly relies on static section analysis, lacking the coupled evaluation of the path continuous stability and the beam perturbation trend, and it is difficult to accurately lock the long-term stable path. At the frequency scheduling level, the existing system mostly ignores the joint analysis of the frequency stability and the signal-to-noise ratio fluctuation within the path, and is prone to problems where the frequency selection is inconsistent with the path stability, affecting the continuity of the communication link. The inversion of altitude information often relies on a single echo reflection point, and a vertical distribution model covering the entire path has not been formed, restricting the fine landing point positioning of the target area and reducing the adaptability of radar measurement to complex environments. Summary of the Invention

[0005] To solve the technical problems existing in the prior art, an embodiment of the present invention provides a radar altitude measurement and radio frequency transceiver integrated system. The technical solution is as follows: A radar altitude measurement and radio frequency transceiver integrated system, the system includes: The signal processing module acquires the echo signal data of the radar transmitting channel, detects the amplitude peak points and time drift values of the signal in the segmented time window, marks the positions of the echo energy concentration area and the abnormal mutation section, and generates a radar echo feature identification set; The channel linkage scheduling module, based on the radar echo feature identification set, compares the corresponding relationship between the beam pointing and the energy concentration in multiple channels, selects the channel configuration with a high coincidence degree between the main lobe direction and the energy center, and obtains the main control beam channel parameter group; The path stability determination module, according to the main control beam channel parameter group, monitors the power attenuation trend and beam offset amplitude of the reflection path segment in the vertical height direction, analyzes the continuous length of the signal path energy stable section, extracts the path position of the stable reflection response, and obtains the effective vertical echo path section identification; The frequency allocation management module calls the effective vertical echo path section identification, analyzes the instantaneous signal-to-noise ratio and channel stability value of each frequency in the available frequency band within the target path, screens the frequency path combinations with continuous communication capabilities, and generates a target path frequency mapping set.

[0006] As a further solution of the present invention, the radar echo feature identification set includes amplitude peak point distribution, time drift amplitude, energy concentration position, and abnormal mutation section; the main control beam channel parameter group includes main lobe coincidence degree parameter, channel energy focusing ratio, channel preferred number, and spatial coverage angle; the effective vertical echo path section identification includes reflection path extension, energy stable area length, power attenuation rate threshold, and beam offset tolerance; the target path frequency mapping set includes frequency utilization efficiency, instantaneous signal-to-noise ratio sequence, path available duration, and frequency band continuity index.

[0007] As a further solution of the present invention, the signal processing module includes: The signal peak detection sub-module acquires the echo signal data of the radar transmitting channel, determines the peak appearance time by extracting the amplitude point positions of each time window and combining with the time window sequence number, identifies the interval and height difference of the waveform echo response, and generates a height response time parameter group; The drift structure extraction sub-module, according to the height response time parameter group, extracts the trend of the echo appearance interval sequence, analyzes the continuous interval change gradient, corresponds to the time series mutation point, locates the height drift inflection point section, and makes a judgment according to the echo persistence and stability to obtain the height drift distribution section; The RF echo recognition sub-module calls the height drift distribution segment, synchronously reads the time tags of the RF transceiver channels, compares the signal time axes, identifies the overlapping time window of the echo energy aggregation and mutation response, and generates a radar echo feature identification set.

[0008] As a further solution of the present invention, the channel linkage scheduling module includes: The pitch direction extraction sub-module extracts the incident time of the corresponding echo and the pitch angle information of the angle measuring antenna based on the energy center position recorded in the radar echo feature identification set, identifies the average pointing angle of the main lobe of the energy beam in the differential time window, and obtains a pitch pointing angle sequence; The channel response comparison sub-module collects the echo trigger time and pitch direction of the transceiver channels according to the pitch pointing angle sequence, judges the time matching of the main lobe direction and the beam incident path, extracts the echo height difference of the matching channels, and generates an echo channel height difference group; The main channel configuration generation sub-module calls the echo channel height difference group, jointly judges the channel height difference and the transceiver time tags, screens the combination of the channel number and direction of the offset error, extracts the transmit pitch angle, receive time window and path difference coefficient, and obtains a main control beam channel parameter group.

[0009] As a further solution of the present invention, the path stability determination module includes: The transceiver path monitoring sub-module monitors the transmit and receive power difference of the vertical path segment time window according to the transmit and receive timestamps recorded in the main control beam channel parameter group, analyzes the power attenuation rate and judges whether it is lower than the stable attenuation threshold, extracts the corresponding echo response height layer value, and establishes a power stable height segment group; The vertical echo extraction sub-module calls the start and end height values of the stable segment in the power stable height segment group and the corresponding time window, analyzes the pitch angle offset change amount of the echo main lobe in the segment, screens the segment with the beam direction offset amount lower than the set direction offset threshold, and obtains an effective vertical echo path segment identifier.

[0010] As a further solution of the present invention, the pitch angle offset change amount of the echo main lobe in the segment is calculated using the formula: ; where, represents the pitch angle offset change amount of the echo main lobe in the segment, represents the instantaneous value of the pitch angle of the main lobe center in the segment , represents the average value of the pitch angle of the main lobe center in the segment , represents the start and end height values of the stable segment in the segment , represents the segment The average value of the start and end height values Represents the section The number of time windows in

[0011] As a further aspect of the present invention, the frequency allocation management module includes: The path section identification sub-module calls the effective vertical echo path section identifier, extracts the echo delay value and amplitude change within the path section, identifies the delay mean and variance, identifies the path section with stable reflection characteristics according to the delay stability threshold, and obtains the vertical ranging stable interval value; The channel characteristic extraction sub-module, based on the vertical ranging stable interval value, extracts the echo signal-to-noise ratio sequence of the frequency within the path section, identifies the peak-to-average ratio of the instantaneous signal-to-noise ratio, and compares it with the channel fluctuation stability threshold to obtain the radio frequency reception frequency interval; The communication frequency mapping sub-module, according to the radio frequency reception frequency interval, screens the frequency combinations that continuously meet the signal-to-noise overlap threshold and communication interval requirements between frequency bands, performs corresponding mapping coding within the path section on the frequency combinations, calculates the frequency matching weight index, analyzes the binding relationship between the path number and the frequency sequence, and generates the target path frequency mapping set.

[0012] As a further aspect of the present invention, the frequency matching weight index adopts the formula: ; Wherein, Represents the frequency matching weight index, Represents the path number The Frequency value of the Represents the frequency combination sequence The Signal-to-noise superposition weighting factor corresponding to the frequency value of the Represents the frequency combination sequence Mean value of the weighted frequencies of Represents the path number Average value of the frequency values in Represents the frequency combination sequence Average value of the signal-to-noise superposition weighting factors in Represents the total number of frequency points in the frequency combination.

[0013] As a further aspect of the present invention, the system further includes a positioning path feedback module: The positioning path feedback module, according to the target path frequency mapping set, combines the round-trip time difference data of the high-frequency path in the radar transceiver integrated component, analyzes the height points covered by the path reflection distance, detects the vertical beam landing point of the current target area, and generates the radar vertical positioning result set; The radar vertical positioning result set includes vertical landing coordinates, altitude reflection point distribution, path propagation distance, and target area altitude labels.

[0014] As a further solution of the present invention, the positioning path feedback module includes: The time difference ranging sub-module identifies the vertical propagation distance according to the target path frequency mapping set and the round-trip time difference of the radar transceiver integrated component frequency band, and combines the elevation angle of the transmitting antenna to convert the vertical height interval covered by the frequency path to obtain the radar height measurement interval value. The beam positioning sub-module generates a radar vertical positioning result set by screening the frequency landing points with amplitude concentration higher than the direction threshold according to the radar height measurement interval value, combining the signal amplitude and directivity calibration data of the receiving path frequency band of the radar transceiver integrated component, and identifying the densely distributed points in the vertical area.

[0015] The beneficial effects brought by the technical solution provided by the embodiment of the present invention at least include: By detecting the amplitude peak points and extracting the time drift within the segmented window of the radar echo signal, it can effectively highlight the energy anomaly area and dynamic change trend, thereby introducing more distinguishable energy distribution and mutation information in the echo feature identification, and enhancing the signal target feature recognition ability. Based on the matching degree between the main lobe direction and energy center of multiple channels for parameter screening, the channel resource allocation has a coupling optimization mechanism with spatial directivity and energy coupling, improving the focusing efficiency of channel selection and the interference avoidance ability. With the help of the real-time monitoring of the power attenuation trend and beam offset change of the vertical path segment, and the evaluation of the stability length of the energy continuous section in the signal path, the recognition accuracy of the signal stable propagation section is enhanced, and the available paragraph structure of the reflection path is effectively constructed. By combining the instantaneous signal-to-noise ratio and channel stability index of different frequencies in the path for frequency combination screening and introducing the communication continuity evaluation standard, the sustainable screening ability for the spectrum utilization within the path is established, improving the continuous guarantee performance of the communication link. By jointly analyzing the frequency mapping and round-trip time difference, and combining the height point coverage range, it helps to achieve accurate quantification of the target vertical positioning landing point, has higher height recognition resolution and beam vertical projection ability, and enhances the reflection response capture effect of complex space targets. Description of the Drawings

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0017] Figure 1It is a schematic diagram of the radar altitude measurement and radio frequency transceiver integrated system provided by the embodiments of the present invention; Figure 2 It is a schematic diagram of the system framework of the present invention; Figure 3 It is a flowchart of the signal processing module in the present invention; Figure 4 It is a flowchart of the channel linkage scheduling module in the present invention; Figure 5 It is a flowchart of the path stability determination module in the present invention; Figure 6 It is a flowchart of the frequency allocation management module in the present invention; Figure 7 It is a flowchart of the positioning path feedback module in the present invention. Specific embodiments

[0018] Next, the technical solutions in the present invention will be described with reference to the accompanying drawings.

[0019] In the embodiments of the present invention, words such as "exemplarily" and "for example" are used to represent examples, illustrations or explanations. Any embodiment or design solution described as an "example" in the present invention should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of the word "example" is intended to present concepts in a specific manner. In addition, in the embodiments of the present invention, the meaning expressed by "and / or" can be both, or either one of the two.

[0020] In the embodiments of the present invention, "image" and "picture" can sometimes be used interchangeably. It should be noted that when the difference is not emphasized, the meanings they express are the same. "(of)", "corresponding", and "corresponding" can sometimes be used interchangeably. It should be noted that when the difference is not emphasized, the meanings they express are the same.

[0021] In the embodiments of the present invention, sometimes subscripts such as W1 may be written in a non-subscript form such as W1. When the difference is not emphasized, the meanings they express are the same.

[0022] To make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will be described in detail with reference to the accompanying drawings and specific embodiments.

[0023] The embodiments of the present invention provide a radar altitude measurement and radio frequency transceiver integrated system, as Figure 1 - Figure 2 shown in the schematic diagram of the radar altitude measurement and radio frequency transceiver integrated system, the system includes: The signal processing module acquires the echo signal data of the radar transmitting channel, detects the amplitude peak points and time drift values of the signals in the segmented time windows, marks the positions of the echo energy concentration areas and abnormal mutation segments, and generates a radar echo feature identification set; Based on the radar echo feature identification set, the channel linkage scheduling module compares the corresponding relationships between the beam pointing and energy concentration in multiple channels, selects the channel configuration with a high coincidence degree between the main lobe direction and the energy center, and obtains a main control beam channel parameter group; According to the main control beam channel parameter group, the path stability determination module monitors the power attenuation trend and beam offset amplitude of the reflection path segment in the vertical height direction, extracts the path positions of the stable reflection responses by analyzing the continuous length of the signal path energy stable section, and obtains the identification of the effective vertical echo path section; The frequency allocation management module calls the identification of the effective vertical echo path section, analyzes the instantaneous signal-to-noise ratio and channel stability value of each frequency in the available frequency bands within the target path, screens the frequency path combinations with continuous communication capabilities, and generates a target path frequency mapping set; Based on the target path frequency mapping set, the positioning path feedback module combines the round-trip time difference data of the high-frequency path in the radar transceiver integrated component, analyzes the height points covered by the path reflection distance, detects the vertical beam landing points in the current target area, and generates a radar vertical positioning result set.

[0024] The radar echo feature identification set includes the amplitude peak point distribution, time drift amplitude, energy concentration position, and abnormal mutation section; the main control beam channel parameter group includes the main lobe coincidence degree parameter, channel energy focusing ratio, channel preference number, and spatial coverage angle; the identification of the effective vertical echo path section includes the reflection path extension, energy stable area length, power attenuation rate threshold, and beam offset tolerance; the target path frequency mapping set includes the frequency utilization efficiency, instantaneous signal-to-noise ratio sequence, path available duration, and frequency band continuity index; the radar vertical positioning result set includes the vertical landing point coordinates, height reflection point distribution, path propagation distance, and target area height label.

[0025] Specifically, as Figure 2 、 Figure 3 shown, the signal processing module includes: The signal peak detection sub-module acquires the echo signal data of the radar transmitting channel, determines the peak appearance time by extracting the amplitude point positions of each time window and combining the time window sequence numbers, identifies the intervals and height differences of the waveform echo responses, and generates a height response time parameter group; To extract the amplitude point positions of each time window from the echo signals received by the radar transmitting channel, signal sampling can be used. The echo signals are segmented according to a predetermined time window. Each time window contains a number of sampling points. The amplitude points of the time window are determined by the amplitude changes of the sampling points. Combining with the sequence number of the time window, the time positions where each amplitude point is located can be marked, and the peak time points of the waveform can be extracted from them. If the amplitude of the signal in a certain time window exceeds the set threshold and significantly decreases in the adjacent time window, then this time window is considered a wave peak, and the peak appears at the central position of this time window. Based on the sequence number of the time window, the time when the peak point appears can be further confirmed. By analyzing the amplitude differences between consecutive time windows, the intervals and height differences of the waveform echo responses can be identified. The interval analysis is achieved by calculating the time differences between adjacent peaks, and the height difference is obtained by comparing the amplitude differences between adjacent peaks. Through the above analysis process, a time series containing height response time parameters can be generated. This time series records information such as the peak appearance time, response interval, and amplitude difference of the radar echo signal. Assuming that the amplitude points of the first time window of the echo signal are [0.1, 0.3, 0.6, 0.4], then the peak position is 0.6, and the corresponding time is marked as T1. The peak of the next time window is 0.5, corresponding to time T2. Then the peak interval can be calculated as T2 - T1. At the same time, the height difference of the signal is analyzed to generate a height response time parameter group for subsequent analysis.

[0026] The drift structure extraction sub-module extracts the trend of the echo appearance interval sequence according to the height response time parameter group, analyzes the continuous interval change gradient, and corresponds to the time series mutation points to locate the height drift inflection point section. It makes a judgment based on the echo persistence and stability to obtain the height drift distribution section; Extract the time interval sequence of the echo signal. This step involves calculating the time interval between each two consecutive peak points in the time series to form an echo interval sequence. By analyzing the continuous change gradient of the interval sequence, the change trend of the echo signal can be obtained. The gradient calculation is realized by the ratio or difference of the difference values ​​of two consecutive intervals. For example, assuming that the first interval is T2-T1 and the second interval is T3-T2, the gradient value can be calculated as (T3-T2)-(T2-T1). If the gradient value reaches a certain threshold, it can be considered that there is a mutation point in the echo signal. It is necessary to correspond the mutation point with the timing mutation point in the time series to determine whether the echo signal has a mutation or unstable change. After locating the mutation point, according to the mutation point and the trend of signal change, the inflection point section of the height drift can be determined, that is, the period of time when the echo signal has a significant change. By analyzing the persistence and stability of the echo signal, the stability of the echo signal can be determined. If the signal changes repeatedly in a certain interval, if the echo interval of the echo signal increases continuously and the gradient changes greatly within a certain period of time, it can be determined as a height drift distribution section.

[0027] The RF echo identification submodule calls the height drift distribution segment, synchronously reads the RF transceiver channel time tag, compares the signal time axis, identifies the overlapping time window of echo energy concentration and mutation response, and generates a radar echo feature identification set; The information of the height drift distribution segment is called. The information indicates the changing characteristics of the radar echo signal and its drift segment. It is necessary to synchronously read the time tag of the RF transceiver channel. The time tag records the transmission and reception time of the radar signal, which provides basic data for the subsequent time axis comparison. After reading the time tag of the RF transceiver channel, it is necessary to compare the time axis of the radar signal transmission and reception to determine the overlap area of ​​the signal in time. If the energy of the echo signal gathers rapidly and the response changes suddenly in a certain period of time, and this period happens to overlap with the receiving time window of the RF signal, it means that this period is the echo energy gathering section. Through the overlapping time windows, the concentrated area of ​​the echo energy and the sudden response can be identified, thereby generating a radar echo feature identification set. The identification gathers the main features of the echo signal and can be used for subsequent signal analysis and pattern recognition. For example, if the echo signal shows a higher energy value in the T3-T4 time period and overlaps with the time window of the receiving signal.

[0028] Specifically, if Figure 2 , Figure 4 As shown, the channel linkage scheduling module includes: The elevation direction extraction submodule extracts the incident time of the corresponding echo and the elevation angle information of the angle measuring antenna based on the energy center position recorded in the radar echo feature marker, identifies the average pointing angle of the main lobe of the energy beam in the differentiated time window, and obtains the elevation pointing angle sequence; The position of the energy center can be extracted from the radar echo feature identification set. The energy center can be determined by detecting the maximum amplitude of the signal or the time position of the signal, so that the energy concentration position of each echo signal can be obtained. Combining the incident time and the elevation angle information of the angle measuring antenna, the pointing direction of each echo signal in space can be obtained. To achieve this, the incident time of the corresponding echo signal is extracted, and the pointing angle of the signal is further calculated according to the known elevation angle of the angle measuring antenna. For example, if the elevation angle of the angle measuring antenna is 30°, and the energy of the signal is concentrated in the echo at time T1, then the elevation angle at this time is 30°. By comparing the signals in different time windows, the average pointing angle of the main lobe in each time window will be identified. In multiple time windows, by statistically analyzing the average pointing angles of multiple echo signals in each time window, this sequence reflects the change of the elevation angle of the radar system in different time periods, which can provide data support for subsequent signal processing. For example, if the pointing angles of the signals in two consecutive time windows are 28° and 32° respectively, the average pointing angle of this time period can be obtained by calculating (28° + 32°) / 2 = 30°, and the elevation pointing angle sequence is obtained to describe the beam pointing characteristics of the radar system.

[0029] According to the elevation pointing angle sequence, the channel response comparison sub-module collects the echo trigger time and elevation direction of the transceiver channels, judges the time matching between the main lobe direction and the beam incident path, extracts the echo height difference of the matching channels, and generates an echo channel height difference group; According to the obtained elevation pointing angle sequence, the echo trigger time information of the transceiver channels is further collected. By analyzing the trigger time, the transmission and reception moments of the echo signal can be determined, and then the time matching of the radar signal can be judged. The matching situation between each echo trigger time and the elevation direction will be compared. If the time stamp of the echo is consistent with the elevation angle of the angle measuring antenna in a certain time period, it is considered that the signal in this time period has a matching main lobe direction. In this way, it can be ensured that the collected echo data is consistent with the corresponding beam direction and incident path, avoiding errors caused by signal time differences or path deviations. The echo height difference of the matching channels will be extracted. If the incident path of the echo signal matches the corresponding main lobe direction, the height difference between the echo signal of this channel and the reference signal can be calculated. By collecting the echo height differences of multiple matching channels, an echo channel height difference group is formed. For example, if two echo signals are triggered at times T1 and T2 respectively, and the corresponding elevation angles at these two times are 30° and 32° respectively, and the echo heights are 20 meters and 22 meters respectively, then the height difference of this echo channel is 22 meters - 20 meters = 2 meters, and the height difference will be used for subsequent analysis.

[0030] The main channel configuration generation sub-module calls the echo channel height difference group, jointly judges the channel height difference value and the transceiver time tag, screens the channel number and direction combination with offset error, extracts the transmit elevation angle, receive time window and path difference coefficient, and obtains the main control beam channel parameter group; Call the echo channel height difference group and jointly judge it with the transceiver time tag. The purpose of this step is to verify whether the height difference of each channel is consistent with its corresponding time tag, so as to judge whether there is an offset error. Specifically, the echo height difference of each channel will be compared with its transmit and receive time tags. If the matching degree of the height difference of a certain channel with the time tag is not high, it is considered that there is an offset error in this channel. The channel numbers with offset errors and their corresponding direction combinations will be screened out by setting a certain error threshold. For example, if the height difference of the echo channel exceeds the set threshold within a predetermined range of error, this channel will be regarded as an offset error channel. For the channel, its transmit elevation angle, receive time window and path difference coefficient will be extracted and adjusted in combination with the error. The transmit elevation angle reflects the transmit direction of the signal, the receive time window represents the receive period of the signal, and the path difference coefficient represents the physical difference on the signal transmission path. The main control beam channel parameter group will be generated according to the parameters. Suppose the height difference of an echo channel is 2 meters and the error of its transceiver time tag is 0.5 seconds, then the path difference coefficient can be adjusted according to the actual transmission speed and path length to obtain the final channel parameter group, and the parameters will be used for subsequent radar signal analysis and beam optimization.

[0031] Specifically, as Figure 2 、 Figure 5 shown, the path stability determination module includes: The transceiver path monitoring sub-module monitors the transmit and receive power difference of the vertical path segment time window according to the transmit and receive timestamps recorded in the main control beam channel parameter group, analyzes the power attenuation rate and judges whether it is lower than the stable attenuation threshold, extracts the corresponding echo response height layer value, and establishes the power stable height segment group; Monitor the transmission and reception times of radar signals through the transmission and reception timestamps in the main control beam channel parameter group. The difference between the transmission and reception powers within each time window is an important basis for evaluating the signal attenuation rate. The power difference will be calculated by comparing the transmission power and the reception power within each time window. For example, assume that the transmission power in a certain time window is 30 dBm, while the reception power is 25 dBm. Then the power difference in this time window is 5 dB. Analyze the attenuation rate of the power based on the power difference within each time window. The attenuation rate is determined by the rate of power change within each time window. Calculate the power change amount between consecutive time windows. If the attenuation rate is lower than the preset stable attenuation threshold, it is considered that the attenuation of the signal is in a stable state. Taking actual data as an example, if the power difference within a certain time period is continuously lower than 5 dB, and the power attenuation amount every 10 milliseconds does not exceed 1 dB, then it can be considered that the attenuation rate of the signal is lower than the stable threshold. According to the standard, continue to extract the height layer values corresponding to the echo responses, record the height values within the stable attenuation range, organize the height layer values in the stable area, and generate a power stable height segment group for subsequent analysis. For example, if within a period of time, the height layer values of the echo signal are always between 15 meters and 20 meters, and the attenuation rate meets the conditions of stable attenuation, then this period of time will be marked as a power stable height segment.

[0032] The vertical echo extraction sub-module calls the start and end height values and the corresponding time windows of the stable segments in the power stable height segment group, calculates the change amount of the elevation angle offset of the echo main lobe within the segment, and filters out the segments with the beam direction offset amount lower than the set direction offset threshold to obtain the identification of the effective vertical echo path segment; Call the stable segments in the power stable height segment group, extract the start and end height values of each stable segment and the corresponding time window information, which can accurately determine the spatial position and time period of each stable segment. Calculate the change amount of the elevation angle offset of the echo main lobe within the stable segment, sample multiple echo signals within each stable segment, calculate the change of the elevation angle of the echo signal, and obtain the offset amount through the direction of the echo signal and the pointing of the main lobe. For example, if the echo signal within a certain time window changes from an elevation angle of 30° to 32°, then the offset amount is 2°. Filter out the segments with the beam direction offset amount lower than the preset direction offset threshold. This step is to exclude the echo path segments with large beam offsets that cause signal errors. The set direction offset threshold can be adjusted according to the actual situation. Assume that the set direction offset threshold is 3°. If the offset amount of the echo signal is less than this threshold, then this echo path will be considered valid, otherwise it will be ignored. For example, if the offset amount of the echo signal is 2°, then the path within this period of time is an effective vertical echo path segment; The change amount of the elevation angle offset of the echo main lobe within the segment, using the formula: ; Among them, Represents the change in the elevation angle offset of the main lobe of the echo within the section. Represents the section The instantaneous value of the elevation angle at the center of the main lobe within it. Represents the section The average value of the elevation angle at the center of the main lobe within it. Represents the section The start and end height values of the stable section within it. Represents the section The average value of the start and end height values. Represents the section The number of time windows within it; The change in the elevation angle offset refers to the change in the elevation angle of the main beam (the main propagation direction of the radar signal) in the vertical direction within the stable section of the radar echo path. Specifically, this measure evaluates the degree of fluctuation of the elevation angle of the main lobe of the echo over a period of time or in a specific path segment. By comparing the instantaneous value and the average value of the elevation angle within a certain path segment and combining the echo response within the time window, the change in the elevation angle within that path segment can be calculated. This value reflects the stability of the radar signal beam. If the change is too large, it may mean that there is a deviation in the beam pointing, affecting the accurate reception and positioning of the signal. Therefore, this indicator is used to ensure that in the reflection path, the beam offset does not exceed the preset threshold, guaranteeing the stability and accuracy of radar measurements; Represents the instantaneous value of the elevation angle at the center of the main lobe in section s, in degrees. This value is obtained through the real-time monitoring of the echo signal by the radar system. The main lobe direction is measured using a high-resolution antenna array and calculated in combination with beamforming technology. In actual monitoring, The measurement accuracy reaches 0.1 degree; Represents the average value of the elevation angle at the center of the main lobe in section s, in degrees. This value is obtained by calculating the arithmetic mean of the values within all time windows in section s; Represents the average value of the start and end height values of the stable section in section s, in meters. This value is obtained by analyzing the vertical distribution of the echo signal by the radar system, identifying the height section with stable power, and calculating the average of its start height and end height. In actual monitoring, The measurement accuracy reaches 10 meters; Represents the average value of the start and end height values of all sections in the entire group of power-stable height sections, in meters. This value is obtained by calculating the arithmetic mean of the values of all sections; Indicates the number of time windows contained in section s, which is a dimensionless integer and is obtained by counting the time windows within section s; In actual calculation, set the to be 3.5 degrees, to be 3.0 degrees, to be 1500 meters, to be 1450 meters, to be 5; Substitute the above values into the formula, and the calculation process is as follows: ; This result shows that the pitch angle offset change rate index of section s is 8.3338, indicating that the change degree of the main lobe pitch angle within this section is relatively high. According to the set direction offset threshold, if this value is lower than the threshold, then this section is screened as an effective vertical echo path section. During the process of dimension unification, all angle units are unified to degrees, and the height unit is unified to meters to ensure the unit consistency of each parameter in the calculation.

[0033] Specifically, as Figure 2 、 Figure 6 shown, the frequency allocation management module includes: The path section identification sub-module calls the effective vertical echo path section identifier, extracts the echo delay value and amplitude change within the path section, identifies the delay mean and variance, and based on the delay stability threshold, identifies the path section with stable reflection characteristics to obtain the vertical ranging stable interval value; Call the valid vertical echo path section identifier, which represents the section that can effectively reflect the echo characteristics. During this process, by extracting the echo delay value and amplitude change within the path section, the signal characteristics of each path section are identified. The echo delay value represents the time experienced by the signal propagation from transmission to reception. By analyzing the delay situation of each echo signal, the transmission characteristics of the path are evaluated. For example, assume that within a certain time window, the echo delay values of the signal are 3 μs, 5 μs, and 4 μs respectively. Taking the delay value as the data source for processing, the mean and variance of the echo delay value will be calculated. The mean represents the average delay time of the signal, while the variance reflects the fluctuation of the delay. A smaller variance indicates a higher stability of the echo signal transmission on the path, and vice versa indicates unstable transmission characteristics. Assume that the mean of the above data is (3 + 5 + 4) / 3 = 4 μs, and the variance is obtained by calculating the average of the squared differences between each data point and the mean. For example, ((3 - 4)² + (5 - 4)² + (4 - 4)²) / 3 = 0.6667. Use the delay stability threshold to determine which path sections have stable reflection characteristics. The stability threshold can be set according to the actual application scenario. For example, set the threshold to 0.5 μs. When the variance is greater than this value, it indicates that the reflection characteristics of the path section are unstable and it will be excluded. The stable path sections will be screened out, and finally the vertical ranging stable interval value will be obtained for subsequent signal processing. If the delay value and variance of the above section meet the stability threshold, the path will be marked as a stable interval, otherwise it will not be considered.

[0034] Based on the vertical ranging stable interval value, the channel characteristic extraction sub-module extracts the echo signal-to-noise ratio sequence with frequencies within the path segment, identifies the peak-to-average ratio of the instantaneous signal-to-noise ratio, and compares it with the channel fluctuation stability threshold to obtain the radio frequency receiving frequency interval; First, based on the vertical ranging stability interval value, the echo signal-to-noise ratio (SNR) sequence within the path segment is extracted. The SNR represents the quality of the signal, and the SNR sequence is obtained by calculating the ratio of the received echo signal to the noise within each time window. For example, assume that at a certain frequency, the amplitude of the echo signal is -60 dBm, while the amplitude of the noise is -80 dBm, then the SNR is 20 dB. The SNR values will be extracted and subjected to subsequent analysis. The peak-to-average ratio of the instantaneous SNR will be identified. The peak-to-average ratio is the ratio of the maximum value to the average value of the SNR. A higher peak-to-average ratio indicates that there is strong interference or abnormal fluctuations in the signal during certain time periods. Assume that at a certain moment, the peak value of the SNR is 25 dB, while the average value is 18 dB, then the peak-to-average ratio is 25 / 18 ≈ 1.39. It will be compared with the set channel fluctuation stability threshold, which can be set to 2. According to this threshold, it is judged whether the signal is stable. If the peak-to-average ratio is greater than 2, it indicates that the signal fluctuates greatly and compensation measures need to be taken. If the peak-to-average ratio is less than 2, the signal fluctuation is relatively stable and suitable for further processing. Based on this judgment, the radio frequency (RF) receiving frequency range is obtained. The frequencies within this range represent the frequency bands in which the channel can stably receive signals. For example, in the frequency range where the SNR is relatively stable between 1.8 GHz and 2.2 GHz, this frequency range is defined as the effective RF receiving range for subsequent frequency mapping.

[0035] The communication frequency mapping sub-module filters out the frequency combinations that continuously meet the SNR overlap threshold between frequency bands and the communication interval requirements according to the RF receiving frequency range, performs corresponding mapping coding within the path section for the frequency combinations, calculates the frequency matching weight index, analyzes the binding relationship between the path number and the frequency sequence, and generates the target path frequency mapping set; Screen for frequency combinations that meet the inter-band signal-to-noise overlap threshold and communication interval requirements. All frequency bands within the frequency range will be analyzed to calculate the signal-to-noise ratio overlap degree between every two frequency bands. If the signal-to-noise ratio overlap between two frequency bands is greater than the set overlap threshold (e.g., 10 dB), then these two frequency bands can be regarded as available combinations. The communication interval requirement will also be considered, that is, the minimum isolation degree between frequencies. Assuming the set communication interval requirement is 5 MHz, then the frequency difference between two frequency bands needs to be greater than 5 MHz. Only frequency band combinations that meet these two conditions will be selected. The corresponding mapping encoding within the path section will be performed on the frequency combinations, associating each frequency combination with the corresponding path section. Through the mapping encoding, the system can bind each frequency to a specific path number. For example, a signal with a frequency of 1.9 GHz will be associated with path number 1, and a signal with a frequency of 2.1 GHz will be associated with path number 2. To evaluate the matching degree of each frequency combination, the frequency matching weight index will be calculated. The weight index is obtained by quantifying the matching degree between the frequency combination and the path section. Assuming the matching degree is represented by a value from 0 to 1, the closer the value is to 1, the higher the matching degree. The binding relationship between the path number and the frequency sequence will be analyzed to generate the target path-frequency mapping set for subsequent signal processing and frequency management.

[0036] The frequency matching weight index adopts the formula: ; Wherein, represents the frequency matching weight index, represents the path number at the th frequency value of the represents the frequency combination sequence in the th signal-to-noise ratio overlap weighting factor corresponding to the frequency value of the represents the frequency combination sequence the mean value of the weighted frequencies of represents the path number the average value of the frequency values in represents the frequency combination sequence the average value of the signal-to-noise ratio overlap weighting factors in represents the total number of frequency points in the frequency combination; The frequency matching weight index is a measure used to evaluate the degree of match between a specific path frequency and the radar system path. It takes into account the SNR overlap of each path frequency with other frequency points in the frequency combination and is obtained through weighted calculation. Specifically, this index calculates the average matching degree of the frequency path, and by analyzing the binding relationship between the path number and the frequency sequence, it helps to select the most suitable frequency combination. These frequency combinations not only meet the signal transmission requirements but also ensure the SNR overlap and communication stability. The calculation of the frequency matching weight index usually includes multiple factors such as the SNR weighting factor of the frequency value, the average value of the frequency, etc., to ensure optimal signal matching and reliable communication performance between different paths and frequencies; For a given frequency sequence and SNR weight, the parameter values are obtained through actual measurement and data acquisition methods; : Path number The th frequency value below, which is measured by a frequency scanner and corresponds to the frequency of the signal on a specific path; : Frequency combination sequence The th SNR overlap weighting factor corresponding to the frequency value in the sequence, which is determined experimentally according to the degree of noise and signal overlap; : The mean value of the weighted frequencies of the frequency combination sequence , which is calculated by , where is the total number of frequency points; and : The average frequency value and the average weighting factor, calculated by and respectively; Formula calculation example: Assume that the frequency values under path are [10, 20, 30] MHz and the SNR overlap weighting factor of the frequency combination is [0.1, 0.2, 0.3]. The calculation steps are as follows: Calculate : ; Calculate : ; Calculate and : ; Calculate the denominator: ; Calculation : ; This result indicates that under the given path and frequency combination, the weight index of frequency matching is 1.32, which reflects the balance between the adaptability of frequency selection and noise interference, thus guiding the optimization of frequency mapping.

[0037] Specifically, as Figure 2 , Figure 7 shown, the positioning path feedback module includes: The time difference ranging sub-module, based on the target path frequency mapping set, identifies the vertical propagation distance according to the round-trip time difference of the radar transceiver integrated component frequency band, and combines the elevation angle of the transmitting antenna to convert the vertical height interval covered by the frequency path, obtaining the radar height measurement interval value; Through the frequency band information of the radar transceiver integrated component, the time difference between the transmission of the transmitted signal from the radar to the target object and its return can be calculated, and then the vertical propagation distance can be identified. Then, combined with the elevation angle of the transmitting antenna, the vertical height interval covered by the signal can be calculated. Through the frequency mapping set, the frequency range of the radar signal can be obtained. Frequency is a key data reflecting the signal propagation characteristics. According to the round-trip time difference of the radar transmitted and received signals, that is, the time difference from the signal transmission to the target object's return, the signal propagation distance can be calculated. On this basis, the elevation angle of the antenna is used to convert the vertical area range covered by the signal. Considering that in practical applications, the elevation angle of the radar generally adjusts between -45° and +45° to cover a wider vertical range. Assuming that the transmitted signal of the radar operates in the 20 GHz frequency band and the time difference is 1 millisecond during the signal propagation process, according to the signal propagation speed (about 3×10^8 m / s), the target distance can be calculated as 300000 meters. If the elevation angle of the transmitting antenna is 30°, the vertical coverage height of the radar can be calculated as the distance between the target and the radar multiplied by the sine value, obtaining the radar height measurement interval value.

[0038] The beam positioning sub-module, based on the radar height measurement interval value, combines the signal amplitude and directivity calibration data of the receiving path frequency band of the radar transceiver integrated component, filters out the frequency drop points with amplitude concentration higher than the direction threshold, identifies the densely distributed points in the vertical area, and generates the radar vertical positioning result set; Combined with the signal amplitude and directivity calibration data of the transceiver integrated component in the received signal frequency band, frequency points with amplitude concentration higher than the direction threshold are screened out, and then the densely distributed points in the vertical area are identified. Using the measured radar altitude measurement interval, the operable range of the radar in the vertical direction is determined, and this range is determined by the altitude interval calculated above. Analyze using the amplitude and directivity calibration data of the radar received signal. The amplitude concentration is a measure of the concentration degree of the signal intensity in a specific direction. If the signal amplitude value in a certain direction is significantly higher than that in other directions, it can be considered that this frequency point belongs to an effective frequency point. A directivity threshold needs to be set to screen out effective frequency landing points. During implementation, assume that the set directivity threshold is 50 dB. Compared with the intensity of the direction signal, when the amplitude value of the frequency point is higher than 50 dB, it can be determined that this frequency point is effective. If the amplitude of the signal received by the radar at this frequency point exceeds 50 dB, then this point is an effective frequency point, indicating that there is a strong reflected signal from the target object near this point. Combining with the position of the frequency point, further analyze its distribution density in the vertical direction, and identify those areas with high signal intensity and density. Assume that the amplitude concentration of the radar received signal at a certain frequency point is 70 dB, which is much higher than the set 50 dB threshold, then it can be confirmed that this frequency point is an effective point, and a radar vertical positioning result set is generated.

[0039] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A radar altitude measurement and RF transceiver integrated system, characterized in that, The system includes: The signal processing module acquires the echo signal data of the radar transmitting channel, detects the amplitude peak points and time drift values of the signals in segmented time windows, marks the positions of the echo energy concentration areas and abnormal mutation segments, and generates a radar echo feature identification set. Based on the radar echo feature identification set, the channel linkage scheduling module compares the corresponding relationships between the beam pointing and energy concentration in multiple channels, selects the channel configuration with a high coincidence degree between the main lobe direction and the energy center, and obtains a main control beam channel parameter group. According to the main control beam channel parameter group, the path stability determination module monitors the power attenuation trend and beam offset amplitude of the reflection path segment in the vertical height direction, extracts the path positions of stable reflection responses by analyzing the continuous length of the signal path energy stable section, and obtains an effective vertical echo path section identification. The frequency allocation management module calls the effective vertical echo path section identification, analyzes the instantaneous signal-to-noise ratio and channel stability value of each frequency in the available frequency band within the target path, screens the frequency path combinations with continuous communication capabilities, and generates a target path frequency mapping set.

2. The radar altitude measurement and RF transceiver integrated system according to claim 1, wherein: The radar echo feature identification set includes amplitude peak point distribution, time drift amplitude, energy concentration position, and abnormal mutation section; the main control beam channel parameter group includes main lobe coincidence degree parameter, channel energy focusing ratio, channel preference number, and spatial coverage angle; the effective vertical echo path section identification includes reflection path extension, energy stable area length, power attenuation rate threshold, and beam offset tolerance; the target path frequency mapping set includes frequency utilization efficiency, instantaneous signal-to-noise ratio sequence, path available duration, and frequency band continuity index.

3. The radar altitude measurement and RF transceiver integrated system according to claim 1, characterized in that: The signal processing module includes: The signal peak detection sub-module acquires the echo signal data of the radar transmitting channel, determines the peak appearance time by extracting the amplitude point positions of each time window and combining the time window sequence number, identifies the intervals and height differences of the waveform echo responses, and generates a height response time parameter group. Based on the height response time parameter group, the drift structure extraction sub-module extracts the trend of the echo appearance interval sequence, analyzes the continuous interval change gradient, corresponds to the time series mutation points, locates the height drift inflection point section, and makes a judgment according to the echo persistence and stability to obtain the height drift distribution section. The RF echo identification sub-module calls the height drift distribution section, synchronously reads the time tags of the RF transceiver channel, compares the signal time axes, and identifies the overlapping time windows of echo energy aggregation and mutation responses to generate a radar echo feature identification set.

4. The radar altitude measurement and radio frequency transceiver integrated system according to claim 3, wherein: The channel linkage scheduling module includes: The elevation direction extraction sub-module extracts the incident time of the corresponding echo and the elevation angle information of the angle measuring antenna based on the energy center position recorded in the radar echo feature identification set, and identifies the average pointing angle of the main lobe of the energy beam in different time windows to obtain an elevation pointing angle sequence. According to the elevation pointing angle sequence, the channel response comparison sub-module collects the echo trigger time and elevation direction of the transceiver channel, judges the time matching between the main lobe direction and the beam incident path, extracts the echo height difference of the matching channels, and generates an echo channel height difference group. The main channel configuration generation sub-module calls the echo channel height difference group, jointly judges the channel height difference value and the transceiver time tag, filters the combination of the channel number and direction of the offset error, extracts the transmit elevation angle, the receive time window, and the path difference coefficient, and obtains the main control beam channel parameter group.

5. The radar altitude measurement and radio frequency transceiver integrated system according to claim 4, wherein: The path stability determination module includes: The transceiver path monitoring sub-module monitors the transmit and receive power difference of the vertical path segment time window according to the transceiver timestamps recorded in the main control beam channel parameter group, analyzes the power attenuation rate and judges whether it is lower than the stable attenuation threshold, extracts the corresponding echo response height layer value, and establishes the power stable height segment group; The vertical echo extraction sub-module calls the start and end height values of the stable segment in the power stable height segment group and the corresponding time window, analyzes the elevation angle offset change amount of the echo main lobe in the segment, filters the segment with the beam direction offset amount lower than the set direction offset threshold, and obtains the effective vertical echo path segment identifier.

6. The radar altitude measurement and RF transceiver integrated system according to claim 5, wherein: The elevation angle offset change amount of the echo main lobe in the segment is calculated using the formula: ； Among them, represents the change amount of the pitch angle offset of the main lobe of the echo within the section, represents the section the instantaneous value of the pitch angle of the main lobe center in, represents the section the average value of the pitch angle of the main lobe center in, represents the section the start and end height values of the stable section in, represents the section the average value of the start and end height values, represents the section the number of time windows in.

7. The radar altitude measurement and RF transceiver integrated system according to claim 5, wherein: The frequency allocation management module includes: The path segment identification sub-module calls the effective vertical echo path segment identifier, extracts the echo delay value and amplitude change in the path segment, identifies the delay mean and variance, and identifies the path segment with stable reflection characteristics according to the delay stability threshold, and obtains the vertical ranging stable interval value; The channel characteristic extraction sub-module extracts the echo signal-to-noise ratio sequence of the frequency in the path segment based on the vertical ranging stable interval value, identifies the peak-to-average ratio of the instantaneous signal-to-noise ratio, and compares it with the channel fluctuation stability threshold to obtain the radio frequency receive frequency interval; The communication frequency mapping sub-module filters the frequency combination that continuously meets the signal-to-noise overlap threshold and communication interval requirements between frequency bands according to the radio frequency receive frequency interval, performs corresponding mapping coding in the path segment for the frequency combination, calculates the frequency matching weight index, analyzes the binding relationship between the path number and the frequency sequence, and generates the target path frequency mapping set.

8. The radar altitude measurement and RF transceiver integrated system according to claim 7, wherein: The frequency matching weight index is calculated using the formula: ； Among them, represents the frequency matching weight index, represents the path number the frequency value of the th frequency point, in the th frequency point frequency value corresponding signal-to-noise superposition weighting factor, represents the mean value of the weighted frequencies of the frequency combination sequence represents the average value of the frequency values in the path number represents the average value of the signal-to-noise superposition weighting factors in the frequency combination sequence represents the total number of frequency points in the frequency combination.​​​ 9. The radar altitude measurement and radio frequency transceiver integrated system according to claim 1, characterized in that: The system further includes a positioning path feedback module: The positioning path feedback module analyzes the height points covered by the path reflection distance according to the target path frequency mapping set and the round-trip time difference data of the high-frequency path in the radar transceiver integrated component, detects the vertical beam landing point of the current target area, and generates the radar vertical positioning result set; The radar vertical positioning result set includes vertical landing point coordinates, height reflection point distribution, path propagation distance, and target area height label.

10. The radar altitude measurement and radio frequency transceiver integrated system according to claim 9, wherein: The positioning path feedback module includes: The time difference ranging sub-module identifies the vertical propagation distance according to the target path frequency mapping set and the round-trip time difference of the radar transceiver integrated component frequency band, and combines the transmit antenna elevation angle to convert the vertical height interval covered by the frequency path, and obtains the radar height measurement interval value; The beam positioning sub-module filters the frequency landing points with amplitude concentration higher than the direction threshold according to the radar height measurement interval value and the signal amplitude and directivity calibration data of the receive path frequency band of the radar transceiver integrated component, identifies the densely distributed points in the vertical area, and generates the radar vertical positioning result set.

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