Radar altitude measurement and RF transceiver integrated system

Abstract

The present invention relates to the field of radar measurement technology, specifically to an integrated radar height measurement and radio frequency transceiver system. The system includes a signal processing module, a channel linkage scheduling module, a path stability determination module, a frequency allocation management module, and a positioning path feedback module. In the present invention, by extracting amplitude peaks and time drifts, the accuracy of energy mutation identification is enhanced, the signal feature discrimination is improved, the beam main lobe and energy center are matched to screen channels, and efficient coupling of direction and energy is achieved. Path stability analysis introduces power attenuation and energy continuity evaluation to improve the accuracy of available segment identification. Frequency selection considers signal-to-noise ratio and channel stability value to enhance path spectrum utilization continuity. Frequency mapping combines round-trip time difference and altitude point coverage to improve vertical positioning accuracy and beam landing point determination capability, and overall enhances the adaptability and reliability of radar measurement in dynamic environments.

Description

Technical Field

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

[0002] The field of radar measurement technology encompasses techniques for accurately detecting and identifying the distance, speed, altitude, and azimuth of target objects. Based on the emission, reception, and processing of electromagnetic waves, this field leverages the wave reflection characteristics to determine the spatial parameters of targets. Radar measurement is widely used in a variety of fields, including aerospace, military defense, traffic navigation, and remote sensing. Its core areas include radar signal generation and modulation, beam steering, echo signal detection and analysis, target feature extraction, and measurement result presentation. With increasing system integration, radar measurement is trending towards miniaturization, integration, and multifunctional integration, involving multiple sub-areas such as frequency synthesis, electromagnetic compatibility, antenna design, and high-speed digital processing.

[0003] Among them, the radar height measurement and RF transceiver integrated system refers to a radar system used to realize the height measurement of target objects, which integrates RF transmission and reception functions. In order to address the problems of structural separation, module redundancy, and large path loss in radar height measurement, a single-chip design is adopted to jointly build the key circuits of the RF transmission link and the receiving link in the same integrated circuit structure, and at the same time match the coaxial conduction structure and frequency selection mechanism for high-frequency signal transmission to realize the switching control of the transmission and reception paths.

[0004] Existing technologies in the altitude detection process suffer from problems such as a single signal processing dimension and a crude spatial matching mechanism, which limits the integrity and accuracy of target information extraction. Because traditional systems pay insufficient attention to the changing patterns of echo energy, it is difficult to identify energy mutations or concentrated sections, which affects the effective extraction of signal features. Multi-channel scheduling is mostly based on fixed configurations or preset rules and lacks a dynamic adaptation mechanism to the current energy concentration direction. This can easily cause the beam configuration direction to deviate from the energy concentration area, increasing path loss. The stability judgment of the reflection path mostly relies on static segment analysis and lacks a coupled assessment of the path's continuous stability and beam perturbation trends, making it difficult to accurately lock in a long-term stable path. At the frequency scheduling level, existing systems often ignore the joint analysis of frequency stability and signal-to-noise ratio fluctuations within the path, which can easily lead to inconsistencies between frequency selection and path stability, affecting the continuity of the communication link. The inversion of altitude information often relies on a single echo reflection point, failing to form a vertical distribution model covering the entire path, limiting the precise landing point positioning of the target area and reducing the adaptability of radar measurements to complex environments. Summary of the Invention

[0005] In order to solve the technical problems existing in the prior art, the embodiment of the present invention provides an integrated radar altitude measurement and radio frequency transceiver system. The technical solution is as follows:

[0006] Radar altitude measurement and radio frequency transceiver integrated system, the system includes:

[0007] The signal processing module obtains the echo signal data of the radar transmission channel, detects the amplitude peak and time drift value of the signal in the segmented time window, marks the echo energy concentration area and the abnormal mutation segment position, and generates a radar echo feature identification set;

[0008] The channel linkage scheduling module compares the correspondence between beam pointing and energy concentration in multiple channels based on the radar echo feature identifier set, selects the channel configuration with a high degree of overlap between the beam main lobe direction and the energy center, and obtains the main control beam channel parameter group;

[0009] The path stability determination module monitors the power attenuation trend and beam offset amplitude of the vertical height direction reflection path segment based on the master beam channel parameter group, extracts the path position of the stable reflection response by analyzing the continuous length of the signal path energy stable segment, and obtains the effective vertical echo path segment identifier;

[0010] The frequency allocation management module calls the effective vertical echo path segment identifier, analyzes the instantaneous signal-to-noise ratio and channel stability value of each frequency in the available frequency band within the target path, screens frequency path combinations with continuous communication capabilities, and generates a target path frequency mapping set.

[0011] 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 segment; the main control beam channel parameter group includes main lobe coincidence parameter, channel energy focusing ratio, channel preferred number, and spatial coverage angle; the effective vertical echo path segment identification includes reflection path extension, energy stability zone 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 time, and frequency band continuity index.

[0012] As a further solution of the present invention, the signal processing module includes:

[0013] The signal peak detection submodule obtains the echo signal data of the radar transmission channel, extracts the amplitude point position of each time window, and combines it with the time window sequence number to determine the peak occurrence time, identify the interval and height difference of the waveform echo response, and generate a height response time parameter group;

[0014] The drift structure extraction submodule extracts the echo interval sequence trend based on the altitude response time parameter group, analyzes the gradient of the continuous interval change, and locates the altitude drift inflection point segment corresponding to the timing mutation point, and determines the altitude drift distribution segment based on the echo persistence and stability.

[0015] The radio frequency echo identification submodule calls the height drift distribution segment, synchronously reads the radio frequency 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.

[0016] As a further solution of the present invention, the channel linkage scheduling module includes:

[0017] The elevation direction extraction submodule extracts the incident time of the corresponding echo and the elevation angle information of the angle measurement antenna based on the energy center position recorded in the radar echo feature set, identifies the average pointing angle of the main lobe of the energy beam within the differentiated time window, and obtains the elevation pointing angle sequence;

[0018] The channel response comparison submodule collects the trigger time and pitch direction of the transmit and receive channel echoes according to the pitch pointing angle sequence, determines the time match between the main lobe direction and the beam incident path, extracts the echo height difference of the matching channel, and generates an echo channel height difference group;

[0019] The main channel configuration generation submodule calls the echo channel height difference group, jointly judges the channel height difference value and the transmit and receive time tag, filters the channel number and direction combination of the offset error, extracts the transmit pitch angle, receive time window and path difference coefficient, and obtains the main control beam channel parameter group.

[0020] As a further solution of the present invention, the path stability determination module includes:

[0021] The transceiver path monitoring submodule monitors the transmit and receive power difference in the vertical path segment time window according to the transmit and receive timestamps recorded in the master beam channel parameter group, analyzes the power attenuation rate and determines whether it is lower than the stable attenuation threshold, extracts the corresponding echo response altitude layer value, and establishes a power stable altitude segment group;

[0022] The vertical echo extraction submodule calls the start and end altitude values ​​and corresponding time windows of the stable segments in the power stable altitude segment group, analyzes the pitch angle offset change of the echo main lobe within the segment, selects the segments whose beam direction offset is lower than the set direction offset threshold, and obtains the valid vertical echo path segment identifier.

[0023] As a further solution of the present invention, the pitch angle offset variation of the echo main lobe within the segment is calculated using the formula:

[0024] ;

[0025] in, Represents the pitch angle offset change of the echo main lobe within the segment, Representative section The instantaneous value of the pitch angle at the center of the main lobe, Representative section The average pitch angle of the center of the main lobe, Representative segment The starting and ending height values ​​of the mid-stable segment, Representative section The average of the starting and ending height values, Representative section The number of time windows in .

[0026] As a further solution of the present invention, the frequency allocation management module includes:

[0027] The path segment identification submodule calls the valid vertical echo path segment identifier, extracts the echo delay value and amplitude change within the path segment, identifies the delay mean and variance, identifies the path segment with stable reflection characteristics based on the delay stability threshold, and obtains the vertical ranging stability interval value;

[0028] The channel characteristic extraction submodule extracts the echo signal-to-noise ratio sequence with frequencies within the path segment based on the vertical ranging stability 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 RF receiving frequency interval;

[0029] The communication frequency mapping submodule selects frequency combinations that continuously meet the signal-to-noise overlap threshold and communication interval requirements between frequency bands according to the RF receiving frequency interval, performs corresponding mapping encoding on the frequency combinations within the path segment, calculates the frequency matching weight index, analyzes the binding relationship between the path number and the frequency sequence, and generates a target path frequency mapping set.

[0030] As a further solution of the present invention, the frequency matching weight index adopts the formula:

[0031] ;

[0032] in, represents the frequency matching weight index, Represents the path number Next The frequency value of each frequency point, Represents a frequency combination sequence Middle The signal-to-noise overlap weighting factor corresponding to the frequency value of each frequency point, Represents a frequency combination sequence The mean of the weighted frequencies of Represents the path number The average of the mid-frequency values, Represents a frequency combination sequence The average value of the signal-to-noise overlap weighting factor in , Represents the total number of frequency points in the frequency combination.

[0033] As a further solution of the present invention, the system further includes a positioning path feedback module:

[0034] The positioning path feedback module analyzes the height points covered by the path reflection distance based on the target path frequency mapping set and the round-trip time difference data of the high-frequency path in the radar transceiver assembly, detects the vertical beam landing point of the current target area, and generates a radar vertical positioning result set;

[0035] The radar vertical positioning result set includes vertical impact point coordinates, height reflection point distribution, path propagation distance, and target area height label.

[0036] As a further solution of the present invention, the positioning path feedback module includes:

[0037] The time difference ranging submodule identifies the vertical propagation distance based on the target path frequency mapping set and the round-trip time difference of the radar transceiver frequency band, and converts the vertical height interval covered by the frequency path into the vertical height interval covered by the transmitting antenna pitch angle to obtain the radar height measurement interval value;

[0038] The beam positioning submodule, based on the radar altitude measurement interval value and the radar transceiver receiving path frequency segment signal amplitude and directionality calibration data, screens frequency points whose amplitude concentration is higher than the directional threshold, identifies densely distributed points in the vertical area, and generates a radar vertical positioning result set.

[0039] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0040] By detecting amplitude peaks and extracting time drift within segmented windows of radar echo signals, it is possible to effectively highlight energy anomalies and dynamic trends, thereby introducing more discriminative energy distribution and mutation information into echo signature identification, enhancing the ability to identify signal target features. Parameter screening based on the matching degree between the main lobe direction and energy center of multi-channel beams enables channel resource allocation to incorporate a coupled optimization mechanism that optimizes spatial directionality and energy coupling, improving the focusing efficiency and interference avoidance capabilities of channel selection. By leveraging real-time monitoring of power attenuation trends and beam offset changes in vertical path segments, and superimposing a stability length assessment of energy-continuous segments within the signal path, the accuracy of identifying stable signal propagation segments is enhanced, effectively constructing the usable segment structure of the reflection path. Frequency combination screening is performed by combining the instantaneous signal-to-noise ratio of different frequencies within the path with channel stability indicators, and by introducing communication continuity evaluation criteria, this establishes a sustainable screening capability for spectrum utilization within the path, enhancing the continuity assurance performance of the communication link. The linked analysis of frequency mapping and round-trip time difference, combined with the coverage of altitude points, helps to achieve accurate quantification of the target's vertical positioning landing point, has higher altitude recognition resolution and vertical beam projection capability, and enhances the reflection response capture effect of complex space targets. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0042] Figure 1 Schematic diagram of a radar altitude measurement and radio frequency transceiver integrated system provided by an embodiment of the present invention;

[0043] Figure 2 Schematic diagram of the system framework of the present invention;

[0044] Figure 3 This is a flow chart of the signal processing module in the present invention;

[0045] Figure 4 This is a flow chart of the channel linkage scheduling module in the present invention;

[0046] Figure 5 This is a flow chart of the path stability determination module in the present invention;

[0047] Figure 6 This is a flow chart of the frequency allocation management module in the present invention;

[0048] Figure 7 This is a flow chart of the positioning path feedback module in the present invention. DETAILED DESCRIPTION

[0049] The technical solution of the present invention is described below in conjunction with the accompanying drawings.

[0050] In the embodiments of the present invention, words such as "exemplarily" and "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as an "exemplary" in the present invention should not be interpreted as being preferred or advantageous over other embodiments or designs. Rather, the use of the word "exemplary" is intended to present concepts in a concrete manner. Furthermore, in the embodiments of the present invention, "and / or" can mean both or either of the two.

[0051] In the embodiments of the present invention, the terms "image" and "picture" may sometimes be used interchangeably. It should be noted that, when the distinction is not emphasized, the meanings they convey are the same. The terms "of," "corresponding," and "corresponding" may sometimes be used interchangeably. It should be noted that, when the distinction is not emphasized, the meanings they convey are the same.

[0052] In the embodiments of the present invention, sometimes a subscript such as W1 may be written as a non-subscript such as W1. When the difference is not emphasized, the meanings to be expressed are the same.

[0053] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

[0054] The embodiment of the present invention provides a radar height measurement and radio frequency transceiver integrated system, such as Figure 1-Figure 2 The schematic diagram of the radar altitude measurement and radio frequency transceiver integrated system shown in the figure includes:

[0055] The signal processing module obtains the echo signal data of the radar transmission channel, detects the amplitude peak and time drift value of the signal in the segmented time window, marks the echo energy concentration area and the abnormal mutation segment position, and generates a radar echo feature identification set;

[0056] The channel linkage scheduling module compares the correspondence between beam pointing and energy concentration in multiple channels based on the radar echo feature set, selects the channel configuration with a high degree of overlap between the beam main lobe direction and the energy center, and obtains the master beam channel parameter group;

[0057] The path stability determination module monitors the power attenuation trend and beam offset amplitude of the vertical reflection path segment based on the master beam channel parameter group. By analyzing the continuous length of the signal path energy stable segment, it extracts the path position of the stable reflection response and obtains the effective vertical echo path segment identifier.

[0058] The frequency allocation management module calls the valid vertical echo path segment identifier, analyzes the instantaneous signal-to-noise ratio and channel stability value of each frequency in the available frequency band within the target path, selects the frequency path combination with continuous communication capability, and generates the target path frequency mapping set;

[0059] The positioning path feedback module analyzes the height points covered by the path reflection distance based on the target path frequency mapping set and the round-trip time difference data of the high-frequency path in the radar transceiver assembly, detects the vertical beam landing point of the current target area, and generates a radar vertical positioning result set.

[0060] The radar echo feature identification set includes amplitude peak distribution, time drift amplitude, energy concentration position, and abnormal mutation section. The main control beam channel parameter group includes main lobe coincidence parameter, channel energy focusing ratio, channel optimization number, and spatial coverage angle. The effective vertical echo path section identification includes reflection path extension, energy stability zone 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 time, and frequency band continuity index. The radar vertical positioning result set includes vertical landing point coordinates, height reflection point distribution, path propagation distance, and target area height label.

[0061] Specifically, if Figure 2 、 Figure 3 As shown, the signal processing module includes:

[0062] The signal peak detection submodule obtains the echo signal data of the radar transmission channel, extracts the amplitude point position of each time window, and combines it with the time window sequence number to determine the peak occurrence time, identify the interval and height difference of the waveform echo response, and generate a height response time parameter group;

[0063] To extract the amplitude point location for each time window from the echo signal received from the radar transmit channel, signal sampling can be used to segment the echo signal into predetermined time windows. Each time window contains several sampling points. The amplitude changes at the sampling points determine the amplitude point in that time window. Combined with the time window sequence number, the time position of each amplitude point can be marked and the peak time of the waveform can be extracted. If the amplitude of the signal within a time window exceeds a set threshold and the amplitude decreases significantly in adjacent time windows, the time window is considered a peak, and the peak occurs at the center of the time window. The time of the peak can be further confirmed based on the time window sequence number. By analyzing the amplitude differences between consecutive time windows, the interval and height differences of the waveform echo response can be identified. Interval analysis is achieved by calculating the time difference between adjacent peaks, and height difference is determined by comparing the amplitude differences between adjacent peaks. Through the above analysis process, a time series containing altitude response time parameters can be generated. This time series records information such as the peak occurrence 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], the peak position is 0.6, and its corresponding time is marked as T1. The peak of the next time window is 0.5, corresponding to time T2, and 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.

[0064] The drift structure extraction submodule extracts the echo interval sequence trend based on the altitude response time parameter group, analyzes the gradient of continuous interval changes, and corresponds them to the time series mutation points to locate the altitude drift inflection point segment. It then determines the echo persistence and stability and obtains the altitude drift distribution segment.

[0065] Extracting the time interval sequence of echo signal occurrences involves calculating the time interval between each two consecutive peak points in the time series, forming an echo interval sequence. By analyzing the continuous gradient of this interval sequence, the echo signal's changing trend can be determined. The gradient is calculated as the ratio or difference between the difference values ​​of two consecutive intervals. For example, assuming the first interval is T2-T1 and the second interval is T3-T2, the gradient can be calculated as (T3-T2)-(T2-T1). If the gradient reaches a certain threshold, it is considered that the echo signal has a mutation point. The mutation point needs to be matched with the timing mutation point in the time series to determine whether the echo signal has undergone a sudden or unstable change. After locating the mutation point, the mutation point and the signal change trend can be used to determine the inflection point segment of high drift, that is, the period of time when the echo signal shows significant changes. By analyzing the persistence and stability of the echo signal, the stability of the echo signal can be determined. If the signal changes repeatedly within a certain interval, if the echo interval increases continuously and the gradient changes significantly within a certain period of time, it can be determined as a high drift distribution segment.

[0066] The RF echo identification submodule calls the height drift distribution segment, synchronously reads the RF transceiver channel time tags, compares the signal time axis, identifies the overlapping time windows of echo energy concentration and sudden change response, and generates a radar echo feature identification set;

[0067] To retrieve the altitude drift distribution segment information, which indicates the changing characteristics of the radar echo signal and its drift segments, the time tags of the RF transceiver channel must be read simultaneously. These time tags record the transmission and reception times of the radar signal, providing the basis for subsequent timeline comparisons. After reading the RF transceiver channel time tags, the timelines of the radar signal transmission and reception must be compared to identify areas of temporal overlap. If the echo signal's energy rapidly accumulates and the response abruptly changes within a certain period, and this period coincides with the RF signal's reception window, this period represents an echo energy concentration segment. By using this overlapping time window, the concentrated echo energy area and abrupt response can be identified, thereby generating a radar echo signature set. This signature aggregates the key characteristics of the echo signal and can be used for subsequent signal analysis and pattern recognition. For example, if the echo signal exhibits high energy values ​​in the T3-T4 time period, which overlaps with the reception window of the signal, then the signature can be used to generate a radar echo signature set.

[0068] Specifically, if Figure 2 、 Figure 4 As shown, the channel linkage scheduling module includes:

[0069] The elevation direction extraction submodule extracts the energy center position recorded in the radar echo feature set, extracts the incident time of the corresponding echo and the elevation angle information of the angle measurement antenna, identifies the average pointing angle of the main lobe of the energy beam within the differentiated time window, and obtains the elevation pointing angle sequence;

[0070] The energy center location can be extracted from the radar echo signature set. This can be determined by detecting the maximum signal amplitude or the signal's temporal position. This allows the energy concentration location of each echo signal to be determined. Combining the time of impact with the elevation angle of the goniometer antenna, the spatial orientation of each echo signal can be determined. To achieve this, the impact time of the corresponding echo signal is extracted, and the signal's orientation angle is further calculated based on the known elevation angle of the goniometer antenna. For example, if the elevation angle of the goniometer antenna is 30° and the signal energy is concentrated in the echo at time T1, the elevation angle at that time is 30°. By comparing signals in different time windows, the average orientation angle of the main lobe within each time window is determined. By calculating the average orientation angle of multiple echo signals within each time window, the resulting sequence reflects the elevation angle changes of the radar system over different time periods, providing data support for subsequent signal processing. For example, if the pointing angles of the signal in two consecutive time windows are 28° and 32° respectively, the average pointing angle of the time period can be calculated by calculating (28°+32°) / 2=30°, and the elevation pointing angle sequence is obtained to describe the beam pointing characteristics of the radar system.

[0071] The channel response comparison submodule collects the trigger time and pitch direction of the transmit and receive channel echoes based on the pitch pointing angle sequence, determines the time match between the main lobe direction and the beam incident path, extracts the echo height difference of the matching channel, and generates an echo channel height difference group;

[0072] Based on the obtained elevation angle sequence, the echo trigger time information of the transmit and receive channels is further collected. By analyzing the trigger time, the transmission and reception moments of the echo signal can be determined, thereby determining the temporal matching of the radar signal. The matching of each echo trigger time and elevation direction is compared. If the echo timestamp and the elevation angle of the angle-measuring antenna are consistent within a certain period, the signal during that period is considered to have a matching mainlobe direction. This method ensures that the collected echo data is consistent with the corresponding beam direction and incident path, avoiding errors caused by signal time difference or path deviation. The echo height difference of the matching channel is extracted. If the incident path of the echo signal matches the corresponding mainlobe direction, the height difference between the echo signal of that channel and the reference signal is calculated. By collecting the echo height difference values ​​of multiple matching channels, an echo channel height difference group is formed. For example, if two echo signals are triggered at T1 and T2, respectively, and the corresponding pitch 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 the echo channel is 22 meters - 20 meters = 2 meters, and the height difference will be used in subsequent analysis.

[0073] The main channel configuration generation submodule calls the echo channel height difference group, jointly judges the channel height difference value and the transmit and receive time tag, selects the channel number and direction combination with the offset error, extracts the transmit pitch angle, receive time window and path difference coefficient, and obtains the main control beam channel parameter group;

[0074] The echo channel height difference group is called and judged together with the transmit and receive time tags. The purpose of this step is to verify whether the height difference value of each channel is consistent with its corresponding time tag, so as to determine whether there is an offset error. Specifically, the echo height difference value of each channel is compared with its transmit and receive time tags. If the height difference value of a certain channel does not match the time tag well, it is considered that there is an offset error in the channel. The channel number and its corresponding direction combination with the offset error will be screened out by setting a certain error threshold. For example, if the error between the height difference value of the echo channel and the predetermined range exceeds the set threshold, the channel will be considered as an offset error channel. For the channel, its transmit elevation angle, receive time window, and path difference coefficient will be extracted and adjusted based on the error. The transmit elevation angle reflects the signal's transmission direction, the receive time window indicates the signal's reception period, and the path difference coefficient indicates the physical difference in the signal transmission path. The master beam channel parameter group will be generated based on the parameters. Assuming that the height difference of an echo channel is 2 meters and the error in its transmit and receive time tags is 0.5 seconds, the path difference coefficient can be adjusted based on the actual transmission speed and path length to obtain the final channel parameter group. The parameters will be used for subsequent radar signal analysis and beam optimization.

[0075] Specifically, if Figure 2 、 Figure 5 As shown, the path stability determination module includes:

[0076] The transmit and receive path monitoring submodule monitors the transmit and receive power difference in the vertical path segment time window based on the transmit and receive timestamps recorded in the master beam channel parameter group, analyzes the power attenuation rate and determines whether it is below the stable attenuation threshold, extracts the corresponding echo response altitude layer value, and establishes a power stable altitude segment group;

[0077] The transmission and reception timestamps in the master beam channel parameter group are used to monitor the transmission and reception times of radar signals. The difference between the transmitted and received power within each time window is a key indicator for assessing the signal decay rate. The power difference is calculated by comparing the transmitted and received powers within each time window. For example, if the transmitted power in a time window is 30dBm and the received power is 25dBm, the power difference within that time window is 5dB. Based on the power difference within each time window, the power decay rate is analyzed. The decay rate is determined by the rate of power change within each time window. The power change between consecutive time windows is calculated. If the decay rate is below a preset stable decay threshold, the signal decay is considered stable. For example, if the power difference within a certain time period remains below 5dB, and the power decay does not exceed 1dB every 10 milliseconds, the signal decay rate is considered below the stability threshold. According to the standard, the corresponding echo response altitude values ​​are continuously extracted and recorded. The altitude values ​​within the stable decay range are then organized to generate power stable altitude segment groups for subsequent analysis. For example, if the altitude value of the echo signal is always between 15 meters and 20 meters within a period of time, and the attenuation rate meets the stable attenuation condition, then this period of time will be marked as the power stable altitude segment.

[0078] The vertical echo extraction submodule calls the start and end altitude values ​​and corresponding time windows of the stable segment in the power stable altitude segment group, calculates the pitch angle offset change of the echo main lobe within the segment, and selects the segments with beam direction offset lower than the set direction offset threshold to obtain the valid vertical echo path segment identifier;

[0079] By calling the stable segments in the power stable altitude segment group, extracting the start and end altitude values ​​of each stable segment and the corresponding time window information, the spatial position and time period of each stable segment can be accurately determined. The pitch angle offset change of the echo main lobe within the stable segment will be calculated. Multiple echo signals within each stable segment are sampled, and the pitch angle change of the echo signal is calculated. The offset will be obtained based on the direction of the echo signal and the direction of the main lobe. For example, if the echo signal within a certain time window changes from a pitch angle of 30° to 32°, the offset is 2°. Segments with beam direction offsets below the preset direction offset threshold will be screened out. This step is intended to exclude echo path segments with large beam offsets that cause signal errors. The set direction offset threshold can be adjusted according to actual conditions. Assuming the set direction offset threshold is 3°, if the echo signal offset is less than this threshold, the echo path will be considered valid; otherwise, it will be ignored. For example, if the echo signal offset is 2°, the path within this period is a valid vertical echo path segment.

[0080] The pitch angle offset change of the echo main lobe within the segment is calculated using the formula:

[0081] ;

[0082] in, Represents the pitch angle offset change of the echo main lobe within the segment, Representative section The instantaneous value of the pitch angle at the center of the main lobe, Representative section The average pitch angle of the center of the main lobe, Representative section The starting and ending height values ​​of the mid-stable segment, Representative section The average of the starting and ending height values, Representative section The number of time windows in ;

[0083] The variation in pitch angle offset refers to the change in the vertical pitch angle of the main beam (the main propagation direction of the radar signal) within the stable segment of the radar echo path. Specifically, this metric evaluates the degree of fluctuation in the pitch angle of the echo main lobe over a period of time or in a specific path segment. By comparing the instantaneous value and average value of the pitch angle within a certain path segment, and combining the echo response within the time window, the variation in the pitch angle within the path segment can be calculated. This value reflects the stability of the radar signal beam. If the variation is too large, it may mean that there is a deviation in the direction of the beam, affecting the accurate reception and positioning of the signal. Therefore, this indicator is used to ensure that the offset of the beam in the reflection path does not exceed the preset threshold, thereby ensuring the stability and accuracy of the radar measurement;

[0084] It represents the instantaneous value of the pitch angle of the main lobe center in segment s, in degrees. This value is obtained by real-time monitoring of the echo signal by the radar system. The high-resolution antenna array is used to measure the main lobe direction and is calculated in combination with beamforming technology. In actual monitoring, The measurement accuracy reaches 0.1 degree;

[0085] It represents the average pitch angle of the main lobe center in the segment s, in degrees. The values ​​are calculated by arithmetic mean;

[0086] It represents the average of the starting and ending heights of the stable segment in segment s, in meters. This value is obtained by analyzing the vertical distribution of the echo signal through the radar system, identifying the height segment with stable power, and calculating the average of its starting and ending heights. In actual monitoring, The measurement accuracy reaches 10 meters;

[0087] It represents the average value of the start and end altitude values ​​of all segments in the entire power stabilization altitude segment group, in meters. The values ​​are calculated by arithmetic mean;

[0088] It represents the number of time windows contained in the segment s, which is a dimensionless integer. The value is obtained by counting the time windows in the segment s.

[0089] In actual calculation, the segment s is set 3.5 degrees, 3.0 degrees, is 1500 meters, is 1450 meters, is 5;

[0090] Substituting the above values ​​into the formula, the calculation process is as follows:

[0091] ;

[0092] The results show that the pitch angle offset change rate index of segment s is 8.3338, indicating that the degree of change of the main lobe pitch angle in this segment is relatively high. According to the set directional offset threshold, if the value is lower than the threshold, the segment is screened as a valid vertical echo path segment. During the dimensional unification process, all angle units are unified into degrees and height units are unified into meters to ensure the unit consistency of various parameters in the calculation.

[0093] Specifically, if Figure 2 、 Figure 6 As shown, the frequency allocation management module includes:

[0094] The path segment identification submodule calls the valid vertical echo path segment identifier, extracts the echo delay value and amplitude change within the path segment, identifies the delay mean and variance, identifies the path segment with stable reflection characteristics based on the delay stability threshold, and obtains the vertical ranging stability interval value;

[0095] Valid vertical echo path segment identifiers are used to identify segments that effectively reflect echo characteristics. During this process, the signal characteristics of each path segment are identified by extracting the echo delay value and amplitude variation within the path segment. The echo delay value represents the time it takes for a signal to propagate from transmission to reception. The path transmission characteristics are evaluated by analyzing the delay of each echo signal. For example, assume that within a certain time window, the echo delay values ​​of the signal are 3μs, 5μs, and 4μs, respectively. Using these delay values ​​as data sources, the mean and variance of the echo delay values ​​are 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 stable echo signal along the path; a smaller variance indicates unstable transmission characteristics. Assuming the mean of the above data is (3+5+4) / 3=4μs, the variance is calculated 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. A delay stability threshold is used to determine which path segments have stable reflection characteristics. The stability threshold can be set according to the actual application scenario. For example, the threshold can be set to 0.5μs. When the variance is greater than this value, it indicates that the reflection characteristics of the path segment are unstable and it is excluded. The stable path segment is screened out, and the vertical ranging stability interval value is finally obtained for subsequent signal processing. If the delay value and variance of the above segment meet the stability threshold, the path is marked as a stable interval; otherwise, it is not considered.

[0096] The channel characteristic extraction submodule extracts the echo signal-to-noise ratio sequence within the path segment based on the vertical ranging stability 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 RF receiving frequency interval;

[0097] First, based on the vertical ranging stability interval, the echo signal-to-noise ratio (SNR) sequence within the path segment is extracted. The SNR represents signal quality and is calculated by calculating the ratio of the received echo signal to the noise within each time window. For example, if the amplitude of the echo signal is -60dBm and the noise amplitude is -80dBm at a certain frequency, the SNR is 20dB. The SNR value is extracted and subsequently analyzed to identify the peak-to-average ratio (PAR) of the instantaneous SNR. PAR is the ratio of the maximum SNR to the average SNR. A high PAR indicates strong interference or abnormal signal fluctuations during certain time periods. For example, if the SNR peaks at a certain moment and averages at 25dB and 18dB, the PAR is 25 / 18, which is approximately 1.39. This value is then compared with a set channel fluctuation stability threshold, which can be set to 2. This threshold is used to determine signal stability. If the PAR is greater than 2, it indicates significant signal fluctuations and requires compensation. If the peak-to-average ratio is less than 2, the signal fluctuations are relatively stable and suitable for further processing. Based on this judgment, the RF reception frequency range is obtained. The frequencies within the range represent the frequency band in which the channel can stably receive signals. For example, the frequency range with a relatively stable signal-to-noise ratio is between 1.8 GHz and 2.2 GHz. This frequency range is defined as the valid RF reception range for subsequent frequency mapping.

[0098] The communication frequency mapping submodule selects frequency combinations that continuously meet the signal-to-noise overlap threshold and communication interval requirements between frequency bands based on the RF receiving frequency range, encodes the corresponding mapping within the path segment 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;

[0099] To select frequency combinations that meet both the inter-band signal-to-noise overlap threshold and the communication interval requirements, all frequency bands within the frequency range are analyzed, and the degree of signal-to-noise ratio overlap between each two bands is calculated. If the signal-to-noise ratio overlap between two bands exceeds the set overlap threshold (e.g., 10dB), the two bands are considered a viable combination. The communication interval requirement, which measures the minimum isolation between frequencies, is also considered. For example, if the communication interval requirement is set to 5MHz, the frequency difference between the two bands must be greater than 5MHz. Only frequency band combinations that meet these two conditions are selected. These frequency combinations are mapped and coded within the path segment, associating each frequency combination with the corresponding path segment. Through this mapping coding, the system can bind each frequency to a specific path number. For example, a 1.9GHz signal is associated with path number 1, while a 2.1GHz signal is associated with path number 2. In order 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 segment. Assuming that the matching degree is represented by a value from 0 to 1, the closer the value is to 1, the higher the matching degree is. The binding relationship between the path number and the frequency sequence will be analyzed to generate a target path frequency mapping set for subsequent signal processing and frequency management.

[0100] Frequency matching weight index, using the formula:

[0101] ;

[0102] in, represents the frequency matching weight index, Represents the path number Next The frequency value of each frequency point, Represents a frequency combination sequence Middle The signal-to-noise overlap weighting factor corresponding to the frequency value of each frequency point, Represents a frequency combination sequence The mean of the weighted frequencies of Represents the path number The average of the mid-frequency values, Represents a frequency combination sequence The average value of the signal-to-noise overlap weighting factor in , Represents the total number of frequency points in the frequency combination;

[0103] The frequency matching weight index is a measure used to evaluate the degree of matching between a specific path frequency and the radar system path. It takes into account the signal-to-noise ratio overlap of each path frequency and other frequency points in the frequency combination, and is calculated through weighted calculation. Specifically, this index calculates the average matching degree of the frequency path, and helps select the most suitable frequency combination by analyzing the binding relationship between the path number and the frequency sequence. These frequency combinations not only meet the signal transmission requirements, but also ensure the overlap of the signal-to-noise ratio and the stability of communication. The calculation of the frequency matching weight index usually includes multiple factors such as the signal-to-noise ratio weighting factor of the frequency value and the average value of the frequency to ensure optimal signal matching and reliable communication performance between different paths and frequencies;

[0104] For a given frequency sequence and signal-to-noise ratio weight, the values ​​of each parameter are obtained through actual measurement and data acquisition methods;

[0105] : Path number Next Frequency value, which is measured by frequency scanner, corresponding to frequency The frequency of the signal on a particular path;

[0106] : Frequency combination sequence Middle The signal-to-noise overlap weighting factor corresponding to the frequency value is determined experimentally based on the degree of overlap between the noise and the signal;

[0107] : Frequency combination sequence The mean of the weighted frequencies of Calculated, where is the total number of frequency points;

[0108] and : Average frequency value and average weighting factor, respectively, through and calculate;

[0109] Formula calculation example: Hypothetical path The frequency value below [10, 20, 30] MHz and frequency combination The signal-to-noise overlap weighting factor is [0.1, 0.2, 0.3], the calculation steps are as follows:

[0110] calculate : ;

[0111] calculate : ;

[0112] calculate and : ;

[0113] Calculate the denominator:

[0114] ;

[0115] calculate : ;

[0116] This result shows that for a given path and frequency combination, the weight index of frequency matching is 1.32, which reflects the balance between the adaptation degree of frequency selection and noise interference, thereby guiding the optimization of frequency mapping.

[0117] Specifically, if Figure 2 、 Figure 7 As shown, the positioning path feedback module includes:

[0118] The time difference ranging submodule identifies the vertical propagation distance based on the target path frequency mapping set and the round-trip time difference of the radar transceiver frequency band. It also converts the vertical height range covered by the frequency path into the vertical height range covered by the transmitting antenna pitch angle to obtain the radar height measurement range value.

[0119] Through the frequency band information of the radar transceiver component, the time difference between the transmitted signal from the radar to the target object and back can be calculated, and then the vertical propagation distance can be identified. Then, combined with the pitch angle of the transmitting antenna, the vertical height range covered by the signal is calculated. The frequency range of the radar signal is obtained through the frequency mapping set. Frequency is a key data reflecting the signal propagation characteristics. The round-trip time difference between the radar transmitting and receiving signals, that is, the time difference from the signal transmission to the target object return, is used to calculate the signal propagation distance. On this basis, the antenna's elevation angle is used to convert the vertical area covered by the signal. Considering that the radar's elevation angle is generally adjusted between -45° and +45° in actual applications to cover a wider vertical range, it is assumed that the radar's transmitting signal operates in the 20GHz frequency band. During the signal propagation process, the time difference is 1 millisecond. Based on the signal propagation speed (approximately 3×10^8m / s), the target distance can be calculated to be 300,000 meters. If the transmitting antenna's elevation angle is 30°, the radar's vertical coverage height can be calculated as the distance between the target and the radar multiplied by the sine value to obtain the radar height measurement interval value.

[0120] The beam positioning submodule uses the radar altitude measurement interval value and the radar transceiver's receiving path frequency segment signal amplitude and directionality calibration data to screen frequency points where the amplitude concentration exceeds the directional threshold, identify densely distributed points in the vertical area, and generate a radar vertical positioning result set.

[0121] Combined with the frequency band signal amplitude and directional calibration data of the signal received by the transceiver component, the frequency points with amplitude concentration higher than the directional threshold are screened out, and then the densely distributed points in the vertical area are identified. The measured radar height measurement interval is used to clarify the radar's operational range in the vertical direction. This range is determined by the height interval calculated above. The amplitude and directional calibration data of the radar received signal are used for analysis. The amplitude concentration is a measure of the concentration of signal strength in a specific direction. If the signal amplitude value in a certain direction is significantly higher than that in other directions, the frequency point can be considered to be a valid frequency point. A directional threshold needs to be set to screen out valid frequency points. During implementation, it is assumed that the set directional threshold is 50dB. Compared with the strength of the directional signal, when the amplitude value of the frequency point is higher than 50dB, the frequency point can be determined to be valid. If the amplitude of the signal received by the radar at that frequency point exceeds 50dB, then that point is a valid frequency point, indicating that the target object has a strong reflected signal near that point. Combined with the location of the frequency point, its distribution density in the vertical direction is further analyzed to identify areas with high signal strength and density. Assuming that the amplitude concentration of the radar received signal is 70dB at a certain frequency point, which is much higher than the set 50dB threshold, then this frequency point can be confirmed as a valid point, and a radar vertical positioning result set can be generated.

[0122] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. Radar height measurement and radio frequency transceiver integrated system, characterized by: The system comprises: The signal processing module obtains the echo signal data of the radar transmission channel, detects the amplitude peak and time drift value of the signal in the segmented time window, marks the echo energy concentration area and the abnormal mutation segment position, and generates a radar echo feature identification set; The channel linkage scheduling module compares the correspondence between beam pointing and energy concentration in multiple channels based on the radar echo feature identifier set, selects the channel configuration with a high degree of overlap between the beam main lobe direction and the energy center, and obtains the main control beam channel parameter group; The path stability determination module monitors the power attenuation trend and beam offset amplitude of the vertical height direction reflection path segment based on the master beam channel parameter group, extracts the path position of the stable reflection response by analyzing the continuous length of the signal path energy stable segment, and obtains the effective vertical echo path segment identifier; The frequency allocation management module calls the valid vertical echo path segment identifier, analyzes the instantaneous signal-to-noise ratio and channel stability value of each frequency in the available frequency band within the target path, selects frequency path combinations with continuous communication capabilities, and generates a target path frequency mapping set; The positioning path feedback module analyzes the height points covered by the path reflection distance based on the target path frequency mapping set and the round-trip time difference data of the high-frequency path in the radar transceiver assembly, detects the vertical beam landing point of the current target area, and generates a radar vertical positioning result set; the radar vertical positioning result set includes the vertical landing point coordinates, the distribution of height reflection points, the path propagation distance, and the target area height label.

2. The radar height measurement and radio frequency transceiver integrated system according to claim 1, characterized in that: The radar echo feature identification set includes amplitude peak distribution, time drift amplitude, energy concentration position, and abnormal mutation section; the main control beam channel parameter group includes main lobe coincidence parameter, channel energy focusing ratio, channel optimization number, and spatial coverage angle; the effective vertical echo path section identification includes reflection path extension, energy stability zone 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 time, and frequency band continuity index.

3. The radar height measurement and radio frequency transceiver integrated system according to claim 1, characterized in that: The signal processing module includes: The signal peak detection submodule obtains the echo signal data of the radar transmission channel, extracts the amplitude point position of each time window, and combines it with the time window sequence number to determine the peak occurrence time, identify the interval and height difference of the waveform echo response, and generate a height response time parameter group; The drift structure extraction submodule extracts the echo interval sequence trend based on the altitude response time parameter group, analyzes the gradient of the continuous interval change, and locates the altitude drift inflection point segment corresponding to the timing mutation point, and determines the altitude drift distribution segment based on the echo persistence and stability. The radio frequency echo identification submodule calls the height drift distribution segment, synchronously reads the radio frequency 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.

4. The radar height measurement and radio frequency transceiver integrated system according to claim 3, characterized in that: 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 measurement antenna based on the energy center position recorded in the radar echo feature set, identifies the average pointing angle of the main lobe of the energy beam within the differentiated time window, and obtains the elevation pointing angle sequence; The channel response comparison submodule collects the trigger time and pitch direction of the transmit and receive channel echoes according to the pitch pointing angle sequence, determines the time match between the main lobe direction and the beam incident path, extracts the echo height difference of the matching channel, and generates an echo channel height difference group; The main channel configuration generation submodule calls the echo channel height difference group, jointly judges the channel height difference value and the transmit and receive time tag, filters the channel number and direction combination of the offset error, extracts the transmit pitch angle, receive time window and path difference coefficient, and obtains the main control beam channel parameter group.

5. The radar height measurement and radio frequency transceiver integrated system according to claim 4, characterized in that: The path stability determination module includes: The transceiver path monitoring submodule monitors the transmit and receive power difference in the vertical path segment time window according to the transmit and receive timestamps recorded in the master beam channel parameter group, analyzes the power attenuation rate and determines whether it is lower than the stable attenuation threshold, extracts the corresponding echo response altitude layer value, and establishes a power stable altitude segment group; The vertical echo extraction submodule calls the start and end altitude values ​​and corresponding time windows of the stable segments in the power stable altitude segment group, analyzes the pitch angle offset change of the echo main lobe within the segment, selects the segments whose beam direction offset is lower than the set direction offset threshold, and obtains the valid vertical echo path segment identifier.

6. The radar height measurement and radio frequency transceiver integrated system according to claim 5, characterized in that: The pitch angle offset variation of the echo main lobe within the segment is calculated using the formula: ； in, Represents the pitch angle offset change of the echo main lobe within the segment, Representative section The instantaneous value of the pitch angle at the center of the main lobe, Representative section The average pitch angle of the center of the main lobe, Representative section The starting and ending height values ​​of the mid-stable segment, Representative section The average of the starting and ending height values, Representative section The number of time windows in .

7. The radar altitude measurement and radio frequency transceiver integrated system according to claim 5, characterized in that: The frequency allocation management module includes: The path segment identification submodule calls the valid vertical echo path segment identifier, extracts the echo delay value and amplitude change within the path segment, identifies the delay mean and variance, identifies the path segment with stable reflection characteristics based on the delay stability threshold, and obtains the vertical ranging stability interval value; The channel characteristic extraction submodule extracts the echo signal-to-noise ratio sequence with frequencies within the path segment based on the vertical ranging stability 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 RF receiving frequency interval; The communication frequency mapping submodule selects frequency combinations that continuously meet the signal-to-noise overlap threshold and communication interval requirements between frequency bands according to the RF receiving frequency interval, performs corresponding mapping encoding on the frequency combinations within the path segment, calculates the frequency matching weight index, analyzes the binding relationship between the path number and the frequency sequence, and generates a target path frequency mapping set.

8. The radar height measurement and radio frequency transceiver integrated system according to claim 7, characterized in that: The frequency matching weight index adopts the formula: ； in, represents the frequency matching weight index, Represents the path number Next The frequency value of each frequency point, Represents a frequency combination sequence Middle The signal-to-noise overlap weighting factor corresponding to the frequency value of each frequency point, Represents a frequency combination sequence The mean of the weighted frequencies of Represents the path number The average of the mid-frequency values, Represents a frequency combination sequence The average value of the signal-to-noise overlap weighting factor in, 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 positioning path feedback module includes: The time difference ranging submodule identifies the vertical propagation distance based on the target path frequency mapping set and the round-trip time difference of the radar transceiver frequency band, and converts the vertical height interval covered by the frequency path into the vertical height interval covered by the transmitting antenna pitch angle to obtain the radar height measurement interval value; The beam positioning submodule, based on the radar altitude measurement interval value and the radar transceiver receiving path frequency segment signal amplitude and directionality calibration data, screens frequency points whose amplitude concentration is higher than the directional threshold, identifies densely distributed points in the vertical area, and generates a radar vertical positioning result set.

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