Pulse radar signal sampling method and pulse radar device

Abstract

The invention discloses a pulse radar signal sampling method, which comprises the following steps: sampling within a specified sampling time T based on a fixed sampling frequency f, the sampling comprises N sampling time points with equal time intervals, and when the sampling is carried out, aiming at a first target distance, N is a positive integer greater than or equal to 1, and N is a positive integer greater than or equal to 1; n sampling time points with unequal time intervals selected from the N sampling time points are set as n first working time points corresponding to the first target distance, measurement is carried out at the n first working time points to obtain n measured values of the first target distance, N is an integer greater than zero, and n is an integer greater than zero. N is an integer larger than zero and smaller than N. According to the pulse radar signal sampling method and the pulse radar device, the sampling data volume and the sampling time can be reduced, and the sampling working efficiency is improved.

Description

Technical Field

[0001] The present invention relates to a signal sampling method for a pulse radar and a pulse radar device. Background Art

[0002] Pulse radar is a common type of radar, widely used in automotive applications for detecting close-range objects. Pulse radar transmits a pulsed signal and receives a reflected signal, which is absorbed and reflected by the object being measured. By comparing the transmitted and reflected signals, the distance between the object and the pulse radar system can be calculated. Furthermore, by measuring the frequency of the received reflected signal, the speed of the object can be calculated.

[0003] In a pulse radar system, when sampling the measurement object, the basic sampling unit of the pulse radar is the duty cycle (frame). A duty cycle generally includes multiple target distances. When measuring multiple target distances within a duty cycle, each target distance is measured sequentially based on a fixed sampling frequency, thereby obtaining a measurement value for each target distance. In this case, assuming that each target distance requires at least a certain number of sampling time points and a certain sampling time, then, for example, when sampling multiple target distances, since each target distance is measured sequentially, the number of sampling time points and the sampling time both increase with the number of target distances.

[0004] A signal sampling method that can reduce the amount of sampled data and shorten the sampling time is desired. In one method, when measuring multiple target distances of a measurement object, in order to reduce the amount of data, an equidistant subsampling method or a truncated sampling method is used to compress the data. Summary of the Invention

[0005] Technical Problems to be Solved by the Invention

[0006] In the aforementioned pulse radar system, each target distance has a certain number of sampling time points and a certain sampling time. During sampling, the number of sampling time points and the sampling time increase as the number of target distances increases. Therefore, increasing the number of sampling time points can increase the amount of sampled data and the sampling time, reducing sampling efficiency.

[0007] Furthermore, when compressing data, the equally spaced subsampling method reduces the sampling frequency, thereby lowering the maximum detectable speed and degrading pulse radar performance. The truncated sampling method also reduces the resolution of detectable speed, similarly degrading pulse radar performance.

[0008] The present invention is completed in view of the above-mentioned technical problems, and its purpose is to provide a signal sampling method and a pulse radar device for a pulse radar that can reduce the amount of sampled data and sampling time and improve the sampling efficiency.

[0009] Means for solving technical problems

[0010] The signal sampling method of the pulse radar according to the present invention is characterized in that sampling is performed within a specified sampling time T based on a fixed sampling frequency f, and the sampling includes N sampling time points with equal time intervals. When performing the sampling, for a first target distance, n sampling time points with unequal time intervals selected from the N sampling time points are set as n first working time points corresponding to the first target distance, and measurements are performed at the n first working time points to obtain n measurement values ​​of the first target distance, wherein N is an integer greater than zero, and n is an integer greater than zero and less than N.

[0011] Thus, when sampling, for a target distance, n sampling time points with unequal time intervals are selected from N sampling time points with equal time intervals as the operating time points for the target distance. Measurements are then taken at these n operating time points to obtain n measurement values ​​for the target distance. This reduces the number of measurement values ​​for each target distance during sampling, and reduces the amount of sampled data.

[0012] The signal sampling method of the pulse radar according to the present invention is characterized in that the sampling is performed on multiple target distances including the first target distance. When performing the sampling, for the first target distance, measurements are performed at n first working time points to obtain n measurement values ​​of the first target distance. For other target distances other than the first target distance, Nn sampling time points other than n first working time points among the N sampling time points are set as other working time points corresponding to the other target distances, respectively, and the other target distances are measured at the Nn other working time points to obtain Nn measurement values ​​of the other target distances.

[0013] Thus, during sampling, for multiple target distances, n sampling time points with unequal time intervals are selected from N sampling time points with equal time intervals as operating time points corresponding to one target distance, and operating time points corresponding to other target distances are selected from the remaining Nn sampling time points. Furthermore, the corresponding target distances are measured at each operating time point in chronological order to obtain the measured values ​​for each target distance. This reduces the number of measured values ​​for each target distance during sampling, thereby reducing the amount of sampled data.

[0014] Furthermore, instead of acquiring all measurement values ​​for the previous target distance before acquiring measurement values ​​for the next target distance, measurements of other target distances can be performed during the waiting time between measurements of two working time points for one target distance. This reduces the sampling time for multiple target distances during sampling, improving sampling efficiency.

[0015] The signal sampling method of the pulse radar according to the present invention is characterized in that the distance intervals between any two adjacent target distances among the plurality of target distances are equal.

[0016] The signal sampling method for the pulse radar according to the present invention is characterized in that each of the first working time point and the other working time points includes a sending / receiving process of multiple pulses.

[0017] The pulse radar device according to the present invention is characterized by executing the signal sampling method of the pulse radar according to any one of claims 1 to 4.

[0018] Therefore, the number of measurement values ​​for each target distance during sampling can be reduced, the amount of sampled data can be reduced, and the sampling time for multiple target distances during sampling can be reduced, thereby improving the sampling efficiency.

[0019] The pulse radar device according to the present invention is characterized in that it includes at least one of a millimeter wave radar device and a laser pulse device.

[0020] Therefore, the signal sampling method of the present invention can be applied to millimeter-wave radar devices and / or laser pulse devices, reducing the number of measured values ​​for each target distance during sampling, thereby reducing the amount of sampled data. Furthermore, the sampling time for multiple target distances can be reduced, thereby improving sampling efficiency.

[0021] Effects of the Invention

[0022] The signal sampling method and the pulse radar device according to the present invention can reduce the amount of sampled data and the sampling time, thereby improving the sampling efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a block diagram illustrating the configuration of the pulse radar system of the present invention.

[0024] Figure 2 This is a schematic diagram illustrating a signal sampling method of a pulse radar according to the first embodiment.

[0025] Figure 3 This is a schematic diagram illustrating a signal sampling method of a pulse radar according to the first embodiment.

[0026] Figure 4 This is a flowchart illustrating a signal sampling method of the pulse radar according to the first embodiment.

[0027] Figure 5 It is a schematic diagram explaining the signal sampling method of the pulse radar according to the second embodiment.

[0028] Figure 6 This is a flowchart illustrating a signal sampling method of a pulse radar according to the second embodiment.

[0029] Figure 7 Schematic diagram for explaining a signal sampling method of a comparative example.

[0030] Description of Reference Numerals

[0031] 100: Pulse radar system, 200: Pulse radar device, 21: Power supply device, 22: Data interface, 23: Transmitting / receiving antenna. DETAILED DESCRIPTION

[0032] Hereinafter, a pulse radar system 100 according to the present invention will be described with reference to the accompanying drawings.

[0033] Figure 1 FIG. 1 is a block diagram illustrating the configuration of the pulse radar system 100 of the present invention. Figure 1 As shown, the pulse radar system 100 includes a pulse radar device 200 described later.

[0034] The pulse radar system 200 includes a power supply 21, a data interface 22, and a transmit / receive antenna 23. The power supply 21 supplies power to the pulse radar system 100. The data interface 22 is used to transmit and receive data. The transmit / receive antenna 23 transmits pulse signals to the measurement object and receives reflected signals absorbed and reflected by the measurement object.

[0035] In the present invention, pulse radar device 200 includes at least one of a millimeter-wave radar device and a laser pulse device. Therefore, transmit / receive antenna 23 is capable of transmitting and receiving at least one of millimeter-wave pulse signals and laser pulse signals. Furthermore, pulse radar device 200 is not limited to including at least one of a millimeter-wave radar device and a laser pulse device; it may also include a pulse radar device using other pulse signals.

[0036] (First embodiment)

[0037] Below, refer to Figure 2 、 3 A signal sampling method for a pulse radar according to a first embodiment of the present invention will be described. Figure 2 This is a schematic diagram illustrating a signal sampling method of a pulse radar according to the first embodiment. Figure 3 This is a schematic diagram illustrating a signal sampling method of a pulse radar according to the first embodiment.

[0038] In the signal sampling method of the pulse radar of the first embodiment, it is assumed that four target distances A to D are included in one working cycle, and each of the four target distances A to D includes N sampling time points t1…t2 with equal time intervals. N , where N is an integer greater than zero.

[0039] Here, a “sampling time point” refers to a time point that can be used for measurement during sampling. The time interval between two adjacent sampling time points t depends on the fixed sampling frequency f of the pulse radar system 100 , for example, the reciprocal of the sampling frequency f.

[0040] Therefore, the target distance A includes N sampling time points t with equal time intervals. A1 …t AN The target distance B includes N sampling time points t with equal time intervals. B1 …t BN The target distance C includes N sampling time points t with equal time intervals. C1 …t CN The target distance D includes N sampling time points t with equal time intervals. D1 …t DN .

[0041] Here, the sampling time point t Ax The x-th sampling time point t included in the target distance A is represented, where x is an integer greater than zero and less than N.

[0042] Assume that for each target distance, at N sampling time points t1…t N Each of them is sampled, then based on the fixed sampling frequency f (or time interval), the sampling time of each target distance is T.

[0043] The following description will first be made by taking the case of the target distance A as an example.

[0044] As mentioned above, the target distance A includes N sampling time points t with equal time intervals. A1 …t AN Any two adjacent sampling time points t Ax With sampling time t Ax+1 Here, the target distance A is an example of the "first target distance", and the n working time points t described later are 0 A1 …t 0 An This is an example of the “first working time point”.

[0045] When sampling, for the target distance A, at N sampling time points t A1 …t AN The n sampling time points with unequal time intervals are selected, and the selected n sampling time points are set as n working time points t corresponding to the target distance A. 0 A1 …t 0 An Where n is an integer greater than zero and less than N, and the working time point t 0 Ax Indicates the xth working time point t corresponding to the target distance A 0 .

[0046] Here, the “operating time point” refers to the time point at which measurement is actually performed during sampling.

[0047] In addition, “unequal time intervals” means that, for example, at the N sampling time points t A1 …t AN In the example, n working time points t are randomly selected. 0 A1 …t 0 An At this time, due to the "random" selection, any two adjacent working time points t 0 Ax and working time point t 0 A(x+1) The time interval between the other two adjacent working time points t 0 Ay and working time point t 0 A(y+1) The time intervals between them are not necessarily equal, that is, at n working time points t 0 A1 …t 0 An There are multiple different time intervals.

[0048] Therefore, when sampling, for the target distance A, N sampling time points t with equal time intervals are sampled. A1 …t AN The n sampling time points t selected in A Set as n working time points t corresponding to the target distance A 0 A1 …t 0 An At n working time points t 0 A1 …t 0 AnThe pulse radar system 100 performs a measurement to obtain n measurement values ​​of the target distance A.

[0049] After obtaining n measurement values, the measurement values ​​are restored to the original signal, for example based on compressed sensing technology, and the distance and speed of the measured object are calculated based on the restored original signal. 0 1…t 0 n N measurement values ​​are obtained, and thus, incoherence between the n measurement values ​​can be ensured.

[0050] Therefore, when sampling at the sampling frequency f and sampling time T, for the target distance A, for N sampling time points t with equal time intervals A1 …t AN , only n working time points t are needed 0 A1 …t 0 An By performing sampling, the measured value of the target distance A can be obtained, and the measured value can be restored to the original signal, and the distance and speed of the target distance A can be calculated based on the restored original signal.

[0051] Thus, according to the signal sampling method of the pulse radar of the first embodiment, the number of measurement values ​​for each target distance during sampling can be reduced, and the amount of sampled data can be reduced.

[0052] As described above, the case of target distance A is described as an example. Hereinafter, the case of target distances A to D will be described.

[0053] Here, the distances between target distances A to D and pulse radar system 100 are different. This description uses the example of increasing distances between target distances A to D and pulse radar system 100. Target distances A to D are each based on a fixed sampling frequency f, and the sampling time for each target distance A to D is T.

[0054] At this time, if Figure 3 As shown, when sampling, at N sampling time points t at the target distance A A1 …t AN In the process, n working time points t with unequal time intervals are randomly selected. 0 A1 …t 0 An Establish correspondence with target distance A.

[0055] At N sampling time points t at the target distance B B1 …t BNIn the process, n working time points t with unequal time intervals are randomly selected. 0 B1 …t 0 Bn Establish correspondence with target distance B.

[0056] At N sampling time points t at the target distance C C1 …t CN In the process, n working time points t with unequal time intervals are randomly selected. 0 C1 …t 0 Cn Establish a correspondence with the target distance C.

[0057] At N sampling time points t at the target distance D D1 …t DN In the process, n working time points t with unequal time intervals are randomly selected. 0 D1 …t 0 Dn Establish a correspondence with the target distance D.

[0058] Therefore, when sampling, for the target distance A, n working time points t corresponding to the target distance A are established. 0 A1 …t 0 An The pulse radar system 100 performs a measurement to obtain n measurement values ​​of the target distance A.

[0059] For the target distance B, establish n working time points t corresponding to the target distance B 0 B1 …t 0 Bn The pulse radar system 100 performs a measurement to obtain n measurement values ​​of the target distance B.

[0060] For the target distance C, establish n working time points t corresponding to the target distance C 0 C1 …t 0 Cn The pulse radar system 100 performs a measurement to obtain n measurement values ​​of the target distance C.

[0061] For the target distance D, establish n working time points t corresponding to the target distance D 0 D1 …t 0 Dn The pulse radar system 100 performs a measurement to obtain n measurement values ​​of the target distance D.

[0062] Furthermore, since the distances between target distances A to D and the pulse radar system 100 increase sequentially, during sampling, measurement values ​​are acquired sequentially for target distances A to D. That is, after all measurement values ​​are acquired for the previous target distance, measurement values ​​are acquired for the next target distance. Thus, n measurement values ​​for each of target distances A to D are acquired.

[0063] After obtaining n measurement values ​​of each target distance A to D, the measurement values ​​are restored to original signals based on, for example, compressed sensing technology, and the distance and speed of each target distance A to D are calculated based on the restored original signals.

[0064] Therefore, when sampling at the sampling frequency f and the sampling time T, for multiple target distances, each target distance A to D includes N sampling time points t1…t2 with equal time intervals. N , only n working time points t are needed 0 1…t 0 n By performing sampling, it is possible to obtain measurement values ​​of each of the target distances A to D, and it is possible to restore the measurement values ​​to original signals, and calculate the distances and speeds of each of the target distances A to D based on the restored original signals.

[0065] Therefore, according to the signal sampling method of the pulse radar of the first embodiment, when sampling, for multiple target distances, on the basis of being able to reduce the number of measurement values ​​of each target distance when sampling, the number of measurement values ​​of multiple target distances can also be reduced, which can further reduce the amount of sampled data.

[0066] (Comparative Example)

[0067] Below, refer to Figure 7 A signal sampling method according to a comparative example will be described. Figure 7 Schematic diagram for explaining a signal sampling method of a comparative example.

[0068] In the comparative example, it is assumed that in one working cycle, there are four target distances with a distance of 1 cm between the pulse radar system 100 and the target distance of 25 cm to 28 cm. When sampling, for each target distance, 128 sampling time points t1…t2 are equally spaced. 128 .

[0069] exist Figure 7 In the figure, for the sake of convenience, only 128 sampling time points t1…t 128 , the other three target distances and sampling time points are omitted.

[0070] In method 1, for any target distance, at 128 sampling time points t1…t 128 The measurement is performed to obtain 128 measurement values. Thus, in one operating cycle of the pulse radar including four target distances, 4*128=512 measurement values ​​are obtained.

[0071] In method 2, for any target distance, for example, at 128 sampling time points t1…t 128 Select 32 working time points t with equal time intervals 2 1…t 2 32 , at 32 working time points t 2 1…t 2 32 The measurement is performed to obtain 32 measurement values. Thus, in one working cycle including 4 target distances, 4*32=128 measurement values ​​are obtained.

[0072] In method 3, for any target distance, for example, at 128 sampling time points t1…t 128 Select 32 consecutive working time points t 2 1…t 2 32 , at 32 working time points t 2 1…t 2 32 The measurement is performed to obtain 32 measurement values. Thus, in one working cycle of the pulse radar including 4 target distances, 4*32=128 measurement values ​​are obtained.

[0073] Here, method 2 is, for example, an equidistant sub-sampling method, and method 3 is, for example, a truncated sampling method.

[0074] According to Comparative Example Method 1, 128 measurement values ​​are obtained for each target distance during sampling, and 512 measurement values ​​are obtained in a working cycle including four target distances. Therefore, there are problems such as a large amount of sampled data, a long sampling time, and reduced sampling efficiency.

[0075] According to Comparative Example Method 2, 32 measurement values ​​are acquired for each target distance during sampling, resulting in 128 measurement values ​​in a single operating cycle covering four target distances. Therefore, compared to Method 1, the sampling time remains the same, reducing the amount of sampled data. However, Method 2 reduces the sampling frequency, thereby lowering the maximum detectable speed and resulting in reduced pulse radar performance.

[0076] According to Comparative Example Method 3, 32 measurement values ​​are acquired for each target distance during sampling, resulting in 128 measurement values ​​in a single operating cycle covering four target distances. This reduces the amount of sampled data and the sampling time compared to Method 1. However, Method 3 also reduces the resolution of detectable velocity, resulting in the same degradation in pulse radar performance.

[0077] The difference between the signal sampling method of the pulse radar of the first embodiment and the comparative example is that, when sampling, for each target distance, N sampling time points t1…t N In the process, n working time points t with unequal time intervals corresponding to the target distance are selected. 0 1…t 0 n , at n working time points t 0 1…t 0 n Measure and obtain n measurement values ​​of the target distance.

[0078] Therefore, compared to Method 1 of the comparative example, the number of measurement values ​​for each target distance can be reduced from N to n. Furthermore, when sampling a single operating cycle including multiple target distances, the number of measurement values ​​for the multiple target distances can also be reduced. Consequently, the amount of sampled data can be reduced.

[0079] In addition, according to the signal sampling method of the pulse radar of the first embodiment, n working time points t with unequal time intervals are selected. 0 1…t 0 n Therefore, for example, compressed sensing technology can be used to restore the measured value to the original signal, and the distance and speed of the measured object can be calculated based on the restored original signal. Therefore, compared with Comparative Examples 2 and 3, the maximum detectable speed and the resolution of the detectable speed are not reduced, and the performance of the pulse radar system 100 is not degraded. As a result, sampling efficiency can be improved.

[0080] (Flow of the First Embodiment)

[0081] Below, refer to Figure 4 The flow of the signal sampling method of the pulse radar according to the first embodiment will be described. Figure 4 This is a flowchart illustrating a signal sampling method of the pulse radar according to the first embodiment.

[0082] like Figure 4As shown, in step S101, a target distance is selected from multiple target distances. For example, the target distances are selected sequentially from the closest to the pulse radar system 100. Here, in step S101, the target distance closest to the pulse radar system 100 is selected from the multiple target distances. Next, the process proceeds to step S102.

[0083] In step S102, for the target distance selected in step S101, n sampling time points with unequal time intervals are selected from the N working time points with equal time intervals as n working time points corresponding to the target distance.

[0084] In step S103, the target distance is measured at n working time points to obtain the measured value. Then, the process proceeds to step S104.

[0085] In step S104, it is determined whether the measurement has been completed at all operating time points. If it is determined that the measurement has not been completed at all operating time points (No in step S104), the process returns to step S103 and continues to measure at the remaining operating time points to obtain the measured values. If it is determined that the measurement has been completed at all operating time points (Yes in step S104), the process proceeds to step S105.

[0086] In step S105, it is determined whether all target distances have been measured. If it is determined that all target distances have not been measured (No in step S105), the process returns to step S101 and selects the target distance closest to the pulse radar system 100 from the remaining target distances. If it is determined that all target distances have been measured (Yes in step S104), sampling is complete and the process proceeds to step S106.

[0087] In step S106, the measured values ​​of all target distances are output for restoration to the original signal. The process ends.

[0088] Thus, according to the first embodiment of the pulse radar signal sampling method, when sampling, for a target distance, n operating time points with unequal time intervals are selected from N sampling time points with equal time intervals. Measurements are then performed at these n operating time points to obtain n measurement values. This reduces the number of measurement values ​​for each target distance during sampling, thereby reducing the amount of sampled data.

[0089] Furthermore, when performing sampling, the number of measurement values ​​of the plurality of target distances can be reduced, and the amount of sampled data can be further reduced.

[0090] Furthermore, while sampling is performed, the number of measured values ​​is reduced without reducing the maximum detectable speed or the resolution of the detectable speed, thereby preventing performance degradation of the pulse radar system 100. This improves sampling efficiency.

[0091] (Second embodiment)

[0092] Below, refer to Figure 5 、 6 A signal sampling method for a pulse radar according to a second embodiment of the present invention will be described. Figure 5 It is a schematic diagram explaining the signal sampling method of the pulse radar according to the second embodiment. Figure 6 This is a flowchart illustrating a signal sampling method of a pulse radar according to the second embodiment.

[0093] The difference between the second embodiment and the first embodiment is that the first embodiment can be applied to a single target distance or multiple target distances, while the second embodiment is applicable to multiple target distances. Furthermore, the second embodiment's pulse radar signal sampling method differs from the first embodiment in the selection of the operating time point.

[0094] In the second embodiment, if Figure 5 As shown in the upper part of the figure, when sampling, it is assumed that N sampling time points t1…t N , and it is assumed that one working cycle includes 4 target distances A to D. That is, N sampling time points t1…t N is the sampling time point corresponding to the four target distances A to D. At N sampling time points t1…t N Measure four target distances A to D.

[0095] When choosing a working time point, Figure 5 As shown in the middle section of FIG, for the target distance A, similar to the first embodiment, N sampling time points t1…t N The n sampling time points with unequal time intervals in the target are selected as n working time points t corresponding to the target distance A. 1 A1 …t 1 An .

[0096] In the second embodiment, n=N / 4 is used as an example for explanation. However, the relationship between n and N is not limited to this, and for example, the relationship between n and N can be set according to the number of target distances.

[0097] Next, for the target distance B, at N sampling time points t1…t NThe n working time points t that are not selected to establish a correspondence with the target distance A 1 A1 …t 1 An Among the remaining Nn sampling time points, n sampling time points with unequal time intervals are selected as n working time points t corresponding to the target distance B. 1 B1 …t 1 Bn .

[0098] Then, for the target distance C, at N sampling time points t1…t N The n working time points t that are not selected to establish a correspondence with the target distance A 1 A1 …t 1 An And n working time points t corresponding to the target distance B 1 B1 …t 1 Bn Among the remaining N-2n sampling time points, n sampling time points with unequal time intervals are selected as n working time points t corresponding to the target distance C. 0 C1 …t 0 Cn .

[0099] Next, for the target distance D, at N sampling time points t1…t N The n working time points t that are not selected to establish a correspondence with the target distance A 1 A1 …t 1 An , establish n working time points t corresponding to the target distance B 1 B1 …t 1 Bn , and n working time points t corresponding to the target distance C 1 C1 …t 1 Cn Among the remaining N-3n sampling time points, n sampling time points with unequal time intervals are selected as n working time points t corresponding to the target distance D. 0 D1 …t 0 Dn Here, the remaining N-3n sampling time points are selected as n working time points t corresponding to the target distance D. 0 D1 …t 0Dn .

[0100] Therefore, the N sampling time points t1…t N Assigned to n working time points t corresponding to the target distance A 1 A1 …t 1 An , establish n working time points t corresponding to the target distance B 1 B1 …t 1 Bn , establish n working time points t corresponding to the target distance C 1 C1 …t 1 Cn And n working time points t corresponding to the target distance D 0 D1 …t 0 Dn .

[0101] When sampling, for the four target distances A to D, unlike the first embodiment, sampling is not performed sequentially according to the distances between the four target distances A to D and the pulse radar system 100. Instead, Figure 5 As shown in the lower part of the figure, all the working time points t of the four target distances A to D are 1 A1 …t 1 An , t 1 B1 …t 1 Bn , t 1 C1 …t 1 Cn t 0 D1 …t 0 Dn Arrange in chronological order, and at each working time point t 1 For the working time point t 1 Establish a corresponding target distance for measurement and obtain the measured value of the target distance.

[0102] Thus, at n working time points t corresponding to the target distance A, 1 A1 …t 1 An Obtain n measurement values ​​of target distance A and establish n working time points t corresponding to target distance B. 1 B1 …t 1 BnObtain n measurement values ​​of the target distance B and establish n working time points t corresponding to the target distance C. 1 C1 …t 1 Cn Obtain n measurement values ​​of the target distance C and establish n working time points t corresponding to the target distance D. 0 D1 …t 0 Dn Obtain n measurement values ​​of the target distance D. Thus, obtain N measurement values ​​of the target distances A to D.

[0103] Here, “waiting time” refers to the time between two adjacent working points t of a target distance. 1 x With t 1 x+1 The time interval between.

[0104] (Flow of the Second Embodiment)

[0105] Below, refer to Figure 6 The flow of the signal sampling method of the pulse radar according to the second embodiment will be described. Figure 6 This is a flowchart illustrating a signal sampling method of a pulse radar according to the second embodiment.

[0106] like Figure 6 As shown, in step S201, a target distance is selected from a plurality of target distances. Then, the process proceeds to step S102. Here, unlike the first embodiment, the method for selecting the target distance is not limited.

[0107] In step S202, for the target distance selected in step S201, n sampling time points with unequal time intervals are selected from the N working time points with equal time intervals as n working time points corresponding to the target distance.

[0108] In step S203, it is determined whether working time points have been assigned to all target distances. If it is determined that working time points have not been assigned to all target distances (No in step S203), the process returns to step S201 and another target distance is selected. If it is determined that working time points have been assigned to all target distances (Yes in step S203), the process proceeds to step S204.

[0109] In step S204, the target distance corresponding to each working time point is measured to obtain the measured value of the target distance. Then, the process proceeds to step S205.

[0110] In step S205, it is determined whether the measurement has been completed at all operating time points. If it is determined that the measurement has not been completed at all operating time points (No in step S205), the process returns to step S204 and continues to measure at the remaining operating time points to obtain the measured values. If it is determined that the measurement has been completed at all operating time points (Yes in step S205), the process proceeds to step S206.

[0111] In step S206, the measured value is output to restore the original signal, and the process ends.

[0112] Thus, according to the second embodiment of the pulse radar signal sampling method, when sampling, for any one of multiple target distances, n operating time points with unequal time intervals corresponding to the target distance are selected from N sampling time points with equal time intervals. The target distance is measured at these n operating time points, and n measurement values ​​for the target distance are obtained. This reduces the number of measurement values ​​for each target distance during sampling, thereby reducing the amount of sampled data.

[0113] Furthermore, according to the second embodiment of the pulse radar signal sampling method, when sampling multiple target distances, it is not necessary to obtain measurement values ​​for the next target distance after obtaining all measurement values ​​for the previous target distance. Instead, the distances of other targets can be measured during the waiting time between measurements of one target distance at two operating time points. This reduces the sampling time for measuring multiple target distances and improves sampling efficiency.

[0114] Furthermore, the pulse radar device 200 of the present invention can execute the above-mentioned signal sampling method of the pulse radar.

[0115] In the present invention, the distance intervals between any two adjacent target distances among the plurality of target distances are equal, but the present invention is not limited thereto and the distance intervals between any two adjacent target distances among the plurality of target distances may be unequal.

[0116] In addition, in the present invention, each working time point includes multiple pulse sending / receiving processes.

[0117] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above-mentioned embodiments. Various modifications and substitutions can be applied to the above-mentioned embodiments without departing from the scope of the present invention. In addition, the various features described with reference to the above-mentioned embodiments can be appropriately combined as long as there is no technical contradiction.

[0118] In addition, the above description uses the examples of a working cycle including four target distances at 1 cm intervals, including N or 128 sampling time points, selecting n working time points from N sampling time points, and selecting 32 working time points from 128 sampling time points. However, the number of target distances included in a working cycle, the intervals between target distances, the number of sampling time points, and the number of working time points selected from the sampling time points are not limited to the above description. Any method can be used as long as sampling of the measurement object can be achieved.

[0119] In addition, the above description uses the example of implementing the signal sampling method of the first or second embodiment of the present invention for each target distance in a working cycle, where four target distances A to D are included. However, as mentioned above, the number of target distances included in a working cycle is not limited. The signal sampling method of the first or second embodiment of the present invention can be implemented for a portion of the multiple target distances, while another signal sampling method is implemented for another portion. Alternatively, the signal sampling method of any one of the first and second embodiments of the present invention can be implemented for a portion of the multiple target distances, while another signal sampling method is implemented for another portion. This can also reduce the amount of sampled data and sampling time, thereby improving sampling efficiency.

Claims

1. A signal sampling method for a pulse radar, characterized in that: Based on a fixed sampling frequency f, sampling is performed within a specified sampling time T, wherein the sampling includes N sampling time points with equal time intervals. When performing the sampling, For the first target distance, n sampling time points selected from the N sampling time points with unequal time intervals are set as n first working time points corresponding to the first target distance, and measurements are performed at the n first working time points to obtain n measurement values ​​of the first target distance. Wherein, N is an integer greater than zero, and n is an integer greater than zero and less than N.

2. The signal sampling method of pulse radar according to claim 1, characterized in that: performing the sampling on a plurality of target distances including the first target distance, When performing the sampling, For the first target distance, measurements are performed at n first working time points to obtain n measurement values ​​of the first target distance. For other target distances other than the first target distance, Nn sampling time points other than n of the N sampling time points are set as other working time points corresponding to the other target distances, and the other target distances are measured at the Nn other working time points to obtain Nn measurement values ​​of the other target distances.

3. The signal sampling method of pulse radar according to claim 2, characterized in that: The distance interval between any two adjacent target distances among the plurality of target distances is equal.

4. The signal sampling method of pulse radar according to claim 2, characterized in that: Each of the first working time points and the other working time points includes a sending / receiving process of multiple pulses.

5. A pulse radar device, characterized in that: A signal sampling method for a pulse radar according to any one of claims 1 to 4 is implemented.

6. The pulse radar device according to claim 5, characterized in that The pulse radar device includes at least one of a millimeter wave radar device and a laser pulse device.

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