Radar radio frequency transceiver device and radar system

Abstract

The application is suitable for the field of radar technology, and provides a radar radio frequency transceiver device and a radar system. The device comprises: a signal processing module, configured to modulate a radar baseband signal to be transmitted into a digital bit stream signal in a pulse density modulation mode, and output a first analog signal corresponding to the digital bit stream signal; and further configured to process a received analog echo signal into a baseband echo signal; a radio frequency transmitting module, connected with a radio frequency local oscillator source, an output end of the signal processing module and a transmitting antenna, configured to up-convert and amplify the first analog signal into a radio frequency transmitting signal, and transmit the radio frequency transmitting signal through the transmitting antenna; an amplifier in the radio frequency transmitting module is a class D power amplifier; a radio frequency receiving module, connected with the radio frequency local oscillator source, an input end of the signal processing module and a receiving antenna, configured to amplify and down-convert a radio frequency echo signal received by the receiving antenna into an analog echo signal, and capable of improving the transmitting efficiency of the radar radio frequency transceiver device.

Description

Technical Field

[0001] This application belongs to the field of radar technology, and in particular relates to a radar radio frequency transceiver device and radar system. Background Technology

[0002] Radar radio frequency transceivers can transmit radar radio frequency signals and receive and process radar echo signals reflected from targets, thereby realizing functions such as distance measurement, speed detection, angle positioning, and target imaging. They are widely used in fields such as autonomous driving, meteorological detection, and aerospace.

[0003] Radar RF transceivers typically consist of a transmitting module and a receiving module. The transmitting module performs up-conversion and power amplification on the radar baseband signal to meet the transmission and power requirements for long-range detection. Since the transmitting module in traditional radar RF transceivers directly processes the continuous-wave radar baseband signal, the power amplifier in the transmitting module usually employs a Class A or Class AB power amplifier with high linearity (i.e., a large conduction angle) to reduce signal distortion. However, because Class A and Class AB power amplifiers are in a conducting or weakly conducting state even without a signal input, they generate significant unnecessary power loss, resulting in low transmission efficiency for the radar RF transceiver. Summary of the Invention

[0004] In view of this, embodiments of this application provide a radar radio frequency transceiver device and radar system to solve the technical problem of low transmission efficiency of existing radar radio frequency transceivers.

[0005] In a first aspect, embodiments of this application provide a radar radio frequency transceiver device, including:

[0006] The signal processing module is used to modulate the radar baseband signal to be transmitted into a digital bitstream signal using pulse density modulation, and output the first analog signal corresponding to the digital bitstream signal; the signal processing module is also used to process the received analog echo signal into a baseband echo signal.

[0007] The radio frequency (RF) transmitting module is connected to the RF local oscillator, the output of the signal processing module, and the transmitting antenna. It is used to upconvert and amplify the first analog signal into an RF transmitting signal, and transmit the RF transmitting signal through the transmitting antenna. The amplifier in the RF transmitting module is a Class D power amplifier.

[0008] The radio frequency receiving module is connected to the radio frequency local oscillator, the input terminal of the signal processing module, and the receiving antenna, and is used to amplify and down-convert the radio frequency echo signal received by the receiving antenna into the analog echo signal.

[0009] In one optional implementation of the first aspect, the transmitting antenna and the receiving antenna are the same antenna; correspondingly, the radar radio frequency transceiver further includes a circulator;

[0010] The first end of the circulator is connected to the radio frequency transmitting module, the second end of the circulator is connected to the antenna, and the third end of the circulator is connected to the radio frequency receiving module; the circulator is used to transmit the radio frequency transmitted signal to the antenna and the radio frequency echo signal to the radio frequency receiving module.

[0011] In one optional implementation of the first aspect, the signal processing module includes n output terminals and n input terminals; the number of circulators and the number of antennas are both n, and the third terminal of each circulator is connected to a different antenna; n is a positive integer;

[0012] The radio frequency (RF) transmitting module includes n RF transmitting units, each of which is connected to the RF local oscillator, a different output terminal, and a different first terminal of the circulator; the RF transmitting unit is used to upconvert and amplify the first analog signal into an RF transmitting signal;

[0013] The radio frequency receiving module includes n radio frequency receiving units, each of which is connected to the radio frequency local oscillator, a different input terminal, and a different second terminal of the circulator; the radio frequency receiving unit is used to amplify and down-convert the radio frequency echo signal output from the second terminal of the corresponding circulator into the analog echo signal.

[0014] In one alternative implementation of the first aspect, the radio frequency transmitting unit includes:

[0015] A first mixer is connected to the radio frequency local oscillator and a different output terminal, and is used to mix the first analog signal with the local oscillator signal generated by the radio frequency local oscillator to upconvert the first analog signal into a first radio frequency signal.

[0016] The Class D power amplifier is connected to the first mixer and the first end of a different circulator to amplify the first radio frequency signal to obtain the radio frequency transmission signal, and to transmit the radio frequency transmission signal to the first end of the corresponding circulator.

[0017] In one alternative implementation of the first aspect, the radio frequency receiving unit includes:

[0018] A low-noise amplifier, connected to the second end of a different circulator, is used to amplify the radio frequency echo signal from the second end of the circulator in a low-noise manner and output the amplified radio frequency echo signal in a low-noise manner.

[0019] The second mixer is connected to the radio frequency local oscillator and the low-noise amplifier, and is used to mix the low-noise amplified radio frequency echo signal with the local oscillator signal generated by the radio frequency local oscillator, so as to downconvert the low-noise amplified radio frequency echo signal into the analog echo signal.

[0020] In one alternative implementation of the first aspect, the signal processing module includes:

[0021] The signal modulation unit is used to modulate the radar baseband signal into a digital bit stream signal using pulse density modulation, and output the first analog signal corresponding to the digital bit stream signal.

[0022] The signal demodulation unit is used to demodulate the analog echo signal from the radio frequency receiving module into a baseband echo signal.

[0023] In one alternative implementation of the first aspect, the signal modulation unit includes:

[0024] A digital waveform generator is used to generate and output the radar baseband signal;

[0025] A pulse density modulator, connected to the digital waveform generator, is used to modulate the radar baseband signal into a digital bitstream signal using pulse density modulation and output the digital bitstream signal.

[0026] A digital-to-analog converter, connected to the pulse density modulator, is used to convert the digital bitstream signal into a first analog signal and output the first analog signal.

[0027] In one alternative implementation of the first aspect, the signal demodulation unit includes:

[0028] An analog-to-digital converter, connected to the radio frequency receiving module, is used to convert the analog echo signal into a digital echo signal;

[0029] A matched filter, connected to the analog-to-digital converter and the pulse density modulator, is used to perform matched filtering on the digital echo signal according to the digital bitstream signal to obtain a baseband matched signal;

[0030] A digital filter, connected to the matched filter, is used to filter out high-frequency noise in the baseband matched signal to obtain the baseband echo signal.

[0031] In one alternative implementation of the first aspect, the signal demodulation unit further includes:

[0032] A baseband processor, connected to the digital filter, is used to calculate the distance between the target object and the radar radio frequency transceiver based on the baseband echo signal.

[0033] Secondly, embodiments of this application provide a radar system, including the radar radio frequency transceiver device described in any optional implementation of the first aspect.

[0034] Implementing the radar radio frequency transceiver and radar system provided in the embodiments of this application has the following beneficial effects:

[0035] The radar RF transceiver provided in this application uses pulse density modulation to modulate the radar baseband signal to be transmitted into a digital bitstream signal, and then transmits the first analog signal corresponding to this digital bitstream signal to the RF transmitting module. This allows the RF transmitting module to amplify only the first analog signal corresponding to the digital bitstream signal, without needing to amplify the continuous wave signal, thereby reducing the linearity requirements of the amplifier in the RF transmitting module. Based on this, this application improves the transmission efficiency of the radar RF transceiver by using a high-efficiency Class D power amplifier in the RF transmitting module. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 A schematic diagram of the structure of a radar radio frequency transceiver provided in an embodiment of this application;

[0038] Figure 2 A schematic diagram of the structure of a radar radio frequency transceiver device provided in another embodiment of this application;

[0039] Figure 3 A schematic diagram of the structure of a radar radio frequency transceiver device provided in another embodiment of this application;

[0040] Figure 4 A schematic diagram of the circuit structure of a radar radio frequency transceiver provided in an embodiment of this application;

[0041] Figure 5 This application provides a schematic diagram of the structure of a pulse density modulator in a radar radio frequency transceiver.

[0042] Figures 6A to 6D A waveform diagram illustrating various signals involved in the operation of a radar radio frequency receiving device provided in this application embodiment;

[0043] Figure 7 This is a schematic diagram of the structure of a radar system provided in an embodiment of this application. Detailed Implementation

[0044] The following embodiments are only used to illustrate the technical solutions of this application more clearly, and are therefore only examples and should not be used to limit the scope of protection of this application.

[0045] In the description of the embodiments of this application, the technical terms "comprising," "including," "having," and any variations thereof all mean "including but not limited to," unless otherwise specifically emphasized. In the description of the embodiments of this application, unless otherwise stated, the technical term "multiple" refers to two or more, and the technical terms "at least one" or "one or more" refer to one, two, or more than two. The technical terms "first," "second," etc., are only used to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary / secondary relationship of the indicated technical features. The technical term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0046] Figure 1 This is a schematic diagram of the structure of a radar radio frequency transceiver device provided in an embodiment of this application. Figure 1 As shown, in one optional implementation, the radar radio frequency transceiver may include a signal processing module 11, a radio frequency transmitting module 12, and a radio frequency receiving module 13. Wherein:

[0047] The signal processing module 11 can be used to modulate the radar baseband signal to be transmitted into a digital bitstream signal using pulse density modulation (PDM), and output the first analog signal corresponding to the digital bitstream signal. In addition, the signal processing module 11 is also used to process the received analog echo signal into a baseband echo signal.

[0048] The radio frequency (RF) transmitting module 12 can be connected to the RF local oscillator 14, the output of the signal processing module 11, and the transmitting antenna 151. The RF transmitting module 12 can be used to up-convert and amplify the first analog signal output by the signal processing module 11 into an RF transmitting signal, and then transmit the RF transmitting signal through the transmitting antenna 151. The amplifier in the RF transmitting module 12 is a Class D power amplifier.

[0049] The RF receiver module 13 can be connected to the RF local oscillator 14, the input terminal of the signal processing module 11, and the receiving antenna 152. The RF receiver module 13 can be used to amplify and down-convert the RF echo signal received by the receiving antenna 152 into an analog echo signal.

[0050] Optionally, the signal processing module 11 described above can be implemented using multiple physical electronic components or by programming a field-programmable gate array (FPGA). That is, the signal processing module 11 can be implemented in hardware or software, and this application embodiment does not limit the specific implementation method of the signal processing module 11.

[0051] The radar baseband signal to be transmitted can be a continuous wave signal or a pulse compression signal, etc.

[0052] A pulse density modulated digital bitstream signal is a serial bitstream signal consisting of a series of bits arranged in chronological order. Each bit in the digital bitstream signal takes the value of either logic 0 (corresponding to -1 in digital signal processing) or logic 1 (corresponding to 1 in digital signal processing).

[0053] It should be noted that the bitstream density of a digital bitstream signal can be used to reflect the amplitude of the radar baseband signal. For example, the larger the amplitude of the radar baseband signal, the more frequently bits with a logic 1 value appear in the digital bitstream signal (i.e., the higher the bitstream density); the smaller the amplitude of the radar baseband signal, the less frequently bits with a logic 1 value appear in the digital bitstream signal (i.e., the lower the bitstream density).

[0054] The first analog signal corresponding to the digital bitstream signal is a square wave-like signal that switches between a high level (corresponding to 1 in digital signal processing) and a low level (corresponding to -1 in digital signal processing), and the width of each square wave-like pulse is not fixed.

[0055] As is understandable, a Class D power amplifier is a switching-mode power amplifier, where the output stage transistors operate in either a fully on or fully off state depending on the level of the input signal. For example, when the input signal is high, the output stage transistors of a Class D power amplifier are fully on; when the input signal is low, the output stage transistors are fully off. Therefore, Class D power amplifiers have very low power loss and can achieve an efficiency of 90%–95%.

[0056] Optionally, the RF local oscillator source 14 can be used to generate a local oscillator signal. The local oscillator signal can be applied in an up-conversion scenario of the first analog signal, or in a down-conversion scenario of the RF echo signal. For example, the RF local oscillator source 14 can be a voltage-controlled oscillator (VCO).

[0057] Optionally, the transmitting antenna 151 and the receiving antenna 152 described above can be different antennas.

[0058] Optionally, the transmitting antenna 151 and the receiving antenna 152 mentioned above can be the same antenna.

[0059] As can be seen from the above, the embodiments of this application use pulse density modulation to modulate the radar baseband signal to be transmitted into a digital bitstream signal, and transmit the first analog signal corresponding to the digital bitstream signal to the RF transmission module. This allows the RF transmission module to amplify only the first analog signal corresponding to the digital bitstream signal, without needing to amplify the continuous wave signal, thereby reducing the linearity requirements of the amplifier in the RF transmission module. Based on this, the embodiments of this application improve the transmission efficiency of the radar RF transceiver by using a high-efficiency Class D power amplifier as the amplifier in the RF transmission module.

[0060] Figure 2 This is a schematic diagram of a radar radio frequency transceiver device according to another embodiment of this application. Figure 2 As shown, with Figure 1 Compared to the corresponding embodiments, the transmitting antenna 151 and the receiving antenna 152 in this embodiment are the same antenna 15. Based on this, the radar radio frequency transceiver device may also include a circulator 16.

[0061] The first end of the circulator 16 can be connected to the radio frequency transmitting module 12, the second end of the circulator 16 can be connected to the antenna 15, and the third end of the circulator 16 can be connected to the radio frequency receiving module 13.

[0062] The circulator 16 can be used to transmit the radio frequency transmission signal output by the radio frequency transmitting module 12 to the antenna 15, and to transmit the radio frequency echo signal received by the antenna 15 to the radio frequency receiving module 13. That is, the circulator 16 can be used to realize directional transmission from its first end to its second end, and directional transmission from its second end to its third end, so that the radio frequency transmitting module 12 and the radio frequency receiving module can share the same antenna, thereby reducing the number of antennas in the radar radio frequency transceiver equipment and reducing the cost of the radar radio frequency transceiver equipment.

[0063] Figure 3 This is a schematic diagram of a radar radio frequency transceiver device provided in another embodiment of this application. Figure 3 As shown, with Figure 2 Compared to the corresponding embodiments, the signal processing module 11 in this embodiment may include n output terminals and n input terminals. Correspondingly, the number of circulators 16 and the number of antennas 15 can both be n, with the third terminal of each circulator 16 connected to a different antenna 15. Here, n is a positive integer.

[0064] The radio frequency (RF) transmitting module 12 may include n RF transmitting units 120. Each RF transmitting unit 120 may be connected to a different output terminal of the RF local oscillator 14, a different circulator 16, and a different circulator 16. Each RF transmitting unit 120 may be used to upconvert and amplify the received first analog signal into an RF transmitting signal.

[0065] The radio frequency (RF) receiving module 13 may include n RF receiving units 130. Each RF receiving unit 130 may be connected to a different input terminal of the RF local oscillator 14, the signal processing module 11, and the second terminal of a different circulator 16. Each RF receiving unit 130 may be used to amplify and down-convert the RF echo signal output from the second terminal of the corresponding circulator 16 into an analog echo signal.

[0066] Figure 4 This is a schematic diagram of the circuit structure of a radar radio frequency transceiver provided in an embodiment of this application. Figure 4 As shown, in a specific implementation, each radio frequency transmitting unit 120 may include a first mixer 1201 and a Class D power amplifier 1202. Wherein:

[0067] The first mixer 1201 can be connected to a different output terminal of the RF local oscillator 14 and the signal processing module 11. The first mixer 1201 can be used to mix the first analog signal with the local oscillator signal generated by the RF local oscillator 14 to upconvert the first analog signal into a first RF signal.

[0068] The Class D power amplifier 1202 can be connected to the first mixer 1201 and the first terminal of a different circulator 16. The Class D power amplifier 1202 can be used to amplify the power of the first radio frequency signal to obtain a radio frequency transmission signal, and transmit the radio frequency transmission signal to the first terminal of the corresponding circulator 16.

[0069] Please continue reading. Figure 4 In another specific implementation, each RF receiving unit 130 may include a low-noise amplifier 1301 and a second mixer 1302. Wherein:

[0070] The low-noise amplifier 1301 can be connected to the second terminal of a different circulator 16. The low-noise amplifier 1301 can be used to amplify the radio frequency echo signal from the second terminal of the corresponding circulator 16 with low noise and output the amplified radio frequency echo signal with low noise.

[0071] The second mixer 1302 can be connected to the RF local oscillator 14 and the low-noise amplifier 1301. The second mixer 1302 can be used to mix the low-noise amplified RF echo signal with the local oscillator signal generated by the RF local oscillator 14 to downconvert the low-noise amplified RF echo signal into an analog echo signal.

[0072] Please continue reading. Figure 4 In another specific implementation, the signal processing module 11 may include a signal modulation unit 111 and a signal demodulation unit 112. Wherein:

[0073] The signal modulation unit 111 can be used to modulate the radar baseband signal to be transmitted into a digital bit stream signal using pulse density modulation, and output the first analog signal corresponding to the digital bit stream signal.

[0074] The signal demodulation unit 112 can be used to demodulate the analog echo signal from the radio frequency receiving module 13 into a baseband echo signal.

[0075] Optional, such as Figure 4 As shown, the signal modulation unit 111 may include a digital waveform generator 1111, a pulse density modulator (PDM) 1112, and a digital-to-analog converter (DAC) 1113. Wherein:

[0076] The digital waveform generator 1111 can be used to generate and output radar baseband signals.

[0077] The pulse density modulator 1112 can be connected to the digital waveform generator 1111. The pulse density modulator 1112 can be used to modulate the radar baseband signal to be transmitted into a digital bit stream signal using pulse density modulation and output the digital bit stream signal.

[0078] The digital-to-analog converter 1113 can be connected to the pulse density modulator 1112. The digital-to-analog converter 1113 can be used to convert a digital bitstream signal into a first analog signal and output the first analog signal. The digital-to-analog converter 1113 may include n input terminals and n output terminals. Exemplarily, the digital-to-analog converter 1113 can be a high-speed or ultra-high-speed digital-to-analog converter; for example, the digital-to-analog converter 1113 can employ a sampling frequency exceeding 1 GSPS (giga samples per second).

[0079] The radar baseband signal generated by the digital waveform generator 1111 can be a continuous wave, a frequency-modulated continuous wave, or other continuous waves that meet the requirements. For example, the radar baseband signal can be represented as... s n =[ s 1,…, s N ] T .in, s n Each element in the dataset can be viewed as a sample of a continuous radar baseband signal, i.e. s n It can represent the amplitude information of radar baseband signals.

[0080] It is understandable that the pulse density modulator 1112 uses pulse density modulation to modulate the radar baseband signal. s n After modulation, the resulting digital bitstream signal is a 1-bit sequence with only two states (e.g., 1 and -1 in digital signal processing). For example, the digital bitstream signal can be represented as... x n =[ x 1,…, x N ] T .in, x 1 to x N The value can be either logic 0 or logic 1.

[0081] For example, the structure of the pulse density modulator 1112 can be as follows: Figure 5 As shown, based on this structure, x n It can be calculated using the following formula: xn =( s n - e n-1 )+ e n .in, e n-1 This is the quantization error accumulated in the pulse density modulator 1112 over the past. e n This represents the quantization error currently generated by the pulse density modulator 1112. For example, e n Specifically, it can be calculated using the following formula: e n =sgn[ s n - e n-1 ] - ( s n - e n-1 ), where sgn[·] is a sign function. When the value inside the square brackets of sgn[·] is greater than 1, sgn[·] is +1; when the value inside the square brackets of sgn[·] is less than 1, sgn[·] is -1; when the value inside the square brackets of sgn[·] is equal to 0, sgn[·] is 0.

[0082] Optionally, the signal demodulation unit 112 may include an analog-to-digital converter 1121, a matched filter 1122, and a digital filter 1123. Wherein:

[0083] An analog-to-digital converter (ADC) 1121 can be connected to an RF receiver module 13. The ADC 1121 can be used to convert analog echo signals from the RF receiver module 13 into digital echo signals. For example, the ADC 1121 may include n inputs and n outputs, each input of which can be connected to a different second mixer 1302. Specifically, the ADC 1121 can be used to convert analog echo signals from the second mixer 1302 into digital echo signals. Exemplarily, the ADC 1121 can be a high-speed or ultra-high-speed ADC; for example, the ADC 1121 can employ a digital-to-analog converter with a sampling frequency exceeding 1 GHz (gigahertz).

[0084] Matched filter 1122 can be connected to analog-to-digital converter 1121 and pulse density modulator 1112. Matched filter 1122 can be used to perform matched filtering on digital echo signal based on digital bitstream signal to obtain baseband matched signal. For example, matched filter can be bitstream multiplier.

[0085] Digital filter 1123 can be connected to a matched filter. Digital filter 1123 can be used to filter out high-frequency noise in the baseband matched signal to obtain the baseband echo signal. Since digital filter 1123 is a low-pass filter, the baseband echo signal before modulation can be recovered through low-pass filtering without signal demodulation, thereby reducing computational complexity.

[0086] It should be noted that the digital echo signal output by the analog-to-digital converter 1121 is also a 1-bit sequence with only two states (e.g., 1 and -1 in digital signal processing). The baseband matched signal obtained by matching the digital echo signal with the digital bitstream signal using the matched filter 1122 can be a continuous wave signal or a pulse compressed signal, etc. The baseband echo signal can also be a continuous wave signal or a pulse compressed signal, etc.

[0087] Optionally, the signal demodulation unit 112 may also include a baseband processor 1124.

[0088] The baseband processor 1124 can be connected to the digital filter 1123. The baseband processor 1124 can be used to calculate the distance between the target object and the radar radio frequency transceiver based on the baseband echo signal.

[0089] For example, the analog echo signal received by the analog-to-digital converter 1121 can be represented as y n = Hx n + z .in, H The target response of a radar radio frequency transceiver device refers to the entire channel response from transmission to reception, used to represent the distance to the target object, the speed of the target object, and the strength of the radar echo signal, etc. z This refers to the noise introduced by radar radio frequency transceiver equipment during signal reception. The digital echo signal obtained after analog-to-digital conversion of the analog echo signal by analog-to-digital converter 1121 can be represented as... y n =[ y 1,…, y N ] T , y n It is also a 1-bit sequence.

[0090] For example, the matched filter 1122 can perform matched filtering on the digital echo signal and the digital bitstream signal using the following matched filtering formula: r n = x n * y n .in, rn Used to represent the baseband matching signal. Understandably, because it is... x n The value of is -1 or 1, therefore the above matching formula can be regarded as the digital echo signal. y n With digital bitstream signals x n Perform logical AND operations.

[0091] Figures 6A to 6D This is a waveform diagram of various signals involved in the operation of a radar radio frequency receiving device provided in an embodiment of this application.

[0092] in, Figure 6A This is a waveform diagram of the radar baseband signal and the digital bitstream signal. (Example:) Figure 6A As shown, the radar baseband signal 61 to be transmitted can be a continuous wave signal, and the digital bit stream signal 62 obtained by pulse density modulation of the radar baseband signal 61 is a 1-bit sequence with only two states (e.g., -1 and 1 in digital signal processing). According to Figure 6A It can be seen that the larger the amplitude of the radar baseband signal 61, the more frequently the bits with a value of 1 appear in the digital bit stream signal 62 (i.e., the higher the bit stream density); the smaller the amplitude of the radar baseband signal 61, the less frequently the bits with a value of -1 appear in the digital bit stream signal 62 (i.e., the lower the bit stream density).

[0093] Figure 6B This is a waveform diagram of the digital echo signal output by the analog-to-digital converter 1121. The upper part is the time-domain waveform of the digital echo signal, and the lower part is the spectrum of the digital echo signal. Figure 6B As shown in the upper part, the digital echo signal is also a 1-bit sequence with only two states (e.g., 1 and -1 in digital signal processing), and is therefore quite noisy due to the presence of noise. Figure 6B As shown in the lower half, the low-frequency part of the digital echo signal has concentrated signal energy, while the high-frequency part has greater noise.

[0094] Figure 6C This is a waveform diagram of the baseband matched signal output by matched filter 1122. The upper part is the time-domain waveform of the baseband matched signal, and the lower part is the spectrum of the baseband matched signal. Figure 6C As shown in the upper part, the baseband matched signal after matched filtering is either a continuous wave signal or a pulse compressed signal. For example... Figure 6C As shown in the lower half, the baseband matched signal after matched filtering exhibits one or more spectral peaks in the low-frequency region, meaning that the frequency points generated by the baseband matched signal are now visible.

[0095] Figure 6D This is a waveform diagram of the baseband echo signal output by digital filter 1123. The upper part is the time-domain waveform of the baseband echo signal, and the lower part is the spectrum of the baseband echo signal. Figure 6D As shown in the upper part, the baseband echo signal after filtering out high-frequency noise is a smoother continuous wave. For example... Figure 6D As shown in the lower half, the high-frequency components in the baseband echo signal are almost completely filtered out, leaving only a relatively prominent spectral peak corresponding to the target signal.

[0096] This application also provides a radar system. Figure 7 This is a schematic diagram of a radar system provided in an embodiment of this application. Figure 7 As shown, the radar system may include the radar transceiver equipment described in the above embodiments. It should be noted that the details regarding the radar radio frequency transceiver equipment can be found in the descriptions in the above embodiments, and will not be repeated here.

[0097] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units is merely an example. In practical applications, the above functions can be assigned to different functional units as needed, that is, the internal structure of the radar radio frequency transceiver equipment can be divided into different functional units to complete all or part of the functions described above. Furthermore, the specific names of each functional unit are only for easy differentiation and are not intended to limit the scope of protection of this application.

[0098] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, refer to the relevant descriptions of other embodiments.

[0099] It should be noted that, unless otherwise specified, all technical terms used in the embodiments of this application have the same meaning as commonly understood by those skilled in the art to which this application belongs. The technical terms used in the embodiments of this application are only used to explain specific embodiments of this application and are not intended to limit this application.

[0100] The term "embodiment" as used in the description of embodiments in this application means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0101] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0102] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A radar radio frequency transceiver, characterized in that, include: The signal processing module is used to modulate the radar baseband signal to be transmitted into a digital bitstream signal using pulse density modulation, and output the first analog signal corresponding to the digital bitstream signal; the signal processing module is also used to process the received analog echo signal into a baseband echo signal. The radio frequency (RF) transmitting module is connected to the RF local oscillator, the output of the signal processing module, and the transmitting antenna. It is used to upconvert and amplify the first analog signal into an RF transmitting signal, and transmit the RF transmitting signal through the transmitting antenna. The amplifier in the RF transmitting module is a Class D power amplifier. The radio frequency receiving module is connected to the radio frequency local oscillator, the input terminal of the signal processing module, and the receiving antenna, and is used to amplify and down-convert the radio frequency echo signal received by the receiving antenna into the analog echo signal.

2. The radar radio frequency transceiver according to claim 1, characterized in that, The transmitting antenna and the receiving antenna are the same antenna; correspondingly, the radar radio frequency transceiver also includes a circulator; The first end of the circulator is connected to the radio frequency transmitting module, the second end of the circulator is connected to the antenna, and the third end of the circulator is connected to the radio frequency receiving module. The circulator is used to transmit the radio frequency transmitted signal to the antenna and the radio frequency echo signal to the radio frequency receiving module.

3. The radar radio frequency transceiver according to claim 2, characterized in that, The signal processing module includes n output terminals and n input terminals; the number of circulators and the number of antennas are both n, and the third terminal of each circulator is connected to a different antenna; n is a positive integer; The radio frequency (RF) transmitting module includes n RF transmitting units, each of which is connected to the RF local oscillator, a different output terminal, and a different first terminal of the circulator; the RF transmitting unit is used to upconvert and amplify the first analog signal into an RF transmitting signal; The radio frequency receiving module includes n radio frequency receiving units, each of which is connected to the radio frequency local oscillator, a different input terminal, and a different second terminal of the circulator; the radio frequency receiving unit is used to amplify and down-convert the radio frequency echo signal output from the second terminal of the corresponding circulator into the analog echo signal.

4. The radar radio frequency transceiver according to claim 3, characterized in that, The radio frequency transmitting unit includes: A first mixer is connected to the radio frequency local oscillator and a different output terminal, and is used to mix the first analog signal with the local oscillator signal generated by the radio frequency local oscillator to upconvert the first analog signal into a first radio frequency signal. The Class D power amplifier is connected to the first mixer and the first end of a different circulator to amplify the first radio frequency signal to obtain the radio frequency transmission signal, and to transmit the radio frequency transmission signal to the first end of the corresponding circulator.

5. The radar radio frequency transceiver according to claim 3, characterized in that, The radio frequency receiving unit includes: A low-noise amplifier, connected to the second end of a different circulator, is used to amplify the radio frequency echo signal from the second end of the circulator in a low-noise manner and output the amplified radio frequency echo signal in a low-noise manner. The second mixer is connected to the radio frequency local oscillator and the low-noise amplifier, and is used to mix the low-noise amplified radio frequency echo signal with the local oscillator signal generated by the radio frequency local oscillator, so as to downconvert the low-noise amplified radio frequency echo signal into the analog echo signal.

6. The radar radio frequency transceiver according to any one of claims 1-5, characterized in that, The signal processing module includes: The signal modulation unit is used to modulate the radar baseband signal into a digital bit stream signal using pulse density modulation, and output the first analog signal corresponding to the digital bit stream signal. The signal demodulation unit is used to demodulate the analog echo signal from the radio frequency receiving module into a baseband echo signal.

7. The radar radio frequency transceiver according to claim 6, characterized in that, The signal modulation unit includes: A digital waveform generator is used to generate and output the radar baseband signal; A pulse density modulator, connected to the digital waveform generator, is used to modulate the radar baseband signal into a digital bitstream signal using pulse density modulation and output the digital bitstream signal. A digital-to-analog converter, connected to the pulse density modulator, is used to convert the digital bitstream signal into a first analog signal and output the first analog signal.

8. The radar radio frequency transceiver according to claim 7, characterized in that, The signal demodulation unit includes: An analog-to-digital converter, connected to the radio frequency receiving module, is used to convert the analog echo signal into a digital echo signal; A matched filter, connected to the analog-to-digital converter and the pulse density modulator, is used to perform matched filtering on the digital echo signal according to the digital bitstream signal to obtain a baseband matched signal; A digital filter, connected to the matched filter, is used to filter out high-frequency noise in the baseband matched signal to obtain the baseband echo signal.

9. The radar radio frequency transceiver according to claim 8, characterized in that, The signal demodulation unit further includes: A baseband processor, connected to the digital filter, is used to calculate the distance between the target object and the radar radio frequency transceiver based on the baseband echo signal.

10. A radar system, characterized in that, Includes the radar radio frequency transceiver as described in any one of claims 1 to 9.

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