Method and apparatus for separating transmission channels of DDMA-MIMO radar, device, and storage medium

Abstract

A method and apparatus for separating transmission channels of a DDMA-MIMO radar, a device, and a storage medium. The method comprises: dividing a Doppler frequency domain into N transmission channels according to the number M of transmitters comprised in a DDMA-MIMO radar (S110); establishing an initial correspondence between the M transmitters and any M transmission channels (S120); determining measured range-Doppler amplitude information and reference range-Doppler amplitude information corresponding to the N transmission channels (S130); determining correlation information between the measured range-Doppler amplitude information and the reference range-Doppler amplitude information (S140); and determining a target correspondence between each transmitter and transmission channel on the basis of the correlation information and the initial correspondence (S150).

Description

Methods, apparatus, equipment and storage media for separating the transmit channels of DDMA-MIMO radar

[0001] This application claims priority to Chinese Patent Application No. 202411199715.4, filed with the Chinese Patent Office on August 29, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of MIMO radar technology, for example to a method, apparatus, device and storage medium for separating the transmit channels of a DDMA-MIMO radar. Background Technology

[0003] In today's radar products, Doppler-division multiple access (DDMA) has become the mainstream. This is because current hardware has the ability to configure a dedicated phase shifter for each transmitter in the radar integrated circuit, making DDMA an important solution for realizing multiple-input multiple-output (MIMO) radar.

[0004] For DDMA-MIMO radar, since multiple transmitters send signals simultaneously, it is necessary to determine the transmitter corresponding to each transmission channel. Therefore, how to accurately achieve channel separation is an urgent problem to be solved for target detection based on DDMA-MIMO radar. Summary of the Invention

[0005] This application provides a method, apparatus, device, and storage medium for separating the transmit channels of a DDMA-MIMO radar, which can accurately and quickly separate the transmit channels in a DDMA-MIMO radar.

[0006] In a first aspect, embodiments of this application provide a method for separating the transmit channels of a DDMA-MIMO radar, including:

[0007] The Doppler frequency domain is divided into N transmission channels based on the number M of transmitters included in the DDMA-MIMO radar; where M < N, and both M and N are positive integers greater than 1; and the M transmitters include one calibration transmitter.

[0008] Establish initial correspondences between M transmitters and M arbitrary transmission channels; wherein, the initial correspondences include initial calibration correspondences, which are the initial correspondences between the calibrated transmitters and the transmission channels;

[0009] The measurement range-Doppler amplitude information and reference range-Doppler amplitude information corresponding to the N transmission channels are determined; wherein, the measurement range-Doppler amplitude information is obtained by the DDMA-MIMO radar detecting the target, and the reference range-Doppler amplitude information is determined according to the initial correspondence;

[0010] Determine the relevant information between the measured distance-Doppler amplitude information and the reference distance-Doppler amplitude information;

[0011] Based on the relevant information and the initial correspondence, the target correspondence between each transmitter and the transmission channel is determined.

[0012] Secondly, embodiments of this application also provide a transmit channel separation device for a DDMA-MIMO radar, comprising:

[0013] The Doppler frequency domain partitioning module is configured to divide the Doppler frequency domain into N transmission channels based on the number M of transmitters included in the DDMA-MIMO radar; wherein M < N, and both M and N are positive integers greater than 1; wherein one of the M transmitters is a calibration transmitter;

[0014] The initial correspondence establishment module is configured to establish initial correspondences between M transmitters and M arbitrary transmission channels; wherein, the initial correspondences include initial calibration correspondences, which are the initial correspondences between the calibrated transmitters and the transmission channels;

[0015] The range-Doppler amplitude information determination module is configured to determine the measured range-Doppler amplitude information and the reference range-Doppler amplitude information corresponding to the N transmission channels; wherein, the measured range-Doppler amplitude information is obtained by the DDMA-MIMO radar detecting the target, and the reference range-Doppler amplitude information is determined according to the initial correspondence;

[0016] The relevant information determination module is configured to determine the relevant information between the measured distance-Doppler amplitude information and the reference distance-Doppler amplitude information;

[0017] The target correspondence determination module is configured to determine the target correspondence between each transmitter and the transmission channel based on the relevant information and the initial correspondence.

[0018] Thirdly, embodiments of this application also provide an electronic device, the electronic device comprising:

[0019] At least one processor; and

[0020] A memory communicatively connected to the at least one processor; wherein,

[0021] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the transmit channel separation method for DDMA-MIMO radar as described in the embodiments of this application.

[0022] Fourthly, embodiments of this application also provide a computer-readable storage medium storing computer instructions, which are used to cause a processor to execute and implement the transmit channel separation method of the DDMA-MIMO radar described in embodiments of this application.

[0023] This application discloses a method, apparatus, device, and storage medium for separating the transmission channels of a DDMA-MIMO radar. The method includes: dividing the Doppler frequency domain into N transmission channels based on the number M transmitters in the DDMA-MIMO radar; where M < N, and both M and N are positive integers greater than 1; wherein one of the M transmitters is a calibration transmitter; establishing initial correspondences between the M transmitters and any M transmission channels; wherein the initial correspondences include initial calibration correspondences, which are the initial correspondences between the calibration transmitter and the transmission channels; determining the measurement range-Doppler amplitude information and reference range-Doppler amplitude information corresponding to the N transmission channels; wherein the measurement range-Doppler amplitude information is obtained by the DDMA-MIMO radar detecting targets, and the reference range-Doppler amplitude information is determined based on the initial correspondences; determining the relevant information between the measurement range-Doppler amplitude information and the reference range-Doppler amplitude information; and determining the target correspondence between each transmitter and the transmission channel based on the relevant information and the initial correspondences. The DDMA-MIMO radar transmit channel separation method provided in this application adjusts the initial correspondence between the transmitter and the transmit channel by measuring the relevant information between the range-Doppler amplitude information and the reference range-Doppler amplitude information, thereby obtaining the target correspondence between the transmitter and the transmit channel. This not only improves the accuracy of transmit channel separation but also reduces the complexity of channel separation. Attached Figure Description

[0024] Figure 1 is a flowchart of a method for separating the transmit channels of a DDMA-MIMO radar according to Embodiment 1 of this application;

[0025] Figure 2 is an example diagram of dividing the Doppler frequency domain into 8 transmission channels in Embodiment 1 of this application;

[0026] Figure 3A is an example diagram of establishing the initial correspondence between the transmitter and the transmission channel in Embodiment 1 of this application;

[0027] Figure 3B is an example diagram of establishing the initial correspondence between the transmitter and the transmission channel in Embodiment 1 of this application;

[0028] Figure 3C is an example diagram of establishing an initial correspondence between a transmitter and a transmission channel in Embodiment 1 of this application;

[0029] Figure 4A is an example diagram of determining the target correspondence between the transmitter and the transmission channel in Embodiment 1 of this application;

[0030] Figure 4B is an example diagram of determining the target correspondence between the transmitter and the transmission channel in Embodiment 1 of this application;

[0031] Figure 4C is an example diagram of determining the target correspondence between the transmitter and the transmission channel in Embodiment 1 of this application;

[0032] Figure 5 is a schematic diagram of the structure of a DDMA-MIMO radar transmit channel separation device according to Embodiment 2 of this application;

[0033] Figure 6 is a schematic diagram of the structure of an electronic device according to Embodiment 3 of this application. Detailed Implementation

[0034] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the application and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present application, not the entire structure.

[0035] Traditional DDMA divides the entire Doppler frequency domain into segments equal to the total number of transmission channels, which reduces the maximum unambiguous speed of radar detection.

[0036] Another approach is to divide the Doppler frequency domain into more transmission channels than the transmitter itself. In this case, one or more empty transmission channels (channels not associated with the transmitter) will appear in the frequency domain. The separation of transmission channels is achieved by utilizing the locations of these empty channels. Related technologies use constant false alarm rate (CFAR) or comparison of noise values ​​to locate empty transmission channels. This method requires defining noise thresholds, which depend on hardware characteristics (such as noise power and receiver gain) and CFAR detection parameters (such as the detection signal-to-noise ratio).

[0037] Example 1

[0038] Figure 1 is a flowchart of a method for separating the transmit channels of a DDMA-MIMO radar according to Embodiment 1 of this application. This embodiment is applicable to situations where the transmit channels of a MIMO radar are separated. This method can be executed by a DDMA-MIMO radar transmit channel separation device, which can be implemented in software and / or hardware, optionally through an electronic device, such as a mobile terminal, PC, or server. As shown in Figure 1, the method specifically includes the following steps:

[0039] S110 divides the Doppler frequency domain into N transmission channels based on the number M of transmitters included in the DDMA-MIMO radar.

[0040] Where M < N, and both M and N are positive integers greater than 1; and one of the M transmitters is a calibration transmitter. The calibration transmitter can be any one of the M transmitters. For example, assuming there are 6 transmitters, namely TX1, TX2, TX3, ..., TX6, then TX1 can be designated as the calibration transmitter. In this embodiment, the number of divided transmission channels is greater than the number of transmitters.

[0041] Optionally, the Doppler frequency domain can be divided into N transmission channels based on the number M of transmitters in the DDMA-MIMO radar: the number of transmitters M is raised to a preset power to obtain the number of transmission channels N; the Doppler frequency domain is divided into N regions based on the number of transmission channels N to obtain N transmission channels.

[0042] The preset power can be a power of 2, which improves computational efficiency when using Fourier transform. Specifically, the formula for calculating the number of transmission channels N by performing a preset power operation on the number of transmitters M can be expressed as: The `ceil()` function returns the smallest integer greater than or equal to the expression. Assuming M = 6, then `ceil(log2M)` = 3, and N = 8. This means that when the number of transmitters is 6, the number of transmission channels is determined to be 8, dividing the Doppler frequency domain into 8 regions to obtain 8 transmission channels. For example, Figure 2 shows an example of dividing the Doppler frequency domain into 8 transmission channels, namely zone1, zone2, ..., zone8.

[0043] S120, establish the initial correspondence between M transmitters and any M transmission channels.

[0044] The initial correspondence includes the initial calibration correspondence, which is the initial correspondence between the transmitter and the transmission channel. The relationship between the transmitter and the transmission channel is one-to-one; that is, in the Doppler frequency domain, there are still NM transmission channels that have not yet established a correspondence with the transmitter, which can be called empty transmission channels.

[0045] In this embodiment, M transmission channels are randomly selected from N transmission channels and paired with M transmitters to establish a one-to-one correspondence, thus obtaining the initial correspondence between transmission channels and transmitters. The M transmitters are arranged in a preset order; the N transmission channels are arranged according to frequency domain intervals. Once the transmission channel of the calibrated transmitter is determined, the transmission channels corresponding to the other transmitters can be determined based on the transmitter arrangement order, the selected transmission channel, and the arrangement order of the transmission channels, thereby obtaining the initial correspondence between transmission channels and transmitters.

[0046] Specifically, the initial correspondence between M transmitters and any M transmission channels can be established as follows: randomly select M transmission channels from N transmission channels; establish a correspondence between any selected transmission channel and a calibrated transmitter; establish a one-to-one relationship between the non-calibrated transmitters and the remaining selected transmission channels in the order of the transmitters and the order of the transmission channels, thereby obtaining the initial correspondence between the M transmitters and the M transmission channels.

[0047] Randomly selecting M transmission channels from N transmission channels can be understood as arbitrarily selecting M transmission channels from N transmission channels. This means that NM transmission channels are not selected, and the possible permutations and combinations are: In this embodiment, the method of selecting transmission channels is not limited, nor is the initial correspondence between transmitters and transmission channels limited. After establishing a correspondence between a transmission channel and a calibrated transmitter, the process of establishing a one-to-one relationship between non-calibrated transmitters and the remaining selected transmission channels in the order of transmitter arrangement and transmission channel arrangement can be as follows: establish a correspondence between the next non-calibrated transmitter of the calibrated transmitter and the next selected transmission channel, then establish a correspondence between the next non-calibrated transmitter and the next selected transmission channel, and so on, until a one-to-one correspondence is established between M transmission channels and M selected transmission channels. For example, suppose there are 6 transmitters arranged in the order TX1, TX2, TX3, TX4, TX5, TX6, where TX1 is the calibrated transmitter, and there are 8 transmission channels in the Doppler frequency domain, zone1-zone8. Figures 3A-3C are example diagrams of establishing an initial correspondence between transmitters and transmission channels in an embodiment of this application. As shown in Figure 3A, the six selected transmission channels are zones 3-8, meaning zones 1 and 2 are not selected. Since TX1 corresponds to zone 3, TX2 corresponds to zone 4, TX3 to zone 5, TX4 to zone 6, TX5 to zone 7, and TX6 to zone 8. As shown in Figure 3B, the six selected transmission channels are zones 1-6, meaning zones 7 and 8 are not selected. Since TX1 corresponds to zone 1, TX2 corresponds to zone 2, TX3 to zone 3, TX4 to zone 4, TX5 to zone 5, and TX6 to zone 6. As shown in Figure 3C, the six selected transmission channels are zones 1 and zones 3-7, meaning zones 2 and 8 are not selected. Since TX1 corresponds to zone 1, TX2 corresponds to zone 3, TX3 to zone 4, TX4 to zone 5, TX5 to zone 6, and TX6 to zone 7.

[0048] In this embodiment, after establishing the initial correspondence between each transmitter and the transmission channel, the phase information of the signal transmitted by each transmitter can be determined, thereby determining the specific expression of the signal transmitted by each transmitter. Assuming a radar system containing M transmitters operates in DDMA mode, the expression for the signal transmitted by each transmitter is as follows: s m (t)=Aexp(j2πf c t+jπαt 2 +jφ m (l)), where A is the amplitude of the signal, t is time, and f cα and φ are the carrier frequency and the linear frequency modulation slope, respectively. These two parameters are the same for all M transmitters. m (l) represents the phase of the m-th transmitter, where l is the linear frequency modulation (LFM) sequence number. Each transmitter has its own independent phase, which is related to the LFM sequence number and the corresponding transmission channel. Assuming each transmitter transmits L L LFM signals in one frame, the phase of the m-th transmitter can be expressed as φ. m (l)=Δφ m (l-1), m=1, 2,..., M, l=1, 2,..., L, Δφ m Let Δφ be the phase increment of the m-th transmitter, assuming it corresponds to the n-th transmission channel. m = 2π(n-1) / N, where n is any integer from 1 to N.

[0049] S130, determine the measurement distance-Doppler amplitude information and reference distance-Doppler amplitude information corresponding to N transmission channels.

[0050] The range-Doppler amplitude information is obtained by the DDMA-MIMO radar through target detection, while the reference range-Doppler amplitude information is determined based on an initial correspondence. The target can be stationary or moving. The range-Doppler amplitude information consists of the range-Doppler amplitudes from N transmission channels; that is, it can be represented by a vector containing N elements, each corresponding to the range-Doppler amplitude of one transmission channel, expressed as: X = [x1, x2, ..., x...]. N Similarly, the reference range-Doppler amplitude information consists of the reference range-Doppler amplitudes of N transmission channels. That is, the reference range-Doppler amplitude information can be represented by a vector containing N elements, each element corresponding to the reference range-Doppler amplitude of one transmission channel, which can be expressed as Y = [y1, y2, ... y]. N ].

[0051] Specifically, the method for determining the range-Doppler amplitude information corresponding to N transmission channels can be as follows: acquire the echo signal of the target detected by the DDMA-MIMO radar; perform a range-Doppler two-dimensional Fourier transform on the echo signal to obtain the range-Doppler data; extract the amplitude of each transmission channel from the range-Doppler data to obtain the range-Doppler amplitude information corresponding to the N transmission channels.

[0052] The echo signal can be a signal received by a receiver on the radar, detected by the target reflecting the transmitted signal. In other words, the echo signal is detected by the target reflecting the transmitted signals from N transmission channels.

[0053] Among them, the range-Doppler two-dimensional Fourier transform is to perform Fourier transforms on the echo signal in the range dimension and the velocity dimension respectively, so as to obtain range-Doppler (RD) data. The range-Doppler map can be drawn based on the range-Doppler data.

[0054] In this embodiment, after obtaining the distance-Doppler measurement data, the amplitude of each transmission channel in the distance-Doppler measurement data is extracted to obtain the distance-Doppler amplitude information corresponding to N transmission channels.

[0055] Specifically, the method for determining the reference range-Doppler amplitude information corresponding to N transmission channels can be as follows: determine the zero-Doppler position of each transmitter based on the initial correspondence; and determine the reference range-Doppler amplitude information corresponding to the N transmission channels based on the zero-Doppler position.

[0056] In the Doppler frequency domain, the zero-Doppler position of the m-th transmitter can be represented as: Among them, f D,BW The reference range-Doppler amplitude information for the N transmission channels based on the zero-Doppler position can be determined by setting the amplitude of the transmission channel corresponding to the zero-Doppler position to a preset value (e.g., 1), and setting the amplitude of the unselected transmission channels to a value equal to or close to the noise floor. In this embodiment, for the vector corresponding to the reference range-Doppler amplitude information, the values ​​of the NM elements in the vector are equal to or close to the noise floor, meaning that the amplitudes of the NM transmission channels are equal to or close to the noise floor.

[0057] S140, determine the relevant information between the measured distance-Doppler amplitude information and the reference distance-Doppler amplitude information.

[0058] The relevant information between the measured range-Doppler amplitude information and the reference range-Doppler amplitude information can be composed of sub-related information between the measured amplitude of each transmission channel and the reference range-Doppler amplitude information. The sub-related information can be determined by performing cyclic cross-correlation operations between the measured amplitude of each transmission channel and the reference range-Doppler amplitude information. The formula for calculating the j-th sub-related information can be expressed as:

[0059] In this embodiment, since the cyclic crossover operation is similar to the convolution operation, channel convolution can also be used to determine the relevant information between the measured distance-Doppler amplitude information and the reference distance-Doppler amplitude information. Before performing the convolution operation, the vector corresponding to the reference distance-Doppler amplitude information needs to be flipped. Assume the vector corresponding to the reference distance-Doppler amplitude information is represented as Y = [y1, y2, y3, ... y NThe reversed vector is represented as: Y1 = [y1, y2] N ,y N-1 ,...y2].

[0060] Specifically, the relevant information between the measured distance-Doppler amplitude information and the reference distance-Doppler amplitude information can be determined by performing a convolution operation between the vector corresponding to the measured distance-Doppler amplitude information and the vector corresponding to the reference distance-Doppler amplitude information to obtain the relevant information.

[0061] The relevant information is represented by an N-dimensional vector. The vector corresponding to the measured distance-Doppler amplitude information is convolved with the vector corresponding to the reference distance-Doppler amplitude information, resulting in the flipped vector. The formula for calculating the relevant information can be expressed as: A = X * Y1.

[0062] In this embodiment, the convolution operation described above can also be performed using Fourier transform (FFT) and inverse Fourier transform (IFFT). This method simplifies the calculation process.

[0063] Optionally, the relevant information between the measured distance-Doppler amplitude information and the reference distance-Doppler amplitude information can be determined by: performing Fourier transforms on the measured distance-Doppler amplitude information and the reference distance-Doppler amplitude information respectively; fusing the Fourier-transformed measured distance-Doppler amplitude information, the Fourier-transformed reference distance-Doppler amplitude information, and a preset window function to obtain fused information; and performing an inverse Fourier transform on the fused information to obtain relevant information; wherein, the relevant information is represented by an N-dimensional vector.

[0064] The preset window function can be a commonly used standard window function, such as the Hamming window or the Hanning window. The method for fusing the Fourier-transformed measured distance-Doppler amplitude information, the Fourier-transformed reference distance-Doppler amplitude information, and the preset window function can be as follows: multiply the Fourier-transformed measured distance-Doppler amplitude information, the Fourier-transformed reference distance-Doppler amplitude information, and the preset window function to obtain the fused information. Specifically, the formula for calculating the relevant information can be expressed as: A = IFFT(A window ·FFT(X)·FFT·(Y1)).

[0065] S150, Based on relevant information and initial correspondence, determine the target correspondence between each transmitter and the transmission channel.

[0066] In this embodiment, after obtaining relevant information, the phase offset information of the signal from transmission to return can be obtained. This phase offset information is affected by the distance between the target and the radar, as well as the target's speed. This phase offset information can be represented by the offset of the transmission channel. Once this phase offset information is determined, the initial correspondence between the transmitter and the transmission channel can be adjusted to obtain the target correspondence between the transmitter and the transmission channel.

[0067] Specifically, the method for determining the target correspondence between each transmitter and the transmission channel based on relevant information and the initial correspondence can be as follows: determine the largest element in the vector corresponding to the relevant information; determine the offset of the transmission channel corresponding to the largest element relative to the first transmission channel in the Doppler frequency domain; adjust the initial correspondence based on the offset to obtain the target correspondence.

[0068] In this vector, each element corresponds to a transmission channel. For example, the first element corresponds to zone 1, the second to zone 2, and so on, with the Nth element corresponding to zone N. The offset of the transmission channel corresponding to the largest element relative to the first transmission channel in the Doppler frequency domain can be determined by subtracting 1 from the transmission channel corresponding to the largest element, thus obtaining the offset, i.e., the number of offset channels. For example, assuming the transmission channel corresponding to the largest element is zone 4, the number of offset channels is 3.

[0069] One method for adjusting the initial correspondence based on the offset to obtain the target correspondence is to sum the offset to the sequence number of the transmission channel corresponding to each transmitter in the initial correspondence to obtain the adjusted transmission channel corresponding to each transmitter, i.e., the target correspondence between transmitters and transmission channels. For example, assuming that TX1 corresponds to zone 1 in the initial correspondence, then in the target correspondence, TX1 corresponds to zone 4; TX2 corresponds to zone 2, then in the target correspondence, TX2 corresponds to zone 5, and so on, to obtain the adjusted transmission channel corresponding to each transmitter.

[0070] Optionally, the method to adjust the initial correspondence based on the offset to obtain the target correspondence can be as follows: adjust the transmission channel corresponding to the calibrated transmitter in the initial correspondence based on the offset to obtain the target transmission channel corresponding to the calibrated transmitter; determine the target transmission channel corresponding to the non-calibrated transmitter based on the target transmission channel corresponding to the calibrated transmitter and the arrangement order of the transmitters to obtain the target correspondence.

[0071] One method for adjusting the transmission channel corresponding to the calibrated transmitter in the initial calibration correspondence based on the offset is to accumulate the sequence number of the transmission channel corresponding to the transmitter in the initial calibration correspondence by adding the offset to obtain the target transmission channel corresponding to the transmitter. The process of determining the target transmission channel corresponding to the non-calibrated transmitter based on the target transmission channel corresponding to the calibrated transmitter and the arrangement order of the transmitters can be as follows: Establish a one-to-one target correspondence between the non-calibrated transmitter and the remaining selected transmission channels sequentially according to the arrangement order of the transmitters and transmission channels. Specifically, this can be done by establishing a correspondence between the next non-calibrated transmitter of the calibrated transmitter and the next selected transmission channel, then establishing a correspondence between the next non-calibrated transmitter and the next selected transmission channel, and so on, until the target correspondence between M transmission channels and the M selected transmission channels is determined.

[0072] For example, Figures 4A-4C show example diagrams for determining the target correspondence between transmitters and transmission channels. As shown in Figures 4A-4C, the radar has six transmitters, and TX1 is the calibration transmitter. The Doppler frequency domain is divided into eight transmission channels, namely zone1-zone8. In Figures 4A-4C, the upper sub-figure shows the measured range-Doppler amplitude information and the target correspondence between transmitters and transmission channels; the middle sub-figure shows the reference range-Doppler amplitude information and the initial correspondence between transmitters and transmission channels; and the lower sub-figure shows the relevant information between the measured range-Doppler amplitude information and the reference range-Doppler amplitude information. As shown in Figure 4A, zone2 and zone8 are not selected, and in the initial correspondence, TX1 corresponds to zone1 (see the middle sub-figure). Among the determined relevant information, zone4 has the largest value (see the lower sub-figure), so the number of transmission channels offset is 3. By offsetting zone1, which corresponds to TX1 in the initial relationship, by 3 transmission channels, zone4 is determined. Therefore, in the target correspondence, TX1 corresponds to zone4 (see the upper sub-figure). As shown in Figure 4B, zone1 and zone2 are not selected, and TX1 corresponds to zone3 in the initial correspondence (see the middle sub-figure). Among the determined relevant information, zone4 has the largest value (see the lower sub-figure), so the number of offset transmission channels is 3. Offsetting zone3 (corresponding to TX1 in the initial correspondence) by 3 transmission channels determines zone6. Therefore, in the target correspondence, TX1 corresponds to zone6 (see the upper sub-figure). As shown in Figure 4C, zone7 and zone8 are not selected, and TX1 corresponds to zone1 in the initial correspondence (see the middle sub-figure). Among the determined relevant information, zone4 has the largest value (see the lower sub-figure), so the number of offset transmission channels is 3. Offsetting zone1 (corresponding to TX1 in the initial correspondence) by 3 transmission channels determines zone4. Therefore, in the target correspondence, TX1 corresponds to zone4 (see the upper sub-figure).

[0073] In this embodiment, after determining the target correspondence between the transmitter and the transmission channel, the angle of the target can be determined based on the target correspondence, that is, subsequent target detection can be performed.

[0074] The technical solution of this embodiment divides the Doppler frequency domain into N transmission channels according to the number M transmitters included in the DDMA-MIMO radar; where M < N, and both M and N are positive integers greater than 1; where one of the M transmitters is a calibration transmitter; an initial correspondence is established between each of the M transmitters and any M transmission channels; where the initial correspondence includes an initial calibration correspondence, which is the initial correspondence between the calibration transmitter and the transmission channel; the measured range-Doppler amplitude information and the reference range-Doppler amplitude information corresponding to the N transmission channels are determined; where the measured range-Doppler amplitude information is obtained by the DDMA-MIMO radar detecting the target, and the reference range-Doppler amplitude information is determined according to the initial correspondence; the relevant information between the measured range-Doppler amplitude information and the reference range-Doppler amplitude information is determined; and the target correspondence between each transmitter and the transmission channel is determined based on the relevant information and the initial correspondence. The DDMA-MIMO radar transmit channel separation method provided in this application adjusts the initial correspondence between the transmitter and the transmit channel by measuring the relevant information between the range-Doppler amplitude information and the reference range-Doppler amplitude information, thereby obtaining the target correspondence between the transmitter and the transmit channel. This not only improves the accuracy of transmit channel separation but also reduces the complexity of channel separation.

[0075] Example 2

[0076] Figure 5 is a schematic diagram of a transmit channel separation device for a DDMA-MIMO radar provided in Embodiment 2 of this application. As shown in Figure 5, the device includes:

[0077] The Doppler frequency domain partitioning module 510 is configured to divide the Doppler frequency domain into N transmission channels based on the number M of transmitters included in the DDMA-MIMO radar; where M < N, and both M and N are positive integers greater than 1; and the M transmitters include one calibration transmitter.

[0078] The initial correspondence establishment module 520 is configured to establish initial correspondences between M transmitters and any M transmission channels; wherein, the initial correspondences include initial calibration correspondences, which are the initial correspondences between the transmitters and the transmission channels.

[0079] The range-Doppler amplitude information determination module 530 is configured to determine the measured range-Doppler amplitude information and the reference range-Doppler amplitude information corresponding to N transmission channels; wherein, the measured range-Doppler amplitude information is obtained by the DDMA-MIMO radar detecting the target, and the reference range-Doppler amplitude information is determined according to the initial correspondence;

[0080] The relevant information determination module 540 is configured to determine the relevant information between the measurement distance-Doppler amplitude information and the reference distance-Doppler amplitude information.

[0081] The target correspondence determination module 550 is configured to determine the target correspondence between each transmitter and the transmission channel based on relevant information and the initial correspondence.

[0082] Optionally, the Doppler frequency domain partitioning module 510 is configured as follows:

[0083] The number of transmitters M is raised to a preset power to obtain the number of transmission channels N.

[0084] The Doppler frequency domain is divided into N regions based on the number of transmission channels N, resulting in N transmission channels.

[0085] Optionally, the M transmitters are arranged in a preset order; the N transmission channels are arranged according to frequency domain intervals.

[0086] Optionally, the initial mapping establishment module 520 is set as follows:

[0087] Randomly select M transmission channels from N transmission channels;

[0088] Establish a correspondence between any selected transmission channel and the calibrated transmitter;

[0089] Establish a one-to-one relationship between the non-calibrated transmitters and the remaining selected transmission channels in the order of the transmitters and transmission channels, and obtain the initial correspondence between the M transmitters and the M transmission channels respectively.

[0090] Optionally, the distance-Doppler amplitude information determination module 530 is set as follows:

[0091] Acquire the echo signal of the target detected by the DDMA-MIMO radar;

[0092] Perform a two-dimensional Fourier transform of the echo signal in the range-Doppler range to obtain the measured range-Doppler data;

[0093] Extract the measurement distance-Doppler data and the amplitude of each transmission channel to obtain the measurement distance-Doppler amplitude information corresponding to N transmission channels.

[0094] Optionally, the measured range-Doppler amplitude information is represented by an N-dimensional vector, where the elements of the vector represent the measured range-Doppler amplitude of the transmission channel; the reference range-Doppler amplitude information is represented by an N-dimensional vector, where the elements of the vector represent the reference range-Doppler amplitude of the transmission channel.

[0095] Optionally, the distance-Doppler amplitude information determination module 530 is set as follows:

[0096] Determine the zero-Doppler position of each transmitter based on the initial correspondence;

[0097] The reference range-Doppler amplitude information corresponding to N transmission channels is determined based on the zero Doppler position.

[0098] Optionally, the relevant information determination module 540 is set as follows:

[0099] The vector corresponding to the measured distance-Doppler amplitude information is convolved with the vector corresponding to the reference distance-Doppler amplitude information to obtain relevant information; where the relevant information is represented by an N-dimensional vector.

[0100] Optionally, the relevant information determination module 540 is set as follows:

[0101] Fourier transforms were performed on the measured distance-Doppler amplitude information and the reference distance-Doppler amplitude information, respectively;

[0102] The measured distance-Doppler amplitude information after Fourier transform, the reference distance-Doppler amplitude information after Fourier transform, and the preset window function are fused to obtain fused information;

[0103] The fused information is subjected to an inverse Fourier transform to obtain relevant information; where the relevant information is represented by an N-dimensional vector.

[0104] Optionally, the target correspondence determination module 550 is set as follows:

[0105] Determine the maximum element in the vector corresponding to the relevant information;

[0106] Determine the offset of the transmission channel corresponding to the largest element relative to the first transmission channel in the Doppler frequency domain;

[0107] The initial correspondence is adjusted based on the offset to obtain the target correspondence.

[0108] Optionally, the target correspondence determination module 550 is configured to adjust the initial correspondence based on the offset to obtain the target correspondence in the following manner:

[0109] Based on the offset, the transmission channel corresponding to the calibrated transmitter in the initial calibration correspondence is adjusted to obtain the target transmission channel corresponding to the calibrated transmitter;

[0110] Based on the target transmission channels corresponding to the calibrated transmitters and the arrangement order of the transmitters, the target transmission channels corresponding to the non-calibrated transmitters are determined, and the target correspondence is obtained.

[0111] The aforementioned apparatus can execute the methods provided in all the foregoing embodiments of this application, and possesses the corresponding functional modules and beneficial effects for executing the aforementioned methods. Technical details not described in detail in this embodiment can be found in the methods provided in all the foregoing embodiments of this application.

[0112] Example 3

[0113] Figure 6 illustrates a schematic diagram of an electronic device 10 that can be used to implement embodiments of this application. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components, connections and relationships between components, and their functions shown herein are merely examples and are not intended to limit the implementation of the application described and / or claimed herein.

[0114] As shown in Figure 6, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer programs stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0115] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0116] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the transmit channel separation method of DDMA-MIMO radar.

[0117] In some embodiments, the DDMA-MIMO radar transmit channel separation method can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the DDMA-MIMO radar transmit channel separation method described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the DDMA-MIMO radar transmit channel separation method by any other suitable means (e.g., by means of firmware).

[0118] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0119] Computer programs used to implement the methods of this application may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0120] In the context of this application, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0121] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0122] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0123] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0124] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the transmit channel separation method for DDMA-MIMO radar as provided in any embodiment of this application.

[0125] In the implementation of the computer program product, computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0126] It should be understood that the various forms of processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this application can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this application can be achieved.

Claims

1. A method for separating the transmit channels of a DDMA-MIMO radar, comprising: The Doppler frequency domain is divided into N transmission channels based on the number M of transmitters included in the DDMA-MIMO radar; where M < N, and both M and N are positive integers greater than 1; and the M transmitters include one calibration transmitter. Establish initial correspondences between M transmitters and M arbitrary transmission channels; wherein, the initial correspondences include initial calibration correspondences, which are the initial correspondences between the calibrated transmitters and the transmission channels; The measurement range-Doppler amplitude information and reference range-Doppler amplitude information corresponding to the N transmission channels are determined; wherein, the measurement range-Doppler amplitude information is obtained by the DDMA-MIMO radar detecting the target, and the reference range-Doppler amplitude information is determined according to the initial correspondence; Determine the relevant information between the measured distance-Doppler amplitude information and the reference distance-Doppler amplitude information; Based on the relevant information and the initial correspondence, the target correspondence between each transmitter and the transmission channel is determined.

2. The method according to claim 1, wherein, Based on the number M of transmitters included in the DDMA-MIMO radar, the Doppler frequency domain is divided into N transmission channels, including: The number of transmitters M is calculated by a preset power to obtain the number of transmission channels N; Based on the number of transmission channels N, the Doppler frequency domain is divided into N regions, resulting in N transmission channels.

3. The method according to claim 1, wherein, The M transmitters are arranged in a preset order; the N transmission channels are arranged according to frequency domain intervals.

4. The method according to claim 3, wherein, Establish initial correspondences between the M transmitters and any M transmission channels, including: Randomly select M transmission channels from the N transmission channels; Establish a correspondence between any selected transmission channel and the calibrated transmitter; According to the arrangement order of the transmitters and the arrangement order of the transmission channels, a one-to-one relationship is established between the non-calibrated transmitters and the remaining selected transmission channels, so as to obtain the initial correspondence between the M transmitters and the M transmission channels respectively.

5. The method according to claim 1, wherein, Determining the measurement range-Doppler amplitude information corresponding to the N transmission channels includes: Acquire the echo signal of the target detected by the DDMA-MIMO radar; Perform a range-Doppler two-dimensional Fourier transform on the echo signal to obtain the measured range-Doppler data; Extract the amplitude of each transmission channel from the distance-Doppler data to obtain the distance-Doppler amplitude information corresponding to the N transmission channels.

6. The method according to claim 1, wherein, Determining the reference range-Doppler amplitude information corresponding to the N transmission channels includes: The zero-Doppler position of each transmitter is determined based on the initial correspondence; The reference range-Doppler amplitude information corresponding to the N transmission channels is determined based on the zero Doppler position.

7. The method according to claim 3, wherein, The measured range-Doppler amplitude information is represented by an N-dimensional vector, where the elements of the vector represent the measured range-Doppler amplitude of the transmission channel; the reference range-Doppler amplitude information is represented by an N-dimensional vector, where the elements of the vector represent the reference range-Doppler amplitude of the transmission channel.

8. The method according to claim 7, wherein, Determining the relevant information between the measured distance-Doppler amplitude information and the reference distance-Doppler amplitude information includes: The vector corresponding to the measured distance-Doppler amplitude information is convolved with the vector corresponding to the reference distance-Doppler amplitude information to obtain relevant information; wherein, the relevant information is represented by an N-dimensional vector.

9. The method according to claim 7, wherein, Determining the relevant information between the measured distance-Doppler amplitude information and the reference distance-Doppler amplitude information includes: Fourier transforms are performed on the measured distance-Doppler amplitude information and the reference distance-Doppler amplitude information, respectively; The measured distance-Doppler amplitude information after Fourier transform, the reference distance-Doppler amplitude information after Fourier transform, and the preset window function are fused to obtain fused information; Perform an inverse Fourier transform on the fused information to obtain relevant information; wherein, the relevant information is represented by an N-dimensional vector.

10. The method according to claim 8 or 9, wherein, Determining the target correspondence between each transmitter and transmission channel based on the aforementioned relevant information and the initial correspondence includes: Determine the maximum element in the vector corresponding to the relevant information; Determine the offset of the transmission channel corresponding to the largest element relative to the first transmission channel in the Doppler frequency domain; The initial correspondence is adjusted based on the offset to obtain the target correspondence.

11. The method according to claim 10, wherein, The initial correspondence is adjusted based on the offset to obtain the target correspondence, including: Based on the offset, the transmission channel corresponding to the calibrated transmitter in the initial calibration correspondence is adjusted to obtain the target transmission channel corresponding to the calibrated transmitter; Based on the target transmission channel corresponding to the calibrated transmitter and the arrangement order of the transmitters, the target transmission channel corresponding to the non-calibrated transmitter is determined, and the target correspondence is obtained.

12. A transmit channel separation device for a DDMA-MIMO radar, comprising: The Doppler frequency domain partitioning module is configured to divide the Doppler frequency domain into N transmission channels based on the number M of transmitters included in the DDMA-MIMO radar; wherein M < N, and both M and N are positive integers greater than 1; wherein one of the M transmitters is a calibration transmitter; The initial correspondence establishment module is configured to establish initial correspondences between M transmitters and M arbitrary transmission channels; wherein, the initial correspondences include initial calibration correspondences, which are the initial correspondences between the calibrated transmitters and the transmission channels; The range-Doppler amplitude information determination module is configured to determine the measured range-Doppler amplitude information and the reference range-Doppler amplitude information corresponding to the N transmission channels; wherein, the measured range-Doppler amplitude information is obtained by the DDMA-MIMO radar detecting the target, and the reference range-Doppler amplitude information is determined according to the initial correspondence; The relevant information determination module is configured to determine the relevant information between the measured distance-Doppler amplitude information and the reference distance-Doppler amplitude information; The target correspondence determination module is configured to determine the target correspondence between each transmitter and the transmission channel based on the relevant information and the initial correspondence.

13. An electronic device, comprising: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the transmit channel separation method of the DDMA-MIMO radar according to any one of claims 1-11.

14. A computer-readable storage medium storing computer instructions for causing a processor to execute and implement the transmit channel separation method of the DDMA-MIMO radar according to any one of claims 1-11.

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