High‐resolution millimeter‐wave radar systems for visualization of unstructured outdoor environments

This paper examines the use of millimeter‐wave radar systems for visualization and navigation in unstructured outdoor environments. Three types of radar systems are described. The first is a long range, 94 GHz, frequency modulated interrupted continuous wave radar which is capable of producing two‐dimensional (2D) reflectivity images to a range of more than 3 km. This is intended for use in long‐range path planning. The second is a class of medium range 77 GHz frequency modulated continuous wave (FMCW) radar with two axis mirror scanners which is capable of producing high resolution threedimensional (3D) imagery out to 500 m at a reasonably slow frame rate. The final class also operates using the FMCW principle, but at 94 GHz, to produce high resolution 2D and 3D images out to about 50 m at a much higher update rate. These shorter range sensors may be used to determine the traversability of the local terrain. The outputs produced by the different classes of radar are examined and the paper considers their advantages when compared to other sensors such as vision and scanning laser. Using radar images, the final section compiles rules for interpreting radar reflectivity images from a path‐planning perspective. © 2006 Wiley Periodicals, Inc.     

无线FMCW雷达测距系统的设计

针对复杂环境下测距的需求设计了一种基于ZigBee协议的无线FMCW雷达测距系统。采用DDS产生高精度三角波来调制FMCW雷达,中频信号经过滤波放大等处理后,再用DSP进行FFT和公式拟合法处理得出距离信息,并通过CC2530发送到上位机。经测试系统达到了设计要求。     

调频连续波SAR数字接收机技术研究

针对调频连续波合成孔径雷达系统误差提取和校正困难的问题,提出了一种基于数字接收机的调频连续波合成孔径雷达系统方案.分析了去调频接收模式下调频连续波合成孔径雷达的回波特性,研究了系统误差对回波信号的影响,推导了在数字时域对回波信号进行正交解调、去调频接收处理以及系统误差提取的实现过程.数字接收处理的方法可以简单有效地提取系统的幅相误差,并进行校正.最后,通过实验仿真证明了该方法的有效性和正确性.     

储油罐液位监测雷达设计与实现

针对目前炼油厂实际生产状况,提出利用FMCW雷达测距技术设计储油罐液位自动监测系统,旨在提高生产自动化程度和降低生产中的安全隐患。文中重点介绍了液位监测雷达的测距原理,采用FFT／CZT算法提高雷达测距精度并给出基于DSP实现方案。通过仿真结果和实验室样本测量数据显示,FMCW雷达的测距精度满足工业设计需要。     

Development and experimental validation of automatic radar recorder of the number and speed of vehicles for opposite traffic directions

The designing of a continuous wave radar (CW) intended for remote counting of traffic (remote traffic counter) and speed measurement of vehicles using speed trajectories in the radar beam for long-range transferring of these data is considered. It was experimentally shown that, for recording the current number of vehicles and measuring the speed of each of them in both traffic directions, it is more expedient to use a CW radar rather than an FMCW radar (frequency modulation continuous wave radar). A CW radar is more immune to noises of the receiver and the interferences formed due to the offset of the phase and amplitudes at quadrature outputs of the IQ mixer, the lateral lobes of the antenna directivity diagram, and interfering reflections from low Doppler and stationary targets. The circuit and the signal processing software for the CW radar have been developed. The CW design proposed by the authors is currently implemented based on the Xilinx FPGA programmable logic integrated devices (PLD) entering the working radar prototype.     

调频连续波雷达信号调制方式识别算法研究

提出了一种识别调频连续波雷达信号调制方式的算法.采用短时傅里叶变换得到信号的时频变化曲线,将信号调制方式的识别问题转化为周期性曲线类型的识别.对周期性曲线的频谱进行特征分析,根据谐波成分的差异,实现曲线类型的正确识别,进而得到信号的调制方式.仿真结果表明,该算法能够正确识别常用的调频连续波雷达信号的调制方式,而且在信噪比为-10 dB时仍然具有很好的性能.     

基于微动调制的FMCW SAR无源压制干扰方法

调频连续波(FMCW)合成孔径雷达(SAR)体积小、重量轻、成本低、功耗低等优点,在无人机等小型飞行平台中具有较大的应用潜力,对FMCW SAR的干扰也将成为目前干扰技术研究的重点;在构建旋转微动目标回波模型的基础上,分析了FMCW SAR旋转微动目标的干扰特性,并进一步提出了一种基于微动调制的FMCW SAR无源压制干扰方法;该方法利用旋转角反射器在距离向和方位向上形成的二维干扰条带,能够实现对被掩护目标的有效保护;文章详细分析了对FMCW SAR实施干扰时旋转角反射器的参数选择方法,并利用仿真实验验证了理论分析与所提无源压制干扰方法的有效性。     

小波变换在雷达物位计信号处理中的应用

雷达物位计信号处理的关键是去除噪声,提取有用信息.通过研究调频连续波FMCW雷达物位计工作原理及信号处理的基本算法,对比传统的采用傅里叶变换进行信号处理的方法,提出了采用小波变换来去除回波的干扰信号.实际应用结果表明,小波分析可以有效地应用于分析物位计回波信号,为提高测量精度等后续工作的开展提供稳定数据.     

FMCW雷达近程测距系统设计

针对FMCW雷达测距原理和差频信号特点,提出了基于程控窄带滤波器MAX264、以硬件电路的形式实现距离谱分析的方法。采用德国Innosent公司推出的FMCW雷达收发器IVS-162,设计并实现了FMCW雷达近程测距系统。系统性能稳定、成本低、简单实用,有广阔的应用前景。     

基于DSP技术的汽车防撞雷达

简要介绍了各种汽车防撞技术的工作原理,分析比较了现有汽车防撞技术的优缺点,提出了一种基于DSP的可实现低成本、高精度测距测速功能的FMCW(调频连续波)防撞雷达设计方案,具体介绍了DSP在系统中的作用。     

汽车巡航控制用传感器进展

自主智能巡航控制系统利用前视雷达传感器收集前方道路上交通和障碍物的信息。毫米波雷达和激光雷达是常用于汽车自主智能巡航控制的雷达传感器 ,介绍了这两种汽车传感器的工作原理、技术指标和发展趋势     

Including probabilistic target detection attributes into map representations

Range measuring sensors can play an extremely important role in robot navigation. All range measuring devices rely on a ‘detection criterion’ made in the presence of noise, to determine when the transmitted signal is considered detected and hence a range reading is obtained. In commonly used sensors, such as laser range finders and polaroid sonars, the criterion under which successful detection is assumed, is kept hidden from the user. However, ‘detection decisions’ on the presence of noise still take place within the sensor. This paper integrates signal detection probabilities into the map building process which provides the most accurate interpretation of such sensor data. To facilitate range detection analysis, map building with a frequency modulated continuous wave millimetre wave radar (FMCW MMWR), which is able to provide complete received power-range spectra for multiple targets down range is considered. This allows user intervention in the detection process and although not directly applicable to the commonly used ‘black-box’ type range sensors, provides insight as to how not only range values, but received signal strength values should be incorporated into the map building process.This paper presents two separate methods of map building with sensors which return both range and received signal power information. The first is an algorithm which uses received signal-to-noise power to make an estimates of the range to multiple targets down range, without any signal distribution assumptions. We refer to this as feature detection based on target presence probability (TPP). In contrast to the first method, the second method does use assumptions on the statistics of the signal in target presence and absence scenarios to formulate a probabilistic likelihood detector. This allows for an increased rate of convergence to ground truth. Evidence theory is then introduced to model and update successive observations in a recursive fashion. Both methods are then compared using real MMWR data sets from indoor and outdoor experiments.     

毫米波雷达在车路协同系统中的应用研究

随着车路协同系统技术的研究与发展,感知设备的可靠性、稳定性、高性价比、可大规模部署等要求被提出来。而毫米波雷达正是满足这一要求的器件。介绍了一种基于智能网联平台的车路协同的基本组成与架构,阐述其在交通系统中发挥的作用。重点讨论了毫米波雷达感知技术的原理与功能,研究以毫米波雷达为主要感知设备搭建车路协同系统的可行性,研究毫米波雷达技术在智能交叉路口、智能高速/快速公路、智能停车场三种车路协同场景下的应用。可为毫米波雷达技术在车路协同系统中的应用研究提供参考。     

基于DSP的雷达信号自适应滤波器

针对调频连续波(FMCW)汽车防撞雷达实际信号的特点,设计了一种数字信号处理器(DSP)程控自适应滤波器,介绍了其原理与具体实现方法,并结合防撞雷达有用双频信号提取的实例,分析了,该滤波器的硬件结构和软件流程,试验数据表明,该自适应滤波器可以有效地去除干扰并实现有用信号的精确提取。     

基于可解释网络解耦表征的低成本雷达定位解算方法

为降低调频连续波（FMCW）雷达成本,同时提高定位精度,设计可解释解耦表征模型,该模型由网络解算器、虚假信号生成器以及可解释潜变量三部分组成,首先处理雷达信号获得中频频谱;然后输入到网络解算器中生成位置潜变量;再通过物理机制对潜变量进行转换,生成虚假中频信号频谱;最后,设计局部光滑损失函数对模型进行自监督训练,实现潜变量的解耦物理表征。实验结果表明：所提算法能对雷达系统频谱信号的粗粒度进行超分辨率细化,其机理能有效应对雷达系统的硬件公差、环境噪声、安装误差等问题,并可自动地训练出雷达的解算网络,从而具有大规模室内、机载联网定位的应用潜力。     

Parameter measurements of moving targets using a 24-GHz radar

We designed a 24-GHz traffic surveillance radar (TSR-24) to monitor automobile and pedestrian. The range, radial velocity and direction-of-arrival (DOA) of the moving targets can be measured by the radar in real-time. The radar consists of a radar sensor, a waveform generation module, a filter and amplifier module and a digital signal processor (DSP) platform. The radar can be configured to work in Doppler mode or frequency modulated continuous wave (FMCW) mode through software configuration. The phase-monopulse approach is used for the target DOA estimation. A DOA error reduction method and the Rife method are proposed to improve the range and DOA accuracy. The parameter estimation algorithms are implemented in DSP. The radar is used to detect and track motorcycles, cars, trucks and even pedestrians. The measurement of an electric vehicle shows that the velocity error is 0.022 m/s. Various tests indicate that the range and DOA error is no more than 0.25 m and 1°, respectively.     

Technical note Observation of internal waves in LANDSAT and SEASAT satellite imagery

Available LANDSAT and SEASAT images of the North American east and west coasts were analysed for internal wave patterns during the summer months of 1978. These images are from the satellite sensors: (i) multispectral scanner on board the LANDSAT satellite and (ii) synthetic aperture radar on board the SEASAT satellite. The Gulf of California during these months provided an excellent opportunity to compare the detectability of ocean internal wave patterns in these two sensors since the internal waves were tidally generated every 12·45 hours and cloud contamination in the LANDSAT imagery was negligible. Internal wave patterns were frequently visible in SEASAT imagery but only occasionally visible in LANDSAT imagery, a fact which cannot be explained by cloud contamination. Furthermore multiple wave packets with 12·45 hours spacing were observed from SEASAT but not always from LANDSAT. One possible reason for the infrequent detection of internal wave patterns from LANDSAT is that a specialized Earth-Sun-satellite geometry is required to image these waves.     

一种雷达和摄像机的空间标定方法

多传感器融合技术已经广泛应用在智能汽车环境感知领域中;雷达和摄像机的空间标定是伴随信息实时融合的道路检测技术的基础;结合智能汽车的实际应用,提出了针对激光雷达和摄像机的空间标定方法;通过特制的标定板来获得雷达数据和图像数据,选取激光雷达坐标系作为世界坐标系,通过参数拟合的方法来求取图像坐标系与雷达坐标系的变换关系,进而实现两种传感器的空间配准;该方法只需要标定板就能够完成激光雷达和摄像机的空间标定,标定精度高,实现了多个传感器世界坐标系的统一,避免了后续处理中数据解释的二义性;实验结果表明这种方法简单准确,满足系统要求。     

基于SystemVue汽车雷达系统研究

针对毫米波雷达射频、信号处理以及超分辨测角问题,提出了一种基于SystemVue进行汽车雷达系统设计和信号处理算法设计的方法。首先,利用SystemVue自带的射频库和通用算法库进行雷达系统设计,真实模拟了毫米波射频、天线及目标环境的相互影响;其次,针对快调频的FMCW信号波形,给出了完整的汽车雷达目标距离、速度和角度的信息处理算法流程;最后,针对汽车雷达系统测角精度较低的问题,提出了基于酉变换MUSIC的测角算法,大大降低了汽车雷达超分辨求角的运算量。仿真结果表明,该方法解决了汽车雷达的链路设计、射频指标对雷达信号处理性能影响的评估问题,更真实、更全面地反映了汽车雷达系统的性能,为雷达系统的研究提供了有力依据。     

Efficient aimpoint tracking using target range profiles of a wideband FMCW seeker

International Journal of Control, Automation and Systems - This paper proposes an efficient aimpoint tracking filter for high-range resolution FMCW radar seekers. A modified probabilistic data...