阅读说明：本技术 雷达信号处理方法、装置、数字雷达接收机和存储介质 (Radar signal processing method, apparatus, digital radar receiver, and storage medium ) 是由 周朝阳 戴勇 李志超 黄永红 于 2019-08-05 设计创作，主要内容包括：本发明实施例公开了雷达信号处理方法、装置、数字雷达接收机和存储介质,所述雷达信号处理方法包括根据接收到的射频信号采样输出数字采样信号；控制图像处理器中的多个线程同时开启,每个线程分别根据对应采样周期的数字采样信号和预存的正交相干基准信号输出相应的两路正交基带信号；将所述两路正交基带信号输入至预设训练模型,获取目标识别信息,因此相对于现有技术,本发明实施例在图形处理器中同时开启多个线程根据软件模拟预存的基准信号进行正交基带信号计算,不仅保证了雷达信号处理的实时性,且可根据具体需要修改调整基准信号,同时保证了雷达信号处理的通用性,实现高速且灵活的雷达信号处理。(The embodiment of the invention discloses a radar signal processing method, a radar signal processing device, a digital radar receiver and a storage medium, wherein the radar signal processing method comprises the steps of sampling and outputting a digital sampling signal according to a received radio frequency signal; controlling a plurality of threads in the image processor to be started simultaneously, and outputting two corresponding paths of orthogonal baseband signals by each thread according to the digital sampling signals corresponding to the sampling period and the pre-stored orthogonal coherent reference signals; the two paths of orthogonal baseband signals are input into a preset training model to obtain target identification information, so that compared with the prior art, the embodiment of the invention simultaneously starts a plurality of threads in the graphic processor to calculate the orthogonal baseband signals according to the reference signals pre-stored by software simulation, thereby not only ensuring the real-time property of radar signal processing, but also modifying and adjusting the reference signals according to specific needs, simultaneously ensuring the universality of radar signal processing and realizing high-speed and flexible radar signal processing.)

1. A radar signal processing method is characterized by comprising the following steps:

sampling and outputting a digital sampling signal according to a received radio frequency signal;

controlling a plurality of threads in the image processor to be started simultaneously, and outputting two corresponding paths of orthogonal baseband signals by each thread according to the digital sampling signals corresponding to the sampling period and the pre-stored orthogonal coherent reference signals;

and inputting the two paths of orthogonal baseband signals to a preset training model to obtain target identification information.

2. The radar signal processing method of claim 1, wherein sampling the output digital sampled signal from the received radio frequency signal comprises:

sequentially carrying out low-noise amplification and filtering processing on the received radio frequency signals;

mixing the filtered radio frequency signals to obtain intermediate frequency signals;

and filtering the intermediate frequency signal, performing A/D sampling, and outputting a digital sampling signal.

3. The radar signal processing method of claim 1, wherein sampling the output digital sampled signal from the received radio frequency signal further comprises:

and (4) acquiring and storing the quadrature coherent reference signals of each sampling period in advance in an analog mode.

4. The radar signal processing method according to claim 3, wherein the pre-simulating obtaining and storing the quadrature coherent reference signals for each sampling period comprises:

setting corresponding analog parameters according to digital orthogonal phase discrimination parameters in the current digital radar receiver;

and calculating the quadrature coherent reference signals of each sampling period through the analog parameters and storing the quadrature coherent reference signals in a corresponding lookup table.

5. The method of claim 4, wherein each thread outputs two quadrature baseband signals according to the digital sampling signal of the corresponding sampling period and a pre-stored quadrature coherent reference signal, respectively, and comprises:

acquiring the lookup table, and multiplying the digital sampling signal corresponding to the sampling period by the orthogonal coherent reference signal in each thread according to the data in the lookup table to obtain an in-phase branch baseband signal and an orthogonal branch baseband signal which are alternately output;

and carrying out time delay alignment processing on the in-phase branch baseband signals and the quadrature branch baseband signals which are alternately output, and outputting two paths of separated quadrature baseband signals.

6. The radar signal processing method according to claim 5, wherein the performing delay alignment processing on the in-phase branch baseband signal and the quadrature branch baseband signal that are alternately output specifically includes:

and interpolating the in-phase branch baseband signal and the quadrature branch baseband signal which are alternately output through digital interpolation filtering processing to realize delay alignment.

7. The radar signal processing method according to claim 1, wherein the inputting the two paths of orthogonal baseband signals into a preset training model to obtain target identification information further comprises:

inputting training data into a deep learning frame, and performing deep learning training on the deep learning frame according to a training target to obtain a preset training model.

8. A radar signal processing apparatus, characterized in that the apparatus comprises at least one processor; and the number of the first and second groups,

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the radar signal processing method of any one of claims 1-7.

9. A non-transitory computer-readable storage medium storing computer-executable instructions that, when executed by one or more processors, cause the one or more processors to perform the radar signal processing method of any one of claims 1-7.

10. A digital radar receiver comprising a radar signal processing apparatus according to claim 8.

Technical Field

The present invention relates to the field of digital radar technology, and in particular, to a radar signal processing method and apparatus, a digital radar receiver, and a storage medium.

Background

With the development of modern technology, the clock frequency in the digital radar receiver and the clock frequency of the a/D converter are higher and higher, and the a/D converter with a very high sampling rate can improve the signal time resolution, and at the same time, the data volume of the sampling signal output by the a/D converter is larger and larger, thereby providing a high requirement for the subsequent radar signal preprocessing.

Radar signal preprocessing usually adopts a digital quadrature phase discrimination mode, and in practical application, digital quadrature phase discrimination is generally completed by using an Application Specific Integrated Circuit (ASIC), a field programmable array (FPGA) and a special high-speed digital signal processing chip. Although the execution speed of the preprocessing scheme is high, the processing procedures are not highly versatile; for example, in the radar implementation process, some parameters of the digital quadrature phase detection need to be modified, and only the hardware module in the digital quadrature phase detection can be replaced or customized; especially for a receiver with an agile frequency, it is very inconvenient to use the above preprocessing, and if the preprocessing is put into the DSP for processing, the real-time performance of the system is affected, so that both the versatility and the real-time performance cannot be considered.

Disclosure of Invention

In view of the above technical problems, embodiments of the present invention provide a radar signal processing method and apparatus, a digital radar receiver, and a storage medium, which are used to solve the problem that in the prior art, radar signal processing cannot take account of both universality and real-time performance.

A first aspect of an embodiment of the present invention provides a radar signal processing method, including the steps of:

sampling and outputting a digital sampling signal according to a received radio frequency signal;

controlling a plurality of threads in the image processor to be started simultaneously, and outputting two corresponding paths of orthogonal baseband signals by each thread according to the digital sampling signals corresponding to the sampling period and the pre-stored orthogonal coherent reference signals;

and inputting the two paths of orthogonal baseband signals to a preset training model to obtain target identification information.

Optionally, the sampling and outputting a digital sampling signal according to a received radio frequency signal includes:

sequentially carrying out low-noise amplification and filtering processing on the received radio frequency signals;

mixing the filtered radio frequency signals to obtain intermediate frequency signals;

and filtering the intermediate frequency signal, performing A/D sampling, and outputting a digital sampling signal.

Optionally, the sampling and outputting a digital sampling signal according to a received radio frequency signal further includes:

and (4) acquiring and storing the quadrature coherent reference signals of each sampling period in advance in an analog mode.

Optionally, the pre-analog obtaining and storing of the quadrature coherent reference signal of each sampling period specifically includes:

setting corresponding analog parameters according to digital orthogonal phase discrimination parameters in the current digital radar receiver;

and calculating the quadrature coherent reference signals of each sampling period through the analog parameters and storing the quadrature coherent reference signals in a corresponding lookup table.

Optionally, each thread outputs two corresponding paths of quadrature baseband signals according to the digital sampling signal corresponding to the sampling period and a pre-stored quadrature coherent reference signal, respectively, and the method includes:

acquiring the lookup table, and multiplying the digital sampling signal corresponding to the sampling period by the orthogonal coherent reference signal in each thread according to the data in the lookup table to obtain an in-phase branch baseband signal and an orthogonal branch baseband signal which are alternately output;

and carrying out time delay alignment processing on the in-phase branch baseband signals and the quadrature branch baseband signals which are alternately output, and outputting two paths of separated quadrature baseband signals.

Optionally, the performing delay alignment processing on the in-phase branch baseband signal and the quadrature branch baseband signal that are alternately output specifically includes:

and interpolating the in-phase branch baseband signal and the quadrature branch baseband signal which are alternately output through digital interpolation filtering processing to realize delay alignment.

Optionally, the inputting the two paths of orthogonal baseband signals to a preset training model to obtain target identification information further includes:

inputting training data into a deep learning frame, and performing deep learning training on the deep learning frame according to a training target to obtain a preset training model.

A second aspect of an embodiment of the present invention provides a radar signal processing apparatus, including at least one processor; and the number of the first and second groups,

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the radar signal processing method as described above.

A third aspect of embodiments of the present invention provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer-executable instructions, and when executed by one or more processors, the computer-executable instructions may cause the one or more processors to perform the radar signal processing method as described above.

A fourth aspect of the embodiments of the present invention provides a digital radar receiver, which includes the radar signal processing apparatus as described above.

In the technical scheme provided by the embodiment of the invention, the radar signal processing method comprises the steps of sampling and outputting a digital sampling signal according to a received radio frequency signal; controlling a plurality of threads in the image processor to be started simultaneously, and outputting two corresponding paths of orthogonal baseband signals by each thread according to the digital sampling signals corresponding to the sampling period and the pre-stored orthogonal coherent reference signals; the two paths of orthogonal baseband signals are input into a preset training model to obtain target identification information, so that compared with the prior art, the embodiment of the invention simultaneously starts a plurality of threads in the graphic processor to calculate the orthogonal baseband signals according to the reference signals pre-stored by software simulation, thereby not only ensuring the real-time property of radar signal processing, but also modifying and adjusting the reference signals according to specific needs, simultaneously ensuring the universality of radar signal processing and realizing high-speed and flexible radar signal processing.

Drawings

Fig. 1 is a flowchart of the radar signal processing method according to the embodiment of the present invention;

fig. 2 is a schematic diagram of digital quadrature phase discrimination in the radar signal processing method according to the embodiment of the present invention;

fig. 3 is a schematic diagram of multi-thread processing in the radar signal processing method according to the embodiment of the present invention;

fig. 4 is a schematic diagram of a hardware structure of the radar signal processing apparatus according to the embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, a radar signal processing method according to an embodiment of the present invention includes the following steps:

s100, sampling and outputting a digital sampling signal according to a received radio frequency signal;

s200, controlling a plurality of threads in the image processor to be started simultaneously, and outputting two corresponding paths of orthogonal baseband signals by each thread according to the digital sampling signals corresponding to the sampling periods and the pre-stored orthogonal coherent reference signals;

s300, inputting the two paths of orthogonal baseband signals to a preset training model to obtain target identification information.

In this embodiment, when the digital radar receiver operates, a digital sampling signal is sampled and output according to a received radio frequency signal, then radar signal preprocessing is performed, and in order to simultaneously consider both universality and real-time performance during preprocessing, an orthogonal coherent reference signal is stored in a memory and can be called or modified at any time, a plurality of threads in a graphics processing unit, namely a GPU, are controlled to be simultaneously started, and multiple threads operate in parallel, each thread outputs two corresponding orthogonal baseband signals according to the digital sampling signal and the orthogonal coherent reference signal of a corresponding sampling period, and then inputs the two orthogonal baseband signals to a preset training model, and after signal processing is performed on the two orthogonal baseband signals, target identification information is obtained, so that the purpose of radar target identification is achieved. Because the orthogonal coherent reference signals are pre-stored through software simulation in the embodiment, and a multi-thread parallelization scheme is adopted, in the working process of the radar system, parameters can be modified at any time as required to obtain new orthogonal coherent reference signals, hardware modules do not need to be replaced or customized, so that the radar signal preprocessing realizes real-time processing on the premise of ensuring universality and modification, high-precision and stable orthogonal baseband signals are provided for subsequent signal identification processing, the real-time performance and the universality of radar signal processing are considered, and high-speed and flexible radar signal processing is realized.

Further, the sampling and outputting a digital sampling signal according to the received radio frequency signal includes:

sequentially carrying out low-noise amplification and filtering processing on the received radio frequency signals;

mixing the filtered radio frequency signals to obtain intermediate frequency signals;

and filtering the intermediate frequency signal, performing A/D sampling, and outputting a digital sampling signal.

In this embodiment, before the digital radar receiver outputs the quadrature baseband signal to the signal processor, it needs to sample and output the received radio frequency signal, and first, low noise amplification and filtering processing are sequentially performed on the received radio frequency signal, for example, AGC (automatic gain control) and AFC (automatic frequency control) are used to control a radar echo signal in a dynamic range, and a LNA (low noise amplifier) is used to filter and obtain a radio frequency signal with a higher signal-to-noise ratio, and then the radio frequency signal is mixed to become an intermediate frequency signal, and after filtering, the intermediate frequency signal is input to an a/D sampler to perform a/D sampling, and a digital sampling signal is output, so that the digital sampling signal is used for subsequent radar signal preprocessing to obtain the quadrature baseband signal, and a basis is provided for subsequent efficient radar signal processing.

Further, the sampling and outputting a digital sampling signal according to the received radio frequency signal further includes:

and (4) acquiring and storing the quadrature coherent reference signals of each sampling period in advance in an analog mode.

In the embodiment, the orthogonal coherent reference signals of each sampling period are obtained in advance in a software simulation mode and stored, because the software phase can generate pure reference signals without phase noise and stray level on hardware, the hardware of the traditional digital radar receiver, such as a filter, an oscillator and the like, particularly the temperature drift, gain change or direct current level drift of an analog circuit can greatly affect the generated signals and has low universality, only a hardware module can be replaced to achieve the purpose of modification, the orthogonal coherent reference signals are obtained in the software simulation mode in the embodiment, the analog circuit part of the radar receiver is reduced as much as possible, the precision and the stability of radar signal processing are improved, the software simulation parameters are flexibly and conveniently modified, and different orthogonal coherent reference signals can be generated only by modifying the parameters on a software level, the universality of radar signal processing is realized.

Specifically, the pre-analog obtaining and storing of the quadrature coherent reference signal of each sampling period specifically includes:

setting corresponding analog parameters according to digital orthogonal phase discrimination parameters in the current digital radar receiver;

and calculating the quadrature coherent reference signals of each sampling period through the analog parameters and storing the quadrature coherent reference signals in a corresponding lookup table.

Namely, when the orthogonal coherent reference signal is obtained in an analog mode, corresponding analog parameters can be set according to the current digital orthogonal phase discrimination parameters, namely, the orthogonal coherent reference signals of each sampling period are calculated according to the simulation parameters and are stored in the corresponding lookup table, and the lookup table is stored in a constant memory with a buffer memory, for subsequent calling, in this embodiment, a software simulation mode is used to replace a coherent oscillator (COHO) to generate a quadrature coherent reference signal, therefore, corresponding signals can be generated according to different required parameters, for example, waveforms of arbitrary frequency modulation, amplitude modulation and phase modulation can be generated, so that not only can the agility of various parameters and various signal waveforms be realized, but also digital signals with pure frequency spectrum and low phase noise can be generated, the amplitude compensation and the phase compensation can be conveniently realized, and the performance parameters of the generated waveforms are greatly improved.

Further, each thread outputs two corresponding paths of orthogonal baseband signals according to the digital sampling signals corresponding to the sampling period and the pre-stored orthogonal coherent reference signals, and the method comprises the following steps:

acquiring the lookup table, and multiplying the digital sampling signal corresponding to the sampling period by the orthogonal coherent reference signal in each thread according to the data in the lookup table to obtain an in-phase branch baseband signal and an orthogonal branch baseband signal which are alternately output;

and carrying out time delay alignment processing on the in-phase branch baseband signals and the quadrature branch baseband signals which are alternately output, and outputting two paths of separated quadrature baseband signals.