阅读说明：本技术 一种基于毫米波雷达的数据同步采集系统 (Data synchronous acquisition system based on millimeter wave radar ) 是由 谢波 于 2019-10-18 设计创作，主要内容包括：本发明公开了一种基于毫米波雷达的数据同步采集系统,所述数据同步采集系统至少包括：雷达前端、雷达后端和数据采集系统,所述雷达前端与雷达后端相连,所述雷达后端经以太网通信模块和/或Can通信模块与所述数据采集系统相连；通过本发明的数据同步采集系统的结构设置,使得本发明提供的新的雷达数据采集系统可以采集的雷达过程数据有射频端ADC中频采样数据、距离维FFT数据、速度维FFT数据、角度FFT数据、原始目标数据和聚类跟踪目标数据,所有过程都存储到单个文件中,并进行数据分类,并可以为记录数据添加备注信息,可以无损的对数据文件实时压缩,实时文件分段记录,克服了传统数据采集系统的技术缺陷。(The invention discloses a data synchronous acquisition system based on a millimeter wave radar, which at least comprises: the system comprises a radar front end, a radar rear end and a data acquisition system, wherein the radar front end is connected with the radar rear end, and the radar rear end is connected with the data acquisition system through an Ethernet communication module and/or a Can communication module; through the structural arrangement of the data synchronous acquisition system, the radar process data which can be acquired by the novel radar data acquisition system provided by the invention comprises radio frequency end ADC intermediate frequency sampling data, distance dimension FFT data, speed dimension FFT data, angle FFT data, original target data and cluster tracking target data, all the processes are stored in a single file and are subjected to data classification, remark information can be added to the recorded data, the data file can be compressed in real time without damage, the real-time file is recorded in a segmented manner, and the technical defects of the traditional data acquisition system are overcome.)

1. A data synchronous acquisition system based on a millimeter wave radar is characterized in that,

the data synchronous acquisition system at least comprises: the system comprises a radar front end (5), a radar rear end and a data acquisition system (2), wherein the radar front end (5) is connected with the radar rear end, and the radar rear end is connected with the data acquisition system (2) through an Ethernet communication module and/or a Can communication module (4);

the radar front end (5) at least comprises a mixer and an analog-to-digital converter (ADC), and the radar rear end at least comprises an algorithm processor (DSP) (6) and a logic processor (MCU) (7);

the radar front end (5) sends the frame start flag bit, the period counting data and the ADC sampling data of the processed data signal to the data acquisition system (2) through the radar rear end and the Ethernet communication module,

and a logic processor MCU (7) at the rear end of the radar carries out FFT (fast Fourier transform) on data sent by the front end (5) of the radar for 3 times to obtain distance information, angle information and speed information of an original target, obtains tracked target information through a clustering tracking algorithm, and sends periodic counting data, original target data and clustering tracking target data to a data acquisition system (2) through a Can communication module (4).

2. The millimeter wave radar-based data synchronous acquisition system according to claim 1, wherein the logic processor MCU (7) of the radar back end schedules the algorithm processor DSP (6) to perform 1DFFT on ADC sampling data sent by the radar front end (5), and sends the generated 1DFFT result to the data acquisition system (2) through the radar Ethernet communication module.

3. The millimeter wave radar-based data synchronous acquisition system according to claim 2, wherein the logic processor MCU (7) schedules the radar algorithm processor DSP (6) to perform 2DFFT on the 1DFFT data, and transmits the generated 2DFFT result to the data acquisition system (2) through the radar Ethernet communication module.

4. The millimeter wave radar-based data synchronous acquisition system according to claim 3, wherein the logic processor MCU (7) performs CFAR and 2DPeekSearch algorithms to find targets, performs 3DFFT according to multiple channel target 2DFFT data, and sends the generated 3DFFT result and frame end flag to the data acquisition system (2) through the radar Ethernet communication module.

5. The millimeter wave radar-based data synchronous acquisition system according to claim 4, wherein the data acquisition system (2) comprises a device communication module, an asynchronous event bus module and a data acquisition processor;

and after the network node of the equipment communication module receives the data sent by the Ethernet communication module and analyzes the data, unpacking each frame of data to extract cycle count data, ADC intermediate frequency sampling data, 1DFFT data, 2DFFT data and 3DFFT data, and sending the data to the asynchronous event bus module in a mode of processing a process data event by a radar.

6. The millimeter wave radar-based data synchronous acquisition system according to claim 5, wherein a Can node in the device communication module receives data transmitted by a Can communication module (4), parses the received Can data to obtain original target list information and cluster-tracked target list information, and sends the data to the asynchronous event bus module in the form of original/cluster target events,

and setting an event data receiving time stamp as an initial Can message receiving time stamp of each frame.

7. The millimeter-wave radar-based data synchronous acquisition system according to claim 6, wherein the asynchronous event bus module asynchronously invokes the data acquisition processor and buffers two types of received events including radar process data events and original/clustered target events into a queue with a corresponding frame number according to the frame number, thereby achieving alignment of target data and radar process data.

8. The millimeter wave radar-based data synchronous acquisition system according to claim 7, wherein the data of the two types of events stored in the asynchronous event queue is data obtained by compressing and storing a data stream by using GZIP/SZIP.

9. The millimeter wave radar-based data synchronous acquisition system according to claim 7, wherein the data acquisition processor finishes scanning the cached asynchronous data queue based on the preset segmentation interval information of the data acquisition system (2), and when the caching of two data events is ready, the asynchronous data queue is intercepted in a whole segment, and the data is asynchronously written into the TDMS file, so that the data is not lost before and after the interception.

10. The data synchronous acquisition system based on millimeter wave radar as claimed in claim 9, wherein the data acquisition processor establishes data channels for the data of radar processing process data events recorded in the TDMS file, respectively, and stores the compressed data streams into the corresponding channels;

and the data acquisition processor inputs remark attributes to the TDMS file day, wherein at least the remark comprises radar firmware version information and experiment name information.

Technical Field

The invention belongs to millimeter wave radar signal processing, and particularly relates to a synchronous data and video data acquisition system in a millimeter wave radar signal processing process.

Background

The millimeter wave radar is a radar working in a millimeter wave frequency band, and the frequency range corresponding to millimeter waves is 30-300 GHz. At present, the millimeter wave radar has all-weather working capability all day long, so that the millimeter wave radar is widely applied to the fields of intelligent driving, traffic, security and the like.

Compared with the centimeter wave seeker, the millimeter wave seeker has the characteristics of small volume, light weight and high spatial resolution. Compared with optical probes such as infrared, laser and television, the millimeter wave probe has strong capability of penetrating fog, smoke and dust and has the characteristics of all weather (except heavy rainy days) all day long. In addition, the anti-interference and anti-stealth capabilities of the millimeter wave seeker are also superior to those of other microwave seekers. The millimeter wave radar can distinguish and identify very small targets and can identify a plurality of targets simultaneously; the imaging device has the advantages of imaging capability, small volume, good maneuverability and good concealment.

The light wave is seriously transmitted and attenuated in the atmosphere, and the requirement on the processing precision of the device is high. Compared with light waves, millimeter waves have small attenuation when being transmitted by utilizing an atmospheric window (certain frequencies with extremely small attenuation values caused by resonance absorption of gas molecules when millimeter waves and submillimeter waves are transmitted in the atmosphere), and are less influenced by natural light and a thermal radiation source. For this reason, they are of great significance in communication, radar, guidance, remote sensing technology, radio astronomy and spectroscopy. The millimeter wave frequency of the atmospheric window can realize large-capacity satellite-ground communication or ground relay communication. The low elevation angle precision tracking radar and the imaging radar can be realized by utilizing the narrow wave beam and low sidelobe performance of the millimeter wave antenna. The millimeter wave radiometer with high resolution is suitable for remote sensing of meteorological parameters. The components of the interplanetary substances can be deduced by detecting the radiation spectrum of the cosmonautic space with the radio astronomical telescopes of millimeter wave and submillimeter wave. The advantages are mainly the following:

(1) small antenna aperture, narrow beam: high tracking and guiding precision; the low elevation angle tracking is easy to carry out, and the ground multipath and clutter interference are resisted; the method has high transverse resolution on near-empty targets; high angular resolution is provided for region imaging and target monitoring; high anti-interference performance of narrow beams; high antenna gain; small objects, including power lines, poles, etc., are easily detected.

(2) Large bandwidth: the method has high information rate, and is easy to adopt narrow pulse or broadband frequency modulation signals to obtain the detailed structural characteristics of the target; the device has wide spectrum spreading capability, reduces multipath and clutter and enhances the anti-interference capability; the radar or millimeter wave recognizer of adjacent frequency works, so that mutual interference is easy to overcome; high distance resolution and easy obtaining of accurate target tracking and identification capability.

(3) High doppler frequency: good detection and identification capabilities of slow targets and vibrating targets; the target characteristic identification is easy to be carried out by utilizing the target Doppler frequency characteristic; penetration characteristics to dry atmospheric pollution provide good detection capability under dust, smoke and dry snow conditions.

(4) Good stealth resistance: the wave-absorbing materials coated on the stealth aircraft are all directed to centimeter waves. According to the foreign research, the stealth target irradiated by the millimeter wave radar can form multi-part strong electromagnetic scattering, so that the stealth performance of the stealth target is greatly reduced, and therefore, the millimeter wave radar also has the potential of anti-stealth.

At present, data streams of most millimeter wave data acquisition systems in radar signal processing processes cannot be synchronized in high consistency, and the acquired data types are single.

Meanwhile, most of the existing millimeter wave data acquisition systems cannot effectively compress data streams, cannot archive and store different types of process data, cannot ensure that data between segments are not lost after data segmentation recording, cannot add remark information to acquired data files, and are not beneficial to data acquisition management.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide a data synchronous acquisition system which can realize the classified acquisition and storage of radar process data, can add remark information to the recorded data, realizes the lossless real-time compression of data files and records the real-time files in a segmented manner.

The purpose of the invention is realized by the following technical scheme:

a data synchronous acquisition system based on millimeter wave radar, the data synchronous acquisition system at least comprises: the system comprises a radar front end, a radar rear end and a data acquisition system, wherein the radar front end is connected with the radar rear end, and the radar rear end is connected with the data acquisition system through an Ethernet communication module and/or a Can communication module; the radar front end at least comprises a frequency mixer and an analog-to-digital converter (ADC), and the radar rear end at least comprises an algorithm processor (DSP) and a logic processor (MCU); the method comprises the steps that a radar front end sends a frame start zone bit, period counting data and ADC (analog to digital converter) sampling data of a processed data signal to a data acquisition system through a radar rear end and an Ethernet communication module, a logic processor MCU (microprogrammed control Unit) at the radar rear end conducts 3-time FFT (fast Fourier transform) on the data sent by the radar front end to obtain distance information, angle information and speed information of an original target, tracked target information is obtained through a clustering tracking algorithm, and the period counting data, the original target data and the clustering tracking target data are sent to the data acquisition system through a Can communication module.

According to a preferred embodiment, the logic processor MCU at the radar back end schedules the algorithm processor DSP to perform 1DFFT on the ADC sampling data sent by the radar front end, and sends the generated 1DFFT result to the data acquisition system through the radar ethernet communication module.

According to a preferred embodiment, the logic processor MCU schedules the radar algorithm processor DSP to perform 2DFFT on the 1DFFT data, and sends the generated 2DFFT result to the data acquisition system through the radar Ethernet communication module.

According to a preferred embodiment, the logic processor MCU carries out CFAR and 2DPeekSearch algorithms to find a target, carries out 3DFFT according to a plurality of channel target 2DFFT data, and sends a generated 3DFFT result and a frame end mark to the data acquisition system through the radar Ethernet communication module.

According to a preferred embodiment, the data acquisition system comprises a device communication module, an asynchronous event bus module and a data acquisition processor; and after the network node of the equipment communication module receives the data sent by the Ethernet communication module and analyzes the data, unpacking each frame of data to extract cycle count data, ADC intermediate frequency sampling data, 1DFFT data, 2DFFT data and 3DFFT data, and sending the data to the asynchronous event bus module in a mode of processing a process data event by a radar.

According to a preferred embodiment, a Can node in the device communication module receives data transmitted by the Can communication module, analyzes the received Can data to obtain original target list information and clustered and tracked target list information, sends the data to the asynchronous event bus module in the form of original/clustered target events, and sets an event data receiving timestamp as an initial Can message receiving timestamp of each frame.

According to a preferred embodiment, the asynchronous event bus module asynchronously calls the data acquisition processor and caches two types of received events including radar processing process data events and original/clustered target events in a queue of a corresponding frame number according to the frame number, so as to align the target data with the radar processing process data.

According to a preferred embodiment, the data of the two types of events stored in the asynchronous event queue is data obtained by compressing and storing a data stream by adopting GZIP/SZIP.

According to a preferred embodiment, based on the segment interval information preset by the data acquisition system, the data acquisition processor finishes scanning the cached asynchronous queue, and when the caches of two data events are ready, the data acquisition processor intercepts the asynchronous data queue in a whole segment and writes the data into a TDMS file asynchronously, so that the data before and after interception is not lost.

According to a preferred embodiment, the data acquisition processor respectively establishes data channels for the data of the radar processing process data events recorded in the TDMS file, and stores the compressed data streams into the corresponding channels; and the data acquisition processor inputs remark attributes to the TDMS file day, wherein at least the remark comprises radar firmware version information and experiment name information.

The main scheme and the further selection schemes can be freely combined to form a plurality of schemes which are all adopted and claimed by the invention; in the invention, the selection (each non-conflict selection) and other selections can be freely combined. The skilled person in the art can understand that there are many combinations, which are all the technical solutions to be protected by the present invention, according to the prior art and the common general knowledge after understanding the scheme of the present invention, and the technical solutions are not exhaustive herein.

The invention has the beneficial effects that: through the structural arrangement of the data synchronous acquisition system, the radar process data which can be acquired by the novel radar data acquisition system provided by the invention comprises radio frequency end ADC intermediate frequency sampling data, distance dimension FFT data, speed dimension FFT data, angle FFT data, original target data and cluster tracking target data, all the processes are stored in a single file and are subjected to data classification, remark information can be added to the recorded data, the data file can be compressed in real time without damage, the real-time file is recorded in a segmented manner, and the technical defects of the traditional data acquisition system are overcome.

Drawings

FIG. 1 is a schematic diagram of the data synchronous acquisition system of the present invention;

the system comprises an industrial personal computer 1, a data acquisition system 2, a 3-gigabit network module, a 4-Can communication module, a radar front end 5, a DSP6 and an MCU 7.

Detailed Description

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.

It should be noted that, in order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some embodiments of the present invention, but not all embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. 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.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In addition, it should be noted that, in the present invention, if the specific structures, connection relationships, position relationships, power source relationships, and the like are not written in particular, the structures, connection relationships, position relationships, power source relationships, and the like related to the present invention can be known by those skilled in the art without creative work on the basis of the prior art.