Phasing for the object detection including TDMA
阅读说明：本技术 用于包括tdma的物体检测的相位校正 (Phasing for the object detection including TDMA ) 是由 B·约坎诺维奇 L·雷 于 2019-05-23 设计创作，主要内容包括：说明性示例物体检测系统(20)包括：多个第一发射器(24),该多个第一发射器(24)在第一时刻分别发射第一信号；多个第二发射器(26),该多个第二发射器(26)在第二时刻分别发射第二信号；接收信号的多个接收器(28)；以及处理器(30),该处理器(30)被配置成基于包括被接收信号的矩阵之间的关系来判断接收到的第一信号与接收到的第二信号之间是否存在发射定时相移。(Illustrated examples object detecting system (20) includes: multiple first transmitters (24), and multiple first transmitter (24) emits the first signal at the first moment respectively；Multiple second transmitters (26), multiple second transmitter (26) emit second signal at the second moment respectively；Receive multiple receivers (28) of signal；And processor (30), the processor (30) are configured to be judged based on the relationship between the matrix including received signals between the first signal received and the second signal received with the presence or absence of transmitting timing phase shift.)
1. a kind of object detecting system (20), comprising:
Multiple first transmitters (24), the multiple first transmitter (24) emit the first signal at the first moment respectively；
Multiple second transmitters (26), the multiple second transmitter (26) emit second signal at the second moment respectively；
Multiple receivers (28), the multiple receiver (28) receive signal；And
Processor (30), the processor (30) are configured to judge based on the relationship between the matrix including received signals With the presence or absence of transmitting timing phase shift between the first signal received and the second signal received.
2. object detecting system (20) as described in claim 1, which is characterized in that the matrix includes covariance matrix, and And the processor (30) is configured for:
The reference covariance matrix of the first signal received described in determination；
Uncorrected covariance matrix is determined, wherein the uncorrected covariance matrix includes first signal received In at least part and the second signal received at least part；
One group of second signal value being corrected is determined multiplied by -1 to the part in the second signal received；
The covariance matrix being corrected is determined, wherein the covariance matrix being corrected includes first signal received In the part and one group of second signal value being corrected；And
Based on described in (i) with reference to the relationship and (ii) described ginseng between covariance matrix and the uncorrected covariance matrix The relationship between covariance matrix and the covariance matrix being corrected is examined, to determine the relationship between matrix.
3. object detecting system (20) as claimed in claim 2, which is characterized in that the processor (30) is configured for:
Determine the reference mark T with reference to covariance matrix；
Determine the mark Tu of the uncorrected covariance matrix；
The mark Tm for the covariance matrix being corrected described in determination；
Determined based on the relationship with reference between mark T and the mark Tu it is described with reference to covariance matrix with it is described uncorrected The relationship between covariance matrix；And
It is determined based on the relationship with reference between mark T and the mark Tm and described with reference to covariance matrix and described to be corrected The relationship between covariance matrix.
4. object detecting system (20) as claimed in claim 3, which is characterized in that the processor (30) is configured for:
Judge that described with reference to mark T is more like with the mark Tu or with the mark Tm；And
Based on which of described mark Tu or Tm more similar to the reference mark T to determine whether there are the transmitting timing phases It moves.
5. object detecting system (20) as claimed in claim 4, which is characterized in that the processor (30) is configured for:
When it is described with reference to mark T more similar to the mark Tm rather than when the mark Tu, determine that there are the transmitting timing phase shifts；With And
When it is described with reference to mark T more similar to the mark Tu rather than when the mark Tm, determine that the transmitting timing phase shift is not present.
6. object detecting system (20) as claimed in claim 5, which is characterized in that the processor (30) is configured to: when There are at least some of the signal received when the transmitting timing phase shift, is handled using 180 ° of phase-shift value.
7. object detecting system (20) as claimed in claim 2, which is characterized in that
There are four first transmitters (24)；
There are four second transmitters (26)；
There are 32 receivers (28)；
Described with reference to the first signal received there are 128 in covariance matrix；
The first signal received in the part in first signal received there are 64；And
The second signal received in the part in the second signal received there are 64.
8. object detecting system (20) as described in claim 1, which is characterized in that
The signal includes radar signal；And
The receiver (28) receives the signal after object reflection in the signal.
9. object detecting system (20) as described in claim 1, which is characterized in that
The matrix includes covariance matrix, wherein the covariance matrix includes at least one in the signal received A bit；
The processor (30) is configured to determine the mark of the covariance matrix；And
Relationship between the matrix includes the relationship between the mark of the covariance matrix.
10. object detecting system (20) as claimed in claim 9, which is characterized in that the processor (30) is configured to: when There are at least some of the signal received when the transmitting timing phase shift, is handled using 180 ° of phase-shift value.
11. a kind of object detecting method, comprising:
Emit the first signal from multiple first transmitters (24) at the first moment；
Emit second signal from multiple second transmitters (26) at the second moment；
Signal is received at multiple receivers (28)；And
Judge that first signal received is received with described based on the relationship between the matrix including received signals Second signal between with the presence or absence of transmitting timing phase shift.
12. the method as described in claim 1, which is characterized in that the matrix includes covariance matrix and the method packet It includes:
The reference covariance matrix of the first signal received described in determination；
Uncorrected covariance matrix is determined, wherein the uncorrected covariance matrix includes first signal received In at least part and the second signal received at least part；
One group of second signal value being corrected is determined multiplied by -1 to the part in the second signal received；
The covariance matrix being corrected is determined, wherein the covariance matrix being corrected includes first signal received In the part and one group of second signal value being corrected；And
Based on described in (i) with reference to the relationship and (ii) described ginseng between covariance matrix and the uncorrected covariance matrix The relationship between covariance matrix and the covariance matrix being corrected is examined, to determine the relationship between matrix.
13. method as claimed in claim 12 characterized by comprising
Determine the reference mark T with reference to covariance matrix；
Determine the mark Tu of the uncorrected covariance matrix；
Determine the mark Tm for the covariance matrix being corrected；
Determined based on the relationship with reference between mark T and the mark Tu it is described with reference to covariance matrix with it is described uncorrected Relationship between covariance matrix；And
It is determined based on the relationship with reference between mark T and the mark Tm and described with reference to covariance matrix and described to be corrected Relationship between covariance matrix.
14. method as claimed in claim 13 characterized by comprising
Judge that described with reference to mark T is more like with the mark Tu or with the mark Tm；And
Based on which of described mark Tu or Tm more similar to the reference mark T to determine whether there are the transmitting timing phases It moves.
15. method as claimed in claim 14 characterized by comprising
When it is described with reference to mark T more similar to the mark Tm rather than when the mark Tu, determine that there are the transmitting timing phase shifts；With And
When it is described with reference to mark T more similar to the mark Tu rather than when the mark Tm, determine that the transmitting timing phase shift is not present.
16. method as claimed in claim 15 characterized by comprising when there are the transmitting timing phase shift, use 180 ° of phase-shift value handles at least some of the signal received.
17. method as claimed in claim 12 characterized by comprising
There are four first transmitters (24)；
There are four second transmitters (26)；
There are 32 receivers (28)；
Described with reference to the first signal received there are 128 in covariance matrix；
The first signal received in the part in first signal received there are 64；And
The second signal received in the part in the second signal received there are 64.
18. method as claimed in claim 11 characterized by comprising
The signal includes radar signal；And
The receiver (28) receives the signal after object reflection in the signal.
19. method as claimed in claim 11 characterized by comprising
The matrix includes covariance matrix, wherein the covariance matrix includes at least one in the signal received A bit；
The method includes the marks of the determination covariance matrix；And
Relationship between the matrix includes the relationship between the mark of the covariance matrix.
20. method as claimed in claim 19 characterized by comprising when there are the transmitting timing phase shift, use 180 ° of phase-shift value handles at least some of the signal received.
Background technique
Various scenes need information to dispose.For example, radar system and wireless communication system include more empty signaling (over- the-air signaling).A challenge associated with these systems is the object for being increased and being detected using multiple signals The related information of body avoids handling difficulty caused by multiple signals as using simultaneously.For example, it is necessary to keep unlike signal orthogonal So that it can individually be detected and processing.Realize that a kind of orthogonal mode is related to (the time division that is time-multiplexed Multiplexing, TDMA), signal transmitting in the tdma is separated in time.
Although TDMA can be the effective ways of the quantity for increasing the signal that can be used for object detection and analysis, TDMA technology, which may introduce, must be solved to provide the signalling error of accurate detection information.For example, TDMA can be based on transmitting Periodically the difference of (timing) and introduce additional phase shift, and if the phase shift do not recognized correctly or its influence not It is removed from the detection signal processing technology received, then the phase shift may distort object detection information.When detection motive objects Related with the unknown speed of the mobile object based on the phase shift of TDMA when body, which increase the inspections for processing including this phase shift Survey the associated difficulty of signal.
Summary of the invention
Illustrated examples object detecting system includes: to emit multiple first transmittings of the first signal respectively at the first moment Device；Emit multiple second transmitters of second signal respectively at the second moment；Receive multiple receivers of signal；And processing Device, the processor are configured to judge based on the relationship between the matrix including the signal received in the first signal received With between the second signal that receives with the presence or absence of transmitting timing phase shift.
Illustrated examples object detecting method includes: to emit the first signal from multiple first transmitters at the first moment；In Second moment emitted second signal from multiple second transmitters；Signal is received at multiple receivers；And based on including receiving To signal matrix between relationship judge whether to deposit between the first signal received and the second signal received In transmitting timing phase shift.
By following specific embodiments, the various feature and advantage of at least one disclosed example embodiment are for ability It will become obvious for the technical staff in domain.It can be briefly described as follows with the attached drawing of specific embodiment.
Detailed description of the invention
Fig. 1 schematically shows the object detecting system of embodiment according to the present invention design.
Fig. 2 is the flow chart for outlining the example technique of embodiment according to the present invention design.
Fig. 3 schematically shows matrix useful in an embodiment of the present invention.
Specific embodiment
When the letter for emitting such as radar etc using time division multiplexing (time division multiplexing, TDMA) Number when, the embodiment of the present invention allows to carry out effective and accurate object detection.It can be by by any phase shift that TDMA is introduced It detects and based on determining that include relationship between the matrix of the signal received effectively remove from signal processing Any phase shift introduced by TDMA.In the exemplary embodiment, the mark (trace) of the covariance matrix including the signal received it Between relationship indicate whether TDMA phase shift and the signal that can be received based on the information butt joint is handled.
Fig. 1 schematically shows the object detecting system 20 being supported on vehicle 22.When system 20 is included in first Carve the multiple first transmitters 24 for emitting corresponding first signal.Multiple second transmitters 26 emit second at the second moment respectively Signal.Emit first and second signal using TDMA.In the example embodiment shown in, signal is linear frequency modulation continuous wave Signal, such as, commonly used in those of car radar signal.Other signals type is used in some embodiments.
System 20 includes multiple receivers 28, and multiple receivers 28 are in the first and second signals by near vehicle 22 or path In object reflection after receive the first and second signals.Fig. 1 show two first transmitters, 24, two second transmitters 26 with And four receivers 28, but shown in embodiment include the more of each.One example embodiment of system 20 includes four 24, four second transmitters 26 of a first transmitter and 32 receivers 28.
Processor 30 is configured to handle the signal received to make about object that is detecting or tracing into The determination of body, such as, distance, angle and the doppler velocity of object.Processor 30 is configured to compensate in received Transmitting timing phase shift that may be present between one signal and the second signal received.Processor 30 is based on the letter including receiving Number matrix between relationship to determine whether exist transmitting timing phase shift.
Processor includes that at least one calculates equipment (such as, microprocessor) and memory.Processor 30 can be dedicated Equipment or component are realized by a part of the existing controller for being also used for other purposes or processor on vehicle 22.By Beneficial to this specification those skilled in the art will appreciate which kind of configuration of processor, transmitter and receiver will meet him Specific demand.
Fig. 2 is to summarise using TDMA the flow chart 40 that the exemplary method of signal in orthogonal is realized in MIMO radar. At 42, first transmitter 24 emits the first signal at the first moment.At 44, second transmitter emits second signal.At this In example, the second launch time of second signal is after the first launch time.The exemplary TDMA technology includes with scheduled Interval repeatedly emits the first and second signals.
At 46, receiver 28 receives the signal reflected from object.Can use following equation will be in receiver 28 The signal (it can be considered (n, m) receiver array element) received at any one is expressed as delay transmitting signal.
Wherein t is discrete time；For respectively comprising at a distance from the object detected, angle and speed Spend the phase term of related information；AndFor the phase term due to caused by the activation of sequential transmission device.
Total delay in equation (1) in represented signal includes four.Each single item in these provides and target Or the related information of object detected.First delayIt is between reference point and object due to the array of receiver 28 Caused by distance and it can be used to calculate object distance.Second delayIt is receiver 28 relative to receiver array The result of the position of reference point.Second delayIt is used to calculate target angle.Third delayFor mobile object or shifting Dynamic platform as a result, and for determine object speed it is useful.Delay is drawn since TDMA sequential transmission device activates It rises.Processor 30 is configured to judge whether there isAnd estimateFor appropriate data analysis.
In the exemplary embodiment, TDMA strategy includes the activation the at the 1/2 of the pulse recurrence interval of first transmitter 24 Two transmitters 26.This allowsIt is indicated by following equation.
Wherein pulse recurrence interval is 2T,It indicates wavelength and v is the real data of object.Equation below describes the speed Degree.
V=vm+lvun, l=0, ± 1, ± 2 ... (3)
Wherein vmIt is the speed for measuring target, vunIt is the largest explicitly detectable speed, vun=λ/(4T).By equation (3) it substitutes into formula (2),Become:
Based on equation (4), it can be observed thatPhase item depends on the actual speed v of target and introduces the phase of 0 or 180 degree It moves.Since the speed of target is not priori, processor 30 is configured to estimate the phase shift for data appropriate point Analysis.
In Fig. 2, processor determines the reference covariance matrix of the first signal including receiving at 48.Fig. 3 is 50 Place schematically shows the signal received.The diagram includes 256 signals received, 256 signals received Indicate that each of 32 receivers 28 receive the first letter through reflection from each of four first transmitters 24 Number and receive second signal through reflection from each of four second transmitters 26.The first signal received included In block 52 in fenced reference group.In this example, in the first signal received from single first launch time All be included in this with reference in group.Processor 30 is determined using with reference to the first signal in group 52 with reference to covariance square Battle array.
In Fig. 2 54 at, processor, which determines, to be included at least some of first signal for receiving and receives The uncorrected covariance matrix of at least some of second signal.In this example, connecing in the frame 56 being enclosed in Fig. 3 The the first signal group received is included in uncorrected covariance matrix.The group 56 be the subset of the first signal received simultaneously And it can be by Y1It indicates.Uncorrected covariance matrix also includes the second signal group received being enclosed in frame 58.This Binary signal group is all subsets in the second signal received and can be by Y2It indicates.In this example, uncorrected association Variance matrix can be by matrix [Y1,Y2] RxyTo indicate.
In Fig. 2 60 at, processor 30 use Y1In the first signal and second signal group 58 the version being corrected It is original to determine the covariance matrix being corrected.In this example, processor 30 passes through to each in the second signal in group 58 A value being corrected that the second signal in group 58 is determined multiplied by -1.The value that the group is corrected may be expressed as-Y2.At 60 The determining covariance matrix being corrected can be by matrix [Y1,-Y2] Rxy' indicate.
In this example, due toFor a part of exponential function, therefore the covariance matrix being corrected includes use -1 The factor as the second signal received being applied in group 58.Therefore, if there is no transmitting timing phase shift, then Euler is public The signal that receives of formula (Euler's identity) instruction is actually multiplied by 1, and if there is this phase shift, then Euler The signal that receives of formula instruction be actually multiplied by -1 (that is,)。
At 62, processor 30 determines the corresponding mark of covariance matrix.Processor is by the relationship between covariance matrix As for judging whether there is TDMA or transmitting phase shift φSBasis.
The covariance matrix of N x N square matrix X is defined as RXXAnd its mark can be calculated in a known manner:
In this example, at 64, processor 30 judges RxyOr Rxy' which of more similar to reference covariance matrix. At 66, processor 30 is based on which mark more similar to the mark of reference covariance matrix to determine whether there are TDMA phase shifts.If The mark for the covariance matrix being corrected is more similar to the mark of reference covariance matrix, then instruction is implicitly present in transmitting timing phase shift. If opposite, the mark of uncorrected covariance matrix is more similar to the mark of reference covariance matrix, then there is no transmittings to determine for instruction Shi Xiangyi.
At 68, processor 30 is configured to based on consideration (account for) transmitting timing phase shiftPresence or not Existing technology handles the signal received.In this example, when no phase shift, eliminate equation (1) the 4th phase item and NoIn the case where carry out signal processing come determine object distance, angle and doppler velocity on the other hand, work as presenceWhen, processor includes 180 degree shifting value for equation (1)
Example embodiment promote use cost-effective TDMA signaling technology, may be not present difficulty or otherwise with draw Enter the associated error of TDMA phase shift between signal.Disclosed system and method can effectively and accurately improve object inspection It surveys and tracks.
What above description was exemplary in nature, rather than it is restrictive.Exemplary this is not necessarily depart to disclosed The change and modification of the essence of invention may become apparent to those skilled in the art.Law of the invention is assigned to protect Shield range is only capable of determining by studying the appended claims.
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