Perceptual signal processing method and related device

文档序号：47920 发布日期：2021-09-28 浏览：28次中文

阅读说明：本技术 感知信号处理方法及相关装置 (Perceptual signal processing method and related device ) 是由杜瑞颜敏刘辰辰韩霄张美红周正春杨洋唐小虎类先富于 2020-03-24 设计创作，主要内容包括：本申请实施例提供一种感知信号处理方法及相关装置,该方法包括：求解优化问题得到第一序列和第二序列；其中,优化问题为基于最小化两项函数之和的目标函数和恒模约束条件得到的,两项函数中的其中一项是由第一变量的自相关函数以及第二变量的自相关函数所构成的,两项函数中的另一项是由第一变量和第二变量的互相关函数所构成的；其中,第一序列为第一变量在优化问题中的解,第二序列为第二变量在优化问题中的解；根据第一序列和第二序列构造目标序列；发射所述目标序列；目标序列用于对目标对象进行感知。通过求解优化问题得到的第一序列和第二序列能够提高对高速或变速目标的感知性能。(The embodiment of the application provides a perception signal processing method and a related device, wherein the method comprises the following steps: solving an optimization problem to obtain a first sequence and a second sequence; the optimization problem is obtained based on an objective function and a constant modulus constraint condition, wherein the objective function and the constant modulus constraint condition are used for minimizing the sum of two functions, one of the two functions is composed of an autocorrelation function of a first variable and an autocorrelation function of a second variable, and the other of the two functions is composed of a cross-correlation function of the first variable and the second variable; the first sequence is a solution of a first variable in the optimization problem, and the second sequence is a solution of a second variable in the optimization problem; constructing a target sequence according to the first sequence and the second sequence; transmitting the target sequence; the target sequence is used for perceiving the target object. The first sequence and the second sequence obtained by solving the optimization problem can improve the perception performance of the high-speed or variable-speed target.)

1. A perceptual signal processing method, applied to a transmitting device, comprising:

solving an optimization problem to obtain a first sequence and a second sequence; wherein the optimization problem is obtained based on an objective function and a constant modulus constraint condition which minimize the sum of two functions, one of the two functions is composed of an autocorrelation function of a first variable and an autocorrelation function of a second variable, and the other of the two functions is composed of a cross-correlation function of the first variable and the second variable; wherein the first sequence is a solution of the first variable in the optimization problem, and the second sequence is a solution of the second variable in the optimization problem;

constructing a target sequence according to the first sequence and the second sequence;

transmitting the target sequence; the target sequence is used for sensing a target object.

2. The method of claim 1, wherein constructing a target sequence from the first sequence and the second sequence comprises:

and determining a target sequence according to the new matrix, wherein the target sequence comprises a third sequence and a fourth sequence, the third sequence is a first row of the new matrix, and the fourth sequence is a second row of the new matrix.

3. The method of claim 2, wherein: the transmitting equipment comprises a transmitting antenna in a vertical polarization direction and a transmitting antenna in a horizontal polarization direction; the transmitting the target sequence includes:

sequentially transmitting the third sequence through the transmitting antenna in the vertical polarization direction according to a pulse repetition interval;

and sequentially transmitting the fourth sequence through the transmitting antenna in the horizontal polarization direction according to the pulse repetition interval.

4. The method according to any of claims 1-3, wherein the optimization problem is:

wherein, the C_x(k) A k-th autocorrelation function representing the first variable x, C_y(k) A k-th autocorrelation function representing the second variable y, C_xy(k) A kth cross-correlation function representing the first variable x and the second variable y; the L represents the length of the first variable and the second variable; said x_kA k-th symbol representing the first variable x, y_kA kth symbol representing the second variable; the omega_kA restriction condition indicating a preset range of the first sequence and the second sequence,α represents a preset weight coefficient.

5. The method of claim 4, wherein solving the optimization problem results in a first sequence and a second sequence, comprising:

by applying to said ω in said optimization problem_kIs selected, the optimization problem is solved to obtain the value within the preset range [ -Z + 1.. the. -1, 1.. the.z +1 []The first sequence and the second sequence within; wherein the content of the first and second substances,

6. the method of claim 1, wherein the length of the first sequence and the length of the second sequence are both 2ⁿ。

7. The method of claim 6, wherein said 2ⁿEqual to 64;

the first sequence is as follows: 1.7341, 1.1340, -0.5472, 2.5963, 0.5515, -1.4643, -1.4746, 1.4715, -2.1159, 1.7596, 2.8734, 2.2515, 1.2418, -1.2562, 2.7622, -1.2233, -0.3981, 2.6112, 2.2325, 2.7076, 0.9404, -2.3571, 1.9341, 1.8195, 0.5757, 1.9739, 0.5278, -0.1953, 0.3720, -0.8168, 1.6205, -1.0901, -1.6636, -2.0341, -1.4480, 0.9057, 1.6821, 0.2329, -3.0069, -3.0584, 0.1641, 0.5060, 1.4893, -2.7575, -1.5898, 1.8278, 0.4952, 0.4564, 2.1698, 2.4325, -0.5816, 2.0195, 0.8338, -1.0606, -0.8028, -0.2512, 2.1051, -0.0719, 1.2728, -1.5233, 0.1539, 0.6289, 0.6322, 1.1099; the unit is radian;

the second sequence is as follows: 2.6798, 2.4165, 1.0325, -2.1572, -1.6219, 1.0392, 1.5742, -1.8896, 2.1673, -1.0041, 2.6724, -0.4484, -1.5759, -0.7495, 0.8979, 0.2778, -0.6923, 2.5241, 0.4578, 0.8070, 2.4172, -1.6788, 2.3553, 2.5433, -0.4126, 0.4759, -1.4990, -1.3245, 1.1887, 2.9184, 2.6797, -1.2382, 1.2096, -1.1161, -2.2148, -0.8829, -0.8591, 2.0962, -0.6294, -0.1992, -0.3267, 1.9456, 1.3541, 1.2991, 1.8820, 2.7887, 0.1861, -1.9303, -0.2220, 2.6107, -1.5184, 2.0026, 1.9488, 3.0558, -1.3299, 1.0977, -1.6652, 2.3303, -2.0154, 2.4912, 1.5943, 1.8019, -0.6911, -1.5569; in radians.

8. A perceptual signal processing method applied to a receiving device, the method comprising:

receiving a target sequence sent by sending equipment; the target sequence is constructed from a first sequence and a second sequence; the first sequence and the second sequence are obtained by solving an optimization problem; the optimization problem is obtained based on an objective function and a constant modulus constraint condition which minimize the sum of two functions, wherein one of the two functions is composed of an autocorrelation function of a first variable and an autocorrelation function of a second variable, and the other one of the two functions is composed of a cross-correlation function of the first variable and the second variable; wherein the first sequence is a solution of the first variable in the optimization problem, and the second sequence is a solution of the second variable in the optimization problem;

and performing matched filtering on the target sequence to obtain a matched filtering result, and acquiring the perception information of the target object according to the matched filtering result.

9. The method according to claim 8, wherein the receiving device comprises a receiving antenna in a vertical polarization direction and a receiving antenna in a horizontal polarization direction; the target sequence comprises a third sequence and a fourth sequence, and the performing matched filtering on the target sequence to obtain a matched filtering result comprises:

and performing matched filtering on the third sequence and the fourth sequence sequentially through a matched filter group on the receiving antenna in the vertical polarization direction and a matched filter group on the receiving antenna in the horizontal polarization direction according to a pulse repetition interval to obtain a matched filtering result.

10. The method according to claim 8 or 9, characterized in that the optimization problem is:

11. The method of claim 10, wherein solving the optimization problem results in a first sequence and a second sequence, comprising:

12. an apparatus for processing a perceptual signal, comprising:

the solving unit is used for solving the optimization problem to obtain a first sequence and a second sequence; wherein the optimization problem is obtained based on an objective function that minimizes the sum of two functions and a constant modulus constraint condition, and the other of the two functions is formed by a cross-correlation function of the first variable and the second variable; wherein the first sequence is a solution of the first variable in the optimization problem, and the second sequence is a solution of the second variable in the optimization problem;

a construction unit for constructing a target sequence from the first sequence and the second sequence;

a transmitting unit for transmitting the target sequence; the target sequence is used for sensing a target object.

13. Device according to claim 12, characterized in that said construction unit is particularly adapted to:

14. The apparatus of claim 13, wherein the apparatus comprises a vertically polarized transmitting antenna and a horizontally polarized transmitting antenna; the transmitting unit is specifically configured to:

sequentially transmitting the third sequence through the transmitting antenna in the vertical polarization direction according to a pulse repetition interval;

and sequentially transmitting the fourth sequence through the transmitting antenna in the horizontal polarization direction according to the pulse repetition interval.

15. An apparatus for processing a perceptual signal, comprising:

a receiving unit, configured to receive a target sequence sent by a sending device; the target sequence is constructed from a first sequence and a second sequence; the first sequence and the second sequence are obtained by solving an optimization problem; the optimization problem is obtained based on an objective function and a constant modulus constraint condition which minimize the sum of two functions, wherein one of the two functions is composed of an autocorrelation function of a first variable and an autocorrelation function of a second variable, and the other one of the two functions is composed of a cross-correlation function of the first variable and the second variable; wherein the first sequence is a solution of the first variable in the optimization problem, and the second sequence is a solution of the second variable in the optimization problem;

and the matching acquisition unit is used for performing matching filtering on the target sequence to obtain a matching filtering result and acquiring the perception information of the target object according to the matching filtering result.

16. The apparatus of claim 15, wherein the apparatus comprises a receiving antenna with a vertical polarization direction and a receiving antenna with a horizontal polarization direction; the target sequence includes a third sequence and a fourth sequence, and the matching unit is specifically configured to:

17. A perceptual signal transmitting device comprising a processor, a memory, and a transceiver, wherein the memory is configured to store a computer program, the transceiver is configured to receive and transmit data under control of the processor, and the processor is configured to invoke the computer program to perform the method of any one of claims 1 to 7.

18. A perceptual signal receiving device comprising a processor, a memory, and a transceiver, wherein the memory is configured to store a computer program, the transceiver is configured to receive and transmit data under control of the processor, and the processor is configured to invoke the computer program to perform the method of any one of claims 8 to 11.

19. A perceptual signal processing system comprising a transmitting device and a receiving device, wherein:

the transmitting device is an apparatus as claimed in claims 12-14 or an apparatus as claimed in claim 17;

the receiving apparatus is the apparatus of claim 15 or 16 or the apparatus of claim 18.

20. A computer-readable storage medium, characterized in that the computer-readable storage medium is used to store a computer program which, when being executed by a processor, carries out the method of any one of claims 1-11.

Technical Field

The present application relates to the field of signal processing technologies, and in particular, to a perceptual signal processing method and a related apparatus.

Background

Radar relies on antennas to radiate signals into space and receive signals scattered by target objects to obtain information about the target objects. The radiated signal has a form, for example a continuous wave or a pulse train, single frequency or frequency, amplitude or phase encoded. And has polarization characteristics that can be divided into a horizontal direction parallel to the ground direction and a vertical direction perpendicular to the ground direction. When the radar transmits signals to a target object in both the horizontal and vertical polarization directions simultaneously (or within a very short time) and receives in both polarization directions accordingly. The received signals not only contain the target echo characteristic change in the same polarization direction, but also contain the target echo characteristic change in different polarization directions, and rich information can be provided for the back end to process. The blur function is a mathematical tool for studying signals and may reflect the accuracy and resolution of the signal in both distance and radial velocity dimensions.

Disclosure of Invention

The embodiment of the application provides a sensing signal processing method and related equipment, and the sensing precision of a high-speed or variable-speed target can be improved through a first sequence and a second sequence obtained by solving an optimization problem.

In a first aspect, an embodiment of the present application provides a perceptual signal processing method, which is applied to a transmitting device, and may include: solving an optimization problem to obtain a first sequence and a second sequence; wherein the optimization problem is obtained based on an objective function and a constant modulus constraint condition which minimize the sum of two functions, one of the two functions is composed of an autocorrelation function of a first variable and an autocorrelation function of a second variable, and the other of the two functions is composed of a cross-correlation function of the first variable and the second variable; wherein the first sequence is a solution of the first variable in the optimization problem, and the second sequence is a solution of the second variable in the optimization problem; constructing a target sequence according to the first sequence and the second sequence; transmitting the target sequence; the target sequence is used for sensing a target object.

By the method provided by the first aspect, a target sequence that perceives the target object can be obtained and transmitted, and the target sequence is constructed according to the first sequence and the second sequence. The inventor of the present application finds that if the self-correlation side lobe peak value and the cross-correlation peak value of the target sequence within the preset range are low, the first sequence and the second sequence need to have low cross-correlation within the preset range, so that the first sequence and the second sequence can be obtained by solving the optimization problem. The optimization problem is obtained based on an objective function and a constant modulus constraint condition, wherein the objective function and the constant modulus constraint condition are used for minimizing the sum of two functions, one of the two functions is composed of an autocorrelation function of a first variable and an autocorrelation function of a second variable, and the other of the two functions is composed of a cross-correlation function of the first variable and the second variable; the first sequence is a solution of the first variable in the optimization problem, and the second sequence is a solution of the second variable in the optimization problem. The first sequence and the second sequence obtained by solving the optimization problem are quasi-zero correlation zone complementary sequences with low cross-correlation characteristics in a preset range, low interference and good perception performance are achieved between the first sequence and the second sequence, and perception accuracy of a high-speed or variable-speed target can be improved.

In one possible implementation, the constructing the target sequence according to the first sequence and the second sequence includes:

arranging Alamouti matrices according to a Poohait-Su-Mohs PTM sequence to obtain a new matrix, wherein the Alamouti matrices are matrices formed according to the inverse complex conjugate of the first sequence and the inverse complex conjugate of the second sequence; and determining a target sequence according to the new matrix, wherein the target sequence comprises a third sequence and a fourth sequence, the third sequence is a first row of the new matrix, and the fourth sequence is a second row of the new matrix.

In one possible implementation, the transmitting device includes a transmitting antenna in a vertical polarization direction and a transmitting antenna in a horizontal polarization direction; the transmitting the target sequence includes: sequentially transmitting the third sequence through the transmitting antenna in the vertical polarization direction according to a pulse repetition interval; and sequentially transmitting the fourth sequence through the transmitting antenna in the horizontal polarization direction according to the pulse repetition interval.

In one possible implementation, the optimization problem is:

In a possible implementation manner, the solving the optimization problem to obtain a first sequence and a second sequence includes: by applying to said ω in said optimization problem_kIs selected, the optimization problem is solved to obtain the value within the preset range [ -Z + 1.. the. -1, 1.. the.z +1 []The first sequence and the second sequence within; wherein the content of the first and second substances,Z≤L。

in one possible implementation, the length of the first sequence and the length of the second sequence are both 2ⁿ。

In one possible implementation, the 2ⁿEqual to 64;

the first sequence is as follows: the first sequence is as follows: 1.7341, 1.1340, -0.5472, 2.5963, 0.5515, -1.4643, -1.4746, 1.4715, -2.1159, 1.7596, 2.8734, 2.2515, 1.2418, -1.2562, 2.7622, -1.2233, -0.3981, 2.6112, 2.2325, 2.7076, 0.9404, -2.3571, 1.9341, 1.8195, 0.5757, 1.9739, 0.5278, -0.1953, 0.3720, -0.8168, 1.6205, -1.0901, -1.6636, -2.0341, -1.4480, 0.9057, 1.6821, 0.2329, -3.0069, -3.0584, 0.1641, 0.5060, 1.4893, -2.7575, -1.5898, 1.8278, 0.4952, 0.4564, 2.1698, 2.4325, -0.5816, 2.0195, 0.8338, -1.0606, -0.8028, -0.2512, 2.1051, -0.0719, 1.2728, -1.5233, 0.1539, 0.6289, 0.6322, 1.1099; the unit is radian;

In a second aspect, an embodiment of the present application provides a perceptual signal processing method, which is applied to a receiving device, and the method includes: receiving a target sequence sent by sending equipment; the target sequence is constructed from a first sequence and a second sequence; the first sequence and the second sequence are obtained by solving an optimization problem; the optimization problem is obtained based on an objective function and a constant modulus constraint condition which minimize the sum of two functions, wherein one of the two functions is composed of an autocorrelation function of a first variable and an autocorrelation function of a second variable, and the other one of the two functions is composed of a cross-correlation function of the first variable and the second variable; wherein the first sequence is a solution of the first variable in the optimization problem, and the second sequence is a solution of the second variable in the optimization problem; and performing matched filtering on the target sequence to obtain a matched filtering result, and acquiring the perception information of the target object according to the matched filtering result.

By the method provided by the second aspect, the receiving device matches the received target sequence through the matched filter group to obtain a matched filtering result, and the perception information can be obtained according to the matched filtering result. The blur function is a mathematical tool for studying the perceptual signal and may be a representation of the results of matched filtering, including self-blur functions and cross-blur functions. The obtained self-fuzzy function has good time domain autocorrelation characteristics in a preset range, and the first sequence and the second sequence obtained by solving the optimization problem have good time domain autocorrelation characteristics and can have good perception performance; the self-fuzzy function obtained by the target sequence (including the third sequence and the fourth sequence) has a certain broadening characteristic in a Doppler dimension, which shows that the target sequence (including the third sequence and the fourth sequence) constructed by the first sequence and the second sequence has better Doppler tolerance, and the target sequence (including the third sequence and the fourth sequence) also has better time-domain autocorrelation characteristic, so that the range detection for high-speed or variable-speed targets can be realized.

In one possible implementation, the receiving device includes a receiving antenna in a vertical polarization direction and a receiving antenna in a horizontal polarization direction; the target sequence comprises a third sequence and a fourth sequence, and the performing matched filtering on the target sequence to obtain a matched filtering result comprises: and performing matched filtering on the third sequence and the fourth sequence sequentially through a matched filter group on the receiving antenna in the vertical polarization direction and a matched filter group on the receiving antenna in the horizontal polarization direction according to a pulse repetition interval to obtain a matched filtering result.

In one possible implementation, the optimization problem is:

In a possible implementation manner, the solving the optimization problem to obtain a first sequence and a second sequence includes:

in a third aspect, an embodiment of the present application provides a device for processing a perceptual signal, which may include: the solving unit is used for solving the optimization problem to obtain a first sequence and a second sequence; wherein the optimization problem is obtained based on an objective function and a constant modulus constraint condition which minimize the sum of two functions, one of the two functions is composed of an autocorrelation function of a first variable and an autocorrelation function of a second variable, and the other of the two functions is composed of a cross-correlation function of the first variable and the second variable; wherein the first sequence is a solution of the first variable in the optimization problem, and the second sequence is a solution of the second variable in the optimization problem; a construction unit for constructing a target sequence from the first sequence and the second sequence; a transmitting unit for transmitting the target sequence; the target sequence is used for sensing a target object.

In a possible implementation, the construction unit is specifically configured to: and arranging an Alamouti matrix according to a Poohite-Su-Mohs PTM sequence to obtain a new matrix, wherein the Alamouti matrix is a matrix formed by the inverted complex conjugate of the first sequence and the inverted complex conjugate of the second sequence, and determines a target sequence according to the new matrix, the target sequence comprises a third sequence and a fourth sequence, the third sequence is a first row of the new matrix, and the fourth sequence is a second row of the new matrix.

In a possible implementation manner, the transmitting unit is specifically configured to: sequentially transmitting the third sequence through the transmitting antenna in the vertical polarization direction according to a pulse repetition interval; and sequentially transmitting the fourth sequence through the transmitting antenna in the horizontal polarization direction according to the pulse repetition interval.

In one possible implementation, the optimization problem is:

In a possible implementation manner, the solving unit is specifically configured to:

by applying to said ω in said optimization problem_aIs selected, the optimization problem is solved to obtain the value within the preset range [ -Z + 1.. the. -1, 1.. the.z +1 []The first sequence and the second sequence within; wherein the content of the first and second substances,Z≤L。

in a fourth aspect, an apparatus for processing a sensing signal provided in an embodiment of the present application includes:

a receiving unit, configured to receive a target sequence sent by a sending device; the optimization problem is obtained based on a target function minimizing the sum of two functions and a constant modulus constraint condition; the first sequence and the second sequence are obtained by solving an optimization problem; the optimization problem is obtained based on an objective function and a constant modulus constraint condition which minimize the sum of two functions, wherein one of the two functions is composed of an autocorrelation function of a first variable and an autocorrelation function of a second variable, and the other one of the two functions is composed of a cross-correlation function of the first variable and the second variable; wherein the first sequence is a solution of the first variable in the optimization problem, and the second sequence is a solution of the second variable in the optimization problem;

In one possible implementation, the apparatus includes a receiving antenna in a vertical polarization direction and a receiving antenna in a horizontal polarization direction; the target sequence includes a third sequence and a fourth sequence, and the matching unit is specifically configured to: and performing matched filtering on the third sequence and the fourth sequence sequentially through a matched filter group on the receiving antenna in the vertical polarization direction and a matched filter group on the receiving antenna in the horizontal polarization direction according to a pulse repetition interval to obtain a matched filtering result.

In a fifth aspect, an embodiment of the present application provides a perceptual information transmitting device, including a processor, a memory, and a transceiver, where the memory is used to store a computer program, the transceiver is used to receive and transmit data under the control of the processor, and the processor is used to invoke the computer program to perform corresponding functions in the perceptual signal processing method provided in the first aspect.

In a sixth aspect, an embodiment of the present application provides a perceptual signal receiving apparatus, including a processor, a memory, and a transceiver, where the memory is used to store a computer program, the transceiver is used to receive and transmit data under the control of the processor, and the processor is used to call the computer program to execute corresponding functions in the perceptual signal processing method provided in the second aspect.

In a seventh aspect, an embodiment of the present application provides a perceptual signal processing system, including a transmitting device and a receiving device, where: the transmitting device performs the corresponding functions in the perceptual signal processing method provided by the third aspect or performs the corresponding functions in the perceptual signal processing method provided by the fifth aspect. The receiving apparatus performs the corresponding functions in the perceptual signal processing method provided by the third aspect or performs the corresponding functions in the perceptual signal processing method provided by the sixth aspect.

In an eighth aspect, embodiments of the present application provide a computer-readable storage medium for storing a computer program, which, when executed by a processor, implements a corresponding function in the perceptual signal processing method provided in the first aspect or a corresponding function in the perceptual signal processing method provided in the second aspect.

Drawings

The drawings used in the embodiments of the present application are described below.

Fig. 1 is an application scenario diagram of a perceptual signal processing method provided in an embodiment of the present application;

fig. 2 is a schematic flowchart of a perceptual signal processing method according to an embodiment of the present application;

fig. 3 is a system model diagram of a perceptual signal processing method according to an embodiment of the present application;

FIG. 3a is a schematic diagram of a self-blurring function provided by an embodiment of the present application;

FIG. 3b is a schematic diagram of a cross-ambiguity function provided by an embodiment of the present application;

fig. 4 is a schematic structural diagram of a device for processing a sensing signal according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of another apparatus for processing a sensing signal according to an embodiment of the present application;

fig. 6 is a schematic diagram of a perceptual signal transmitting device according to an embodiment of the present application;

fig. 7 is a schematic diagram of a perceptual signal receiving apparatus according to an embodiment of the present application;

fig. 8 is a schematic diagram of a perceptual signal processing apparatus according to an embodiment of the present application.

Detailed Description

The embodiments of the present application will be described below with reference to the drawings.

The inventor of the present application finds that if a sensing signal is directly composed of a Golay (gray) complementary sequence, a low mutual ambiguity function value cannot be obtained, and sensing accuracy is not high when a target object is sensed. The inventors have also found that if a lower cross-ambiguity function value and a more desirable self-ambiguity function value are to be obtained within a predetermined range, then the sequences constituting the perceptual signal need to have a low cross-correlation.

Referring to fig. 1, fig. 1 is a schematic view of an application scenario of perceptual signal processing provided in an embodiment of the present application, where the scenario includes a transmitting device 101, a receiving device 102, and a target object 103. The transmitting device 101 may transmit the sensing signal in the form of a pulse train containing a target sequence for sensing the target object 103, which may include a third sequence and a fourth sequence. The transmitting device 101 includes a transmitting antenna with a vertical polarization direction V and a transmitting antenna with a horizontal polarization direction H, where the transmitting antenna with the vertical polarization direction V transmits the third sequence and the transmitting antenna with the horizontal polarization direction H may transmit the fourth sequence. The third sequence and the fourth sequence are target sequences formed by the first sequence and the second sequence respectively, and the first sequence and the second sequence are obtained by solving an optimization problem and are quasi-zero correlation zone complementary sequences with local low cross correlation, which can also be called quasi-Z complementary sequences or quasi-Z complementary pairs. The receiving device 102 also includes a receiving antenna with a vertical polarization direction V and a receiving antenna with a horizontal polarization direction H, and a matched filter bank is provided on the receiving antenna with the vertical polarization direction V for matching the third sequence and the fourth sequence, and a matched filter bank is also provided on the receiving antenna with the horizontal polarization direction H for matching the third sequence and the fourth sequence. After the third sequence and the fourth sequence are matched and filtered through the matched filter on the receiving device 102, a matched filtering result can be obtained, and the perception information of the target object can be obtained through the matched filtering result. It is to be understood that the perception information may include relevant information regarding the position, angle, velocity, etc. of the target object.

The blur function is a mathematical tool for studying the perceptual signal and may be a representation of the results of matched filtering, including self-blur functions and cross-blur functions. The obtained self-fuzzy function has good time domain autocorrelation characteristics in a preset range, and the first sequence and the second sequence obtained by solving the optimization problem have good time domain autocorrelation characteristics and can have good perception performance; the self-fuzzy function obtained by the target sequence (including the third sequence and the fourth sequence) has a certain broadening characteristic in a Doppler dimension, which shows that the target sequence (including the third sequence and the fourth sequence) constructed by the first sequence and the second sequence has better Doppler tolerance, and the target sequence (including the third sequence and the fourth sequence) also has better time-domain autocorrelation characteristic, so that the range detection for high-speed or variable-speed targets can be realized.

It is to be understood that the application scenario diagram in fig. 1 is only an exemplary implementation manner in the embodiment of the present application, and the application scenario diagram in the embodiment of the present application includes, but is not limited to, the above application scenario diagrams.

Referring to fig. 2, fig. 2 is a schematic flowchart of a method for processing a sensing signal according to an embodiment of the present application, where the method includes, but is not limited to, the following steps:

step S200: the transmitting device solves the optimization problem to obtain a first sequence and a second sequence.

Specifically, the transmitting device may obtain a first sequence and a second sequence by solving an optimization problem, where the optimization problem is obtained based on an objective function that minimizes a sum of two functions and a constant modulus constraint condition, one of the two functions is composed of an autocorrelation function of a first variable and an autocorrelation function of a second variable, and the other of the two functions is composed of a cross-correlation function of the first variable and the second variable; the first sequence is a solution of the first variable in the optimization problem, and the second sequence is a solution of the second variable in the optimization problem.

Optionally, the optimization problem is shown in equation 1-1:

wherein, the C_x(k) A kth autocorrelation function representing a first variable xSaid C is_y(k) A k-th autocorrelation function representing the second variable y, C_xy(k) A cross-correlation function representing the first variable x and the second variable y; l represents the length of the first variable x and the second variable y; x is the number of_kA k-th symbol representing the first sequence, the y_kA k-th symbol representing the second sequence; the optimization problem is an optimization problem with respect to the first sequence and the second sequence; the omega_aA restriction condition indicating a preset range of the first sequence and the second sequence,alpha represents a preset weight coefficient, the value of alpha can be 0.5, it should be noted that the value of alpha can be selected according to actual conditions, and the embodiment of the present application is not limited at all. It can be understood that | x_k1, k 0,1,2, L-1 and y_kL-1 is a constant modulus constraint of the optimization problem, and when there is a constraint of the constant modulus constraint, the constructed optimization problem may be a non-convex problem.

Optionally, by applying to said ω in said optimization problem_kIs selected, the optimization problem is solved to obtain the value within the preset range [ -Z + 1.. the. -1, 1.. the.z +1 []The first sequence and the second sequence within; wherein the content of the first and second substances,Z≤L；in practical cases, the first sequence and the second sequence solved by the optimization problem only need to satisfy the requirements within a preset range, so that the first sequence and the second sequence are solved by the method for ω_kTo ensure a preset range. When ω is_kWhen 0, the interval length is [ -L + 1., -Z, Z., L-1]In this case, the optimization function does not exist, and therefore, the optimization function cannot be solved to obtain the optimal value within a preset range of [ -L + 1.,. multidot.,. Z.,. multidot.,. L-1 [ -L + 1.,. multidot.,]a first sequence and a second sequence within; omega_k1, in a preset range, is [ -Z + 1., -1, 1., Z-1 [ -Z + 1., ]]In the range of (1), the optimization function isThere are, therefore, the lengths of the specific intervals [ -L + 1., -Z, Z., L-1 ] can be obtained by solving the optimization function]A first sequence and a second sequence. Note that ω is_kIs the weight at each k delay.

For example, when L ═ 6, the desired preset range is [ -2,2]When the temperature of the water is higher than the set temperature,k is 0,1,2,. 5 in the optimization problem, so for k in the optimization problemCan be converted as shown in equations 1-2,

because of omega₃＝ω₄＝ω₅＝0，ω₁＝ω₂＝1，

So the equations 1-2 can be,therefore, solving the optimization problem results in the preset range [ -Z + 1. -. 1, 1.. Z +1 [ -Z +1 ·]A first sequence and a second sequence.

For example, the optimization problem of the structure is optimized by adopting the idea of the optimization algorithm, and assuming that the optimization problem of the structure is the objective function f (θ), the optimization algorithm is an iterative optimization method which uses the convexity of the function to find the minimum value of the function. The method has the idea that when an objective function f (theta) is difficult to optimize, an algorithm does not directly solve the optimal solution for the objective function, another objective function u (theta) which is easier to optimize can be searched for substitution, then the substitution function is used for solving, and when u (theta) meets a certain condition, the optimal solution of u (theta) can be wirelessly approximated to the optimal solution of f (theta). Once per iteration, a new substitution function for the next iteration is constructed according to the solution, and then the new substitution function is optimized and solved to obtain the next iterationAnd the solution of the secondary iteration can obtain a solution which is closer to the optimal solution of the objective function through multiple iterations. Therefore, the three conditions that u (θ) needs to satisfy are: 1. easy optimization, 2,3、f(θ^(l))＝u(θ^(l)). Therefore, the condition satisfied by u (θ) can be derived as the following inequality: f (theta)^(l+1))≤u(θ^(l+1),θ^(l))≤u(θ^(l),θ^(l))＝f(θ^(l)) So that min u (theta ) can be solved^(l+1)) To obtain theta^(l+1). If theta | |^(l+1)-θ^(l)If | is less than a given threshold, stopping iteration and considering theta^(l+1)Is the optimal solution. Note that l represents the number of iterations.

Because in the optimization problem C_x(k)＝x^HU_kx，C_y(k)＝y^HU_ky，C_xy(k)＝x^HU_ky, wherein U_kIs an L × L Toeplitz matrix, and the elements of the kth diagonal are all 1, and all the remaining elements are 0, the optimization problem of the construction can be fully translated into:

wherein, z ═ x^T,y^T]^T,Therefore, the solution of the first variable x in the optimization problem by the first sequence and the solution of the second variable y in the optimization problem by the second sequence can be converted into the solution of the third variable z in the optimization problem by the first sequence and the second sequence. It should be noted that k represents a discrete time sample after the autocorrelation, and when the sequence length is L, k is-L +1 to L-1 after the autocorrelation is performed.

So at z: (^l) The optimization function of the optimization problem is shown in equations 1-3:

wherein Z is zz^H，λ_JIs the maximum eigenvalue, λ, of the matrix J_uIs a matrixIs given as the maximum eigenvalue of, l represents the number of iterations. Wherein the content of the first and second substances,

since the first two terms of the optimization function of the optimization problem are z-independent terms and are constant except for the last term, only the last term has an effect on the optimization result. Thus, in z: (^l) The optimization problem of (a) can be equivalent to:

the optimization problem with equations 1-6 can be equivalently translated into:wherein the content of the first and second substances,as a result of this, the number of the,

optionally, the length of the first sequence and the length of the second sequence are both 2ⁿ。

Alternatively, when 2ⁿ＝64, since k in equations 1-4 is 1,2, 128, since 128 values can be obtained by equations 1-4, where 1 to 64 are values of the first sequence and 65 to 128 are values of the second sequence.

Obtaining a first sequence and a second sequence with the length of 64 by solving an optimization problem; in radians/radians.

Wherein, the specific values of the first sequence with the length of 64 are: 1.7341, 1.1340, -0.5472, 2.5963, 0.5515, -1.4643, -1.4746, 1.4715, -2.1159, 1.7596, 2.8734, 2.2515, 1.2418, -1.2562, 2.7622, -1.2233, -0.3981, 2.6112, 2.2325, 2.7076, 0.9404, -2.3571, 1.9341, 1.8195, 0.5757, 1.9739, 0.5278, -0.1953, 0.3720, -0.8168, 1.6205, -1.0901, -1.6636, -2.0341, -1.4480, 0.9057, 1.6821, 0.2329, -3.0069, -3.0584, 0.1641, 0.5060, 1.4893, -2.7575, -1.5898, 1.8278, 0.4952, 0.4564, 2.1698, 2.4325, -0.5816, 2.0195, 0.8338, -1.0606, -0.8028, -0.2512, 2.1051, -0.0719, 1.2728, -1.5233, 0.1539, 0.6289, 0.6322, 1.1099;

the specific values for the second sequence of length 64 are: : 2.6798,2.4165,1.0325, -2.1572, -1.6219,1.0392,1.5742, -1.8896,2.1673, -1.0041,2.6724, -0.4484, -1.5759, -0.7495,0.8979,0.2778, -0.6923,2.5241,0.4578,0.8070,2.4172, -1.6788,2.3553,2.5433, -0.4126,0.4759, -1.4990, -1.3245,1.1887,2.9184,2.6797, -1.2382,1.2096, -1.1161, -2.2148, -0.8829, -0.8591,2.0962, -0.6294, -0.1992, -0.3267,1.9456,1.3541,1.2991,1.8820,2.7887,0.1861, -1.9303, -0.2220,2.6107, -1.5184,2.0026,1.9488,3.0558, -1.3299,1.0977, -1.6652,2.3303, -2.0154,2.4912,1.5943,1.8019, -0.6911, -1.5569.

Alternatively, when 2ⁿWhen the length is 128, the specific values of the first sequence and the second sequence with the length of 128 are obtained by solving the optimization problem, which is shown in table 1 and the unit is radian/radian. The first sequence of length 128 includes sequence 1, sequence 2, sequence 3, and sequence 4 in table 1; the second sequence of length 128 includes sequence 5, sequence 6, sequence in Table 1Column 7, and sequence 8. See table 1 for details.

Table 1

Alternatively, when 2ⁿWhen the length is 256, the specific values of the first sequence and the second sequence with the length of 256 are obtained by solving the optimization problem, which is shown in table 2, and the unit is radian/radian. The first sequence of length 256 includes sequence 1, sequence 2, sequence 3, and sequence 4 in table 2; the second sequence of length 256 includes sequence 5, sequence 6, sequence 7, and sequence 8 in table 2. See table 2 for details.

Table 2

Alternatively, when 2ⁿWhen 512, the specific values of the first and second sequences with length 512 are obtained by solving the optimization problem, see table 3, in radians/radians. The first sequence of length 512 includes sequence 1, sequence 2, sequence 3, and sequence 4 in table 3; the second sequence of length 512 includes sequence 5, sequence 6, sequence 7, and sequence 8 in table 3. See table 3 for details.

Table 3

Alternatively, when 2ⁿWhen the length is 1024, the specific values of the first sequence and the second sequence with the length of 1024 are obtained by solving the optimization problem, which is shown in table 4, and the unit is radian/radian. The first sequence of length 1024 includes sequence 1, sequence 2, sequence 3, and sequence 4 in table 4; the second sequence of length 1024 includes sequence 5, sequence 6, sequence 7, and sequence 8 in table 4. See table 4 for details.

Table 4

Alternatively, when 2ⁿ2048, the first and second sequences of length 2048 are obtained by solving an optimization problem, as specified in table 5, in radians/radians. The first sequence of length 2048 includes sequence 1, sequence 2, sequence 3, and sequence 4 in table 5; the second sequence of length 2048 includes sequence 5, sequence 6, sequence 7, and sequence 8 in table 5. See table 5 for details.

Table 5

Step S201: the transmitting device constructs a target sequence from the first sequence and the second sequence.

Specifically, after a first sequence and a second sequence with local low cross correlation are obtained by solving an optimization problem, a target sequence can be constructed according to the first sequence and the second sequence.

Optionally, arranging Alamouti matrices according to the pro uhet-due-Morse-prosea-threo-Morse PTM sequence to obtain new matrices, wherein the Alamouti matrices are matrices formed according to the inverted complex conjugate of the first sequence and the inverted complex conjugate of the second sequence; and determining a target sequence according to the new matrix, wherein the target sequence comprises a third sequence and a fourth sequence, the third sequence is a first row of the new matrix, and the fourth sequence is a second row of the new matrix. For example, first determine the Alamouti matrix asWherein x in the matrix is the inverse conjugate of the first sequence and y in the matrix represents the inverse complex conjugate of the second sequence; then determining the sequence of PTM (Prouhet-Thue-Morse), and giving the sequence of PTM asIts recursion is defined as follows: a is₀＝0,a_2m＝a_m,a_2m+1＝1-a_mM is more than or equal to 0; the length of the PTM sequence may be any length, and in general, the length of the PTM sequence may be N — 2m +1, and in general, m may be any integer from 2 to 5. It will be appreciated that the larger m, the better the performance, and that the better the performance of the constructed target sequence when m is 5 than when m is 2. Finally, the Alamouti matrix formed by the first sequence and the second sequence may be placed according to the PTM sequence, a new matrix may be obtained, the third sequence may be a first row of the new matrix, and the fourth sequence may be a second row of the new matrix.

For example, if the PTM sequence is 0110, the 4 Alamouti matrices corresponding to the PTM sequence 0110 are a₀ A₁A₁ A₀The four Alamouti matrices may form a new matrix a ═ a₀ Α₁ A₁ A₀]If, ifMatrix A₀And A₁X in (a) represents a first sequence obtained by solving the optimization problem, and y represents a second sequence obtained by solving the optimization problem, thenIt can be seen that the new matrix is a 2 x 8 matrix, so the first row of the new matrix may be the third sequence and the second row of the new matrix may be the fourth sequence.

Step S202: the transmitting device transmits the target sequence.

Specifically, since the target sequence is composed of a first sequence and a second sequence obtained by solving the optimization problem, transmitting the target sequence is to transmit the first sequence and the second sequence in a certain order, and the target sequence is used for sensing the target object.

Optionally, the transmitting device includes a transmitting antenna in a vertical polarization direction and a transmitting antenna in a horizontal polarization direction; the transmitting the target sequence includes: sequentially transmitting the third sequence through the transmitting antenna in the vertical polarization direction according to a pulse repetition interval; and sequentially transmitting the fourth sequence through the transmitting antenna in the horizontal polarization direction according to the pulse repetition interval.

For example, a new matrix may be obtained by laying out Alamouti matrices according to PTM sequences, where the first row in the new matrix may be the third sequence and the second row in the new matrix may be the fourth sequence. If PTM sequence is 1001, the corresponding 4 Alamouti matrixes are A₁ A₀ A₀ A₁The four Alamouti matrices may form a new matrix a ═ a₁ A₀ A₀A₁](ii) a If the Alamouti matrix isThe new matrix is shown in equations 1-8:

the third sequence transmitted by the transmitting antenna of the vertical polarization direction V may be: s_V＝[-y -x x -y x -y -y -x]The fourth sequence transmitted by the transmitting antenna of the horizontal polarization direction H may be: s_H＝[x -y y x y x x -y]Since x denotes a first sequence obtained by solving the optimization problem and y denotes a second sequence obtained by solving the optimization problem, y is transmitted by the transmitting antenna in the vertical polarization direction V in the 0 th pulse repetition interval, and x is transmitted by the transmitting antenna in the vertical polarization direction V in the 1 st pulse repetition interval; similarly, x is transmitted by the transmitting antenna in the horizontal polarization direction H in the 3 rd pulse repetition interval and in the vertical polarization direction in the 7 th pulse repetition intervalV transmit antenna transmit-y.

Optionally, the transmitting device comprises a 2 × 2 multiple-input multiple-output (MIMO) system; transmitting the target sequence comprises: and sequentially transmitting the third sequence and the fourth sequence through the 2 x 2MIMO system according to a pulse repetition interval.

Specifically, the 2 × 2MIMO system includes two transmitting antennas, one of the two transmitting antennas transmits the third sequence according to the pulse repetition interval, and the other of the two transmitting antennas transmits the fourth sequence according to the pulse repetition interval.

Optionally, the transmitting device includes a transmitting antenna, and transmitting the target sequence includes: and sequentially transmitting the target sequence through the transmitting antenna according to the pulse repetition interval.

Specifically, the target sequence includes a third sequence and a fourth sequence, and since the first sequence and the second sequence have a certain orthogonal property, the third sequence and the fourth sequence also have a certain orthogonal property. The third and fourth sequences may be added together and transmitted through one transmit antenna according to the pulse repetition interval according to the orthogonal characteristic.

Step S203: and the receiving equipment receives the target sequence sent by the sending equipment.

Specifically, the receiving device is the same as the sending device, and when the receiving device includes a receiving antenna in the horizontal polarization direction H and a receiving antenna in the vertical polarization direction V, the target sequence sent by the sending device can be received by the receiving antenna in the horizontal polarization direction and the receiving antenna in the vertical polarization direction, respectively; when the receiving device comprises a 2 × 2MIMO system, the target sequence transmitted by the transmitting device can be received through receiving antennas of the 2 × 2MIMO system; when the receiving device includes one receiving antenna, the target sequence transmitted by the transmitting device may be received through one receiving antenna. Wherein the target sequence is constructed from a first sequence and a second sequence; the first sequence and the second sequence are obtained by solving an optimization problem; the optimization problem is obtained based on an objective function and a constant modulus constraint condition which minimize the sum of two functions, wherein one of the two functions is composed of an autocorrelation function of a first variable and an autocorrelation function of a second variable, and the other one of the two functions is composed of a cross-correlation function of the first variable and the second variable; the first sequence is a solution of the first variable in the optimization problem, and the second sequence is a solution of the second variable in the optimization problem.

Step S204: and the receiving equipment performs matched filtering on the target sequence to obtain a matched filtering result, and obtains the perception information of the target object according to the matched filtering result.

Specifically, the transmitting device may match the received target sequence through different matched filter sets, so as to obtain a matched filtering result, and may obtain perception information of the target object from the matched filtering result, thereby facilitating the processing at the back end.

Optionally, the receiving device includes a receiving antenna in a vertical polarization direction and a receiving antenna in the horizontal polarization direction; the target sequence comprises a third sequence and a fourth sequence, and the performing matched filtering on the target sequence to obtain a matched filtering result comprises: and performing matched filtering on the third sequence and the fourth sequence sequentially through a matched filter group on the receiving antenna in the vertical polarization direction and a matched filter group on the receiving antenna in the horizontal polarization direction according to a pulse repetition interval to obtain a matched filtering result.

Specifically, for this receiving antenna of the vertical polarization direction V, the third sequence and the fourth sequence may be matched by configuring a matched filter bank; similarly, for the receiving antenna in the horizontal polarization direction H, the third sequence and the fourth sequence may also be matched by configuring the matched filter bank; and finally, a matched filtering result can be obtained. It can be understood that different matched filtering results can be obtained according to actual requirements, and the perception information of the target object can be obtained from the matched filtering results. It should be noted that the matched filter bank may include a plurality of matched filters. It can be understood that the receiving antenna in the vertical polarization direction can receive the target sequence transmitted by the transmitting antenna in the vertical polarization direction and the transmitting antenna in the horizontal polarization direction; and the receiving antenna in the horizontal polarization direction may receive the target sequence transmitted by the transmitting antenna in the vertical polarization direction and the transmitting antenna in the horizontal polarization direction, and since the transmitting device transmits the target sequence in the pulse repetition interval, the receiving device also needs to match the received target sequence in the pulse repetition interval.

Optionally, the receiving device comprises a 2 × 2 multiple-input multiple-output (MIMO) system; the 2 x 2MIMO system includes two receive antennas; the target sequence comprises a third sequence and a fourth sequence; the step of performing matched filtering on the target sequence to obtain a matched filtering result comprises:

and matching the third sequence and the fourth sequence sequentially through a matched filter group in the 2 x 2MIMO system according to the pulse repetition interval to obtain a matched filtering result.

Optionally, the receiving device comprises one receiving antenna; the target sequence comprises a third sequence and a fourth sequence; the performing matched filtering on the target sequence to obtain a matched filtering result includes: and matching the third sequence and the second sequence sequentially through a matched filter group on the receiving antenna according to the pulse repetition interval to obtain a matched filtering result.

Specifically, because the third sequence and the fourth sequence have orthogonal characteristics, the third sequence and the fourth sequence can be matched through different matched filters on one receiving antenna to obtain a matched filtering result.

Optionally, performing matched filtering on the target sequence to obtain a matched filtering result includes: performing matched filter on the target sequence through a matched filter group to obtain the total output of the signal vector; and acquiring a matched filtering result from the total output of the signal vector, and acquiring the perception information of the target object according to the matched filtering result.

Specifically, for example, for a transmitting apparatus including a transmitting antenna with a vertical polarization direction and a transmitting antenna with a horizontal polarization direction, in the nth pulse repetition interval, the received signal vector is r_n＝Hs_ne^jnθWherein h_VHRepresenting the scattering coefficient, H, of the object from the horizontal polarization H into the vertical polarization V_HVRepresenting the scattering coefficient, H, of the object from the vertical polarization V into the horizontal polarization H_VVRepresenting the scattering coefficient, h, of the object from vertical polarization V into vertical polarization V_HHRepresents the scattering coefficient of the target from horizontal polarization H into horizontal polarization H, and theta represents the Doppler shift; s_V,nRepresenting the sequence transmitted by the transmitting antenna in the vertical polarization direction V during the nth pulse repetition interval, s_H,nA sequence representing the transmission of the transmit antenna in the horizontal polarization direction H; r is_V,nDenotes the sequence received by the receiving antenna in the vertical polarization direction V in the nth pulse repetition interval, r_H,nA sequence received by the receiving antenna in the horizontal polarization direction H is indicated. Since the received target sequence needs to be matched to obtain the information vector in each pulse repetition interval, the total output of the signal vector may be the sum of the outputs of the signal vectors in each pulse repetition interval. For example, in the nth pulse repetition interval, the output is as shown in equations 1-6:

wherein the content of the first and second substances,

s^*represents the conjugate of s.

Thus, in all pulse repetition intervals, the total output of the signal vector from equations 1-6 is:

the blur function may be derived from a matrix expression of the total output of the signal vectors, wherein the blur function comprises a self-blur function and a mutual-blur function. It should be noted that the blur function is one expression of the matched filtering result, and the matched filtering result may have multiple expressions, which is not limited in this embodiment of the present application. For example, the blur function can be obtained according to equations 1-10 as:

in general, two fuzzy functions on the main diagonal in equations 1-11 can be called self-fuzzy functions; the two blurring functions on the minor diagonal in equations 1-11 can be referred to as the mutual blurring function. The fuzzy function is an effective tool for analyzing and researching the perception signal, and the fuzzy function of the perception signal is closely related to the extraction of perception information. The self-correlation side lobe peak value of the self-fuzzy function obtained in the embodiment of the application in the preset range is lower, and the cross-correlation peak value of the mutual fuzzy function obtained in the preset range is lower. So obtaining the perceptual information of the target object according to the blur function may include: position information, angle information, and velocity information. When the autocorrelation side lobe peak value and the cross correlation peak value of the first sequence and the second sequence are lower, it can be shown that the sensing signal formed by the first sequence and the second sequence can effectively suppress clutter, more accurate sensing information can be obtained, and it can be shown that the first sequence and the second sequence can improve the sensing performance of a high-speed or variable-speed target.

According to the method provided by the embodiment of the application, the sending equipment can acquire and transmit the target sequence sensing the target object, the receiving equipment matches the received target sequence through the matched filter group to obtain the matched filtering result, and the sensing information can be acquired according to the matched filtering result. The target sequence is constructed from the first sequence and the second sequence. The inventor of the present application finds that if the self-correlation side lobe peak value and the cross-correlation peak value of the target sequence within the preset range are low, the first sequence and the second sequence need to have low cross-correlation within the preset range, so that the first sequence and the second sequence can be obtained by solving the optimization problem. The optimization problem is obtained based on an objective function and a constant modulus constraint condition, wherein the objective function and the constant modulus constraint condition are used for minimizing the sum of two functions, one of the two functions is composed of an autocorrelation function of a first variable and an autocorrelation function of a second variable, and the other of the two functions is composed of a cross-correlation function of the first variable and the second variable; the first sequence is a solution of the first variable in the optimization problem, and the second sequence is a solution of the second variable in the optimization problem. And the first sequence and the second sequence obtained by solving the optimization problem are quasi-zero correlation zone complementary sequences with low cross correlation property in a preset range. The fuzzy function is a mathematical tool for researching a perception signal, and can be a representation form of a matched filtering result, and comprises a self-fuzzy function and a mutual fuzzy function; the obtained self-fuzzy function has good time domain autocorrelation characteristics in a preset range, and the first sequence and the second sequence obtained by solving the optimization problem have good time domain autocorrelation characteristics and can have good perception performance; the self-fuzzy function obtained by the target sequence (including the third sequence and the fourth sequence) has a certain spread characteristic in a Doppler dimension, which can show that the target sequence (including the third sequence and the fourth sequence) constructed by the first sequence and the second sequence has a better Doppler tolerance, and the target sequence (including the third sequence and the fourth sequence) also has a better time-domain autocorrelation characteristic, so that the range detection for a high-speed or variable-speed target can be realized.

Referring to FIG. 3, FIG. 3 is a drawing of the present applicationPlease refer to a system model diagram of a perceptual signal processing method according to an embodiment, a third sequence for sensing may be transmitted on the transmitting antenna 301 in the vertical polarization direction in fig. 3, respectively s_V,0，s_V,1，s_V,2，...，s_V,N-1Wherein s is_V,1Representing the sequence transmitted on the transmit antenna 301 with the vertical polarization direction in the first pulse repetition interval, s, as can be seen_V,N-1Representing the sequence transmitted on the transmit antenna 301 for the vertical polarization direction in the (N-1) th pulse repetition interval. A fourth sequence for sensing, s respectively, may also be transmitted on the horizontally polarized transmit antenna 302_H,0，s_H,1，s_H,2，...，s_H,N-1Wherein s is_H,1Representing the sequence transmitted on the transmit antenna 402 in the horizontal polarization direction in the first pulse repetition interval, s, as can be seen_H,N-1Representing the sequence transmitted on the transmit antenna with the horizontal polarization direction 302 in the (N-1) th pulse repetition interval. The third sequence and the fourth sequence may be constructed by a first sequence and a second sequence, respectively, which are obtained by solving an optimization problem. The optimization problem is obtained based on an objective function and a constant modulus constraint condition which minimize the sum of two functions, wherein one of the two functions is composed of an autocorrelation function of a first variable and an autocorrelation function of a second variable, and the other one of the two functions is composed of a cross-correlation function of the first variable and the second variable; the first sequence is a solution of the first variable in the optimization problem, and the second sequence is a solution of the second variable in the optimization problem.

The first sequence and the second sequence obtained by solving the optimization problem are quasi-zero correlation zone complementary sequences, which can be called quasi-Z complementary sequences, and can also be called quasi-Z complementary pairs. The third sequence and the fourth sequence may be obtained by arranging Alamouti matrices according to the PTM sequence, the first row of the new matrix may be the third sequence, and the second row of the new matrix may be the fourth sequence. For example, first, by solving an optimization problem, a value of-16, 16 can be obtained]And a first sequence and a second sequence having a length L of 64, it should be noted that the first sequence is referred toThe specific values of the columns and the second sequence can refer to step S202; the Alamouti matrix is then given as:wherein, the matrix A₀And matrix A₁X in the first vector represents a solution of the first vector in the optimization problem, and y represents a solution of the second vector in the optimization problem; if the PTM sequence is 1001, the corresponding 4 Alamouti matrixes are respectively A₁ A₀ A₀ A₁The four Alamouti matrices may form a new matrix a ═ a₁ A₀ A₀ A₁](ii) a The new matrix is specifically:in the actual transmission process, the third sequence transmitted on the transmitting antenna with the vertical polarization direction V may be: s_V＝[x -y -y -x -y -x x -y]Correspondingly, s_V,0＝x， The third sequence transmitted on the transmit antenna for the horizontal polarization direction 302 may be: s_H＝[y x x -y x -y y x]Correspondingly, s_H,0＝y，s_H,3＝-y，s_H,5＝-y，s_H,6＝y，s_H,7-x. Wherein the content of the first and second substances,andrespectively, x and y are shown as inverted conjugates.

When the transmitted third and fourth sequences are reflected back, the vertical polarization receiving antenna 303 and the horizontal polarization receiving antenna 304 can receive the first and second sequences. Similarly, the N sequences received by the receiving antenna 303 with vertical polarization direction can be respectively expressed as: r is_V,0，r_V,1，r_V,2，...，r_V,N-1(ii) a The N sequences received by the receiving antenna 304 in the horizontal polarization direction can be respectively expressed as: r is_H,0，r_H,1，r_H,2，...，r_H,N-1. For the vertical polarization direction V receiving antenna, there is a matched filter bank 305, and the matched filter bank 305 can be used to match the third sequence and the fourth sequence to obtain a first signal vector, which can be respectively expressed as: for the receiving antenna 304 with horizontal polarization, there is a matched filter bank 306, and the matched filter bank 406 can be used to match the third sequence and the fourth sequence to obtain a second signal vector, which can be respectively represented asThe total output of the first signal vector and the second signal vector together can be expressed as: o is₀，O₁，O₂，...，O_N-1Wherein O is_N-1Indicating a first signal vector in the (N-1) th pulse repetition intervalAnd a second signal vectorTogether forming an output; so that the total output is obtained in all pulse repetition intervalsθ denotes doppler shift, k denotes discrete sample after autocorrelation, and when L is 64, k is [ -63,63 after autocorrelation]. It should be noted that, generally, two blurring functions on the main diagonal are called self-blurring functions, and two blurring functions on the sub-diagonal are called mutual-blurring functions, and the blurring functions may be one expression of the results of the matched filtering.

So the third sequence for transmission is s_V＝[x -y -y -x -y -x x -y]The fourth sequence of emission is s_H＝[y x x -y x -y y x]The computational expression of the self-ambiguity function of (a) is shown in equation 2-1:

the computational expression of the mutual fuzzy function is shown in equation 2-2:

wherein the content of the first and second substances,

finally, an example graph of the fuzzy function can be obtained, and the perception information of the target object can be obtained from the example graph of the fuzzy function.

Referring to fig. 3a, fig. 3a is an exemplary diagram of a self-ambiguity function provided by an embodiment of the present application, and the exemplary diagram is a simulation diagram of the self-ambiguity function of a target sequence composed based on a quasi-Z complementary sequence with a length of 64 in a preset range of [ -16,16 ]. The perceptual information of the target object can be obtained from fig. 3a, which includes: the self-fuzzy function has good time domain autocorrelation characteristics in the interested region with the region length of [ -16,16], which shows that the first sequence and the second sequence obtained by solving the optimization problem have good time domain autocorrelation characteristics and can have good perception performance; the self-fuzzy function obtained by the target sequence (including the third sequence and the fourth sequence) has a certain broadening characteristic in a Doppler dimension, which shows that the target sequence (including the third sequence and the fourth sequence) constructed by the first sequence and the second sequence has better Doppler tolerance, and simultaneously the target sequence (including the third sequence and the fourth sequence) also has better time-domain autocorrelation characteristic, so that the range detection for high-speed or variable-speed targets can be realized. Referring to fig. 3b, fig. 3b is a schematic diagram of a cross-ambiguity function provided in an embodiment of the present application, which is a simulation diagram of the cross-ambiguity function of a target sequence composed based on a quasi-Z complementary sequence with a length of 64 and an interval length of [ -16,16 ]. It can be seen from fig. 3b that the cross-blur function has a very low time-frequency domain characteristic within the region of interest with a preset range of-16, indicating a low interference between the first sequence and the second sequence.

Referring to fig. 4, fig. 4 is a schematic structural diagram of a processing apparatus for sensing signals provided in an embodiment of the present application, where the processing apparatus for sensing signals may be a transmitting device or a module in the transmitting device in the embodiment shown in fig. 2, and the processing apparatus 40 for sensing signals may include a solving unit 401, a constructing unit 402, and a transmitting unit 403, where details of each unit are described below.

A solving unit 401, configured to solve an optimization problem to obtain a first sequence and a second sequence; wherein the optimization problem is obtained based on an objective function and a constant modulus constraint condition which minimize the sum of two functions, one of the two functions is composed of an autocorrelation function of a first variable and an autocorrelation function of a second variable, and the other of the two functions is composed of a cross-correlation function of the first variable and the second variable; wherein the first sequence is a solution of the first variable in the optimization problem, and the second sequence is a solution of the second variable in the optimization problem;

a constructing unit 402 configured to construct a target sequence according to the first sequence and the second sequence;

a transmitting unit 403, configured to transmit the target sequence; the target sequence is used for sensing a target object.

In a possible implementation manner, the constructing unit 402 is specifically configured to:

In a possible implementation, the processing means 40 of the perceived signal comprise a transmitting antenna of vertical polarization and a transmitting antenna of horizontal polarization; the transmitting unit is specifically configured to:

sequentially transmitting the third sequence through the transmitting antenna in the vertical polarization direction according to a pulse repetition interval;

and sequentially transmitting the fourth sequence through the transmitting antenna in the horizontal polarization direction according to the pulse repetition interval.

In one possible implementation, the optimization problem is:

wherein, the C_x(k) A k-th autocorrelation function representing the first variable x, C_y(k) A k-th autocorrelation function representing the second variable y, C_xy(k) A kth cross-correlation function representing the first variable x and the second variable y; said L representsA length of the first variable and the second variable; said x_kA k-th symbol representing the first variable x, y_kA kth symbol representing the second variable; the omega_aA restriction condition indicating a preset range of the first sequence and the second sequence,α represents a preset weight coefficient.

In a possible implementation manner, the solving unit is specifically configured to:

it should be noted that, for the functions of each functional unit in the processing apparatus 40 for sensing signals described in the embodiment of the present application, reference may be made to the related descriptions of S200 to S202 in the method embodiment described in fig. 2, and details are not repeated here.

Referring to fig. 5, fig. 5 is a schematic structural diagram of another apparatus for processing a sensing signal according to an embodiment of the present application, where the apparatus for processing a sensing signal 50 may be a receiving device or a module in a receiving device in the embodiment shown in fig. 5, and the apparatus for processing a sensing signal 50 may include a receiving unit 501 and a matching obtaining unit 502, where details of each unit are described below.

A receiving unit 501, configured to receive a target sequence sent by a sending device; the target sequence is constructed from a first sequence and a second sequence; the first sequence and the second sequence are obtained by solving an optimization problem; the optimization problem is obtained based on an objective function and a constant modulus constraint condition which minimize the sum of two functions, wherein one of the two functions is composed of an autocorrelation function of a first variable and an autocorrelation function of a second variable, and the other one of the two functions is composed of a cross-correlation function of the first variable and the second variable; wherein the first sequence is a solution of the first variable in the optimization problem, and the second sequence is a solution of the second variable in the optimization problem;

a matching obtaining unit 502, configured to perform matching filtering on the target sequence to obtain a matching filtering result, and obtain perception information of the target object according to the matching filtering result.

In a possible implementation, the processing means 50 of the perceived signal comprises a receiving antenna of a vertical polarization direction and a receiving antenna of the horizontal polarization direction; the target sequence includes a third sequence and a fourth sequence, and the matching unit is specifically configured to: and performing matched filtering on the third sequence and the fourth sequence sequentially through a matched filter group on the receiving antenna in the vertical polarization direction and a matched filter group on the receiving antenna in the horizontal polarization direction according to a pulse repetition interval to obtain a matched filtering result.

It should be noted that, for the functions of each functional unit in the apparatus 50 for processing a sensing signal described in the embodiment of the present application, reference may be made to the description of S203 to S206 in the method embodiment described in fig. 3, which is not described herein again.

Referring to fig. 6, fig. 6 is a schematic diagram of a sensing signal transmitting device provided in an embodiment of the present application, where the sensing signal transmitting device 60 includes a processor 601, a memory 602, and a transmitting dual-polarized antenna 603. Wherein, the processor 601 comprises a target sequence generation subsystem 601b and a transmission subsystem 601a, and the processor 601, the memory 602 and the transmission dual-polarized antenna 603 are connected with each other through a bus 604.

The memory 602 includes, but is not limited to, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), or a portable read-only memory (CD-ROM), and the memory 602 is used for related computer programs and data.

The processor 601 may be one or more Central Processing Units (CPUs), and in the case that the processor 601 is one CPU, the CPU may be a single-core CPU or a multi-core CPU.

The processor 601 reads the computer program code stored in the memory 602 to perform the following operations:

The transmitting dual-polarized antenna 603 comprises a transmitting antenna in a horizontal polarization direction and a transmitting antenna in a vertical polarization direction, and is used for transmitting a target sequence; the target sequence is used for sensing a target object.

It should be noted that, for the functions of each functional unit in the sensing signal transmitting device 60 described in the embodiment of the present application, reference may be made to the description related to S200 to S202 in the method embodiment described in fig. 2, and details are not repeated here.

Referring to fig. 7, fig. 7 is a schematic diagram of a sensing signal receiving device according to an embodiment of the present application, where the sensing signal receiving device 70 includes a receiving dual-polarized antenna 701, a processor 702, and a memory 703. The processor 702 includes a receiving subsystem 702a and a processing subsystem 702b, and the processor 702, the memory 703 and the receiving dual-polarized antenna 701 are connected to each other by a bus 704.

The memory 703 includes, but is not limited to, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), or a portable read-only memory (CD-ROM), and the memory 703 is used for related computer programs and data. The communication interface 803 is used to receive and transmit data.

The processor 702 may be one or more Central Processing Units (CPUs), and in the case that the processor 702 is one CPU, the CPU may be a single-core CPU or a multi-core CPU.

The receiving dual-polarized antenna 701 includes a receiving antenna in a vertical polarization direction and a receiving antenna in a horizontal polarization direction, and is configured to receive a target sequence sent by the sensing signal sending device 60; the target sequence is constructed from a first sequence and a second sequence; the first sequence and the second sequence are obtained by solving an optimization problem; the optimization problem is obtained based on an objective function and a constant modulus constraint condition which minimize the sum of two functions, wherein one of the two functions is composed of an autocorrelation function of a first variable and an autocorrelation function of a second variable, and the other one of the two functions is composed of a cross-correlation function of the first variable and the second variable; wherein the first sequence is a solution of the first variable in the optimization problem, and the second sequence is a solution of the second variable in the optimization problem.

The processor 601 reads the computer program code stored in the memory 602 to perform the following operations:

and performing matched filtering on the target sequence to obtain a matched filtering result, and acquiring the perception information of the target object according to the matched filtering result.

It should be noted that, for the functions of each functional unit in the sensing signal receiving device 70 described in the embodiment of the present application, reference may be made to the related descriptions of S203 to S206 in the method embodiment described in fig. 2, and details are not described herein again.

Referring to fig. 8, fig. 8 is a schematic diagram of a perceptual signal processing system according to an embodiment of the present application, where the perceptual signal processing system 80 includes a perceptual signal transmitting device 60 and a perceptual signal receiving device 70.

It should be noted that, in the embodiment of the present application, the functions in the sensing signal transmitting device 60 in the sensing signal processing system 90 may refer to the descriptions related to S200 to S202 in the method embodiment described in fig. 2, and the functions of each functional unit in the sensing signal receiving device 70 in the sensing signal processing system 80 described in the embodiment of the present application may refer to the descriptions related to S202 to S206 in the method embodiment described in fig. 2, which are not described herein again.

It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts described, as some steps may occur in other orders or concurrently depending on the application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the above-described division of the units is only one type of division of logical functions, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of some interfaces, devices or units, and may be an electric or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, the technical solution of the present application may be substantially implemented or a part of or all or part of the technical solution contributing to the prior art may be embodied in the form of a software product stored in a storage medium, and including several instructions for enabling a computer device (which may be a personal computer, a server, or a network device, and may specifically be a processor in the computer device) to execute all or part of the steps of the above-mentioned method of the embodiments of the present application. The storage medium may include: various media capable of storing program codes, such as a usb disk, a removable hard disk, a magnetic disk, an optical disk, a Read-only memory (ROM) or a Random Access Memory (RAM).

The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

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