分布式无线组网超宽带穿墙雷达系统设计与联合定位

刘新; 朱海滨; 刘宗强; 薛长虎; 穆雅鑫; 渠晓东; 叶盛波; 夏正欢; 方广有

doi:10.12000/JR23239

分布式无线组网超宽带穿墙雷达系统设计与联合定位

DOI: 10.12000/JR23239

1.
北京卫星信息工程研究所北京 100095
2.
北京信息科技大学北京 100101
3.
北京理工大学北京 100081
4.
中国科学院空天信息创新研究院北京 100190

基金项目: 国家重点研发计划(2021YFC3002100, 2023YFB3905505)，国家自然科学基金(61601438, 62201573)，北京信息科技大学校基金(2021XJJ22)

详细信息

作者简介:
刘　新，博士，高级工程师，主要研究方向为新体制雷达系统设计与雷达信号处理

朱海滨，硕士生，主要研究方向为极化雷达信号处理与目标分类方法

刘宗强，博士，主要研究方向为天基遥感信息处理与人工智能反演算法

薛长虎，博士，主要研究方向为雷达SAR图像干涉处理及在国土形变检测等领域的应用

穆雅鑫，博士，副教授，硕士生导师，主要研究方向为近地表目标电磁检测与成像方法

渠晓东，博士，硕士生导师，主要研究方向为超宽带穿墙雷达系统研制、行为识别与姿态重构等

叶盛波，研究员，硕士生导师，主要研究方向为超宽带探地雷达、穿墙三维成像雷达等技术

夏正欢，研究员，硕士生导师，主要研究方向为新体制天基雷达系统与信息处理技术

方广有，研究员，博士生导师，主要研究方向为超宽带电磁场理论及其工程应用、超宽带雷达成像技术、微波成像新方法和新技术等

通讯作者:
刘宗强 bestlzq@126.com

叶盛波 sbye@mail.ie.ac.cn

责任主编：郭世盛 Corresponding Editor: GUO Shisheng
中图分类号: TN953
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- 被引次数: 0
出版历程
- 收稿日期: 2023-12-11
- 修回日期: 2024-02-03
- 网络出版日期: 2024-03-19
- 刊出日期: 2024-08-28

The Design and Joint Positioning Method of an ultra-wideband Through-wall Radar System for Distributed Wireless Networking

1.
Beijing Institute of Satellite Information Engineering, Beijing 100095, China
2.
Beijing Information Science and Technology University, Beijing 100101, China
3.
Beijing Institute of Technology, Beijing 100081, China
4.
Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing 100190, China

Funds: The National Key R&D Program of China (2021YFC3002100, 2023YFB3905505), The National Natural Science Foundation of China (61601438, 62201573), Beijing Information Science and Technology University Foundation (2021XJJ22)

More Information

Corresponding author: LIU Zongqiang, bestlzq@126.com; YE Shengbo, sbye@mail.ie.ac.cn

摘要

摘要: 单发单收穿墙雷达具备便携、系统简单、可独立工作等优势，但难以实现目标二维定位与跟踪。该文基于便携式单发单收雷达设计了一套分布式无线组网穿墙雷达系统，同时提出了一种目标联合定位方法，能够兼顾系统便携、低成本和目标二维信息估计。首先，设计了基于互补格雷码发射波形的超宽带雷达系统，解决了同频段多台雷达同时工作互相干扰的问题；分布式无线组网超宽带穿墙雷达系统包括3个雷达节点，并通过无线模块与数据处理中心通信。其次，提出了一种基于行为认知理论和模板匹配相结合的数据同步方法，通过识别各雷达数据中的相同运动状态来解决无线组网雷达慢时同步问题，摆脱了传统同步方法对硬件的苛刻要求。最后，提出基于Levenberg-Marquardt (L-M)最优化算法的雷达位置自估计和目标位置求解方法，实现了无先验雷达节点位置信息下的目标快速定位与跟踪。通过仿真分析与实验验证，该文设计的无线组网雷达系统可以实现目标二维定位与实时跟踪，雷达自身位置的估计精度优于0.06 m，对运动人体目标定位精度优于0.62 m。
- 超宽带穿墙雷达 /
- 分布式组网 /
- 无线组网 /
- 数据同步 /
- 联合定位
Abstract: Through-wall radar systems with single transmitter and receiver have the advantages of portability, simplicity, and independent operation; however, they cannot accomplish two-dimensional (2D) localization and tracking of targets. This paper proposes distributed wireless networking for through-wall radar systems based on a portable single transmitter and single receiver radar. Moreover, a target joint positioning method is proposed in this study, which can balance system portability, low cost, and target 2D information estimation. First, a complementary Gray code transmission waveform is utilized to overcome the issue of mutual interference when multiple radars operate simultaneously in the same frequency band, and each radar node communicates with the processing center via wireless modules, forming a distributed wireless networking radar system. In addition, a data synchronization method combines the behavioral cognition theory and template matching, which identifies identical motion states in data obtained from different radars, realizing slow-time synchronization among distributed radars and thereby eliminating the strict hardware requirements of conventional synchronization methods. Finally, a joint localization method based on Levenberg-Marquardt is proposed, which can simultaneously estimate the positions of radar nodes and targets without requiring prior radar position information. Simulation and field experiments are performed, and the results reveal that the distributed wireless networking radar system developed in this study can obtain 2D target positions and track moving targets in real time. The estimation accuracy of the radar’s own position is less than 0.06 m, and the positioning accuracy of moving human targets is less than 0.62 m.
- Ultra-wideband through-wall radar /
- Distributed networking /
- Wireless networking /
- Data synchronization /
- Federated targeting

HTML全文

图 1 分布式组网穿墙雷达示意图

Figure 1. Distributed network through-wall radar diagram

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图 2 伪随机编码雷达系统框图

Figure 2. Block diagram of pseudo random coded radar system

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图 3 格雷互补码产生流程

Figure 3. Gray complementary code generation process

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图 4 所选取的3组格雷码对自相关结果

Figure 4. The autocorrelation results of the selected three sets of Gray codes

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图 5 所选取的3组格雷码对互相关结果

Figure 5. The cross-correlation results of the selected three sets of Gray codes

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图 6 时钟同步模块逻辑图

Figure 6. The logic diagram of clock synchronization module

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图 7 发射机信号产生逻辑图

Figure 7. The logic diagram of transmitter signal generation

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图 8 发射机所产生的伪随机编码信号

Figure 8. A pseudo-random coded signal produced by the transmitter

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图 9 A码/B码自相关函数的和

Figure 9. The sum of autocorrelation functions for A code/B code

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图 10 接收机逻辑图

Figure 10. Receiver logic diagram

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图 11 混合采样时序图

Figure 11. Mixed sampling sequence diagram

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图 12 分布式组网雷达目标联合定位算法流程图

Figure 12. Flowchart of distributed network radar target joint localization algorithm

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图 13 基于直达波的快时校准方法

Figure 13. Fast time calibration method based on direct wave

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图 14 运动目标仿真场景

Figure 14. Motion target simulation scene

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图 15 雷达位置估计误差随SNR的变化

Figure 15. The variation of radar position estimation error with SNRs

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图 16 目标位置估计误差随SNR的变化

Figure 16. The variation of target position estimation error with SNRs

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图 17 分布式无线组网雷达系统

Figure 17. Distributed wireless networked radar system

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图 18 人体运动轨迹

Figure 18. Human motion trajectory

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图 19 3台雷达回波B-Scan图像

Figure 19. The B-Scan images from three radar echoes

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图 20 雷达#2中选取的匹配模板B-Scan图

Figure 20. The matching template B-Scan map selected from the radar #2

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图 21 模板与雷达#1的互相关结果

Figure 21. The results of cross-correlation between template and radar #1

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图 22 模板与雷达#3的互相关结果

Figure 22. The results of cross-correlation between template and radar #3

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图 23 数据段1雷达位置估计结果

Figure 23. The estimation results of radar position by data segment 1

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图 24 数据段2雷达位置估计结果

Figure 24. The estimation results of radar position by data segment 2

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图 25 分布式雷达联合定位结果

Figure 25. Distributed radar joint location results

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图 26 定位误差统计结果箱型图

Figure 26. Box plot of positioning error statistics results

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表 1 伪随机编码穿墙雷达系统关键参数

Table 1. Key parameters of pseudo random coded through-wall radar system

参数	指标
中心频率	1 GHz
带宽	1 GHz
码型	Golay互补码
累加次数	16
ADC位数	16 bit
等效采样率	16 GHz
扫描率	8 道/s
发射功率	17 dBm
重量	0.6 kg

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表 2 无测距误差下雷达位置最优化估计结果(m)

Table 2. The optimization estimation results of radar position without range error (m)

雷达放置位置	场景1	场景2	场景3	场景4
(–2.0,0) (+2.0,0)	(–2.0,0) (+2.0,0)	(–2.0,0) (+2.0,0)	(–2.0,0) (+2.0,0)	(–2.0,0) (+2.0,0)
(–2.0,0) (+1.0,0)	(–2.0,0) (+1.0,0)	(–2.0,0) (+1.0,0)	(–1.95,0) (+1.05,0)	(–2.0,0) (+1.0,0)
(–1.0,0) (+2.0,0)	(–1.0,0) (+2.0,0)	(–1.0,0) (+2.0,0)	(–1.05,0) (+1.95,0)	(–1.0,0) (+2.0,0)
(–0.5,0) (+1.0,0)	(–0.5,0) (+1.0,0)	(–0.5,0) (+1.0,0)	(–0.52,0) (+0.97,0)	(–0.5,0) (+1.0,0)
(–1.0,0) (+3.0,0)	(–1.0,0) (+3.0,0)	(–1.0,0) (+3.0,0)	(–1.08,0) (+2.91,0)	(–1.0,0) (+3.0,0)
注：红色为雷达位置估计误差最大的情形。

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表 3 含测距误差下雷达位置最优化估计结果(m)

Table 3. The optimization estimation results of radar position with range error (m)

雷达放置位置	场景1	场景2	场景3	场景4
(–2.0,0) (+2.0,0)	(–2.03,0) (+2.00,0)	(–1.99,0) (+2.02,0)	(–2.19,0) (+1.83,0)	(–2.02,0) (+1.99,0)
(–2.0,0) (+1.0,0)	(–2.07,0) (+0.97,0)	(–1.98,0) (+0.99,0)	(–2.31,0) (+0.79,0)	(–2.05,0) (+0.97,0)
(–1.0,0) (+2.0,0)	(–0.99,0) (+2.02,0)	(–0.98,0) (+2.00,0)	(–1.03,0) (+1.99,0)	(–1.02,0) (+2.01,0)
(–0.5,0) (+1.0,0)	(–0.57,0) (+1.00,0)	(–0.48,0) (+1.03,0)	(–0.34,0) (+1.29,0)	(–0.50,0) (+0.95,0)
(–1.0,0) (+3.0,0)	(–1.01,0) (+2.99,0)	(–0.97,0) (+3.02,0)	(–1.21,0) (+2.82,0)	(–0.99,0) (+3.00,0)
注：红色为雷达位置估计误差最大的情形。

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表 4 雷达位置最优化估计结果 (m)

Table 4. The estimation results of radar position optimization (m)

雷达放置位置	数据段1	数据段2
雷达#1(–0.8,0) 雷达#3(+0.8,0)	(–0.8328,0 ) (+0.7382,0)	(–0.5721,0) (+1.1519,0)

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