0 关于微多普勒
雷达发射电磁信号(EW)到物体并接受物体的回波信号。基于接收信号的延迟时间,雷达可以测量目标的距离。如果物体是移动的,接受信号的频率将偏离发射信号的频率,成为多普勒效应。多普勒频移取决于移动物体的径向速度,即在视线方向上的速度分量。基于接收信号的多普勒频移,雷达可以测量动目标的径向速度。如果除了主体移动外,物体或物体的任何结构部件还在摆动,则这种摆动将在回波信号上引起附加的频率调制。这种附加的多普勒调制成为微多普勒效应。
1 实验环境
本次处理的是采用TI AWR1843采集的数据。每个chrip有256个采样点,128个chirp为一帧,总共有256帧。采集完数据以后,readDCA1000.m中的代码进行处理,得到的数据是一个4*(256128256)的矩阵。取其中一个天线接收的数据进行处理。
2 RDM和微多普勒时频图提取
提取一个天线接受到的中频信号,也就是一个1*(256128256)的矩阵。其中第一个256是每个chrip的采样点,128是一个帧中chrip的个数,最后一个256是所有数据的帧数。也就是说一帧一共有256128=32768个数据,将其转换成128256的矩阵,其中128指的是慢时间的点数(行),256指的是快时间(列)。分别在快时间和慢时间加窗,然后做FFT,得到RDM(距离多普勒)。
如果使用
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RD(i,j,t)
RD(i,j,t)表示在
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DP(t,j) = \displaystyle\sum_{i}^{} RDM(i,j,t)
DP(t,j)=i∑RDM(i,j,t)。
具体效果如下图所示:
3 代码实现
本次采用的是matlab实现
readDCA1000.m
%%% This script is used to read the binary file produced by the DCA1000
%%% and Mmwave Studio
%%% Command to run in Matlab GUI -readDCA1000('<ADC capture bin file>')
function [retVal] = readDCA1000(fileName)
%% global variables
% change based on sensor config
numADCSamples = 256; % number of ADC samples per chirp
numADCBits = 16; % number of ADC bits per sample
numRX = 4; % number of receivers
numLanes = 2; % do not change. number of lanes is always 2
isReal = 0; % set to 1 if real only data, 0 if complex data0
%% read file
% read .bin file
fid = fopen(fileName,'r');
adcData = fread(fid, 'int16');
% if 12 or 14 bits ADC per sample compensate for sign extension
if numADCBits ~= 16
l_max = 2^(numADCBits-1)-1;
adcData(adcData > l_max) = adcData(adcData > l_max) - 2^numADCBits;
end
fclose(fid);
fileSize = size(adcData, 1);
% real data reshape, filesize = numADCSamples*numChirps
if isReal
numChirps = fileSize/numADCSamples/numRX;
LVDS = zeros(1, fileSize);
%create column for each chirp
LVDS = reshape(adcData, numADCSamples*numRX, numChirps);
%each row is data from one chirp
LVDS = LVDS.';
else
% for complex data
% filesize = 2 * numADCSamples*numChirps
numChirps = fileSize/2/numADCSamples/numRX;
LVDS = zeros(1, fileSize/2);
%combine real and imaginary part into complex data
%read in file: 2I is followed by 2Q
counter = 1;
for i=1:4:fileSize-1
LVDS(1,counter) = adcData(i) + sqrt(-1)*adcData(i+2);
LVDS(1,counter+1) = adcData(i+1)+sqrt(-1)*adcData(i+3);
counter = counter + 2;
end
% create column for each chirp
LVDS = reshape(LVDS, numADCSamples*numRX, numChirps);
%each row is data from one chirp
LVDS = LVDS.';
end
%organize data per RX
adcData = zeros(numRX,numChirps*numADCSamples);
for row = 1:numRX
for i = 1: numChirps
adcData(row, (i-1)*numADCSamples+1:i*numADCSamples) = LVDS(i, (row-1)*numADCSamples+1:row*numADCSamples);
end
end
% return receiver data
retVal = adcData;
data_RDM.m
function [d_fft]=data_RDM(data)
% 提取RDM
% [d_fft]=data_RDM(data)
% data=[128,256]
%% 距离fft
N=256; % 采样点数
C=128; % 每帧所包含的chirp数
hamming1=hamming(N);
sigRwin=zeros(C,N);
range_fft=zeros(C,N);
for ii=1:C
sigRwin(ii,:)=hamming1'.*data(ii,:);
range_fft(ii,:)=fft(sigRwin(ii,:),N);
end
%% 多普勒fft
hamming2=hamming(C);
sigDwin=zeros(C,N);
d_fft=zeros(C,N);
for ii=1:N
sigDwin(:,ii)=hamming2.*range_fft(:,ii);
d_fft(:,ii)=fftshift(fft(sigDwin(:,ii),C));
end
velocity_projection.m
clear all; clc;
[retVal] = readDCA1000('adc_dataJQ1.1_Raw_0.bin'); % 接受到的信号
L=128; % 一帧图像的chirp数
N=256; % 采样点
B=4*10^9;% 带宽
C=3*10^8;% 光速
slope=29982*10^9; % chirp斜率
micro_doppler = zeros(L,N);
for a=0:255
%% 传统格式
frame=retVal(1,128*256*a+1:128*256*(a+1));
data = reshape(frame,N,L);
data = data';
data = data - mean(data); % 去直流分量
%% 获取RDM
[d_fft]=data_RDM(data);
for i = 1:256
micro_doppler(:,a+1) = micro_doppler(:,a+1) + abs(d_fft(:,i));
end
end
micro_doppler = medfilt2(abs(micro_doppler),[3 3]);
figure();
colormap(jet);
imagesc((10*log10(abs(micro_doppler))));