CN113009486A - Human body sensing method and system based on millimeter wave radar - Google Patents
Human body sensing method and system based on millimeter wave radar Download PDFInfo
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
The invention discloses a human body perception method and a system thereof based on a millimeter wave radar, which relate to the technical field of human body perception of radars and solve the technical problem that the accuracy of human body perception is reduced because the difference frequency signal of a radar signal wave cannot be detected in the prior art; substituting the calculation formula of the time delay K into the calculation, and sequentially assigning the carrier frequency, the frequency modulation bandwidth and the initial phase of the signal wave through the calculation formula of the M instant (t) to obtain a difference frequency signal; the difference frequency signal of the radar signal wave is detected, and the accuracy performance of human body perception is improved, so that the working efficiency is improved, and errors are greatly reduced.
Description
Technical Field
The invention relates to the technical field of human body perception of radars, in particular to a human body perception method and a human body perception system based on a millimeter wave radar.
Background
With the cost reduction of radar equipment and the rapid development of radar technology, researchers can sense and identify the change of the environment by utilizing radar signals, and further promote the research and development of multiple fields taking radar as a core technology. The advantages of radar compared with optical equipment are mainly reflected in the following aspects: the radar cannot record facial information of people, so that personal privacy can be better protected in monitoring; the radar can detect a long distance, and when the target position is far away from the radar, the target can be detected; the radar can work all weather, when the detection environment is relatively complex, the radar system is not influenced, and optical equipment such as camera equipment and the like cannot detect at night; the radar can realize non-contact discernment, and the detection object need not carry any wearable equipment such as bracelet, wrist-watch, can reduce consumer's reaction degree.
However, in the prior art, the difference frequency signal of the radar signal wave cannot be detected, thereby causing the accuracy of human perception to be reduced.
Disclosure of Invention
The invention aims to provide a human body perception method and a system thereof based on a millimeter wave radar.A radar management platform generates an accurate analysis signal and sends the accurate analysis signal to an accurate analysis unit after receiving a signal wave X (t) and a transmitted signal wave X' (t), the accurate analysis unit calculates a difference frequency signal of the signal wave and a reflected signal wave after receiving the accurate analysis signal to obtain a transient phase of the transmission moment of the signal wave, marks the transient phase as m transient (t), and then carries out mixing processing on the transmitted signal wave and the received signal wave; substituting the time delay K into a formula to calculate and obtain the instantaneous phase of the difference frequency signal, substituting the calculation formula of the time delay K into the formula to calculate, sequentially assigning the carrier frequency, the frequency modulation bandwidth and the initial phase of the signal wave through the calculation formula of the M instant (t), marking the difference frequency as M, substituting the carrier frequency, the frequency modulation bandwidth and the initial phase to calculate and obtain the difference frequency signal, and then sending the difference frequency signal to a radar management platform; the difference frequency signal of the radar signal wave is detected, and the accuracy of human body perception is improved, so that the working efficiency is improved, and errors are greatly reduced.
The purpose of the invention can be realized by the following technical scheme:
a human body perception system based on a millimeter wave radar comprises a radar management platform, a signal difference unit, an accurate analysis unit, a static elimination unit, a speed analysis unit, a registration unit and a database;
the radar management platform receives the radar use signal, controls the radar to work, and the radar launches the signal wave through a plurality of electric wires, and radar management platform generates signal difference detected signal afterwards to with signal difference detected signal transmission to signal difference unit, after signal difference detected signal was received to signal difference unit, the signal wave that takes place the radar detected, and concrete testing process is as follows:
step S1: acquiring carrier frequency, frequency modulation bandwidth and frequency modulation period of the signal wave, and respectively marking the carrier frequency, the frequency modulation bandwidth and the frequency modulation period of the signal wave as PL, DK and ZQ;
step S2: the initial phase of the signal is marked as CS, and the calculation formula of the signal wave is obtained by substituting calculation, namely the calculation formula is
t∈[0，ZQ]Wherein, β is an error coefficient 2.365214, and t is a time variable;
step S3: recording the current moment of a signal wave while transmitting the signal wave, marking the signal wave as the transmitting moment, recording the current moment of the signal wave after the signal wave contacts a human body, marking the signal wave as the receiving moment, acquiring the transmitting time p of the signal wave by comparing the receiving moment with the transmitting moment, then acquiring the transmitting distance of the signal wave in the transmitting time of the signal wave, marking the transmitting distance of the signal wave as JL, reflecting the signal wave after the signal wave contacts the human body, namely the propagation distance of the signal wave is 2JL, and then acquiring the time delay K of the radar for receiving the signal wave and transmitting the signal wave, namely the time delay K of the radar for receiving the signal wave and transmitting the signal
c is the speed of light and v is the speed of the signal wave;
step S4: tong (Chinese character of 'tong')The calculation formula for obtaining the transmitting signal wave through substitution calculation is
Where α is the error correction factor, 2.3654865, and X (t) and X' (t) are sent to the radar management platform.
Further, after receiving the signal wave X (t) and the transmitted signal wave X' (t), the radar management platform generates an accurate analysis signal and sends the accurate analysis signal to the accurate analysis unit, and after receiving the accurate analysis signal, the accurate analysis unit calculates a difference frequency signal between the signal wave and the reflected signal wave, wherein the specific calculation process of the difference frequency signal is as follows:
step SS 1: the instantaneous phase of the instant of transmission of the signal wave is acquired and marked as mth instant (t), i.e. the instant phase is
Then, carrying out frequency mixing processing on the transmitting signal wave and the receiving signal wave;
step SS 2: substituting the time delay K into a formula to calculate and obtain the instantaneous phase of the difference frequency signal, and taking the instantaneous phase of the difference frequency signal as M transient (t):
namely, it is
Substituting the calculation formula of the time delay K into the calculation, and after the integration:
step SS 3: the carrier frequency, the frequency modulation bandwidth and the initial phase of the signal wave are sequentially assigned through the calculation formula of M transient (t), the difference frequency is marked as M, namely the carrier frequency is
Bandwidth of modulation frequency of
Initial phase of
Step SS 4: the difference frequency signal can be obtained by substituting the carrier frequency, the frequency modulation bandwidth and the initial phase into the calculation, namely the difference frequency signal is
Then, sending the difference frequency signal to a radar management platform;
step SS 5: after the radar management platform receives the difference frequency signal, comparing the difference frequency signal X difference (t) with a threshold value of the difference frequency signal:
if the difference frequency signal X is not less than (t) the threshold value of the difference frequency signal, judging that the radar detection has an error, generating an error signal and sending the error signal to a static elimination unit;
and if the error signal X (t) is less than the threshold value of the error signal, judging that the radar is detected to be error-free, generating an error-free signal and sending the error-free signal to the mobile phone terminal of the user.
Further, after receiving the error signal, the static cancellation unit analyzes static interference data of a signal wave transmitted by the radar, so as to statically cancel the signal wave, where the static interference data of the signal wave includes quantity data, noise data, and magnetic field data, the quantity data is the number of paths reflected by the signal wave during transmission, the noise data is a decibel value of the surrounding environment during transmission of the signal wave, and the magnetic field data is a magnetic field intensity of the surrounding environment during transmission of the signal wave, and the specific analysis and detection process is as follows:
step T1: acquiring the number of reflection paths of the signal wave in the transmission process, and marking the number of the reflection paths of the signal wave in the transmission process as FSL;
step T2: acquiring a decibel value of the peripheral environment of the signal wave in the transmission process, and marking the decibel value of the peripheral environment of the signal wave in the transmission process as FBZ;
step T3: acquiring the magnetic field intensity of the surrounding environment of the signal wave in the transmission process, and marking the magnetic field intensity of the surrounding environment of the signal wave in the transmission process as ZQD;
step T4: by the formula
Acquiring a static interference clearance coefficient JC, wherein s1, s2 and s3 are proportional coefficients, and s1 is greater than s2 and s3 is greater than 0;
step T5: comparing the static interference clearance coefficient JC with a static interference clearance coefficient threshold:
if the static interference elimination coefficient JC is larger than or equal to the static interference elimination coefficient threshold value, judging that the signal waves need static interference elimination, generating static elimination signals and sending the static elimination signals to the radar management platform, and after the radar management platform receives the static elimination signals, carrying out subtraction operation on adjacent frames of the signal waves and eliminating the static interference of the signal waves;
and if the static interference clearance coefficient JC is less than the static interference clearance coefficient threshold value, judging that the signal waves do not need static interference clearance, generating an interference-free signal and sending the interference-free signal to a radar management platform, and after receiving the interference-free signal, the radar management platform generates a speed analysis signal and sends the speed analysis signal to a speed analysis unit.
Further, after receiving the velocity analysis signal, the velocity analysis unit analyzes the signal wave velocity and the human body movement velocity, and the specific analysis process is as follows:
step TT 1: acquiring the initial position of a signal wave generated by a radar, marking the initial position as an initial transmitting position, then acquiring the position of the signal wave contacting a human body, marking the position as the initial position of the human body, and then passing through a formula
Obtaining radial velocity V of radarRadial direction；
Step TT 2: then, the current motion state of the human body is acquired through a camera, if the current state of the human body is a static state, the initial speed of the human body is judged to be 0, and the motion speed V of the human body is acquiredHuman beingAnd substituted into formula V person ═ap obtains the acceleration a of the human body, and then obtains the distance X of the human body movement by substituting the acceleration into a calculation formulaHuman beingThe calculation formula is
While simultaneously measuring the radial velocity V of the radarRadial directionMultiplying the transmitting time length p to obtain the radial displacement X of the radarThunderIf radial displacement X of the radarThunderNot less than the distance X of human body movementHuman beingJudging that the radar collides with the human body, generating an early warning signal and sending the early warning signal to a mobile phone terminal of a user; if radial displacement X of the radarThunder< distance X by which human body movesHuman beingIf the radar does not collide with the human body, generating a safety signal and sending the safety signal to the mobile phone terminal of the user;
step TT 3: if the current state of the human body is the active state, the initial speed of the human body is judged to be V0Obtaining the movement velocity V of the human bodyHuman beingAnd substituted by the formula V' ═ V0+ a ' p obtains the acceleration a ' of the human body, and then obtains the distance X ' that the human body moves by substituting the acceleration into the calculation equationHuman beingThe calculation formula is
While simultaneously measuring the radial velocity V of the radarRadial directionMultiplying the emission time length p to obtain the radial displacement X of the radarThunderIf radial displacement X of the radarThunderNot less than XHuman beingJudging that the radar collides with the human body, generating an early warning signal and sending the early warning signal to a mobile phone terminal of a user; if radial displacement X of the radarThunder< distance X' over which the body movesHuman beingAnd if so, judging that the radar does not collide with the human body, generating a safety signal and sending the safety signal to the mobile phone terminal of the user.
Furthermore, the registration login unit is used for submitting user information for registration through a mobile phone terminal by a user, and sending the user information which is successfully registered to the database for storage, wherein the user information comprises the surname, the age, a radar signal and a mobile phone number for personal real name authentication; and after the user is successfully registered, sending a radar use signal to the radar management platform through the mobile phone terminal.
A human body perception method based on a millimeter wave radar comprises the following specific steps:
the method comprises the steps that firstly, radar signal detection is carried out, a radar management platform receives radar use signals and controls a radar to work, the radar transmits signal waves through a plurality of electric wires, then the radar management platform generates signal difference detection signals and sends the signal difference detection signals to a signal difference unit, and the signal difference unit detects the signal waves generated by the radar after receiving the signal difference detection signals;
step two, detecting a difference frequency signal, namely generating an accurate analysis signal and sending the accurate analysis signal to an accurate analysis unit after the radar management platform receives the signal wave X (t) and the transmitted signal wave X' (t), and calculating the difference frequency signal of the signal wave and the reflected signal wave after the accurate analysis unit receives the accurate analysis signal;
step three, static elimination, namely analyzing static interference data of the signal waves transmitted by the radar after the static elimination unit receives the error signals, so as to statically eliminate the signal waves;
and step four, analyzing the speed, wherein the speed analyzing unit analyzes the signal wave speed and the human body activity speed after receiving the speed analyzing signal.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the method, after a radar management platform receives a signal wave X (t) and a transmitted signal wave X' (t), an accurate analysis signal is generated and sent to an accurate analysis unit, after the accurate analysis unit receives the accurate analysis signal, a difference frequency signal of the signal wave and a reflected signal wave is calculated, an instantaneous phase of a signal wave transmitting moment is obtained, the instantaneous phase is marked as m transient (t), and then the transmitted signal wave and the received signal wave are subjected to frequency mixing processing; substituting the time delay K into a formula to calculate and obtain the instantaneous phase of the difference frequency signal, substituting the calculation formula of the time delay K into the formula to calculate, sequentially assigning the carrier frequency, the frequency modulation bandwidth and the initial phase of the signal wave through the calculation formula of the M transient (t), marking the difference frequency as M, substituting the carrier frequency, the frequency modulation bandwidth and the initial phase into the calculation to obtain the difference frequency signal, and then sending the difference frequency signal to a radar management platform; after the radar management platform receives the difference frequency signal, comparing the difference frequency signal X difference (t) with a threshold value of the difference frequency signal: if the difference frequency signal X is not less than (t) the threshold value of the difference frequency signal, judging that the radar has an error, generating an error signal and sending the error signal to a static elimination unit; if the error signal X (t) is less than the threshold value of the error signal, determining that the radar is detected to be error-free, generating an error-free signal and sending the error-free signal to a mobile phone terminal of a user; the difference frequency signal of the radar signal wave is detected, so that the accuracy of human body perception is improved, the working efficiency is improved, and errors are greatly reduced;
2. in the invention, after an error signal is received by a static elimination unit, static interference data of a signal wave transmitted by a radar is analyzed, so that the signal wave is statically eliminated, the error signal is obtained, a static interference elimination coefficient JC is obtained by a formula, if the static interference elimination coefficient JC is not less than a static interference elimination coefficient threshold value, the signal wave is judged to need static interference elimination, a static elimination signal is generated and sent to a radar management platform, and after the radar management platform receives the static elimination signal, subtraction operation is carried out on adjacent frames of the signal wave, so that the static interference of the signal wave is eliminated; if the static interference clearance coefficient JC is less than the static interference clearance coefficient threshold value, judging that the signal wave does not need static interference clearance, generating an interference-free signal and sending the interference-free signal to a radar management platform, and after receiving the interference-free signal, the radar management platform generates a speed analysis signal and sends the speed analysis signal to a speed analysis unit; static interference in the signal wave transmission process is eliminated, and the accuracy of the radar is improved.
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In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
Fig. 1 is a schematic block diagram of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, a human body perception system based on millimeter wave radar includes a radar management platform, a signal difference unit, an accurate analysis unit, a static elimination unit, a speed analysis unit, a registration unit and a database;
the registration login unit is used for submitting user information for registration through a mobile phone terminal by a user, and sending the user information which is successfully registered to the database for storage, wherein the user information comprises the name, age, radar signal and the mobile phone number for authenticating the real name of the user; after the user is successfully registered, sending a radar use signal to a radar management platform through a mobile phone terminal;
radar service signal is received to radar management platform, and control radar works, and the radar launches the signal wave through a plurality of electric wire, and radar management platform generates signal difference detected signal afterwards to with signal difference detected signal transmission to signal difference unit, signal difference unit receives signal difference detected signal after, detects the signal wave that the radar takes place, and specific testing process is as follows:
step S1: acquiring carrier frequency, frequency modulation bandwidth and frequency modulation period of the signal wave, and respectively marking the carrier frequency, the frequency modulation bandwidth and the frequency modulation period of the signal wave as PL, DK and ZQ;
step S2: the initial phase of the signal is marked as CS, and the calculation formula of the signal wave is obtained by substituting calculation, namely the calculation formula is
t∈[0，ZQ]Wherein, β is an error coefficient 2.365214, and t is a time variable;
step S3: recording the current moment of a signal wave while transmitting the signal wave, marking the signal wave as the transmitting moment, recording the current moment of the signal wave after the signal wave contacts a human body, marking the signal wave as the receiving moment, acquiring the transmitting time p of the signal wave by comparing the receiving moment with the transmitting moment, then acquiring the transmitting distance of the signal wave in the transmitting time of the signal wave, marking the transmitting distance of the signal wave as JL, reflecting the signal wave after the signal wave contacts the human body, namely the propagation distance of the signal wave is 2JL, and then acquiring the time delay K of the radar for receiving the signal wave and transmitting the signal wave, namely the time delay K of the radar for receiving the signal wave and transmitting the signal
c is the speed of light and v is the speed of the signal wave;
step S4: the calculation formula for obtaining the transmitted signal wave by substitution calculation is
Wherein alpha is an error correction factor, the value is 2.3654865, and then X (t) and X' (t) are sent to a radar management platform;
after receiving the signal waves X (t) and the transmitted signal waves X' (t), the radar management platform generates accurate analysis signals and sends the accurate analysis signals to the accurate analysis unit, the accurate analysis unit calculates difference frequency signals of the signal waves and the reflected signal waves after receiving the accurate analysis signals, and the specific calculation process of the difference frequency signals is as follows:
step SS 1: the instantaneous phase of the instant of transmission of the signal wave is acquired and marked as mth instant (t), i.e. the instant phase is
Then, carrying out frequency mixing processing on the transmitting signal wave and the receiving signal wave;
step SS 2: substituting the time delay K into a formula to calculate and obtain the instantaneous phase of the difference frequency signal, and taking the instantaneous phase of the difference frequency signal as M transient (t):
namely, it is
Substituting the calculation formula of the time delay K into the calculation, and after the integration:
step SS 3: the carrier frequency, the frequency modulation bandwidth and the initial phase of the signal wave are sequentially assigned through the calculation formula of M transient (t), the difference frequency is marked as M, namely the carrier frequency is
Bandwidth of modulation frequency of
Initial phase of
Step SS 4: the difference frequency signal can be obtained by substituting the carrier frequency, the frequency modulation bandwidth and the initial phase into the calculation, namely the difference frequency signal is
Then, sending the difference frequency signal to a radar management platform;
step SS 5: after the radar management platform receives the difference frequency signal, comparing the difference frequency signal X difference (t) with a threshold value of the difference frequency signal:
if the difference frequency signal X is not less than (t) the threshold value of the difference frequency signal, judging that the radar detection has an error, generating an error signal and sending the error signal to a static elimination unit;
if the error signal X error (t) is less than the threshold value of the error signal, judging that the radar is detected to be error-free, generating an error-free signal and sending the error-free signal to a mobile phone terminal of a user;
after the static elimination unit receives the error signal, static interference data of the signal wave transmitted by the radar is analyzed, so that the signal wave is statically eliminated, the static interference data of the signal wave comprises quantity data, noise data and magnetic field data, the quantity data is the quantity of reflection paths of the signal wave in the transmission process, the noise data is a decibel value of the surrounding environment of the signal wave in the transmission process, the magnetic field data is the magnetic field intensity of the surrounding environment of the signal wave in the transmission process, and the specific analysis and detection process is as follows:
step T1: acquiring the number of reflection paths of the signal wave in the transmission process, and marking the number of the reflection paths of the signal wave in the transmission process as FSL;
step T2: acquiring a decibel value of the peripheral environment of the signal wave in the transmission process, and marking the decibel value of the peripheral environment of the signal wave in the transmission process as FBZ;
step T3: acquiring the magnetic field intensity of the surrounding environment of the signal wave in the transmission process, and marking the magnetic field intensity of the surrounding environment of the signal wave in the transmission process as ZQD;
step T4: by the formula
Acquiring a static interference clearance coefficient JC, wherein s1, s2 and s3 are proportional coefficients, and s1 is greater than s2 and s3 is greater than 0;
step T5: comparing the static interference clearance coefficient JC with a static interference clearance coefficient threshold:
if the static interference elimination coefficient JC is larger than or equal to the static interference elimination coefficient threshold value, judging that the signal waves need static interference elimination, generating static elimination signals and sending the static elimination signals to the radar management platform, and after the radar management platform receives the static elimination signals, carrying out subtraction operation on adjacent frames of the signal waves and eliminating the static interference of the signal waves;
if the static interference clearance coefficient JC is less than the static interference clearance coefficient threshold value, judging that the signal wave does not need static interference elimination, generating an interference-free signal and sending the interference-free signal to a radar management platform, and after receiving the interference-free signal, the radar management platform generates a speed analysis signal and sends the speed analysis signal to a speed analysis unit;
after receiving the speed analysis signal, the speed analysis unit analyzes the signal wave speed and the human body activity speed, and the specific analysis process is as follows:
step TT 1: acquiring the initial position of a signal wave generated by a radar, marking the initial position as an initial transmitting position, then acquiring the position of the signal wave contacting a human body, marking the position as the initial position of the human body, and then passing through a formula
Obtaining radial velocity V of radarRadial direction；
Step TT 2: then, the current motion state of the human body is acquired through a camera, if the current state of the human body is a static state, the initial speed of the human body is judged to be 0, and the motion speed V of the human body is acquiredHuman beingAnd substituting the formula V person ap to obtain the acceleration a of the human body, and then obtaining the moving distance X of the human body by substituting the acceleration into a calculation formulaHuman beingThe calculation formula is
While simultaneously measuring the radial velocity V of the radarRadial directionMultiplying the transmitting time length p to obtain the radial displacement X of the radarThunderIf radial displacement X of the radarThunderNot less than the distance X of human body movementHuman beingJudging that the radar collides with the human body, generating an early warning signal and sending the early warning signal to a mobile phone terminal of a user; if radial displacement X of the radarThunder< distance X by which human body movesHuman beingIf the radar does not collide with the human body, generating a safety signal and sending the safety signal to the mobile phone terminal of the user;
step TT 3: if the current state of the human body is the active state, the initial speed of the human body is judged to be V0Obtaining the movement velocity V of the human bodyHuman beingAnd substituted by the formula V' ═ Vo+ a ' p obtains the acceleration a ' of the human body, and then obtains the distance X ' that the human body moves by substituting the acceleration into the calculation equationHuman beingThe calculation formula is
While simultaneously measuring the radial velocity V of the radarRadial directionMultiplying the emission time length p to obtain the radial displacement X of the radarThunderIf radial displacement X of the radarThunderNot less than XHuman beingJudging that the radar collides with the human body, generating an early warning signal and sending the early warning signal to a mobile phone terminal of a user; if radial displacement X of the radarThunder< distance X' over which the body movesHuman beingAnd if so, judging that the radar does not collide with the human body, generating a safety signal and sending the safety signal to the mobile phone terminal of the user.
A human body perception method based on a millimeter wave radar comprises the following specific steps:
the method comprises the steps that firstly, radar signal detection is carried out, a radar management platform receives radar use signals and controls a radar to work, the radar transmits signal waves through a plurality of electric wires, then the radar management platform generates signal difference detection signals and sends the signal difference detection signals to a signal difference unit, and the signal difference unit receives the signal difference detection signals and then detects the signal waves generated by the radar;
step two, detecting a difference frequency signal, namely generating an accurate analysis signal and sending the accurate analysis signal to an accurate analysis unit after the radar management platform receives the signal wave X (t) and the transmitted signal wave X' (t), and calculating the difference frequency signal of the signal wave and the reflected signal wave after the accurate analysis unit receives the accurate analysis signal;
step three, static elimination, namely analyzing static interference data of the signal waves transmitted by the radar after the static elimination unit receives the error signals, so as to statically eliminate the signal waves;
and step four, analyzing the speed, wherein the speed analyzing unit analyzes the signal wave speed and the human body activity speed after receiving the speed analyzing signal.
The working principle of the invention is as follows:
radar service signal is received to radar management platform, and control radar works, and the radar launches the signal wave through a plurality of electric wire, and radar management platform generates signal difference detected signal afterwards to with signal difference detected signal transmission to signal difference unit, signal difference unit receives signal difference detected signal after, detects the signal wave that the radar takes place, and specific testing process is as follows: the method comprises the steps of obtaining carrier frequency, frequency modulation bandwidth and frequency modulation period of signal waves, calculating a calculation formula for obtaining the signal waves through substitution, recording current time while the signal waves are transmitted, marking the current time as transmitting time, recording the current time after the signal waves contact a human body, marking the current time as receiving time, obtaining signal wave transmitting time p through comparison between the receiving time and the transmitting time, then obtaining the transmitting distance of the signal waves in the signal wave transmitting time and reflecting the signal waves after the signal waves contact the human body, namely the propagation distance of the signal waves is 2JL, then obtaining the time delay K existing between radar receiving signal waves and radar transmitting signal waves through a formula, and calculating the calculation formula for obtaining the transmitting signal waves through substitution.
The above formulas are all calculated by removing dimensions and taking numerical values, the formula is a formula which obtains the latest real situation by collecting a large amount of data and performing software simulation, and the preset parameters in the formula are set by the technical personnel in the field according to the actual situation.
The foregoing is merely exemplary and illustrative of the present invention and various modifications, additions and substitutions may be made by those skilled in the art to the specific embodiments described without departing from the scope of the invention as defined in the following claims.
Claims (6)
1. A human body perception system based on a millimeter wave radar is characterized by comprising a radar management platform, a signal difference unit, an accurate analysis unit, a static elimination unit, a speed analysis unit, a registration unit and a database;
the radar management platform receives the radar use signal, controls the radar to work, and the radar launches the signal wave through a plurality of electric wire, and radar management platform generates signal difference detected signal afterwards to with signal difference detected signal transmission to signal difference unit, after signal difference detected signal was received to signal difference unit, the signal wave that takes place the radar detected, and specific testing process is as follows:
step S1: acquiring carrier frequency, frequency modulation bandwidth and frequency modulation period of the signal wave, and respectively marking the carrier frequency, the frequency modulation bandwidth and the frequency modulation period of the signal wave as PL, DK and ZQ;
step S2: the initial phase of the signal is marked as CS, and a calculation formula for acquiring the signal wave is obtained by substitution, namely the calculation formula is
t∈[0，ZQ]Wherein, β is an error coefficient 2.365214, and t is a time variable;
step S3: recording the current moment of a signal wave while transmitting the signal wave, marking the signal wave as the transmitting moment, recording the current moment of the signal wave after the signal wave contacts a human body, marking the signal wave as the receiving moment, acquiring the transmitting time p of the signal wave by comparing the receiving moment with the transmitting moment, then acquiring the transmitting distance of the signal wave in the transmitting time of the signal wave, marking the transmitting distance of the signal wave as JL, reflecting the signal wave after the signal wave contacts the human body, namely the propagation distance of the signal wave is 2JL, and then acquiring the time delay K existing between the radar receiving signal wave and the radar transmitting signal wave through a formula, namely the time delay K existing between the radar receiving signal
c is the speed of light and v is the speed of the signal wave;
step S4: the calculation formula for obtaining the transmitted signal wave by substitution calculation is
Where α is an error correction factor, which is 2.3654865, and then X (t) and X' (t) are sent to the radar management platform.
2. The millimeter wave radar-based human body perception system according to claim 1, wherein the radar management platform generates an accurate analysis signal and sends the accurate analysis signal to the accurate analysis unit after receiving the signal wave X (t) and the transmitted signal wave X' (t), the accurate analysis unit calculates a difference frequency signal between the signal wave and the reflected signal wave after receiving the accurate analysis signal, and the calculation process of the specific difference frequency signal is as follows:
step SS 1: the instantaneous phase of the instant of transmission of the signal wave is acquired and marked as mth instant (t), i.e. the instant phase is
Then, carrying out frequency mixing processing on the transmitting signal wave and the receiving signal wave;
step SS 2: substituting the time delay K into a formula to calculate and obtain the instantaneous phase of the difference frequency signal, and taking the instantaneous phase of the difference frequency signal as M transient (t):
namely, it is
Substituting the calculation formula of the time delay K into the calculation, and after the integration:
step SS 3: the carrier frequency, the frequency modulation bandwidth and the initial phase of the signal wave are sequentially assigned through the calculation formula of M transient (t), the difference frequency is marked as M, namely the carrier frequency is
Bandwidth of frequency modulation of
Initial phase of
Step SS 4: by loadingThe wave frequency, the frequency modulation bandwidth and the initial phase can be substituted to calculate and obtain a difference frequency signal, namely the difference frequency signal is
Then, sending the difference frequency signal to a radar management platform;
step SS 5: after the radar management platform receives the difference frequency signal, comparing the difference frequency signal X difference (t) with a threshold value of the difference frequency signal:
if the difference frequency signal X is not less than (t) the threshold value of the difference frequency signal, judging that the radar has an error, generating an error signal and sending the error signal to a static elimination unit;
and if the error signal X (t) is less than the threshold value of the error signal, judging that the radar detects no error, generating an error-free signal and sending the error-free signal to the mobile phone terminal of the user.
3. The millimeter wave radar-based human body perception system according to claim 2, wherein the static elimination unit analyzes static interference data of a signal wave transmitted by the radar after receiving the error signal, so as to statically eliminate the signal wave, the static interference data of the signal wave includes quantity data, noise data and magnetic field data, the quantity data is the number of reflection paths of the signal wave during transmission, the noise data is decibel values of the surrounding environment during transmission of the signal wave, the magnetic field data is magnetic field intensity of the surrounding environment during transmission of the signal wave, and the specific analysis and detection process is as follows:
step T1: acquiring the number of reflection paths of the signal wave in the transmission process, and marking the number of the reflection paths of the signal wave in the transmission process as FSL;
step T2: acquiring a decibel value of the peripheral environment of the signal wave in the transmission process, and marking the decibel value of the peripheral environment of the signal wave in the transmission process as FBZ;
step T3: acquiring the magnetic field intensity of the surrounding environment of the signal wave in the transmission process, and marking the magnetic field intensity of the surrounding environment of the signal wave in the transmission process as ZQD;
step T4: by the formula
Acquiring a static interference clearance coefficient JC, wherein s1, s2 and s3 are proportional coefficients, and s1 is greater than s2 and s3 is greater than 0;
step T5: comparing the static interference clearance coefficient JC with a static interference clearance coefficient threshold:
if the static interference elimination coefficient JC is larger than or equal to the static interference elimination coefficient threshold value, judging that the signal waves need static interference elimination, generating static elimination signals and sending the static elimination signals to the radar management platform, and after receiving the static elimination signals, the radar management platform performs subtraction operation on adjacent frames of the signal waves and eliminates the static interference of the signal waves;
and if the static interference clearance coefficient JC is less than the static interference clearance coefficient threshold value, judging that the signal waves do not need static interference clearance, generating an interference-free signal and sending the interference-free signal to the radar management platform, and after receiving the interference-free signal, the radar management platform generates a speed analysis signal and sends the speed analysis signal to the speed analysis unit.
4. The millimeter wave radar-based human body perception system according to claim 3, wherein the velocity analysis unit analyzes the velocity of the signal wave and the velocity of the human body movement after receiving the velocity analysis signal, and the specific analysis process is as follows:
step TT 1: acquiring the initial position of a signal wave generated by a radar, marking the initial position as an initial transmitting position, acquiring the position of the signal wave contacting a human body, marking the position as the initial position of the human body, and then obtaining the initial position of the signal wave contacting the human body through a formula
Obtaining radial velocity V of radarRadial direction；
Step TT 2: then, the current motion state of the human body is acquired through a camera, if the current state of the human body is a static state, the initial speed of the human body is judged to be 0, and the motion speed V of the human body is acquiredHuman beingAnd substituting the formula V person ap to obtain the acceleration a of the human body, and then obtaining the moving distance X of the human body by substituting the acceleration into a calculation formulaHuman beingThe calculation formula is
While simultaneously measuring the radial velocity V of the radarRadial directionMultiplying the emission time length p to obtain the radial displacement X of the radarThunderIf radial displacement X of the radarThunderNot less than the distance X of human body movementHuman beingJudging that the radar collides with the human body, generating an early warning signal and sending the early warning signal to a mobile phone terminal of a user; if radial displacement X of the radarThunder< distance X by which human body movesHuman beingIf the radar does not collide with the human body, generating a safety signal and sending the safety signal to the mobile phone terminal of the user;
step TT 3: if the current state of the human body is the active state, the initial speed of the human body is judged to be V0Obtaining the movement velocity V of the human bodyHuman beingAnd substituted into the formula v'Human being＝Vo+ a ' p obtains the acceleration a ' of the human body, and then obtains the distance X ' that the human body moves by substituting the acceleration into the calculation equationHuman beingThe calculation formula is
While simultaneously measuring the radial velocity V of the radarRadial directionMultiplying the emission time length p to obtain the radial displacement X of the radarThunderIf radial displacement X of the radarThunderNot less than XHuman beingJudging that the radar collides with the human body, generating an early warning signal and sending the early warning signal to a mobile phone terminal of a user; if radial displacement X of the radarThunder< distance X' over which the body movesHuman beingAnd if so, judging that the radar does not collide with the human body, generating a safety signal and sending the safety signal to the mobile phone terminal of the user.
5. The millimeter wave radar-based human body perception system according to claim 1, wherein the registration login unit is configured to submit user information through a mobile phone terminal for registration, and send the user information that is successfully registered to the database for storage, wherein the user information includes a name and an age of the user, a mobile phone number using radar signals and personal real name authentication; and after the user is successfully registered, sending a radar use signal to the radar management platform through the mobile phone terminal.
6. A human body perception method based on a millimeter wave radar is characterized by comprising the following specific steps:
the method comprises the steps that firstly, radar signal detection is carried out, a radar management platform receives radar use signals and controls a radar to work, the radar transmits signal waves through a plurality of wires, then the radar management platform generates signal difference detection signals and sends the signal difference detection signals to a signal difference unit, and the signal difference unit receives the signal difference detection signals and then detects the signal waves generated by the radar;
step two, detecting a difference frequency signal, namely generating an accurate analysis signal and sending the accurate analysis signal to an accurate analysis unit after the radar management platform receives the signal wave X (t) and the transmitted signal wave X' (t), and calculating the difference frequency signal of the signal wave and the reflected signal wave after the accurate analysis unit receives the accurate analysis signal;
step three, static elimination, namely analyzing static interference data of the signal waves transmitted by the radar after the static elimination unit receives the error signals, so as to statically eliminate the signal waves;
and step four, analyzing the speed, wherein the speed analyzing unit analyzes the signal wave speed and the human body activity speed after receiving the speed analyzing signal.
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