毫米波雷达静态目标去除算法

%% 作者：调皮连续波 %% 公众号：调皮的连续波 %% 时间2022年04月 %% clc; close all; clear all; %% 雷达参数 Tx_Number = 2; %发射天线 Rx_Number = 4; %接收天线 Range_Number = 128; %距离点数（每个chirp 128个点） Doppler_Number = 128; %多普勒通道数 global Params; Params.NChirp = Doppler_Number; %1帧数据的chirp个数 Params.NChan = Rx_Number; %RxAn数,ADC通道数 Params.NSample = Range_Number; %每个chirp ADC采样数 Params.Fs = 2.5e6; %采样频率 Params.c = 3.0e8; %光速 Params.startFreq = 77e9; %起始频率 Params.freqSlope = 60e12; %chirp的斜率 Params.bandwidth = 3.072e9; %真实带宽 Params.lambda=Params.c/Params.startFreq; %雷达信号波长 Params.Tc = 144e-6; %chirp周期 global FFT2_mag; %% 坐标计算 [X,Y] = meshgrid(Params.c*(0:Params.NSample-1)*Params.Fs/2/Params.freqSlope/Params.NSample, ... (-Params.NChirp/2:Params.NChirp/2 - 1)*Params.lambda/Params.Tc/Params.NChirp/2); adc_data =load('angle_15.mat'); Data_dec=(adc_data.prompt_1); %将16进制转换为10进制 %% 数据读取、拆分、组合 Data_zuhe=zeros(1,Tx_Number*Rx_Number*Doppler_Number*Range_Number*2); %建立计算存储数据的空矩阵 for i=1:1:Tx_Number*Rx_Number*Doppler_Number*Range_Number*2 Data_zuhe(i) = Data_dec((i-1)*2+1)+Data_dec((i-1)*2+2)*256;%两个字节组成一个数，第二个字节乘以256相当于左移8位。 if(Data_zuhe(i)>32767) Data_zuhe(i) = Data_zuhe(i) - 65536; %限制幅度 end end %% 分放数据 ADC_Data=zeros(Tx_Number,Doppler_Number,Rx_Number,Range_Number*2); %建立计算存储数据的空矩阵 for t=1:1:Tx_Number for i=1:1:Doppler_Number for j=1:1:Rx_Number for k=1:1:Range_Number*2 %实部虚部 ADC_Data(t,i,j,k) = Data_zuhe(1,(((t-1)*Doppler_Number+(i-1))*Rx_Number+(j-1))*Range_Number*2+k);%时域数据排列顺序为 TX1 TX2 end end end end %% 打印全部的实虚数据 Re_Data_All=zeros(1,Range_Number*Doppler_Number*Tx_Number*Rx_Number); %建立计算存储数据的空矩阵 Im_Data_All=zeros(1,Range_Number*Doppler_Number*Tx_Number*Rx_Number); %建立计算存储数据的空矩阵 % 虚部实部分解 for i=1:1:Tx_Number*Rx_Number*Doppler_Number*Range_Number Im_Data_All(1,i) = Data_zuhe(1,(i-1)*2+1); Re_Data_All(1,i) = Data_zuhe(1,(i-1)*2+2); end % 原始信号实部、虚部图形绘制 % figure() % subplot(2,1,1); % plot(Im_Data_All(1,1:3000));title('实部波形'); % xlabel('采样点数'); % ylabel('幅度'); % subplot(2,1,2); % plot(Re_Data_All(1,1:3000),'r');title('虚部波形'); % xlabel('采样点数'); % ylabel('幅度'); %% 打印分组后的实虚数据 数据结构为：2T4R在TX2组的16个脉冲数据 Re_Data=zeros(Doppler_Number,Range_Number); %建立计算存储数据的空矩阵 Im_Data=zeros(Doppler_Number,Range_Number); %建立计算存储数据的空矩阵 for chirp=1:Doppler_Number %查看所在chirp的数据 for j=1:1:Tx_Number for k=1:1:Rx_Number for i=1:1:Range_Number Re_Data(chirp,i) = ADC_Data(j,chirp,k,(i-1)*2+2); Im_Data(chirp,i) = ADC_Data(j,chirp,k,(i-1)*2+1); end end end end %% 虚部+实部数据重组得到复信号 ReIm_Data = complex(Re_Data,Im_Data); %这里只用虚拟天线的最后一组数据。原本数据大小应该是16*256*8=32768，现在只有16*256*1=4096。 ReIm_Data_All =complex(Re_Data_All,Im_Data_All); ReIm_Data_all1 = zeros(Range_Number,Doppler_Number,4); ReIm_Data_all2 = zeros(Range_Number,Doppler_Number,4); %% 虚拟阵列重组 4通道->8通道 for nn=1:4 for mm=1:Range_Number ReIm_Data_all1(mm,:,nn) = ReIm_Data_All((nn-1)*Range_Number+ ((mm-1)*4*Range_Number+1):((mm-1)*4*Range_Number+Range_Number)+(nn-1)*Range_Number ); ReIm_Data_all2(mm,:,nn) = ReIm_Data_All((nn-1)*Range_Number+131072/2+((mm-1)*4*Range_Number+1):131072/2+((mm-1)*4*Range_Number+Range_Number) +(nn-1)*Range_Number ); end end ReIm_Data_All = cat(3,ReIm_Data_all1(:,:,1:4), ReIm_Data_all2(:,:,1:4)); %% 1D FFT fft1d= zeros(Doppler_Number,Range_Number,8); for qq =1:8 for chirp_fft=1:Doppler_Number fft1d(chirp_fft,:,qq) = fft((ReIm_Data_All(chirp_fft,:,qq))); end end FFT1_mag=abs(fft1d(:,:,1)); figure(1); mesh(FFT1_mag); xlabel('采样点数');ylabel('脉冲数');zlabel('幅度'); title('距离维FFT结果'); %% MTI 动目标显示 fft1d_MTI= zeros(Range_Number,Doppler_Number,8); for cc =1:8 for ii =1:Doppler_Number-1 fft1d_MTI (ii,:,cc) = fft1d(ii+1,:,cc)-fft1d(ii,:,cc); end end % % % mesh(abs(ReIm_Data_All(:,:,1))); %% 相量均值相消算法-静态杂波滤除 fft1d_avg = zeros(128,128,8); for n=1:8 avg = sum(fft1d(:,:,n))/128; for chirp=1:128 fft1d_avg(chirp,:,n) = fft1d(chirp,:,n)-avg; end end % figure; % mesh(X,Y,abs(fft1d_jingtai(:,:,1))); % fft1d =fft1d_jingtai; %% %% 2D FFT fft2d= zeros(Doppler_Number,Range_Number,8); for kk=1:8 for chirp_fft=1:Range_Number fft2d(:,chirp_fft,kk) =fftshift( fft((fft1d(:,chirp_fft,kk)))); %未经过静态杂波滤除 fft2d_MTI(:,chirp_fft,kk) =fftshift( fft((fft1d_MTI(:,chirp_fft,kk)))); %MTI fft2d_avg(:,chirp_fft,kk) =fftshift( fft((fft1d_avg(:,chirp_fft,kk)))); %相量均值法 end end figure(2); fft2d_0 =abs(fft2d(:,:,1)); mesh(X,Y,fft2d_0); xlabel('距离维(m)');ylabel('速度维(m/s)');zlabel('幅度'); title('R-V谱矩阵'); figure(3); fft2d_0 =abs(fft2d(:,:,1)); fft2d_0(63:65,:)=0; mesh(X,Y,fft2d_0); xlabel('距离维(m)');ylabel('速度维(m/s)');zlabel('幅度'); title('零速通道直接置零法'); figure(4); mesh(X,Y,abs(fft2d_MTI(:,:,1))); xlabel('距离维(m)');ylabel('速度维(m/s)');zlabel('幅度'); title('MTI'); figure(5); mesh(X,Y,abs(fft2d_avg(:,:,1))); xlabel('距离维(m)');ylabel('速度维(m/s)');zlabel('幅度'); title('相量均值相消'); %直流分量去除 相量均值相消算法-静态杂波滤除 figure(6) fft2d_avg(:,1,1) =0; mesh(X,Y,abs(fft2d_avg(:,:,1))); xlabel('距离维(m)');ylabel('速度维(m/s)');zlabel('幅度'); title('相量均值相消');