113 lines
3.7 KiB
Mathematica
113 lines
3.7 KiB
Mathematica
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%% 功能：毫米波雷达点云生成流程MATLAB仿真
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%% 思考：如何将IWR1843EVM+DCA1000采集得到的数据移植到这份代码上
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clc;clear;close all;
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Frame =1; %帧数设置；
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for frame =1:Frame %帧数设置
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%% 雷达参数设置
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parameter = generateParameter();
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parameter.frame = frame;
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%% 雷达回波信号建模
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rawData = generateSignal(parameter);
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firstChirp = rawData(1,:,1);
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figure(1);
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plot(real(firstChirp));
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hold on;
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plot(imag(firstChirp));
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xlabel('采样点数'); ylabel('幅值');title('原始数据实虚部');%第1个chirp。
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%% 雷达信号处理
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rangeRes = parameter.c / (2 * parameter.BandwidthValid); %距离分辨率 有效带宽
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rangeIndex = (0:parameter.rangeBin-1) * rangeRes;
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speedRes = parameter.lambda / (2 * parameter.dopplerBin * parameter.Tr);
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dopplerIndex = (-parameter.dopplerBin/2:1:parameter.dopplerBin/2 - 1) * speedRes;
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angleRes = parameter.lambda / (parameter.virtualAntenna * parameter.dx) * 180 / pi;
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angleIndex = (-parameter.virtualAntenna/2:1:parameter.virtualAntenna/2 - 1) * angleRes;
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%% 1D FFT
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fft1dData = fft(firstChirp);
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figure(2);
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plot(rangeIndex,db(abs(fft1dData)./max(abs(fft1dData))));
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xlabel('距离(m)'); ylabel('幅值(dB)');title('距离维FFT');
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%% 2D FFT
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%% 距离-多普勒谱
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channelNum = size(rawData,1);
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rangebinNum = size(rawData,2);
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dopplerbinNum = size(rawData,3);
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fft2dDataPower= zeros(size(rawData));
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fft2dDataDB = zeros(size(rawData));
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fftRADataPower= zeros(size(rawData));
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for chanId = 1:1:channelNum
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fft2dDataPower(chanId,:,:) = RDfftMatrix(rawData(chanId,:,:));
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end
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figure(3);
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mesh(dopplerIndex',rangeIndex,db(abs(squeeze(fft2dDataPower(chanId,:,:)))));
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view(2);
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xlabel('速度(m/s)'); ylabel('距离(m)'); zlabel('幅值');
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title('距离-多普勒谱');
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mesh(abs(squeeze(fft2dDataPower(chanId,:,:))));
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display_static=[30,100,400,300];
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set(gcf,'Position',display_static); % [左下角x,左下角y,宽度,高度]
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%% 距离-角度谱
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for dopplerId = 1:1:dopplerbinNum
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fftRADataPower(:,:,dopplerId) = RAfftMatrix(rawData(:,:,dopplerId));
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end
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figure(4);
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imagesc(rangeIndex,angleIndex,(abs(squeeze(fftRADataPower(:,:,dopplerId)))));
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view(2);
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xlabel('距离(m)'); ylabel('角度'); zlabel('幅值');
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title('距离-角度谱');
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%% 多通道非相干积累
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accumulateRD = chan_Accumulate((fft2dDataPower));
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figure(5);
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imagesc(dopplerIndex',rangeIndex,db(accumulateRD));
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view(2);
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xlabel('速度(m/s)'); ylabel('距离(m)'); zlabel('幅值');
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title(['通道积累 第',num2str(frame),'帧']);
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pause(0.01);
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%% CFAR检测
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cfarParameter = generateCfarParameter(); %生成cfar数据
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[pointList,cfarRD] = cfar(cfarParameter,db(accumulateRD));
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figure(6);
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mesh(dopplerIndex',rangeIndex,cfarRD);
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xlabel('速度(m/s)'); ylabel('距离(m)'); zlabel('幅值');
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title('cfar');
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display_static=[30,100,400,300];
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set(gcf,'Position',display_static); % [左下角x,左下角y,宽度,高度]
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%% peakSearch
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[RD_pearkSearch,peakSearchList] = peakSearch(cfarRD,pointList);
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detectPointNum = size(peakSearchList,2);
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%% DOA估计
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for targetIdx = 1:detectPointNum
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rangeBin = peakSearchList(1,targetIdx);
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speedBin = peakSearchList(2,targetIdx);
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range = (rangeBin - 1) * rangeRes;
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speed = (speedBin - parameter.dopplerBin/2 - 1) * speedRes;
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ant = squeeze(fft2dDataPower(:,rangeBin,speedBin));
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[angle,doa_abs] = doa(parameter,ant);
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figure(7);
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angleIndex = asin((-512:1:512-1)/512) * 180 / pi;
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hold on;
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plot(angleIndex,doa_abs);grid on
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title('测角结果');
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xlabel('角度');ylabel('幅值');
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fprintf('目标%d的距离为%f,速度为%f,角度为%f\n',targetIdx,range,speed,angle);
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end
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end
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