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main.m

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