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研究生:呂向斌
研究生(外文):Lu, Hsiang-Pin
論文名稱:FMCW雷達測距與測速信號處理研究
論文名稱(外文):Signal Processing in FMCW Radar Range and Speed Measurements
指導教授:成維華成維華引用關係
指導教授(外文):Chieng, Wei-Hua
學位類別:博士
校院名稱:國立交通大學
系所名稱:機械工程系所
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2013
畢業學年度:102
語文別:英文
論文頁數:87
中文關鍵詞:雷達液位計微波車輛偵測器
外文關鍵詞:Radar Level GaugeRF Vehicle Detector
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近年來FMCW雷達被廣泛利用於各種工業用途,在各不同應用領域需要各別的信號處理演算法,本研究將著力於兩個主題:一是如何提高FMCW液位計之高度量測精度,另一則是提升側向單雷達車輛偵測器之測速與車長量測精度。
本研究首先探討FMCW 雷達測距與測速原理後,提出一個高精準度頻率估計的方法-梯度搜尋法,文中除了說明梯度搜尋法原理,並分析此方法之誤差來源與推導出誤差邊界的方程式,以及在不同訊雜比下,與是否加窗函數下與 Cramer Rao 邊界進行比較。文中也會藉由模擬與硬體實作方式與其它文獻中的方法進行量測精度上的比較。經由此梯度搜尋法提高頻率估測精準度從而提高FMCW雷達距離量測精度,在距離20公尺範圍內測距精度可達±5 mm。
在另一研究領域-利用側向單雷達車輛偵測器提高量測車速與車長準確度,本研究也提出一個不同於目前側向車輛偵測器之安裝概念,利用斜視角並配合2D FFT演算法,實驗結果顯示量測速度與估計車長準確度分別可達±4 km/h與 ±1 m,即使在目標物速度小於5km/h時仍可辨識諸如行人或自行車等慢速移動物體。

The frequency modulated continuous wave (FMCW) radar is widely used in the industrial applications. However, in a specific application it requires a specific signal processing algorithm. In this research, two applications are focused, one is the high accuracy range measurement in a FMCW level gauge, and the other one is estimating vehicle speed and length using a side-looking single-radar Vehicle Detector (VD).
Estimating the frequency of a single-tone signal is an essential problem in a FMCW level gauge. This research presents a frequency estimation algorithm called the gradient search method (GSM) using the derivative of discrete Fourier transform (DFT). The analytical boundaries of the proposed method for different signal-to-noise ratios in the conditions of with the rectangular window and with the Hann window are derived. This research compares the most appropriate algorithms available in the literature. Simulation and experimental results show that the proposed algorithm provides superior performance than previous methods.
This research also presents a side-looking single-beam microwave vehicle detector system for estimating speed and length of multiple vehicles. The proposed vehicle detector system is equipped with a FMCW radar using a squint angle. The associated 2D range-Doppler Fourier processing can extract the range and speed information of each vehicle using a single-beam FMCW radar. The simulation and experimental results show accurate estimations of vehicle speed and length. The measurement errors of speed and length were approximately ±4 km/h and ±1 m respectively. The proposed method has excellent detection capability for small and slow moving targets, such as bikes and pedestrians, at speeds down to 5 km/h.

CHAPTER 1. INTRODUCTION 1
1.1. BACKGROUND 1
1.2. PROBLEM DEFINITION 4
1.2.1. High resolution range estimation of a FMCW level gauge 4
1.2.2. Estimating speed and length using a side-looking single-radar Vehicle Detector 7
1.3. RESEARCH OBJECTIVES 9
1.4. RESEARCH CONTRIBUTIONS 10
1.5. ORGANIZATION OF THE RESEARCH 11
CHAPTER 2. LITERATURE REVIEW 12
2.1. FMCW RADAR PRINCIPLE 12
2.1.1. Range Measurement Principle 13
2.1.2. Speed Measurement Principle 14
2.1.3. Range Resolution of FMCW Radar 16
2.2. FREQUENCY ESTIMATION ALGORITHMS 18
2.2.1. Time Series based Frequency Estimator 20
2.2.2. Fourier based Frequency Estimator 21
2.3. RANGE-SPEED ESTIMATION METHODS FOR SIDE-LOOKING VD 25
CHAPTER 3. FREQUENCY ESTIMATION USING GRADIENT SEARCH METHOD 31
3.1. PRINCIPLE OF GRADIENT SEARCH METHOD 31
3.2. THEORETICAL ANALYSIS 35
3.3. SIMULATION RESULT 42
3.4. EXPERIMENTAL RESULT 46
3.4.1. Laboratory experiment 46
3.4.2. Field Test 49
3.4.3. Anechoic Chamber Test 51
CHAPTER 4. ESTIMATING SPEED USING A SIDE-LOOKING SINGLE-RADAR VD 55
4.1. PROPOSE METHOD 55
4.2. SIMULATION RESULTS 60
4.3. EXPERIMENTAL RESULTS 63
4.3.1. Test Case A: Various speeds at a squint angle of 0° 65
4.3.2. Test Case B: Various speeds at a squint angle of 20° 67
4.3.3. Test Case C: Multiple target detection 72
4.3.4. Test Case D: Signals of variant vehicle types 76
CHAPTER 5. CONCLUSION 79
REFERENCES 81

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