CN108717187A - Based on multinuclear digital signal processor through-wall radar motion target tracking imaging method - Google Patents

Abstract

A moving target tracking and imaging method based on a multi-core digital signal processor through-wall radar, which involves the field of digital signal processing technology, and solves the problem of meeting the real-time requirements of ultra-wideband radar imaging. The specific steps are as follows: Collect and input to the PC; (2) Encapsulate the information data and transmit it to the multi-core digital signal processor for processing; (3) Divide the data into 8 parts and store them in the public storage area; (4) Use Core0 as the main core , control the initialization of the system, and notify other slave cores to perform their respective tasks; (5) use Core1-7 as the slave core to access the data in the public storage area; (6) each core reads the information data and performs delay calculation, and the result Send it to the original storage area; (7) The main core Core0 performs the superposition and sorting of the final algorithm, and sends it back to the PC side through the original route. The invention has high computing efficiency and meets the real-time requirement of moving target tracking and imaging.

Description

Moving target tracking and imaging method based on multi-core digital signal processor through-wall radar

technical field

The invention relates to the technical field of digital signal processing, in particular to a method for tracking and imaging a moving target based on a multi-core digital signal processor through-wall radar.

Background technique

With the rapid development of scientific and technological life, according to the requirements of the military, the protection of national physical and property safety, and some commercial requirements, radar, as a high-end technology that can detect targets and track and image, has become an important research institute and commercial company. topic. When faced with geological exploration, post-disaster rescue, and terrorist organization attacks, ultra-wideband (UWB) wall-penetrating detection technology relies on its unique strong penetrability, high distance resolution, and clear imaging results. There are a wide range of applications in the scene.

With the continuous development of digital signal processing technology, target recognition and positioning put forward high-resolution and strong real-time requirements for the realization of ultra-wideband radar imaging technology, so that the ultra-wideband radar imaging system can process massive data and complete complex imaging algorithms , with higher data throughput. The traditional radar signal processing system platform uses a single-core processor, which has a complex structure and simple functions, and it is difficult to meet the requirements of high-speed processing of real-time signals. In this case, multi-core came into being. Compared with single-core, multi-core has faster processing performance, occupies a smaller PCB area, and lower power consumption. It has become a leader in digital signal processors in recent years.

Through-wall imaging radar is characterized by high signal complexity, huge data volume, and difficult real-time processing. For now, hardware implementation technologies mainly include field programmable gate array (field programmable gate array, FPGA for short) technology and professional ASIC (application specific integrated circuits) chip technology. FPGA is generally used to implement digital circuit modules, and has rich logic resources and I/O resources. It is suitable for block diagram programming, fixed or repetitive tasks, and mainly uses its own advantages in signal processing scenarios. It is responsible for interface control and completes algorithms with relatively low complexity. It is generally used in the acquisition part of radar signals. Professional ASIC chip technology has high speed, the smallest possible area and a fully satisfactory package, but its flexibility is poor and the design cost is expensive.

Contents of the invention

Aiming at the deficiencies of the prior art, the problem solved by the invention is to meet the real-time requirement of ultra-wideband radar imaging.

In order to solve the above-mentioned technical problems, the technical solution adopted in the present invention is a method for tracking and imaging moving targets based on multi-core digital signal processor through-wall radar, and the specific steps are as follows:

(1) Use the radar signal acquisition equipment to collect information and data of the moving target behind the wall and input it to the PC;

(2) The PC side encapsulates the acquired information data of the moving target according to time intervals, and sequentially transmits them to the multi-core digital signal processor through Gigabit Ethernet for processing. Preferably, the time interval is 0.01 seconds;

(3) The multi-core digital signal processor divides the received data into 8 parts and stores them in the public storage area;

(4) Take Core0 as the main core, control the initialization of the system, and notify other slave cores to perform their respective tasks through IPC inter-core communication;

(5) With Core1-7 as the slave core, after receiving the command from the master core Core0, access the data in the public storage area, and read the original data they need according to the storage address;

(6) Each core reads the corresponding channel information data, performs time delay calculation according to the radar BP imaging algorithm, and sends the result to the original storage area after the calculation is completed;

(7) The main core Core0 performs the superposition and sorting of the results of each core in the final algorithm, and sends the results back to the PC through the original Gigabit Ethernet.

In step (2) and step (7), the Gigabit Ethernet utilizes the NDK (Network Development Kit) network development kit to create network ports, IP bindings and task processes with the TCP/IP protocol through the underlying hardware driver design, The network application program design of the client is adopted, and the data to be processed is sent to the server of the multi-core digital signal processor through the TCP network according to the network protocol. Send to the client to complete the interaction between data;

The underlying hardware driver program uses hardware semaphores to perform mutual exclusion, and uses corresponding driver functions according to its own needs to modify parameter configurations;

The TCP/IP protocol adopts the TCP protocol;

The network application program of described user end adopts socket socket development server, comprises following process;

1) Create a socket server object and listen to the socket;

2) Establish a connection and wait for the client to initiate an active connection request;

3) Send and receive data, and the server is responsible for monitoring the connection request, and starts to transmit data after the request is passed;

4) Close the file dialog and disconnect.

In step (4), utilizing the characteristics of the parallel architecture of the multi-core digital signal processor, the calculated data is divided according to the number of channels, the information data of each channel is calculated, and finally a superposition operation is performed;

In step (6), the multi-core digital signal processor selects the master-slave topology according to the assignment of tasks, uses IPC interrupts as the communication method, Core0 acts as the master core unit to exchange data with the outside world, and communicates with the slave cores through inter-core interrupts Synchronized with the state, the execution task is triggered by the interrupt of the master core, and the algorithm calculation task is performed by the slave core;

Beneficial effects of the present invention: realize the data transmission between the PC end and the multi-core digital signal processor, carry out task planning on the radar BP imaging algorithm according to the master-slave model, call the multi-core synchronously to execute calculation tasks, improve the calculation efficiency, and realize the moving target Real-time tracking imaging.

Description of drawings

Fig. 1 is a flow chart of the method of the present invention;

Fig. 2 is the schematic flow chart of Ethernet program design of the present invention;

Fig. 3 is the flowchart of radar BP imaging algorithm among the present invention;

Fig. 4 is the master-slave model of the parallel architecture design of the present invention.

Detailed ways

The specific implementation manners of the present invention will be further described below in conjunction with the drawings and examples, but the present invention is not limited.

Embodiment: select TMS320C6678 multi-core digital signal processor of TI Company to illustrate.

In this embodiment, as shown in FIG. 1 , the data volume of each channel is divided into a basic task data volume, and the calculated data volume can be divided into n basic tasks, where n depends on the number of radar acquisition channels.

Figure 1 shows a method for tracking and imaging moving targets based on multi-core digital signal processor through-wall radar, and the specific steps are as follows:

(1) Use the radar signal acquisition equipment to collect information and data of the moving target behind the wall and input it to the PC;

(2) The PC side encapsulates the acquired information data of the moving target according to time intervals, and sequentially transmits them to the multi-core digital signal processor through Gigabit Ethernet for processing. Preferably, the time interval is 0.01 second;

(3) The multi-core digital signal processor divides the received data into 8 parts and stores them in the public storage area;

(4) Take Core0 as the main core, control the initialization of the system, and notify other slave cores to perform their respective tasks through IPC inter-core communication;

(5) With Core1-7 as the slave core, after receiving the command from the master core Core0, access the data in the public storage area, and read the original data they need according to the storage address;

(6) Each core reads the corresponding channel information data, performs time delay calculation according to the radar BP imaging algorithm, and sends the result to the original storage area after the calculation is completed;

(7) The main core Core0 performs the superposition and sorting of the final algorithm on the results of each core, and sends the results back to the PC through the original Gigabit Ethernet.

In step (2) and step (7), the Gigabit Ethernet utilizes the NDK (Network Development Kit) network development kit to create a network port, IP binding and task process through the underlying hardware driver design and TCP/IP protocol , using the network application design of the client, through the TCP network, according to the network protocol, the data to be processed is sent to the server of the multi-core digital signal processor, the multi-core digital signal processor performs calculation after receiving the data, and after the calculation is completed, the calculation result, Then send it to the client to complete the interaction between data;

The underlying hardware driver program uses hardware semaphores to perform mutual exclusion, and uses corresponding driver functions according to its own needs to modify parameter configurations;

The TCP/IP protocol adopts the TCP protocol;

The network application program of described user end adopts socket socket development server, comprises following process, as shown in Figure 2;

1) Create a socket server object and listen to the socket;

2) Establish a connection and wait for the client to initiate an active connection request;

3) Send and receive data, and the server is responsible for monitoring the connection request, and starts to transmit data after the request is passed;

4) Close the file dialog and disconnect.

In this embodiment, select the static IP (StaticIP) mode to program and specify the IP address of TMS320C6678. The IP address of the multi-core digital signal processor: 192.168.2.100, the IP address of the PC: 192.168.2.102. The C6678 network port and the PC are connected through a 100Mbps network card mode. After the handshake agreement between the PC and the C6678's IP port is reached, the network path is established and data transmission begins. Since the initialization program needs to be completed on core 0, core 0 is selected as the control core for network communication, and the data exchange between core 0 and other cores is completed on the public storage area.

In step (4), as shown in Figure 3, utilize the characteristics of the parallel architecture of the multi-core digital signal processor to divide the calculated data according to the number of channels, calculate the information data of each channel, and finally perform a superposition operation;

In this embodiment, the parallel architecture of the multi-core digital signal processor adopts a master-slave model. As shown in FIG. 7, as a slave core, receives instructions from core 0 to perform related operations, and sends the result to core 0 for final data integration.

In step (6), the multi-core digital signal processor selects the master-slave topology according to the assignment of tasks, uses IPC interrupts as the communication method, Core0 acts as the master core unit to exchange data with the outside world, and communicates with the slave cores through inter-core interrupts Synchronized with the state, the execution task is triggered by the interrupt of the master core, and the algorithm calculation task is performed by the slave core;

In this embodiment, during the movement of the target, the trajectory of the moving target is tracked. Taking the start time of the moving target as the benchmark, the target is imaged at intervals of 0.2 seconds, and the frame rate is 6 frames per second at the 0th second, 0.2 second, 0.4 second, 0.6 second, 0.8 second, and 1 second of the target movement time to image the target. Each frame of image data is sequentially input as a file, processed sequentially in the multi-core digital signal processor, and the obtained processing results are finally superimposed to obtain the moving track of the moving target, so as to judge the moving direction and distance of the target.

The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. For those skilled in the art, without departing from the principle and spirit of the present invention, various changes, modifications, replacements and modifications to these embodiments still fall within the protection scope of the present invention.

Claims (8)

1. one kind being based on multinuclear digital signal processor through-wall radar motion target tracking imaging method, which is characterized in that specific Steps are as follows：

（1）The ends information data acquisition input PC are carried out to mobile target after wall using radar signal collecting device；

（2）The information data of acquired mobile target is carried out data encapsulation by the ends PC at timed intervals, pass sequentially through gigabit with Too net is transmitted to multinuclear digital signal processor and is handled, it is preferable that the time interval is 0.01 second；

（3）The data received are divided into 8 parts by multinuclear digital signal processor, are stored in common storage area；

（4）Using Core0 as main core, the initialization of control system notifies other are executed from core respectively to appoint by IPC intercore communications Business；

（5）The data of common storage area are accessed, according to storage after receiving main core Core0 orders using Core1-7 as from core Read the initial data respectively needed in address；

（6）Each core reads corresponding channel information data, carries out time-delay calculation according to radar BP imaging algorithms, calculates and complete Acquired results are sent to original memory block afterwards；

（7）The superposition that the result of each core is carried out last algorithm by main core Core0 arranges, and result is passed through gigabit Ethernet Former road returns to the ends PC.

2. according to claim 1 be based on multinuclear digital signal processor through-wall radar motion target tracking imaging method, It is characterized in that, step（2）In, the time interval is 0.01 second.

3. according to claim 1 or 2 be based on multinuclear digital signal processor through-wall radar motion target tracking imaging side Method, which is characterized in that step（2）, in step (7), the gigabit Ethernet utilizes NDK（Network Development Kit）Network development external member creates the network port by bottom hardware Driver Design with ICP/IP protocol, IP is bound and is appointed Business process is designed using the web application of user terminal, by TCP networks, according to procotol by data to be treated It is sent to the server of multinuclear digital signal processor, multinuclear digital signal processor carries out operation, operation after receiving data After by operation result, be then forwarded to client, complete the interaction between data.

4. according to claim 3 be based on multinuclear digital signal processor through-wall radar motion target tracking imaging method, It is characterized in that, the bottom hardware driver carries out mutual exclusion using hardware semaphore, phase is used according to the demand of oneself The driving function answered carries out parameter configuration modification.

5. according to claim 3 be based on multinuclear digital signal processor through-wall radar motion target tracking imaging method, It is characterized in that, the ICP/IP protocol uses Transmission Control Protocol.

6. according to claim 3 be based on multinuclear digital signal processor through-wall radar motion target tracking imaging method, It is characterized in that, the web application of the user terminal uses socket exploitation server, including following procedure；

1）Socket server objects are created, socket is monitored；

2）Connection is established, and client is waited for initiate active connection request；

3）Data are transmitted and received, server end is then responsible for monitoring connection request, and request starts transmission data after passing through；

4）File dialogue is closed, is disconnected.

7. according to claim 1 or 2 be based on multinuclear digital signal processor through-wall radar motion target tracking imaging side Method, which is characterized in that in step (4), using multinuclear digital signal processor parallel architecture the characteristics of, the data of calculating are pressed It is divided according to port number, calculates the information data in each channel, finally do a superposition.

8. according to claim 1 or 2 be based on multinuclear digital signal processor through-wall radar motion target tracking imaging side Method, which is characterized in that step（6）In, multinuclear digital signal processor selects master-slave topology structure according to the distribution of task, utilizes IPC, which is interrupted, is used as communication mode, and Core0 carries out data exchange as main nuclear unit with extraneous, and by internuclear interruption with from core Data communication and status synchronization is carried out, task is executed by the down trigger of main core, algorithm calculating task is carried out from core.