基于SESTH的线性调频连续波激光雷达信号时延估计

doi:10.13229/j.cnki.jdxbgxb20211034

吉林大学学报(工学版) ›› 2022, Vol. 52 ›› Issue (4): 950-958.doi: 10.13229/j.cnki.jdxbgxb20211034

• 通信与控制工程 • 上一篇

基于SESTH的线性调频连续波激光雷达信号时延估计

李雪梅^1,²(),王春阳^1,³(),刘雪莲³,谢达¹

^1.长春理工大学电子信息工程学院，长春 130022
^2.白城师范学院机械与控制工程学院，吉林白城 137000
^3.西安工业大学西安市主动光电成像探测技术重点实验室，西安 710021

收稿日期:2021-10-04 出版日期:2022-04-01 发布日期:2022-04-20
通讯作者: 王春阳 E-mail:lixuemei556677@163.com;wangchunyang19@163.com
作者简介:李雪梅（1973-），女，副教授，博士研究生. 研究方向：光电信息处理.E-mail：lixuemei556677@163.com
基金资助:
吉林省教育厅科学技术研究重点规划项目(JJKH20220014KJ)

Time delay estimation of linear frequency-modulated continuous-wave lidar signals via SESTH

Xue-mei LI^1,²(),Chun-yang WANG^1,³(),Xue-lian LIU³,Da XIE¹

^1.School of Electronic and Information Engineering，Changchun University of Science and Technology，Changchun 130022，China
^2.School of Mechanical and Control Engineering，Baicheng Normal University，Baicheng 137000，China
^3.Xi'an Key Laboratory of Active Photoelectric Imaging Detection Technology，Xi'an Technological University，Xi'an 710021，China

Received:2021-10-04 Online:2022-04-01 Published:2022-04-20
Contact: Chun-yang WANG E-mail:lixuemei556677@163.com;wangchunyang19@163.com

摘要/Abstract

摘要：

针对线性调频连续波（Linear frequency-modulated continuous-wave，LFMCW）激光雷达低信噪比下目标回波信号参数难以提取的问题，提出了一种基于SESTH（Synchroextracting S transform based on Hough transform）变换的信号时延估计方法。首先，融入Hough变换，构建了Chirp信号的SESTH变换模型。然后，推导出Chirp信号的初始频率和调频率参数估计模型。最后，利用LFMCW激光雷达发射信号与回波信号的时频特性，构建Chirp信号的时延估计模型，有效解算出目标与雷达间的相对距离。为验证本文算法的有效性，进行了仿真对比分析。结果表明：本文SESTH算法在时延为4.34 μs时，相对误差最小值为3.191×10^-6；在 $S N R = - 6 ~ 25 ? d B$ 情况下，相对均方根误差最小值为0.014 65，且对目标回波信号执行一次仅需0.0499 s。

关键词: 信号与信息处理, SESTH变换, 时延估计, LFMCW激光雷达, Chirp信号

Abstract:

The parameters extraction of the target echo signal of linear frequency-modulated continuous-wave （LFMCW） lidar is more difficult under low signal-to-noise ratio （SNR）. To solve this problem， a signal time delay estimation method based on synchroextracting S transform based on the Hough transform （SESTH） is proposed. Firstly， integrating Hough transform， the SESTH model of a Chirp signal was constructed. Then， the parameter estimation models of initial frequency and frequency modulation rate of the Chirp signal were derived. Finally， using the time-frequency characteristics of the LFMCW lidar transmitted signal and echo signal， the time delay estimation model of a Chirp signal was constructed， and the relative distance between a target and the lidar was effectively calculated. In order to verify the effectiveness of the algorithm， simulation comparative analysis were carried out. The results show that the minimum relative error value of the proposed SESTH is 3.191×10^-6 when the time delay is 4.34 μs； the minimum relative root mean square error value is 0.014 65 in the case of $S N R = - 6 ~ 25 ? d B$ ， and only 0.0499 s is consumed to execute the target echo signal once.

Key words: signal and information processing, synchroextracting S transform based on the Hough transform, time delay estimation, linear frequency-modulated continuous-wave lidar, Chirp signal

中图分类号:

TN911.7

李雪梅,王春阳,刘雪莲,谢达. 基于SESTH的线性调频连续波激光雷达信号时延估计[J]. 吉林大学学报(工学版), 2022, 52(4): 950-958.

Xue-mei LI,Chun-yang WANG,Xue-lian LIU,Da XIE. Time delay estimation of linear frequency-modulated continuous-wave lidar signals via SESTH[J]. Journal of Jilin University(Engineering and Technology Edition), 2022, 52(4): 950-958.

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参数	数值	参数	数值
幅值	1	扫频周期/μs	10
衰减系数	1	初始频率/GHz	1.6
采样频率/GHz	64	扫频带宽/GHz	6
时延/μs	0.5

变换	Rényi 熵值	变换	Rényi 熵值
STFT	0.4260	GST	0.5222
ST	0.5052	WVD	1.8471
SET	0.0795	HHT	0.3595
SEST	0.0341

变换	Rényi 熵值	变换	Rényi 熵值
STFT	1.2442	GST	1.4071
ST	1.3374	WVD	2.6882
SET	1.2287	HHT	1.1817
SEST	0.2528

变换	运行时间/s	变换	运行时间/s
STFTH	93.1186	WVDH	1.1813
STH	41.6180	HHTH	0.8467
GSTH	32.2572	SESTH	0.0681

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基于SESTH的线性调频连续波激光雷达信号时延估计

Time delay estimation of linear frequency-modulated continuous-wave lidar signals via SESTH

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