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main_point_clouds.m
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main_point_clouds.m
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clear all;
close all;
clc;
wallStart = [-1.0, 2.2];
wallEnd = [3.0, 2.2];
barrierStart = [2.2 1.7];
barrierEnd = [2.2 -1.0];
humanStart = [4.2, 1];
humanEnd = [4.2, -1];
GHz = 1e9;
MHz = 1e6;
us = 1e-6;
%% 雷达参数（使用mmWave Studio默认参数）
c=3.0e8;
B=1800*1e6; %调频带宽
K = 68*1e12; %调频斜率
T=B/K; %采样时间
Tc=65e-6; %chirp总周期
fs=5*1e6; %采样率
f0=77e9; %初始频率
lambda=c/f0; %雷达信号波长
d=lambda/2; %天线阵列间距
n_samples=256; %采样点数/脉冲
N=256; %距离向FFT点数
n_chirps=128; %每帧脉冲数
M=128; %多普勒向FFT点数
n_RX=4; %RX天线通道数
n_TX=3; %TX天线通道数
Q = 512; %角度FFT
tx = 3; %发射天线数目
rx = 4; %接受天线数目
rmax = fs * c / 2 / K;
fnumber = 256;
PRI = 4e-3;
emitterAngle = pi / 4;
correctMatrix = [cos(emitterAngle) -sin(emitterAngle); sin(emitterAngle) cos(emitterAngle)];
fontSize = 16;
range_axis = linspace(0, fs * c / 2 / K, N);
velo_axis = linspace(-lambda / 4 / Tc, lambda / 4 / Tc, M);
an_axis_az = linspace(-asin(lambda/2/d), asin(lambda/2/d), Q); % 雷达是倒立过来的
an_axis_el = linspace(-asin(lambda/2/d), asin(lambda/2/d), Q);
fname = "T3R4_f500_rate5000.bin";
xxx = [];
yyy = [];
% 探测结果
confirm_detect = [];
temp_detect = [];
origin_detect = []; % 不加入任何抗干扰措施的结果
antenna_loc = [lambda * 3 / 2 0; lambda 0; lambda / 2 0; 0 0];
range_max = fs * c / 2 / K;
fid = fopen(fname,'rb');
sdata = fread(fid,'int16');
tx_select_rx = 1;
rx_select_tx = 1;
tic
for xx = 1:fnumber-1
tic
%16bits，复数形式(I/Q两路)，4RX,3TX,有符号16bit，小端模式
sdata2 = sdata((xx-1)*n_samples*n_chirps*rx*tx*2+1:xx*n_samples*n_chirps*rx*tx*2);
%% 1843+DCA1000
% 阵列排布
% rx1 rx2 rx3 rx4
% =======> 方位向
% tx1 ： [] [] [] [] ||
% tx2 ： [] [] [] [] ||
% tx3 ： [] [] [] [] ||
% 俯仰向 \/
fileSize = size(sdata2, 1);
lvds_data = zeros(1, fileSize/2);
count = 1;
for i=1:4:fileSize-5
lvds_data(1,count) =1i* sdata2(i) + sdata2(i+2);
lvds_data(1,count+1) =1i* sdata2(i+1)+sdata2(i+3);
count = count + 2;
end
lvds_data = reshape(lvds_data, tx*n_samples*n_RX, n_chirps);
for tr = 1:tx * rx
t_lvds_data(tr, :, :) = lvds_data((tr - 1) * fnumber+1:tr * fnumber, :);
end
range_win = hamming(n_samples); %加海明窗
data_radar_1 = squeeze(t_lvds_data(rx_select_tx * rx - 3, :, :)); % .* range_win; %RX1
data_radar_2 = squeeze(t_lvds_data(rx_select_tx * rx - 2, :, :)); % .* range_win; %RX2
data_radar_3 = squeeze(t_lvds_data(rx_select_tx * rx - 1, :, :)); % .* range_win; %RX3
data_radar_4 = squeeze(t_lvds_data(rx_select_tx * rx, :, :)); % .* range_win; %RX4
% data_radar_11 = data_radar_1(:,1:end-1) - data_radar_1(:,2:end);
% data_radar_22 = data_radar_2(:,1:end-1) - data_radar_2(:,2:end);
% data_radar_33 = data_radar_3(:,1:end-1) - data_radar_3(:,2:end);
% data_radar_44 = data_radar_4(:,1:end-1) - data_radar_4(:,2:end);
data_radar_11 = data_radar_1;
data_radar_22 = data_radar_2;
data_radar_33 = data_radar_3;
data_radar_44 = data_radar_4;
% data_radar=[];
data_radar(:,:,1) = data_radar_11; %三维雷达回波数据
data_radar(:,:,2) = data_radar_22;
data_radar(:,:,3) = data_radar_33;
data_radar(:,:,4) = data_radar_44;
%% 3维FFT处理
%距离FFT
% doppler_win = hamming(n_chirps);
% range_profile = [];
for k=1:n_RX
range_profile(:,:,k) = fft(data_radar(:,:,k), N);
% speed_profile(:,:,k) = fftshift(fft(range_profile(:,:,k), M, 2), 2);
end
speed_profile = fftshift(fft(range_profile(:,:,1), M, 2), 2);
az_rmap = fftshift(squeeze(sum(abs(fft(range_profile, Q, 3)), 2)), 2); % 距离 x 角度维度
data = squeeze(range_profile(:,1,:));
[detect_profile, detect_res] = CA_CFAR(speed_profile);
res = RangeCentroid(detect_res);
%% detect_res(:, 2) is range
[range, angle] = getAngleInfo(res, az_rmap);
% 请用 (detect_res(:, 2), detect_res(:, 1) + 9) 来标定 rd 谱图与检测 坐标轴
% detect_res(:, 1) 是 距离轴
if isempty(range)
xxxx = [];
yyyy = [];
else
xxxx = [];
yyyy = [];
for aaa = 1:length(angle)
angles = an_axis_az(angle{aaa});
ranges = range_axis(range(aaa));
xxxx = [xxxx ranges .* sin(angles)];
yyyy = [yyyy ranges .* cos(angles)];
end
end
% 不滤波的
xxx = [xxx xxxx];
yyy = [yyy yyyy];
% 滤波的
% origin_detect = [origin_detect; xxxx' yyyy'];
% %
% new_detect_res = zeros(length(xxxx), 3);
% new_detect_res(:, 1) = xxxx;
% new_detect_res(:, 2) = yyyy;
% % 填充数据
%
% [detect_res_, temp_detect_res] = PointTraceFilter(xx,...
% new_detect_res, ...
% confirm_detect, ...
% temp_detect);
%
% confirm_detect = detect_res_;
% temp_detect = temp_detect_res;
%
% if ~isempty(confirm_detect)
% xxx = [xxx confirm_detect(:, 1).'];
% yyy = [yyy confirm_detect(:, 2).'];
% end
%
% figure(12001)
% imagesc(velo_axis, range_axis, abs(speed_profile))
% xlabel("velocity (m/s)", 'fontsize',fontSize,'FontName','Times New Roman')
% ylabel("distance (m)", 'fontsize',fontSize,'FontName','Times New Roman')
% title("Range-Doppler Result", 'fontsize',fontSize,'FontName','Times New Roman')
figure(12000)
scatter(xxx, yyy, 5, 'filled')
axis([-12.5 12.5 -1.5 15])
drawnow
% 填充数据
toc
end
toc
fclose(fid);