FMCW雷达目标探测【附MATLAB代码】

clcclose allclear all
[y_lk1, ~, ~, ~, ~, ~, cross_range_res1] = FMCW_radar(100, -50/3.6, -60*pi/180); [y_lk2, Dres, Dmax, Vres, Vmax, theta_res, cross_range_res2] = FMCW_radar(200, 75/3.6, 45*pi/180);y_lk = y_lk1 + y_lk2;%% FFT and FFTSHIFTY = abs(fftshift(fftn(y_lk,2.^nextpow2(size(y_lk)))));YY = log(Y(floor((length(Y)/2)+1):end,:,:)+1);max1 = max(YY,[],'all');max2 = max(YY(YY<max(YY,[],'all')),[],'all');[x1, y1, a1] = ind2sub(size(YY), find(YY==max1));[x2, y2, a2] = ind2sub(size(YY), find(YY==max2));Y = abs(fftshift(fftn(y_lk,(2.^nextpow2(size(y_lk))).*[1,1,8])));YY = Y(floor((length(Y)/2)+1):end,:,:);logYY = log(YY+1);a1 = a1 * 8;a2 = a2 * 8;%% FFT 2D part% heatmap(mat2gray(Y(:,:,1)),'Colormap', jet); grid offfigure('Name','2D ffts','WindowState','maximized')subplot(2,2,1);% for plot of range-Doppler spectrum (2-D FFT magnitude)imagesc([0,Dmax],[-Vmax,Vmax],YY(:,:,floor(size(Y,3)/2)).'); set(gca,'YDir','normal') % flips the y-axis! (to see increasing values, not decreasing)colorbar % display colorbarcolormap jettitle('Amplitude in Velocity VS. Distance')xlabel('D(m)')ylabel('V(m/s)')subplot(2,2,2);% for plot of range-Doppler spectrum (2-D FFT magnitude)imagesc([0,Dmax],[-1,1],squeeze(YY(:,floor(size(Y,2)/2),:)).'); set(gca,'YDir','normal') % flips the y-axis! (to see increasing values, not decreasing)colorbar % display colorbarcolormap jettitle('Amplitude in sin(Azimuth) VS. Distance')xlabel('D(m)')ylabel('sin(Azimuth)')
subplot(2,2,3);% for log plot of range-Doppler spectrum (2-D FFT magnitude)imagesc([0,Dmax],[-Vmax,Vmax],logYY(:,:,floor(size(Y,3)/2)).'); set(gca,'YDir','normal') % flips the y-axis! (to see increasing values, not decreasing)colorbar % display colorbarcolormap jettitle('log(Amplitude) in Velocity VS. Distance')xlabel('D(m)')ylabel('V(m/s)')subplot(2,2,4);% for log plot of range-Doppler spectrum (2-D FFT magnitude)imagesc([0,Dmax],[-1,1],squeeze(logYY(:,floor(size(Y,2)/2),:)).'); set(gca,'YDir','normal') % flips the y-axis! (to see increasing values, not decreasing)colorbar % display colorbarcolormap jettitle('log(Amplitude) in sin(Azimuth) VS. Distance')xlabel('D(m)')ylabel('sin(Azimuth)')% for plotting on the same plot two rows or two columns from a% range-Doppler spectrum%% FFT 1D part and finding the maximumfigure('Name','1D ffts','WindowState','maximized')title('1D fft')
subplot(3,1,1);plt_d = linspace(0,Dmax,length(Y)/2);plot(plt_d, YY(:,y1,a1))D1 = plt_d(squeeze(YY(:,y1,a1))==max(squeeze(YY(:,y1,a1))));
hold on;D2 = plt_d(squeeze(YY(:,y2,a2))==max(squeeze(YY(:,y2,a2))));plot(plt_d, YY(:,y2,a2))xlabel('D(m)')ylabel('Amplitude')legend('First Object', 'Second Object')

subplot(3,1,2);plt_v = linspace(-Vmax,Vmax,size(Y,2));V1 = plt_v(squeeze(YY(x1,:,a1))==max(squeeze(YY(x1,:,a1))));plot(plt_v, YY(x1,:,a1))
hold on;V2 = plt_v(squeeze(YY(x2,:,a2))==max(squeeze(YY(x2,:,a2))));plot(linspace(-Vmax,Vmax,size(Y,2)), YY(x2,:,a2))xlabel('V(m/s)')ylabel('Amplitude')legend('First Object', 'Second Object')
subplot(3,1,3);plt_a = linspace(-1,1,size(Y,3));A1 = plt_a(squeeze(YY(x1,y1,:))==max(squeeze(YY(x1,y1,:))));plot(plt_a, squeeze(YY(x1,y1,:)))
hold on;A2 = plt_a(squeeze(YY(x2,y2,:))==max(squeeze(YY(x2,y2,:))));plot(plt_a, squeeze(YY(x2,y2,:)))xlabel('sin(Azimuth)')ylabel('Amplitude')legend('First Object', 'Second Object')
%% FFT Polar and Objects locationsfigure('Name','polar fft','WindowState','maximized')axis equalimage = squeeze(log(Y(floor((length(Y)/2)+1):end,round(mean([y1,y2])),:)+1));xy_image = zeros(floor(Dmax/Dres), floor(Dmax/Dres/2));for i = 1 : size(xy_image, 1)    for j = 1 : size(xy_image, 2)        xi=i*Dres*2-Dmax;        yi=j*Dres*2;        di=sqrt(xi^2+yi^2);        if di<Dmax            xy_image(i,j) = image(round(di*size(image, 1)/Dmax),ceil((xi/di+1)*size(image, 2)/2));        end    endendimagesc([-Dmax,Dmax],[0,Dmax],xy_image.'); set(gca,'YDir','normal') % flips the y-axis! (to see increasing values, not decreasing)colorbar % display colorbarcolormap jethold on; % Prevent image from being blown away.plot(D1*A1, D1*cos(asin(A1)),'ro', 'MarkerSize', 10, 'MarkerFaceColor', 'r');
hold on; % Prevent image from being blown away.plot(D2*A2, D2*cos(asin(A2)),'mo', 'MarkerSize', 10, 'MarkerFaceColor', 'm');legend('D = '+string(D1)+'(m), V = '+string((V1)*3.6)+'(km/h), Azimuth = '+string(asind(A1)), ...    'D = '+string(D2)+'(m), V = '+string((V2)*3.6)+'(km/h), Azimuth = '+string(asind(A2)));title('FFT Polar Representation')xlabel('X(m)')ylabel('y(m)')