空气耦合超声波相控阵三维成像雷达

我国的人工智能技术和自动驾驶技术在近年来飞速发展，这对环境的感知和 解析提出了新的要求。相对于现有的毫米波雷达、激光雷达、光学摄像头等三维 成像传感器而言，超声波雷达具有成本低、可探测透明物体等优点。但是传统基 于一发一收工作模式的空气耦合超声波传感器存在检测的精度低、分辨率低、可 探测距离近等问题。基于上述问题，本文采用雷达和声呐领域所使用的非均匀相 控阵技术探索了超声波雷达技术在三维成像领域的应用潜力，深入研究了相关理 论和关键算法，设计并制造了一款新型的空气耦合超声波相控阵三维成像雷达。 本文基于空气耦合超声波换能器的工作原理和超声在空气中的传播特性，探 讨了非均匀超声相控阵的参数对声场的影响及换能器的标定方法。设计出了收发 板大小均为 100 mm × 100 mm 且都含有 5 × 5 个空气耦合超声换能器的收发分离 式雷达，采用现场可编程门阵列（Field Programmable Gate Array，FPGA）进行雷 达控制和信号采集，并设计了相应的发射和接收电路。提出了一种基于延时叠加、 匹配滤波、包络检波的超声飞行时间三维成像算法，使用发射板往特定的方向发 射声波，随后使用接收板采集反射回来的声波信号，两端均使用相控阵的波束成 形技术，通过 FPGA 控制模数转换器件，将声波信号转化为数字信号，并转发到上 位机进行处理，最后根据声音信号的飞行时间（Time of Flight，TOF）和声速，计 算出声音信号的传播距离，从而得到声音信号的三维坐标。最后对设计的雷达进 行了实验验证，涉及发射端和接收端空气耦合超声波换能器的相位与幅值标定实 验，矫正了换能器的不一致性；基于此对发射端进行了声场测量实验，验证了理论 设计和实际声场的一致性；在室内进行了三维成像实验，完成了对 2 m 处纸箱的 成像，显示出 9 dB 以上的对比度分辨率和动态范围。 经过理论分析和实验验证表明，本文基于空气耦合超声波相控阵所设计的雷 达在实际应用中能够有效地进行环境扫描和成像，显示了良好的成像效果，可以 实现远距离成像和透明物体的探测，为超声波三维成像技术的发展提供了新的思 路和方法。

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