371 lines
9.0 KiB
Markdown
371 lines
9.0 KiB
Markdown
# IQ电压信号处理工程流程图
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## 系统架构图
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```mermaid
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graph TB
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A[雷达传感器] --> B[ADC采集<br/>ADC1_CH8/CH9<br/>200Hz采样]
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B --> C[IQ数据处理模块<br/>radar_vitals.cpp]
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C --> D[状态判断]
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C --> E[频率估计]
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D --> F[输出结果]
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E --> F
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F --> G[串口输出]
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style A fill:#e1f5ff
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style B fill:#fff4e1
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style C fill:#ffe1f5
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style D fill:#e1ffe1
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style E fill:#e1ffe1
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style F fill:#f5e1ff
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style G fill:#e1f5ff
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```
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## 详细处理流程图
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```mermaid
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flowchart TD
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Start([开始]) --> ADC1[ADC数据采集]
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subgraph ADC采集
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ADC1 --> ADC2[读取ADC1_CH8<br/>I通道原始值]
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ADC1 --> ADC3[读取ADC1_CH9<br/>Q通道原始值]
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ADC2 --> ADC4[采样率: 200Hz]
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ADC3 --> ADC4
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ADC4 --> ADC5[数据长度: 1024点<br/>5.12秒]
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ADC5 --> ADC6[转换为电压<br/>V = ADC/4095 × 3.3V]
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end
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ADC6 --> DC[去直流处理]
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subgraph 去直流
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DC --> DC1[计算I平均值<br/>meanI]
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DC --> DC2[计算Q平均值<br/>meanQ]
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DC1 --> DC3[I'n = In - meanI]
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DC2 --> DC4[Q'n = Qn - meanQ]
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end
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DC3 --> Phase[相位转换]
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DC4 --> Phase
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subgraph 相位转换
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Phase --> Phase1[φn = atan2 Qn, In]
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end
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Phase1 --> Unwrap[相位展开]
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subgraph 相位展开
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Unwrap --> Unwrap1[计算相位差<br/>Δφ = φn - φn-1]
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Unwrap1 --> Unwrap2{Δφ > π?}
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Unwrap2 -->|是| Unwrap3[Δφ -= 2π]
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Unwrap2 -->|否| Unwrap4{Δφ < -π?}
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Unwrap4 -->|是| Unwrap5[Δφ += 2π]
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Unwrap4 -->|否| Unwrap6[保持Δφ]
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Unwrap3 --> Unwrap7[φn = φn-1 + Δφ]
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Unwrap5 --> Unwrap7
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Unwrap6 --> Unwrap7
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end
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Unwrap7 --> EmptyCheck[空人判断]
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subgraph 空人判断
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EmptyCheck --> EC1[计算相位均值<br/>μ = mean φ]
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EC1 --> EC2[计算相位方差<br/>Var = Eφ-μ²]
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EC2 --> EC3{Var < 1e-4?}
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EC3 -->|是| EC4[NO_PERSON<br/>无人]
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EC3 -->|否| MotionCheck[活动检测]
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end
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MotionCheck --> MC1[计算相位差分能量<br/>E = mean φn-φn-1²]
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MC1 --> MC2{E > 0.05?}
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MC2 -->|是| MC3[MOTION<br/>人体运动]
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MC2 -->|否| MC4[STATIC_HUMAN<br/>人体静止]
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EC4 --> End([结束])
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MC3 --> Downsample[降采样]
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MC4 --> Downsample
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subgraph 降采样
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Downsample --> DS1[呼吸数据<br/>1024→51点<br/>10Hz]
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Downsample --> DS2[心率数据<br/>1024→256点<br/>50Hz]
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end
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DS1 --> RespFreq[呼吸频率估计]
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DS2 --> HeartFreq[心率估计]
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subgraph 呼吸频率估计
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RespFreq --> RF1[频率扫描<br/>0.1-0.6Hz]
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RF1 --> RF2[DFT计算<br/>Xf = Σ φn × e-j2πfn]
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RF2 --> RF3[找最大能量频率]
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RF3 --> RF4[转换为BPM<br/>BPM = f × 60]
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end
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subgraph 心率估计
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HeartFreq --> HF1[频率扫描<br/>0.6-3.0Hz]
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HF1 --> HF2[DFT计算<br/>Xf = Σ φn × e-j2πfn]
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HF2 --> HF3[找最大能量频率]
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HF3 --> HF4[转换为BPM<br/>BPM = f × 60]
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end
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RF4 --> Filter[后处理滤波]
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HF4 --> Filter
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subgraph 后处理滤波
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Filter --> F1[异常值检测<br/>心率: 40-180 BPM<br/>呼吸: 4-40 BPM]
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F1 --> F2[5点移动平均滤波]
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F2 --> F3[四舍五入取整]
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end
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F3 --> Output[输出结果]
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subgraph 输出
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Output --> O1[人体状态]
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Output --> O2[心率 BPM]
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Output --> O3[呼吸率 BPM]
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Output --> O4[串口打印]
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end
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O4 --> End
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style Start fill:#90EE90
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style End fill:#FFB6C1
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style ADC1 fill:#87CEEB
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style DC fill:#DDA0DD
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style Phase fill:#F0E68C
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style Unwrap fill:#98FB98
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style EmptyCheck fill:#FFA07A
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style Downsample fill:#20B2AA
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style RespFreq fill:#FF6347
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style HeartFreq fill:#FF6347
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style Filter fill:#9370DB
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style Output fill:#00CED1
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```
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## 数据流图
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```mermaid
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graph LR
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subgraph 输入
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A[ADC原始数据<br/>12位, 0-4095]
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end
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subgraph 预处理
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B[去直流<br/>I'Q']
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C[相位转换<br/>φ = atan2Q,I]
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D[相位展开<br/>连续相位]
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end
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subgraph 特征提取
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E[相位方差<br/>空人检测]
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F[差分能量<br/>活动检测]
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end
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subgraph 频率分析
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G[降采样<br/>呼吸/心率]
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H[DFT频谱分析]
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I[峰值检测]
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end
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subgraph 后处理
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J[异常值过滤]
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K[移动平均]
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L[取整输出]
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end
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subgraph 输出
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M[人体状态]
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N[心率 BPM]
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O[呼吸率 BPM]
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end
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A --> B --> C --> D
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D --> E
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D --> F
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D --> G --> H --> I --> J --> K --> L
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E --> M
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F --> M
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L --> N
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L --> O
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style A fill:#FFE4B5
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style B fill:#E0FFFF
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style C fill:#E0FFFF
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style D fill:#E0FFFF
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style E fill:#FFDAB9
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style F fill:#FFDAB9
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style G fill:#98FB98
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style H fill:#98FB98
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style I fill:#98FB98
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style J fill:#DDA0DD
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style K fill:#DDA0DD
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style L fill:#DDA0DD
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style M fill:#F0E68C
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style N fill:#F0E68C
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style O fill:#F0E68C
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```
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## 关键参数说明
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| 参数 | 值 | 说明 |
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|------|-----|------|
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| ADC采样率 | 200 Hz | 基础采样频率 |
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| 基础数据长度 | 1024 点 | 对应5.12秒数据 |
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| ADC分辨率 | 12位 | 0-4095 |
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| 参考电压 | 3.3V | 电压转换基准 |
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| 呼吸采样率 | 10 Hz | 降采样后频率 |
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| 心率采样率 | 50 Hz | 降采样后频率 |
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| 呼吸频率范围 | 0.1-0.6 Hz | 6-36 BPM |
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| 心率频率范围 | 0.6-3.0 Hz | 36-180 BPM |
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| 空人阈值 | 方差 < 1e-4 | 相位方差阈值 |
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| 活动阈值 | 能量 > 0.05 | 差分能量阈值 |
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## 算法核心公式
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### 1. 去直流
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```
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I'(n) = I(n) - mean(I)
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Q'(n) = Q(n) - mean(Q)
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```
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### 2. 相位计算
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```
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φ(n) = atan2(Q'(n), I'(n))
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```
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### 3. 相位展开
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```
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Δφ = φ(n) - φ(n-1)
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if Δφ > π: Δφ -= 2π
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if Δφ < -π: Δφ += 2π
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φ_unwrap(n) = φ_unwrap(n-1) + Δφ
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```
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### 4. 空人判断
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```
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Var(φ) = E[(φ - μ)²]
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if Var(φ) < 1e-4 → NO_PERSON
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```
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### 5. 活动检测
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```
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E = E[(φ(n) - φ(n-1))²]
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if E > 0.05 → MOTION
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else → STATIC_HUMAN
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```
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### 6. DFT频率估计
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```
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X(f) = Σ φ(n) × e^(-j2πfn)
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f_peak = arg max |X(f)|²
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BPM = f_peak × 60
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```
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## 任务调度图
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```mermaid
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graph TB
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subgraph FreeRTOS任务
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T1[雷达数据采集任务<br/>优先级: 4<br/>Core: 1]
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T2[串口数据任务<br/>优先级: 3<br/>Core: 1]
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end
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subgraph 处理流程
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P1[ADC采集循环<br/>1024点 @ 200Hz]
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P2[调用radar_process]
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P3[状态判断]
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P4[频率估计]
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P5[串口输出]
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end
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T1 --> P1 --> P2 --> P3 --> P4 --> P5
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T2 --> P5
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style T1 fill:#FFB6C1
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style T2 fill:#87CEEB
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style P1 fill:#98FB98
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style P2 fill:#98FB98
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style P3 fill:#F0E68C
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style P4 fill:#F0E68C
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style P5 fill:#DDA0DD
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```
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## 状态机图
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```mermaid
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stateDiagram-v2
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[*] --> NO_PERSON: 相位方差 < 1e-4
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NO_PERSON --> STATIC_HUMAN: 相位方差 ≥ 1e-4<br/>且差分能量 ≤ 0.05
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NO_PERSON --> MOTION: 相位方差 ≥ 1e-4<br/>且差分能量 > 0.05
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STATIC_HUMAN --> MOTION: 差分能量 > 0.05
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MOTION --> STATIC_HUMAN: 差分能量 ≤ 0.05
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STATIC_HUMAN --> NO_PERSON: 相位方差 < 1e-4
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MOTION --> NO_PERSON: 相位方差 < 1e-4
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note right of NO_PERSON
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无人状态
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不进行频率估计
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end note
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note right of STATIC_HUMAN
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人体静止
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进行呼吸/心率估计
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end note
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note right of MOTION
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人体运动
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进行呼吸/心率估计
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但可能不准确
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end note
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```
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## 文件结构
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```
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Rader_IQ第1版/
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├── src/
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│ ├── main.cpp # 主程序，任务调度
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│ ├── radar_vitals.cpp # IQ信号处理核心算法
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│ ├── radar_vitals.h # 接口定义和常量
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│ ├── io_flash.cpp # Flash存储
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│ └── io_flash.h
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├── include/ # 头文件目录
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├── lib/ # 库文件目录
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├── test/ # 测试目录
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└── platformio.ini # 项目配置
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```
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## 核心函数调用关系
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```mermaid
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graph TD
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A[main.cpp<br/>radarDataTask] --> B[radar_process]
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B --> C[去直流处理]
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C --> D[相位转换]
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D --> E[相位展开]
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E --> F[空人判断]
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E --> G[活动检测]
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E --> H[降采样]
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H --> I[呼吸频率估计]
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H --> J[心率估计]
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I --> K[后处理滤波]
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J --> K
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K --> L[radar_get_state]
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K --> M[radar_get_heart_bpm]
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K --> N[radar_get_resp_bpm]
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style A fill:#FFB6C1
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style B fill:#87CEEB
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style C fill:#E0FFFF
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style D fill:#E0FFFF
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style E fill:#E0FFFF
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style F fill:#FFDAB9
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style G fill:#FFDAB9
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style H fill:#98FB98
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style I fill:#F0E68C
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style J fill:#F0E68C
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style K fill:#DDA0DD
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style L fill:#90EE90
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style M fill:#90EE90
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style N fill:#90EE90
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```
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