CN110987150B - A method and system for ultra-micro-amplitude vibration measurement based on single-frequency continuous wave radar - Google Patents

本发明公开了一种基于单频连续波雷达的超微幅振动测量方法，涉及非接触式振动测量技术领域，包括如下步骤：雷达天线正对测量目标放置，然后控制前后移动雷达前端，同时同步采集雷达基带信号，包括I通道输出信号I₀(t)和Q通道输出信号Q₀(t)；利用采集的基带信号I₀(t)和Q₀(t)进行圆拟合与圆心估计，得到初始化I/Q通道基带信号直流偏移量估计值；雷达的前端保持静止，同步采集微波雷达的I/Q通道基带信号，并估计I/Q通道基带信号随时间变化的漂移量；从I/Q通道基带信号中减去漂移量并进行低通滤波处理，采用反正切解调算法实现目标微振动位移时域信息提取。该方法能够解决超微幅振动测量中基带信号的直流偏移量估计问题，显著降低测量误差，减少计算量，提高测量精度。

The invention discloses an ultra-micro-amplitude vibration measurement method based on a single-frequency continuous wave radar, and relates to the technical field of non-contact vibration measurement. Collect radar baseband signals, including I channel output signal I ₀ (t) and Q channel output signal Q ₀ (t); use the collected baseband signals I ₀ (t) and Q ₀ (t) to perform circle fitting and circle center estimation, The estimated value of DC offset of the baseband signal of the initialized I/Q channel is obtained; the front end of the radar is kept stationary, the baseband signal of the I/Q channel of the microwave radar is collected synchronously, and the drift of the baseband signal of the I/Q channel with time is estimated; The drift amount is subtracted from the baseband signal of the /Q channel and low-pass filtering is performed, and the arctangent demodulation algorithm is used to extract the time domain information of the target micro-vibration displacement. The method can solve the problem of estimating the DC offset of the baseband signal in the ultra-micro-amplitude vibration measurement, significantly reduce the measurement error, reduce the calculation amount, and improve the measurement accuracy.

Ultramicro amplitude vibration measurement method and system based on single-frequency continuous wave radar

Technical Field

The invention relates to the technical field of non-contact vibration measurement, in particular to a single-frequency continuous wave radar-based ultramicro amplitude vibration measurement method and system.

Background

Vibration measurement is an important way for realizing structural mechanical property test, health monitoring and fault diagnosis and other micro-motion characteristic extraction. There are two types of measurement, contact and noncontact vibration, which have significant advantages in terms of sensor installation simplicity, lightweight structural measurement, and the like. The vibration measurement method based on the single-frequency continuous wave microwave radar is that a continuous wave microwave signal with a certain frequency is transmitted, an electromagnetic echo signal reflected by a target is received, and vibration information extraction is realized through Doppler nonlinear phase demodulation. For single-frequency continuous wave microwave radar vibration measurement based on zero intermediate frequency orthogonal output, an arc tangent demodulation method is often adopted to extract vibration displacement time domain information. The method needs accurate direct current offset compensation, and in the prior art, the direct current offset is estimated by performing arc fitting and circle center estimation by utilizing orthogonal output baseband signals. However, for micro-amplitude, especially ultra-micro-amplitude (1/360 with a vibration amplitude less than the carrier wavelength) vibration measurement, because the phase change of the baseband signal is very small and the arc occupancy is very small, the direct current offset of the baseband signal cannot be accurately estimated by using the arc fitting and circle center estimation method, and the estimation error is very large, so that the ultra-micro-amplitude vibration measurement cannot be performed. In actual measurement, due to inevitable noise interference, the difficulty of accurately estimating the direct current offset of the radar baseband signal is further increased.

In addition, due to hardware performance imperfections, single frequency continuous wave radars in a zero if configuration can produce amplitude drift in the baseband signal due to frequency drift of the vco and output drift of the mixer. The drift is generally small and can be ignored for large amplitude vibration measurement, but for ultra-small amplitude vibration measurement, the amplitude drift of the baseband signal can have a large influence on the extraction of the small amplitude vibration information.

The invention aims to solve the problem of ultra-micro amplitude vibration measurement based on a single-frequency continuous wave microwave radar, solve the problems of radar baseband signal direct current offset estimation and baseband voltage signal amplitude drift in the ultra-micro amplitude vibration measurement, and accurately extract vibration displacement time domain information.

Therefore, those skilled in the art are dedicated to develop a method and a system for measuring ultra-micro amplitude vibration based on a single-frequency continuous wave radar, which can solve the problem of estimating the direct current offset of radar baseband I/Q signals in ultra-micro amplitude vibration measurement, significantly reduce the measurement error of an ultra-micro amplitude vibration displacement time sequence, and reduce the calculation amount. The problem of baseband signal drift caused by non-ideality of hardware performance is eliminated, and the precision of the ultra-micro amplitude vibration measurement is further improved. The method and the system solve the problem that the single-frequency continuous wave radar ultramicro amplitude vibration measurement is difficult to apply.

Disclosure of Invention

In view of the above defects in the prior art, the technical problem to be solved by the invention is to solve the problem of ultra-micro amplitude vibration measurement based on a single-frequency continuous wave microwave radar, solve the problems of radar baseband signal direct current offset estimation and baseband voltage signal amplitude drift in the ultra-micro amplitude vibration measurement, and accurately extract vibration displacement time domain information.

In order to achieve the aim, the invention provides an ultramicro amplitude vibration measurement method based on a single-frequency continuous wave radar, which comprises the following steps:

(1) the radar antenna is placed right opposite to the measurement target, then the front end of the radar is controlled to move back and forth, and simultaneously, radar baseband signals are synchronously acquired, including an I channel output signal I₀(t) and Q channel output signal Q₀(t)；

(2) Using the acquired baseband signal₀(t) and said Q₀(t) carrying out circle fitting and circle center estimation to obtain an initialized I/Q channel baseband signal direct current offset estimation value;

(3) the front end of the radar keeps static, the I/Q channel baseband signal of the microwave radar is synchronously collected, and the drift amount of the I/Q channel baseband signal changing along with time is estimated;

(4) and subtracting the drift amount from the I/Q channel baseband signal, performing low-pass filtering, and extracting target micro-vibration displacement time domain information by adopting an arc tangent demodulation algorithm.

Further, the moving method of the radar front section in the step (1) is as follows:

firstly, controlling to move forwards at a constant speed by lambda/2, and then moving backwards at a constant speed by lambda/2 to return to the original position. Wherein λ is a transmission carrier wavelength of the radar.

Further onInitializing a DC offset DC of the I/Q channel baseband signal in the step (2)_I0And DC_Q0The estimation method comprises the following steps:

setting the baseband signal I of acquisition₀(t) and Q₀(t) discrete sequences are each I₀[n]And Q₀[n]The coordinate of the center of the fitting circle is (x)₀,y₀) And the radius is r, taking a matrix A, and the matrix m and the matrix B are respectively as follows:

obtaining x by parameter optimization estimation₀And y₀The value of (c).

Further, the method for optimizing the estimation comprises the following steps: min | | Am-B | non-conducting phosphor_l2Or min | | Am-B | | non-woven phosphor_l1Wherein min (·) represents a minimum operation, | |. luminance |)_l2Represents 2-norm operation, | |_l1Represents a 1-norm operation to find x₀And y₀After estimating the value of (2), take DC_I0＝x₀，DC_Q0＝y₀。

Further, the drift amounts I _ drift (t) and Q _ drift (t) of the I/Q baseband signal varying with time in the step (3) are obtained by:

I_drift(t)＝I_trend(t)-mean[I_trend(t)]

Q_drift(t)＝Q_trend(t)-mean[Q_trend(t)]

wherein mean [. cndot. ] is an averaging operation, the calculation method of the trend components I _ trend (t) and Q _ trend (t) of the I/Q baseband signal is local weighted linear regression smoothing, and the number of smoothing points is preferably an integer equal to the sampling frequency.

Further, the cut-off frequency of the low-pass filtering in the step (4) is 5 f_objectWherein f is_objectIs the vibration frequency of the measured object.

Furthermore, the device comprises a radar front end, a translation sliding table, an acquisition and processing module, a controller and a vibration analysis and display module, wherein the radar front end is fixedly arranged on the translation sliding table.

Further, the radar front end comprises a microwave signal source, a power divider, a power amplifier, a quadrature phase shifter, a low noise amplifier, a frequency mixer, a low pass filter, a signal conditioning circuit, a transmitting antenna and a receiving antenna, wherein the microwave signal source is connected with the power divider, the power divider is connected with the power amplifier and the quadrature phase shifter, the power amplifier is connected with the transmitting antenna, the receiving antenna is connected with the low noise amplifier, two output ends of the low noise amplifier and the quadrature phase shifter are respectively connected with the frequency mixer, two output ends of the frequency mixer are respectively connected with the low pass filter, an output end of the low pass filter is connected with the signal conditioning circuit, a signal of the microwave signal source is divided into two paths by the power divider, and one path is connected with the transmitting antenna by the power amplifier, one path is connected with the frequency mixer through the quadrature phase shifter.

Furthermore, the radar front end is used for generating and transmitting a single-frequency continuous wave microwave signal, receiving an electromagnetic echo scattered by a target, and obtaining a baseband I/Q signal through amplification, frequency mixing, filtering and other processing;

the acquisition and processing module comprises a signal acquisition unit and a signal processing unit, wherein the signal acquisition unit is used for synchronously acquiring baseband I/Q signals output by the front end of the radar, and the signal processing unit is used for realizing the estimation of an initialized direct current offset value, the estimation of a baseband I/Q signal drift amount and the calculation of a vibration displacement time sequence in the single-frequency continuous wave radar-based ultramicro amplitude vibration measurement method;

the controller is used for controlling the sequential execution of all steps in the single-frequency continuous wave radar-based ultramicro amplitude vibration measurement method, controlling the movable sliding table, setting sampling parameters, executing signal acquisition, performing estimation operation of initialized direct current offset, estimating I/Q baseband signal drift amount and calculating and processing a vibration displacement time sequence;

and the vibration analysis and display module is used for extracting and analyzing vibration characteristics such as vibration amplitude, frequency and time-frequency distribution of the measured ultramicro amplitude vibration time domain information according to requirements and displaying signal waveforms and related measurement and characteristic extraction results.

The single-frequency continuous wave radar-based ultramicro amplitude vibration measurement method and system provided by the invention can solve the problem of direct current offset estimation of radar baseband I/Q signals in ultramicro amplitude vibration measurement, obviously reduce the measurement error of an ultramicro amplitude vibration displacement time sequence and reduce the calculated amount at the same time. The problem of baseband signal drift caused by non-ideality of hardware performance is eliminated, and the precision of the ultra-micro amplitude vibration measurement is further improved. The method and the system solve the problem that single-frequency continuous wave radar ultramicro amplitude vibration measurement is difficult to apply, and simultaneously provide a measuring method and a measuring system which are low in cost, high in precision and easy to operate.

The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.

Drawings

FIG. 1 is a flow chart of a method for measuring ultra-micro amplitude vibration based on a single-frequency continuous wave radar according to a preferred embodiment of the present invention;

FIG. 2 is a schematic diagram of the structure of the mobile radar front end of the present invention;

FIG. 3 is a diagram illustrating initial circle fitting and DC offset estimation results according to an embodiment of the present invention;

FIG. 4 is a diagram illustrating an example of the extraction of trend components of an I-channel baseband signal according to the present invention;

FIG. 5 is a diagram illustrating an example of the extraction of trend components of a Q-channel baseband signal according to the present invention;

FIG. 6 is a comparison of a prior art ultramicro amplitude vibration waveform measurement with a reference value in an embodiment of the present invention;

FIG. 7 shows the comparison of the measured ultramicro amplitude vibration waveform with a reference value according to an embodiment of the present invention;

FIG. 8 is a graph of prior art circle fitting and DC offset estimation results in an embodiment of the present invention;

FIG. 9 is a structural block diagram of an ultra-micro amplitude vibration measurement system based on a single-frequency continuous wave radar according to the present invention;

fig. 10 is a schematic structural diagram of a radar front end according to the present invention.

Detailed Description

The technical contents of the preferred embodiments of the present invention will be more clearly and easily understood by referring to the drawings attached to the specification. The present invention may be embodied in many different forms of embodiments and the scope of the invention is not limited to the embodiments set forth herein.

In the drawings, structurally identical elements are represented by like reference numerals, and structurally or functionally similar elements are represented by like reference numerals throughout the several views. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. The thickness of the components may be exaggerated where appropriate in the figures to improve clarity.

DC offset DC of initialized I/Q channel baseband signal_I0And DC_Q0The estimation method comprises the following steps:

setting the baseband signal I of acquisition₀(t) and Q₀(t) discrete sequences are each I₀[n]And Q₀[n]The coordinate of the center of the fitting circle is (x)₀,y₀) And the radius is r, taking a matrix A, and the matrix m and the matrix B are respectively as follows:

obtaining x by parameter optimization estimation₀And y₀The optimized estimation method is min | | | Am-B | luminance_l2Or min | | Am-B | | non-woven phosphor_l1

In the formula, min (& lt|. & gt) represents the minimum value operation, | | | & lt| & gtLu_l2Represents 2-norm operation, | |_l1Representing a 1-norm operation.

Finding x₀And y₀After estimating the value of (2), take DC_I0＝x₀，DC_Q0＝y₀。

FIG. 3 shows an example of the estimation result of the measured initialized DC offset, in which the carrier frequency is 24.2GHz, the moving distance of the front end of the radar is 6.2mm, and the I/Q signal I is acquired for the baseband₀(t) and Q₀(t) performing circle fitting and circle center estimation to obtain initialized direct current offset values of the I/Q channels, wherein the initialized direct current offset values are respectively DC_I0＝4.2327，DC_Q0＝-0.8836。

And 3, keeping the front end of the radar still, carrying out ultramicro amplitude vibration measurement on the target to be measured, synchronously acquiring the I/Q signal of the radar baseband, and estimating the drift amount of the I/Q signal along with the change of time.

The method for obtaining the drift amounts I _ drift (t) and Q _ drift (t) of the IQ baseband signal along with the change of time comprises the following steps:

I_drift(t)＝I_trend(t)-mean[I_trend(t)]

Q_drift(t)＝Q_trend(t)-mean[Q_trend(t)]

in the formula, mean [. cndot. ] is the operation of taking the average value.

The trend components I _ trend (t) and Q _ trend (t) of the baseband IQ signal are preferably derived by locally weighted linear regression smoothing. Since the carrier and mixer output drift over time tends to exhibit a slow low frequency drift, the number of smoothing points for the trend component is preferably equal to an integer number of sampling frequencies. Fig. 4 and 5 show an example of the extraction result of the trend component of the measured I-channel and Q-channel baseband signals, respectively.

And 4, subtracting the drift amount from the baseband IQ signal, performing low-pass filtering, and extracting the target micro-vibration displacement time domain information by adopting an arc tangent demodulation algorithm.

The cut-off frequency of the low-pass filtering is determined according to the vibration frequency f of the measured target_objectPreferably 5 x f, or a priori knowledge of the measured signal strength_object. For example, the micro-vibration frequency of the object to be measured is 10Hz, and the cut-off frequency of the low-pass filtering is preferably set to 50 Hz.

in the measurement, when the phase time sequence of the baseband signal is calculated by adopting an arc tangent demodulation algorithm, the initialized direct current offset value of the baseband I/Q signal is directly used for demodulation. The calculation method solves the technical problem that in the ultramicro amplitude vibration measurement, the direct current offset cannot be estimated based on the collected baseband I/Q signals, so that the ultramicro amplitude vibration measurement cannot be carried out; on the other hand, the calculation of the time sequence of the ultra-micro amplitude vibration displacement directly adopts the initialized direct current offset for compensation calculation, and the direct current offset does not need to be estimated for multiple times based on a sliding window, so that the calculation amount of the algorithm is further reduced. Fig. 6 and fig. 7 show the measurement results of the time domain information of the ultra-micro amplitude vibration displacement measured based on the methods proposed by the prior art and the present invention, respectively. It can be seen that the prior art cannot realize ultra-micro amplitude vibration measurement, the measurement error is very large, the result of performing direct current offset estimation by using baseband I/Q signals is shown in fig. 8, and the error between circular arc fitting and circle center estimation is very large. Compared with the prior art, the method provided by the invention can be used for better extracting the ultramicro amplitude vibration information.

A single-frequency continuous wave radar-based ultramicro amplitude vibration measurement system is shown in a system structure block diagram in fig. 9, and comprises:

the radar front end is used for generating and transmitting single-frequency continuous wave microwaves, receiving electromagnetic echoes scattered by a target, adopting a direct down-conversion structure, and obtaining zero intermediate frequency baseband signals through amplification, frequency mixing, filtering and other processing. As shown in fig. 10, the radar front end includes a microwave signal source, a power divider, a power amplifier, a quadrature phase shifter, a low noise amplifier, a mixer, a low pass filter, a signal conditioning circuit, a transmitting antenna, and a receiving antenna, where the microwave signal source is connected to the power divider, the power divider is connected to the power amplifier and the quadrature phase shifter, the power amplifier is connected to the transmitting antenna, the receiving antenna is connected to the low noise amplifier, two output ends of the low noise amplifier and the quadrature phase shifter are respectively connected to the mixer, two output ends of the mixer are respectively connected to the low pass filter, and an output end of the low pass filter is connected to the signal conditioning circuit. The signal of the microwave signal source is divided into two paths by the power divider, one path is connected with the transmitting antenna by the power amplifier, and the other path is connected with the frequency mixer by the quadrature phase shifter.

And the translation sliding table is used for controlling the front end of the moving radar to move together with the sliding table according to a specific requirement, wherein the front end of the radar is fixedly arranged on the translation sliding table.

The acquisition and processing module comprises a signal acquisition unit and a signal processing unit, wherein the signal acquisition unit is used for synchronously acquiring baseband I/Q signals output by the front end of the radar. The signal processing unit is used for realizing the estimation of the initialized direct current offset value, the estimation of the baseband I/Q signal drift amount and the calculation of the vibration displacement time sequence in the ultramicro amplitude vibration measurement method based on the single-frequency continuous wave radar.

And the controller is used for controlling the movement, signal acquisition and processing operation of the translation sliding table. Preferably, the controller is configured to control to sequentially execute each step in the above method for measuring ultra-micro amplitude vibration based on the single-frequency continuous wave radar, and to control the moving of the sliding table, set sampling parameters, execute signal acquisition, perform estimation operation of an initialized dc offset, estimate a baseband I/Q signal drift amount, and calculate and process a vibration displacement time sequence.

And the vibration analysis and display module is used for extracting and analyzing vibration characteristics such as vibration amplitude, frequency and time-frequency distribution of the measured ultramicro amplitude vibration time domain information according to requirements and displaying signal waveforms and related measurement and characteristic extraction results.

The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.

1.一种基于单频连续波雷达的超微幅振动测量方法，其特征在于，包括如下步骤：1. an ultra-micro-amplitude vibration measuring method based on single frequency continuous wave radar, is characterized in that, comprises the steps: (1)雷达天线正对测量目标放置，然后控制前后移动雷达前端，同时同步采集雷达基带信号，包括I通道输出信号I₀(t)和Q通道输出信号Q₀(t)；(1) The radar antenna is placed facing the measurement target, and then the radar front end is controlled to move forward and backward, and the radar baseband signal is collected synchronously, including the I channel output signal I ₀ (t) and the Q channel output signal Q ₀ (t); (2)利用采集的基带信号所述I₀(t)和所述Q₀(t)进行圆拟合与圆心估计，得到初始化的I/Q通道基带信号直流偏移量估计值；(2) using the I ₀ (t) and the Q ₀ (t) of the collected baseband signals to perform circle fitting and circle center estimation to obtain an initialized I/Q channel baseband signal DC offset estimate; (3)所述雷达前端保持静止，同步采集所述雷达的所述I/Q通道基带信号，并估计所述I/Q通道基带信号随时间变化的漂移量；(3) The radar front end remains stationary, synchronously collects the I/Q channel baseband signal of the radar, and estimates the drift amount of the I/Q channel baseband signal over time; (4)从所述I/Q通道基带信号中减去漂移量，并进行低通滤波处理，然后采用反正切解调算法实现目标微振动位移时域信息的提取；(4) subtract the drift amount from the baseband signal of the I/Q channel, and carry out low-pass filtering processing, and then adopt the arctangent demodulation algorithm to realize the extraction of target micro-vibration displacement time domain information; 所述步骤(1)中的所述雷达前段的移动方法为：The moving method of the front section of the radar in the step (1) is: 首先控制匀速向前移动λ/2，然后再匀速向后移动λ/2回到原始位置，其中，λ为所述雷达的发射载波波长；First, it is controlled to move forward by λ/2 at a constant speed, and then move backward by λ/2 at a constant speed to return to the original position, where λ is the wavelength of the transmitting carrier of the radar; 所述步骤(2)中的初始化所述I/Q通道基带信号的直流偏移量DC_I0和DC_Q0的估计方法为：The method for estimating the DC offset DC _I0 and DC _Q0 of the I/Q channel baseband signal in the step (2) is: 设采集的基带信号I₀(t)和Q₀(t)的离散序列分别为I₀[n]和Q₀[n]，拟合圆的圆心坐标为(x₀,y₀)，半径为r，取矩阵A，矩阵m和矩阵B分别为：Let the discrete sequences of the collected baseband signals I ₀ (t) and Q ₀ (t) be I ₀ [n] and Q ₀ [n] respectively, the center coordinates of the fitted circle are (x ₀ , y ₀ ), and the radius is r, take matrix A, matrix m and matrix B as:

通过参数优化估计得到x₀和y₀的值；The values of x ₀ and y ₀ are obtained by parameter optimization estimation; 所述参数优化估计的方法为：min||Am-B||_l2或min||Am-B||_l1，其中，min(.)表示最小值运算，||.||_l2表示2-范数运算，||.||_l1表示1-范数运算，求得x₀和y₀的估计值后，取DC_I0＝x₀，DC_Q0＝y₀；The parameter optimization estimation method is: min||Am-B|| _l2 or min||Am-B|| _l1 , where min(.) represents the minimum value operation, and ||.|| _l2 represents the 2-norm Number operation, ||.|| _l1 represents 1-norm operation, after obtaining the estimated values of x ₀ and y ₀ , take DC _I0 =x ₀ , DC _Q0 =y ₀ ; 所述步骤(3)中的所述I/Q通道基带信号随时间变化的所述漂移量I_drift(t)和Q_drift(t)求取方法为：The method for obtaining the drifts I_drift(t) and Q_drift(t) of the I/Q channel baseband signal over time in the step (3) is: I_drift(t)＝I_trend(t)-mean[I_trend(t)]I_drift(t)=I_trend(t)-mean[I_trend(t)] Q_drift(t)＝Q_trend(t)-mean[Q_trend(t)]Q_drift(t)=Q_trend(t)-mean[Q_trend(t)] 式中，mean[·]为取平均值运算，所述I/Q通道基带信号的趋势分量I_trend(t)和Q_trend(t)的求取方法为局部加权线性回归平滑，平滑点数优选为等同于采样频率的整数；In the formula, mean[ ] is the average operation, and the method for obtaining the trend components I_trend(t) and Q_trend(t) of the I/Q channel baseband signal is local weighted linear regression smoothing, and the number of smoothing points is preferably equal to Integer of sampling frequency; 所述步骤(4)中的所述低通滤波的截止频率为5*f_object，其中，f_object是被测目标的振动频率；The cut-off frequency of the low-pass filtering in the step (4) is 5*f _object , wherein f _object is the vibration frequency of the measured target; 所述步骤(4)中的所述微振动位移的时间序列的计算方法为

式中

为所述反正切解调计算得到的所述I/Q通道基带信号的相位时间序列，其中，

计算方法为

The calculation method of the time series of the micro-vibration displacement in the step (4) is:

in the formula

The phase time series of the I/Q channel baseband signal calculated for the arctangent demodulation, wherein,

The calculation method is

2.一种基于单频连续波雷达的超微幅振动测量系统，其特征在于，包括雷达前端，平移滑台，采集与处理模块，控制器和振动分析与显示模块，所述雷达前端安装固定在平移滑台上；2. an ultra-micro-amplitude vibration measurement system based on single-frequency continuous wave radar, is characterized in that, comprises radar front-end, translational slide, acquisition and processing module, controller and vibration analysis and display module, described radar front-end is installed and fixed on the translation stage; 所述雷达前端包括微波信号源、功分器、功率放大器、正交移相器、低噪声放大器、混频器、低通滤波器、信号调理电路、发射天线和接收天线，其中，所述微波信号源与所述功分器相连，所述功分器与所述功率放大器和所述正交移相器相连，所述功率放大器与所述发射天线相连，所述接收天线与所述低噪声放大器相连，所述低噪声放大器与所述正交移相器的两个输出端分别与所述混频器相连，两个所述混频器输出端分别与所述低通滤波器相连，所述低通滤波器的输出端与所述信号调理电路相连，所述微波信号源的信号经过所述功分器分为两路，一路经过所述功率放大器连接所述发射天线，一路经过所述正交移相器与所述混频器相连；The radar front end includes a microwave signal source, a power divider, a power amplifier, a quadrature phase shifter, a low-noise amplifier, a frequency mixer, a low-pass filter, a signal conditioning circuit, a transmitting antenna and a receiving antenna, wherein the microwave The signal source is connected to the power divider, the power divider is connected to the power amplifier and the quadrature phase shifter, the power amplifier is connected to the transmitting antenna, and the receiving antenna is connected to the low noise The two output ends of the low-noise amplifier and the quadrature phase shifter are respectively connected to the mixer, and the two output ends of the mixer are respectively connected to the low-pass filter, so The output end of the low-pass filter is connected to the signal conditioning circuit, the signal of the microwave signal source is divided into two paths through the power divider, one path is connected to the transmitting antenna through the power amplifier, and the other a quadrature phase shifter is connected to the mixer; 所述雷达前端，用于产生并发射单频连续波微波信号，并接收目标散射的电磁回波，通过放大、混频及滤波等处理得到I/Q基带信号；The radar front-end is used to generate and transmit single-frequency continuous wave microwave signals, receive electromagnetic echoes scattered by the target, and obtain I/Q baseband signals through processing such as amplification, frequency mixing, and filtering; 所述采集与处理模块，包括信号采集单元和信号处理单元，信号采集单元用于对所述雷达前端输出的基带I/Q信号进行同步采集，信号处理单元用于实现对如权利要求1所述的基于单频连续波雷达的超微幅振动测量方法中初始化直流偏移值的估计，基带I/Q信号漂移量的估计及振动位移时间序列的计算；The acquisition and processing module includes a signal acquisition unit and a signal processing unit, the signal acquisition unit is used for synchronous acquisition of the baseband I/Q signal output by the radar front end, and the signal processing unit is used for The estimation of the initial DC offset value, the estimation of the baseband I/Q signal drift and the calculation of the vibration displacement time series in the ultra-micro-amplitude vibration measurement method based on the single-frequency continuous wave radar; 所述控制器，用于控制顺序执行如权利要求1所述的基于单频连续波雷达的超微幅振动测量方法中的各个步骤，控制所述平移滑台、设置采样参数及执行信号采集、进行初始化直流偏移量的估计运算、I/Q基带信号漂移量的估计及振动位移时间序列的计算与处理；Described controller, is used for controlling to carry out each step in the ultra-micro-amplitude vibration measuring method based on single frequency continuous wave radar as claimed in claim 1 in sequence, controls described translation slide table, sets sampling parameter and carries out signal acquisition, Carry out the estimation operation of the initial DC offset, the estimation of the I/Q baseband signal drift, and the calculation and processing of the vibration displacement time series; 振动分析与显示模块，用于根据需求对测量的超微幅振动时域信息进行振动幅值、频率及时频分布等振动特征的提取与分析，显示信号波形、相关测量及特征提取结果。The vibration analysis and display module is used to extract and analyze vibration characteristics such as vibration amplitude, frequency and frequency distribution of the measured ultra-micro-amplitude vibration time domain information according to the requirements, and display the signal waveform, related measurement and feature extraction results.