Macleod-CZT high-precision range estimation algorithm for FMCW millimeter-wave radar

Lu Yunfeng; Zhang Yuanhui; Chen Shaojing; Zheng Chaoqun; Huang Zhiheng

doi:10.11959/j.issn.1000-0801.DXKX250655

您当前的位置：

首页 >

文章列表页 >

Macleod-CZT high-precision range estimation algorithm for FMCW millimeter-wave radar

Research and Development | 更新时间：2026-07-21

- Macleod-CZT high-precision range estimation algorithm for FMCW millimeter-wave radar
- Telecommunications Science Vol. 42, Issue 6, Pages: 145-157(2026)
- 作者机构：
  
  1.中国计量大学机电工程学院，浙江杭州 310018
  2.杭州岸达科技有限公司，浙江杭州 310018
- 作者简介：
- 基金信息：
  
  The Natural Science Foundation of Zhejiang Province of China(LY19F010007)
- DOI：10.11959/j.issn.1000-0801.DXKX250655
  CLC： TP393
- Received：07 November 2025，
  
  Revised：2025-12-30，
  
  Accepted：10 February 2026，
  
  Online First：21 July 2026，
  
  Published：20 June 2026
- 稿件说明：
移动端阅览
卢云峰,张远辉,陈邵靖等.面向FMCW毫米波雷达的Macleod-CZT高精度距离估计算法[J].电信科学,2026,42(06):145-157.

Lu Yunfeng,Zhang Yuanhui,Chen Shaojing,et al.Macleod-CZT high-precision range estimation algorithm for FMCW millimeter-wave radar[J].Telecommunications Science,2026,42(06):145-157.
卢云峰,张远辉,陈邵靖等.面向FMCW毫米波雷达的Macleod-CZT高精度距离估计算法[J].电信科学,2026,42(06):145-157. DOI： 10.11959/j.issn.1000-0801.DXKX250655.

Lu Yunfeng,Zhang Yuanhui,Chen Shaojing,et al.Macleod-CZT high-precision range estimation algorithm for FMCW millimeter-wave radar[J].Telecommunications Science,2026,42(06):145-157. DOI： 10.11959/j.issn.1000-0801.DXKX250655.

摘要

在毫米波雷达系统中，近距离高精度测距是一项关键技术。然而，现有高精度测距算法计算复杂度较高，难以在资源受限的嵌入式平台上有效部署。为此，提出一种融合Macleod插值与Chirp-Z变换（Chirp-Z transform，CZT）的Macleod-CZT（MCZT）距离估计算法。该算法采用“粗估-细化-精插”三级级联结构，通过融合Macleod的插值修正与CZT的频域细化能力，有效抑制离散采样引起的栅栏效应。在ADT6101P雷达系统上的实测结果表明：在低变换点数（

=32）配置下，MCZT算法在低信噪比（signal-to-noise ratio，SNR）与非整数频点等复杂条件下表现出更优的测距精度。在未引入明显额外计算负荷的前提下，MCZT算法的实测误差可稳定控制在20 mm以内，为资源受限的毫米波雷达系统提供了一种高效、实用的测距方案。

Abstract

High-precision close-range measurement is identified as a critical technology in millimeter-wave radar systems. However

existing high-precision ranging algorithms are hampered by high computational complexity

which made them difficult to deploy effectively on resource-constrained embedded platforms. To address this

a Macleod-CZT(MCZT) range estimation algorithm integrating Macleod interpolation and the Chirp-Z transform (CZT) was proposed. A three-stage cascaded structure consisting of "coarse estimation–refinement–fine interpolation" was adopted by the algorithm. By combining the interpolation correction of the Macleod method with the frequency-domain refinement capability of the CZT

the picket fence effect caused by discrete sampling was effectively suppressed. It was demonstrated by experimental results on the ADT6101P radar system that under a low transform-point configuration (

=32)

superior ranging accuracy was exhibited by the MCZT algor

ithm under complex conditions such as low signal-to-noise ratios (SNR) and non-integer frequency bins. Without introducing significant additional computational load

the measured error was found to be stably controlled within 20 mm. This scheme provides a high-efficiency and practical ranging solution for resource-constrained millimeter-wave radar systems.

关键词

Keywords

references

Zhou T H , Yang M M , Jiang K , et al . MMW radar-based technologies in autonomous driving: a review [J ] . Sensors , 2020 , 20 ( 24 ): 7283 .

Liao G H , Ma J M , Luo F . Human activity recognition by using enhanced radar point cloud 2D histograms and Doppler feature fusion [C ] // Proceedings of the 2025 IEEE International Conference on Robotics and Automation (ICRA) . Piscataway : IEEE Press , 2025 : 11234 - 11241 .

Testa O , Cicchetti R , Pisa S , et al . A novel FMCW radar scheme with millimeter motion detection capabilities suitable for cardio-respiratory monitoring [J ] . Sensors , 2025 , 25 ( 9 ): 2765 .

Xia Z Y , Ding G M , Wang H , et al . Person identification with millimeter-wave radar in realistic smart home scenarios [J ] . IEEE Geoscience and Remote Sensing Letters , 2022 , 19 : 3509405 .

Waqar S , Muaaz M , Pätzold M . Direction-independent human activity recognition using a distributed MIMO radar system and deep learning [J ] . IEEE Sensors Journal , 2023 , 23 ( 20 ): 24916 - 24929 .

Piotrowsky L , Kueppers S , Jaeschke T , et al . Distance measurement using mmWave radar: micron accuracy at medium range [J ] . IEEE Transactions on Microwave Theory and Techniques , 2022 , 70 ( 11 ): 5259 - 5270 .

Scherr S , Ayhan S , Pauli M , et al . Accuracy limits of a K-band FMCW radar with phase evaluation [C ] // Proceedings of the 2012 9th European Radar Conference . Piscataway : IEEE Press , 2012 : 246 - 249 .

刘上 , 朱国富 , 王玲 , 等 . LFMCW雷达高精度测距相位差改进算法 [J ] . 雷达科学与技术 , 2021 , 19 ( 3 ): 287 - 291, 297 .

Liu S , Zhu G F , Wang L , et al . An improved algorithm of high precision ranging phase difference for LFMCW radar [J ] . Radar Science and Technology , 2021 , 19 ( 3 ): 287 - 291, 297 .

Rife D , Boorstyn R . Single tone parameter estimation from discrete-time observations [J ] . IEEE Transactions on Information Theory , 1974 , 20 ( 5 ): 591 - 598 .

Schmidt R . Multiple emitter location and signal parameter estimation [J ] . IEEE Transactions on Antennas and Propagation , 1986 , 34 ( 3 ): 276 - 280 .

Therrien C W , El-Shaer H T . A direct algorithm for computing 2-D AR power spectrum estimates [J ] . IEEE Transactions on Acoustics, Speech, and Signal Processing , 1989 , 37 ( 11 ): 1795 - 1798 .

Luo J , Che Y T , Huang G M . Frequency estimation based on MLE-M-Rife algorithm [C ] // Proceedings of the 2020 12th International Conference on Advanced Infocomm Technology (ICAIT) . Piscataway : IEEE Press , 2020 : 64 - 67 .

崔英杰 , 刘云学 , 宋健强 , 等 . 基于M-Rife算法的梯形波FMCW雷达多目标检测技术研究 [J ] . 电子设计工程 , 2021 , 29 ( 24 ): 69 - 74, 79 .

Cui Y J , Liu Y X , Song J Q , et al . Research on multi-target detection technology of trapezoidal wave FMCW radar based on M-Rife algorithm [J ] . Electronic Design Engineering , 2021 , 29 ( 24 ): 69 - 74, 79 .

Quinn B G . Estimating frequency by interpolation using Fourier coefficients [J ] . IEEE Transactions on Signal Processing , 1994 , 42 ( 5 ): 1264 - 1268 .

MacLeod M D . Fast nearly ML estimation of the parameters of real or complex single tones or resolved multiple tones [J ] . IEEE Transactions on Signal Processing , 1998 , 46 ( 1 ): 141 - 148 .

Serbes A . Fast and efficient sinusoidal frequency estimation by using the DFT coefficients [J ] . IEEE Transactions on Communications , 2019 , 67 ( 3 ): 2333 - 2342 .

Jacobsen E , Kootsookos P . Fast, accurate frequency estimators DSP tips & tricks [J ] . IEEE Signal Processing Magazine , 2007 , 24 ( 3 ): 123 - 125 .

Hao Y , Song P , Wang X Q , et al . A spectrum correction algorithm based on beat signal of FMCW laser ranging system [J ] . Sensors , 2021 , 21 ( 15 ): 5057 .

Oruganti V S R V , Dhanikonda V S S S S , Paredes H K M , et al . Enhanced dual-spectrum line interpolated FFT with four-term minimal sidelobe cosine window for real-time harmonic estimation in synchrophasor smart-grid technology [J ] . Electronics , 2019 , 8 ( 2 ): 191 .

Wang M J , Wang Q J , Wen Y H , et al . A fast and accurate frequency estimator for complex single-tone signal based on DFT interpolation [J ] . IEEE Transactions on Instrumentation and Measurement , 2024 , 73 : 6501311 .

Jia G Q , Cheng M L , Fang W D , et al . Frequency estimation algorithm for FMCW beat signal based on spectral refinement and phase angle interpolation [J ] . Applied Sciences , 2024 , 14 ( 16 ): 7067 .

Qi G Q . High accuracy range estimation of FMCW level radar based on the phase of the zero-padded FFT [C ] // Proceedings of the 7th International Conference on Signal Processing(ICSP 2004) . Piscataway : IEEE Press , 2004 : 2078 - 2081 .

Rabiner L R , Schafer R W , Rader C M . The chirp z-transform algorithm and its application [J ] . Bell System Technical Journal , 1969 , 48 ( 5 ): 1249 - 1292 .

Xu Z G , Qi S H , Zhang P . A coherent CZT-based algorithm for high-accuracy ranging with FMCW radar [J ] . IEEE Transactions on Instrumentation and Measurement , 2023 , 72 : 8001511 .

Meng Y F , Li Y . A high-precision range estimation method for FMCW radar [C ] // Proceedings of the 2024 IEEE International Conference on Signal, Information and Data Processing (ICSIDP) . Piscataway : IEEE Press , 2024 : 1 - 4 .

Xu Y , Yi H Y , Zhang W X , et al . An improved CZT algorithm for high-precision frequency estimation [J ] . Applied Sciences , 2023 , 13 ( 3 ): 1907 .

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Kick motion recognition based on millimeter-wave radar

mmWave radar based robust sign language recognition for the smart museum

Research on evaluation of optical transport network health model based on data augmentation technology

Layered architecture of enterprise AI agent infrastructure: an analytical framework based on cloud computing practice

Heterogeneous computing power scheduling system and applications under the background of computing- network convergence

Related Author

Zhou Xiaoyun

Chen Shaojing

Zheng Chaoqun

Xuerong ZHAO

Xuan WANG

Tong LIU

Xia ZHENG

Yicheng JIANG

Related Institution

School of Information Science and Technology, Northwest University

School of Art and Archaeology, Zhejiang University

⁰