[参考译文] IWR6843AOP：

尊敬的 Diana：

源函数在这里、它确认它是一个单侧 CFAR。 请注意、此代码不用于生产。 不要将它与任何质量标准相混淆、也不要将它与官方 TI 软件产品相混淆。

此致！

纳特

function [indxRangeSorted, indxDopplerSorted, fftOut2DMagSqRx1, noiseMeanMat] = detections_after_2D_fft(radar_data_2dfft, detection_options)

% Non coherent integration across antennas
fftOut2D = squeeze(sum(radar_data_2dfft.*conj(radar_data_2dfft),1));

% A bizarre matlab issue when there is only two dimensions, the squeeze
% command doesn't work.
if length(size(radar_data_2dfft)) == 2
fftOut2D = fftOut2D';
end


%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%% Apply CA-CFAR for Object Detection %%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

threshWinSize = detection_options.cfar_window_size; % Number of samples on each side of test cell to use for noise estimation
threshSkipSize = detection_options.cfar_guard_size; % Number of samples on each side of test cell to be skipped for noise estimation
detThreshdB = detection_options.cfar_threshold_db; % Scaling of detection threshold w.r.t surrounding noise level computed

%% 1D range dimension CFAR
% CFAR threshold computation, detection, local max check, etc. (implemented without for loop)
fftOut2DMagSqRx1 = squeeze(fftOut2D);

if detection_options.use_log_cfar == 1
fftOut2DMagSqRx1 = 10*log10(squeeze(fftOut2D));
end

if (size(fftOut2DMagSqRx1,1) > (2*threshWinSize+2*threshSkipSize+2)) && (detection_options.do_cfar_in_range == 1)
fftOut2DXtended = [fftOut2DMagSqRx1(end-threshWinSize-threshSkipSize+1:end,:); fftOut2DMagSqRx1; fftOut2DMagSqRx1(1:threshWinSize+threshSkipSize,:)];
% Construct in one-shot the cell-average( a.k.a mean noise floor) for each cell in the 2D Array.
noiseMeanMat = construct_noise_mean_mat(detection_options.cfar_method, threshWinSize, threshSkipSize, fftOut2DXtended);
% threshMat is a matrix of thresholds for each cell (size of threshMat is same as size of fftOut2D)
if detection_options.use_log_cfar == 1
threshMat = detThreshdB + noiseMeanMat;
else
threshMat = 10^(detThreshdB/10)*noiseMeanMat;
end
% Detection is based on cell exceeding threshold, as well as being a local maxima (in both dimensions)
threshDecisionMat = fftOut2DMagSqRx1 > threshMat;

else
threshDecisionMat = true(size(fftOut2DMagSqRx1 ));
noiseMeanMat = true(size(fftOut2DMagSqRx1 ));
end

%% Local Maxima
if detection_options.detect_only_local_maxima_in_range == 1
fftOut2DMagSqRx1Shiftm1 = [fftOut2DMagSqRx1(end,:); fftOut2DMagSqRx1(1:end-1,:)];
fftOut2DMagSqRx1Shift1 = [fftOut2DMagSqRx1(2:end,:); fftOut2DMagSqRx1(1,:)];
localMaxMat1D = and(fftOut2DMagSqRx1>fftOut2DMagSqRx1Shiftm1, fftOut2DMagSqRx1>fftOut2DMagSqRx1Shift1);
else
localMaxMat1D = true(size(fftOut2DMagSqRx1));
end

if detection_options.detect_only_local_maxima_in_doppler == 1
fftOut2DMagSqRx1Shiftm1 = [fftOut2DMagSqRx1(:,end) fftOut2DMagSqRx1(:,1:end-1)];
fftOut2DMagSqRx1Shift1 = [fftOut2DMagSqRx1(:,2:end) fftOut2DMagSqRx1(:,1)];
localMaxMat2D = and(fftOut2DMagSqRx1>fftOut2DMagSqRx1Shiftm1, fftOut2DMagSqRx1>fftOut2DMagSqRx1Shift1);
else
localMaxMat2D = true(size(fftOut2DMagSqRx1));
end

%% 2D vel dimension CFAR
if (size(fftOut2DMagSqRx1,2) > (2*threshWinSize+2*threshSkipSize+2)) && (detection_options.do_cfar_in_doppler == 1)
% CFAR threshold computation, detection, local max check, etc. (implemented without for loop)
fftOut2DMagSqRx1t = fftOut2DMagSqRx1';
fftOut2DXtended = [fftOut2DMagSqRx1t(end-threshWinSize-threshSkipSize+1:end,:); fftOut2DMagSqRx1t; fftOut2DMagSqRx1t(1:threshWinSize+threshSkipSize,:)];
% Construct in one-shot the cell-average( a.k.a mean noise floor) for each cell in the 2D Array.
noiseMeanMat_trans = construct_noise_mean_mat(detection_options.cfar_method, threshWinSize, threshSkipSize, fftOut2DXtended);
% threshMat is a matrix of thresholds for each cell (size of threshMat is same as size of fftOut2D)
if detection_options.use_log_cfar == 1
threshMat = detThreshdB + noiseMeanMat_trans;
else
threshMat = 10^(detThreshdB/10)*noiseMeanMat_trans;
end
% Detection is based on cell exceeding threshold, as well as being a local maxima (in both dimensions)
threshDecisionMat2D = fftOut2DMagSqRx1t > threshMat;
threshDecisionMat2D = threshDecisionMat2D';

% Only accept cells if threshold is exceeded and local maxima in both dimensions
localMaxMat = and(localMaxMat1D, localMaxMat2D);
detDecisionMat = and(threshDecisionMat, threshDecisionMat2D);
detDecisionMat = and(detDecisionMat, localMaxMat);
else
localMaxMat = and(localMaxMat1D, localMaxMat2D);
detDecisionMat = and(threshDecisionMat, localMaxMat);
end


% Detected Target Processing %
[indxRange, indxDoppler] = find(detDecisionMat);

[indxRangeSorted, sortedIdx] = sort(indxRange);
indxDopplerSorted = indxDoppler(sortedIdx);

end