本論文提出了一個使用延遲與自我注入鎖定(Delay- and Self-InjectionLocked, DSIL)技術的 5.8GHz 低中頻都卜勒雷達，使用數位延遲電路(Digital
Delay Line)與比例積分控制器(Proportional-Integral Controller, PI Controller)即時
補償人體位移所造成的相位偏移，使自我注入鎖定迴路的相位保持在最佳感測
點，不僅解決雷達零點問題，更使得此雷達擁有卓越的擺幅靈敏度與線性度表
現。
同時，此雷達也整合鏡像拒絕電路與雜波抵消電路，以數位電路實現在現
場可程式化邏輯閘陣列(Field Programmable Gate Array, FPGA)內，不僅使雷達系
統大幅數位化，更能精準校正元件所造成的振幅與相位不平衡，使此雷達擁有
絕佳的鏡像拒絕效能，於實驗驗證能夠提供高達 116.85 dB 之鏡像拒絕比例。數
位電路也能快速完成雜波校正所需之計算與調整，免除了使用類比電路調整方
式所可能造成的誤差，也於實驗證明此雷達能有效消除雜波造成的干擾，還原
物體正確位移資訊，使此雷達能夠擁有理論極限的擺幅靈敏度 20.7 微米；受益
於數位電路精準調整的能力也使得線性度表現相較先前類比方法有著大幅度的
提升，在物體等速度移動下經實驗量測得到擺幅靈敏度為 50 微米，而先前類比
方法僅為 100 微米。後續結合了頻移鍵控(Frequency Shift Keying, FSK)調變技術，
使此雷達擁有了量測目標物體距離的能力，於實驗驗證後在不同距離下能夠達
到 3%以內的距離量測誤差。後續將此雷達用於量測人體生理訊號與人體距離，
實驗量測的呼吸及心跳次數與參考裝置的量測結果相符，而距離量測誤差也為
3%左右。

This thesis presents a 5.8GHz low-IF Doppler radar based on delay- and selfinjection-locking (DSIL) techniques, utilizing digital delay circuits and proportionalintegral (PI) controllers to compensate for phase shifts caused by human body
movement in real time, ensuring that the phase of the self-injection-locked (SIL) loop
remains at the optimal point. This resolves the null-point problem and provides
excellent measurement sensitivity and linearity performance for the radar.
Furthermore, the radar integrates image rejection circuits and clutter cancellation
circuits that were implemented in the field-programmable gate array (FPGA) using
digital circuits. This simplifies the radar system significantly and allows precise
calibration of amplitude and phase imbalances introduced by various components. As
a result, the radar achieves outstanding image rejection performance, with an
experiment-verified image rejection ratio of up to 116.85 dB. It demonstrates effective
clutter cancellation, resulting in obtaining accurate displacement information of the
objects, achieving a theoretical sensitivity limit of 20.7
μm.
Thanks to the fast and precise adjustment capabilities of digital circuits, the
radar's linearity performance is greatly improved compared to previous analog
approaches. Experimental results show a sensitivity of 50
μm
under constant velocity
motion, while the analog approach only achieves 100
μm
. Subsequently, frequency
shift keying (FSK) modulation is included, providing the radar with the ability to
measure the distance to target objects with a measurement error of less than 3% as
verified by experiments.
Later, the radar is deployed to measure a person’s vital sign and his distances.
Experimental measurements of respiratory and heartbeat frequencies agree closely
with reference data, showing a difference of approximately 3% in distance
measurements.

論文審定書 i
致謝 ii
摘要 iii
Abstract iv
目錄 v
圖次 vii
表次 ix
第一章 緒論 1
1-1 研究背景與動機 1
1-2 低中頻都卜勒雷達介紹 2
1-3 自我注入鎖定雷達介紹 4
1-4 章節規劃 7
第二章 系統架構與原理 8
2-1 技術原理 8
2-1-1 延遲與自我注入鎖定技術 8
2-1-2 鏡像訊號拒絕 12
2-1-3 雜波抵消機制 17
2-1-4 FSK測距方法 20
2-2 低中頻電路FPGA設計 22
2-2-1 數位式鏡像拒絕電路 22
2-2-2 數位式雜波抵消電路 23
2-3 系統實現 24
2-3-1 雷達系統 24
2-3-2 雷達系統硬體資源 27
第三章 感測實驗與結果 28
3-1移動金屬板偵測實驗 28
3-1-1鏡像訊號拒絕量測 28
3-1-2雜波抵消效果量測 30
3-1-3靈敏度量測 33
3-1-4等速移動下靈敏度量測 34
3-1-5距離量測 38
3-1-6金屬板量測總結 40
3-2人體感測實驗 40
3-2-1生理訊號量測 41
3-2-2距離量測 42
3-2-3人體感測總結 44
第四章 結論與未來展望 45
參考文獻 47

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