Автомобильный радар для оценки дальности и скорости

import FFTW
function calcParamFMCWMT()

    function fftshiftfreqgrid(N,Fs)
        freq_res = Fs/N
        freq_grid = Vector(0:N-1)*freq_res;
        Nyq = Fs/2
        half_res = freq_res/2
        if rem(N,2)==1 #odd
            idx = Vector(1:Int64((N-1)/2))
            halfpts = Int64((N+1)/2)
            freq_grid[halfpts] = Nyq-half_res
            freq_grid[halfpts+1] = Nyq+half_res
        else
            idx = Vector(1:Int64(N/2))
            hafpts = Int64(N/2+1);
            freq_grid[hafpts] = Nyq;
        end
        freq_grid[N] = Fs-freq_res
        freq_grid = FFTW.fftshift(freq_grid)
        freq_grid[idx] = freq_grid[idx].-Fs
        return freq_grid
    end

    #Constant
    c = 3e8;
    maxEstimatesFMCWMT = 2;

    #Radar Waveform
    NumSweeps = 64;
    Bw = 150e6;
    Fs = Bw;
    T = 5.5*400/c;
    PRF = 1/T;
    Slope = Bw/T;
    NumSamplesSweep = Int64(T*Fs);

    #Radar Hardware
    Fc = 77e9;
    lambda = c/Fc;
    Ppow = 0.00316227766016838;
    TxGain = 36.0042142909402;
    NF = 4.5;
    RxGain = 42.0042142909402;
    RCS = 50;
    TruckRCS = 1000;
    NumEl = 4;
    Spacing = lambda/2; 
    azs = -0.5:0.5:0.5;
    els = zeros(size(azs));
    LookAngs = [azs;els];
    NumBeams = size(LookAngs,2);

    #Geometry
    RadarVel = [100*1000/3600; 0; 0];
    RadarPos = [0; 0; 0];
    CarVel = [60*1000/3600; 0; 0];
    CarPos = [50; 0; 0];
    TruckVel = [130*1000/3600; 0; 0];
    TruckPos = [150; 0; 0];

    #Range Processing Interval
    rangeProcessLimits = [1 200] #Only process from 1 m to 200 m 
    rngVec = beat2range(fftshiftfreqgrid(NumSamplesSweep,Fs),Slope,c)
    idxRangeProcessMin = argmin(abs.(rngVec .- rangeProcessLimits[1]))
    idxRangeProcessMax = argmin(abs.(rngVec .- rangeProcessLimits[2]))
    IdxRangeProcessLimits = [idxRangeProcessMin idxRangeProcessMax]

    #CFAR
    numRng = idxRangeProcessMax - idxRangeProcessMin + 1
    NumRng = numRng
    rngOver = max(round(Int64,numRng/(T*Fs)),1)
    nGuardRng = 2*rngOver
    nTrainRng = 4*rngOver
    numCUTRng = 1+nGuardRng+nTrainRng
    numDop = NumSweeps
    NumDop = numDop
    dopOver = round(Int64,numDop/NumSweeps)
    numGuardDop = 1*dopOver
    numTrainDop = 4*dopOver
    numCUTDop = 1+numGuardDop+numTrainDop
    CUTSize = [(1+nGuardRng+nTrainRng) (1+numGuardDop+numTrainDop)]
    GuardSize = Int64.([nGuardRng numGuardDop]);
    TrainSize = Int64.([nTrainRng numTrainDop]);
    idxRngCUTFMCWMT = Vector{Int64}(numCUTRng:(numRng-numCUTRng+1))
    idxDopCUTFMCWMT = Vector{Int64}(numCUTDop:(numDop-numCUTDop+1))
    NumCUTIdx = length(idxRngCUTFMCWMT)*length(idxDopCUTFMCWMT)
    N = 64

    #Plot Limits
    RngLims = [rngVec[idxRangeProcessMin] rngVec[idxRangeProcessMax]]; #m
    dopVec = fftshiftfreqgrid(NumDop,PRF); #Hz
    speedVec = sort(-dop2speed(dopVec,lambda)/2); #m/s
    SpeedLims = [speedVec[1] speedVec[end]]; #m/s

    # New variable
    Idx_Proc = (IdxRangeProcessLimits[1]:IdxRangeProcessLimits[2])
    CFAR_Idx = [reshape(repeat(idxRngCUTFMCWMT[:]',length(idxDopCUTFMCWMT),1),NumCUTIdx,1)'
                             reshape(repeat(idxDopCUTFMCWMT[:],length(idxRngCUTFMCWMT),1),NumCUTIdx,1)']
    return (c =c,maxEstimatesFMCWMT = maxEstimatesFMCWMT,NumSweeps = NumSweeps,Bw = Bw,
    Fs = Fs,T = T,PRF = PRF,Slope = Slope,NumSamplesSweep = NumSamplesSweep,
        Fc = Fc,lambda = lambda,Ppow = Ppow,TxGain = TxGain,NF = NF,RxGain = RxGain,RCS = RCS,TruckRCS = TruckRCS,
        NumEl = NumEl,Spacing = Spacing,LookAngs = LookAngs,NumBeams = NumBeams,
        RadarVel = RadarVel,RadarPos = RadarPos,CarVel = CarVel,CarPos = CarPos,TruckVel = TruckVel,TruckPos = TruckPos,
        IdxRangeProcessLimits = IdxRangeProcessLimits,NumRng = NumRng,NumDop = NumDop,
        CUTSize = CUTSize,GuardSize = GuardSize,TrainSize = TrainSize,NumCUTIdx = NumCUTIdx,
        RngLims = RngLims,SpeedLims = SpeedLims,idxRngCUTFMCWMT = idxRngCUTFMCWMT,idxDopCUTFMCWMT = idxDopCUTFMCWMT,
        Idx_Proc = Idx_Proc,CFAR_Idx = CFAR_Idx,N = N)
end