CN110045354A - The method and device of radar performance evaluation and test - Google Patents
The method and device of radar performance evaluation and test Download PDFInfo
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- CN110045354A CN110045354A CN201910319623.8A CN201910319623A CN110045354A CN 110045354 A CN110045354 A CN 110045354A CN 201910319623 A CN201910319623 A CN 201910319623A CN 110045354 A CN110045354 A CN 110045354A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
Abstract
This application discloses a kind of method and devices of radar performance evaluation and test.The method of this application includes obtaining the corresponding image data of radar to be measured, and described image data are the image data that radar to be measured scans test material；Signature analysis is carried out to described image data, determines the corresponding index value of test index；The test score of radar to be measured is calculated according to the index value；Radar performance to be measured is assessed according to the test score.Present application addresses the evaluation and tests of relevant single line laser radar not scientific not to have the problem of theoretical foundation.
Description
Technical field
This application involves robotic technology fields, in particular to a kind of method and device of radar performance evaluation and test.
Background technique
In intelligent robot technology field, the application of single line laser radar is very extensive.Wherein, user is choosing single line laser
When radar, it is normally based on hardware parameter that laser radar producer provides and using effect carries out superiority and inferiority during on probation
Evaluation.This evaluation method is mainly the superiority and inferiority for how much voluntarily judging single line laser radar according to noise with subjectivity, without one
The method and theoretical foundation of a science are as support, the evaluation and test of Lai Jinhang single line laser radar.
Summary of the invention
The main purpose of the application is to provide a kind of method of radar performance evaluation and test, to solve relevant single line laser thunder
There is no the problem of theoretical foundation up to evaluation and test is not scientific.
To achieve the goals above, according to the first aspect of the application, a kind of method of radar performance evaluation and test is provided.
Include: according to the method that the radar performance of the application is evaluated and tested
The corresponding image data of radar to be measured is obtained, described image data radar to be measured scans to obtain to test material
Image data；
Signature analysis is carried out to described image data, determines the corresponding index value of test index；
The test score of radar to be measured is calculated according to the index value；
Radar performance to be measured is assessed according to the test score.
Further, described that signature analysis is carried out to described image data, determine that the corresponding index value of test index includes:
It extracts the picture frame of preset quantity in described image data and signature analysis is carried out to the picture frame of preset quantity；
According to the analysis result of picture frame determine respectively the material category discrimination of radar to be measured, short distance noise accounting,
The mean square deviation of available point accounting and straight line fitting.
Further, the picture frame progress signature analysis to preset quantity includes:
From the picture frame of preset quantity extract test board all scanning elements, all scanning elements include line segment feature and
Noise between radar and test board to be measured, the test board are the test board of a variety of test materials composition；
The noise is filtered, the effective scanning point of test board is obtained.
Further, described to be filtered to the noise, the effective scanning point for obtaining test board includes:
Remove the noise isolated in noise；
Other scanning elements in addition to isolated noise are subjected to straight line fitting, obtain the corresponding test line segment of test board；
According to the test line segment, classify to the scanning element outside the test line segment, obtains remote noise and close
Apart from noise；
Remote noise is removed, effective scanning point is obtained.
Further, the corresponding index value of the determining test index includes:
Short distance noise accounting is calculated according to the theoretical number of scan points of the quantity of short distance noise and test board；
Available point accounting is calculated according to the theoretical number of scan points of the quantity of effective scanning point and test board；
It is fitted determining new test line segment again according to effective scanning point and effective scanning point, calculates the equal of straight line fitting
Variance；
Material is determined according to the corresponding effective scanning point of every kind of test material on test board and corresponding theoretical scanning element
Category identification rate.
Further, described to be swept according to the corresponding effective scanning point of every kind of test material on test board and corresponding theory
Described point determines that material category discrimination includes:
New test line segment is split according to different test materials, calculates that every kind of test material is corresponding effectively sweeps
Described point；
It is calculated according to the theoretical scanning element of the corresponding effective scanning point of every kind of test material and corresponding every kind of test material
Material category discrimination.
Further, the test score for calculating radar to be measured according to the index value includes:
By the mean square deviation of material category discrimination, short distance noise accounting, available point accounting and straight line fitting according to pre-
If weight be combined calculating, obtain the test score of radar to be measured.
To achieve the goals above, according to a second aspect of the present application, a kind of device of radar performance evaluation and test is provided.
Include: according to the device that the radar performance of the application is evaluated and tested
Acquiring unit, for obtaining the corresponding image data of radar to be measured, described image data are radar to be measured to test
The image data that scanning of materials obtains；
Determination unit determines the corresponding index value of test index for carrying out signature analysis to described image data；
Computing unit, for calculating the test score of radar to be measured according to the index value；
Assessment unit, for being assessed according to the test score radar performance to be measured.
Further, the determination unit includes:
Extraction module, for extract in described image data the picture frame of preset quantity and to the picture frame of preset quantity into
Row signature analysis；
Determining module determines the material category discrimination, close of radar to be measured for the analysis result according to picture frame respectively
Mean square deviation apart from noise accounting, available point accounting and straight line fitting.
Further, the extraction module is used for:
From the picture frame of preset quantity extract test board all scanning elements, all scanning elements include line segment feature and
Noise between radar and test board to be measured, the test board are the test board of a variety of test materials composition；
The noise is filtered, the effective scanning point of test board is obtained.
Further, the extraction module is also used to:
Remove the noise isolated in noise；
Other scanning elements in addition to isolated noise are subjected to straight line fitting, obtain the corresponding test line segment of test board；
According to the test line segment, classify to the scanning element outside the test line segment, obtains remote noise and close
Apart from noise；
Remote noise is removed, effective scanning point is obtained.
Further, the determining module is used for:
Short distance noise accounting is calculated according to the theoretical number of scan points of the quantity of short distance noise and test board；
Available point accounting is calculated according to the theoretical number of scan points of the quantity of effective scanning point and test board；
It is fitted determining new test line segment again according to effective scanning point and effective scanning point, calculates the equal of straight line fitting
Variance；
Material is determined according to the corresponding effective scanning point of every kind of test material on test board and corresponding theoretical scanning element
Category identification rate.
Further, the determining module is also used to:
New test line segment is split according to different test materials, calculates that every kind of test material is corresponding effectively sweeps
Described point；
It is calculated according to the theoretical scanning element of the corresponding effective scanning point of every kind of test material and corresponding every kind of test material
Material category discrimination.
Further, the computing unit is used for:
By the mean square deviation of material category discrimination, short distance noise accounting, available point accounting and straight line fitting according to pre-
If weight be combined calculating, obtain the test score of radar to be measured.
Further, according to the third aspect of the application, a kind of computer readable storage medium is provided, which can
It reads storage medium and is stored with computer code, when computer code is performed, the radar as described in above-mentioned first aspect
The method that can be evaluated and tested is performed.
Further, according to the fourth aspect of the application, a kind of computer equipment, the computer equipment packet are provided
It includes:
One or more processors；
Memory, for storing one or more computer programs；
When one or more computer programs are executed by one or more processors, so that one or more processors are real
The method of the now evaluation and test of the radar performance as described in above-mentioned first aspect.
In the embodiment of the present application, the method and device of radar performance evaluation and test can pass through the image to radar scanning to be measured
Data are analyzed, and determine the corresponding index value of test index, and the test score of radar to be measured is then calculated according to index value, this
Kind apply can be more scientific in the performance evaluating of single line laser radar assess the performance of laser radar, selected for user
Reference standard is provided when taking laser radar.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present application, so that the application's is other
Feature, objects and advantages become more apparent upon.The illustrative examples attached drawing and its explanation of the application is for explaining the application, not
Constitute the improper restriction to the application.In the accompanying drawings:
Fig. 1 is the method flow diagram evaluated and tested according to a kind of radar performance of embodiment of the application；
Fig. 2 is the method flow diagram evaluated and tested according to the radar performance of the application another kind embodiment；
Fig. 3 is the composition block diagram according to a kind of device of the radar performance of embodiment of the application evaluation and test；
Fig. 4 is the composition block diagram according to the device of the radar performance of the application another kind embodiment evaluation and test.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein.In addition, term " includes " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
According to the embodiment of the present application, a kind of method of radar performance evaluation and test is provided, as shown in Figure 1, this method includes such as
Under step S101 to step S104:
S101. the corresponding image data of radar to be measured is obtained.
Wherein, image data is the image data that radar to be measured scans test material.In the embodiment of the present invention
Radar to be measured is primarily referred to as laser radar (such as single line laser radar), and laser radar needs to sweep in actual application scenarios
The type for the material retouched is diversified, therefore in order to more fully carry out the evaluation and test of performance, corresponding survey to laser radar
A plurality of types of test materials, test material include that laser radar typically encounters during scanning to test material material need to set
Various unlike materials, different colours, other different characteristics such as different lines material.Figure is faster carried out in order to more convenient
As the analysis of data, it is preferred that be grouped different types of test material, the test material of difference group forms different surveys
Test plate (panel) is scanned radar to be measured to different test boards.
In order to avoid the material of test board ends cannot recognize and cause the error of evaluation and test, tested during measurement
The two sides of plate placed all consistent general material that can centainly recognize of two block-shaped sizes.
S102. signature analysis is carried out to image data, determines the corresponding index value of test index.
Test index includes the multiple test indexs evaluated and tested to the result of radar scanning to be measured in the present embodiment, test
Index be comprehensively consider radar can work under complex environment, radar whether be possible in strange environment occur accidentally know
Not, precision that the accuracy of radar scanning, radar describe barrier feature etc. is because of the index that usually defines.Determining survey in this way
Index is tried, the evaluation and test of more overall scientific can be carried out to the performance of radar.
Carrying out signature analysis to image data is to carry out signature analysis to the scanning element in image data, is specifically included to sweeping
The position of described point, quantity, the features such as linear rule of scanning element are analyzed, and then determine test index based on the analysis results
Index value.
S103. the test score of radar to be measured is calculated according to index value.
By step S102 it is found that test index includes multiple indexs, needed when calculating the test score of radar to be measured comprehensive
Close the index value for considering all test indexs, the influence that can specifically evaluate according to different test indexs radar performance
Degree selects the suitable calculation method to obtain the test score of radar to be measured.
S104. radar performance to be measured is assessed according to test score.
Specifically, radar performance can be divided into multiple grades, different grades corresponds to different test score ranges.Cause
Test score can be matched with test score range after determining the test score of radar to be measured, determine radar to be measured by this
The corresponding test score range of test score, then further according to test score range and performance rate corresponding relationship, determine
The performance rate of radar to be measured is finally completed the Performance Evaluation to radar to be measured.The division of grade can be according to the actual needs
Freely define, for example be divided into tetra- grades of excellent, good, poor three grades or A, B, C, D etc..
It can be seen from the above description that the method that radar performance is evaluated and tested in the embodiment of the present application can be by treating
The image data for surveying radar scanning is analyzed, and determines the corresponding index value of test index, is then calculated according to index value to be measured
The test score of radar, it is this apply in the performance evaluating of single line laser radar can be more scientific assess laser radar
Performance, provide reference standard when choosing laser radar for user
According to another embodiment of the application, a kind of method of radar performance evaluation and test is provided, as shown in Fig. 2, this method packet
It includes:
S201. the corresponding image data of radar to be measured is obtained.
The implementation of this step is identical as the implementation in Fig. 1 step S101, and details are not described herein again.
S202. it extracts the picture frame of preset quantity in image data and signature analysis is carried out to the picture frame of preset quantity.
Wherein image data includes all picture frames for all test boards that radar to be measured scans during the scanning process, point
The picture frame of each test board preset quantity is indescribably taken, the determination of preset quantity can freely be set according to actual demand user
It sets, for example can be set to other values such as 10.
The process of specific signature analysis the following steps are included:
First, all scanning elements of test board are extracted from the picture frame of preset quantity, all scanning elements include line segment spy
The noise between scanning element and radar to be measured and test board that sign includes.
Second, noise is filtered, the effective scanning point of test board is obtained.
1) noise isolated in noise is removed；
Wherein, isolated noise is the noise that the distance between two neighboring scanning element is greater than the first preset threshold.The
One preset threshold is preset value, can be the other values such as 2mm, 3mm.
2) other scanning elements in addition to isolated noise are subjected to straight line fitting, obtain the corresponding p-wire of test board
Section；
The principle of straight line fitting: finding straight line for discrete point, this is made to pass straight through point as much as possible, which uses
To represent the linear rule between data point.
The process of straight line fitting in specific the present embodiment are as follows: according to line fitting method in addition to isolated noise
Other scanning elements carry out straight line fitting, obtain test board to deserved p-wire section.Line fitting method can be quasi- for least square
Other line fitting methods such as conjunction, gradient descent method, Gauss-Newton, Lie-horse algorithm.
3) according to test line segment, classify to the scanning element outside test line segment, obtain remote noise and closely make an uproar
Point；
Obtained test line segment, it is impossible to across all scanning elements, according to not in the scanning element and survey tested on line segment
The scanning element tested outside line segment is divided into remote noise and short distance noise by the size for trying the distance of line segment, and medium and long distance is made an uproar
Point is the scanning element for being greater than the second preset threshold at a distance from test line segment, and short distance noise is little at a distance from test line segment
In the scanning element of the second preset threshold.
4) remote noise is removed, effective scanning point is obtained.
Effective scanning point includes the scanning element tested on line segment and short distance noise.
S203. the material category discrimination of radar to be measured, short distance noise accounting, available point accounting and straight are determined respectively
The mean square deviation of line fitting.
Material category discrimination, short distance noise accounting, the mean square deviation of available point accounting and straight line fitting are to chat in Fig. 1
The test index stated.The selection gist of these four test indexs are as follows: intelligence of the material category discrimination for application laser radar
The popularity of the application scenarios of equipment (such as robot) be it is vital, the number of identification material species number directly determines
Can smart machine in operation under complex environment；Short distance noise may cause barrier for the smart machine under circumstances not known
Misrecognition；Available point accounting directly reflects the data accuracy of laser radar；The mean square deviation of straight line fitting reflects radar
Establishing map for the smart machine of the precision that barrier feature is described, and application laser radar has very big relationship.
First, calculate short distance noise accounting and available point accounting.
Short distance noise accounting is calculated according to the theoretical number of scan points of the quantity of short distance noise and test board: first
First, the quantity of short distance noise obtained in above-mentioned steps is calculated；Secondly, calculating the theory of test board according to the resolution ratio of radar
Number of scan points；The ratio for calculating the quantity of short distance noise and the theoretical number of scan points of test board, obtains short distance noise accounting.
Second, available point accounting is calculated according to the theoretical number of scan points of the quantity of effective scanning point and test board: meter
The ratio for calculating the quantity for the effective scanning point that step S202 is determined and the theoretical number of scan points of test board, obtains available point accounting.
4th, calculate the mean square deviation of straight line fitting.
Straight line fitting is re-started according to the effective scanning point that step S202 is determined, obtains new test line segment, is calculated every
A effective scanning point calculates at a distance from new test line segment at a distance from new test line segment, according to all effective scanning points
To straight line fitting mean square deviation.
5th, calculate material category discrimination.
New test line segment is split according to different test materials, calculates that every kind of test material is corresponding effectively sweeps
Described point: the length and width of different test materials is identical in the present embodiment, therefore by new test line segment according to test material
The quantity of material, which carries out average segmentation, to distinguish the corresponding test line segment of different test materials, then according to new survey
The material cut-point of examination line segment counts the quantity of the effective scanning point of corresponding every kind of test material respectively.
It is calculated according to the theoretical scanning element of the corresponding effective scanning point of every kind of test material and corresponding every kind of test material
Material category discrimination: the quantity of the corresponding effective scanning point of every kind of test material and the theory of corresponding every kind of test material are calculated
The ratio of the quantity of scanning element；The ratio is compared with default ratio；If more than default ratio, then it is assumed that this kind tests material
Material can recognize；If being less than or equal to default ratio, then it is assumed that this kind of test material not can recognize；Calculate identifiable test material
The ratio of species number and the species number of all test materials obtains material category discrimination.Wherein, the theory of every kind of test material
Scanning element can be calculated as quantity according to the coordinate of cut-point and the theoretical number of scan points of test board.
S204. the mean square deviation of material category discrimination, short distance noise accounting, available point accounting and straight line fitting is pressed
It is combined calculating according to preset weight, obtains the test score of radar to be measured.
Calculation formula is as follows:
Test score=λ1* available point accounting+λ2* material category discrimination+λ3* short distance noise accounting+λ4* straight line is quasi-
The mean square deviation of conjunction
Wherein λ1、λ2、λ3、λ4Respectively available point accounting, material category discrimination, short distance noise accounting and straight line
The mean square deviation of fitting is to deserved weighted value, wherein λ1、λ2, for the value greater than zero, λ3、λ4For minus value.
S205. radar performance to be measured is assessed according to test score.
The implementation of this step is identical as the implementation in Fig. 1 step S104, and details are not described herein again.
In addition, during being evaluated and tested to radar performance to be measured, influence in order to avoid distance and angle to evaluation result,
It is added to the evaluation and test item of different distance (such as 0.8 meter -1.6 meters) and different angle (such as vertical and positive and negative 45 degree of angles), specifically
Test process in above-mentioned Fig. 1 and Fig. 2 radar performance evaluate and test method it is identical, details are not described herein again.Finally obtain difference
Distance and test score and corresponding performance rate under different angle, all reference standard as radar performance evaluation and test.
It should be noted that step shown in the flowchart of the accompanying drawings can be in such as a group of computer-executable instructions
It is executed in computer system, although also, logical order is shown in flow charts, and it in some cases, can be with not
The sequence being same as herein executes shown or described step.
According to the embodiment of the present application, additionally provides a kind of radar performance for implementing above-mentioned Fig. 1 and Fig. 2 the method and comment
The device of survey, as shown in figure 3, the device includes:
Acquiring unit 31, for obtaining the corresponding image data of radar to be measured, described image data are radar to be measured to survey
The image data that examination scanning of materials obtains；
Determination unit 32 determines the corresponding index value of test index for carrying out signature analysis to described image data；
Computing unit 33, for calculating the test score of radar to be measured according to the index value；
Assessment unit 34, for being assessed according to the test score radar performance to be measured.
The device of radar performance evaluation and test can determine that test refers to by analyzing the image data of radar scanning to be measured
Corresponding index value is marked, the test score of radar to be measured is then calculated according to index value, it is this to apply in single line laser radar
Can be more scientific in performance evaluating assess the performance of laser radar, provided when choosing laser radar for user with reference to mark
It is quasi-.
Further, as shown in figure 4, the determination unit 32 includes:
Extraction module 321, for extracting in described image data the picture frame of preset quantity and to the image of preset quantity
Frame carries out signature analysis；
Determining module 322, for the analysis result according to picture frame determine respectively radar to be measured material category discrimination,
The mean square deviation of short distance noise accounting, available point accounting and straight line fitting.
Further, as shown in figure 4, the extraction module 321 is used for:
From the picture frame of preset quantity extract test board all scanning elements, all scanning elements include line segment feature and
Noise between radar and test board to be measured, the test board are the test board of a variety of test materials composition；
The noise is filtered, the effective scanning point of test board is obtained.
Further, as shown in figure 4, the extraction module 321 is also used to:
Remove the noise isolated in noise；
Other scanning elements in addition to isolated noise are subjected to straight line fitting, obtain the corresponding test line segment of test board；
According to the test line segment, classify to the scanning element outside the test line segment, obtains remote noise and close
Apart from noise；
Remote noise is removed, effective scanning point is obtained.
Further, as shown in figure 4, the determining module 322 is used for:
Short distance noise accounting is calculated according to the theoretical number of scan points of the quantity of short distance noise and test board；
Available point accounting is calculated according to the theoretical number of scan points of the quantity of effective scanning point and test board；
It is fitted determining new test line segment again according to effective scanning point and effective scanning point, calculates the equal of straight line fitting
Variance；
Material is determined according to the corresponding effective scanning point of every kind of test material on test board and corresponding theoretical scanning element
Category identification rate.
Further, as shown in figure 4, the determining module 322 is also used to:
New test line segment is split according to different test materials, calculates that every kind of test material is corresponding effectively sweeps
Described point；
It is calculated according to the theoretical scanning element of the corresponding effective scanning point of every kind of test material and corresponding every kind of test material
Material category discrimination.
Further, the computing unit 33 is used for:
By the mean square deviation of material category discrimination, short distance noise accounting, available point accounting and straight line fitting according to pre-
If weight be combined calculating, obtain the test score of radar to be measured.
Specifically, each module realizes that the detailed process of its function can be found in embodiment of the method in the device of the embodiment of the present application
In associated description, details are not described herein again.
A kind of computer readable storage medium, the computer-readable recording medium storage have computer code, work as computer
Code is performed, and the method for the radar performance evaluation and test as described in Fig. 1 or Fig. 2 is performed.
A kind of computer equipment, the computer equipment include: one or more processors；
Memory, for storing one or more computer programs；
When one or more computer programs are executed by one or more processors, so that one or more processors are real
The now method of the radar performance evaluation and test as described in Fig. 1 or Fig. 2.
Obviously, those skilled in the art should be understood that each module of above-mentioned the application or each step can be with general
Computing device realize that they can be concentrated on a single computing device, or be distributed in multiple computing devices and formed
Network on, optionally, they can be realized with the program code that computing device can perform, it is thus possible to which they are stored
Be performed by computing device in the storage device, perhaps they are fabricated to each integrated circuit modules or by they
In multiple modules or step be fabricated to single integrated circuit module to realize.In this way, the application be not limited to it is any specific
Hardware and software combines.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of method of radar performance evaluation and test, which is characterized in that the described method includes:
The corresponding image data of radar to be measured is obtained, described image data are the image that radar to be measured scans test material
Data；
Signature analysis is carried out to described image data, determines the corresponding index value of test index；
The test score of radar to be measured is calculated according to the index value；
Radar performance to be measured is assessed according to the test score.
2. the method for radar performance evaluation and test according to claim 1, which is characterized in that described to be carried out to described image data
Signature analysis determines that the corresponding index value of test index includes:
It extracts the picture frame of preset quantity in described image data and signature analysis is carried out to the picture frame of preset quantity；
The material category discrimination of radar to be measured, short distance noise accounting, effectively are determined respectively according to the analysis result of picture frame
The mean square deviation of point accounting and straight line fitting.
3. the method for radar performance evaluation and test according to claim 2, which is characterized in that the picture frame to preset quantity
Carrying out signature analysis includes:
All scanning elements of test board are extracted from the picture frame of preset quantity, all scanning elements include line segment feature and to be measured
Noise between radar and test board, the test board are the test board of a variety of test materials composition；
The noise is filtered, the effective scanning point of test board is obtained.
4. the method for radar performance evaluation and test according to claim 3, which is characterized in that described to be carried out to the noise
Filter, the effective scanning point for obtaining test board include:
Remove the noise isolated in noise；
Other scanning elements in addition to isolated noise are subjected to straight line fitting, obtain the corresponding test line segment of test board；
According to the test line segment, classifies to the scanning element outside the test line segment, obtain remote noise and short distance
Noise；
Remote noise is removed, effective scanning point is obtained.
5. the method for radar performance evaluation and test according to claim 4, which is characterized in that the determining test index is corresponding
Index value includes:
Short distance noise accounting is calculated according to the theoretical number of scan points of the quantity of short distance noise and test board；
Available point accounting is calculated according to the theoretical number of scan points of the quantity of effective scanning point and test board；
It is fitted determining new test line segment again according to effective scanning point and effective scanning point, calculates the square of straight line fitting
Difference；
Material category is determined according to the corresponding effective scanning point of every kind of test material on test board and corresponding theoretical scanning element
Discrimination.
6. the method for radar performance evaluation and test according to claim 5, which is characterized in that described according to every kind of survey on test board
The corresponding effective scanning point of test material material and corresponding theoretical scanning element determine that material category discrimination includes:
New test line segment is split according to different test materials, calculates the corresponding effective scanning of every kind of test material
Point；
Material is calculated according to the theoretical scanning element of the corresponding effective scanning point of every kind of test material and corresponding every kind of test material
Category identification rate.
7. the method for radar performance evaluation and test according to claim 6, which is characterized in that described to be calculated according to the index value
The test score of radar to be measured includes:
By the mean square deviation of material category discrimination, short distance noise accounting, available point accounting and straight line fitting according to preset
Weight is combined calculating, obtains the test score of radar to be measured.
8. a kind of device of radar performance evaluation and test, which is characterized in that described device includes:
Acquiring unit, for obtaining the corresponding image data of radar to be measured, described image data are radar to be measured to test material
Scan obtained image data；
Determination unit determines the corresponding index value of test index for carrying out signature analysis to described image data；
Computing unit, for calculating the test score of radar to be measured according to the index value；
Assessment unit, for being assessed according to the test score radar performance to be measured.
9. a kind of computer readable storage medium, which has computer code, works as computer generation
Code is performed, and the method for such as radar performance of any of claims 1-7 evaluation and test is performed.
10. a kind of computer equipment, the computer equipment include:
One or more processors；
Memory, for storing one or more computer programs；
When one or more computer programs are executed by one or more processors, so that one or more processors are realized such as
The method of radar performance evaluation and test of any of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910319623.8A CN110045354B (en) | 2019-04-19 | 2019-04-19 | Method and device for evaluating radar performance |
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