CN110531327A - A kind of Radar cross-section redaction detection method based on automatic growth control - Google Patents
A kind of Radar cross-section redaction detection method based on automatic growth control Download PDFInfo
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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
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/36—Means for anti-jamming, e.g. ECCM, i.e. electronic counter-counter measures
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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
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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Abstract
The present invention discloses a kind of Radar cross-section redaction detection method based on automatic growth control, obtains radar in real time by external disturbance situation by radar AGC voltage；Normality AGC voltage data is obtained using the AGC voltage data of the radar return of continuous preceding n frame；Obtain interference decision threshold；When the AGC voltage data of present frame radar return is not less than interference decision threshold, then current radar is in disturbed state, increases interference cumulative number；When interference cumulative number reaches interference number limitation, the current working frequency points of removal radar, while the time of removal interference frequency point is recorded, radar return is disturbed cumulative number and sets 0, restarts the disturbed cumulative number for recording radar return；It after removal interference frequency point, calculates from radar working time when removing interference frequency point, reaches release time when the time of removal interference frequency point, discharge current frequency point.Complexity of the present invention is low, and overall calculation amount is small, requires hardware device lower, it is easy to accomplish, applied widely, more time saving and complexity is low.
Description
Technical field
The present invention relates to space industry more particularly to a kind of Radar cross-section redaction detection method based on automatic growth control,
It can be applied to Radar cross-section redaction field.
Background technique
With the extensive use of electronic countermeasure technology, space electronic jamming pattern increasingly complex and diversification are complicated
Electronic interferences environment substantially increases the difficulty and risk of radar normal operation, or even scheduled operation scheme can be made thorough
Failure.To complete in-orbit task while ensuring radar airspace detectivity, there is an urgent need to the detections of effective Radar cross-section redaction
Technology.
In recent years with the development of environment perception technology, related scholar proposes many anti-interference detection methods.Although passing
The radar anti-interference method of system achieves good anti-jamming effectiveness, but conventional airspace/time domain anti-interference method will lead to thunder
Up to detection airspace/time domain loss radar space time domain detectivity is declined.
Patent application " sky-wave beyond visual range radar adaptive space-time joint anti-interference method " (number of patent application:
201010230667.2, patent publication No.: 101907703 A of CN) to the glitch of main lobe entrance, after being excavated by time domain
Interpolation compensation is inhibited.The data of frame eliminate portion while removing glitch where this method eliminates glitch
Partial objectives for information reduces the accuracy of target information.
Patent application " short-range frequency-modulation continuous wave FMCW radar anti-interference method " (number of patent application: 200710018296.X,
Patent publication No.: CN 101089653A) according to radar use occasion and cost of implementation one group of pseudorandomcode of design, to work
Different radars distributes different pseudorandomcodes in region, is compiled to the same radar each period using variant pseudorandom
The beginning frequency point of code modulation triangle linear frequency modulation transmitting signal.The process employs the modulation of different pseudorandomcodes, thus
Transmitting signal is complex to the process of received echo-signal mixing operation, and real-time is limited.
Patent application " the high-frequency ground wave radar anti-interference method based on antenna submatrix " (number of patent application:
200510019162.0, patent publication No.: CN 1728457A) it designs submatrix and two antenna interference cancellation technology of front and back and changes
Into power inversion adaptive algorithm, Power-inversion algorithm will lead to the loss in radar detection airspace, in addition, this method only can be right
The interference of electric eliminating absciss layer, use scope are limited.
Document " the LFM Pulse-compression Radar shift-frequency jamming identification based on FRFT " (" radar science and technology ", No.2,2013) is logical
It crosses difference of the LFM signal in fractional number order Fourier to recognize interference signal, reaches jamproof purpose.This method needs
FrFT operation is carried out, calculation amount is larger.Document " Active Radar/infrared imaging combined guidance Anti-Jamming Technique " (" marine electronic
Engineering ", No.2,2016) pass through the jamproof task of switching completion of two kinds of operating modes.This method has special want to system
It asks, use scope is limited.
Therefore, because radar receives power to be influenced by external disturbance, and radar AGC (Automatic Gain
Control, automatic growth control) voltage receives changed power with radar and changes, and then radar AGC voltage change situation is real-time
Reflect radar currently by external disturbance situation；When external disturbance is not present, radar is normally tracked, and radar AGC voltage keeps phase
To stable state；When external disturbance occurs, radar working condition is affected, and radar AGC voltage fluctuates；Based on upper
It states, it is actually necessary that the present invention researches and develops a kind of Radar cross-section redaction detection method based on automatic growth control.
Summary of the invention
The purpose of the present invention is to provide a kind of Radar cross-section redaction detection method based on automatic growth control, using automatic
Gain-controlled voltage solves the problems, such as that radar receiver is interfered by space electronic；When radar is in normal tracking mode, radar
AGC voltage receives changed power with radar and changes；External disturbance if it does not exist, it is substantially steady that radar receives power
Fixed, receiver AGC voltage keeps relative stability state；If it exists external disturbance and interference frequency point it is identical as radar working frequency points,
Radar, which receives power, then will receive the influence of interference signal, and receiver AGC voltage changes therewith；Therefore, the present invention passes through radar
The situation of change of AGC voltage can determine whether external disturbance situation and determine the interference frequency point for currently needing to remove.This hair
Bright treatment process is simple and without carrying out Fourier transformation and matrix inversion operation, to the free of losses of radar detection airspace, and in real time
Property is strong；In addition, radar AGC voltage is sensitive by the variation of external disturbance situation with radar, without removing, there are returning when glitch
Wave number evidence, estimated result are more accurate.
In order to achieve the above object, the invention is realized by the following technical scheme:
A kind of Radar cross-section redaction detection method based on automatic growth control includes following procedure: passing through radar AGC voltage
Know radar by external disturbance or not by external disturbance in real time；It is obtained using the AGC voltage data of the radar return of continuous preceding n frame
Normality AGC voltage；Obtain interference decision threshold；The AGC voltage data of the radar return of present frame is adjudicated not less than the interference
When thresholding, this frame radar return data is disturbed, increases the disturbed cumulative number interfered by this frequency point；Disturbed cumulative number
When reaching the limitation of disturbed number, the current working frequency points of removal radar, while the time of removal interference frequency point is recorded, by radar
The disturbed cumulative number of echo is set to zero, restarts to record the disturbed cumulative number of radar return；After removal interference frequency point,
Radar working time when interfering frequency point from removal is calculated, and when the time of removal interference frequency point reaching release time, release is worked as
Preceding frequency point, and continue to analyze next frame radar AGC voltage data, it is moved in circles with this, until it is anti-dry to complete radar
Disturb detection mission.
Preferably, the AGC voltage data U of the radar return of present frame0No more than interference decision threshold UthreshWhen, currently
Radar is in normal operating conditions, this frame radar return data is not disturbed, and disturbed accumulative time will interfered by the frequency point
Number maintains not change, this frame data anti-interference process process terminates, and analyzes next frame radar AGC voltage data, with this
It moves in circles, until completing Radar cross-section redaction detection mission.
Preferably, as disturbed cumulative number m not up to disturbed number limitation M, this frame data anti-interference process mistake
Journey terminates, and analyzes next frame radar AGC voltage data, is moved in circles with this, appoints until completing Radar cross-section redaction detection
Business.
Preferably, when the time of removal interference frequency point being not up to release time T, interference frequency point is kept to remove state.
Preferably, the disturbed number limitation M is 10 times.
Preferably, when current radar is in disturbed state, the disturbed cumulative number m that is interfered by this frequency point is before
On the basis of increase by 1 time.
Preferably, normality AGC voltage UNAre as follows:
In formula, UkFor the AGC voltage data of kth (k=1,2 ... n) frame radar receiver.
Preferably, decision threshold U is interferedthreshAre as follows:
Uthresh=UN+ε (2)
In formula, UNFor normality AGC voltage；ε is thresholding nargin.
Preferably, the Radar cross-section redaction detection method further includes:
The point centered on normality AGC voltage data successively calculates the AGC voltage data and normality AGC voltage of continuous preceding n frame
The radial basis function of data as a result, and mean value is sought to it, thresholding nargin ε is calculated are as follows:
The radial basis function takes the form of Gaussian kernel, can obtain:
In formula, σ is the width parameter of kernel function；
According to formula (3) and formula (4), thresholding nargin ε is from which further followed that are as follows:
Compared with prior art, the beneficial effects of the present invention are: (1) complex disposal process degree of the present invention is low, whole to count
Calculation amount is small, therefore requires hardware device lower, it is easy to accomplish；(2) present invention judges that radar connects by radar AGC voltage data
Receipts machine is by external disturbance situation, without carrying out Fourier Transform of Fractional Order, strong real-time；(3) present invention is dry without removing transient state
The data of frame where disturbing, the integrality of target information is strong, thus detection result accuracy is high；(4) present invention is become by AGC voltage
Change can analyze a variety of disturbed conditions, be not limited only to certain certain interference, therefore the scope of application of the present invention is wider；(5) mistake of the present invention
For journey without matrix inversion operation, more time saving and complexity is low；(6) input of the invention is only radar AGC voltage data, is not needed
Other equipment such as infrared, therefore there is stronger applicability.
Detailed description of the invention
Fig. 1 is the flow diagram of the anti-interference detection method of the invention based on automatic growth control；
Fig. 2 is that there is no the radar AGC voltages and radar working frequency points schematic diagram when interference；
Fig. 3 is the radar AGC voltage and radar working frequency points schematic diagram of the prior art (there are when interference)；
Fig. 4 is that radar AGC voltage of the invention and radar working frequency points schematic diagram (have interference and not up to interference frequency point
When release time)；
Fig. 5 is that radar AGC voltage of the present invention and radar working frequency points schematic diagram (have interference and reach interference frequency point release
When the time).
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
It is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
The invention discloses a kind of Radar cross-section redaction detection method based on automatic growth control, radar automatic growth control
(Automatic Gain Control, AGC) voltage reflect in real time radar receive changed power situation, when radar working frequency points with
When external disturbance frequency point is identical, radar receives power and fluctuates with external interference signals, therefore passes through the change of radar AGC voltage
The case where radar receiver is by external disturbance can be obtained with interference decision threshold in real time by changing, and can determine interference frequency point；It is interfering
After frequency point determines, it is rejected from radar working frequency points within a limited period of time, radar can be used other frequency points and work normally；It reaches
To after release time, the interference frequency point being removed is discharged to radar working frequency points.It can effectively avoid interference using the above method
Influence of the signal to radar receives echo-signal while keeping original space time domain detectivity, realizes that Radar cross-section redaction is visited
It surveys.
As shown in Figure 1, the Radar cross-section redaction detection method of the invention based on automatic growth control, the specific steps are as follows:
S1, disturbed cumulative number initialized at the beginning, then carries out the analysis of AGC voltage change；
In the step S1, when ground test, radar receiver AGC voltage is divided with the situation of change of external disturbance
Analysis:
Radar is adjusted to normal tracking mode, first to interference is not applied outside radar, test radar was normally tracked
AGC voltage fluctuation situation and radar working frequency points situation in journey；Be illustrated in figure 2 during radar normally tracks AGC voltage and
Radar working frequency points situation test result, it can be seen in fig. 2 that when interference being not present outside radar, radar receiver AGC voltage base
This holding is stablized；Therefore, when there is no interference, the present invention and conventional method performance are essentially identical；
Then external interference signals are applied to radar, during test radar tracking there are AGC voltage when external disturbance and
Radar working frequency points situation；AGC voltage and radar working frequency points situation when radar tracking is disturbed in the process is illustrated in figure 3 to survey
Test result, it is as can be seen from Fig. 3, existing when radar operating frequency is identical as interference signal frequency if there is interference outside radar
Radar receiver AGC voltage in technology fluctuates, and radar detection process is interfered；It follows that radar AGC voltage becomes
Changing situation can reflect radar by external disturbance situation in real time；
Therefore, the present invention can obtain radar AGC voltage change situation by external disturbance according to radar AGC voltage tester result
It influences.
S1, normality AGC voltage data is calculated；
When radar normally tracks, it is basicly stable that radar receives power, therefore radar AGC voltage also keeps relative stability shape
State；When there are external disturbance, radar, which receives power, then will receive the influence of interference signal, and receiver AGC voltage fluctuates therewith.
Therefore, mean value is sought using the radar return AGC voltage data of continuous preceding n frame, normality AGC voltage can be obtained are as follows:
In formula, UNSubscript N be normal abbreviation, UNFor normality AGC voltage data；UkK (k=1,2 ... n) before being
The AGC voltage data of frame radar receiver.
S3, interference decision threshold is calculated；
In the step S3, following procedure is further included:
Using normality AGC voltage and thresholding margin design, interference decision threshold further can be accurately derived are as follows:
Uthresh=UN+ε (2)
In formula, UthreshTo interfere decision threshold；UNFor normality AGC voltage data；ε is thresholding nargin.
Further, the point centered on normality AGC voltage data, successively calculate it is continuous before n frame AGC voltage data and often
The radial basis function of state AGC voltage data as a result, and mean value is sought to it, thresholding nargin ε can be calculated are as follows:
Meanwhile above-mentioned radial basis function takes the form of Gaussian kernel, can obtain:
In formula, σ is the width parameter of kernel function；
According to formula (3) and formula (4), thresholding nargin ε can be further derived are as follows:
In as an embodiment of the present invention, by taking n value is 11 as an example, when radar normally tracks, before continuous
The AGC voltage data of 11 frame radar returns calculates normality AGC voltage data UNForWherein, UNFor normality AGC
Voltage data, UkThe AGC voltage data of k (k=1,2 ... 11) frame radar return before being.Meanwhile by the parameter of gaussian kernel function
σ is set as the width parameter that 2, σ is kernel function, using continuous preceding n (such as n=11) frame AGC voltage data and be calculated
Normality AGC voltage data, thresholding nargin can be obtained are as follows:
It is 0.99V that ε is calculated in this implementation process；Utilize the sum of normality AGC voltage data and thresholding nargin
Obtain interference decision threshold Uthresh。
S4, in real time analysis AGC voltage, judge whether radar is in disturbed state；
In the step S4, by the AGC voltage data U of present frame radar receiver0And with interference decision threshold UthreshInto
Row size compares, and judges that present frame radar receiver is disturbed situation: if U0≥Uthresh, then current radar is in disturbed shape
State, this frame radar return data are disturbed；If U0≤Uthresh, then current radar is in normal operating conditions, and current radar is not located
In disturbed state, this frame radar return data is not disturbed.
S5, cumulative number is disturbed as a result, calculating according to real-time AGC voltage analysis, disturbed cumulative number is utilized to record
Interfere the appearance situation of frequency point.
In the step S5, if the real-time AGC voltage analysis result in step S4 is that present frame radar return data are done
It disturbs, then successively increases and cumulative number m is interfered by this frequency point, be then further continued for executing step S6；If the real-time AGC electricity in step S4
Pressure analysis result is that present frame radar return data are not disturbed, then the data before being maintained by frequency point interference cumulative number m
(referring to the disturbed cumulative number in last circulation) does not change, then this frame data anti-interference process process terminates, to next
Frame radar AGC voltage data is analyzed, and is moved in circles with this.
In as an embodiment of the present invention, if AGC voltage analysis result is present frame radar return data quilt in real time
Interference is then disturbed cumulative number and increases by 1 time on the basis of before；If real-time AGC voltage analysis result is present frame radar
Echo data is not disturbed, then is disturbed the data before cumulative number maintains and does not change.
In the present invention, disturbed cumulative number need to be initialized when at the beginning, subsequent analysis result is echo data quilt
When interference, disturbed cumulative number is successively increased；The present invention can be greatly improved whether judge certain frequency point using interference number limitation
For the accuracy for interfering frequency point, successively increased by this frequency point interference cumulative number, until after disturbed cumulative number reaches limitation,
Just confirm that for interference frequency point, this frequency point is removed for the frequency point.Wherein, cumulative number is disturbed to increase by 1 time on the basis of before,
Because successively judging whether each moment is disturbed, if result is disturbed for present frame radar return data, it can only illustrate this spy
Survey the moment be it is disturbed, increase primary.If detection next time moment result is still disturbed, continue growing primary.
S6, interference frequency point removal；
In the step S6, judge whether to need to remove interference frequency point using interference number limitation M: if disturbed accumulative time
Number m not up to interferes number to limit M, this frame data anti-interference process process terminates, and carries out to next frame radar AGC voltage data
Analysis, is moved in circles with this；If disturbed cumulative number m reaches interference number limitation M, the current work frequency of radar is removed
Point, while the time of removal interference frequency point is recorded, radar return is disturbed cumulative number and sets 0, restarts to record radar time
Wave is disturbed cumulative number.
It will interfere frequency point after the removal of radar working frequency points, radar can be used other frequency points and work normally, therefore can keep
The original space time domain detectivity of radar realizes anti-interference detection.
When being illustrated in figure 4 outside radar in the presence of interference, the present invention not up to interferes frequency point release after rejecting interference frequency point
When the time, radar AGC voltage and radar working frequency points situation of change schematic diagram.If there is interference outside radar, when radar works
When frequency is identical as interference signal frequency, the present invention will within a certain period of time reject interference frequency point from radar working frequency points,
Radar receiver is worked normally using other frequency points, therefore can keep the original space time domain detectivity of radar.
In as an embodiment of the present invention, setting interference number limitation M is 10 times.
S7, interference frequency point restore；
In the step S7, whether can be restored using the interference frequency point that release time T judgement is removed, specifically:
It after removal interference frequency point, calculates from radar working time when removing interference frequency point, if the time of removal interference frequency point
Not up to release time T then keeps interference frequency point removal state；If the time of removal interference frequency point reaches release time T, release
Current frequency point (current interference frequency point) is put, i.e., current interference frequency point is discharged into radar working frequency points, and continue to next
Frame radar AGC voltage data is analyzed；If there are still then from radar working frequency points for the interference frequency point through subsequent analysis
Except this frequency point, otherwise retain this working frequency points, moved in circles with this, can effectively avoid interference signal to radar receives echo-signal
Influence, realize Radar cross-section redaction detection.
In as an embodiment of the present invention, setting release time is 5 minutes.
It is illustrated in figure 5 outside radar when there is interference, after the present invention rejects interference frequency point, when reaching interference frequency point release
Between when, radar AGC voltage and radar working frequency points situation of change schematic diagram.As shown in Figure 5, it after reaching release time, will be done
Scrambling point release is into radar working frequency points.
In conclusion the present invention, which passes through, determines that radar AGC voltage can reflect radar after by external disturbance situation in real time, according to
The AGC voltage data of n frame radar return calculates normality AGC voltage data before continuous, is set using normality AGC voltage and thresholding nargin
Meter, can derive interference decision threshold, then be judged using the AGC voltage data of present frame radar return and interference decision threshold
Present frame radar receiver is disturbed situation, calculates disturbed cumulative number；If disturbed cumulative number reaches interference number limit
System then removes the current working frequency points of radar, and records the time for starting removal interference frequency point, if the time of removal frequency point reaches
Release time then discharges current frequency point, and interference frequency point is otherwise kept to remove state.Treatment process of the present invention it is simple and without into
Row Fourier transformation and matrix inversion operation, to the free of losses of radar detection airspace, and strong real-time；In addition, radar AGC voltage with
Radar is sensitive by the variation of external disturbance situation, and without removing there are echo data when glitch, estimated result is more accurate.
It is discussed in detail although the contents of the present invention have passed through above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read above content, for of the invention
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (9)
1. a kind of Radar cross-section redaction detection method based on automatic growth control, which is characterized in that include following procedure:
Know radar by external disturbance or not by external disturbance in real time by radar AGC voltage；
Normality AGC voltage is obtained using the AGC voltage data of the radar return of continuous preceding n frame；
Obtain interference decision threshold；
When the AGC voltage data of the radar return of present frame is not less than the interference decision threshold, this frame radar return data quilt
Interference increases the disturbed cumulative number interfered by this frequency point；
When disturbed cumulative number reaches the limitation of disturbed number, the current working frequency points of removal radar, while it is dry to record removal
The time for scrambling point, the disturbed cumulative number of radar return is set to zero, restarts to record radar return and be disturbed to add up
Number；
It after removal interference frequency point, calculates from radar working time when removing interference frequency point, and when the time of removal interference frequency point reaches
When to release time, current frequency point is discharged, and continue to analyze next frame radar AGC voltage data, recycled with this past
It is multiple, until completing Radar cross-section redaction detection mission.
2. Radar cross-section redaction detection method as described in claim 1, which is characterized in that further include: the radar of present frame
The AGC voltage data U of echo0No more than interference decision threshold UthreshWhen, current radar is in normal operating conditions, this frame thunder
It is not disturbed up to echo data, and the disturbed cumulative number interfered by the frequency point maintenance is not changed, this frame data is anti-interference
Treatment process terminates, and analyzes next frame radar AGC voltage data, is moved in circles with this, until completing Radar cross-section redaction
Detection mission.
3. Radar cross-section redaction detection method as claimed in claim 1 or 2, which is characterized in that further include: when disturbed tired
When metering number m not up to disturbed number limitation M, this frame data anti-interference process process terminates, to next frame radar AGC voltage
Data are analyzed, and are moved in circles with this, until completing Radar cross-section redaction detection mission.
4. Radar cross-section redaction detection method as claimed in claim 3, which is characterized in that further include: when removal interference frequency
When the time of point is not up to release time T, interference frequency point is kept to remove state.
5. Radar cross-section redaction detection method as claimed in claim 4, which is characterized in that
The disturbed number limitation M is 10 times.
6. Radar cross-section redaction detection method as described in claim 1, which is characterized in that
When current radar is in disturbed state, quilt of the disturbed cumulative number m interfered by this frequency point in upper primary circulation
Increase by 1 time on the basis of interference cumulative number.
7. Radar cross-section redaction detection method as described in claim 1, which is characterized in that
Normality AGC voltage UNAre as follows:
In formula, UkFor the AGC voltage data of kth (k=1,2 ... n) frame radar receiver.
8. Radar cross-section redaction detection method as claimed in claim 7, which is characterized in that
Interfere decision threshold UthreshAre as follows:
Uthresh=UN+ε (2)
In formula, UNFor normality AGC voltage；ε is thresholding nargin.
9. Radar cross-section redaction detection method as claimed in claim 8, which is characterized in that
It further includes:
The point centered on normality AGC voltage data successively calculates the AGC voltage data and normality AGC voltage data of continuous preceding n frame
Radial basis function as a result, and mean value is sought to it, thresholding nargin ε is calculated are as follows:
The radial basis function takes the form of Gaussian kernel, can obtain:
In formula, σ is the width parameter of kernel function；
According to formula (3) and formula (4), thresholding nargin ε is from which further followed that are as follows:
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| CN111158024A (en) * | 2019-12-31 | 2020-05-15 | 中国南方电网有限责任公司超高压输电公司 | Anti-cheating method and device for time service terminal |
| CN111983597A (en) * | 2020-08-28 | 2020-11-24 | 北京润科通用技术有限公司 | Method and device for controlling transmitted wave of frequency modulation continuous wave radar |
| CN112261678A (en) * | 2020-10-20 | 2021-01-22 | 北京和峰科技有限公司 | Self-adaptive frequency hopping method and system suitable for ad hoc network |
| CN113296058A (en) * | 2020-02-24 | 2021-08-24 | 华为技术有限公司 | Target detection method and radar device |
| CN114460955A (en) * | 2021-06-28 | 2022-05-10 | 广州极飞科技股份有限公司 | Forward obstacle detection method and device, unmanned aerial vehicle and readable storage medium |
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