CN110873880B

CN110873880B - Radar monitoring system, method, controller and storage medium

Info

Publication number: CN110873880B
Application number: CN201811004935.1A
Authority: CN
Inventors: 浦世亮; 钱通; 申琳; 沈林杰
Original assignee: Hangzhou Hikvision Digital Technology Co Ltd
Current assignee: Hangzhou Hikvision Digital Technology Co Ltd
Priority date: 2018-08-30
Filing date: 2018-08-30
Publication date: 2021-10-22
Anticipated expiration: 2038-08-30
Also published as: CN110873880A

Abstract

The embodiment of the application provides a radar monitoring system, a radar monitoring method, a controller and a storage medium, wherein the system comprises a radar array and the controller, the radar array comprises M radar groups, and any two adjacent radar groups are obliquely arranged along the horizontal direction; each radar group comprises N radars which are obliquely arranged along the vertical direction; wherein M and N are positive integers greater than 1; a controller to: the method comprises the steps of receiving original data collected by each radar in a radar array, and monitoring targets in a monitoring area covered by the radar array according to the original data, wherein the monitoring area covered by the radar array is formed by overlapping a horizontal field angle and a vertical field angle of each radar in M radar groups. By applying the technical scheme provided by the embodiment of the application, the problem of small monitoring range during regional intrusion monitoring can be solved.

Description

Radar monitoring system, method, controller and storage medium

Technical Field

The present disclosure relates to monitoring technologies, and in particular, to a radar monitoring system, a radar monitoring method, a controller, and a storage medium.

Background

Regional intrusion monitoring is one of the important measures to intervene preventively against security threats. For some scenes with high security and protection requirements, a ground target (a horizontal target) and a low-altitude target (a vertical target) need to be monitored simultaneously so as to prevent security threats to the greatest extent possible. The regional intrusion monitoring equipment mainly comprises a camera. The method of monitoring regional invasion by using the camera is suitable for scenes with fixed real backgrounds. Once the real background changes, the problem of high false alarm rate can occur in a mode of monitoring regional invasion by using a camera.

The radar uses electromagnetic waves to detect the target, is not easily influenced by the environment when in work, has no loss of the target detection performance of the radar under low illumination and severe weather, and has higher stability. In order to solve the problem of high false alarm rate, a camera is adopted to carry out a regional invasion monitoring mode, and a radar is adopted to carry out regional invasion monitoring instead.

In order to ensure the monitoring effect of the radar on the horizontal target, as shown in fig. 1, the radar is installed in a manner that the radar 100 is tilted downward. When the radar is adopted for regional intrusion monitoring, in order to ensure the gain of an antenna, the field angle of the radar is generally smaller, which directly results in that the monitoring range is smaller.

Disclosure of Invention

An object of the embodiments of the present application is to provide a radar monitoring system, a radar monitoring method, a controller, and a storage medium, so as to solve the problem of a small monitoring range when performing area intrusion monitoring. The specific technical scheme is as follows:

in order to achieve the above object, an embodiment of the present application provides a radar monitoring system, where the system includes: the system comprises a radar array and a controller, wherein the radar array comprises M radar groups, and any two adjacent radar groups are obliquely arranged along the horizontal direction; each radar group comprises N radars which are obliquely arranged along the vertical direction; wherein M and N are positive integers greater than 1;

the controller is configured to: and receiving the original data collected by each radar in the radar array, and monitoring the target in the monitoring area covered by the radar array according to the original data, wherein the monitoring area covered by the radar array is formed by overlapping the horizontal field angle and the vertical field angle of each radar in the M radar groups.

In order to achieve the above object, an embodiment of the present application further provides a radar monitoring method, which is applied to a controller included in a radar monitoring system, where the radar monitoring system further includes a radar array, the radar array includes M radar groups, and any two adjacent radar groups are arranged in an inclined manner along a horizontal direction; each radar group comprises N radars which are obliquely arranged along the vertical direction; wherein M and N are positive integers greater than 1; the method comprises the following steps:

receiving raw data collected by each radar in the radar array;

and monitoring targets in a monitoring area covered by the radar array according to the original data, wherein the monitoring area covered by the radar array is formed by overlapping the horizontal field angle and the vertical field angle of each radar in the M radar groups.

In order to achieve the above object, an embodiment of the present application further provides a radar monitoring device, which is applied to a controller included in a radar monitoring system, where the radar monitoring system further includes a radar array, the radar array includes M radar groups, and any two adjacent radar groups are arranged in an inclined manner along a horizontal direction; each radar group comprises N radars which are obliquely arranged along the vertical direction; wherein M and N are positive integers greater than 1; the device comprises:

the receiving module is used for receiving the raw data collected by each radar in the radar array;

and the monitoring module is used for monitoring targets in a monitoring area covered by the radar array according to the original data, wherein the monitoring area covered by the radar array is formed by overlapping a horizontal field angle and a vertical field angle of each radar in the M radar groups.

In order to achieve the above object, an embodiment of the present application further provides a controller, including a processor and a memory; the memory is used for storing a computer program; the processor is used for realizing any step of the radar monitoring method when executing the program stored in the memory.

In order to achieve the above object, an embodiment of the present application further provides a machine-readable storage medium, where a computer program is stored in the machine-readable storage medium, and when the computer program is executed by a processor, the computer program implements any step of the above radar monitoring method.

In the embodiment of the application, the radar monitoring system comprises a radar array and a controller, wherein the radar array comprises M radar groups, and any two adjacent radar groups are obliquely arranged along the horizontal direction; each radar group comprises N radars which are obliquely arranged along the vertical direction; m and N are positive integers greater than 1. The controller receives the raw data collected by each radar in the radar array and monitors the targets in the monitoring area covered by the radar array according to the raw data. The monitoring area covered by the radar array is formed by overlapping the horizontal field angle and the vertical field angle of each radar in the M radar groups, so that the monitoring range in the vertical direction and the monitoring range in the horizontal direction are expanded while the area intrusion monitoring is realized, and the problem of small monitoring range is solved. Of course, it is not necessary for any product or method of the present application to achieve all of the above-described advantages at the same time.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments or related technologies of the present application, the drawings needed to be used in the description of the embodiments or related technologies are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic view of a radar mounting structure;

fig. 2 is a schematic structural diagram of a radar monitoring system according to an embodiment of the present disclosure;

fig. 3 is a schematic deployment diagram of monitoring ranges of a radar group provided in an embodiment of the present application;

FIG. 4 is a schematic deployment diagram of a radar suite according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of a second radar monitoring system according to an embodiment of the present disclosure;

fig. 6 is a schematic structural diagram of a third radar monitoring system according to an embodiment of the present application;

fig. 7 is a schematic diagram of a fourth structure of a radar monitoring system according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of a fifth structure of a radar monitoring system according to an embodiment of the present application;

fig. 9 is a first schematic structural diagram of a radar monitoring method according to an embodiment of the present application;

fig. 10 is a second flowchart of a radar monitoring method according to an embodiment of the present application;

fig. 11 is a first structural schematic diagram of a radar monitoring apparatus according to an embodiment of the present application;

fig. 12 is a second structural schematic diagram of a radar monitoring apparatus according to an embodiment of the present application;

fig. 13 is a schematic structural diagram of a controller according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

For the sake of understanding, the words appearing in the embodiments of the present application are explained below.

Millimeter wave radar: the radar is a radar which works in millimeter wave (millimeter wave) band for detection. The millimeter wave is a wave in a frequency domain (wavelength of 1-10 mm) of 30-300 GHz. But generally a 24GHz radar is also considered to be a millimeter wave radar.

In the radar mounting structure shown in fig. 1, the radar 100 is mounted in a manner inclined downward by θ_maxIs the horizontal field angle of radar, phi_maxThe vertical field angle of the radar. In fig. 1, a shaded portion is a monitoring range of the radar 100. When the radar is adopted for regional intrusion monitoring, in order to ensure the gain of an antenna, the field angle of the radar is generally smaller, which directly results in that the monitoring range is smaller.

In order to solve the problem of a small monitoring range in the process of monitoring regional intrusion, the embodiment of the application provides a radar monitoring system. In the radar monitoring system provided by the embodiment of the application, the radar monitoring system comprises a radar array and a controller, wherein the radar array comprises M radar groups, and any two adjacent radar groups are obliquely arranged along the horizontal direction; each radar group comprises N radars which are obliquely arranged along the vertical direction; m and N are positive integers greater than 1. And the controller receives the raw data acquired by each radar in the radar array and monitors the target in the monitoring area covered by the radar array according to the raw data. The monitoring area covered by the radar array is formed by overlapping the horizontal field angle and the vertical field angle of each radar in the M radar groups.

Through the embodiment of the application, the regional intrusion monitoring is realized, the plurality of radars are deployed in the vertical direction and the horizontal direction, the monitoring range in the vertical direction and the monitoring range in the horizontal direction are enlarged, and the problem of small monitoring range is solved.

The present application will be described in detail below with reference to specific examples.

Referring to fig. 2, fig. 2 is a schematic view of a first structure of a radar monitoring system according to an embodiment of the present application. This radar monitoring system includes: radar array 110, and controller 120. The radar array 110 includes M radar groups 1-M, and any two adjacent radar groups are arranged obliquely in the horizontal direction; each radar group comprises N radars which are obliquely arranged along the vertical direction. M and N are positive integers greater than 1.

In the embodiment of the present application, the radar includes, but is not limited to, a millimeter wave radar. In an alternative embodiment, the radar is a millimeter wave radar having an elliptical cone field of view, the radar having a horizontal viewing angle greater than a vertical viewing angle.

In the embodiment of the application, the plurality of radars are deployed in the vertical direction and the horizontal direction, so that the monitoring range in the vertical direction and the monitoring range in the horizontal direction are enlarged, a ground target and an aerial target can be monitored simultaneously, and the problem of small monitoring range is solved. For example, as shown in fig. 3, 3 radars are arranged in a tilted manner in the vertical direction, and the monitoring range of the radar group in the vertical direction is the superposition of the monitoring ranges of the 3 radars in the vertical direction, that is, the monitoring range of the radar group in the vertical direction is larger than the monitoring range of a single radar in the vertical direction, so that the problem of small monitoring range in the vertical direction is solved. Similarly, a plurality of radar groups are arranged and deployed in a horizontal direction in an inclined manner, that is, a plurality of radars are arranged and deployed in a horizontal direction in an inclined manner on the same horizontal plane, and the monitoring range of the plurality of radars in the horizontal direction is larger than that of a single radar in the horizontal direction, so that the problem of small monitoring range in the horizontal direction is solved.

Is optionalIn embodiments of (a) to facilitate radar deployment, all radars in a radar array perform consistently, e.g., the horizontal field angle θ of all radars in a radar array_maxThe same; or the vertical field angle phi of all radars in the radar array_maxThe same; or the horizontal field angle theta of all the radars in the radar array_maxAnd angle of vertical field phi_maxAre all the same.

In order to obtain a larger monitoring range and save cost, in an alternative embodiment, for any one radar group in the radar array, the nth radar in the radar group is rotated by a first preset angle Δ Φ in a first preset rotation direction on a vertical plane relative to the n-1 st radar. N is a positive integer, N is more than 1 and less than or equal to N, and N is a numerical value obtained by counting the radars in the radar group from bottom to top. The first rotation direction may be a clockwise direction or a counterclockwise direction, which is not limited in this application.

In this embodiment, n may also be a numerical value obtained by counting the radars in the radar group from top to bottom. At this time, the nth radar in the radar group is rotated by Δ φ in the opposite direction of the first rotation direction on the vertical plane with respect to the (n-1) th radar.

For example, the first rotation direction is clockwise, and if n counts the number of the radars in the radar group from bottom to top, the nth radar in the radar group rotates by Δ Φ clockwise on the vertical plane relative to the (n-1) th radar. And if n is a numerical value obtained by counting the radars in the radar group from top to bottom. The nth radar in the radar set is rotated relative to the (n-1) th radar by delta phi in a counterclockwise direction in the vertical plane.

In order to obtain a larger monitoring range, save cost and save space occupied by the radar groups, in an optional embodiment, in the radar array, the upper left corner of the nth radar of the mth radar group is adjacent to the upper right corner of the nth radar of the m-1 radar group, and the mth radar group is rotated by a second preset angle Δ θ in the horizontal plane along a preset second rotation direction with respect to the m-1 radar group; m is a positive integer, M is more than 1 and less than or equal to M, and M is a numerical value obtained by counting the radar group from left to top right.

In the embodiment of the present application, m may also be a numerical value obtained by counting the radar groups from right to top left. At this time, the m-th radar group is rotated by Δ θ in the opposite direction of the second rotation direction on the horizontal plane with respect to the m-1 th radar group.

The deployment of the radar array may be as shown in fig. 4, where N is 3 and M is 2. n is a numerical value obtained by counting the radars in the radar group from bottom to top, and m is a numerical value obtained by counting the radar group from left to top right.

For the 1 st radar group, the 2 nd radar is rotated by Δ φ relative to the 1 st radar, and the 3 rd radar is rotated by Δ φ relative to the 2 nd radar.

For the 2 nd radar group, the 2 nd radar is rotated by Δ φ relative to the 1 st radar, and the 3 rd radar is rotated by Δ φ relative to the 2 nd radar.

In addition, the 2 nd radar group rotates by delta theta relative to the 1 st radar group, namely, the horizontal included angle between the 2 nd radar group and the 1 st radar group is delta theta. The upper left corner of the 3 rd radar of the 1 st radar group is adjacent to the upper right corner of the 3 rd radar of the 1 st radar group.

In order to avoid a monitoring blind area in the vertical direction between adjacent radars, in an optional embodiment, Δ φ is less than or equal to φ_maxAnd if the vertical field angle covered by the N radars in one radar group is phi, the phi is less than or equal to N × Delta phi.

In order to avoid the monitoring blind area in the horizontal direction between adjacent radar groups, in an optional implementation mode, Δ θ is less than or equal to θ_maxIf the horizontal field angle covered by the M radar groups is theta, the theta is not more than M.

For example, the monitoring range is required to be 30 ° in vertical view angle, 120 ° in horizontal view angle, 10 ° in vertical view angle and 45 ° in horizontal view angle, N may be 3, M may be 3, Δ θ may be 40 °, Δ Φ may be 10 °, and radar deployment may be performed.

In the embodiment of the present application, after the radar array is deployed, each radar in the radar array collects raw data and sends the collected raw data to the controller 120. The controller 120 receives raw data collected by each radar in the radar array, and monitors targets in a monitoring area covered by the radar array according to the raw data.

In an embodiment of the present application, the controller 120 monitors the target in the monitoring area covered by the radar array according to the raw data, which may specifically be: determining the speed and the coordinates of a first target in a first radar coordinate system in which a first radar is located aiming at original data acquired by the first radar in a radar array; the first target is any target appearing in the first radar coordinate system; obtaining a horizontal rotation matrix R that translates between a first radar coordinate system and a reference coordinate system₁And a vertical rotation matrix R₂(ii) a Converting the coordinates of the first target in the first radar coordinate system into the coordinates of the first target in the reference coordinate system according to the horizontal rotation matrix and the vertical rotation matrix; and determining whether the first target is a threat target according to the speed of the first target and the coordinate of the first target in the reference coordinate system.

In an alternative embodiment, if the reference coordinate system is the coordinate system of the jth radar in the ith radar group; i is more than or equal to 1 and less than or equal to M, j is more than or equal to 1 and less than or equal to N, i and j are positive integers, the first radar is the nth radar in the mth radar group, i is not equal to M, j is not equal to N, and then the horizontal rotation matrix R is formed₁And a vertical rotation matrix R₂Determined by the following equations (1) (2):

in the formulas (1) and (2), i ≠ m, j ≠ n.

In an alternative embodiment, the controller 120 may convert the coordinates of the first target in the first radar coordinate system to the coordinates of the first target in the reference coordinate system according to equation (3).

Wherein, C_m,nBeing the coordinates of the first object in the reference coordinate system,

is the coordinate of a first target in a first radar coordinate system, R₁A horizontal rotation matrix, R, for the conversion between the first radar coordinate system and the reference coordinate system₂Is a vertical rotation matrix that translates between the first radar coordinate system and the reference coordinate system. Wherein, the first radar is the nth radar in the mth radar group.

In an alternative embodiment, the controller 120 determines whether a second target identical to the first target exists according to the coordinates of each target in the monitored area in the reference coordinate system; and if so, determining whether the first target is a threat target or not according to the speed of one target with high echo power in the first target and the second target and the coordinates of the target in the reference coordinate system. The problem that the threat target cannot be accurately identified due to the fact that the same target is collected by a plurality of radars is effectively solved. In addition, in the embodiment of the application, one target is allowed to be simultaneously collected by a plurality of radars, namely, overlapping areas exist among the radars, so that the requirement on the installation precision of the radars is effectively reduced, and the regional intrusion monitoring of a three-dimensional space is convenient to realize.

Meanwhile, in the embodiment of the application, whether the first target is a threat target or not is determined according to the speed of a target with high echo power and the coordinate of the target in the reference coordinate system, and the higher the echo power is, the higher the credibility of the target is, so that the accuracy of the radar monitoring system in monitoring the regional intrusion is improved.

In an alternative embodiment, the controller 120 may determine whether the first target and the second target are the same target by: determining the horizontal distance d between the first object and the second object according to the coordinates of the first object in the reference coordinate system and the coordinates of the second object in the reference coordinate system_hAnd a vertical distance d_v. If d is_h≤δ_hAnd d is_v≤δ_vThen the first target and the second target are determined to be the same purposeAnd (4) marking. Otherwise, the controller 120 determines that the first target and the second target are not the same target. Wherein, delta_hTo a horizontal distance threshold, δ_vIs the vertical distance threshold.

In one example, the controller 120 can determine the horizontal distance threshold d according to equations (4), (5), (6), and (7)_hPerpendicular distance d_vHorizontal distance threshold delta_hAnd a vertical distance threshold δ_v。

d_h＝|(x_k1，y_k1)-(x_k2，y_k2)| (4)

Namely, it is

d_h＝|z_k1-z_k2| (5)

Namely, it is

In the equations (6) and (7),

in the formulae (4), (5), (6) and (7), C_k1And (x)_k1，y_k1，z_k1) As coordinates of the first object in a reference coordinate system, C_k2And (x)_k2，y_k2，z_k2) The coordinates of the second object in the reference coordinate system.

In an alternative embodiment, the controller 120 tracks the first target according to the speed of the first target and the coordinates of the first target in the reference coordinate system, determines the threat level of the first target according to the track tracking result, and determines whether the first target is a threat target. The track tracking can be realized by adopting related track tracking technology, and the detailed description is omitted here. According to the technical scheme, the threat degree of the target is determined by adopting track tracking, extra devices such as a camera are avoided, the complexity of the radar monitoring system is reduced, and the real-time performance of monitoring is improved.

For multiple targets, the controller 120 performs track tracking on each target independently, and can perform threat level analysis on multiple targets simultaneously, thereby achieving the function of monitoring multi-target intrusion.

In the embodiment of the application, the threat degree can be determined by the proximity intention and the proximity degree. Wherein the approach intention is determined by a movement trend of the target, the movement trend of the target including: whether the flight path points to a warning area, whether the flight path is a high-speed object, and the like. The proximity is determined by the distance of the target to the surveillance zone.

For example, if the track of the target points to the surveillance zone, the speed of the target is higher than the preset speed threshold, and the distance from the target to the surveillance zone is less than the preset distance threshold, the controller 120 determines that the threat level of the target is high, and the target is a threat target. And the higher the speed of the target, the smaller the distance of the target to the surveillance zone, and the higher the threat level of this target.

In an alternative embodiment, as shown in fig. 5, the radar monitoring system may further include a monitoring center device 130. The monitoring center device 130 stores the track tracking result of the threat target, so that the user can perform manual intervention on the threat target according to the stored track tracking result.

In the embodiment of the present application, the controller 120 is relatively independent from the monitoring center device 130. For example, the controller 120 and the monitoring center device 130 are located on two different physical machines. In this way, the controller 120 may autonomously implement the target analysis function.

In an alternative embodiment, the monitoring center device 130 is further configured to receive a configuration command input by a user, and send the configuration command to the controller 120. The controller 120 configures according to the received configuration instructions. For example, the configuration instructions include an alert zone, a speed threshold, and a distance threshold. The controller 120 configures the alert zone, the speed threshold, and the distance threshold according to the configuration instructions.

In an alternative embodiment, the controller 120 may be further configured to, when the first target is determined to be a threat target, disturb and/or alert the first target based on the coordinates of the first target in the reference coordinate system.

In one embodiment, the radar monitoring system may further include an interference device, wherein the interference device includes, but is not limited to, a siren, a rotatable spotlight, and/or a communication jammer. After determining that the first target is a threat target, the controller 120 activates the interfering device and transmits the coordinates of the first target in the reference coordinate system to the interfering device. And the interference equipment interferes and/or warns the first target according to the coordinate of the first target in the reference coordinate system, so that the first target abandons or loses the intrusion capability.

For example, jamming devices include sirens, pivotable spotlights, and communication disruptors. For threat targets on the ground, the controller 120 alerts with a siren, while the controller 120 projects a spotlight beam onto the threat target according to the coordinates of the threat target in the reference coordinate system. Alternatively, for an airborne threat target, the controller 120 transmits a communication band interference signal to the coordinates of the threat target in the reference coordinate system using the communication jammer.

In the embodiment of the present application, for a plurality of threat targets, the controller 120 may sequentially process the threat targets according to the threat degree.

In one embodiment of the present application, the controller includes a signal processing module and an analysis decision module. Specifically, reference may be made to a third schematic structural diagram of the radar monitoring system provided in the embodiment of the present application shown in fig. 6. This radar monitoring system includes: radar array 110 and controller 120, controller 120 including signal processing module 121 and analysis decision module 122.

The radars in the radar array 110 send the collected raw data to the signal processing module 121.

A signal processing module 121, configured to determine, for raw data acquired by a first radar in the radar array, a speed and coordinates of a first target in a first radar coordinate system in which the first radar is located; the first target is any target appearing in the first radar coordinate system; acquiring a horizontal rotation matrix and a vertical rotation matrix which are converted between a first radar coordinate system and a reference coordinate system; and converting the coordinates of the first target in the first radar coordinate system into the coordinates of the first target in the reference coordinate system according to the horizontal rotation matrix and the vertical rotation matrix.

in the formulas (1) and (2), i ≠ m, j ≠ n.

The above horizontal rotation matrix R₁And a vertical rotation matrix R₂The horizontal rotation matrix R may be determined by the signal processing module 121, or may be determined by other devices and stored in the controller 120, and then the signal processing module 121 directly calls to obtain the horizontal rotation matrix R₁And a vertical rotation matrix R₂。

In an alternative embodiment, the signal processing module 121 may convert the coordinates of the first target in the first radar coordinate system into the coordinates of the first target in the reference coordinate system according to equation (3).

The signal processing module 121 is further configured to send the coordinates of the first target in the reference coordinate system to the analysis decision module 122.

In an alternative embodiment, the signal processing module 121 determines whether a second target identical to the first target exists according to the coordinates of each target in the monitored area in the reference coordinate system; if so, the velocity of the target with the higher echo power of the first target and the second target and the coordinates of the target in the reference coordinate system are sent to the analysis and decision module 122. The analysis and decision module 122 determines whether the first target is a threat target based on the velocity of one of the first target and the second target having a large echo power and the coordinates of the target in the reference coordinate system.

The problem that the threat target cannot be accurately identified due to the fact that the same target is collected by a plurality of radars is effectively solved. In addition, in the embodiment of the application, one target is allowed to be simultaneously collected by a plurality of radars, namely, overlapping areas exist among the radars, so that the requirement on the installation precision of the radars is effectively reduced, and the regional intrusion monitoring of a three-dimensional space is convenient to realize. Meanwhile, in the embodiment of the application, whether the first target is a threat target or not is determined according to the speed of a target with high echo power and the coordinate of the target in the reference coordinate system, and the higher the echo power is, the higher the credibility of the target is, so that the accuracy of the radar monitoring system in monitoring the regional intrusion is improved.

In an alternative embodiment, the signal processing module 121 may determine the first target sum in the following mannerWhether the second target is the same target: determining the horizontal distance d between the first object and the second object according to the coordinates of the first object in the reference coordinate system and the coordinates of the second object in the reference coordinate system_hAnd a vertical distance d_v. If d is_h≤δ_hAnd d is_v≤δ_vThen the first target and the second target are determined to be the same target. Otherwise, the controller 120 determines that the first target and the second target are not the same target. Wherein, delta_hTo a horizontal distance threshold, δ_vIs the vertical distance threshold.

In one example, the signal processing module 121 can determine the horizontal distance threshold d according to equations (4), (5), (6), and (7)_hPerpendicular distance d_vHorizontal distance threshold delta_hAnd a vertical distance threshold δ_v。

d_h＝|(x_k1，y_k1)-(x_k2，y_k2)| (4)

Namely, it is

d_h＝|z_k1-z_k2| (5)

Namely, it is

In the equations (6) and (7),

In this embodiment, the analysis and decision module 122 is configured to determine whether the first target is a threat target according to the speed of the first target and the coordinates of the first target in the reference coordinate system.

The analysis and decision module 122 determines a threat level of the first target based on the speed of the first target and the coordinates of the first target in the reference coordinate system, and determines whether the first target is a threat target based on the threat level of the first target.

In an alternative embodiment, the analysis and decision module 122 performs track tracking on the first target according to the speed of the first target and the coordinates of the first target in the reference coordinate system, determines the threat level of the first target according to the track tracking result, and determines whether the first target is a threat target. The track tracking can be realized by adopting related track tracking technology, and the detailed description is omitted here. According to the technical scheme, the threat degree of the target is determined by adopting track tracking, extra devices such as a camera are avoided, the complexity of the radar monitoring system is reduced, and the real-time performance of monitoring is improved.

For multiple targets, the analysis and decision module 122 independently tracks each target, and can analyze the threat level of multiple targets simultaneously, thereby achieving the function of monitoring multi-target intrusion.

In an alternative embodiment, as shown in fig. 7, the radar monitoring system may further include a monitoring center device 130. In the embodiment of the present application, the analysis decision module 122 is relatively independent from the monitoring center device 130. For example, the analytical decision module 122 and the monitoring center device 130 are located on two different devices. In this way, the analysis decision module 130 may autonomously implement the target analysis functionality.

After determining that the target object is a threat target, the analysis decision module 122 sends a track tracking result of the threat target to the monitoring center device 130. The monitoring center device 130 stores the track tracking result of the threat target, so that the user can perform manual intervention on the threat target according to the stored track tracking result.

In an optional implementation, the monitoring center device 130 may be further configured to receive a configuration instruction input by a user, and send the configuration instruction to the analysis decision module 122. The analysis decision module 122 performs configuration according to the received configuration instructions. For example, the configuration instructions include an alert zone, a speed threshold, and a distance threshold. The analysis decision module 122 configures the alert zone, the speed threshold, and the distance threshold according to the configuration instructions.

In an alternative embodiment, as shown in fig. 8, the radar monitoring system may further include an interference module 140. The interference module 140 includes, but is not limited to, a siren, a rotatable spotlight, and/or a communication jammer, among other devices. The interference module 140 is the same as the interference device described above. After determining that the first target is a threat target, the analysis decision module 122 activates the interference module 140, and sends the coordinates of the first target in the reference coordinate system to the interference module 140. The interference module 140 interferes and/or warns the first target according to its coordinates in the reference coordinate system, so that the first target gives up or loses its ability to invade.

In the embodiment of the present application, there are multiple threat targets, and the analysis and decision module 122 may send the threat degrees of the multiple threat targets to the interference module 140. The interference module 140 processes the threat objects in turn according to the threat level.

Based on the same inventive concept, according to the embodiment of the radar monitoring system, the embodiment of the application also provides a radar monitoring method. Referring to fig. 9, fig. 9 is a first flowchart of a radar monitoring method according to an embodiment of the present disclosure, where the method is applied to a controller of a radar monitoring system, such as the controller 120 shown in fig. 2. The radar monitoring system also includes a radar array, such as radar array 110 shown in FIG. 2. The radar array comprises M radar groups, and any two adjacent radar groups are obliquely arranged along the horizontal direction; each radar group comprises N radars which are obliquely arranged along the vertical direction; wherein M and N are positive integers greater than 1.

In the embodiment of the application, the plurality of radars are deployed in the vertical direction and the horizontal direction, so that the monitoring range in the vertical direction and the monitoring range in the horizontal direction are enlarged, a ground target and an aerial target can be monitored simultaneously, and the problem of small monitoring range is solved.

In an alternative embodiment, all radars in the radar array may be uniform for ease of radar deployment, e.g., the horizontal field angle θ of all radars in the radar array_maxThe same; or the vertical field angle phi of all radars in the radar array_maxThe same; or the horizontal field angle theta of all the radars in the radar array_maxAnd angle of vertical field phi_maxAre all the same.

In order to obtain a larger monitoring range, save cost and save space occupied by the radar groups, in an optional embodiment, for any one radar group in the radar array, a left upper corner of an nth radar of an mth radar group in the radar array is adjacent to a right upper corner of an nth radar of an m-1 th radar group, and the mth radar group is rotated by a second preset angle Δ θ in a second preset rotation direction on a horizontal plane relative to the m-1 th radar group; m is a positive integer, M is more than 1 and less than or equal to M, and M is a numerical value obtained by counting the radar group from left to top right.

Specifically, the radar monitoring method includes the following steps.

And step 901, receiving raw data collected by each radar in the radar array.

The radar transmits a radar signal. And after receiving the radar signals, other objects generate echo signals and feed the echo signals back to the radar. And after receiving the echo signal, the radar sends the echo signal as original data to the controller.

Each radar in each radar group independently collects original data without mutual influence.

And 902, monitoring targets in a monitoring area covered by the radar array according to the original data, wherein the monitoring area covered by the radar array is formed by overlapping the horizontal field angle and the vertical field angle of each radar in the M radar groups.

In an alternative implementation, referring to a second flowchart of the radar monitoring method shown in fig. 10, based on fig. 9, the method includes:

step 1001, raw data collected by each radar in the radar array is received.

Step 1001 is the same as step 901.

Step 1002, determining the speed and coordinates of a first target in a first radar coordinate system where a first radar is located, for original data acquired by the first radar in a radar array; the first target is any target present in the first radar coordinate system.

For the raw data sent by each radar, the controller processes the raw data sent by the radar according to a signal processing flow, such as signal windowing, three-dimensional Fourier transform and the like, so as to obtain the speed, the coordinates, the echo power, the distance and the like of the radar in a coordinate system.

Step 1003, acquiring a horizontal rotation matrix and a vertical rotation matrix which are converted between the first radar coordinate system and the reference coordinate system.

and 1004, converting the coordinates of the first target in the first radar coordinate system into the coordinates of the first target in the reference coordinate system according to the horizontal rotation matrix and the vertical rotation matrix.

The controller may convert coordinates of the first target in the first radar coordinate system to coordinates of the first target in the reference coordinate system according to equation (3).

Step 1005, determining whether the first target is a threat target according to the speed of the first target and the coordinate of the first target in the reference coordinate system.

In an alternative embodiment, the controller determines whether a second target identical to the first target exists according to the coordinates of each target in the monitored area in the reference coordinate system; and if so, determining whether the first target is a threat target or not according to the speed of one target with high echo power in the first target and the second target and the coordinates of the target in the reference coordinate system. The problem that the threat target cannot be accurately identified due to the fact that the same target is collected by a plurality of radars is effectively solved.

In the embodiment of the application, one target is allowed to be simultaneously collected by a plurality of radars, namely, overlapping areas exist among the radars, so that the requirement on the installation precision of the radars is effectively reduced, and the regional intrusion monitoring of a three-dimensional space is convenient to realize. In addition, in the embodiment of the application, whether the first target is a threat target or not is determined according to the speed of a target with high echo power and the coordinate of the target in the reference coordinate system, and the higher the echo power is, the higher the credibility of the target is, so that the accuracy of the radar monitoring system in monitoring the regional intrusion is improved.

In an alternative embodiment, the controller may determine whether the first target and the second target are the same target by:determining the horizontal distance d between the first object and the second object according to the coordinates of the first object in the reference coordinate system and the coordinates of the second object in the reference coordinate system_hAnd a vertical distance d_v. If d is_h≤δ_hAnd d is_v≤δ_vThen the first target and the second target are determined to be the same target. Otherwise, the controller determines that the first target and the second target are not the same target. Wherein, delta_hTo a horizontal distance threshold, δ_vIs the vertical distance threshold.

In one example, the controller may determine the horizontal distance threshold d according to equations (4), (5), (6), and (7)_hPerpendicular distance d_vHorizontal distance threshold delta_hAnd a vertical distance threshold δ_v。

d_h＝|(x_k1，y_k1)-(x_k2，y_k2)| (4)

Namely, it is

d_h＝|z_k1-z_k2| (5)

Namely, it is

In the equations (6) and (7),

in the formulae (4), (5), (6) and (7), C_k1And (x)_k1，y_k1，z_k1) For the first object in said referencesCoordinates in the coordinate system, C_k2And (x)_k2，y_k2，z_k2) The coordinates of the second object in the reference coordinate system.

In an optional implementation manner, the controller performs track tracking on the first target according to the speed of the first target and the coordinate of the first target in the reference coordinate system, determines the threat level of the first target according to a track tracking result, and determines whether the first target is a threat target. The track tracking can be realized by adopting related track tracking technology, and the detailed description is omitted here. According to the technical scheme, the threat degree of the target is determined by adopting track tracking, extra devices such as a camera are avoided, the complexity of the radar monitoring system is reduced, and the real-time performance of monitoring is improved.

In an alternative embodiment, the controller interferes with and/or warns the first object based on its coordinates in the reference frame when the first object is determined to be a threat object. For example, the controller may initiate the interference device after determining that the first target is a threat target, and send the coordinates of the first target in the reference coordinate system to the interference device. And the interference equipment interferes and/or warns the first target according to the coordinate of the first target in the reference coordinate system, so that the first target abandons or loses the intrusion capability. Interfering devices include, but are not limited to, sirens, rotatable spotlights, and/or communication disruptors, among others.

Based on the same inventive concept, according to the embodiments of the radar monitoring system and the radar monitoring method, the embodiment of the application also provides a radar monitoring device. Referring to fig. 11, fig. 11 is a schematic structural diagram of a first configuration of a radar monitoring apparatus provided in an embodiment of the present application, where the apparatus is applied to a controller of a radar monitoring system, the radar monitoring system further includes a radar array, the radar array includes M radar groups, and any two adjacent radar groups are arranged in a horizontal direction in an inclined manner; each radar group comprises N radars which are obliquely arranged along the vertical direction; wherein M and N are positive integers greater than 1; the device includes:

a receiving module 1101, configured to receive raw data collected by each radar in the radar array;

and the monitoring module 1102 is configured to monitor a target in a monitoring area covered by the radar array according to the original data, where the monitoring area covered by the radar array is formed by overlapping a horizontal field angle and a vertical field angle of each radar in the M radar groups.

Optionally, for any radar group in the radar array, the nth radar in the radar group rotates by a first preset angle Δ Φ in the vertical plane along a preset first rotation direction with respect to the (n-1) th radar; n is a positive integer, N is more than 1 and less than or equal to N, and N is a numerical value obtained by counting the radars in the radar group from bottom to top.

Optionally, the vertical field of view phi of all radars in the radar array_maxSame, wherein, delta phi is less than or equal to phi_max；

If the vertical field angle covered by the N radars in the radar group is phi, phi is less than or equal to N × Delta phi.

Optionally, in the radar array, a left upper corner of an nth radar of an mth radar group is adjacent to a right upper corner of an nth radar of an m-1 radar group, and the mth radar group is rotated by a second preset angle Δ θ along a preset second rotation direction on the horizontal plane relative to the m-1 radar group; m is a positive integer, M is more than 1 and less than or equal to M, and M is a numerical value obtained by counting the radar group from left to top right.

Optionally, the horizontal field angle θ of all radars in the radar array_maxWherein Δ θ ≦ θ_max；

If the horizontal field angle covered by the M radar groups is theta, the theta is not more than M delta theta.

Optionally, the radar is a millimeter wave radar, the radar has an elliptical cone field of view, and the horizontal viewing angle of the radar is greater than the vertical viewing angle.

Optionally, referring to a second structural schematic diagram of the radar monitoring apparatus shown in fig. 12, based on fig. 11, the monitoring module 1102 may include:

a first determining submodule 1121, configured to determine, for raw data acquired by a first radar in the radar array, a speed and coordinates of a first target in a first radar coordinate system in which the first radar is located; the first target is any target appearing in the first radar coordinate system;

an obtaining sub-module 1122 for obtaining a horizontal rotation matrix and a vertical rotation matrix converted between the first radar coordinate system and the reference coordinate system;

a conversion submodule 1123, configured to convert coordinates of the first target in the first radar coordinate system into coordinates of the first target in the reference coordinate system according to the horizontal rotation matrix and the vertical rotation matrix;

a second determining submodule 1124 for determining whether the first object is a threat object based on the velocity of the first object and the coordinates of the first object in the reference coordinate system.

Optionally, if the reference coordinate system is a coordinate system of a jth radar in the ith radar group; i is more than or equal to 1 and less than or equal to M, j is more than or equal to 1 and less than or equal to N, i and j are positive integers, the first radar is the nth radar in the mth radar group, i is not equal to M, j is not equal to N, the radar monitoring device can further comprise a first determining module for determining the horizontal rotation matrix R₁And a vertical rotation matrix R₂The method is specifically used for:

and delta phi is a first preset angle of rotation of the nth radar in the radar group relative to the n-1 radar in the vertical plane along a preset first rotation direction, and delta theta is a second preset angle of rotation of the mth radar group relative to the m-1 radar in the radar array in the horizontal plane along a preset second rotation direction.

Optionally, the conversion sub-module 1123 may be specifically configured to:

transforming the coordinates of the first target in the first radar coordinate system into the coordinates of the first target in the reference coordinate system by the following formula:

is the coordinate of a first target in a first radar coordinate system, R₁A horizontal rotation matrix, R, for the conversion between the first radar coordinate system and the reference coordinate system₂Is a vertical rotation matrix that translates between the first radar coordinate system and the reference coordinate system.

Optionally, the second determining sub-module 1124 may be specifically configured to:

determining whether a second target identical to the first target exists according to the coordinates of each target in the monitoring area in the reference coordinate system; and if so, determining whether the first target is a threat target or not according to the speed of one target with high echo power in the first target and the second target and the coordinates of the target in the reference coordinate system.

and if the horizontal distance between the first target and the second target is determined to be less than or equal to the horizontal distance threshold value and the vertical distance between the first target and the second target is determined to be less than or equal to the vertical distance threshold value according to the coordinates of the first target in the reference coordinate system and the coordinates of the second target in the reference coordinate system, determining that the first target and the second target are the same target.

Optionally, the radar monitoring apparatus may further include a second determining module for determining a horizontal distance d between the first target and the second target according to the following formula_hPerpendicular distance d between first and second targets_vHorizontal distance threshold delta_hAnd a vertical distance threshold δ_v：

d_h＝|(x_k1，y_k1)-(x_k2，y_k2)|；

d_v＝|z_k1-z_k2|；

Wherein, C_k1And (x)_k1，y_k1，z_k1) As coordinates of the first object in a reference coordinate system, C_k2And (x)_k2，y_k2，z_k2) The coordinate of the second target in the reference coordinate system is represented by delta phi, the nth radar in the radar group rotates for a first preset angle relative to the n-1 th radar in the vertical plane along a preset first rotating direction, delta theta is represented by the second preset angle relative to the m-1 th radar in the radar array in the horizontal plane along a preset second rotating direction, and phi is represented by the coordinate of the second target in the reference coordinate system_maxAt a vertical field of view of the radar, θ_maxThe horizontal field angle of the radar.

tracking the first target according to the speed of the first target and the coordinate of the first target in the reference coordinate system; and determining whether the first target is a threat target or not according to the track tracking result.

Optionally, the monitoring module 1102 may further include an alert sub-module configured to, when the first target is determined to be a threat target, interfere with and/or alert the first target according to coordinates of the first target in the reference coordinate system.

Based on the same inventive concept, according to the embodiments of the radar monitoring system and the radar monitoring method, the embodiments of the present application further provide a controller, as shown in fig. 13, including a processor 1301 and a memory 1302; a memory 1302 for storing a computer program; the processor 1301 is configured to implement any step of the radar monitoring method when executing the program stored in the memory 1302. Specifically, the controller is connected with a radar array, the radar array comprises M radar groups, and any two adjacent radar groups are obliquely arranged along the horizontal direction; each radar group comprises N radars which are obliquely arranged along the vertical direction; wherein M and N are positive integers greater than 1; the method comprises the following steps:

receiving raw data collected by each radar in a radar array;

Based on the same inventive concept, according to the embodiments of the radar monitoring system and the radar monitoring method, the embodiments of the present application further provide a machine-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, any step of the radar monitoring method is implemented. Specifically, the controller is connected with a radar array, the radar array comprises M radar groups, and any two adjacent radar groups are obliquely arranged along the horizontal direction; each radar group comprises N radars which are obliquely arranged along the vertical direction; wherein M and N are positive integers greater than 1; the method comprises the following steps:

receiving raw data collected by each radar in a radar array;

The Memory may include a RAM (Random Access Memory) or an NVM (Non-Volatile Memory), such as at least one disk Memory. Additionally, the memory may be at least one memory device located remotely from the processor.

The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also DSPs (Digital Signal Processing), ASICs (Application Specific Integrated circuits), FPGAs (Field Programmable Gate arrays) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the embodiments of the radar monitoring method, the radar monitoring device, the controller and the machine-readable storage medium, since they are substantially similar to the embodiments of the radar monitoring system, the description is simple, and the relevant points can be referred to the partial description of the embodiments of the radar monitoring system.

The above description is only for the preferred embodiment of the present application, and is not intended to limit the scope of the present application. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A radar monitoring system is characterized by comprising a radar array and a controller, wherein the radar array comprises M radar groups, and any two adjacent radar groups are obliquely arranged along the horizontal direction; each radar group comprises N radars which are obliquely arranged along the vertical direction; wherein M and N are positive integers greater than 1;

the controller is configured to: receiving raw data acquired by each radar in the radar array, and determining the speed and the coordinates of a first target in a first radar coordinate system in which a first radar is located aiming at the raw data acquired by the first radar in the radar array; the first target is any target appearing in the first radar coordinate system; acquiring a horizontal rotation matrix and a vertical rotation matrix which are converted between the first radar coordinate system and the reference coordinate system; converting the coordinates of the first target in the first radar coordinate system into the coordinates of the first target in the reference coordinate system according to the horizontal rotation matrix and the vertical rotation matrix; determining whether the first target is a threat target according to the speed of the first target and the coordinates of the first target in the reference coordinate system; and the monitoring area covered by the radar array is formed by superposing the horizontal field angle and the vertical field angle of each radar in the M radar groups.

2. The system of claim 1, wherein for any one radar group in the radar array, an nth radar in the radar group is rotated relative to an n-1 th radar in a vertical plane by a first predetermined angle Δ Φ in a first predetermined rotational direction; n is a positive integer, N is more than 1 and less than or equal to N, and N is a numerical value obtained by counting the radars in the radar group from bottom to top.

3. The system of claim 2, wherein the vertical field of view phi of all radars in the radar array_maxSame, wherein, delta phi is less than or equal to phi_max；

If the vertical field angle covered by the N radars in the radar group is phi, phi is not more than N x delta phi.

4. The system according to claim 2 or 3, wherein the upper left corner of the nth radar of the mth radar group is adjacent to the upper right corner of the nth radar of the m-1 radar group in the radar array, and the mth radar group is rotated by a second preset angle Δ θ in a second preset rotation direction on the horizontal plane with respect to the m-1 radar group; m is a positive integer, M is more than 1 and less than or equal to M, and M is a numerical value obtained by counting the radar group from left to top right.

5. The system of claim 4, wherein the horizontal field angle θ of all radars in the radar array_maxWherein Δ θ ≦ θ_max；

6. The system of claim 1, wherein the radar is a millimeter wave radar having an elliptical cone field of view, the radar having a horizontal viewing angle greater than a vertical viewing angle.

7. The system of claim 1, wherein if the reference coordinate system is the coordinate system of the jth radar in the ith radar group; i is more than or equal to 1 and less than or equal to M, j is more than or equal to 1 and less than or equal to N, i and j are positive integers, the first radar is the nth radar in the mth radar group, i is not equal to M, j is not equal to N, and then the horizontal rotation matrix R₁And the vertical rotation matrix R₂Determined by the following equation:

and delta phi is a first preset angle of the nth radar in the radar group rotating relative to the n-1 th radar on the vertical plane along a preset first rotating direction, and delta theta is a second preset angle of the mth radar group in the radar array rotating relative to the m-1 th radar group on the horizontal plane along a preset second rotating direction.

8. The system according to claim 1, wherein the transforming the coordinates of the first object in the first radar coordinate system into the coordinates of the first object in the reference coordinate system according to the horizontal rotation matrix and the vertical rotation matrix comprises:

transforming the coordinates of the first target in a first radar coordinate system into the coordinates of the first target in the reference coordinate system by:

wherein, C_m,nAs coordinates of the first object in the reference coordinate system,

for the coordinates of the first target in the first radar coordinate system, R₁A horizontal rotation matrix, R, for the conversion between the first radar coordinate system and the reference coordinate system₂A vertical rotation matrix for converting between the first radar coordinate system and the reference coordinate system.

9. The system according to claim 1, wherein the determination of whether the first object is a threat object is based on the speed of the first object and the coordinates of the first object in the reference coordinate system, in particular:

determining whether a second target identical to the first target exists according to the coordinates of each target in the monitoring area in the reference coordinate system; and if so, determining whether the first target is a threat target or not according to the speed of one target with high echo power in the first target and the second target and the coordinate of the target in the reference coordinate system.

10. The system according to claim 9, wherein the determining whether there is a second object that is the same as the first object according to the coordinates of each object in the monitored area in the reference coordinate system comprises:

and if the horizontal distance between the first target and the second target is determined to be less than or equal to a horizontal distance threshold value and the vertical distance between the first target and the second target is determined to be less than or equal to a vertical distance threshold value according to the coordinate of the first target in the reference coordinate system and the coordinate of the second target in the reference coordinate system, determining that the first target and the second target are the same target.

11. The system of claim 10, wherein the horizontal distance d between the first target and the second target is determined by the following formula_hA vertical distance d between the first target and the second target_vHorizontal distance threshold delta_hAnd a vertical distance threshold δ_v：

d_h＝|(x_k1，y_k1)-(x_k2，y_k2)|；

d_v＝|z_k1-z_k2|；

Wherein, C_k1And (x)_k1，y_k1，z_k1) As coordinates of the first object in the reference coordinate system, C_k2And (x)_k2，y_k2，z_k2) The coordinate of the second target in the reference coordinate system is represented by delta phi, the n radar in the radar group rotates for a first preset angle relative to the n-1 radar in the vertical plane along a preset first rotating direction, delta theta is represented by the m radar group in the radar array rotates for a second preset angle relative to the m-1 radar group in the horizontal plane along a preset second rotating direction, and phi is represented by the coordinate of the second target in the reference coordinate system_maxAt a vertical field of view of the radar, θ_maxThe horizontal field angle of the radar.

12. The system according to claim 1, wherein the determination of whether the first object is a threat object is based on the speed of the first object and the coordinates of the first object in the reference coordinate system, in particular:

tracking the first target according to the speed of the first target and the coordinate of the first target in the reference coordinate system; and determining whether the first target is a threat target or not according to a track tracking result.

13. The system of claim 1, further comprising an interference device in the radar monitoring system; the controller is further configured to send coordinates of the first target in the reference coordinate system to the interfering device when it is determined that the first target is a threat target;

and the interference equipment is used for interfering and/or warning the first target according to the coordinate of the first target in the reference coordinate system.

14. The radar monitoring method is characterized by being applied to a controller included in a radar monitoring system, wherein the radar monitoring system further comprises a radar array, the radar array comprises M radar groups, and any two adjacent radar groups are obliquely arranged along the horizontal direction; each radar group comprises N radars which are obliquely arranged along the vertical direction; wherein M and N are positive integers greater than 1; the method comprises the following steps:

receiving raw data collected by each radar in the radar array;

determining, for raw data acquired by a first radar in the radar array, a speed and coordinates of a first target appearing in a first radar coordinate system in which the first radar is located; the first target is any target appearing in the first radar coordinate system;

acquiring a horizontal rotation matrix and a vertical rotation matrix which are converted between the first radar coordinate system and the reference coordinate system;

converting the coordinates of the first target in the first radar coordinate system into the coordinates of the first target in the reference coordinate system according to the horizontal rotation matrix and the vertical rotation matrix;

determining whether the first target is a threat target according to the speed of the first target and the coordinates of the first target in the reference coordinate system;

and the monitoring area covered by the radar array is formed by superposing the horizontal field angle and the vertical field angle of each radar in the M radar groups.

15. The method according to claim 14, wherein for any one radar group in the radar array, the nth radar in the radar group is rotated by a first preset angle Δ Φ in a vertical plane in a preset first rotation direction with respect to the n-1 st radar; n is a positive integer, N is more than 1 and less than or equal to N, and N is a numerical value obtained by counting the radars in the radar group from bottom to top.

16. The method of claim 15, wherein the vertical field of view phi of all radars in the radar array_maxSame, wherein, delta phi is less than or equal to phi_max；

17. The method according to claim 15 or 16, wherein the upper left corner of the nth radar of the mth radar group is adjacent to the upper right corner of the nth radar of the m-1 radar group in the radar array, and the mth radar group is rotated by a second preset angle Δ θ in a second preset rotation direction on the horizontal plane with respect to the m-1 radar group; m is a positive integer, M is more than 1 and less than or equal to M, and M is a numerical value obtained by counting the radar group from left to top right.

18. The method of claim 17, wherein the horizontal field of view θ of all radars in the radar array_maxWherein Δ θ ≦ θ_max；

19. The method of claim 14, wherein the radar is a millimeter wave radar having an elliptical cone field of view, the radar having a horizontal viewing angle greater than a vertical viewing angle.

20. The method of claim 14, wherein if the reference coordinate system is the coordinate system of the jth radar in the ith radar set; i is more than or equal to 1 and less than or equal to M, j is more than or equal to 1 and less than or equal to N, i and j are positive integers, the first radar is the nth radar in the mth radar group, i is not equal to M, j is not equal to N, and then the horizontal rotation matrix R₁And the vertical rotation matrix R₂Determined by the following equation:

21. The method according to claim 14, wherein the transforming the coordinates of the first object in the first radar coordinate system into the coordinates of the first object in the reference coordinate system according to the horizontal rotation matrix and the vertical rotation matrix comprises:

wherein, C_m,nIs the firstThe coordinates of the object in said reference coordinate system,

22. The method according to claim 14, wherein said determining whether the first object is a threat object is based on the speed of the first object and the coordinates of the first object in the reference coordinate system, in particular:

23. The method according to claim 22, wherein the determining whether there is a second object that is the same as the first object is based on the coordinates of the respective object in the monitored area in the reference coordinate system, specifically:

24. The method of claim 23, wherein the determining is performed by the following equationHorizontal distance d between first and said second target_hA vertical distance d between the first target and the second target_vHorizontal distance threshold delta_hAnd a vertical distance threshold δ_v：

d_h＝|(x_k1，y_k1)-(x_k2，y_k2)|；

d_v＝|z_k1-z_k2|；

25. The method according to claim 14, wherein said determining whether the first object is a threat object is based on the speed of the first object and the coordinates of the first object in the reference coordinate system, in particular:

26. The method of claim 14, further comprising: and when the first target is determined to be a threat target, carrying out interference and/or warning on the first target according to the coordinate of the first target in the reference coordinate system.

27. A controller comprising a processor and a memory; the memory is used for storing a computer program; the processor, when executing the program stored in the memory, implementing the method steps of any of claims 14-26.

28. A machine readable storage medium, characterized in that a computer program is stored in the machine readable storage medium, which computer program, when being executed by a processor, carries out the method steps of any one of the claims 14-26.