CN111323761A - Echo system function construction method and device and echo simulator - Google Patents
Echo system function construction method and device and echo simulator Download PDFInfo
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- G—PHYSICS
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- 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
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- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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- 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
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- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
- G01S13/90—Radar or analogous systems specially adapted for specific applications for mapping or imaging using synthetic aperture techniques, e.g. synthetic aperture radar [SAR] techniques
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- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
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- G01S13/885—Radar or analogous systems specially adapted for specific applications for ground probing
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Abstract
The application relates to the technical field of ground penetrating radar, in particular to an echo system function construction method and device and an echo simulator. The echo system function construction method provided by the embodiment of the application comprises the following steps: and aiming at each ground unit cell in the plurality of ground unit cells, extracting a decimal part from an actual distance value between the ground unit cell and the radar, obtaining values of N interpolation kernels according to the decimal part, wherein N is not less than 0 and is an integer, calculating a product of the value of the interpolation kernel and a modulation system function for each interpolation kernel in the N interpolation kernels to be used as a construction function so as to obtain N construction functions, and constructing an echo system function based on the N construction functions corresponding to each ground unit cell in the plurality of ground unit cells. The echo system function construction method, the echo system function construction device and the echo simulator provided by the embodiment of the application can improve the imaging quality of the radar.
Description
Technical Field
The application relates to the technical field of ground penetrating radar, in particular to an echo system function construction method and device and an echo simulator.
Background
In the Synthetic Aperture Radar (SAR) development process, an experimental device is usually required for performing a function test and a performance index test on an SAR complete machine. Based on the SAR echo simulator, the SAR echo simulator is an important component of a semi-physical simulation and test platform, can simulate the actual working process of the SAR and generate an echo signal for a single-machine test of the SAR or a semi-physical closed-loop simulation test of the SAR whole system, thereby accelerating the research and development process of the SAR. In the prior art, an SAR echo simulator usually completes generation and calculation of an echo signal through a Field Programmable Gate Array (FPGA) chip, but in the calculation process of the FPGA chip, quantization and rounding are usually performed on the target distance (distance from the SAR to a target ground cell) of the SAR, which causes spectrum leakage, and finally causes reduction of the echo precision of the SAR echo simulator and reduction of the imaging quality of the SAR.
Disclosure of Invention
An object of the embodiments of the present application is to provide an echo system function constructing method, an echo system function constructing device, and an echo simulator, so as to solve the above problems.
In a first aspect, a method for constructing an echo system function provided in an embodiment of the present application includes:
extracting a decimal part from an actual distance value between the ground cell and the radar for each ground cell in the plurality of ground cells;
obtaining values of N interpolation kernels according to the decimal part, wherein N is not less than 0 and is an integer;
calculating a product of a value of the interpolation kernel and a modulation system function as a construction function for each of the N interpolation kernels to obtain N construction functions;
and constructing an echo system function based on the N construction functions corresponding to each ground cell in the plurality of ground cells.
The echo system function construction method provided by the embodiment of the application can extract a decimal part from actual distance values of ground cells and a radar for each ground cell in a plurality of ground cells, obtain values of N interpolation kernels according to the decimal part, calculate a product of the value of the interpolation kernel and a modulation system function for each interpolation kernel in the N interpolation kernels, use the product as a construction function to obtain N construction functions, and construct an echo system function based on the N construction functions corresponding to each ground cell in the plurality of ground cells. Therefore, reconstruction of the echo system function can be achieved based on the decimal part of the actual distance value between each ground unit grid in the plurality of ground unit grids and the radar, so that frequency spectrum leakage is reduced, the echo precision of the echo simulator is improved, and finally the imaging quality of the radar is improved.
With reference to the first aspect, an embodiment of the present application further provides a first optional implementation manner of the first aspect, and obtaining values of N interpolation kernels according to the fractional part includes:
expanding the decimal part by a preset multiple to obtain an intermediate result;
determining N first fixed values according to specific numerical values of preset multiples;
calculating the sum of the first fixed value and the intermediate result aiming at each first fixed value in the N first fixed values, and taking an absolute value as a query address to obtain N query addresses;
and respectively accessing the memory spaces pointed by the N query addresses in the interpolation kernel memory banks to obtain the values of the N interpolation kernels.
With reference to the first aspect, this application provides a second optional implementation manner of the first aspect, and before calculating, as a construction function, a product of a value of the interpolation kernel and the modulation system function for each interpolation kernel of the N interpolation kernels, and obtaining the N construction functions, the echo system function construction method further includes:
determining a plurality of initial range gates;
and for each initial range gate in the plurality of initial range gates, performing coherent superposition on echo signals corresponding to each ground unit cell in the initial range gates to obtain a modulation system function corresponding to the initial range gate.
With reference to the second optional implementation manner of the first aspect, this embodiment of the present application further provides a third optional implementation manner of the first aspect, where for each interpolation kernel of the N interpolation kernels, a product of a value of the interpolation kernel and a modulation system function is calculated as a construction function to obtain N construction functions, where the method includes:
aiming at each interpolation core in the N interpolation cores, determining an initial distance gate where a ground cell corresponding to the interpolation core is located;
acquiring a modulation system function corresponding to the initial range gate;
and calculating the product of the value of the interpolation kernel and the modulation system function as a construction function to obtain N construction functions.
With reference to the second optional implementation manner of the first aspect, an embodiment of the present application further provides a fourth optional implementation manner of the first aspect, where the constructing an echo system function based on N construction functions corresponding to each ground cell in a plurality of ground cells includes:
setting a corresponding target distance gate for each construction function in N construction functions corresponding to each ground unit cell in the plurality of ground unit cells based on the initial distance gate where the ground unit cell is located;
dividing all the construction functions corresponding to the plurality of ground cells to obtain a plurality of system function sets, wherein the target distance gates corresponding to the construction functions in each system function set are equal;
and constructing an echo system function based on a plurality of system function sets.
With reference to the fourth optional implementation manner of the first aspect, this application example further provides a fifth optional implementation manner of the first aspect, where for each of N construction functions corresponding to each ground unit cell in the multiple ground unit cells, based on an initial distance gate where the ground unit cell is located, setting a corresponding target distance gate for the construction function includes:
determining, for each ground cell of the plurality of ground cells, an initial distance gate at which the ground cell is located;
establishing a corresponding relation between N building functions corresponding to the ground unit grids and N second fixed values;
and acquiring the sum of the initial distance gate and a second fixed value corresponding to the construction function for each of the N construction functions corresponding to the ground cell, and taking the sum as a target distance gate corresponding to the construction function.
With reference to the fourth optional implementation manner of the first aspect, an embodiment of the present application further provides a sixth optional implementation manner of the first aspect, where obtaining an echo system function based on multiple system function sets includes:
acquiring the superposition sum of all construction functions in the system function set as function construction data aiming at each system function set in the plurality of system function sets to acquire a plurality of function construction data;
and arranging the function construction data according to the size sequence to obtain a system function sequence as an echo system function.
In a second aspect, an echo system function constructing apparatus provided in an embodiment of the present application includes:
the data extraction module is used for extracting a decimal part from an actual distance value between the ground cell and the radar aiming at each ground cell in the plurality of ground cells;
the interpolation kernel acquisition module is used for acquiring values of N interpolation kernels according to the decimal part, wherein N is not less than 0 and is an integer;
a first function obtaining module, configured to calculate, for each interpolation kernel of the N interpolation kernels, a product of a value of the interpolation kernel and a modulation system function as a construction function to obtain N construction functions;
and the second function acquisition module is used for constructing an echo system function based on the N construction functions corresponding to each ground cell in the plurality of ground cells.
The echo system function constructing device provided in the embodiment of the present application has the same beneficial effects as the echo system function constructing method provided in the first aspect, or any one of the optional embodiments of the first aspect, and details are not described here.
In a third aspect, an echo simulator provided in an embodiment of the present application includes a processor and a memory, where the memory stores a computer program, and the processor is configured to execute the computer program to implement the method for constructing an echo system function provided in the first aspect or any optional implementation manner of the first aspect.
The echo simulator device provided in the embodiment of the present application has the same beneficial effects as the echo system function construction method provided in the first aspect, or any optional implementation manner of the first aspect, and details are not repeated here.
In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed, the method for constructing an echo system function provided in the first aspect or any optional implementation manner of the first aspect is implemented.
The computer-readable storage medium provided in the embodiment of the present application has the same beneficial effects as the echo system function construction method provided in the first aspect, or any optional implementation manner of the first aspect, and details are not described here.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic structural block diagram of an echo simulator according to an embodiment of the present application.
Fig. 2 is a flowchart illustrating steps of a method for constructing an echo system function according to an embodiment of the present disclosure.
Fig. 3 is a schematic diagram of an actual working process of a radar according to an embodiment of the present application.
Fig. 4 is an auxiliary schematic illustration diagram of step S420 according to an embodiment of the present disclosure.
Fig. 5 is a schematic diagram of a superposition of a construction function according to an embodiment of the present application.
Fig. 6 is a schematic diagram of an overlay of another construction function provided in the embodiment of the present application.
Fig. 7 is a schematic diagram of an overlay of another construction function provided in the embodiment of the present application.
Fig. 8 is a schematic diagram of an overlay of another construction function provided in the embodiment of the present application.
Fig. 9 is a schematic diagram of an overlay of another construction function provided in the embodiment of the present application.
Fig. 10 is a schematic diagram of an overlay of another construction function provided in the embodiment of the present application.
Fig. 11 is a schematic diagram of an overlay of another construction function provided in the embodiment of the present application.
Fig. 12 is a schematic diagram of an overlay of another construction function provided in the embodiment of the present application.
Fig. 13 is a schematic structural block diagram of an echo system function constructing apparatus according to an embodiment of the present application.
Reference numerals: 100-echo simulator; 110-a processor; 120-a memory; 200-echo system function constructing device; 210-a data extraction module; 220-an interpolation kernel acquisition module; 230-a first function acquisition module; 240-second function acquisition module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Referring to fig. 1, a schematic block diagram of an echo simulator 100 applying an echo system function construction method and apparatus according to an embodiment of the present application is shown. Structurally, echo simulator 100 may include a processor 110 and a memory 120.
The processor 110 and the memory 120 are electrically connected, directly or indirectly, to enable data transfer or interaction, for example, the components may be electrically connected to each other via one or more communication buses or signal lines. The echo System function constructing device 200 includes at least one software module which can be stored in the memory 120 in the form of software or Firmware (Firmware) or solidified in an Operating System (OS) of the echo simulator 100. The processor 110 is configured to execute executable modules stored in the memory 120, for example, software functional modules and computer programs included in the echo system function constructing apparatus 200, so as to implement the echo system function constructing method.
The processor 110 may execute the computer program upon receiving the execution instruction. The processor 110 may be an integrated circuit chip having signal processing capabilities, such as an FPGA. The Processor 110 may also be a general-purpose Processor, for example, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a discrete gate or transistor logic device, a discrete hardware component, a microprocessor, or any conventional Processor, etc., which may implement or execute the methods, steps, and logic blocks disclosed in the embodiments of the present application.
The Memory 120 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), and an electrically Erasable Programmable Read-Only Memory (EEPROM). The memory 120 is used for storing a program, and the processor 110 executes the program after receiving the execution instruction.
It should be understood that the structure shown in fig. 1 is merely an illustration, and the echo simulator 100 provided in the embodiments of the present application may have fewer or more components than those shown in fig. 1, or may have a different configuration than that shown in fig. 1. Further, the components shown in fig. 1 may be implemented by software, hardware, or a combination thereof.
Referring to fig. 2, fig. 2 is a schematic flowchart illustrating a method for constructing an echo system function according to an embodiment of the present application, where the method is applied to the echo simulator 100 shown in fig. 1. It should be noted that the echo system function constructing method provided in the embodiment of the present application is not limited by the sequence shown in fig. 2 and the following, and the specific flow and steps of the echo system function constructing method are described below with reference to fig. 2.
Step S100, for each of the plurality of ground cells, a fractional part is extracted from an actual distance value between the ground cell and the radar.
Referring to fig. 3, in the embodiment of the present application, the ground scene may be divided into a plurality of discrete ground cells, the ground cells are arranged at equal intervals, and each ground cell specifically has a unique scattering coefficient and a unique coordinate value. Therefore, the actual distance value of the radar reaching each ground cell in the plurality of ground cells can be obtained according to the current flying position of the radar. In addition, it should be noted that, in the embodiment of the present application, when the actual distance value is represented by binary for each of the plurality of actual distance values, the decimal part extracted from the actual distance value may be a preset number of bits close to the integer part of the actual distance value, and the preset number of bits may be, but is not limited to, 3 bits, 5 bits, 7 bits, and the like.
And S200, obtaining values of N interpolation kernels according to the decimal part, wherein N is not less than 0 and is an integer.
In this embodiment of the present application, the N interpolation kernels may be N Sinc difference kernels, and therefore, it can also be understood that, in this embodiment of the present application, reconstruction of an echo system function is mainly achieved by a Sinc interpolation algorithm based on a fractional part of an actual distance value between each of the plurality of ground cells and the radar. In addition, in the embodiment of the present application, regarding step S200, as an optional implementation manner, step S210, step S220, step S230, and step S240 may be included.
Step S210, the decimal part is expanded by a preset multiple to obtain an intermediate result.
In the embodiment of the present application, when step S210 is executed, the fractional part may be expanded by a preset multiple by using an interpolation algorithm to obtain an intermediate result, where the preset multiple may be any multiple, but in order to improve the interpolation precision and ensure the brevity degree of the interpolation algorithm, in the embodiment of the present application, the preset multiple may be 2^ n, where n is greater than or equal to 0 and is an integer, for example, the preset multiple may be, but is not limited to, 32 times, 64 times, or 128 times. Taking the preset multiple of 32 as an example, assuming that the actual distance value of the ground cell from the radar is 1000.7250125m, represented by binary 1111101000.1011100110011010, when the decimal part extracted from the distance value is 5 bits close to the integer part for each of the plurality of actual distance values, the decimal part extracted from the actual distance value of the ground cell from the radar is 0.10111, which is expanded by 32 times, i.e., shifted by 5 bits to the left, and the intermediate result is 10111, represented by decimal 23.
Step S220, determining N first fixed values according to the specific numerical value of the preset multiple.
In the embodiment of the present application, the specific value of the preset multiple and the specific value of N and the N first fixed values have a preset corresponding relationship, for example, when the preset multiple is 32 times, the specific value of N is 7, and the 7 first fixed values are [96, 64, 32, 0, -32, -64, -96 ].
Step S230, for each of the N first fixed values, calculates a sum of the first fixed value and the intermediate result, and takes an absolute value as a query address to obtain N query addresses.
Similarly, taking the preset multiple of 32 times, the intermediate result of Mm, the specific value of N is 7, and the 7 first fixed values are [96, 64, 32, 0, -32, -64, -96], as an example, for each of the 7 first fixed values, the sum of the first fixed value and the intermediate result is calculated, and the absolute value is taken as the query address, and the obtained 7 query addresses are respectively:
the first query address: 96+ M;
the second inquiry address: 64+ M;
third query address: 32+ M;
the fourth inquiry address: 0+ M;
the fifth inquiry address: 32-M;
sixth query address: 64-M;
the seventh inquiry address: 96-M.
Step S240, access is respectively performed to the storage spaces pointed by the N query addresses in the interpolation kernel storage library, so as to obtain values of the N interpolation kernels.
In the embodiment of the application, a ROM table is stored in the interpolation kernel storage library and used for storing the value of the Sinc function, the bit width of the ROM table is 16 bits, and the depth of the ROM table is 128. And aiming at each query address in the N query addresses, accessing a storage space pointed by the query address in the ROM table to obtain a value of a Sinc function as a value of an interpolation core, and finally obtaining the values of the N interpolation cores.
Step S300, for each interpolation kernel of the N interpolation kernels, calculating a product of a value of the interpolation kernel and the modulation system function as a construction function to obtain N construction functions.
It should be noted that, in the embodiment of the present application, the modulation system function corresponding to each initial range gate is different, and based on this, before performing step S300, the echo system function construction method provided in the embodiment of the present application further includes step S001 and step S002.
In step S001, a plurality of initial range gates are determined.
In this embodiment, the initial range gate may be a quotient of the range value and the radar range resolution, and the initial range gate is rounded, where the radar range resolution is a set value, and the rounding may be round by a forward method or a tail-removing method, and therefore, the variable factor of the initial range gate is substantially the range value. In addition, it should be noted that, in the embodiment of the present application, in general, the difference between two adjacent initial distance gates is 1. Similarly, taking the schematic diagram of the actual working process of the radar shown in fig. 3 as an example, in actual implementation, assuming that the radar range resolution is 3m, the quotient of the distance value in the interval [3000m, 3003m) and the radar range resolution is rounded by the tail-removing method by 1000, that is, the first range gate shown in fig. 3, and the quotient of the distance value in the interval [3003m, 3006m) and the radar range resolution is rounded by the tail-removing method by 1001, that is, the second range gate shown in fig. 3, and the quotient of the distance value in the interval [3006m, 3009m) and the radar range resolution is rounded by the tail-removing method by 1002, that is, the third range gate shown in fig. 3, and so on.
Step S002, for each initial range gate in the plurality of initial range gates, performing coherent superposition on the echo signal corresponding to each ground cell in the initial range gate to obtain a modulation system function corresponding to the initial range gate.
Taking the first range gate in fig. 3 as an example, the modulation system function corresponding to the first range gate may be obtained by performing coherent superposition on echo signals corresponding to 12 ground cells in the first range gate. Based on step S001 and step S002, in the embodiment of the present application, step S300 may include step S310, step S320, and step S330.
Step S310, for each interpolation kernel of the N interpolation kernels, determining an initial distance gate where a ground cell corresponding to the interpolation kernel is located.
Step S320, a modulation system function corresponding to the initial range gate is obtained.
Step S330, a product of the value of the interpolation kernel and the modulation system function is calculated as a construction function to obtain N construction functions.
Based on steps S310, S320 and S330, it can be understood that, in the embodiment of the present application, the modulation system functions corresponding to the ground units located at the same initial range gate are the same.
Step S400, an echo system function is constructed based on N construction functions corresponding to each ground unit cell in the plurality of ground unit cells.
In the embodiment of the application, N construction functions corresponding to each ground cell in the plurality of ground cells can be sorted according to the size of the corresponding initial distance gate to form a system function sequence as an echo system function. Therefore, reconstruction of the echo system function can be achieved based on the decimal part of the actual distance value between each ground unit grid in the plurality of ground unit grids and the radar, so that frequency spectrum leakage is reduced, the echo precision of the echo simulator is improved, and finally the imaging quality of the radar is improved.
In addition, in this embodiment of the present application, after each of the plurality of ground cells corresponds to N building functions, the computing resource of the processor is also expanded by N times, so to reduce the computing resource consumption of the processor, in this embodiment of the present application, regarding to step S400, as a first optional implementation manner, step S410, step S420, and step S430 may be included.
Step S410, for each of N construction functions corresponding to each ground cell in the plurality of ground cells, setting a corresponding target distance gate for the construction function based on the initial distance gate where the ground cell is located.
In the embodiment of the application, an initial distance gate where a ground cell is located may be determined for each ground cell in a plurality of ground cells, and then, a corresponding relationship between N construction functions corresponding to the ground cells and N second fixed values is established, and a sum of the initial distance gate and the second fixed value corresponding to the construction function is obtained for each construction function in the N construction functions corresponding to the ground cells, and is used as a target distance gate corresponding to the construction function.
It should be noted that, in the embodiment of the present application, the N second fixed values have a preset corresponding relationship with the N first fixed values, for example, when the preset multiple is 32 times, the intermediate result is Mm, the specific value of N is 7, and the 7 first fixed values are [96, 64, 32, 0, -32, -64, -96], the N second fixed values are [ -3, -2, -1, 0, 1, 2, 3 ]. In addition, for convenience of description, it may be agreed that a construction function obtained by multiplying an interpolation kernel stored in a storage space pointed to by the first query address 96+ M by a modulation system function is a first construction function, a construction function obtained by multiplying an interpolation kernel stored in a storage space pointed to by the second query address 64+ M by a modulation system function is a second construction function, a construction function obtained by multiplying an interpolation kernel stored in a storage space pointed to by the third query address 32+ M by a modulation system function is a third construction function, a construction function obtained by multiplying an interpolation kernel stored in a storage space pointed to by the fourth query address 0+ M by a modulation system function is a fourth construction function, a construction function obtained by multiplying an interpolation kernel stored in a storage space pointed to by the fifth query address 32-R by a modulation system function is a fifth construction function, and a construction function obtained by multiplying an interpolation kernel stored in a storage space pointed to by the sixth query address 64-M by a modulation system function is a sixth construction function The building function is a sixth building function, and the building function obtained by multiplying the interpolation kernel stored in the storage space pointed by the seventh query address 96-M by the modulation system function is a seventh building function. Thus, in the plurality of ground cells, the target distance gates corresponding to the 7 construction functions corresponding to each ground cell are respectively:
the first construction function: n' -3;
the second construction function: n' -2;
the third construction function: n' -1;
the fourth construction function: n' + 0;
the fifth construction function: n' + 1;
the sixth construction function: n' + 2;
the seventh construction function: n' + 3.
Wherein, N' is the initial distance gate where the ground cell is located.
Step S420, dividing all the building functions corresponding to the plurality of ground cells to obtain a plurality of system function sets, where the target distance gates corresponding to the building functions included in each system function set are equal.
Similarly, taking the actual working process diagram of the radar shown in fig. 3 as an example, among the plurality of ground cells, the first row of ground cells may be used as a first pipeline, the second row of ground cells may be used as a second pipeline, when the preset multiple is 32 times, the intermediate result is Mm, the specific value of N is 7, and the 7 first fixed values are [96, 64, 32, 0, -32, -64, -96], and the 7 second fixed values are [ -3, -2, -1, 0, 1, 2, 3], after step S410 is executed, for any ground cell in the first pipeline, the corresponding 7 building functions are equal to the target distance gates corresponding to at least 3 building functions in the 7 building functions corresponding to any ground cell in the second pipeline, and the principle is as follows.
Referring to fig. 4, in fig. 3, Δ R is a resolution of the reference diagram, θ is a pitch angle, a distance from the radar to the first ground cell is Rm, a distance from the radar to the second ground cell is R'm, and when the reference diagram shows that a distance difference between distances from two adjacent pixels (the first ground cell and the second ground cell, where the second ground cell is adjacent to the first ground cell) to the radar is:
wherein, Δ R is 2m or 3m, θ is in the range of 30 ° to 60, R is greater than 10000m, and the maximum sampling rate is 200 Mhz. Taking an extreme value operation on the above formula, when Δ R is 3m, θ is 30 °, and R is 10000m, R-R ═ 3 m. When the sampling rate is 200Mhz, the distance resolution DeltaR is 0.75m, so the maximum difference value of the initial distance gate corresponding to any ground cell in the first pipeline and the initial distance gate corresponding to any ground cell in the second pipeline is
Therefore, for any ground cell in the first pipeline, the corresponding 7 construction functions are equal to the target distance gates corresponding to at least 3 construction functions in the 7 construction functions corresponding to any ground cell in the second pipeline.
Step S430, based on the multiple system function sets, constructing an echo system function.
In the embodiment of the application, the superposition sum of all the construction functions in the system function set can be obtained for each system function set in the multiple system function sets to serve as function construction data so as to obtain multiple function construction data, and the multiple function construction data are arranged according to the size sequence to obtain a system function sequence to serve as an echo system function.
Similarly, taking the actual working process diagram of the radar shown in fig. 3 as an example, among the plurality of ground cells, a first column of ground cells may serve as a first pipeline, a second column of ground cells may serve as a second pipeline, when the preset multiple is 32 times, the intermediate result is Mm, the specific value of N is 7, and the 7 first fixed values are [96, 64, 32, 0, -32, -64, -96], assuming that there is a first ground cell with a minimum initial distance gate of N 'in the first pipeline, and there is a second ground cell with a minimum initial distance gate of N "in the second pipeline, when N' -N" is 0, the superposition process of the 7 construction functions corresponding to the first ground cell and the 7 construction functions corresponding to the second ground cell is shown in fig. 5; when N' -N ″, is 1, the process of superimposing the 7 building functions corresponding to the first ground cell and the 7 building functions corresponding to the second ground cell is as shown in fig. 6; when N' -N ″ ═ 2, the superposition process of the 7 construction functions corresponding to the first ground cell and the 7 construction functions corresponding to the second ground cell is as shown in fig. 7; when N' -N ″ ═ 3, the superposition process of the 7 construction functions corresponding to the first ground cell and the 7 construction functions corresponding to the second ground cell is as shown in fig. 8; when N' -N ″ — 1, the process of superimposing the 7 building functions corresponding to the first ground cell and the 7 building functions corresponding to the second ground cell is as shown in fig. 9; when N' -N ″ — 2, the process of superimposing the 7 building functions corresponding to the first ground cell and the 7 building functions corresponding to the second ground cell is as shown in fig. 10; when N' -N ″ — 3, the process of superimposing the 7 building functions corresponding to the first ground cell and the 7 building functions corresponding to the second ground cell is as shown in fig. 11; when N '-N "> 3 or N' -N" < -3, the superposition process of the 7 construction functions corresponding to the first ground cell and the 7 construction functions corresponding to the second ground cell is as shown in fig. 12.
Based on the same inventive concept as the echo system function constructing method, an embodiment of the present application further provides an echo system function constructing device 200, please refer to fig. 13, in which the echo system function constructing device 200 includes a data extracting module 210, an interpolation kernel obtaining module 220, a first function obtaining module 230, and a second function obtaining module 240.
A data extraction module 210, configured to extract, for each ground cell of the plurality of ground cells, a fractional part from an actual distance value between the ground cell and the radar.
The description of the data extraction module 210 may refer to the detailed description of the step S100 in the related embodiment of the echo system function construction method, that is, the step S100 may be executed by the data extraction module 210.
The interpolation kernel obtaining module 220 is configured to obtain values of N interpolation kernels according to the fractional part, where N is greater than or equal to 0 and is an integer.
The description of the interpolation kernel obtaining module 220 may specifically refer to the detailed description about the step S200 in the related embodiment of the echo system function constructing method, that is, the step S200 may be executed by the interpolation kernel obtaining module 220.
A first function obtaining module 230, configured to calculate, for each interpolation kernel of the N interpolation kernels, a product of a value of the interpolation kernel and the modulation system function as a construction function to obtain N construction functions.
The description of the first function obtaining module 230 may refer to the detailed description about the step S300 in the related embodiment of the echo system function constructing method, that is, the step S300 may be executed by the first function obtaining module 230.
A second function obtaining module 240, configured to construct an echo system function based on the N construction functions corresponding to each ground cell in the multiple ground cells.
The description of the second function obtaining module 240 may refer to the detailed description about the step S400 in the embodiment related to the echo system function constructing method, that is, the step S400 may be executed by the second function obtaining module 240.
In this embodiment, the interpolation core obtaining module 220 may include a distance value obtaining unit, a fixed value obtaining unit, an address obtaining unit, and an interpolation core obtaining unit.
And the distance value acquisition unit is used for expanding the decimal part by a preset multiple to obtain an intermediate result.
The description of the distance value obtaining unit may refer to the detailed description of step S210 in the embodiment related to the echo system function constructing method, that is, step S210 may be executed by the distance value obtaining unit.
And the fixed value acquisition unit is used for determining N first fixed values according to the specific numerical value of the preset multiple.
The description of the fixed value obtaining unit may refer to the detailed description of step S220 in the related embodiment of the echo system function constructing method, that is, step S220 may be executed by the fixed value obtaining unit.
And the address acquisition unit is used for calculating the sum of the first fixed value and the intermediate result aiming at each first fixed value in the N first fixed values, and taking an absolute value as a query address to obtain N query addresses.
The description of the address obtaining unit may refer to the detailed description about step S230 in the related embodiment of the echo system function constructing method, that is, step S230 may be executed by the address obtaining unit.
And the interpolation core acquisition unit is used for respectively accessing the storage spaces pointed by the N query addresses in the interpolation core storage library to acquire the values of the N interpolation cores.
The description of the interpolation kernel obtaining unit may refer to the detailed description about step S240 in the above embodiment related to the echo system function constructing method, that is, step S240 may be performed by the interpolation kernel obtaining unit.
The echo system function constructing apparatus 200 provided in the embodiment of the present application further includes a distance gate determining module and a modulation system function obtaining module.
A range gate determination module to determine a plurality of initial range gates.
The description of the distance gate determining module may refer to the detailed description of step S001 in the embodiment related to the echo system function constructing method, that is, step S001 may be performed by the distance gate determining module.
And the modulation system function acquisition module is used for carrying out coherent superposition on the echo signal corresponding to each ground cell in the initial range gate aiming at each initial range gate in the plurality of initial range gates to obtain a modulation system function corresponding to the initial range gate.
The description of the modulation system function obtaining module may refer to the detailed description of step S002 in the embodiment related to the echo system function constructing method, that is, step S002 may be executed by the modulation system function obtaining module.
In the embodiment of the present application, the first function obtaining module 230 may include a range gate determining unit, a modulation system function obtaining unit, and a construction function obtaining unit.
And the distance gate determining unit is used for determining an initial distance gate where the ground cell corresponding to the interpolation kernel is located aiming at each interpolation kernel in the N interpolation kernels.
The description of the range gate determining unit may refer to the detailed description of step S310 in the related embodiment of the echo system function constructing method, that is, step S310 may be executed by the range gate determining unit.
And the modulation system function acquisition unit is used for acquiring a modulation system function corresponding to the initial range gate.
The description of the modulation system function obtaining unit may refer to the detailed description of step S320 in the related embodiment of the echo system function constructing method, that is, step S320 may be executed by the modulation system function obtaining unit.
And the construction function acquisition unit is used for calculating the product of the value of the interpolation kernel and the modulation system function as a construction function so as to obtain N construction functions.
The description of the construction function obtaining unit may refer to the detailed description of step S330 in the embodiment related to the echo system function construction method, that is, step S330 may be performed by the construction function obtaining unit.
In this embodiment, the second function obtaining module 240 may include a target range gate setting unit, a system function set obtaining unit, and an echo system function constructing unit.
And the target distance gate setting unit is used for setting a corresponding target distance gate for each construction function in the N construction functions corresponding to each ground unit cell in the plurality of ground unit cells based on the initial distance gate where the ground unit cell is located.
And the target distance gate setting unit is specifically used for determining an initial distance gate where the ground unit grid is located for each ground unit grid in the plurality of ground unit grids, then establishing a corresponding relation between the N construction functions corresponding to the ground unit grids and the N second fixed values, and acquiring the sum of the initial distance gate and the second fixed value corresponding to the construction function for each construction function in the N construction functions corresponding to the ground unit grids as the target distance gate corresponding to the construction function.
The description of the target range gate setting unit may refer to the detailed description of step S410 in the embodiment related to the echo system function constructing method, that is, step S410 may be executed by the target range gate setting unit.
And the system function set acquisition unit is used for dividing all the construction functions corresponding to the plurality of ground cells to obtain a plurality of system function sets, and the target distance gates corresponding to the construction functions in each system function set are equal.
The description of the system function set obtaining unit may specifically refer to the detailed description about step S420 in the embodiment related to the echo system function constructing method, that is, step S420 may be executed by the system function set obtaining unit.
And the echo system function constructing unit is used for constructing an echo system function based on the plurality of system function sets.
The echo system function constructing unit is specifically configured to, for each system function set included in the multiple system function sets, obtain a superposition sum of all construction functions in the system function set as function construction data to obtain multiple function construction data, and arrange the multiple function construction data according to a size sequence to obtain a system function sequence as an echo system function.
The description of the echo system function constructing unit may refer to the detailed description of step S430 in the embodiment related to the echo system function constructing method, that is, step S430 may be performed by the echo system function constructing unit.
An embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed, the echo system function constructing method provided in the foregoing method embodiment is implemented, which may specifically refer to an embodiment of the echo system function constructing method, and is not described herein again.
To sum up, the echo system function construction method, the echo system function construction device, and the echo simulator provided in the embodiments of the present application can extract a fractional part from an actual distance value between a ground cell and a radar for each ground cell in a plurality of ground cells, obtain values of N interpolation kernels according to the fractional part, calculate a product of the value of the interpolation kernel and a modulation system function for each interpolation kernel in the N interpolation kernels, and use the product as a construction function to obtain N construction functions, and construct an echo system function based on N construction functions corresponding to each ground cell in the plurality of ground cells. Therefore, reconstruction of the echo system function can be achieved based on the decimal part of the actual distance value between each ground unit grid in the plurality of ground unit grids and the radar, so that frequency spectrum leakage is reduced, the echo precision of the echo simulator is improved, and finally the imaging quality of the radar is improved.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. In addition, the functional modules in each embodiment of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method described in each embodiment of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a U disk, a removable hard disk, a RAM, a ROM, a magnetic disk, or an optical disk.
It is noted that, herein, relational terms such as "first," "second," "third," 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.
Finally, it should be noted that the above-mentioned embodiments are only examples of the present application and are not intended to limit the scope of the present application, and those skilled in the art can make various modifications and changes to the present application. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. An echo system function construction method is characterized by comprising the following steps:
for each ground cell in a plurality of ground cells, extracting a decimal part from an actual distance value between the ground cell and a radar;
obtaining values of N interpolation kernels according to the decimal part, wherein N is not less than 0 and is an integer;
for each interpolation kernel of the N interpolation kernels, calculating a product of a value of the interpolation kernel and a modulation system function as a construction function to obtain N construction functions;
and constructing an echo system function based on the N construction functions corresponding to each ground cell in the plurality of ground cells.
2. The echo system function construction method according to claim 1, wherein the obtaining values of N interpolation kernels according to the fractional part comprises:
expanding the decimal part by a preset multiple to obtain an intermediate result;
determining N first fixed values according to the specific numerical value of the preset multiple;
calculating the sum of the first fixed value and the intermediate result for each of the N first fixed values, and taking the absolute value as a query address to obtain N query addresses;
and respectively accessing the memory spaces pointed by the N query addresses in the interpolation core memory banks to obtain the values of the N interpolation cores.
3. The echo system function construction method according to claim 1, wherein before calculating, for each of the N interpolation kernels, a product of a value of the interpolation kernel and a modulation system function as a construction function to obtain N construction functions, the echo system function construction method further comprises:
determining a plurality of initial range gates;
and for each initial range gate in the plurality of initial range gates, performing coherent superposition on echo signals corresponding to each ground unit cell in the initial range gate to obtain a modulation system function corresponding to the initial range gate.
4. The echo system function constructing method according to claim 3, wherein the calculating, for each of the N interpolation kernels, a product of a value of the interpolation kernel and a modulation system function as a construction function to obtain N construction functions comprises:
determining an initial distance gate where a ground cell corresponding to each interpolation kernel is located for each interpolation kernel in the N interpolation kernels;
acquiring a modulation system function corresponding to the initial range gate;
and calculating the product of the interpolation kernel and the modulation system function as a construction function to obtain N construction functions.
5. The method according to claim 3, wherein the constructing an echo system function based on the N construction functions corresponding to each of the plurality of ground cells comprises:
setting a corresponding target distance gate for each construction function in N construction functions corresponding to each ground unit cell in the plurality of ground unit cells based on the initial distance gate where the ground unit cell is located;
dividing all the construction functions corresponding to the plurality of ground cells to obtain a plurality of system function sets, wherein the target distance gates corresponding to the construction functions in each system function set are equal;
and constructing an echo system function based on the plurality of system function sets.
6. The echo system function constructing method according to claim 5, wherein the setting, for each of the N constructing functions corresponding to each of the plurality of ground cells, a corresponding target distance gate for the constructing function based on the initial distance gate where the ground cell is located includes:
for each ground cell of the plurality of ground cells, determining an initial distance gate in which the ground cell is located;
establishing a corresponding relation between N building functions corresponding to the ground unit grids and N second fixed values;
and acquiring the sum of the initial distance gate and a second fixed value corresponding to the construction function for each of the N construction functions corresponding to the ground unit grids, and taking the sum as a target distance gate corresponding to the construction function.
7. The method according to claim 5, wherein the obtaining an echo system function based on the plurality of system function sets comprises:
acquiring the superposition sum of all construction functions in the system function set as function construction data aiming at each system function set in the plurality of system function sets to acquire a plurality of function construction data;
and arranging the function construction data according to the size sequence to obtain a system function sequence as an echo system function.
8. An echo system function constructing apparatus, comprising:
the data extraction module is used for extracting a decimal part from an actual distance value between each ground cell and the radar aiming at each ground cell in the plurality of ground cells;
the interpolation kernel acquisition module is used for acquiring values of N interpolation kernels according to the decimal part, wherein N is not less than 0 and is an integer;
a first function obtaining module, configured to calculate, for each interpolation kernel of the N interpolation kernels, a product of a value of the interpolation kernel and a modulation system function as a construction function to obtain N construction functions;
and the second function acquisition module is used for constructing an echo system function based on the N construction functions corresponding to each ground cell in the plurality of ground cells.
9. An echo simulator, comprising a processor and a memory, wherein the memory stores a computer program thereon, and the processor is configured to execute the computer program to implement the echo system function constructing method according to any one of claims 1 to 7.
10. A computer-readable storage medium having a computer program stored thereon, wherein the computer program is configured to implement the echo system function constructing method according to any one of claims 1 to 7 when executed.
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