CN111366919B - Target detection method and device based on millimeter wave radar, electronic equipment and storage medium - Google Patents
Target detection method and device based on millimeter wave radar, electronic equipment and storage medium Download PDFInfo
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- CN111366919B CN111366919B CN202010213379.XA CN202010213379A CN111366919B CN 111366919 B CN111366919 B CN 111366919B CN 202010213379 A CN202010213379 A CN 202010213379A CN 111366919 B CN111366919 B CN 111366919B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/04—Systems determining presence of a target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/415—Identification of targets based on measurements of movement associated with the target
Abstract
The invention provides a target detection method and device based on a millimeter wave radar, and solves the problems that in the prior art, the target detection method is low in reliability and not wide in application range. The target detection method based on the millimeter wave radar comprises the steps of preprocessing radar echo data received at the current moment; background cancellation is carried out on the preprocessed radar echo data and historical radar echo data to obtain fast time data; performing MTI cancellation on the fast time data to determine whether a dynamic target exists; if not, calculating the mean square error of the phase signal in the corresponding distance threshold signal within a first preset time length after the fast time appears of the dynamic target for the last time; and determining whether the inching target exists at the current moment according to the mean square error obtained by calculation.
Description
Technical Field
The invention relates to the technical field of radar detection, in particular to a target detection method and device based on a millimeter wave radar, electronic equipment and a storage medium.
Background
At present, in the field of target detection, human body detection is taken as an example, and technologies such as infrared sensing and 5.8G microwave radar are mainly included. The infrared sensor is greatly influenced by the ambient temperature, and when the air temperature is high or the applied ambient temperature exceeds the room temperature (for example, the infrared sensor is integrated inside the lighting bulb or inside the case), the detection sensitivity and accuracy are reduced; the 5.8G microwave radar technology mainly utilizes the Doppler frequency shift principle to detect moving targets, but cannot detect relatively static micro-moving targets.
In order to solve the problems, in the prior art, a human body is identified by a camera in a mode of combining machine learning, but the cost is high, the privacy and the reliability are low, especially, the privacy is easily invaded by installing the camera in a home space, and the applicable scenes are few.
Therefore, it is desirable to provide a target detection method and apparatus based on millimeter wave radar.
Disclosure of Invention
In view of the above, the present invention aims to provide a target detection method and device based on millimeter wave radar.
In order to achieve the above object, an embodiment of the present invention provides the following technical solutions:
a target detection method based on a millimeter wave radar comprises the following steps:
preprocessing radar echo data received at the current moment;
performing background cancellation on the preprocessed radar echo data and historical radar echo data to obtain fast time data;
performing MTI cancellation on the fast time data to determine whether a dynamic target exists; if not, the user can not select the specific application,
calculating the mean square error of a phase signal in a corresponding distance threshold signal within a first preset time length after the fast time of the dynamic target occurs last time;
and determining whether the inching target exists at the current moment according to the mean square error obtained by calculation.
In an embodiment, the preprocessing the radar echo data received at the current time specifically includes:
and after the radar echo data received at the current moment is verified, extracting single-frame data in the radar echo data and performing fast Fourier transform.
In an embodiment, the background cancellation of the preprocessed radar echo data and the historical radar echo data specifically includes:
and accumulating the radar echo data within a second preset time before the current time, and then calculating an average value to be used as historical radar echo data.
In an embodiment, performing MTI cancellation on the fast time data to determine whether a dynamic target exists includes:
performing MTI cancellation on the fast time data to obtain a dynamic target signal;
and carrying out constant false alarm judgment on the dynamic target signal to determine whether a dynamic target exists.
In one embodiment, the second preset time period is 10 to 20 seconds, preferably 10 to 15 seconds; and/or the presence of a gas in the gas,
determining whether a jiggle target exists at the current moment according to the calculated mean square error, which specifically comprises the following steps:
judging whether the mean square error obtained by calculation is larger than a preset threshold value or not; if so,
judging that the inching target exists at the current moment; if not, the user can not select the specific application,
it is determined that the inching target does not exist at the present time.
The application also provides a target detection device based on millimeter wave radar, includes:
the preprocessing module is used for preprocessing the radar echo data received at the current moment;
the background cancellation module is used for carrying out background cancellation on the preprocessed radar echo data and historical radar echo data to obtain fast time data;
the MTI cancellation module is used for performing MTI cancellation on the fast time data to determine whether a dynamic target exists;
the calculating module is used for calculating the mean square error of the phase signal in the corresponding distance threshold signal within a first preset time length after the fast time of the dynamic target occurs at the latest time when the MTI cancellation module determines that the dynamic target does not exist;
and the judging module is used for determining whether the inching target exists at the current moment according to the calculated mean square error.
In one embodiment, the preprocessing module is specifically configured to:
and after the radar echo data received at the current moment is verified, extracting single-frame data in the radar echo data and performing fast Fourier transform.
In an embodiment, the background cancellation module is specifically configured to:
and accumulating the radar echo data within a second preset time before the current time, and then calculating an average value to be used as historical radar echo data.
In an embodiment, the MTI cancellation module is specifically configured to:
performing MTI cancellation on the fast time data to obtain a dynamic target signal;
and carrying out constant false alarm judgment on the dynamic target signal to determine whether a dynamic target exists.
In one embodiment, the second preset time period is 10 to 20 seconds, preferably 10 to 15 seconds; and/or the presence of a gas in the gas,
the determination module is specifically configured to:
judging whether the mean square error obtained by calculation is larger than a preset threshold value or not; if so,
judging that the inching target exists at the current moment; if not, the user can not select the specific application,
it is determined that the inching target does not exist at the present time.
The present application further provides an electronic device, comprising:
a processor; and
a memory arranged to store computer executable instructions, the processor implementing the millimeter wave radar based target detection method as described above by executing the executable instructions.
The present application also provides a computer storage medium storing a computer program that, when executed by a processor, causes the processor to execute the millimeter wave radar-based target detection method as described above.
According to the technical scheme, the distance threshold signal within a period of time after the dynamic target appears for the last time is tracked and collected, whether the micro-motion target exists in the area can be further confirmed on the premise that no dynamic target exists, and therefore reliability of target detection is guaranteed; meanwhile, Fourier change is only performed once in the whole detection process, the operation complexity of the rest process is relatively low, compared with the implementation mode of machine learning, the requirement on a processor for algorithm operation is low, the detection function of a detection target can be met by using the processor with low cost, low memory and low dominant frequency, hardware facilities such as a camera do not need to be configured, the privacy is good, and the application range is wide.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flowchart of a target detection method based on millimeter wave radar according to an embodiment of the present invention;
fig. 2 is a diagram of a range threshold signal state corresponding to targets in different states in a target detection method based on a millimeter wave radar according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure;
fig. 4 is a schematic block diagram of a target detection device based on a millimeter wave radar in an embodiment of the present application.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all 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 invention.
Referring to fig. 1, a specific embodiment of the target detection method based on millimeter wave radar according to the present application is described, and in this embodiment, the method includes the following steps:
and S11, preprocessing the radar echo data received at the current moment.
The radar echo data is single-channel data which is transmitted and received, and the data comprises a packet header and the data itself, so that the data needs to be preprocessed firstly. The preprocessing specifically includes verifying radar echo data received at the current moment, and extracting single-frame data to perform fast fourier transform. The data verification can ensure the reliability of the subsequently processed radar echo data, and the extracted single-frame data is the data part needing to be processed in the radar echo data.
And S12, performing background cancellation on the preprocessed radar echo data and the historical radar echo data to obtain fast time data.
Background cancellation can eliminate the interference of the background, and can eliminate the interference of the fuzzy distance to the dynamic target. Taking 256 sampling points of once-collected data as an example, 35ms of once-sampling time, 1024 times of accumulation in the whole process, and the obtained data is a 1024x256 matrix. The historical radar echo data corresponds to each row of data of the matrix, and the data at the current moment is assumed to be LnTaking a historical data L before the current timen-1As background data, the result of background cancellation is then Ln-Ln-1。
In an embodiment, radar echo data within a second preset time period before the current time is accumulated and then averaged to serve as historical radar echo data, which corresponds to the one-time sampling time, that is, the historical radar echo data is:
(L1+L2+…+Ln-1)/(n-1)；
accordingly, the fast time data after background elimination is Ln-(L1+L2+…+Ln-1)/(n-1)。
By accumulating and averaging the radar echo data within a period of time before the current moment, the signal-to-noise ratio can be effectively improved, and relatively clean background echo data can be obtained through filtering of the period of time.
S13, performing MTI cancellation on the fast time data to determine whether a dynamic target exists; if not, go to S14.
Specifically, MTI cancellation is firstly carried out on the obtained fast time data to obtain a dynamic target signal; the dynamic target signal is then subjected to a constant false alarm determination to determine whether a dynamic target is present.
In one embodiment, MTI cancellation may be by using an MTI filter. In particular, when the stationary target, the sea clutter and the dynamic target are in the same range bin, the echo of the stationary target is usually so strong that the echo of the dynamic target is "swamped" therein, so that a distinction between the two must be made. Because the Doppler frequency in the echo of the fixed target is zero, the Doppler frequency contained in the clutter of the micro-moving target is also concentrated near the zero frequency, after the echo of the fixed target and the echo are subjected to phase detection, the phase of an output signal does not change along with the change of time or only slowly changes along with the time, and the amplitude is reflected on the amplitude and does not change along with the change of time or slowly changes along with the time. On the contrary, after the dynamic target echo is output by phase detection, the phase of the dynamic target echo changes greatly with time, and the dynamic target echo is reflected in the amplitude and also changes with the time. Therefore, if the phase detection outputs of the same distance unit in adjacent repetition periods are subjected to subtraction operation, the echo of the fixed target is completely cancelled, the slow clutter of the micro-motion target is greatly attenuated, only the echo of the dynamic target is reserved, and the dynamic target signal is obtained.
In one embodiment, the constant false alarm determination may be by a constant false alarm detector. Specifically, the input dynamic target signal may be compared with a discrimination threshold, and if the dynamic target signal exceeds the threshold, the dynamic target signal is determined to be a dynamic target, otherwise, the dynamic target signal is determined to be no dynamic target.
S14, calculating the mean square error of the phase signal in the corresponding distance threshold signal of the dynamic target in the first preset time after the fast time appears.
In step S13, by means of MTI cancellation and constant false alarm determination, a dynamic object in the area may be directly detected, and if there is no dynamic object, it indicates that there is no moving object in the detection area at the current time, but it cannot be determined whether there is an object in a jogging state. Therefore, a tracking judgment needs to be further performed on the last detected dynamic target in the area to determine whether the last detected dynamic target is currently in a jogging state or has left the detection area.
Referring collectively to fig. 2, in particular, the range-threshold signal corresponds to fast-time data, wherein each discrete sample point represents a range gate. When a target enters the detection area, the signal level is rapidly increased to a high level state, the high level state is maintained when the target is located in the detection area, and after the target appears in the detection area for the last time, the corresponding distance threshold signal is continuously sampled for a first preset time to confirm whether the target is in a micro-motion state or leaves the detection area.
Taking the bandwidth of 1GHz as an example, the corresponding distance resolution is 15cm, i.e. each sample point of the discrete signal at fast time represents a distance of 15 cm. If a target feature is found at the 10 th sample point, this means that there is a target at a distance of 150 cm. By sampling the sampling point for a first preset time, whether the inching target exists can be judged according to the fluctuation condition of the phase signal of the distance threshold signal in the time.
The first preset time period is defined according to a specific scenario, and may be, for example, 10 to 20 seconds, and in an embodiment, is preferably 10 to 15 seconds.
And S15, determining whether the inching target exists at the current moment according to the mean square error obtained by calculation.
Specifically, whether the mean square error obtained by calculation is larger than a preset threshold value is judged; if yes, judging that the inching target exists at the current moment; if not, judging that the inching target does not exist at the current moment. The preset threshold here is determined according to the actual hardware and transmit receive power of the application.
Fig. 3 is a schematic block diagram of an electronic device according to an exemplary embodiment. Referring to fig. 3, at the hardware level, the device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory, but may also include hardware required for other services. And the processor reads a corresponding computer program from the nonvolatile memory into the memory and then runs the computer program to form the target detection device based on the millimeter wave radar on a logic level. Of course, besides software implementation, the one or more embodiments in this specification do not exclude other implementations, such as logic devices or combinations of software and hardware, and so on, that is, the execution subject of the following processing flow is not limited to each logic unit, and may also be hardware or logic devices.
Referring to fig. 4, in a hardware implementation, a specific implementation of the target detection apparatus based on millimeter wave radar is shown. In the embodiment, the device comprises a preprocessing module, a background cancellation module, an MTI cancellation module, a calculation module and a judgment module.
The preprocessing module is used for preprocessing the radar echo data received at the current moment; the background cancellation module is used for carrying out background cancellation on the preprocessed radar echo data and historical radar echo data to obtain fast time data; the MTI cancellation module is used for performing MTI cancellation on the fast time data to determine whether a dynamic target exists; the calculating module is used for calculating the mean square error of the phase signal in the corresponding distance threshold signal within a first preset time length after the fast time of the dynamic target occurs at the latest time when the MTI cancellation module determines that the dynamic target does not exist; and the judging module is used for determining whether the inching target exists at the current moment according to the calculated mean square error.
In an embodiment, the preprocessing module is specifically configured to, after checking radar echo data received at a current time, extract single-frame data therein and perform fast fourier transform.
In an embodiment, the background cancellation module is specifically configured to add radar echo data within a second preset time period before the current time and then calculate an average value, which is used as historical radar echo data.
In an embodiment, the MTI cancellation module is specifically configured to perform MTI cancellation on the fast time data to obtain a dynamic target signal; and performing constant false alarm judgment on the dynamic target signal to determine whether a dynamic target exists.
In one embodiment, the second predetermined duration is 10 to 20 seconds, preferably 10 to 15 seconds; and/or the judging module is specifically used for judging whether the calculated mean square error is larger than a preset threshold value; if yes, judging that the inching target exists at the current moment; if not, judging that the inching target does not exist at the current moment.
In one embodiment, a computer-readable storage medium is provided, storing a computer program that, when executed by a processor, causes the processor to perform the steps of the above-described millimeter wave radar-based object detection method.
The application has the following beneficial effects through the above embodiment:
1) by tracking and collecting the distance threshold signal within a period of time after the dynamic target appears for the last time, whether the micro-motion target exists in the area can be further confirmed on the premise that no dynamic target exists, and therefore reliability of target detection is guaranteed.
2) The whole detection process is only subjected to Fourier change once, the operation complexity of the rest process is relatively low, compared with the implementation mode of machine learning, the requirement on a processor for algorithm operation is low, and the detection function of a detection target can be met by using the processor with low cost, low memory and low dominant frequency.
3) Hardware facilities such as a camera and the like do not need to be configured, the privacy is better, and the application range is wide.
The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions.
For convenience of description, the above devices are described as being divided into various modules by functions, and are described separately. Of course, the functionality of the modules may be implemented in the same one or more software and/or hardware implementations in implementing one or more embodiments of the present description.
It should also be noted that 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 like elements in a process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of one or more embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, one or more embodiments of the present description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, one or more embodiments of the present description may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
One or more embodiments of the present description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. One or more embodiments of the specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (14)
1. A target detection method based on a millimeter wave radar is characterized by comprising the following steps:
preprocessing radar echo data received at the current moment;
performing background cancellation on the preprocessed radar echo data and historical radar echo data to obtain fast time data;
performing MTI cancellation on the fast time data to determine whether a dynamic target exists; if not, the user can not select the specific application,
calculating the mean square error of a phase signal in a corresponding distance threshold signal within a first preset time length after the fast time of the dynamic target occurs last time;
and determining whether the inching target exists at the current moment according to the mean square error obtained by calculation.
2. The target detection method based on the millimeter wave radar according to claim 1, wherein the preprocessing of the radar echo data received at the current time specifically comprises:
and after the radar echo data received at the current moment is verified, extracting single-frame data in the radar echo data and performing fast Fourier transform.
3. The millimeter wave radar-based target detection method according to claim 1, wherein background cancellation is performed on the preprocessed radar echo data and the historical radar echo data, and specifically comprises:
and accumulating the radar echo data within a second preset time before the current time, and then calculating an average value to be used as historical radar echo data.
4. The millimeter wave radar-based target detection method according to claim 1, wherein performing MTI cancellation on the fast time data to determine whether a dynamic target exists specifically comprises:
performing MTI cancellation on the fast time data to obtain a dynamic target signal;
and carrying out constant false alarm judgment on the dynamic target signal to determine whether a dynamic target exists.
5. The millimeter wave radar-based target detection method according to claim 3, wherein the second preset time period ranges from 10 seconds to 20 seconds; and/or the presence of a gas in the gas,
determining whether a jiggle target exists at the current moment according to the calculated mean square error, which specifically comprises the following steps:
judging whether the mean square error obtained by calculation is larger than a preset threshold value or not; if so,
judging that the inching target exists at the current moment; if not, the user can not select the specific application,
it is determined that the inching target does not exist at the present time.
6. The millimeter wave radar-based target detection method according to claim 5, wherein the second preset time period is in a range of 10-15 seconds.
7. A target detection device based on a millimeter wave radar, characterized by comprising:
the preprocessing module is used for preprocessing the radar echo data received at the current moment;
the background cancellation module is used for carrying out background cancellation on the preprocessed radar echo data and historical radar echo data to obtain fast time data;
the MTI cancellation module is used for carrying out MTI cancellation on the fast time data to determine whether a dynamic target exists or not;
the calculating module is used for calculating the mean square error of the phase signal in the corresponding distance threshold signal within a first preset time length after the fast time of the dynamic target occurs at the latest time when the MTI cancellation module determines that the dynamic target does not exist;
and the judging module is used for determining whether the inching target exists at the current moment according to the calculated mean square error.
8. The millimeter wave radar-based target detection device of claim 7, wherein the preprocessing module is specifically configured to:
and after the radar echo data received at the current moment is verified, extracting single-frame data in the radar echo data and performing fast Fourier transform.
9. The millimeter wave radar-based target detection device of claim 7, wherein the background cancellation module is specifically configured to:
and accumulating the radar echo data within a second preset time before the current time, and then calculating an average value to be used as historical radar echo data.
10. The millimeter wave radar-based target detection device of claim 7, wherein the MTI cancellation module is specifically configured to:
performing MTI cancellation on the fast time data to obtain a dynamic target signal;
and carrying out constant false alarm judgment on the dynamic target signal to determine whether a dynamic target exists.
11. The millimeter wave radar-based target detection device according to claim 9, wherein the second preset duration is in a range of 10 to 20 seconds; and/or the presence of a gas in the gas,
the determination module is specifically configured to:
judging whether the mean square error obtained by calculation is larger than a preset threshold value or not; if so,
judging that the inching target exists at the current moment; if not, the user can not select the specific application,
it is determined that the inching target does not exist at the present time.
12. The millimeter wave radar-based target detection device of claim 11, wherein the second preset duration is in a range of 10-15 seconds.
13. An electronic device, comprising:
a processor; and
a memory arranged to store computer executable instructions, the processor implementing the millimeter wave radar-based target detection method of any one of claims 1-6 by executing the executable instructions.
14. A computer storage medium storing a computer program that, when executed by a processor, causes the processor to perform the millimeter wave radar-based target detection method of any one of claims 1 to 6.
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