CN111399039A - Slope parameter extraction method, device and storage medium - Google Patents

Slope parameter extraction method, device and storage medium Download PDF

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CN111399039A
CN111399039A CN201910002367.XA CN201910002367A CN111399039A CN 111399039 A CN111399039 A CN 111399039A CN 201910002367 A CN201910002367 A CN 201910002367A CN 111399039 A CN111399039 A CN 111399039A
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coordinate
propagation distance
coordinates
median
propagation
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CN111399039B (en
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许晓臣
何琼
邵金华
孙锦
段后利
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Wuxi Hisky Medical Technologies Co Ltd
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Abstract

The application provides a slope parameter extraction method, a device and a storage medium, which comprises the steps of obtaining a variable of a test signal which is transmitted along a preset direction along with time at a position to be tested; determining the coordinate where the most value of the variable corresponding to each propagation distance in the preset direction is located, and obtaining the most value coordinate corresponding to each propagation distance; determining a median coordinate corresponding to each propagation distance according to the most-valued coordinate corresponding to each propagation distance; and fitting the median coordinates corresponding to the propagation distances to obtain the slope parameters of the position to be measured. The scheme realizes that the slope parameter is calculated by adopting the intermediate value of the two maximum coordinates, effectively weakens the error caused by noise interference, and effectively improves the accuracy and reliability of slope parameter extraction.

Description

Slope parameter extraction method, device and storage medium
Technical Field
The present disclosure relates to the field of data processing, and in particular, to a method and an apparatus for extracting a slope parameter, and a storage medium.
Background
In applications of tracking wave propagation speed such as ultrasonic elastography, geological exploration, seismic wave detection and the like, wave speed detection is involved, namely, the propagation process of wave features along the interested propagation direction in a certain time is detected.
At present, a slope parameter is extracted by adopting an image processing method to obtain a propagation speed, and because the process of wave propagation under actual conditions is complex, the imaging quality of strain data is generally poor, and thus the slope parameter obtained by the existing method is often inaccurate.
Content of application
The application provides a slope parameter extraction method, a slope parameter extraction device and a storage medium, which are used for solving the problem that the slope parameter obtained by the existing method is inaccurate.
A first aspect of the present application provides a slope parameter extraction method, including: acquiring a variable of a test signal propagating along a preset direction at a position to be tested along with time; determining the coordinate where the most value of the variable corresponding to each propagation distance in the preset direction is located, and obtaining the most value coordinate corresponding to each propagation distance; determining a median coordinate corresponding to each propagation distance according to the most-valued coordinate corresponding to each propagation distance; and fitting the median coordinates corresponding to the propagation distances to obtain the slope parameters of the position to be measured.
Another aspect of the present application provides a slope parameter extraction apparatus, including: the acquisition module is used for acquiring a variable of the propagation of the test signal along a preset direction at the position to be tested along with time; the determining module is used for determining the coordinate where the most value of the variable corresponding to each propagation distance in the preset direction is located, and obtaining the most value coordinate corresponding to each propagation distance; the processing module is used for determining a median coordinate corresponding to each propagation distance according to the most-valued coordinate corresponding to each propagation distance; and the fitting module is used for fitting the median coordinates corresponding to the propagation distances to obtain the slope parameters of the position to be measured.
Another aspect of the present application provides a slope parameter extracting apparatus, including: at least one processor and memory; the memory stores computer-executable instructions; the at least one processor executes computer-executable instructions stored by the memory to perform the method as previously described.
It is a further aspect of the present application to provide a computer readable storage medium having stored therein a computer program which, when executed, implements a method as previously described.
According to the slope parameter extraction method, the slope parameter extraction device and the storage medium, the variable of the propagation of the test signal at the position to be tested along the preset direction along with the time is obtained; determining the coordinate where the most value of the variable corresponding to each propagation distance in the preset direction is located, and obtaining the most value coordinate corresponding to each propagation distance; determining a median coordinate corresponding to each propagation distance according to the most-valued coordinate corresponding to each propagation distance; and fitting the median coordinate corresponding to each propagation distance to obtain a slope parameter of the position to be measured. The slope parameter is obtained by adopting the intermediate value of the two maximum coordinates, the error caused by noise interference is effectively weakened, and the accuracy and the reliability of the slope parameter extraction are effectively improved.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart illustrating a slope parameter extraction method according to the present application in an exemplary embodiment;
FIG. 2a is a schematic flow chart illustrating a slope parameter extraction method according to the present application in accordance with another exemplary embodiment;
FIG. 2b is a schematic diagram of the signal propagation diagram in the embodiment of FIG. 2 a;
FIG. 3 is a schematic flow chart diagram illustrating a slope parameter extraction method according to the present application in accordance with yet another exemplary embodiment;
FIG. 4 is a schematic flow chart diagram illustrating a slope parameter extraction method according to the present application in accordance with yet another exemplary embodiment;
fig. 5 is a schematic structural diagram of a slope parameter extraction apparatus according to an exemplary embodiment of the present application.
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 clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but 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 application.
Fig. 1 is a schematic flow chart of a slope parameter extraction method according to the present application, shown in fig. 1, according to an exemplary embodiment, the slope parameter extraction method according to the present application includes:
step 101, acquiring a variable of a test signal transmitted along a preset direction at a position to be tested along with time;
step 102, determining coordinates where the most values of the variables corresponding to the propagation distances in the preset direction are located, and obtaining the most value coordinates corresponding to the propagation distances;
103, determining a median coordinate corresponding to each propagation distance according to the most-valued coordinate corresponding to each propagation distance;
and 104, fitting the median coordinates corresponding to the propagation distances to obtain slope parameters of the position to be detected.
The test signal may be in various forms, such as acoustic wave, shear wave, etc. The direction may be set in combination with an actual scene, for example, when the application scene is elastography, the test signal may be a shear wave, and the preset direction may be a depth direction. The propagation distance refers to a distance from a current arriving position to a propagation starting point when the test signal propagates along a preset direction. For example, when the test signal propagates in the depth direction, each propagation distance is each depth. The variable may be any variable reflecting the characteristics of the fluctuation, such as deformation data and the like. The slope parameter extracting method is applied to a slope parameter extracting device in various implementation forms, for example, the implementation form of the slope parameter extracting device may be a computer program stored in a storage medium, or software installed in an entity device, or an entity device, where the entity device includes but is not limited to an ultrasound imaging device, a computer, a terminal, a chip, and the like.
For example, the slope parameter extraction method of this embodiment may adopt the ultrasound scanning system to perform elastography on a tissue, excite a test signal in the tissue, for example, excite a shear wave in the tissue by pressing, then acquire ultrasound echo data including propagation information of the shear wave propagating in the tissue in the depth direction, and obtain deformation estimation data using the ultrasound echo data, where the data includes deformation data of the shear wave at different depths at different times at a position to be measured. The deformation data includes variables reflecting propagation of the shear wave in the depth direction at the to-be-measured position of the to-be-measured tissue along with time, and the expression form of the variables may be a signal propagation map, for example, the signal propagation map may include information of deformation at different times and different depths. The deformation data is in a stripe shape in the signal propagation diagram, the slope of the stripe is the slope parameter of the position to be measured and is also the propagation speed of the shear wave in the tissue, and then the E is 3 rho V by using a formula of Young modulusS 2Wherein E is a hardness value, rho is the density of the tissue to be measured, and VSAnd (4) solving the elastic hardness value of the tissue for the speed value of the shear wave at the position to be measured, and further judging the pathology of the tissue. Wherein the variable may be a strain value, a displacement value, etc. Specifically, in this embodiment, the maximum value of the variable includes a maximum value of the variable and a minimum value of the variable, and correspondingly, the maximum value coordinate includes a maximum value coordinate and a minimum value coordinate.
Specifically, as described above, the variable corresponding to each propagation distance may be represented by a stripe in a signal propagation map (e.g., a two-dimensional propagation map), and in order to obtain a more accurate slope parameter, the selection of the stripe is particularly important. The scheme of solving the organization slope by using the median coordinate of the two most-valued coordinates can effectively weaken the error caused by noise interference, so that the result is more accurate. In this embodiment, the propagation distances may be selected from the signal propagation maps mentioned below, and the propagation distances corresponding to the middle segments with less interference are still selected in combination with the ultrasound imaging scene, for example, the depth of the fat layer near the skin (e.g. the depth is 0cm to 1cm), the depth with the deepest part affected by noise is removed, and the like, that is, the depths at both ends are usually removed, and the depths corresponding to the middle segments are selected. The size of the selected interval between the propagation distances may be determined according to the size of the ultrasonic frequency, for example, if the ultrasonic frequency is larger, the interval between the propagation distances is smaller; if the ultrasonic frequency is small, the interval between the propagation distances is large.
In the slope parameter extraction method of the embodiment, a variable propagated along a preset direction along with time at a position to be tested of a test signal is obtained; determining the coordinate where the most value of the variable corresponding to each propagation distance in the preset direction is located, and obtaining the most value coordinate corresponding to each propagation distance; determining a median coordinate corresponding to each propagation distance according to the most-valued coordinate corresponding to each propagation distance; and fitting the median coordinate corresponding to each propagation distance to obtain a slope parameter of the position to be measured. The slope parameter is obtained by adopting the intermediate value of the two maximum coordinates, the error caused by noise interference is effectively weakened, and the accuracy and the reliability of the slope parameter extraction are effectively improved.
Fig. 2a is a schematic flow chart of a slope parameter extraction method according to the present application, shown in another exemplary embodiment, and as shown in fig. 2a, on the basis of the previous embodiment, step 102 specifically includes:
step 201, after obtaining a variable of the test signal propagating along a preset direction at a position to be tested along with time, generating a signal propagation diagram;
step 202, determining an initial most value coordinate from the initial region to be measured of the signal propagation diagram, and taking the initial most value coordinate as a current most value coordinate;
step 203, starting from the corresponding position of the current maximum coordinate in the next propagation distance, searching the maximum coordinate corresponding to the next propagation distance in the signal propagation diagram along the time direction, updating the maximum coordinate corresponding to the next propagation distance to be the current maximum coordinate, and so on until the maximum coordinate corresponding to each propagation distance in the signal propagation diagram is found.
Specifically, taking an elastography scene as an example, as described in the previous embodiment, the signal propagation map (as shown in fig. 2 b) is a two-dimensional data map generated based on the acquired variables, where a horizontal axis is a time axis (e.g., ms), and a vertical axis is a depth axis (e.g., mm) representing a propagation distance, the two-dimensional data map reflects propagation information of shear waves at different depths at different times at the position to be measured, an abscissa of each coordinate point in the two-dimensional data map is a time coordinate, and a vertical coordinate is a depth coordinate representing the distance. The two-dimensional data map may be presented as a bar graph, and the color of each bar in the bar graph may represent the value of a certain depth variable at a certain time. Of course, the signal propagation diagram can also be represented by other forms of graphs, such as a three-dimensional graph. This embodiment is not particularly limited thereto. Wherein, the dotted line in fig. 2b is the tissue slope of the position to be measured obtained after the fitting process.
Specifically, the range and the position of the initial region to be measured may be specified in the motion propagation map according to the requirement, the coordinate where the maximum variable value or the minimum variable value in the initial region to be measured is the initial maximum coordinate, that is, the current maximum coordinate, and the propagation distance where the initial maximum coordinate is located/is the initial propagation distance, that is, the current propagation distance. The propagation distance is the total propagation distance between the starting propagation distance and the ending propagation distance in the signal propagation map. The end propagation distance may be a certain propagation distance specified according to requirements, but the propagation distance is greater than the start propagation distance, or may be the maximum propagation distance in the signal propagation diagram.
If the coordinate is the coordinate of the maximum variable value in the initial region to be measured, the maximum coordinate is the maximum coordinate; if the coordinate is the coordinate where the minimum variable value is located, the most significant coordinate is the minimum coordinate.
Specifically, a signal propagation diagram with a horizontal axis as an inter-axis and a vertical axis as a depth axis representing a propagation distance is taken as an example for explanation, a preset region in the signal propagation diagram is taken as an initial region to be measured, a most significant coordinate in the region to be measured is found, the most significant coordinate is taken as a point to be measured, a certain region around a next row of points corresponding to the point to be measured is taken as a current region to be measured, a most significant point is found in the current region to be measured, and by analogy, a series of most significant coordinates are obtained in a self-adaptive manner, and the most significant coordinate can be a maximum value coordinate or a minimum value coordinate. In the embodiment, the most-valued coordinate required by fitting the straight line is found in a self-adaptive manner, namely, in the processing and analyzing processes, the processing method is automatically adjusted according to the data characteristics of the processed data, and the most-valued coordinate is determined by adaptively finding the starting point of the stripe, so that a median coordinate point with a better effect is obtained to perform linear fitting, and a more accurate slope parameter is obtained.
Optionally, in order to further improve the accuracy of the slope parameter, optimization processing and detection screening may be performed on the most-valued coordinate.
In an implementation manner, in order to further improve the accuracy of the slope parameter, the found most-valued coordinate may be detected based on the number of the variable values and the most-valued coordinate, accordingly, fig. 3 is a schematic flowchart of a slope parameter extraction method according to the present application, shown in fig. 3, and on the basis of any embodiment, before step 103, the method may further include:
and 301, performing zero crossing point positioning processing on the most significant coordinates corresponding to each propagation distance.
Optionally, step 301 may specifically include:
sequentially judging whether the product of variables corresponding to two adjacent most significant coordinates in the most significant coordinates corresponding to each propagation distance is less than 0;
if the propagation distance is smaller than 0, judging whether the propagation distance corresponding to the variable smaller than 0 is smaller than a first preset distance;
and if the propagation distance corresponding to the variable smaller than 0 is smaller than the first preset distance, removing two adjacent most-valued coordinates and all previous most-valued coordinates of which the product of the corresponding variables is smaller than 0.
Taking the actual scene as an example: when the most significant coordinate is found, cross-stripes may occur (for example, in the signal propagation diagram, assuming that the maximum coordinate corresponds to a first stripe and the minimum coordinate corresponds to a second stripe, when the data is poor, the adjacent first stripe and second stripe may correspond to the same most significant coordinate), and this may cause the final result to have a very large error. After obtaining each of the most significant coordinates, first determining whether the products of the variable values corresponding to the adjacent most significant coordinates in each of the most significant coordinates are all greater than 0, if so, excluding the above-mentioned cross-stripe situation, and indicating that the current most significant coordinates are all valid, further determining whether the number of valid most significant coordinates meets the requirement of fitting, i.e., whether the number of valid most significant coordinates is not less than a first threshold, if so, obtaining the tissue slope parameter of the position to be measured based on a least square normal fitting method according to the most significant coordinates.
In practical applications, if the number of the effective most-valued coordinates does not satisfy the requirement of fitting, then each of the most-valued coordinates needs to be adaptively found again, and accordingly, after step 301, the method may further include:
if the number of the most significant coordinates corresponding to each propagation distance is smaller than the first threshold, the most significant coordinates corresponding to each propagation distance are cleared, and the step 102 is executed again.
Taking the actual scene as an example: after the maximum coordinates are obtained, the situation of cross-stripe is eliminated by judging whether the products of the variable values corresponding to the adjacent maximum coordinates in each maximum coordinate are all larger than 0, then judging whether the number of the current maximum coordinates meets the requirement of fitting, if not, the currently obtained maximum coordinates are eliminated, and the maximum coordinates are obtained again.
Wherein the first threshold may be set according to the fitting accuracy, for example, set to 8. Also, when the maximum value coordinates include the maximum value coordinates and the minimum value coordinates, the above operations performed for the maximum value coordinates and the minimum value coordinates in the present embodiment are performed independently of each other.
In practical applications, the above-mentioned cross-stripe detection manner may be various, for example, after all the maximum coordinates are obtained, it may be detected whether the products of the variable values of the adjacent maximum coordinates are all greater than 0, or it may be detected whether the product of the maximum coordinate and the variable value of the adjacent coordinate is greater than 0 every time one maximum coordinate is obtained in the process of obtaining the maximum coordinates, in short, as long as the products of the finally detected variable values of the adjacent maximum coordinates are all greater than 0, the steps of this embodiment cover the above-mentioned detection manners, and are not limited.
According to the slope parameter extraction method provided by the embodiment, after the most significant coordinate is obtained, cross-fringe detection is performed on the basis of the variable value and the number of the most significant coordinate, and then the slope parameter value of the tissue is obtained through fitting, so that errors caused by cross-fringe can be eliminated, unnecessary processing is avoided, and the accuracy and the efficiency of slope parameter extraction are further improved.
In another implementation, fig. 4 is a schematic flow chart of a slope parameter extraction method according to the present application shown in another exemplary embodiment, as shown in fig. 4, on the basis of any embodiment, before step 103, the method may further include:
step 401, eliminating abnormal maximum coordinates meeting preset conditions.
Optionally, the searched most-valued coordinates may be detected based on the relative position based on each most-valued coordinate. Correspondingly, step 401 may specifically include:
detecting whether the abscissa of the most-valued coordinate corresponding to M continuous adjacent propagation distances including the initial propagation distance is the same, and if so, deleting the M most-valued coordinates;
detecting whether the abscissa of the most-valued coordinate corresponding to N continuous adjacent propagation distances including the end propagation distance is the same, and if so, deleting the N most-valued coordinates;
detecting the most significant coordinates corresponding to the propagation distances in the propagation distances except the initial propagation distance and the end propagation distance, and if the abscissa of the most significant coordinates corresponding to K continuous adjacent propagation distances is the same, only keeping the K' th most significant coordinate; the relationship between K 'and K is subject to practical experience, for example, when K is 2K, K' ═ K; when K is 2K +1, K' is K + 1; wherein M, N and k are both positive integers.
Assume that M and N take 3, for example, with an actual scenario: correspondingly, after obtaining each of the maximum coordinates, detecting whether at least 3 consecutive adjacent maximum coordinates exist in the start and end positions, and the time coordinate values of the maximum coordinates are the same (assuming that the horizontal axis is the time axis, i.e. the horizontal axis is the same), if no such maximum coordinate exists, no processing is performed, and if yes, the maximum coordinates are cleared. For example, if the start position or the end position has 4 consecutive nearest coordinates that are adjacent to each other and have the same time coordinate value, the 4 nearest coordinates are deleted.
Still by way of example with a real scenario: after obtaining each of the most significant coordinates, detecting each of the most significant coordinates of the non-starting and ending positions, searching for the most significant coordinates which are continuously adjacent and have the same time coordinate value, if the number of the most significant coordinates is 4, at this time, K is an even number 4, K is 2, retaining the 2 nd most significant coordinate therein and deleting the rest of the most significant coordinates, if the number of the most significant coordinates is 5, at this time, K is an odd number 5, K is 2, retaining the 3 rd most significant coordinate therein and deleting the rest of the most significant coordinates.
In practical application, after the processing is performed, the slope parameter of the position to be measured can be obtained based on a fitting method according to the current most-valued coordinate. Also, when the maximum value coordinates include the maximum value coordinates and the minimum value coordinates, the above operations performed for the maximum value coordinates and the minimum value coordinates in the present embodiment are performed independently of each other.
It is to be understood that, the above-mentioned steps for the maximum coordinates at the starting position, the ending position and the non-starting and ending position may be executed in sequence, including but not limited to: the execution is performed simultaneously or first, and this embodiment is only an exemplary embodiment and does not limit the execution order.
According to the slope parameter extraction method provided by the embodiment, after the most-valued coordinates corresponding to different propagation distances are obtained, filtering and screening are performed on the basis of the relative position of each most-valued coordinate, and then the slope parameter value is obtained through fitting, so that the most-valued coordinate with a large error can be removed, and the accuracy and reliability of tissue slope parameter extraction are further improved.
Optionally, in order to further improve the accuracy of the slope parameter, before the fitting, the detection may be performed based on a relative distance between the most significant coordinates, and accordingly, step 401 may specifically include:
calculating the most significant coordinate AjAbscissa and the most significant coordinate A ofj-1Is a difference V of the abscissajWherein j is 3 to x in sequence, and x is a positive integer which is greater than 3 and less than the number of each propagation distance;
if the difference value VjIf the maximum value is greater than the preset lower limit value, calculating the maximum value coordinate A3To the maximum coordinate AxAverage value of absolute value of difference between abscissa of all adjacent two most significant coordinates;
if the average value is smaller than a preset upper limit value, judging the most valued coordinate AjWhether the corresponding propagation distance is smaller than a second preset distance;
if the maximum coordinate AjIf the corresponding propagation distance is less than the second preset distance, then the maximum coordinate set { A }is obtained3,..,Aj,..,AxRemoving the maximum coordinate AjAnd its previous most-valued coordinates;
if the maximum coordinate AjIf the corresponding propagation distance is greater than the second preset distance, the maximum coordinate set { A }is obtained3,..,Aj,..,AxRemoving the maximum coordinate AjAnd the most significant coordinates after it.
Taking the actual scene as an example: in the process of searching the maximum coordinate, the situation of stripe translation may also occur, for this reason, after each maximum coordinate is obtained, the distance in the horizontal axis direction between each adjacent maximum coordinate is calculated, if the distance is suddenly increased, the stripe translation may occur, and further, the maximum coordinate before the stripe translation is eliminated, so that the accuracy of the final result is prevented from being influenced.
Wherein the second preset distance may be set according to the accuracy of the calculation. The present embodiment is not limited thereto. Also, when the maximum value coordinates include the maximum value coordinates and the minimum value coordinates, the above operations performed for the maximum value coordinates and the minimum value coordinates in the present embodiment are performed independently of each other.
According to the slope parameter extraction method provided by the embodiment, after the most-valued coordinates corresponding to different depths are obtained, stripe translation detection is performed on the basis of the relative distance between the most-valued coordinates, and then the slope parameter value of the tissue is obtained through fitting, so that errors caused by stripe translation can be eliminated, and the accuracy and reliability of slope parameter extraction are further improved.
It can be understood that the above detection schemes for improving the accuracy of the final result may be implemented independently or in combination, for example, after obtaining the maximum coordinate, filtering, screening, cross-stripe detection and stripe translation detection may be performed respectively, and the execution sequence may be set arbitrarily.
Optionally, in a scenario, the maximum coordinate includes a maximum coordinate and a minimum coordinate; step 103 may specifically include: and determining the coordinate of the intermediate value of the maximum value coordinate and the minimum value coordinate according to the maximum value coordinate and the minimum value coordinate corresponding to each propagation distance.
And determining a median coordinate corresponding to the propagation distance according to the maximum coordinate and the minimum coordinate corresponding to the same propagation distance. Specifically, after finding out the most significant coordinates corresponding to all propagation distances in the signal propagation diagram, for each propagation distance, selecting the maximum coordinate and the minimum coordinate corresponding to the propagation distance, and calculating the intermediate value of the two most significant coordinates of the propagation distance to obtain a series of intermediate value coordinates.
It should be noted that, since the median coordinate corresponding to each propagation distance needs to be determined according to the maximum coordinate and the minimum coordinate corresponding to the propagation distance, if a certain propagation distance only has the corresponding minimum coordinate or maximum coordinate, the calculation of the median coordinate corresponding to the propagation distance is abandoned. The above situation may occur after the related maximum coordinates are filtered and removed according to the scheme of the foregoing embodiment, or may occur when the initial maximum coordinate and the initial minimum coordinate in the signal propagation diagram are determined to be at different propagation distances.
As an example, step 104 may specifically include:
fitting the median coordinates corresponding to the propagation distances to obtain a target fitting straight line;
and taking the slope of the target fitting straight line as a slope parameter of the position to be measured.
The median coordinates corresponding to each propagation distance may be fitted by using/based on a least square method, linear fitting, polynomial fitting, or the like.
Further optionally, fitting the median coordinates corresponding to each propagation distance to obtain a target fitting straight line includes: fitting a preset number of adjacent median coordinates in the median coordinates corresponding to each propagation distance in sequence to obtain a corresponding fitting straight line set; and determining a target fitting straight line in the fitting straight line set, wherein the residual error from the median coordinate corresponding to each propagation distance to the target fitting straight line is minimum.
According to the slope parameter extraction method provided by the embodiment, after the median coordinates corresponding to different propagation distances are obtained, a certain number of median coordinates are sequentially selected for fitting to obtain a plurality of fitting straight lines, and an optimal one is selected from the plurality of fitting straight lines to determine the slope parameter of the position to be measured, so that the median coordinate with a large error can be removed, and the accuracy and reliability of slope parameter extraction are further improved.
Optionally, in order to further improve the accuracy of the slope parameter and avoid the randomness and inaccuracy of a single measurement result, the accuracy of the measurement result may be improved through multiple measurements. On the basis of any embodiment, step 102 is performed multiple times to obtain multiple sets of the most valued coordinates; step 103 specifically comprises:
determining a median coordinate corresponding to the multiple measurements according to the maximum value coordinates and the minimum value coordinates obtained by the multiple measurements;
step 104 specifically includes:
according to the median coordinates corresponding to multiple measurements, respectively fitting and processing the median coordinates corresponding to each propagation distance to obtain a slope parameter set { A) of the position to be measured1,..,Ai,..,ATIn which the variable i characterizes the ith measurement, AiThe slope parameter is obtained according to the median coordinates of the ith measurement;
calculating the slope parameter set { A }1,..,Ai,..,ATAnd determining the slope parameter of the position to be detected according to the median value.
Specifically, the process of obtaining the maximum coordinates corresponding to each propagation distance is repeatedly executed T times, that is, the process of repeatedly executing T times to determine the coordinates where the maximum values of the variables corresponding to each propagation distance in the preset direction are located, and the maximum coordinates corresponding to each propagation distance are obtained; wherein T is a positive integer. For example, T is taken to be 10, i.e., 10 measurements are taken. One set of median coordinates was obtained for each measurement and finally 10 sets of median coordinates were obtained. Correspondingly, the fitting process of the median coordinates is also executed for T times, namely, the median coordinates corresponding to each propagation distance are respectively fitted and processed according to the median coordinates corresponding to the T times of measurement, and the slope parameter set { A ] of the position to be measured is obtained1,..,Ai,..,ATIn which the variable i characterizes the ith measurement, AiThe slope parameter is obtained according to the median coordinates of the ith measurement; therefore, a slope parameter is determined from a set formed by T median values obtained after T times of fitting for calculating the hardness value of the tissue, and optionally, the slope parameter can be set in the slope parameter set { A }1,..,Ai,..,ATDetermining a median value, and determining a slope parameter of the position to be detected according to the median value. For example, a median sitting value of T measurements is obtainedAfter calibration, taking the 10 sets of median coordinates obtained previously as an example, a set { a ] composed of slope parameters of 10 positions to be measured can be obtained by linear fitting according to the 10 sets of median coordinates1,..,Ai,..,A10Correspondingly, the median in the set can be used as the final slope parameter of the position to be measured.
Optionally, in order to further improve the precision of the slope parameter, the obtained variable of the test signal propagating along the preset direction at the to-be-measured position of the to-be-measured tissue along with time may be filtered, and then the respective slope parameters (i.e. 2T slope parameters) of the filtered variable and the filtered variable obtained by T times of measurement may be respectively obtained, specifically:
performing band-pass filtering on the variable;
before and after filtering, respectively repeating the step of obtaining the most value coordinates corresponding to each propagation distance for T times, and obtaining the median coordinates of each propagation distance for T times before filtering and the median coordinates corresponding to each propagation distance for T times after filtering;
according to the median coordinates corresponding to the T times of measurement before filtering, respectively fitting and processing the median coordinates corresponding to each propagation distance to obtain a pre-filtering slope set { B ] of the position to be measured1,..,Bi,..,BT}；
According to the median coordinates corresponding to the T times of measurement after filtering, respectively fitting and processing the median coordinates corresponding to each propagation distance to obtain a filtered slope set { C of the position to be measured1,..,Ci,..,CT}；
Set of pre-filtering slopes at position under test { B1,..,Bi,..,BTDetermining a median value as a slope parameter before filtering; set of filtered slopes at position under test { C1,..,Ci,..,CTDetermining a median value as a slope parameter after filtering;
after the filtered slope set and the filtered slope set are obtained, the most accurate slope parameter can be determined from the set according to a certain screening condition, so that the accuracy of the tissue hardness is further improved.
Optionally, the method of performing the band-pass filtering may be a least-square based band-pass filtering. Specifically, the screening condition may be set to determine a slope parameter of the position to be measured according to one or more of the following selection conditions among the pre-filtering slope parameter and the post-filtering slope parameter;
if the tissue elastic hardness value corresponding to the before-filtering slope parameter and the tissue elastic hardness value corresponding to the after-filtering slope parameter are in the same pathological stage, determining a slope parameter corresponding to the tissue elastic hardness value with smaller relative deviation as a slope parameter of the position to be detected; wherein the relative deviation may be a ratio of the quartile to the median of the slope set.
If the tissue elastic hardness value corresponding to the slope parameter before filtering and the tissue elastic hardness value corresponding to the slope parameter after filtering are not in the same pathological stage, judging whether the relative deviation of the tissue elastic hardness values corresponding to the slope parameter after filtering is smaller than a second threshold value or not, and if so, determining the slope parameter after filtering as the slope parameter of the position to be detected; and if not, judging whether the relative deviation of the tissue elastic hardness value corresponding to the slope parameter before filtering is smaller than a third threshold value, and if so, determining the slope parameter before filtering as the slope parameter of the position to be detected.
If the tissue elastic hardness value corresponding to the pre-filtering slope parameter and the tissue elastic hardness value corresponding to the post-filtering slope parameter do not meet the selection condition, discarding each median coordinate corresponding to the current T times of measurement, and re-executing the step of obtaining the variable of the test signal propagating along the propagation distance direction along with time at the to-be-measured position of the to-be-measured tissue.
The second threshold and the third threshold may be equal or unequal, and preferably, the values of the second threshold and the third threshold may be 0.33; the histopathological stages correspond to different hardness value ranges, and the actual application can refer to the tissue hardness value and a control reference standard of the histopathological stages. And determining whether the slope parameter before filtering and the slope parameter after filtering correspond to the tissue elastic hardness value in the same pathological stage, and determining whether the hardness value obtained by calculating the slope parameter before filtering is used as a final result or the hardness value obtained by calculating the slope parameter after filtering is used as the final result according to various selection conditions. If not, the error of the current T times of measurement is considered to be larger, the median coordinates of the T times of measurement are abandoned, the T times of measurement are carried out again, and the median data of each T groups before filtering and after filtering are obtained.
According to the slope parameter extraction method provided by the embodiment, on the basis of self-adaptive median coordinate searching, the final slope parameter is obtained through multiple measurement, filtering and other processing based on the multiple measurement results before and after filtering, and the accuracy and reliability of slope parameter extraction are further improved.
Fig. 5 is a schematic structural diagram of a slope parameter extracting apparatus according to the present application, shown in fig. 5, the slope parameter extracting apparatus according to the present application includes:
an obtaining module 51, configured to obtain a variable that a test signal propagates along a preset direction at a to-be-tested position along with time;
a determining module 52, configured to determine a coordinate where a maximum value of a variable corresponding to each propagation distance in the preset direction is located, and obtain a maximum value coordinate corresponding to each propagation distance;
the processing module 53 is configured to determine a median coordinate corresponding to each propagation distance according to the most significant coordinate corresponding to each propagation distance;
and the fitting module 54 is configured to fit the median coordinates corresponding to the propagation distances to obtain slope parameters of the to-be-detected position.
The test signal may be a shear wave signal, the direction may be set in combination with an actual scene, and the variable may be any variable reflecting a fluctuation characteristic, such as deformation data. The slope parameter extracting apparatus may be implemented in various forms, for example, as a computer program stored in a storage medium, or as software installed in a physical device, or as a physical device, where the physical device includes, but is not limited to, an ultrasound imaging device, a computer, a terminal, a chip, and the like.
For example, the slope parameter extraction device of the present embodiment may employ an ultrasonic scanning system to perform tissue hyper-imagingIn the acoustic elastography, shear waves are excited in tissues, for example, the shear waves are excited in the tissues in a pressing mode, ultrasonic echo data including propagation information of the shear waves propagating in the tissues along the depth are acquired, and deformation estimation data including strain data of the shear waves at different depths at different moments are obtained by using the ultrasonic echo data. The strain data includes variables reflecting propagation of the shear wave in the depth direction at the to-be-measured position of the to-be-measured tissue along with time, and the expression form of the variables may be a signal propagation map, for example, the signal propagation map may include information of deformation at different times and different depths. The strain data is in a stripe shape in the signal propagation diagram, the slope of the stripe is the slope parameter of the position to be measured, and is also the propagation speed of the shear wave in the tissue, and then the selection is carried out by utilizing the formula of Young modulus, wherein E is 3 rho VS 2Wherein E is a hardness value, rho is the density of the tissue to be measured, and VSAnd (4) solving the elastic hardness value of the tissue for the speed value of the shear wave at the position to be measured, and further judging the pathology of the tissue. Wherein the variable may be a strain value, a displacement value, etc. Specifically, in this embodiment, the most significant value of the variable includes a maximum value of the variable and/or a minimum value of the variable, and correspondingly, the most significant coordinate includes a maximum value coordinate and/or a minimum value coordinate.
The slope parameter extraction device of the embodiment obtains the variable of the test signal propagating along the preset direction at the position to be tested along with the time; determining the coordinate where the most value of the variable corresponding to each propagation distance in the preset direction is located, and obtaining the most value coordinate corresponding to each propagation distance; determining a median coordinate corresponding to each propagation distance according to the most-valued coordinate corresponding to each propagation distance; and fitting the median coordinate corresponding to each propagation distance to obtain a slope parameter of the position to be measured. The slope parameter is obtained by adopting the intermediate value of the two maximum coordinates, the error caused by noise interference is effectively weakened, and the accuracy and the reliability of the slope parameter extraction are effectively improved.
On the basis of the above embodiment, the determining module 52 includes:
the acquisition unit is used for acquiring a variable propagated along a preset direction along with time at a position to be tested of the test signal and then generating a signal propagation diagram;
the determining unit is used for determining the initial most value coordinate from the initial region to be measured of the signal propagation diagram and taking the initial most value coordinate as the current most value coordinate;
and the processing unit is used for searching the most significant coordinate corresponding to the next propagation distance in the signal propagation diagram along the time direction from the corresponding position of the current most significant coordinate in the next propagation distance, updating the most significant coordinate corresponding to the next propagation distance to be the current most significant coordinate, and so on until the most significant coordinate corresponding to the last propagation distance in the signal propagation diagram is searched.
Specifically, a signal propagation diagram with a horizontal axis of the signal propagation diagram as a time axis and a vertical axis of the signal propagation diagram as a propagation distance axis is taken as an example for explanation, a preset region in the signal propagation diagram is taken as an initial region to be measured, a most significant coordinate in the region to be measured is found, the most significant coordinate is taken as a point to be measured, a certain region around a next row of points corresponding to the point to be measured is taken as a current region to be measured, a most significant point is found in the current region to be measured, and by analogy, a series of most significant coordinates are obtained in a self-adaptive manner, and the most significant coordinate can be a maximum value coordinate or a minimum value coordinate. Therefore, it is possible to find only the maximum value coordinate, or the minimum value coordinate, or both the maximum value coordinate and the minimum value coordinate in the region to be measured at a certain propagation distance. In the embodiment, the most-valued coordinate required by fitting the straight line is found in a self-adaptive manner, namely, in the processing and analyzing processes, the processing device is automatically adjusted according to the data characteristics of the processed data, and the most-valued coordinate is determined by adaptively finding the starting point of the stripe, so that a median coordinate point with a better effect is obtained to perform linear fitting, and a more accurate slope parameter is obtained.
Optionally, in order to further improve the accuracy of the slope parameter, optimization processing and detection screening may be performed on the most-valued coordinate before fitting.
In an embodiment, in order to further improve the accuracy of the slope parameter, before the fitting, the found most-significant coordinate may be detected based on the variable value and the number of the most-significant coordinates, and accordingly, on the basis of the first embodiment, the apparatus further includes:
and the first optimization module is used for positioning the zero crossing point of the coordinate before the processing module fits the most-valued coordinate corresponding to each appointed depth.
Optionally, the first optimization module may be specifically configured to sequentially determine whether a product of variables corresponding to two adjacent most significant coordinates in the most significant coordinates corresponding to each propagation distance is less than 0; if the propagation distance is smaller than 0, judging whether the propagation distance corresponding to the variable smaller than 0 is smaller than a first preset distance; and if the propagation distance corresponding to the variable smaller than 0 is smaller than the first preset distance, removing two adjacent most-valued coordinates and all previous most-valued coordinates of which the product of the corresponding variables is smaller than 0.
In practical application, if the number of the effective most significant coordinates does not meet the requirement of linear fitting, each most significant coordinate needs to be adaptively searched again, and correspondingly, the first optimization module may be further configured to clear the most significant coordinates corresponding to each propagation distance if the number of the most significant coordinates corresponding to each propagation distance is smaller than the first threshold, and control the determination module 52 to return to the execution 102.
In another embodiment, the apparatus further comprises: and the second optimization module is used for eliminating abnormal coordinates meeting preset conditions before the processing module performs fitting processing on the most-valued coordinates corresponding to each appointed depth.
Optionally, the second optimization module may be specifically configured to detect whether abscissa coordinates of the most significant coordinates corresponding to M consecutive adjacent propagation distances, including the initial propagation distance, are all the same, and if all the abscissa coordinates are the same, delete the M most significant coordinates; detecting whether the abscissa of the most-valued coordinate corresponding to N continuous adjacent propagation distances including the end propagation distance is the same, and if so, deleting the N most-valued coordinates; detecting the most significant coordinates corresponding to the propagation distances in the propagation distances except the initial propagation distance and the end propagation distance, and if the abscissa of the most significant coordinates corresponding to K continuous adjacent propagation distances is the same, only keeping the K' th most significant coordinate; the relationship between K 'and K is subject to practical experience, for example, when K is 2K, K' ═ K; when K is 2K +1, K' is K + 1; wherein M, N and k are both positive integers.
Optionally, the second optimization module may be further configured to calculate a maximum coordinate ajAbscissa and the most significant coordinate A ofj-1Is a difference V of the abscissajWherein j is 3 to x in sequence, and x is a positive integer which is greater than 3 and less than the number of each propagation distance; if the difference value VjIf the maximum value is greater than the preset lower limit value, calculating the maximum value coordinate A3To the maximum coordinate AxAverage value of absolute value of difference between abscissa of all adjacent two most significant coordinates; if the average value is smaller than a preset upper limit value, judging the most valued coordinate AjWhether the corresponding propagation distance is smaller than a second preset distance; if the maximum coordinate AjIf the corresponding propagation distance is less than the second preset distance, then the maximum coordinate set { A }is obtained3,..,Aj,..,AxRemoving the maximum coordinate AjAnd its previous most-valued coordinates; if the maximum coordinate AjIf the corresponding propagation distance is greater than the second preset distance, the maximum coordinate set { A }is obtained3,..,Aj,..,AxRemoving the maximum coordinate AjAnd the most significant coordinates after it.
Optionally, in a scenario, the maximum coordinate includes a maximum coordinate and a minimum coordinate; the processing module is specifically configured to determine a coordinate of a median between the maximum coordinate and the minimum coordinate according to the maximum coordinate and the minimum coordinate corresponding to each propagation distance.
Still alternatively, the method of fitting may be various. As an example, the fitting module may specifically be configured to: fitting the median coordinates corresponding to the propagation distances to obtain a target fitting straight line; and taking the slope of the target fitting straight line as a slope parameter of the position to be measured.
The slope parameter extraction device provided in this embodiment filters and screens the median coordinates corresponding to different propagation distances after obtaining the median coordinates, and then obtains a slope parameter value by fitting in a least square method, linear fitting, polynomial fitting, or other manners, so that the median coordinates with a large error can be removed, and the accuracy and reliability of slope parameter extraction are further improved.
Optionally, in order to further improve the accuracy of the slope parameter and avoid the randomness and inaccuracy of a single measurement result, the accuracy of the measurement result may be improved through multiple measurements. In either embodiment, step 102 is performed by the determination module 52 multiple times to obtain multiple sets of the most significant coordinates;
the processing module 53 is specifically configured to determine a median coordinate corresponding to multiple measurements according to each maximum value coordinate and each minimum value coordinate obtained by multiple measurements;
a fitting module 54, configured to respectively fit and process the median coordinates corresponding to each propagation distance according to each median coordinate corresponding to multiple measurements, so as to obtain a slope parameter set { a ] of the to-be-measured position1,..,Ai,..,ATIn which the variable i characterizes the ith measurement, AiThe slope parameter is obtained according to the median coordinates of the ith measurement;
the fitting module 54 is further specifically configured to calculate the slope parameter set { A }1,..,Ai,..,ATAnd determining the slope parameter of the position to be detected according to the median value.
Optionally, the apparatus may further include: the filtering module is used for carrying out band-pass filtering on the variable;
a determining module 52, configured to repeatedly perform the step of obtaining the most value coordinate corresponding to each propagation distance T times before and after filtering, respectively, and a processing module 53, configured to obtain a median coordinate of each propagation distance T times before filtering and a median coordinate corresponding to each propagation distance T times after filtering;
a fitting module 54, configured to respectively fit the median coordinates corresponding to each propagation distance according to the median coordinates corresponding to the T times of measurement before filtering, so as to obtain a pre-filtering slope set { B ] of the to-be-measured position1,..,Bi,..,BT}; according to after filteringThe corresponding median coordinates of the T times of measurement are respectively fitted and processed to obtain the filtered slope set { C of the position to be measured1,..,Ci,..,CT}; set of pre-filtering slopes at position under test { B1,..,Bi,..,BTDetermining a median value as a slope parameter before filtering; set of filtered slopes at position under test { C1,..,Ci,..,CTAnd determining a median value as a slope parameter after filtering.
After the filtered slope set and the filtered slope set are obtained, the most accurate slope parameter can be determined from the set according to a certain screening condition, so that the accuracy of the tissue hardness is further improved.
Specifically, the screening condition may be set to determine a slope parameter of the position to be measured according to one or more of the following selection conditions among the pre-filtering slope parameter and the post-filtering slope parameter;
if the tissue elastic hardness value corresponding to the before-filtering slope parameter and the tissue elastic hardness value corresponding to the after-filtering slope parameter are in the same pathological stage, determining a slope parameter corresponding to the tissue elastic hardness value with smaller relative deviation as a slope parameter of the position to be detected; wherein the relative deviation may be a ratio of the quartile to the median of the slope set.
If the tissue elastic hardness value corresponding to the slope parameter before filtering and the tissue elastic hardness value corresponding to the slope parameter after filtering are not in the same pathological stage, judging whether the relative deviation of the tissue elastic hardness values corresponding to the slope parameter after filtering is smaller than a second threshold value or not, and if so, determining the slope parameter after filtering as the slope parameter of the position to be detected; and if not, judging whether the relative deviation of the tissue elastic hardness value corresponding to the slope parameter before filtering is smaller than a third threshold value, and if so, determining the slope parameter before filtering as the slope parameter of the position to be detected.
If the tissue elastic hardness value corresponding to the pre-filtering slope parameter and the tissue elastic hardness value corresponding to the post-filtering slope parameter do not satisfy the above selection condition, discarding each median coordinate corresponding to the current T measurements, and the obtaining module 51 re-executes 102.
The slope parameter extraction device provided by this embodiment obtains a final slope parameter based on a plurality of measurement results performed before and after filtering through a plurality of measurements, filtering, and the like on the basis of adaptively finding a median coordinate, thereby further improving accuracy and reliability of slope parameter extraction.
The embodiment of the present application further provides a slope parameter extraction device, which includes: at least one processor and memory; the memory stores computer-executable instructions; the at least one processor executes computer-executable instructions stored by the memory to perform the method as previously described.
An embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed, the computer program implements the method as described above.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the above-described device may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims (15)

1. A slope parameter extraction method is characterized by comprising the following steps:
acquiring a variable of a test signal propagating along a preset direction at a position to be tested along with time;
determining the coordinate where the most value of the variable corresponding to each propagation distance in the preset direction is located, and obtaining the most value coordinate corresponding to each propagation distance;
determining a median coordinate corresponding to each propagation distance according to the most-valued coordinate corresponding to each propagation distance;
and fitting the median coordinates corresponding to the propagation distances to obtain the slope parameters of the position to be measured.
2. The method according to claim 1, wherein the determining coordinates where the most value of the variable corresponding to each propagation distance in the preset direction is located to obtain the most value coordinates corresponding to each propagation distance includes:
acquiring a variable of the test signal propagating along a preset direction along with time at a position to be tested, and generating a signal propagation diagram;
determining initial most value coordinates from the initial region to be measured of the signal propagation diagram, and taking the initial most value coordinates as current most value coordinates;
starting from the corresponding position of the current maximum coordinate in the next propagation distance, searching the maximum coordinate corresponding to the next propagation distance in the signal propagation diagram along the time direction, updating the maximum coordinate corresponding to the next propagation distance to be the current maximum coordinate, and so on until the maximum coordinate corresponding to each propagation distance in the signal propagation diagram is searched.
3. The method of claim 1, wherein the most significant coordinate comprises a maximum value coordinate and a minimum value coordinate; determining a median coordinate corresponding to each propagation distance according to the most-valued coordinate corresponding to each propagation distance, including:
and determining the coordinate of the intermediate value of the maximum value coordinate and the minimum value coordinate according to the maximum value coordinate and the minimum value coordinate corresponding to each propagation distance.
4. The method according to any one of claims 1-3, wherein before determining the median coordinate corresponding to each propagation distance according to the most-valued coordinate corresponding to each propagation distance, further comprising:
and carrying out zero crossing point positioning processing on the most-valued coordinates corresponding to the propagation distances.
5. The method according to claim 4, wherein the zero-crossing point positioning processing for the most-valued coordinate corresponding to each propagation distance includes:
sequentially judging whether the product of variables corresponding to two adjacent most significant coordinates in the most significant coordinates corresponding to each propagation distance is less than 0;
if the propagation distance is smaller than 0, judging whether the propagation distance corresponding to the variable smaller than 0 is smaller than a first preset distance;
and if the propagation distance corresponding to the variable smaller than 0 is smaller than the first preset distance, removing two adjacent most-valued coordinates and all previous most-valued coordinates of which the product of the corresponding variables is smaller than 0.
6. The method according to claim 4, wherein after performing zero-crossing location processing on the most significant coordinate corresponding to each propagation distance, the method further comprises:
and if the number of the most significant coordinates corresponding to each propagation distance is smaller than the first threshold, removing the most significant coordinates corresponding to each propagation distance, and returning to the step of determining the coordinates where the most significant of the variables corresponding to each propagation distance in the preset direction is located, so as to obtain the most significant coordinates corresponding to each propagation distance.
7. The method according to any one of claims 1-3, wherein before determining the median coordinate corresponding to each propagation distance according to the most-valued coordinate corresponding to each propagation distance, further comprising:
and eliminating abnormal maximum coordinates meeting preset conditions.
8. The method according to claim 7, wherein the eliminating abnormal maximum coordinates meeting a preset condition comprises:
detecting whether the abscissa of the most-valued coordinate corresponding to M continuous adjacent propagation distances including the initial propagation distance is the same, and if so, deleting the M most-valued coordinates; detecting whether the abscissa of the most-valued coordinate corresponding to N continuous adjacent propagation distances including the end propagation distance is the same, and if so, deleting the N most-valued coordinates; detecting the most significant coordinates corresponding to the propagation distances in the propagation distances except the initial propagation distance and the end propagation distance, and if the abscissa of the most significant coordinates corresponding to K continuous adjacent propagation distances is the same, only keeping the K' th most significant coordinate; the relationship between K 'and K is subject to practical experience, for example, when K is 2K, K' ═ K; when K is 2K +1, K' is K + 1; wherein M, N and k are both positive integers; or,
calculating the difference V between the abscissa of the maximum coordinate Aj and the abscissa of the maximum coordinate Aj-1jWherein j is 3 to x in sequence, and x is a positive integer which is greater than 3 and less than the number of each propagation distance; if the difference value VjIf the maximum value is greater than the preset lower limit value, calculating the maximum value coordinate A3To the maximum coordinate AxAverage value of absolute value of difference between abscissa of all adjacent two most significant coordinates; if the average value is smaller than a preset upper limit value, judging the most valued coordinate AjWhether the corresponding propagation distance is smaller than a second preset distance; if the maximum coordinate AjIf the corresponding propagation distance is less than the second preset distance, then the maximum coordinate set { A }is obtained3,..,Aj,..,AxRemoving the maximum coordinate AjAnd its previous most-valued coordinates; if the maximum coordinate AjIf the corresponding propagation distance is greater than the second preset distance, thenThe set of most significant coordinates { A }3,..,Aj,..,AxRemoving the maximum coordinate AjAnd the most significant coordinates after it.
9. The method of claim 3, wherein the step of obtaining the most significant coordinates corresponding to each propagation distance is performed a plurality of times to obtain a plurality of sets of most significant coordinates;
determining a median coordinate corresponding to each propagation distance according to the most-valued coordinate corresponding to each propagation distance, including:
determining each median coordinate corresponding to the multiple measurements according to each maximum coordinate and each minimum coordinate obtained by the multiple measurements;
the fitting process of the median coordinate corresponding to each propagation distance to obtain the slope parameter of the position to be measured includes:
according to the median coordinates corresponding to multiple measurements, respectively fitting and processing the median coordinates corresponding to each propagation distance to obtain a slope parameter set { A) of the position to be measured1,..,Ai,..,ATIn which the variable i characterizes the ith measurement, AiThe slope parameter is obtained according to the median coordinates of the ith measurement;
calculating the slope parameter set { A }1,..,Ai,..,ATAnd determining the slope parameter of the position to be detected according to the median value.
10. The method of claim 1, further comprising:
band-pass filtering the variable;
determining a median coordinate corresponding to each propagation distance according to the most-valued coordinate corresponding to each propagation distance, including:
before and after filtering, respectively repeating the step of obtaining the most value coordinates corresponding to each propagation distance for T times, and obtaining the median coordinates of each propagation distance for T times before filtering and the median coordinates corresponding to each propagation distance for T times after filtering;
the fitting process of the median coordinate corresponding to each propagation distance to obtain the slope parameter of the position to be measured includes:
according to the median coordinates corresponding to the T times of measurement before filtering, respectively fitting and processing the median coordinates corresponding to each propagation distance to obtain a pre-filtering slope set { B ] of the position to be measured1,..,Bi,..,BT}；
According to the median coordinates corresponding to the T times of measurement after filtering, respectively fitting and processing the median coordinates corresponding to each propagation distance to obtain a filtered slope set { C of the position to be measured1,..,Ci,..,CT}；
Set of pre-filtering slopes at position under test { B1,..,Bi,..,BTDetermining a median value as a slope parameter before filtering; set of filtered slopes at position under test { C1,..,Ci,..,CTDetermining a median value as a slope parameter after filtering;
and based on a preset screening condition, selecting one of the pre-filtering slope parameter and the post-filtering slope parameter as the slope parameter of the position to be detected.
11. The method according to claim 1, wherein the fitting process of the median coordinate corresponding to each propagation distance to obtain a slope parameter of the position to be measured includes:
fitting the median coordinates corresponding to the propagation distances to obtain a target fitting straight line;
and taking the slope of the target fitting straight line as a slope parameter of the position to be measured.
12. The method according to claim 11, wherein the fitting the median coordinates corresponding to the propagation distances to obtain a target fitting straight line comprises:
fitting a preset number of adjacent median coordinates in the median coordinates corresponding to each propagation distance in sequence to obtain a corresponding fitting straight line set;
and determining the target fitting straight line in the fitting straight line set, wherein the residual error from the median coordinate corresponding to each propagation distance to the target fitting straight line is minimum.
13. A slope parameter extraction device, characterized by comprising:
the acquisition module is used for acquiring a variable of the propagation of the test signal along a preset direction at the position to be tested along with time;
the determining module is used for determining the coordinate where the most value of the variable corresponding to each propagation distance in the preset direction is located, and obtaining the most value coordinate corresponding to each propagation distance;
the processing module is used for determining a median coordinate corresponding to each propagation distance according to the most-valued coordinate corresponding to each propagation distance;
and the fitting module is used for fitting the median coordinates corresponding to the propagation distances to obtain the slope parameters of the position to be measured.
14. A slope parameter extraction device, characterized by comprising: at least one processor and memory;
the memory stores computer-executable instructions; the at least one processor executes computer-executable instructions stored by the memory to perform the method of any of claims 1-12.
15. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which computer program, when executed, implements the method of any one of claims 1-12.
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