CN111537973A - Method and device for processing echo received by radar - Google Patents
Method and device for processing echo received by radar Download PDFInfo
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- CN111537973A CN111537973A CN202010410675.9A CN202010410675A CN111537973A CN 111537973 A CN111537973 A CN 111537973A CN 202010410675 A CN202010410675 A CN 202010410675A CN 111537973 A CN111537973 A CN 111537973A
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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
Abstract
The invention provides a method and a device for processing echoes received by a radar, wherein the method comprises the following steps: receiving radar detection data generated in each scanning period sent by a radar, wherein the radar detection data in each scanning period comprises echo detection data of each echo; according to the radar detection data of each scanning period, determining a suspected false echo of each scanning period and a real target corresponding to each suspected false echo; and determining whether the same real target has suspected false echoes in n continuous scanning periods, and if so, determining the suspected false echoes of the real target as false echoes. The invention provides a method and a device for processing an echo received by a radar, which can identify a false echo.
Description
Technical Field
The present invention relates to the field of radar technologies, and in particular, to a method and an apparatus for processing an echo received by a radar.
Background
In the technical field of radar, false echoes can be received by the radar due to the fact that multiple reflection phenomena occur to radar electromagnetic waves and the like, and the false echoes can cause the radar to identify false targets. For example, in the working environment of a marine radar, a bridge with a strong reflection characteristic exists, radar electromagnetic waves are emitted and then reflected by real targets such as ships and the like to reach the bridge, the bridge reflects part of the electromagnetic waves back to the real targets, the electromagnetic waves are reflected back to the radar by the real targets, and the part of the electromagnetic waves received by the radar are false echoes. The false target formed by the false echo generated by the reflection of the bridge has extremely strong target characteristics and motion characteristics, so that the staff cannot judge the truth of the target through the display of the radar, the working efficiency is greatly influenced, and the situations of misjudging the target track, danger in navigation and the like are easily caused. No technical solution for identifying false echoes exists in the prior art.
Disclosure of Invention
The embodiment of the invention provides a method and a device for processing an echo received by a radar, which can identify a false echo.
In a first aspect, an embodiment of the present invention provides a method for processing an echo received by a radar, where the method includes:
receiving radar detection data generated in each scanning period sent by a radar, wherein the radar detection data in each scanning period comprises echo detection data of each echo;
according to the radar detection data of each scanning period, determining a suspected false echo of each scanning period and a real target corresponding to each suspected false echo;
and determining whether the same real target has suspected false echoes in n continuous scanning periods, and if so, determining the suspected false echoes of the real target as false echoes.
Alternatively,
the echo detection data comprises: distance information between the target corresponding to the echo and the radar and azimuth information of the target corresponding to the echo;
the determining, according to the radar detection data of each scanning cycle, a suspected false echo of each scanning cycle and a real target corresponding to each suspected false echo includes:
for the echo detection data of each echo, performing: determining the distance between a current target corresponding to the current echo and the radar and the azimuth of the current target according to the distance information and the azimuth information of the current echo;
determining at least one group of targets to be identified from the targets corresponding to the at least one echo, wherein at least two targets with the same azimuth are a group of targets to be identified;
for each group of the targets to be recognized, executing:
determining the target distance between any two targets to be recognized in the current group according to the distance between each target to be recognized in the current group and the radar;
and judging whether the suspected false echo exists in the echoes corresponding to the target to be identified in the current group or not according to each target distance, and if so, determining the suspected false echo and a real target corresponding to each suspected false echo.
Alternatively,
the method further comprises the following steps:
determining a location of an interference source generating the spurious echo;
the judging whether the suspected false echo exists in the echoes corresponding to the target to be identified in the current group according to each target distance, if so, determining the suspected false echo and a real target corresponding to each suspected false echo, and the method comprises the following steps:
determining a first distance range between each target to be identified of the current group and the interference source according to the position of the interference source;
for each target to be recognized of the current group, performing:
judging whether a target to be recognized, the target distance between which and the current target to be recognized is within a first distance range corresponding to the current target to be recognized, exists in other targets to be recognized in the current group, and if so, taking the target to be recognized, the target distance between which and the current target to be recognized is within the first distance range corresponding to the current target to be recognized, as a suspected target;
and judging whether a suspected target with the distance from the radar larger than the distance between the current target to be identified and the radar exists, if so, taking an echo corresponding to the suspected target with the distance from the radar larger than the distance between the current target to be identified and the radar as the suspected false echo, and taking the current target to be identified as a real target corresponding to the suspected false echo.
Alternatively,
the determining the distance between the current target corresponding to the current echo and the radar and the azimuth of the current target according to the distance information and the azimuth information of the current echo comprises the following steps:
determining at least one data unit where a current target is located according to the distance information and the azimuth information of a current echo, wherein the data unit stores therein the distance between the current target and a radar at the data unit, the azimuth of the current target at the data unit, and the intensity of the current echo at the data unit, and the distance information includes: the distance stored in each data unit, the orientation information includes: a bearing included in each of the data units;
determining a target data unit where the center of gravity of the plaque formed by the at least one data unit is located;
taking the distance stored in the target data unit as the distance between the current target corresponding to the current echo and the radar;
and taking the azimuth stored in the target data unit as the azimuth of the current target.
Alternatively,
after the determining the suspected false echo of the real target as a false echo, further comprising:
determining the position of a false target corresponding to the false echo according to the echo detection data of the false echo;
and marking the false target according to the position of the false target.
In a second aspect, an embodiment of the present invention provides an apparatus for processing an echo received by a radar, where the apparatus includes:
the receiving module is used for receiving radar detection data which are sent by a radar and generated in each scanning period, wherein the radar detection data in each scanning period comprise echo detection data of each echo;
a first determining module, configured to determine, according to radar detection data in each scanning cycle, a suspected false echo in each scanning cycle and a real target corresponding to each suspected false echo;
and the second determining module is used for determining whether the same real target has suspected false echoes in n consecutive scanning periods, and if so, determining the suspected false echoes of the real target as false echoes.
Alternatively,
the echo detection data comprises: distance information between the target corresponding to the echo and the radar and azimuth information of the target corresponding to the echo;
the first determining module is configured to perform:
for the echo detection data of each echo, performing: determining the distance between a current target corresponding to the current echo and the radar and the azimuth of the current target according to the distance information and the azimuth information of the current echo;
determining at least one group of targets to be identified from the targets corresponding to the at least one echo, wherein at least two targets with the same azimuth are a group of targets to be identified;
for each group of the targets to be recognized, executing:
determining the target distance between any two targets to be recognized in the current group according to the distance between each target to be recognized in the current group and the radar;
and judging whether the suspected false echo exists in the echoes corresponding to the target to be identified in the current group or not according to each target distance, and if so, determining the suspected false echo and a real target corresponding to each suspected false echo.
Alternatively,
the apparatus further comprises:
a third determining module, configured to determine a location of an interference source generating the spurious echo;
the first determining module, when executing the step of determining whether the suspected false echo exists in the echoes corresponding to the target to be identified in the current group according to each target distance, and if so, determining the suspected false echo and the real target corresponding to each suspected false echo, specifically, is configured to execute:
determining a first distance range between each target to be identified of the current group and the interference source according to the position of the interference source;
for each target to be recognized of the current group, performing:
judging whether a target to be recognized, the target distance between which and the current target to be recognized is within a first distance range corresponding to the current target to be recognized, exists in other targets to be recognized in the current group, and if so, taking the target to be recognized, the target distance between which and the current target to be recognized is within the first distance range corresponding to the current target to be recognized, as a suspected target;
and judging whether a suspected target with the distance from the radar larger than the distance between the current target to be identified and the radar exists, if so, taking an echo corresponding to the suspected target with the distance from the radar larger than the distance between the current target to be identified and the radar as the suspected false echo, and taking the current target to be identified as a real target corresponding to the suspected false echo.
Alternatively,
the first determining module, when the distance information and the azimuth information according to the current echo are executed to determine the distance between the current target corresponding to the current echo and the radar and the azimuth of the current target, is specifically configured to:
determining at least one data unit where a current target is located according to the distance information and the azimuth information of a current echo, wherein the data unit stores therein the distance between the current target and a radar at the data unit, the azimuth of the current target at the data unit, and the intensity of the current echo at the data unit, and the distance information includes: the distance stored in each data unit, the orientation information includes: a bearing included in each of the data units;
determining a target data unit where the center of gravity of the plaque formed by the at least one data unit is located;
taking the distance stored in the target data unit as the distance between the current target corresponding to the current echo and the radar;
and taking the azimuth stored in the target data unit as the azimuth of the current target.
Alternatively,
the apparatus further comprises:
and the marking module is used for determining the position of a false target corresponding to the false echo according to the echo detection data of the false echo and marking the false target according to the position of the false target.
In the embodiment of the invention, a suspected false echo of each scanning period is determined according to radar detection data of each scanning period sent by a radar, and when the suspected false echo exists in n continuous scanning periods, the suspected false echo is determined to be a false echo. Therefore, the embodiment of the invention can identify the false echo.
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 introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flowchart of a method for processing an echo received by a radar according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a transmission path of a false echo according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of an apparatus for processing an echo received by a radar according to an embodiment of the present invention;
fig. 4 is a schematic diagram of the positions of a bridge, a radar, a real target and a false target according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer and more complete, the technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention, and based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the scope of the present invention.
As shown in fig. 1, an embodiment of the present invention provides a method for processing an echo received by a radar, where the method includes:
step 101: receiving radar detection data generated in each scanning period sent by a radar, wherein the radar detection data in each scanning period comprises echo detection data of each echo;
step 102: according to the radar detection data of each scanning period, determining a suspected false echo of each scanning period and a real target corresponding to each suspected false echo;
step 103: and determining whether the same real target has suspected false echoes in n continuous scanning periods, and if so, determining the suspected false echoes of the real target as false echoes.
In the embodiment of the invention, a suspected false echo of each scanning period is determined according to radar detection data of each scanning period sent by a radar, and when the suspected false echo exists in n continuous scanning periods, the suspected false echo is determined to be a false echo. Therefore, the embodiment of the invention can identify the false echo.
By the method for processing the echo received by the radar, the false echo can be identified, the false target corresponding to the false echo can be further identified, and danger caused by the false echo is avoided. By taking navigation and water traffic management as an example, the method for processing the echo received by the navigation radar or the VTS (Vessel traffic service) radar can identify the false echo, further identify the false target on the water surface, avoid misjudging the target track and greatly improve the safety of the navigation process.
In an embodiment of the present invention, the echo detection data includes: distance information between the target corresponding to the echo and the radar and azimuth information of the target corresponding to the echo;
the determining, according to the radar detection data of each scanning cycle, a suspected false echo of each scanning cycle and a real target corresponding to each suspected false echo includes:
for the echo detection data of each echo, performing: determining the distance between a current target corresponding to the current echo and the radar and the azimuth of the current target according to the distance information and the azimuth information of the current echo;
determining at least one group of targets to be identified from the targets corresponding to the at least one echo, wherein at least two targets with the same azimuth are a group of targets to be identified;
for each group of the targets to be recognized, executing:
determining the target distance between any two targets to be recognized in the current group according to the distance between each target to be recognized in the current group and the radar;
and judging whether the suspected false echo exists in the echoes corresponding to the target to be identified in the current group or not according to each target distance, and if so, determining the suspected false echo and a real target corresponding to each suspected false echo.
As shown in fig. 2, a real target a corresponding to a false echo, a false target B corresponding to a false echo, an interference source C causing a false echo, and a radar D are shown. The false echo is formed by: after the radar emits electromagnetic waves, the electromagnetic waves are transmitted to a real target A, the real target A reflects the electromagnetic waves to an interference source C, the interference source C reflects the electromagnetic waves reflected by the real target A to the real target A, the real target A reflects the electromagnetic waves reflected by the interference source C to a radar D, and the radar D receives the multiple-reflection electromagnetic waves. And forming false echo data by the radar D according to the multiple reflected electromagnetic waves, wherein the false echo corresponds to a false target B, the directions of the false target B and the real target A are the same, and the distances between the false target B and the radar are different.
Since the orientation of the real target of the false target is the same, the false echo can be determined from at least two echoes having the same orientation. At least two targets with the same orientation are divided into one group, and the targets in each group are the targets to be identified. The false echo is not necessarily present in the echo corresponding to each group of targets to be identified, the target distance between the targets to be identified in the same group is required to determine, and the echo can be determined to be the suspected false echo only if the target distance meets a certain condition. The suspected false echo is that the echo meets the correlation condition of the false echo in one scanning period, but a sample in one scanning period is too small and has a high possibility of error, so that a normal echo is determined to be the false echo.
In an embodiment of the invention, the method further comprises:
determining a location of an interference source generating the spurious echo;
the judging whether the suspected false echo exists in the echoes corresponding to the target to be identified in the current group according to each target distance, if so, determining the suspected false echo and a real target corresponding to each suspected false echo, and the method comprises the following steps:
determining a first distance range between each target to be identified of the current group and the interference source according to the position of the interference source;
determining a first distance range corresponding to each target to be recognized;
for each target to be recognized of the current group, performing:
judging whether a target to be recognized, the target distance between which and the current target to be recognized is within a first distance range corresponding to the current target to be recognized, exists in other targets to be recognized in the current group, and if so, taking the target to be recognized, the target distance between which and the current target to be recognized is within the first distance range corresponding to the current target to be recognized, as a suspected target;
and judging whether a suspected target with the distance from the radar larger than the distance between the current target to be identified and the radar exists, if so, taking an echo corresponding to the suspected target with the distance from the radar larger than the distance between the current target to be identified and the radar as the suspected false echo, and taking the current target to be identified as a real target corresponding to the suspected false echo.
In an embodiment of the invention, the location of the interference source may be obtained based on actual measurements. A rectangular coordinate system may be established with the radar as the origin of the rectangular coordinate system. Based on the position of the interference source, an equation representing the interference source in the rectangular coordinate system is determined. For example: the interference source is a bridge, the bridge is abstracted into a straight line, then, coordinates of two ends of the bridge are determined, and an equation of the bridge can be determined based on the coordinates of the two ends of the bridge, specifically, the equation of the bridge is as follows:
wherein (x)s,ys)，(xf,yf) Are the coordinates of the two ends of the bridge.
As can be seen from fig. 2, the difference between the distance transmitted by the false echo corresponding to the real target and the distance transmitted by the normal echo directly reflected from the real target back to the radar is the distance between the real target and the reflection point of the false echo on the interference source, and the distance between the real target and the radar is smaller than the distance between the false target corresponding to the false echo and the radar.
The first distance range is the range between the maximum distance and the minimum distance between the target to be identified and the interference source. Taking the interference source as an example of the bridge, the minimum distance is a vertical distance from the target to be identified to the bridge.
The targets to be identified in the same group corresponding to the suspected false echoes need to satisfy the following two conditions:
condition 1: the target distance between the target and the current target to be recognized is within a first distance range of the current target to be recognized;
condition 2: the distance between the target to be identified and the radar is larger than the distance between the current target to be identified and the radar.
And determining that the current target to be recognized is a real target and the echo corresponding to the other target to be recognized meeting the two conditions is a suspected false echo as long as the other target to be recognized meeting the two conditions exists in the other target to be recognized in the same group as the current target to be recognized.
In an embodiment of the present invention, the determining, according to the distance information and the azimuth information of the current echo, a distance between a current target corresponding to the current echo and the radar and an azimuth of the current target includes:
determining at least one data unit where a current target is located according to the distance information and the azimuth information of a current echo, wherein the data unit stores therein the distance between the current target and a radar at the data unit, the azimuth of the current target at the data unit, and the intensity of the current echo at the data unit, and the distance information includes: the distance stored in each data unit, the orientation information includes: a bearing included in each of the data units;
determining a target data unit where the center of gravity of the plaque formed by the at least one data unit is located;
taking the distance stored in the target data unit as the distance between the current target corresponding to the current echo and the radar;
and taking the azimuth stored in the target data unit as the azimuth of the current target.
In embodiments of the present invention, radar detection data may be saved into at least one data unit, each data unit including a range to the radar to which the data unit corresponds, an orientation of the data unit, and an intensity of the echo at the data unit.
Specifically, a plurality of sectors which take the radar as the center of a circle are arranged around the radar, each sector is an azimuth unit, the radar is used as a circle to arrange a plurality of concentric circles, each concentric circle is a distance unit, a plurality of intersected areas are formed between each azimuth unit and each distance unit, and each intersected area is a data unit. The stored position of each data unit is the position represented by the position unit to which the data unit belongs, and the stored distance of each data unit is the distance represented by the distance unit to which the data unit belongs.
For example, 4096 azimuth cells and 2048 distance cells may be demarcated.
Each echo may occupy multiple data elements, and then, for convenience of processing, only one of the data elements is needed to represent the range, azimuth, and intensity of the echo. In order to more accurately represent the characteristics of the echo, the echo is represented by a data unit in which the center of gravity of a plaque formed by a plurality of data units occupied by the echo is located.
Taking as an example that a patch consisting of a plurality of data cells occupied by echoes is converted into an 8 × 8 grid, in the 8 × 8 grid, each grid represents a data cell. The grid in which the center of gravity of the echo is located can be determined by:
wherein (i)a,ja) Representing the grid in which the center of gravity of the echo is located.ijAnd representing the parameter value corresponding to the intensity in the data unit represented by the grid positioned in the ith row and the jth column, wherein the parameter value is 1 when the intensity is greater than a preset value, and the parameter value is 0 when the intensity is not greater than the preset value. HijRepresenting the intensity in the data cell represented by the grid of row i and column j.
In determining the center of gravity of the echoGrid (i) ofa,ja) Then, the grid (i) is determineda,ja) Corresponding data cell, the grid (i)a,ja) The corresponding data unit is the target data unit.
In an embodiment of the present invention, after determining the suspected false echo of the real target as a false echo, the method further includes:
determining the position of a false target corresponding to the false echo according to the echo detection data of the false echo;
and marking the false target according to the position of the false target.
As shown in fig. 3, an embodiment of the present invention provides an apparatus for processing an echo received by a radar, where the apparatus includes:
a receiving module 301, configured to receive radar detection data generated in each scanning period sent by a radar, where the radar detection data in each scanning period includes echo detection data of each echo;
a first determining module 302, configured to determine, according to the radar detection data in each scanning cycle, a suspected false echo in each scanning cycle and a real target corresponding to each suspected false echo;
a second determining module 303, configured to determine whether a suspected false echo exists in the same real target in n consecutive scanning periods, and if so, determine the suspected false echo of the real target as a false echo.
In an embodiment of the present invention, the echo detection data includes: distance information between the target corresponding to the echo and the radar and azimuth information of the target corresponding to the echo;
the first determining module is configured to perform:
for the echo detection data of each echo, performing: determining the distance between a current target corresponding to the current echo and the radar and the azimuth of the current target according to the distance information and the azimuth information of the current echo;
determining at least one group of targets to be identified from the targets corresponding to the at least one echo, wherein at least two targets with the same azimuth are a group of targets to be identified;
for each group of the targets to be recognized, executing:
determining the target distance between any two targets to be recognized in the current group according to the distance between each target to be recognized in the current group and the radar;
and judging whether the suspected false echo exists in the echoes corresponding to the target to be identified in the current group or not according to each target distance, and if so, determining the suspected false echo and a real target corresponding to each suspected false echo.
In an embodiment of the present invention, the apparatus further comprises:
a third determining module, configured to determine a location of an interference source generating the spurious echo;
the first determining module, when executing the step of determining whether the suspected false echo exists in the echoes corresponding to the target to be identified in the current group according to each target distance, and if so, determining the suspected false echo and the real target corresponding to each suspected false echo, specifically, is configured to execute:
determining a first distance range between each target to be identified of the current group and the interference source according to the position of the interference source;
for each target to be recognized of the current group, performing:
judging whether a target to be recognized, the target distance between which and the current target to be recognized is within a first distance range corresponding to the current target to be recognized, exists in other targets to be recognized in the current group, and if so, taking the target to be recognized, the target distance between which and the current target to be recognized is within the first distance range corresponding to the current target to be recognized, as a suspected target;
and judging whether a suspected target with the distance from the radar larger than the distance between the current target to be identified and the radar exists, if so, taking an echo corresponding to the suspected target with the distance from the radar larger than the distance between the current target to be identified and the radar as the suspected false echo, and taking the current target to be identified as a real target corresponding to the suspected false echo.
In an embodiment of the present invention, when the determining, according to the distance information and the azimuth information of the current echo, the first determining module is specifically configured to:
determining at least one data unit where a current target is located according to the distance information and the azimuth information of a current echo, wherein the data unit stores therein the distance between the current target and a radar at the data unit, the azimuth of the current target at the data unit, and the intensity of the current echo at the data unit, and the distance information includes: the distance stored in each data unit, the orientation information includes: a bearing included in each of the data units;
determining a target data unit where the center of gravity of the plaque formed by the at least one data unit is located;
taking the distance stored in the target data unit as the distance between the current target corresponding to the current echo and the radar;
and taking the azimuth stored in the target data unit as the azimuth of the current target.
In an embodiment of the present invention, the apparatus further comprises:
and the marking module is used for determining the position of a false target corresponding to the false echo according to the echo detection data of the false echo and marking the false target according to the position of the false target.
In an embodiment of the present invention, the radar may scan for one week every 2.5-3 seconds. The radar can store radar detection data into a bin format file in a binary mode according to a data storage form of 4096 azimuth units and 2048 distance units, send the data to the file, and transmit the radar detection data through the file.
In the embodiment of the present invention, the device for Processing the echo received by the radar may be deployed on a GPU (Graphics Processing Unit) cloud server. The GPU cloud server can process radar detection data through a parallel processing technology, radar video images of 2048 × 2048 sizes are displayed, and real targets, false targets, interference sources and the like are displayed in the images.
The method and the device for processing the echo received by the radar can effectively identify the condition that the bridge reflection false echo is generated due to the existence of the bridge strong reflector in the radar monitoring water area, reduce the interference of multiple reflections of radar electromagnetic waves in the radar monitoring water area and further improve the accuracy of a radar system.
Because the data volume collected by the radar station is large, the system faces the problems of large data volume and many data processing threads, the device for processing the echoes received by the radar is deployed on the GPU cloud server, and parallel processing is performed through a plurality of efficient operation units of the GPU cloud server, so that the data processing time is reduced, and the requirement of the system on processing real-time property is met.
Taking the example where the interferer is a bridge, fig. 4 shows the locations of the bridge, the radar, the real target, and the false target.
It is to be understood that the illustrated structure of the embodiment of the present invention does not constitute a specific limitation on the device for processing the echo received by the radar. In other embodiments of the invention the means for processing the echoes received by the radar may comprise more or fewer components than shown, or some components may be combined, some components may be split, or a different arrangement of components. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.
Because the information interaction, execution process, and other contents between the units in the device are based on the same concept as the method embodiment of the present invention, specific contents may refer to the description in the method embodiment of the present invention, and are not described herein again.
The present invention also provides a computer readable medium storing instructions for causing a computer to perform a method of processing echoes received by a radar as described herein. Specifically, a system or an apparatus equipped with a storage medium on which software program codes that realize the functions of any of the above-described embodiments are stored may be provided, and a computer (or a CPU or MPU) of the system or the apparatus is caused to read out and execute the program codes stored in the storage medium.
In this case, the program code itself read from the storage medium can realize the functions of any of the above-described embodiments, and thus the program code and the storage medium storing the program code constitute a part of the present invention.
Examples of the storage medium for supplying the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (e.g., CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD + RW), a magnetic tape, a nonvolatile memory card, and a ROM. Alternatively, the program code may be downloaded from a server computer via a communications network.
Further, it should be clear that the functions of any one of the above-described embodiments may be implemented not only by executing the program code read out by the computer, but also by causing an operating system or the like operating on the computer to perform a part or all of the actual operations based on instructions of the program code.
Further, it is to be understood that the program code read out from the storage medium is written to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion unit connected to the computer, and then causes a CPU or the like mounted on the expansion board or the expansion unit to perform part or all of the actual operations based on instructions of the program code, thereby realizing the functions of any of the above-described embodiments.
It should be noted that not all steps and modules in the above flows and system structure diagrams are necessary, and some steps or modules may be omitted according to actual needs. The execution order of the steps is not fixed and can be adjusted as required. The system structure described in the above embodiments may be a physical structure or a logical structure, that is, some modules may be implemented by the same physical entity, or some modules may be implemented by a plurality of physical entities, or some components in a plurality of independent devices may be implemented together.
In the above embodiments, the hardware unit may be implemented mechanically or electrically. For example, a hardware element may comprise permanently dedicated circuitry or logic (such as a dedicated processor, FPGA or ASIC) to perform the corresponding operations. The hardware elements may also comprise programmable logic or circuitry, such as a general purpose processor or other programmable processor, that may be temporarily configured by software to perform the corresponding operations. The specific implementation (mechanical, or dedicated permanent, or temporarily set) may be determined based on cost and time considerations.
While the invention has been shown and described in detail in the drawings and in the preferred embodiments, it is not intended to limit the invention to the embodiments disclosed, and it will be apparent to those skilled in the art that various combinations of the code auditing means in the various embodiments described above may be used to obtain further embodiments of the invention, which are also within the scope of the invention.
Claims (10)
1. A method of processing echoes received by a radar, the method comprising:
receiving radar detection data generated in each scanning period sent by a radar, wherein the radar detection data in each scanning period comprises echo detection data of each echo;
according to the radar detection data of each scanning period, determining a suspected false echo of each scanning period and a real target corresponding to each suspected false echo;
and determining whether the same real target has suspected false echoes in n continuous scanning periods, and if so, determining the suspected false echoes of the real target as false echoes.
2. The method of claim 1,
the echo detection data comprises: distance information between the target corresponding to the echo and the radar and azimuth information of the target corresponding to the echo;
the determining, according to the radar detection data of each scanning cycle, a suspected false echo of each scanning cycle and a real target corresponding to each suspected false echo includes:
for the echo detection data of each echo, performing: determining the distance between a current target corresponding to the current echo and the radar and the azimuth of the current target according to the distance information and the azimuth information of the current echo;
determining at least one group of targets to be identified from the targets corresponding to the at least one echo, wherein at least two targets with the same azimuth are a group of targets to be identified;
for each group of the targets to be recognized, executing:
determining the target distance between any two targets to be recognized in the current group according to the distance between each target to be recognized in the current group and the radar;
and judging whether the suspected false echo exists in the echoes corresponding to the target to be identified in the current group or not according to each target distance, and if so, determining the suspected false echo and a real target corresponding to each suspected false echo.
3. The method of claim 2,
the method further comprises the following steps:
determining a location of an interference source generating the spurious echo;
the judging whether the suspected false echo exists in the echoes corresponding to the target to be identified in the current group according to each target distance, if so, determining the suspected false echo and a real target corresponding to each suspected false echo, and the method comprises the following steps:
determining a first distance range between each target to be identified of the current group and the interference source according to the position of the interference source;
for each target to be recognized of the current group, performing:
judging whether a target to be recognized, the target distance between which and the current target to be recognized is within a first distance range corresponding to the current target to be recognized, exists in other targets to be recognized in the current group, and if so, taking the target to be recognized, the target distance between which and the current target to be recognized is within the first distance range corresponding to the current target to be recognized, as a suspected target;
and judging whether a suspected target with the distance from the radar larger than the distance between the current target to be identified and the radar exists, if so, taking an echo corresponding to the suspected target with the distance from the radar larger than the distance between the current target to be identified and the radar as the suspected false echo, and taking the current target to be identified as a real target corresponding to the suspected false echo.
4. The method of claim 2,
the determining the distance between the current target corresponding to the current echo and the radar and the azimuth of the current target according to the distance information and the azimuth information of the current echo comprises the following steps:
determining at least one data unit where a current target is located according to the distance information and the azimuth information of a current echo, wherein the data unit stores therein the distance between the current target and a radar at the data unit, the azimuth of the current target at the data unit, and the intensity of the current echo at the data unit, and the distance information includes: the distance stored in each data unit, the orientation information includes: a bearing included in each of the data units;
determining a target data unit where the center of gravity of the plaque formed by the at least one data unit is located;
taking the distance stored in the target data unit as the distance between the current target corresponding to the current echo and the radar;
and taking the azimuth stored in the target data unit as the azimuth of the current target.
5. The method according to any one of claims 1 to 4,
after the determining the suspected false echo of the real target as a false echo, further comprising:
determining the position of a false target corresponding to the false echo according to the echo detection data of the false echo;
and marking the false target according to the position of the false target.
6. Apparatus for processing echoes received by a radar, the apparatus comprising:
the receiving module is used for receiving radar detection data which are sent by a radar and generated in each scanning period, wherein the radar detection data in each scanning period comprise echo detection data of each echo;
a first determining module, configured to determine, according to radar detection data in each scanning cycle, a suspected false echo in each scanning cycle and a real target corresponding to each suspected false echo;
and the second determining module is used for determining whether the same real target has suspected false echoes in n consecutive scanning periods, and if so, determining the suspected false echoes of the real target as false echoes.
7. The apparatus of claim 6,
the echo detection data comprises: distance information between the target corresponding to the echo and the radar and azimuth information of the target corresponding to the echo;
the first determining module is configured to perform:
for the echo detection data of each echo, performing: determining the distance between a current target corresponding to the current echo and the radar and the azimuth of the current target according to the distance information and the azimuth information of the current echo;
determining at least one group of targets to be identified from the targets corresponding to the at least one echo, wherein at least two targets with the same azimuth are a group of targets to be identified;
for each group of the targets to be recognized, executing:
determining the target distance between any two targets to be recognized in the current group according to the distance between each target to be recognized in the current group and the radar;
and judging whether the suspected false echo exists in the echoes corresponding to the target to be identified in the current group or not according to each target distance, and if so, determining the suspected false echo and a real target corresponding to each suspected false echo.
8. The apparatus of claim 7,
the apparatus further comprises:
a third determining module, configured to determine a location of an interference source generating the spurious echo;
the first determining module, when executing the step of determining whether the suspected false echo exists in the echoes corresponding to the target to be identified in the current group according to each target distance, and if so, determining the suspected false echo and the real target corresponding to each suspected false echo, specifically, is configured to execute:
determining a first distance range between each target to be identified of the current group and the interference source according to the position of the interference source;
for each target to be recognized of the current group, performing:
judging whether a target to be recognized, the target distance between which and the current target to be recognized is within a first distance range corresponding to the current target to be recognized, exists in other targets to be recognized in the current group, and if so, taking the target to be recognized, the target distance between which and the current target to be recognized is within the first distance range corresponding to the current target to be recognized, as a suspected target;
and judging whether a suspected target with the distance from the radar larger than the distance between the current target to be identified and the radar exists, if so, taking an echo corresponding to the suspected target with the distance from the radar larger than the distance between the current target to be identified and the radar as the suspected false echo, and taking the current target to be identified as a real target corresponding to the suspected false echo.
9. The apparatus of claim 7,
the first determining module, when the distance information and the azimuth information according to the current echo are executed to determine the distance between the current target corresponding to the current echo and the radar and the azimuth of the current target, is specifically configured to:
determining at least one data unit where a current target is located according to the distance information and the azimuth information of a current echo, wherein the data unit stores therein the distance between the current target and a radar at the data unit, the azimuth of the current target at the data unit, and the intensity of the current echo at the data unit, and the distance information includes: the distance stored in each data unit, the orientation information includes: a bearing included in each of the data units;
determining a target data unit where the center of gravity of the plaque formed by the at least one data unit is located;
taking the distance stored in the target data unit as the distance between the current target corresponding to the current echo and the radar;
and taking the azimuth stored in the target data unit as the azimuth of the current target.
10. The apparatus according to any one of claims 6 to 9,
the apparatus further comprises:
and the marking module is used for determining the position of a false target corresponding to the false echo according to the echo detection data of the false echo and marking the false target according to the position of the false target.
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