CN112540412A - Target detection method, device, equipment and storage medium - Google Patents
Target detection method, device, equipment and storage medium Download PDFInfo
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Abstract
The application provides a target detection method, a target detection device and a storage medium, wherein a target detection signal is generated, periodic target detection is performed by using the target detection signal, first depth information of a target object in a time domain and second depth information of the target object in a frequency domain are determined, and then data fusion is performed on the first depth information and the second depth information to obtain actual depth information of the target object. According to the technical scheme, the target detection signal comprising the wavelet signal and the frequency modulation continuous wave signal is utilized to determine the depth information of the target object in the time domain and the frequency domain, so that the actual depth information of the target object is determined, the depth of the target object can be detected more accurately, and the reliability of the detection result is improved.
Description
Technical Field
The present application relates to the field of radio technologies, and in particular, to a target detection method, apparatus, device, and storage medium.
Background
Ground Penetrating Radar (GPR) is an effective means for determining the distribution rule of substances in a medium by using high-frequency radio waves, realizes positioning, imaging and identification of an underground target by transmitting electromagnetic wave signals to the underground and receiving echoes scattered back from the electric parameter change part of the underground medium, has the advantages of convenience and flexibility in operation, high detection speed, continuous detection process, wide detection range, low detection cost, high resolution and the like, and is widely applied to the fields of urban road detection, mineral exploration, archaeological excavation, extraterrestrial geological detection, military explosive disposal and the like.
At present, most of the commonly used ground penetrating radars are single time domain ground penetrating radars, and in practical application, the time domain ground penetrating radars are controlled to transmit carrier-free pulse signals to the underground, and the time delay of return waves relative to transmitted waves is calculated to obtain the depth information of a target.
However, the time domain ground penetrating radar has the problems of low detection precision and low reliability of detection results in complex environments such as severe working environment, existence of strong interferents and false targets and the like.
Disclosure of Invention
The application provides a target detection method, a target detection device, target detection equipment and a storage medium, which are used for solving the problems of low target detection precision and low detection result reliability in the prior art.
In a first aspect, an embodiment of the present application provides a target detecting method, including:
generating an object detection signal, the object detection signal comprising: wavelet signals and frequency modulation continuous wave signals which are continuously distributed in time;
carrying out periodic target detection by using the target detection signal, and determining first depth information of a target object in a time domain and second depth information of the target object in a frequency domain;
and performing data fusion on the first depth information and the second depth information to obtain the actual depth information of the target object.
In a possible design of the first aspect, the determining, by using the target detection signal for periodic target detection, first depth information of a target object in a time domain and second depth information of the target object in a frequency domain includes:
in each detection period, acquiring an echo signal after the target detection signal is transmitted, where the echo signal includes: a first echo signal of the wavelet signal and a second echo signal of the frequency modulated continuous wave signal;
determining first depth information of the target object in a time domain according to the wavelet signal and the first echo signal;
and determining second depth information of the target object in a frequency domain according to the frequency modulation continuous wave signal and the second echo signal.
In this possible design, the determining second depth information of the target object in the frequency domain according to the frequency modulated continuous wave signal and the second echo signal includes:
performing frequency mixing processing on the frequency-modulated continuous wave signal and the second echo signal to obtain a difference frequency signal of the frequency-modulated continuous wave signal and the second echo signal;
determining time delay information of the frequency-modulated continuous wave signal and the second echo signal according to the frequency of the difference frequency signal;
and determining second depth information of the target object in a frequency domain according to the time delay information and a preset distance formula.
Optionally, the frequency mixing processing the frequency modulated continuous wave signal and the second echo signal to obtain a difference frequency signal of the frequency modulated continuous wave signal and the second echo signal includes:
performing frequency mixing processing on the frequency-modulated continuous wave signal and the second echo signal to obtain a frequency-mixed signal of the frequency-modulated continuous wave signal and the second echo signal;
performing Fourier transform processing on the mixed signal to obtain a frequency domain signal of the mixed signal, and determining at least one peak interval of the frequency domain signal;
and in each peak value interval, processing the frequency signal by utilizing a linear frequency modulation z transformation algorithm, and determining a difference frequency signal of the frequency modulation continuous wave signal and the second echo signal.
In another possible design of the first aspect, the performing data fusion on the first depth information and the second depth information to obtain actual depth information of the target object includes:
and performing data fusion on the first depth information and the second depth information by using a Kalman filtering algorithm to obtain actual depth information of the target object.
In this possible design, the performing data fusion on the first depth information and the second depth information by using a kalman filter algorithm to obtain actual depth information of the target object includes:
determining first depth estimation information and first variance information of the first depth information, and second depth estimation information and second variance information of the second depth information;
and determining the actual depth information of the target object according to the first depth estimation information and the first variance information of the first depth information, and the second depth estimation information and the second variance information of the second depth information.
In yet another possible design of the first aspect, the wavelet signal is a rake wavelet signal, and a mathematical formula of the rake wavelet signal is as follows:
wherein A is1(T) denotes a Rake wavelet signal, T1The time length of the wavelet signal in any detection period is shown, t is a time variable, a is a constant and takes the value of 10-18Left and right;
the frequency modulation continuous wave signal is a linear frequency modulation continuous wave signal, and the mathematical formula of the linear frequency modulation continuous wave signal is as follows:
A2(t)＝cos(2πf0(t-T1)+πk(t-T1)2),T1<t≤T2
wherein A is2(T) denotes a chirp continuous wave signal, T2Indicating the duration of the frequency-modulated continuous wave signal in any one detection cycleI.e. the modulation period; t represents a time variable, k ═ B/T2Is the slope of the frequency modulation, B is the bandwidth of the frequency modulation, f0Is the fundamental frequency.
In a second aspect, an embodiment of the present application provides an object detecting apparatus, including: the device comprises a generating module, a determining module and a processing module;
the generating module is configured to generate a target detection signal, where the target detection signal includes: wavelet signals and frequency modulation continuous wave signals which are continuously distributed in time;
the determining module is configured to perform periodic target detection by using the target detection signal, and determine first depth information of a target object in a time domain and second depth information of the target object in a frequency domain;
and the processing module is used for carrying out data fusion on the first depth information and the second depth information to obtain the actual depth information of the target object.
In a possible design of the second aspect, the determining module is specifically configured to:
in each detection period, acquiring an echo signal after the target detection signal is transmitted, where the echo signal includes: a first echo signal of the wavelet signal and a second echo signal of the frequency modulated continuous wave signal;
determining first depth information of the target object in a time domain according to the wavelet signal and the first echo signal;
and determining second depth information of the target object in a frequency domain according to the frequency modulation continuous wave signal and the second echo signal.
In this possible design, the determining module is configured to determine, according to the frequency modulated continuous wave signal and the second echo signal, second depth information of the target object in a frequency domain, specifically:
the determining module is specifically configured to:
performing frequency mixing processing on the frequency-modulated continuous wave signal and the second echo signal to obtain a difference frequency signal of the frequency-modulated continuous wave signal and the second echo signal;
determining time delay information of the frequency-modulated continuous wave signal and the second echo signal according to the frequency of the difference frequency signal;
and determining second depth information of the target object in a frequency domain according to the time delay information and a preset distance formula.
Optionally, the determining module is configured to perform frequency mixing processing on the frequency modulated continuous wave signal and the second echo signal to obtain a difference frequency signal between the frequency modulated continuous wave signal and the second echo signal, and specifically includes:
the determining module is specifically configured to:
performing frequency mixing processing on the frequency-modulated continuous wave signal and the second echo signal to obtain a frequency-mixed signal of the frequency-modulated continuous wave signal and the second echo signal;
performing Fourier transform processing on the mixed signal to obtain a frequency domain signal of the mixed signal, and determining at least one peak interval of the frequency domain signal;
and in each peak value interval, processing the frequency signal by utilizing a linear frequency modulation z transformation algorithm, and determining a difference frequency signal of the frequency modulation continuous wave signal and the second echo signal.
In another possible design of the second aspect, the processing module is configured to perform data fusion on the first depth information and the second depth information to obtain actual depth information of the target object, and specifically:
the processing module is specifically configured to perform data fusion on the first depth information and the second depth information by using a kalman filter algorithm to obtain actual depth information of the target object.
In this possible design, the processing module is configured to perform data fusion on the first depth information and the second depth information by using a kalman filter algorithm to obtain actual depth information of the target object, and specifically includes:
the processing module is specifically configured to:
determining first depth estimation information and first variance information of the first depth information, and second depth estimation information and second variance information of the second depth information;
and determining the actual depth information of the target object according to the first depth estimation information and the first variance information of the first depth information, and the second depth estimation information and the second variance information of the second depth information.
Optionally, the wavelet signal is a rake wavelet signal, and a mathematical formula of the rake wavelet signal is as follows:
wherein A is1(T) denotes a Rake wavelet signal, T1The time length of the wavelet signal in any detection period is shown, t is a time variable, a is a constant and takes the value of 10-18Left and right;
the frequency modulation continuous wave signal is a linear frequency modulation continuous wave signal, and the mathematical formula of the linear frequency modulation continuous wave signal is as follows:
A2(t)＝cos(2πf0(t-T1)+πk(t-T1)2),T1<t≤T2
wherein A is2(T) denotes a chirp continuous wave signal, T2Representing the time length of the frequency modulation continuous wave signal in any detection period, namely a modulation period; t represents a time variable, k ═ B/T2Is the slope of the frequency modulation, B is the bandwidth of the frequency modulation, f0Is the fundamental frequency.
In a third aspect, the present application provides a detection apparatus comprising: a processor, a memory, a transceiver and a system bus;
the memory stores computer-executable instructions;
the processor, when executing the computer program instructions, implements the method provided by the first aspect and each of the possible designs.
In a fourth aspect, the present application provides a computer readable storage medium having stored thereon computer program instructions for implementing the method of the first aspect and of the various possible designs when executed by a processor.
The application provides a target detection method, a target detection device and a storage medium, wherein a target detection signal is generated, periodic target detection is performed by using the target detection signal, first depth information of a target object in a time domain and second depth information of the target object in a frequency domain are determined, and then data fusion is performed on the first depth information and the second depth information to obtain actual depth information of the target object. According to the technical scheme, the target detection signal comprising the wavelet signal and the frequency modulation continuous wave signal is utilized to determine the depth information of the target object in the time domain and the frequency domain, so that the actual depth information of the target object is determined, the target object can be detected more accurately, and the reliability of the detection result is improved.
Drawings
FIG. 1A is a schematic diagram of a ground penetrating radar in the prior art;
FIG. 1B is a schematic diagram of an image of a target detected by a ground penetrating radar;
FIG. 1C is a schematic diagram of a target object detected by a conventional ground penetrating radar;
fig. 2 is a flowchart of a first embodiment of a target detection method provided in the present application;
FIG. 3 is a schematic diagram of a composite waveform signal provided by an embodiment of the present application;
fig. 4 is a flowchart of a second embodiment of a target detection method provided in the present application;
fig. 5 is a flowchart of a third embodiment of a target detection method provided in the present application;
FIG. 6 is a schematic frequency-time diagram of a frequency modulated continuous wave signal and a second echo signal provided by an embodiment of the present application;
fig. 7A is a schematic diagram of frequency domain signal processing provided in the present application;
fig. 7B is a flowchart of a fourth embodiment of a target detection method according to the present application;
fig. 8 is a flowchart of a fifth embodiment of a target detection method according to an embodiment of the present application;
FIG. 9 is a schematic diagram of a target object detected by a ground penetrating radar according to an embodiment of the present application;
FIG. 10 is a schematic diagram of data fusion provided by an embodiment of the present application;
fig. 11 is a schematic structural diagram of an object detection apparatus according to an embodiment of the present application;
fig. 12 is a schematic structural diagram of a detection apparatus according to an 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.
Before introducing the embodiments of the present application, the background of the present application will be explained first.
According to incomplete statistics, 1.1 million land mines are still buried and killed in the world, and the number of buried land mines is still increased at a speed of 250 ten thousand per year due to local wars and regional conflicts. Although a great amount of manpower, material resources and financial resources are invested in various countries for sweeping mines left after a war, the effect is not ideal.
On one hand, accidents of casualties caused by landmines occur occasionally, about 2.6 thousands of people are lost due to mistaken exposure to the landmines every year, wherein the number of the lost people caused by the anti-infantry landmine killing event is the majority; on the other hand, the mines also cause great pollution and damage to the ecological environment, and the development of local economy and the normal life of the masses are seriously hindered. Therefore, how to safely and effectively perform land mine detection becomes a hotspot and difficulty which is very important to the international society.
The traditional mine clearance technical means mainly uses a metal detector based on an electromagnetic induction principle to detect underground targets, but the false alarm rate of the metal detector to metal interferents is high. Most of the novel anti-infantry mines buried in recent decades are non-metal shells, and the modernization requirements of mine drainage cannot be met by a single metal detector system. In order to improve the explosion-venting efficiency and ensure the safety of personnel, detection equipment of a composite system is developed in various countries, the most mature means of the prior art is to compound a metal detector and a ground penetrating radar and then use the metal detector and the ground penetrating radar for detecting and venting mines, and the means also shows excellent performance in actual combat.
The ground penetrating radar is an effective means for determining the distribution rule of substances in a medium by using high-frequency radio waves developed in recent decades, the propagation mode of the ground penetrating radar in the medium follows the Huygens principle, the Fermat principle and the Snell's law, and the positioning, imaging and identification of an underground target are realized by transmitting electromagnetic wave signals to the underground and receiving echoes scattered back from the electric parameter change position of the underground medium. Compared with conventional underground nondestructive detection methods such as a low-frequency electromagnetic induction method, a resistivity method, a seismic method and the like, the ground penetrating radar has the advantages of convenience and flexibility in operation, high detection speed, continuous detection process, wide detection range, low detection cost, high resolution and the like, and is widely applied to the fields of urban road detection, mineral exploration, archaeological excavation, extraterrestrial geological detection, military explosive disposal and the like.
For example, most of the existing ground penetrating radars are single time domain ground penetrating radars, and depth information of a target is obtained by transmitting a carrier-free pulse time domain signal to the underground and calculating time delay of a return wave relative to a transmitted wave. Fig. 1A is a schematic diagram of a ground penetrating radar in the prior art. As shown in FIG. 1A, assume the subsurface (x)0,z0) When there is a target 10 to be detected, assuming that the ground penetrating radar 11 scans along the x-axis, the distance between the ground penetrating radar 11 and the target 10 gradually decreases and then gradually increases, and when the transmitting antenna and the receiving antenna of the ground penetrating radar 11 are relatively close to each other (transceiving homology), the time required for the receiving antenna to receive the reflected wave of the target 10 can be expressed as follows:
where v represents the propagation speed of the carrier-free pulse signal of the ground penetrating radar 11 in the soil, and t represents a time variable.
On the basis of fig. 1A, fig. 1B is a schematic diagram of an image of a target detected by a ground penetrating radar. As shown in fig. 1B, the diagram is a parabola formed by x-t. In practical application, when a carrier-free pulse time domain signal transmitted by the ground penetrating radar 11 encounters a severe working environment and a strong interferer and a false target exist, the ground penetrating radar forms a schematic diagram of a target object as shown in fig. 1C according to the received reflected wave.
In one possible complex environment, fig. 1C is a schematic diagram of a target object detected by a conventional ground penetrating radar. As shown in fig. 1C, there are one target object 12(10,15.5) and one target object 13(40,15.5) in the subsurface, where the horizontal axis is the azimuth direction (unit cm) and the vertical axis is the depth direction (unit cm). Due to the presence of the interfering objects, the images of the target object 12 and the target object 13 take on a blurred shape with noticeable shadows.
Wherein the azimuth direction may be a distance extending in the horizontal direction and the depth direction may be a distance extending in the vertical direction.
Aiming at the problems that in the prior art, the ground penetrating radar in a carrier-free pulse time domain has poor detection precision, when the detection working environment is severe, strong interferents and false targets exist, false alarm information is easy to generate by the ground penetrating radar, and further, the safety problem possibly exists to a certain degree, the technical conception of the inventor is as follows: two different signals, i.e., a composite signal, may be transmitted into the subsurface and then depth information for the target object may be determined jointly from the two received echo signals.
Based on the technical concept, the application provides a target detection method, which comprises the steps of generating a target detection signal, performing periodic target detection by using the target detection signal, and determining first depth information of a target object in a time domain and second depth information of the target object in a frequency domain; and performing data fusion on the first depth information and the second depth information to obtain the actual depth information of the target object. According to the technical scheme, the depth information of the target object in the time domain and the frequency domain is fused to obtain the actual depth information of the target object, so that the target depth is detected more accurately, and the reliability of the detection result is improved.
The technical solution of the present application will be described in detail by specific examples. It should be noted that the following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Fig. 2 is a flowchart of a first embodiment of a target detection method according to an embodiment of the present application. As shown in fig. 2, the method may include the steps of:
and step 21, generating a target detection signal.
In this step, when detecting a target object in the ground, a target detection signal needs to be sent to the ground, where the target detection signal includes: wavelet signals and frequency modulated continuous wave signals that are distributed continuously in time.
In one possible implementation, fig. 3 is a schematic diagram of a composite waveform signal provided by an embodiment of the present application. As shown in fig. 3, the object detection signal may be a complex waveform signal.
Optionally, T is during transmission of the composite waveform signal1Transmitting wavelet signals, i.e. T, continuously distributed in time1The corresponding solid line portion in time; t is2Transmitting frequency-modulated continuous-wave signals in time, i.e. T2The corresponding dotted line portion in time. From T1And T2Together forming a cycle in which the composite waveform signal is transmitted.
Optionally, the amplitude of the composite waveform signal is denoted as a, and the time variable of the composite waveform signal is denoted as t.
And step 22, carrying out periodic target detection by using the target detection signal, and determining first depth information of the target object in a time domain and second depth information of the target object in a frequency domain.
The target object may be a mine or other object to be detected.
In this step, the propagation speed of the target detection signal in the medium such as soil is in direct proportion to the light speed, and the propagation speed is much higher than the moving speed of the target detection signal source, so that the target detection signal needs to be periodically transmitted to the target object in order to more accurately detect the position information of the target object.
Wherein the target detection signal source may be configured to emit a target detection signal.
Optionally, according to the echo signal of the periodic target detection signal, first depth information of the target object in the time domain and second depth information of the target object in the frequency domain may be determined, and a specific determination process is provided by the following embodiments and is not described herein again.
Wherein the first depth information may be depth information determined based on a periodic transmitted wavelet signal and the second depth information may be depth information determined based on a periodic transmitted frequency modulated continuous wave signal.
And step 23, performing data fusion on the first depth information and the second depth information to obtain the actual depth information of the target object.
In this step, after the wavelet signal is used to perform the target detection to obtain the first depth information in the time domain and the frequency modulated continuous wave signal is used to perform the target detection to obtain the second depth information in the frequency domain, the first depth information and the second depth information may be subjected to data fusion, so as to reduce the influence of the external environment on the depth information and determine the more accurate actual depth information of the target object.
In the target detection method provided by this embodiment, a target detection signal is generated, the target detection signal is used to perform periodic target detection, first depth information of a target object in a time domain and second depth information of the target object in a frequency domain are determined, and then the first depth information and the second depth information are subjected to data fusion to obtain actual depth information of the target object. According to the technical scheme, the target detection signal comprising the wavelet signal and the frequency modulation continuous wave signal is utilized to determine the depth information of the target object in the time domain and the frequency domain, so that the actual depth information of the target object is determined, the depth of the target object can be detected more accurately, and the reliability of the detection result is improved.
On the basis of fig. 2, fig. 4 is a flowchart of a second embodiment of the target detection method provided in the present application. As shown in fig. 4, the step 22 can be implemented by:
and 41, acquiring an echo signal after the target detection signal is transmitted in each detection period.
In this step, in each detection period, a target detection signal is transmitted to a position to be detected, and after the target detection signal contacts a target object, a corresponding echo signal can be reflected.
Wherein the echo signal includes: a first echo signal of the wavelet signal and a second echo signal of the frequency modulated continuous wave signal.
Optionally, a wavelet signal in the target detection signal is transmitted, and an echo signal obtained after the wavelet signal is reflected by a contact target object is called a first echo signal; and transmitting a frequency modulation continuous wave signal in the target detection signal, wherein an echo signal obtained after the frequency modulation continuous wave signal is reflected by contacting a target object is called a second echo signal.
And 42, determining first depth information of the target object in the time domain according to the wavelet signal and the first echo signal.
Illustratively, the wavelet signal is a rake wavelet signal, and the mathematical formula of the rake wavelet signal is as follows:
wherein A is1(T) denotes a Rake wavelet signal, T1The time length of the wavelet signal in any detection period is shown, t is a time variable, a is a constant and takes the value of 10-18Left and right.
Optionally, in any period, based on the transmission of wavelet signalsTime t1And the receiving time t of the first echo signal2Determining the time difference Δ t ═ t2-t1Then, according to the propagation velocity v of the wavelet signal in the medium, determining the first depth information of the target object in the time domain, that is, the depth detected by the target object under the wavelet signal, the depth mathematical formula is as follows:
R1＝v·Δt/2
and 43, determining second depth information of the target object in the frequency domain according to the frequency modulation continuous wave signal and the second echo signal.
Illustratively, the frequency modulated continuous wave signal is a chirped continuous wave signal, and the mathematical formula of the chirped continuous wave signal is as follows:
A2(t)＝cos(2πf0(t-T1)+πk(t-T1)2),T1<t≤T2
wherein A is2(T) denotes a chirp continuous wave signal, T2Representing the time length of the frequency modulation continuous wave signal in any detection period, namely a modulation period; t represents a time variable, k ═ B/T2Is the slope of the frequency modulation, B is the bandwidth of the frequency modulation, f0Is the fundamental frequency.
Optionally, the second depth information of the target object in the frequency domain is a depth of the target object detected by the target object under the chirped continuous wave signal.
And determining second depth information of the target object in the frequency domain according to the chirp continuous wave signal and the corresponding second echo signal, wherein the specific determination process is given by the following embodiment.
In the target detection method provided in this embodiment, in each detection period, an echo signal after a target detection signal is transmitted is acquired, first depth information of a target object in a time domain is determined according to a wavelet signal and the first echo signal, and second depth information of the target object in a frequency domain is determined according to a frequency modulated continuous wave signal and a second echo signal. According to the technical scheme, the first depth information and the second depth information are determined, so that a basis is provided for more accurately detecting the actual depth information of the target object.
On the basis of fig. 4, fig. 5 is a flowchart of a third embodiment of a target detection method provided in the present application. As shown in fig. 5, the step 43 can be implemented by:
and step 51, performing frequency mixing processing on the frequency-modulated continuous wave signal and the second echo signal to obtain a difference frequency signal of the frequency-modulated continuous wave signal and the second echo signal.
In this step, after the frequency modulated continuous wave signal is transmitted, the frequency modulated continuous wave signal encounters the target object through the distance R, the reflected echo signal is a second echo signal, and on the basis of the mathematical formula of the linear frequency modulated continuous wave signal, only the variable t is expressed by t- Δ t, and the mathematical formula of the second echo signal is as follows:
H(t)＝A2(t-Δt)＝cos(2πf0((t-T1)-Δt)+πk((t-T1)-Δt)2)
wherein, T1<t≤T2(ii) a Δ T represents the time difference between the time at which the second echo signal is received and the time at which the frequency-modulated continuous wave signal is transmitted, T represents a time variable, and k is B/T2Is the slope of the frequency modulation, B is the bandwidth of the frequency modulation, f0Is the fundamental frequency, T2Indicating the duration, T, of the frequency-modulated continuous wave signal in any one detection cycle1Indicating the duration of the wavelet signal in any one detection period.
Further, the mixing process is performed on the frequency-modulated continuous wave signal and the second echo signal, and the mixing process is given in the following embodiment, and after the mixing process, a difference frequency signal is obtained, and a mathematical formula of the difference frequency signal is as follows:
S(t)＝cos((2πf0Δt-πkΔt2)+2πkΔt(t-T1))
wherein, T1<t≤T2；f0T is the fundamental frequency, T is a time variable, Δ T is a time difference, i.e. the difference between the time of receiving the second echo signal and the time of transmitting the frequency-modulated continuous wave signal, k is B/T2Is the slope of the frequency modulation, B is the bandwidth of the frequency modulation, T2Indicating the duration, T, of the frequency-modulated continuous wave signal in any one detection cycle1Indicating the duration of the wavelet signal in any one detection period.
Specifically, fig. 6 is a schematic frequency-time diagram of a frequency modulated continuous wave signal and a second echo signal provided in an embodiment of the present application. As shown in fig. 6, the schematic diagram is illustrated with a horizontal axis time t and a vertical axis frequency f as examples, and includes: a frequency modulated continuous wave signal frequency 61 and a second echo signal frequency 62, wherein Δ f represents the frequency difference between the frequency modulated continuous wave signal frequency 61 and the second echo signal frequency 62, and k is B/T2Is the slope of the frequency modulation, B is the bandwidth of the frequency modulation, f0Is the fundamental frequency, T2Indicating the duration, T, of the frequency-modulated continuous wave signal in a detection cycle1Indicating the duration of the wavelet signal in a detection period.
And step 52, determining time delay information of the frequency-modulated continuous wave signal and the second echo signal according to the frequency of the difference frequency signal.
In this step, the frequency of the difference signal, i.e., Δ f, represents the frequency difference between the frequency of the frequency modulated continuous wave signal 61 and the frequency of the second echo signal 62, and as can be seen from fig. 6, the mathematical formula for the frequency of the difference signal is as follows:
Δf＝k·Δt＝B/T2*Δt
wherein k is B/T2Is the slope of the frequency modulation, B is the bandwidth of the frequency modulation, T2For the duration of any frequency modulated continuous wave signal, Δ t represents the time delay information, and its mathematical formula is as follows:
Δt＝Δf·T2/B
and step 53, determining second depth information of the target object in the frequency domain according to the time delay information and a preset distance formula.
In this step, the predetermined distance formula is R2＝v·Δt/2。
Optionally, the time delay information is substituted into R in the preset distance formula, and a mathematical formula for obtaining the second depth information is as follows:
R2＝Δf·T2·v/2B
where Δ f is the frequency of the difference signal, T2For the duration of any frequency modulated continuous wave signal, B is the bandwidth of the frequency modulation, v is the frequency modulated continuous wave signalThe propagation speed of the signal in the medium.
In the target detection method provided by this embodiment, a difference frequency signal between the frequency-modulated continuous wave signal and the second echo signal is obtained by performing frequency mixing processing on the frequency-modulated continuous wave signal and the second echo signal, time delay information of the frequency-modulated continuous wave signal and the second echo signal is determined according to the frequency of the difference frequency signal, and finally, second depth information of the target object in a frequency domain is determined according to the time delay information and a preset distance formula. According to the technical scheme, the depth information of the target object in the frequency domain can be detected more accurately by processing the frequency-modulated continuous wave signal and the corresponding echo signal, and the reliability of actual depth detection of the target object is improved.
Based on fig. 5, fig. 7A is a schematic diagram of frequency domain signal processing provided in the embodiment of the present application. As shown in fig. 7A, the schematic includes: an input signal 711, a Fast Fourier Transform (FFT) process 712, a peak finding process 713, a CZT (Chirp-Z-Transform) process 714, and an output signal 715.
Alternatively, the input signal 711 may be a mixed signal obtained by mixing an input frequency-modulated continuous wave signal and a second echo signal, then the mixed signal is subjected to an FFT 712, so that the mixed signal is converted from a time domain to a frequency domain, a peak searching process 713 is performed in the frequency domain, at least one peak interval of the frequency domain signal is determined, on the basis of the peak interval, CZT processing 714, i.e., a secondary peak searching operation, is performed on each peak interval, and then the output signal 715 is output, where the output signal 715 may be a difference frequency signal, and frequency, amplitude, and other information of the difference frequency signal.
With reference to the content described in fig. 7A, fig. 7B is a flowchart of a fourth embodiment of a target detection method provided in the present application. As shown in fig. 7B, the step 51 can be implemented by:
and step 71, performing frequency mixing processing on the frequency-modulated continuous wave signal and the second echo signal to obtain a frequency-mixed signal of the frequency-modulated continuous wave signal and the second echo signal.
In this step, in order to acquire depth information of the target object with higher accuracy, it is necessary to perform mixing processing on the frequency-modulated continuous wave signal and the second echo signal.
In one possible implementation, the mixing process may be a product operation of the frequency-modulated continuous wave signal and the second echo signal, that is, a mixed signal of the frequency-modulated continuous wave signal and the second echo signal is obtained.
And 72, performing Fourier transform processing on the mixed signal to obtain a frequency domain signal of the mixed signal, and determining at least one peak interval of the frequency domain signal.
In this step, the mixed signal obtained by the mixing process is subjected to corresponding fourier transform, i.e., FFT algorithm, to convert the mixed signal from the time domain to the frequency domain, and perform peak searching operation to determine at least one peak interval of the frequency domain signal.
And 73, processing the frequency signal by using a linear frequency modulation z transformation algorithm in each peak value interval, and determining a difference frequency signal of the frequency modulation continuous wave signal and the second echo signal.
In this step, in order to obtain a more accurate peak value, a secondary peak searching operation needs to be performed in each peak value interval, that is, a chirp z transform algorithm is used to process the frequency signal, so as to obtain a difference frequency signal between the frequency modulated continuous wave signal and the second echo signal.
The target detection method provided in this embodiment performs frequency mixing processing on the frequency-modulated continuous wave signal and the second echo signal to obtain a frequency-mixed signal of the frequency-modulated continuous wave signal and the second echo signal, performs fourier transform processing on the frequency-mixed signal to obtain a frequency domain signal of the frequency-mixed signal, determines at least one peak interval of the frequency domain signal, and finally processes the frequency signal by using a chirp-z transform algorithm in each peak interval to determine a difference frequency signal between the frequency-modulated continuous wave signal and the second echo signal. According to the technical scheme, the difference frequency signal is determined by performing frequency mixing processing, Fourier transform processing and linear frequency modulation z-transform processing on the frequency-modulated continuous wave signal and the second echo signal, and further, the reliability and accuracy of actual depth information of the target object are improved when the target object is detected.
On the basis of the foregoing embodiments, fig. 8 is a flowchart of a fifth embodiment of a target detection method provided in the embodiment of the present application. In step 23 above, one possible design is: and performing data fusion on the first depth information and the second depth information by using a Kalman filtering algorithm to obtain the actual depth information of the target object. As shown in fig. 8, the step 23 may be implemented by:
In this step, the first depth estimation information is each depth information of the target object in the time domain based on each wavelet signal, and the second depth estimation information is each depth information of the target object in the frequency domain based on each frequency modulated continuous wave signal.
Optionally, the first variance information is a time domain variance determined according to the first depth information, and the second variance information is a frequency domain variance determined according to the second depth information.
And step 82, determining the actual depth information of the target object according to the first depth estimation information and the first variance information of the first depth information, and the second depth estimation information and the second variance information of the second depth information.
In this step, the mathematical formula of the actual depth information of the target object, i.e. the depth information actually detected by the target detection signal, is as follows:
X＝Pj(Pi+Pj)-1Xi+Pi(Pi+Pj)-1Xj＝P(Pi -1Xi+Pj -1Xj)
wherein P ═ Pi(Pi+Pj)-1Pj＝(Pi -1+Pj -1)-1Denotes the integrated variance, X, of the time domain and the frequency domainiFor the first depth estimation information of the ith period, XjSecond depth estimation information for jth period，PiIs the first variance information of the ith cycle, PjIs the second variance information of the j-th period, Pi -1Is the inverse of the first variance information of the i-th cycle, Pj -1Is the inverse of the second variance information for the j-th period.
In a possible technical solution, fig. 9 is a schematic diagram of a target object detected by a ground penetrating radar according to an embodiment of the present application. As shown in fig. 9, based on the above method, the target object 12 with coordinates (10,15.5) and the target object 13 with coordinates (40,15.5) can be detected to clearly display the shapes of the target object 12 and the target object 13, wherein the horizontal axis is the azimuth direction (unit cm) and the vertical axis is the depth direction (unit cm).
In the target detection method provided by this embodiment, the actual depth information of the target object is determined according to the first depth estimation information and the first variance information of the first depth information, and the second depth estimation information and the second variance information of the second depth information by determining the first depth estimation information and the first variance information of the first depth information, and the second depth estimation information and the second variance information of the second depth information. According to the technical scheme, the depth information of the target object measured in the time domain and the frequency domain is analyzed, so that the depth of the target object can be detected more accurately, and possible errors of a detection result are reduced.
On the basis of the above embodiments, fig. 10 is a schematic diagram of data fusion provided in the embodiments of the present application. As shown in fig. 10, the schematic diagram includes: suspected object 101, time domain information 102, time domain feature extraction 103, frequency domain information 104, frequency domain feature extraction 105, and data fusion 106.
In one possible implementation, the suspected target 101 may be the target object 12 or the target object 13 in fig. 9, or may be another target object; the time domain information 102 may be a wavelet signal of a target detection signal emitted by the target object 12 and determine first depth information, and the time domain feature extraction 103 may be extracting the time domain information to obtain the first depth information determined by each periodic detection in the time domain; the frequency domain information 104 may be a frequency modulated continuous wave signal of a target detection signal transmitted by the target object 12, and the determined second depth information, and the frequency domain feature extraction 105 may be extracting the frequency domain information to obtain the second depth information determined by each periodic detection in the frequency domain; the data fusion 106 may be a fusion of the information of the time domain feature extraction 103 and the information of the frequency domain feature extraction 105, and the result of the fusion may be the actual depth of the target object 12.
The data fusion diagram provided in this embodiment has similar implementation principles and technical effects to those of the above embodiments, and is not described herein again.
Fig. 11 is a schematic structural diagram of an object detection apparatus according to an embodiment of the present application. As shown in fig. 11, the object detecting device includes: a generation module 111, a determination module 112 and a processing module 113.
A generating module 111, configured to generate a target detection signal, where the target detection signal includes: wavelet signals and frequency modulation continuous wave signals which are continuously distributed in time;
a determining module 112, configured to perform periodic target detection by using the target detection signal, and determine first depth information of the target object in a time domain and second depth information of the target object in a frequency domain;
and the processing module 113 is configured to perform data fusion on the first depth information and the second depth information to obtain actual depth information of the target object.
In one possible design of the embodiment of the present application, the determining module 112 is specifically configured to:
in each detection period, acquiring an echo signal after the emission of a target detection signal, wherein the echo signal comprises: a first echo signal of the wavelet signal and a second echo signal of the frequency-modulated continuous wave signal;
determining first depth information of the target object in a time domain according to the wavelet signal and the first echo signal;
and determining second depth information of the target object in the frequency domain according to the frequency modulation continuous wave signal and the second echo signal.
In this possible design, the determining module 112 is configured to determine, according to the frequency-modulated continuous wave signal and the second echo signal, second depth information of the target object in the frequency domain, specifically:
the determining module 112 is specifically configured to:
performing frequency mixing processing on the frequency-modulated continuous wave signal and the second echo signal to obtain a difference frequency signal of the frequency-modulated continuous wave signal and the second echo signal;
determining time delay information of the frequency-modulated continuous wave signal and the second echo signal according to the frequency of the difference frequency signal;
and determining second depth information of the target object in the frequency domain according to the time delay information and a preset distance formula.
Optionally, the determining module 112 is configured to perform frequency mixing processing on the frequency-modulated continuous wave signal and the second echo signal to obtain a difference frequency signal between the frequency-modulated continuous wave signal and the second echo signal, and specifically includes:
the determining module 112 is specifically configured to:
performing frequency mixing processing on the frequency-modulated continuous wave signal and the second echo signal to obtain a frequency-mixed signal of the frequency-modulated continuous wave signal and the second echo signal;
carrying out Fourier transform processing on the mixed frequency signal to obtain a frequency domain signal of the mixed frequency signal, and determining at least one peak value interval of the frequency domain signal;
and in each peak value interval, processing the frequency signal by using a linear frequency modulation z transformation algorithm to determine a difference frequency signal of the frequency modulation continuous wave signal and the second echo signal.
In another possible design of the embodiment of the present application, the processing module 113 is configured to perform data fusion on the first depth information and the second depth information to obtain actual depth information of the target object, and specifically:
the processing module 113 is specifically configured to perform data fusion on the first depth information and the second depth information by using a kalman filter algorithm, so as to obtain actual depth information of the target object.
In this possible design, the processing module 113 is configured to perform data fusion on the first depth information and the second depth information by using a kalman filter algorithm to obtain actual depth information of the target object, and specifically includes:
the processing module 113 is specifically configured to:
determining first depth estimation information and first variance information of the first depth information, and second depth estimation information and second variance information of the second depth information;
and determining the actual depth information of the target object according to the first depth estimation information and the first variance information of the first depth information, and the second depth estimation information and the second variance information of the second depth information.
Optionally, the wavelet signal is a rake wavelet signal, and a mathematical formula of the rake wavelet signal is as follows:
wherein A is1(T) denotes a Rake wavelet signal, T1The time length of the wavelet signal in any detection period is shown, t is a time variable, a is a constant and takes the value of 10-18Left and right;
the frequency modulation continuous wave signal is a linear frequency modulation continuous wave signal, and the mathematical formula of the linear frequency modulation continuous wave signal is as follows:
A2(t)＝cos(2πf0(t-T1)+πk(t-T1)2),T1<t≤T2
wherein A is2(T) denotes a chirp continuous wave signal, T2Representing the time length of the frequency modulation continuous wave signal in any detection period, namely a modulation period; t represents a time variable, k ═ B/T2Is the slope of the frequency modulation, B is the bandwidth of the frequency modulation, f0Is the fundamental frequency.
The object detection device provided in this embodiment may be used to implement the schemes in the above embodiments, and the implementation principle and technical effect are similar, which are not described herein again.
It should be noted that the division of the modules of the above apparatus is only a logical division, and the actual implementation may be wholly or partially integrated into one physical entity, or may be physically separated. And these modules can be realized in the form of software called by processing element; or may be implemented entirely in hardware; and part of the modules can be realized in the form of calling software by the processing element, and part of the modules can be realized in the form of hardware. In implementation, each step of the above method or each module above may be implemented by an integrated logic circuit of hardware in a processor element or an instruction in the form of software.
For example, the above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), among others. For another example, when some of the above modules are implemented in the form of a processing element scheduler code, the processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor that can call program code. As another example, these modules may be integrated together, implemented in the form of a system-on-a-chip (SOC).
Fig. 12 is a schematic structural diagram of a detection apparatus according to an embodiment of the present application. As shown in fig. 12, the apparatus may include: a processor 121, a memory 122, a transceiver 123, and a system bus 124.
Processor 121 executes computer-executable instructions stored by the memory, causing processor 121 to perform the aspects of the embodiments described above.
The processor 121 may be a general-purpose processor including a central processing unit CPU, a Network Processor (NP), and the like; but also a digital signal processor DSP, an application specific integrated circuit ASIC, a field programmable gate array FPGA or other programmable logic device, discrete gate or transistor logic, discrete hardware components.
The memory 122 stores computer executable instructions, and the memory 122 and the transceiver 123 are connected to the processor 122 via the system bus 124 and communicate with each other.
The transceiver 123 may be used to communicate with other devices and transmit the processing result of the processor 121 to other devices for display.
The system bus 124 may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The system bus may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus. The transceiver is used to enable communication between the database access device and other devices (e.g., clients, read-write libraries, and read-only libraries). The memory may comprise Random Access Memory (RAM) and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
Optionally, the detection device may be a ground penetrating radar, or may be other devices for detecting the target object.
The detection device provided by the embodiment of the application can be used for executing the scheme in the embodiment, the implementation principle and the technical effect are similar, and details are not repeated herein.
The embodiment of the application also provides a chip for running the instructions, and the chip is used for executing the scheme in the embodiment.
The embodiment of the present application further provides a computer-readable storage medium, in which computer instructions are stored, and when the computer instructions are run on a computer, the computer is caused to execute the scheme of the foregoing embodiment.
Alternatively, a readable storage medium may be coupled to the processor such that the processor can read information from, and write information to, the readable storage medium. Of course, the readable storage medium may also be an integral part of the processor. The processor and the readable storage medium may reside in an Application Specific Integrated Circuits (ASIC). Of course, the processor and the readable storage medium may also reside as discrete components in the apparatus.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (10)
1. An object detection method, comprising:
generating an object detection signal, the object detection signal comprising: wavelet signals and frequency modulation continuous wave signals which are continuously distributed in time;
carrying out periodic target detection by using the target detection signal, and determining first depth information of a target object in a time domain and second depth information of the target object in a frequency domain;
and performing data fusion on the first depth information and the second depth information to obtain the actual depth information of the target object.
2. The method according to claim 1, wherein the determining the first depth information of the target object in the time domain and the second depth information of the target object in the frequency domain by using the target detection signal for periodic target detection comprises:
in each detection period, acquiring an echo signal after the target detection signal is transmitted, where the echo signal includes: a first echo signal of the wavelet signal and a second echo signal of the frequency modulated continuous wave signal;
determining first depth information of the target object in a time domain according to the wavelet signal and the first echo signal;
and determining second depth information of the target object in a frequency domain according to the frequency modulation continuous wave signal and the second echo signal.
3. The method of claim 2, wherein determining second depth information of the target object in the frequency domain from the frequency modulated continuous wave signal and the second echo signal comprises:
performing frequency mixing processing on the frequency-modulated continuous wave signal and the second echo signal to obtain a difference frequency signal of the frequency-modulated continuous wave signal and the second echo signal;
determining time delay information of the frequency-modulated continuous wave signal and the second echo signal according to the frequency of the difference frequency signal;
and determining second depth information of the target object in a frequency domain according to the time delay information and a preset distance formula.
4. The method of claim 3, wherein mixing the frequency-modulated continuous wave signal and the second echo signal to obtain a difference frequency signal of the frequency-modulated continuous wave signal and the second echo signal comprises:
performing frequency mixing processing on the frequency-modulated continuous wave signal and the second echo signal to obtain a frequency-mixed signal of the frequency-modulated continuous wave signal and the second echo signal;
performing Fourier transform processing on the mixed signal to obtain a frequency domain signal of the mixed signal, and determining at least one peak interval of the frequency domain signal;
and in each peak value interval, processing the frequency signal by utilizing a linear frequency modulation z transformation algorithm, and determining a difference frequency signal of the frequency modulation continuous wave signal and the second echo signal.
5. The method according to any one of claims 1 to 4, wherein the performing data fusion on the first depth information and the second depth information to obtain actual depth information of the target object comprises:
and performing data fusion on the first depth information and the second depth information by using a Kalman filtering algorithm to obtain actual depth information of the target object.
6. The method according to claim 5, wherein the performing data fusion on the first depth information and the second depth information by using a Kalman filtering algorithm to obtain actual depth information of the target object comprises:
determining first depth estimation information and first variance information of the first depth information, and second depth estimation information and second variance information of the second depth information;
and determining the actual depth information of the target object according to the first depth estimation information and the first variance information of the first depth information, and the second depth estimation information and the second variance information of the second depth information.
7. The method according to any one of claims 1-4, wherein the wavelet signal is a Rake wavelet signal, the mathematical formula of which is as follows:
wherein A is1(T) denotes a Rake wavelet signal, T1The time length of the wavelet signal in any detection period is shown, t is a time variable, a is a constant and takes the value of 10-18Left and right;
the frequency modulation continuous wave signal is a linear frequency modulation continuous wave signal, and the mathematical formula of the linear frequency modulation continuous wave signal is as follows:
A2(t)＝cos(2πf0(t-T1)+πk(t-T1)2),T1<t≤T2
wherein A is2(T) denotes a chirp continuous wave signal, T2Representing the time length of the frequency modulation continuous wave signal in any detection period, namely a modulation period; t represents a time variable, k ═ B/T2Is the slope of the frequency modulation, B is the bandwidth of the frequency modulation, f0Is the fundamental frequency.
8. An object detection device, comprising: the device comprises a generating module, a determining module and a processing module;
the generating module is configured to generate a target detection signal, where the target detection signal includes: wavelet signals and frequency modulation continuous wave signals which are continuously distributed in time;
the determining module is configured to perform periodic target detection by using the target detection signal, and determine first depth information of a target object in a time domain and second depth information of the target object in a frequency domain;
and the processing module is used for carrying out data fusion on the first depth information and the second depth information to obtain the actual depth information of the target object.
9. A detection apparatus, comprising:
a processor, a memory, a transceiver and a system bus;
the memory stores computer-executable instructions;
the processor executes computer-executable instructions stored by the memory, causing the processor to perform the method of any of claims 1-7.
10. A computer-readable storage medium having computer-executable instructions stored thereon, which when executed by a processor, perform the method of any one of claims 1-7.
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