CN112612008A - Method and device for extracting initial parameters of echo signals of high-speed projectile - Google Patents
Method and device for extracting initial parameters of echo signals of high-speed projectile Download PDFInfo
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Abstract
The invention is suitable for the technical field of radar signal processing, and provides a method and a device for extracting initial parameters of echo signals of a high-speed projectile, wherein the method comprises the following steps: receiving echo signals reflected when the shot is shot; preprocessing the echo signals to obtain two-dimensional time-frequency domain signals; calculating the short-time energy of each frame of signal in the two-dimensional time-frequency domain signal, and calculating the short-time spectrum entropy of each frame of signal; obtaining an energy spectrum entropy product of each frame of signal according to the product of the short-time energy of each frame of signal and the short-time spectrum entropy of each frame of signal; and detecting the energy spectrum entropy product of each frame of signal frame by frame, and determining the starting moment of the shot signal. In the embodiment, the starting moment of the projectile signal can be accurately measured through the entropy product of the energy spectrum, and the generated error cannot be accumulated among multiple projectiles.
Description
Technical Field
The invention belongs to the technical field of radar signal processing, and particularly relates to a method and a device for extracting initial parameters of echo signals of a high-speed projectile.
Background
When the projectile is continuously launched at an ultrahigh speed, due to strong flame noise near a muzzle and gun barrel shaking, the velocity measuring radar does not directly measure the initial velocity at the moment when the projectile is taken out of a chamber, but extrapolates data to obtain the initial velocity at the moment when the projectile is taken out of the chamber by measuring the velocities of a plurality of points on the flight trajectory of the projectile. Therefore, the moment when the projectile is taken out of the chamber is one of the key parameters for measuring the initial velocity of the projectile, and the accuracy directly determines the measurement accuracy of the initial velocity of the projectile. The traditional method for acquiring the shot discharging time mainly comprises the following steps: magnetic body coil induction, infrared detection, and the like.
However, when the magnetic object coil induction method is adopted, the technical requirement on radar erection and fixation is high, the coil is easy to damage when a gun shoots, and each shot needs to be magnetized, so that the cost is high, the operation is inconvenient, and the data measurement precision is low; when an infrared detection method is adopted, the flame noise of the high-firing-speed continuous-firing artillery is easy to generate false start, so that the data measurement precision is low.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and an apparatus for extracting an initial parameter of an echo signal of a high-speed projectile, which aim to solve the problems of complex operation and low measurement accuracy when measuring the time when the projectile comes out of the chamber in the prior art.
In order to achieve the above object, a first aspect of the embodiments of the present invention provides a method for extracting an initial parameter of an echo signal of a high-speed projectile, in which a chamber time measurement radar is disposed at a preset distance from a front end of a lateral surface of a muzzle of the high-speed projectile, the method including:
receiving echo signals reflected when the shot is shot;
preprocessing the echo signals to obtain two-dimensional time-frequency domain signals;
calculating the short-time energy of each frame of signal in the two-dimensional time-frequency domain signal, and calculating the short-time spectrum entropy of each frame of signal;
obtaining an energy spectrum entropy product of each frame of signal according to the product of the short-time energy of each frame of signal and the short-time spectrum entropy of each frame of signal;
and detecting the energy spectrum entropy product of each frame of signal frame by frame, and determining the starting moment of the shot signal.
As another embodiment of the present application, the preprocessing the echo signal to obtain a two-dimensional time-frequency domain signal includes:
carrying out short-time Fourier transform on the echo signal, and converting a time domain one-dimensional signal into a time-frequency domain two-dimensional signal;
and carrying out noise reduction processing on the time-frequency domain two-dimensional signal to obtain a noise-reduced two-dimensional time-frequency domain signal.
As another embodiment of the present application, the calculating short-time energy of each frame signal in the two-dimensional time-frequency domain signal includes:
according to
Calculating the short-time energy of each frame signal in the two-dimensional time-frequency domain signal;
where e (m) represents the short-time energy of the mth frame signal, m is a positive integer, S (m, k) represents the frequency spectrum of the kth frequency bin in the mth frame signal, k is 1,2 … L-1, and L represents the window width of the window function used when performing the short-time fourier transform.
As another embodiment of the present application, the calculating short-time spectral entropy of each frame signal includes:
calculating a normalized spectral probability density function of each frequency point according to each frequency point in each frame of signals in the two-dimensional time-frequency domain signals;
and calculating the short-time spectral entropy of each frame of signal according to the normalized spectral probability density function of each frequency point.
As another embodiment of the present application, the calculating a normalized spectral probability density function of each frequency point according to each frequency point in each frame of signals in the two-dimensional time-frequency domain signals includes:
according to
Calculating a normalized spectral probability density function of each frequency point;
wherein p iskAnd (4) representing the normalized spectral probability density function of each frequency point in the mth frame of signals.
As another embodiment of the present application, the calculating the short-time spectral entropy of each frame of signal according to the normalized spectral probability density function of each frequency point includes:
according to
Calculating the short-time spectrum entropy of each frame of signal;
wherein HmRepresenting the short-time spectral entropy of the mth frame signal.
As another embodiment of the present application, the detecting the energy spectrum entropy product of each frame signal frame by frame, and determining the starting time of the shot signal includes:
setting a first energy spectrum entropy product threshold value T1Second energy spectrum entropy product threshold value T2State parameter state and calculation parameter count, and the first energy spectrum entropy product threshold value is smaller than the second energy spectrum entropy product threshold value; initializing a state parameter state to be 0 and a calculation parameter count to be 0;
detecting whether WHF (m) is greater than or equal to T1Whf (m) represents an energy spectrum entropy product of the mth frame signal;
when WHF (m) is not less than T1Setting the value of the state parameter as a first value, and setting the calculation parameter to add 1 to the original calculation parameter;
detecting whether WHF (m) is greater than or equal to T2；
When WHF (m) is not less than T2Setting the value of the state parameter to a second value, and detecting whether the value of the current calculation parameter is greater than or equal to tmin，tminRepresenting a minimum duration of an echo signal to be detected, the second value being greater than the first value;
if the value of the current calculation parameter is greater than or equal to tminThen, the start time of the shot signal is determined as the time when count is 1.
As another embodiment of the present application, the method further includes:
if the value of the current calculation parameter is less than tminThen, it is checked whether WHF (m +1) is greater than or equal to T1；
When WHF (m +1) ≥ T1Setting the value of the state parameter to be the second value, setting the value of the calculation parameter to be the current calculation parameter value plus 1, and continuing to execute the subsequent operation until the count is more than or equal to tminDetermining the starting moment of a shot signal;
when WHF (m +1)<T1And setting the value of the state parameter as an initial value, setting the value of the calculation parameter as an initial value, and continuing to detect the energy spectrum entropy product of the next frame of signal.
As another embodiment of the present application, the method further includes:
when WHF (m)<T1And setting the value of the state parameter as an initial value, setting the value of the calculation parameter as an initial value, and detecting the energy spectrum entropy product of the next frame signal.
A second aspect of the embodiments of the present invention provides an initial parameter extraction device for echo signals of a high-speed projectile, in which a chamber time measurement radar is provided at a preset distance from a front end of a side surface of a muzzle of the high-speed projectile, and the device includes:
the receiving module is used for receiving echo signals reflected when the shot is shot out;
the preprocessing module is used for preprocessing the echo signal to obtain a two-dimensional time-frequency domain signal;
the calculation module is used for calculating the short-time energy of each frame of signal in the two-dimensional time-frequency domain signal and calculating the short-time spectrum entropy of each frame of signal;
the computing module is further configured to obtain an energy spectrum entropy product of each frame of signal according to a product of the short-time energy of each frame of signal and the short-time spectrum entropy of each frame of signal;
and the parameter extraction module is used for detecting the energy spectrum entropy product of each frame of signal frame by frame and determining the starting moment of the shot signal.
Compared with the prior art, the embodiment of the invention has the following beneficial effects: compared with the prior art, the invention receives the echo signal reflected when the projectile is shot; preprocessing the echo signals to obtain two-dimensional time-frequency domain signals; calculating the short-time energy of each frame of signal in the two-dimensional time-frequency domain signal, and calculating the short-time spectrum entropy of each frame of signal; obtaining an energy spectrum entropy product of each frame of signal according to the product of the short-time energy of each frame of signal and the short-time spectrum entropy of each frame of signal; and detecting the energy spectrum entropy product of each frame of signal frame by frame, and determining the starting moment of the shot signal. In the embodiment, the starting moment of the projectile signal can be accurately measured through the entropy product of the energy spectrum, and the generated error cannot be accumulated among multiple projectiles.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic flow chart of an implementation of a method for extracting initial parameters of echo signals of a high-speed projectile according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of spectral entropy of an analog signal provided by an embodiment of the invention;
FIG. 3 is a schematic diagram of an energy spectrum entropy product of an analog signal provided by an embodiment of the invention;
FIG. 4 is an exemplary diagram for determining a start time of a projectile signal provided by embodiments of the present invention;
FIG. 5 is an exemplary diagram of the detection result of the energy spectrum entropy product of the analog signal provided by the embodiment of the invention;
fig. 6 is a schematic diagram of an initial parameter extraction apparatus for echo signals of a high-speed projectile according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a terminal device according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
Fig. 1 is a schematic diagram of an implementation flow of a method for extracting an initial parameter of an echo signal of a high-speed projectile according to an embodiment of the present invention, in which a chamber time measuring radar is arranged at a preset distance from a front end of a side surface of a muzzle of the high-speed projectile, and when the projectile is launched, the radar receives an echo signal reflected by the projectile. The shot start parameter extraction is performed on the echo information, as detailed below.
And 102, preprocessing the echo signal to obtain a two-dimensional time-frequency domain signal.
Optionally, in this step, short-time fourier transform is performed on the echo signal, and a time-domain one-dimensional signal is converted into a time-domain two-dimensional signal; and carrying out noise reduction processing on the time-frequency domain two-dimensional signal to obtain a noise-reduced two-dimensional time-frequency domain signal.
Optionally, when performing noise reduction on the time-frequency domain two-dimensional signal, noise reduction may be performed by using a minimum statistical noise estimation method, and the noise-reduced signal is still the two-dimensional time-frequency domain signal, and may be directly subjected to energy spectrum entropy product operation.
And 103, calculating the short-time energy of each frame of signal in the two-dimensional time-frequency domain signal, and calculating the short-time spectral entropy of each frame of signal.
Optionally, the short-time energy of each frame of signal in the two-dimensional time-frequency domain signal is calculated in this step according to
Calculating the short-time energy of each frame signal in the two-dimensional time-frequency domain signal; where e (m) represents the short-time energy of the mth frame signal, m is a positive integer, S (m, k) represents the frequency spectrum of the kth frequency bin in the mth frame signal, k is 1,2 … L-1, and L represents the window width of the window function used when performing the short-time fourier transform.
Optionally, the uncertainty of a finite discrete probability field may be defined by the entropy of a random variable, the information entropy is statistics and calculation of the entropy of the signal in the time domain, and the spectral entropy is calculation of the entropy in the frequency domain of the signal, so as to achieve the purpose of detecting the signal endpoint.
Optionally, in this step, when calculating the short-time spectral entropy of each frame of signal, the method may include:
calculating a normalized spectral probability density function of each frequency point according to each frequency point in each frame of signals in the two-dimensional time-frequency domain signals;
and calculating the short-time spectral entropy of each frame of signal according to the normalized spectral probability density function of each frequency point.
Optionally, when the normalized spectral probability density function of each frequency point is calculated according to each frequency point in each frame of signals in the two-dimensional time-frequency domain signals, the normalized spectral probability density function of each frequency point can be calculated according to
Calculating a normalized spectral probability density function of each frequency point;
wherein p iskAnd (4) representing the normalized spectral probability density function of each frequency point in the mth frame of signals.
pkActually reflecting the signal energy at each separationThe distribution over the scattered frequency points can therefore be considered as a function of the probability density of the spectral energy.
However, for real signals, the N-point FFT is symmetric about the N/2+1 point. Therefore, in this embodiment, only half of the frequency points in a frame are taken to construct the spectral density function of the signal, i.e. p is calculatedkWhen the maximum value of k is
Optionally, in this step, when calculating the short-time spectral entropy of each frame of signal according to the normalized spectral probability density function of each frequency point, the short-time spectral entropy may be calculated according to the normalized spectral probability density function of each frequency point
Calculating the short-time spectrum entropy of each frame of signal;
wherein HmRepresenting the short-time spectral entropy of the mth frame signal.
In this embodiment, if S (λ, k) is 0, the information entropy of the frequency point is 0, and if the frequency point components of the frame are summed up, the sum is equal to
The information entropy of this frame is 0.
And 104, obtaining an energy spectrum entropy product of each frame of signal according to the product of the short-time energy of each frame of signal and the short-time spectrum entropy of each frame of signal.
In this embodiment, although the spectral entropy is a very robust feature parameter and has a good end point detection effect on the signal, the end point detection effect is still unsatisfactory as the signal-to-noise ratio decreases. Moreover, the high-radio-frequency artillery has high radio frequency, the emission interval of each shot is small, the requirement on the accuracy of endpoint detection is high, and therefore characteristic parameters with better adaptability need to be used, so that in the embodiment, an energy spectrum entropy product function, namely the product of signal energy and spectrum entropy, is used as the characteristic parameters to detect the endpoints.
Optionally, the energy spectrum entropy product of the mth frame signal is obtained according to whf (m) ═ e (m) × h (m). WHF can be seen as a weighting of the signal's short-time energy to the spectral entropy.
As shown in fig. 2, the spectrum entropy of the analog signal is shown, and the energy spectrum entropy product of the analog signal is shown in fig. 3, wherein the horizontal axis represents the frame number and the vertical axis represents the amplitude. It can be seen from fig. 2 that the spectral entropy of the useful signal is not clearly distinguished from the spectral entropy of the noise, and the amplitude difference between the two is small, so that the purpose of endpoint detection cannot be achieved; it can be clearly seen from the schematic diagram of the energy spectrum entropy product of the analog signal shown in fig. 3 that 4 distinct wavelet packets in the diagram correspond to 4 shots in the analog signal, and it can be seen that the characteristic parameter WHF of the signal and the noise in the schematic diagram of the energy spectrum entropy product is clearly different, and the subsequent endpoint detection can be performed.
And 105, detecting the energy spectrum entropy product of each frame of signal frame by frame, and determining the starting time of the shot signal.
The endpoint detection in this embodiment uses dual thresholds for endpoint detection.
Optionally, as shown in fig. 4, detecting the energy spectrum entropy product of each frame of signal frame by frame, and determining the starting time of the shot signal includes the following steps.
Optionally, T1The rising edge of the shot echo energy spectrum entropy product corresponds to the starting point of a shot signal, namely the moment of going out of the chamber. T is2Should be higher than the noise energy spectrum entropy product peak and lower than the energy spectrum entropy product peak of the projectile signal. Only above threshold T2Only then is it considered that a projectile signal may be present.
Whf (m) represents the energy spectral entropy product of the mth frame signal.
And sequentially detecting the energy spectrum entropy product of each frame until the shot outlet time is determined.
If the initial value of the state parameter is 0, the value of the state parameter is 1 at this time, i.e., the first value is 1.
If the initial value of the calculation parameter is 0, the value of the calculation parameter is 1.
When WHF (m) is not less than T1When it is considered that the signal of the projectile coming out of the chamber is possibly started, the detection of WHF (m) and T is continued2 Step 105 is performed.
When WHF (m)<T1If so, it means that the signal enters a mute state at this time, and the detection of the energy spectrum entropy product of the next frame signal is continued, and the detection method is the same as that in step 402.
Alternatively, when WHF (m)<T2Then step 404 is performed.
Step 406, when WHF (m) is not less than T2And setting the value of the state parameter as a second value.
Alternatively, the value of the state parameter may be 2, i.e. the second value may be 2. The second value is greater than the first value.
tminWhich represents the minimum duration of the echo signal to be detected, i.e. at least the number of frames to be sustained, and the detected signal less than this duration is a noise segment.
Optionally, only WHF (m) is greater than T at the same time1And T2And count is not less than tminTo determine the effective signalThe end point, i.e., the time when count equals 1.
Optionally, when WHF (m +1) ≧ T1When the time is over, the state value is still 2, the count continues to count, and the counter is not jumped out until the count is more than or equal to tminThe end point of the valid signal, i.e. the time when count equals 1, can be determined.
As shown in fig. 5, as for the detection result of the energy spectrum entropy product of the analog signal, the time of the frame corresponding to the dashed line in fig. 5 is the time of the shot of the projectile. Wherein, when the end point detection of the energy spectrum entropy product is carried out, the set parameter is T1＝10，T2＝100，tmin15 frames. The frame number of the shot discharging moment is detected as follows: 11, 101, 200, 287. The sampling time is 1 mus, i.e. the sampling rate is S ═ 1M. In the signal processing, the window function L is set to 256, and the frame shift R is set to 100, so that the time t corresponding to each frame can be calculated to be 100 i/S (i is the corresponding frame number). According to the conclusion, the frame corresponding to the starting point of the shot signal is known, and the corresponding time of the shot can be obtained. The comparison between the detection time and the set real time is given in table one.
| Number of shells | Detecting the time of day | Real time | Error of the measurement |
| Pill of No. 1 | 1.1ms | 0.9ms | 0.2ms |
| Pill of No. 2 | 10.1ms | 10ms | 0.1 |
| 3 rd bullet | 19.5ms | 19.3ms | 0.2ms |
| 4 th bullet | 28.7ms | 28.6ms | 0.1ms |
As can be seen from table one, the method for extracting the initial parameter of the echo signal of the high-speed projectile in this embodiment can detect the projectile firing time of the high-radio-frequency artillery with the radio frequency of 6000 shots/minute, and the maximum firing time detection error of the analog signal is 0.2ms, which satisfies the requirement that the system error is less than 0.5 ms. Meanwhile, it can be seen that the generated detection errors cannot be accumulated, so that the point-of-discontinuity detection is performed on the echoes continuously transmitted by the high-radio-frequency artillery, and the detection at the moment of going out of the chamber is favorably realized.
The initial parameter extraction method of the echo signal of the high-speed projectile receives the echo signal reflected when the projectile is shot; preprocessing the echo signals to obtain two-dimensional time-frequency domain signals; calculating the short-time energy of each frame of signal in the two-dimensional time-frequency domain signal, and calculating the short-time spectrum entropy of each frame of signal; obtaining an energy spectrum entropy product of each frame of signal according to the product of the short-time energy of each frame of signal and the short-time spectrum entropy of each frame of signal; and detecting the energy spectrum entropy product of each frame of signal frame by frame, and determining the starting moment of the shot signal. In the embodiment, the starting moment of the projectile signal can be accurately measured through the entropy product of the energy spectrum, and the generated error cannot be accumulated among multiple projectiles.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
Corresponding to the method for extracting initial parameters of echo signals of high-speed shots described in the above embodiments, fig. 6 is an exemplary diagram of an apparatus for extracting initial parameters of echo signals of high-speed shots provided by an embodiment of the present invention, in which a chamber time measuring radar is disposed at a preset distance from the front end of the side surface of a muzzle of a shot of the high-speed shots, and the radar can receive the transmitted echo signals when the shots are shot. As shown in fig. 6, the apparatus may include: a receiving module 601, a preprocessing module 602, a calculating module 603 and a parameter extracting module 604.
A receiving module 601, configured to receive an echo signal reflected when a projectile is ejected;
a preprocessing module 602, configured to preprocess the echo signal to obtain a two-dimensional time-frequency domain signal;
a calculating module 603, configured to calculate a short-time energy of each frame of signal in the two-dimensional time-frequency domain signal, and calculate a short-time spectral entropy of each frame of signal;
the calculating module 603 is further configured to obtain an energy spectrum entropy product of each frame of signal according to a product of the short-time energy of each frame of signal and the short-time spectrum entropy of each frame of signal;
and the parameter extraction module 604 is configured to detect the energy spectrum entropy product of each frame of signal frame by frame, and determine the starting time of the shot signal.
Optionally, the preprocessing module 602 may be configured to perform preprocessing on the echo signal to obtain a two-dimensional time-frequency domain signal, and be configured to:
carrying out short-time Fourier transform on the echo signal, and converting a time domain one-dimensional signal into a time-frequency domain two-dimensional signal;
and carrying out noise reduction processing on the time-frequency domain two-dimensional signal to obtain a noise-reduced two-dimensional time-frequency domain signal.
Optionally, the calculating module 603 may be configured to calculate a short-time energy of each frame of the two-dimensional time-frequency domain signal, and may be configured to:
according to
Calculating the short-time energy of each frame signal in the two-dimensional time-frequency domain signal;
where e (m) represents the short-time energy of the mth frame signal, m is a positive integer, S (m, k) represents the frequency spectrum of the kth frequency bin in the mth frame signal, k is 1,2 … L-1, and L represents the window width of the window function used when performing the short-time fourier transform.
Optionally, when the calculating module 603 calculates the short-time spectral entropy of each frame of signal, it may be configured to:
calculating a normalized spectral probability density function of each frequency point according to each frequency point in each frame of signals in the two-dimensional time-frequency domain signals;
and calculating the short-time spectral entropy of each frame of signal according to the normalized spectral probability density function of each frequency point.
Optionally, when the calculating module 603 calculates the normalized spectrum probability density function of each frequency point according to each frequency point in each frame of signals in the two-dimensional time-frequency domain signals, it may be configured to:
according to
Calculating a normalized spectral probability density function of each frequency point;
wherein p iskAnd (4) representing the normalized spectral probability density function of each frequency point in the mth frame of signals.
Optionally, when the calculating module 603 calculates the short-time spectral entropy of each frame of signal according to the normalized spectral probability density function of each frequency point, it may be configured to:
according to
Calculating the short-time spectrum entropy of each frame of signal;
wherein HmRepresenting the short-time spectral entropy of the mth frame signal.
Optionally, the parameter extraction module 604 detects the energy spectrum entropy product of each frame signal frame by frame, and when determining the starting time of the shot signal, may be configured to:
setting a first energy spectrum entropy product threshold value T1Second energy spectrum entropy product threshold value T2State parameter state and calculation parameter count, and the first energy spectrum entropy product threshold value is smaller than the second energy spectrum entropy product threshold value; initializing a state parameter state to be 0 and a calculation parameter count to be 0;
detecting whether WHF (m) is greater than or equal to T1Whf (m) represents an energy spectrum entropy product of the mth frame signal;
when WHF (m) is not less than T1Setting the value of the state parameter as a first value, and setting the calculation parameter to add 1 to the original calculation parameter;
detecting whether WHF (m) is greater than or equal to T2；
When WHF (m) is not less than T2Setting the value of the state parameter to a second value, and detecting whether the value of the current calculation parameter is greater than or equal to tmin，tminRepresenting a minimum duration of an echo signal to be detected, the second value being greater than the first value;
if the value of the current calculation parameter is greater than or equal to tminThen, the start time of the shot signal is determined as the time when count is 1.
Optionally, the parameter extraction module 604 is further configured to:
if the value of the current calculation parameter is less than tminThen, it is checked whether WHF (m +1) is greater than or equal to T1；
When WHF (m +1) ≥ T1Setting the value of the state parameter to be the second value, setting the value of the calculation parameter to be the current calculation parameter value plus 1, and continuing to execute the subsequent operation until the count is more than or equal to tminDetermining the starting moment of a shot signal;
when WHF (m +1)<T1And setting the value of the state parameter as an initial value, setting the value of the calculation parameter as an initial value, and continuing to detect the energy spectrum entropy product of the next frame of signal.
Optionally, the parameter extraction module 604 is further configured to:
when WHF (m)<T1And setting the value of the state parameter as an initial value, setting the value of the calculation parameter as an initial value, and detecting the energy spectrum entropy product of the next frame signal.
The initial parameter extraction device of the echo signal of the high-speed projectile receives the echo signal reflected when the projectile is shot through the receiving module; the preprocessing module preprocesses the echo signal to obtain a two-dimensional time-frequency domain signal; the calculation module calculates the short-time energy of each frame of signal in the two-dimensional time-frequency domain signal and calculates the short-time spectrum entropy of each frame of signal; the calculation module obtains an energy spectrum entropy product of each frame of signal according to the product of the short-time energy of each frame of signal and the short-time spectrum entropy of each frame of signal; and the parameter extraction module detects the energy spectrum entropy product of each frame of signal frame by frame and determines the starting moment of the shot signal. In the embodiment, the starting moment of the projectile signal can be accurately measured through the entropy product of the energy spectrum, and the generated error cannot be accumulated among multiple projectiles.
Fig. 7 is a schematic diagram of a terminal device according to an embodiment of the present invention. As shown in fig. 7, the terminal device 700 of this embodiment includes: a processor 701, a memory 702 and a computer program 703, such as a start parameter extraction program for high speed projectile echo signals, stored in said memory 702 and executable on said processor 701. When the processor 701 executes the computer program 703, the steps in the embodiment of the method for extracting the initial parameter of the high-speed shot echo signal, such as the steps 101 to 105 shown in fig. 1, or the steps 401 to 411 shown in fig. 4, when the processor 701 executes the computer program 703, the functions of the modules in the embodiments of the apparatuses, such as the modules 601 to 604 shown in fig. 6, are implemented.
Illustratively, the computer program 703 may be partitioned into one or more program modules, which are stored in the memory 702 and executed by the processor 701 to implement the present invention. The one or more program modules may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used for describing the execution process of the computer program 703 in the starting parameter extraction device of the high-speed projectile echo signal or the terminal device 700. For example, the computer program 703 may be divided into a receiving module 601, a preprocessing module 602, a calculating module 603, and a parameter extracting module 604, and specific functions of the modules are shown in fig. 6, which are not described in detail herein.
The terminal device 700 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The terminal device may include, but is not limited to, a processor 701, a memory 702. Those skilled in the art will appreciate that fig. 7 is merely an example of a terminal device 700 and does not constitute a limitation of terminal device 700 and may include more or fewer components than shown, or some components may be combined, or different components, e.g., the terminal device may also include input-output devices, network access devices, buses, etc.
The Processor 701 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 702 may be an internal storage unit of the terminal device 700, such as a hard disk or a memory of the terminal device 700. The memory 702 may also be an external storage device of the terminal device 700, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the terminal device 700. Further, the memory 702 may also include both an internal storage unit and an external storage device of the terminal device 700. The memory 702 is used for storing the computer programs and other programs and data required by the terminal device 700. The memory 702 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. . Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. The method for extracting the initial parameter of the echo signal of the high-speed projectile is characterized in that a chamber time measuring radar is arranged at a preset distance from the front end of the side surface of a high-speed projectile launching muzzle, and comprises the following steps:
receiving echo signals reflected when the shot is shot;
preprocessing the echo signals to obtain two-dimensional time-frequency domain signals;
calculating the short-time energy of each frame of signal in the two-dimensional time-frequency domain signal, and calculating the short-time spectrum entropy of each frame of signal;
obtaining an energy spectrum entropy product of each frame of signal according to the product of the short-time energy of each frame of signal and the short-time spectrum entropy of each frame of signal;
and detecting the energy spectrum entropy product of each frame of signal frame by frame, and determining the starting moment of the shot signal.
2. The method for extracting initial parameters of echo signals of high-speed shots according to claim 1, wherein the preprocessing the echo signals to obtain two-dimensional time-frequency domain signals comprises:
carrying out short-time Fourier transform on the echo signal, and converting a time domain one-dimensional signal into a time-frequency domain two-dimensional signal;
and carrying out noise reduction processing on the time-frequency domain two-dimensional signal to obtain a noise-reduced two-dimensional time-frequency domain signal.
3. The method for extracting initial parameters of echo signals of high-speed projectile according to claim 2, wherein said calculating the short-time energy of each frame of signals in said two-dimensional time-frequency domain signals comprises:
according to
Calculating the short-time energy of each frame signal in the two-dimensional time-frequency domain signal;
where e (m) represents the short-time energy of the mth frame signal, m is a positive integer, S (m, k) represents the frequency spectrum of the kth frequency bin in the mth frame signal, k is 1,2 … L-1, and L represents the window width of the window function used when performing the short-time fourier transform.
4. The method for extracting initial parameters of echo signals of high-speed projectile according to claim 3, wherein said calculating short-time spectral entropy of each frame of signals comprises:
calculating a normalized spectral probability density function of each frequency point according to each frequency point in each frame of signals in the two-dimensional time-frequency domain signals;
and calculating the short-time spectral entropy of each frame of signal according to the normalized spectral probability density function of each frequency point.
5. The method for extracting initial parameters of echo signals of high-speed shots according to claim 4, wherein the calculating the normalized spectral probability density function of each frequency point according to each frequency point in each frame of signals in the two-dimensional time-frequency domain signals comprises:
according to
Calculating a normalized spectral probability density function of each frequency point;
wherein p iskAnd (4) representing the normalized spectral probability density function of each frequency point in the mth frame of signals.
6. The method for extracting initial parameters of echo signals of high-speed shots according to claim 5, wherein the calculating the short-time spectral entropy of each frame of signals according to the normalized spectral probability density function of each frequency point comprises:
according to
Calculating the short-time spectrum entropy of each frame of signal;
wherein HmRepresenting the short-time spectral entropy of the mth frame signal.
7. The method for extracting the initial parameter of the echo signal of the high-speed projectile according to any one of claims 1 to 6, wherein the detecting the entropy product of the energy spectrum of each frame signal frame by frame and determining the initial time of the projectile signal comprise:
setting a first energy spectrum entropy product threshold value T1Second energy spectrum entropy product threshold value T2State parameter state and calculationThe parameter count, and the first energy spectrum entropy product threshold value is smaller than the second energy spectrum entropy product threshold value; initializing a state parameter state to be 0 and a calculation parameter count to be 0;
detecting whether WHF (m) is greater than or equal to T1Whf (m) represents an energy spectrum entropy product of the mth frame signal;
when WHF (m) is not less than T1Setting the value of the state parameter as a first value, and setting the calculation parameter to add 1 to the original calculation parameter;
detecting whether WHF (m) is greater than or equal to T2；
When WHF (m) is not less than T2Setting the value of the state parameter to a second value, and detecting whether the value of the current calculation parameter is greater than or equal to tmin，tminRepresenting a minimum duration of an echo signal to be detected, the second value being greater than the first value;
if the value of the current calculation parameter is greater than or equal to tminThen, the start time of the shot signal is determined as the time when count is 1.
8. The method for extracting initial parameters of echo signals of high-speed shots according to claim 7, further comprising:
if the value of the current calculation parameter is less than tminThen, it is checked whether WHF (m +1) is greater than or equal to T1；
When WHF (m +1) ≥ T1Setting the value of the state parameter to be the second value, setting the value of the calculation parameter to be the current calculation parameter value plus 1, and continuing to execute the subsequent operation until the count is more than or equal to tminDetermining the starting moment of a shot signal;
when WHF (m +1)<T1And setting the value of the state parameter as an initial value, setting the value of the calculation parameter as an initial value, and continuing to detect the energy spectrum entropy product of the next frame of signal.
9. The method for extracting initial parameters of echo signals of high-speed shots according to claim 7, further comprising:
when WHF (m)<T1When setting the state parametersAnd setting the value of the calculation parameter as an initial value, and detecting the energy spectrum entropy product of the next frame signal.
10. The utility model provides a high-speed bullet echo signal's initial parameter extraction element, its characterized in that presets distance department at the side front end of high-speed bullet transmission muzzle and sets up a thorax survey radar constantly, includes:
the receiving module is used for receiving echo signals reflected when the shot is shot out;
the preprocessing module is used for preprocessing the echo signal to obtain a two-dimensional time-frequency domain signal;
the calculation module is used for calculating the short-time energy of each frame of signal in the two-dimensional time-frequency domain signal and calculating the short-time spectrum entropy of each frame of signal;
the computing module is further configured to obtain an energy spectrum entropy product of each frame of signal according to a product of the short-time energy of each frame of signal and the short-time spectrum entropy of each frame of signal;
and the parameter extraction module is used for detecting the energy spectrum entropy product of each frame of signal frame by frame and determining the starting moment of the shot signal.
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