CN112630742B - Method, device and equipment for processing high sidelobe Doppler stripe and storage medium - Google Patents
Method, device and equipment for processing high sidelobe Doppler stripe and storage medium Download PDFInfo
- Publication number
- CN112630742B CN112630742B CN202011476054.7A CN202011476054A CN112630742B CN 112630742 B CN112630742 B CN 112630742B CN 202011476054 A CN202011476054 A CN 202011476054A CN 112630742 B CN112630742 B CN 112630742B
- Authority
- CN
- China
- Prior art keywords
- doppler
- range
- distance
- unit group
- value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/414—Discriminating targets with respect to background clutter
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/021—Auxiliary means for detecting or identifying radar signals or the like, e.g. radar jamming signals
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention is suitable for the technical field of radar measurement and control, and provides a method, a device, equipment and a storage medium for processing a high side lobe Doppler strip, wherein the method for processing the high side lobe Doppler strip comprises the following steps: obtaining a range-Doppler image of an object to be detected; acquiring the number of pixels of which the distance Doppler value exceeds a first preset threshold value in each distance unit, and determining the distance units of which the number exceeds a second preset threshold value as target distance units; grouping the target distance units according to the adjacent relation between the target distance units to obtain at least one distance unit group; determining a target range unit group with a high sidelobe Doppler strip in at least one range unit group according to the distribution condition of the range Doppler values of the pixels in the range unit group; and resetting the range Doppler value of the pixel of which the signal-to-noise ratio value in the target distance unit group is smaller than the first signal-to-noise ratio value to a preset value. By adopting the invention, the omission factor can be reduced.
Description
Technical Field
The invention belongs to the technical field of radar measurement and control, and particularly relates to a method, a device, equipment and a storage medium for processing a high-sidelobe Doppler strip.
Background
For a Linear Frequency Modulated Continuous Wave (LFMCW) radar, a distance and doppler dimension two-dimensional joint processing method is generally adopted to extract radar target information from noise and interference, and the specific process is as follows: performing one-dimensional Fast Fourier Transform (FFT) on an ADC signal of a time domain to obtain an FFT result of a distance dimension (Range), performing two-dimensional FFT on FFT results of a plurality of continuous distance dimensions to obtain an FFT result of a Doppler dimension (Doppler), and performing FFT processing twice to obtain Range-Doppler Matrix data, namely RD data. The RD data is the basis of target detection of the radar, and the quality of the RD data can influence the effect of radar target detection and final output information. When a target exists, a peak is formed after the distance dimension FFT processing, the position of the peak in the distance dimension FFT result represents the distance information of the target, the peak may be called a main lobe used for subsequent radar signal processing, and besides the main lobe, the peak may be called a side lobe, which is also called a side lobe. As shown in fig. 1, the horizontal axis in fig. 1 represents distance, and the vertical axis represents amplitude, 110 being a main lobe, and 120 being a side lobe.
The existing radar chip generally has a problem that when strong target reflection exists, a high side lobe on a distance dimension is formed in an RD image generated based on RD data, so that a strip penetrating most or even all Doppler channels is generated on a Doppler dimension, namely, a high side lobe Doppler band, and the radar performance is seriously influenced by the high side lobe Doppler band, for example, the false detection rate is high.
At present, the influence of a high side lobe Doppler band on radar performance is generally reduced by increasing the detection threshold of a target, but the missed detection rate is higher.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method, an apparatus, a device, and a storage medium for processing a high sidelobe doppler stripe, so as to solve the problem in the prior art that the missed detection rate is high due to an increase in the detection threshold of a target.
A first aspect of an embodiment of the present invention provides a method for processing a high sidelobe doppler stripe, including:
obtaining a range-Doppler image of an object to be detected; the range-doppler plot comprises a plurality of doppler cells and a plurality of range cells;
acquiring the number of pixels of which the distance Doppler value exceeds a first preset threshold value in each distance unit, and determining the distance units of which the number exceeds a second preset threshold value as target distance units;
grouping the target distance units according to the adjacent relation between the target distance units to obtain at least one distance unit group;
determining a target range unit group with a high sidelobe Doppler strip in at least one range unit group according to the distribution condition of the range Doppler values of the pixels in the range unit group;
and resetting the range Doppler value of the pixel of which the signal-to-noise ratio value in the target range unit group is smaller than the first signal-to-noise ratio value to a preset value to obtain a processed range Doppler image.
Optionally, grouping the target distance units according to the neighboring relationship between the target distance units to obtain at least one distance unit group, including:
dividing target distance units with unit numbers capable of forming continuous numbers into a distance unit group;
each target range unit, for which the unit number cannot constitute a consecutive number, is divided into a range unit group.
Optionally, determining, in at least one range bin, a target range bin in which a high sidelobe doppler band exists according to a distribution of range doppler values of pixels in the range bin, including:
performing dimensionality reduction on the pixel of each target distance unit in the first distance unit group in Doppler dimension according to a preset proportion to obtain a dimensionality reduction pixel of the corresponding target distance unit; the first distance unit group is any one of at least one distance unit group;
performing preset data processing on the distance Doppler value of a pixel before dimensionality reduction corresponding to the dimensionality reduction pixel to obtain the distance Doppler value of the dimensionality reduction pixel;
accumulating the number of pixels before dimensionality reduction, the distance Doppler values of which correspond to the dimensionality reduction pixels exceed a third preset threshold value, to the distance Doppler values of the dimensionality reduction pixels;
accumulating the range Doppler values of the dimensionality reduction pixels corresponding to the same dimensionality in the first range unit group to obtain a final range Doppler value of the corresponding dimensionality;
and if the number of the dimensionalities of which the final range Doppler value in the first range unit group is greater than the fourth preset threshold value is greater than the preset number, determining the first range unit group as a target range unit group.
Optionally, the preset data processing is rounding down, averaging or median.
Optionally, the first signal-to-noise ratio value is a difference value between a maximum signal-to-noise ratio value in the target distance unit group and a preset signal-to-noise ratio value; the preset value is zero.
A second aspect of the embodiments of the present invention provides a processing apparatus for a high sidelobe doppler stripe, including:
the first acquisition module is used for acquiring a range-Doppler image of an object to be detected; the range-doppler plot comprises a plurality of doppler cells and a plurality of range cells;
the second acquisition module is used for acquiring the number of pixels of which the distance Doppler value exceeds a first preset threshold value in each distance unit and determining the distance units of which the number exceeds a second preset threshold value as target distance units;
the grouping module is used for grouping the target distance units according to the adjacent relation between the target distance units to obtain at least one distance unit group;
the determining module is used for determining a target range unit group with a high sidelobe Doppler stripe in at least one range unit group according to the distribution condition of the range Doppler values of the pixels in the range unit group;
and the processing module is used for resetting the range Doppler value of the pixel of which the signal-to-noise ratio value in the target range unit group is smaller than the first signal-to-noise ratio value to a preset value to obtain a processed range Doppler image.
Optionally, the grouping module is further configured to:
dividing target distance units with unit serial numbers capable of forming continuous serial numbers into a distance unit group;
each target distance unit, the unit serial number of which cannot form a continuous serial number, is divided into a distance unit group.
Optionally, the determining module is further configured to:
performing dimensionality reduction on the pixel of each target distance unit in the first distance unit group in Doppler dimension according to a preset proportion to obtain a dimensionality reduction pixel of the corresponding target distance unit; the first distance unit group is any one of at least one distance unit group;
performing preset data processing on the distance Doppler value of a pixel before dimensionality reduction corresponding to the dimensionality reduction pixel to obtain the distance Doppler value of the dimensionality reduction pixel;
accumulating the number of pixels before dimensionality reduction, the distance Doppler values of which correspond to the dimensionality reduction pixels exceed a third preset threshold value, to the distance Doppler values of the dimensionality reduction pixels;
accumulating the range Doppler values of the dimensionality reduction pixels corresponding to the same dimensionality in the first range unit group to obtain a final range Doppler value of the corresponding dimensionality;
and if the number of the dimensionalities of which the final range Doppler value in the first range unit group is greater than the fourth preset threshold value is greater than the preset number, determining the first range unit group as a target range unit group.
Optionally, the preset data processing is rounding down, averaging or median taking.
Optionally, the first signal-to-noise ratio value is a difference value between a maximum signal-to-noise ratio value in the target distance unit group and a preset signal-to-noise ratio value; the preset value is zero.
A third aspect of embodiments of the present invention provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the steps of the method according to the first aspect are implemented.
A fourth aspect of embodiments of the present invention provides a computer-readable storage medium storing a computer program which, when executed by a processor, performs the steps of the method according to the first aspect.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
the embodiment of the invention can initially screen the range units possibly existing in the high sidelobe Doppler band, perform grouping processing on the range units to obtain a plurality of range unit groups, and then analyze the distribution condition of the range Doppler values of the pixels in each range unit group, thereby determining the target range unit group with the high sidelobe Doppler band. Therefore, after the target range unit group with the high-sidelobe Doppler stripe is determined, the high-sidelobe Doppler stripe can be removed. Because the high sidelobe Doppler strips can be accurately positioned, the problem of high missed detection rate caused by the fact that the detection threshold of the target is improved can be solved, and the missed detection rate can be reduced while the false detection rate is reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the embodiments or the prior art description 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 for those skilled in the art, other drawings may be obtained according to these drawings without inventive labor.
FIG. 1 is a schematic diagram of a main lobe and a side lobe according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an RD with a high sidelobe Doppler band according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating steps of a method for processing a high sidelobe Doppler band, according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating steps of a method for processing a high sidelobe Doppler stripe according to an embodiment of the present invention;
FIG. 5 is a schematic representation of RD of FIG. 2 after the high sidelobe Doppler bands have been removed;
FIG. 6 is a schematic diagram of a two-dimensional array RD according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a two-dimensional array RD _ cpr according to an embodiment of the present invention;
FIG. 8 is a diagram illustrating a one-dimensional array RD _ cnt according to an embodiment of the present invention;
FIG. 9 is a diagram illustrating another one-dimensional array RD _ cnt according to an embodiment of the present invention;
FIG. 10 is a diagram illustrating a numerical relationship according to an embodiment of the present invention;
figure 11 is a schematic diagram of a device for processing a high sidelobe doppler swath according to an embodiment of the present invention;
fig. 12 is a schematic view of an electronic 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.
As described in the background art, a problem commonly existing in the currently mainstream radar chip is that when there is strong target reflection, a high side lobe in a range dimension is formed in a generated RD pattern, so that a stripe penetrating through most or even all doppler channels (doppler dimension), i.e., a high side lobe doppler band, is generated, and the high side lobe doppler band may seriously affect radar performance, for example, false detection rate is high. The reason for this is that, when the noise performance of the internal frequency synthesizer of the radar chip or the frequency multiplier is not ideal, the original main lobe will be lost, the side lobe will be enhanced, and the side lobe has a higher amplitude, so, when viewed from the whole RD diagram, this high side lobe will run through the most of or even all bands of the doppler channels, and a high side lobe doppler band is formed.
As shown in fig. 2, fig. 2 is an RD diagram with the abscissa as the distance dimension and the ordinate as the doppler dimension, and it can be seen that there exists a band composed of a large number of bright spots from top to bottom in fig. 2, and the band can be a high side lobe doppler band in the case of satisfying the above-mentioned reason for generating the high side lobe doppler band.
The above problem is difficult to solve in a hardware level, and the influence of a high side lobe Doppler band on radar performance is reduced by improving a target detection threshold in software algorithm processing. However, there are many disadvantages to this method of increasing the detection threshold. For example, in order to eliminate the high side lobe doppler stripes, the detection threshold of the target, such as the signal-to-noise ratio threshold, has to be greatly increased, which may cause a large amount of missed detections of real targets, cause the radar missed report rate index to deteriorate, and seriously affect the performance of the radar.
In order to solve the problem in the prior art, embodiments of the present invention provide a method, an apparatus, a device, and a storage medium for processing a high sidelobe doppler slice. First, a method for processing a high sidelobe doppler stripe according to an embodiment of the present invention will be described below.
The concept of the processing method of the high sidelobe Doppler strip provided by the embodiment of the invention can be divided into the following two parts: finding a high sidelobe Doppler band; high side lobe doppler bins are rejected.
The main body of execution of the method for processing the high sidelobe doppler band may be a processing device of the high sidelobe doppler band, and the processing device may be any electronic device with data processing capability, such as a mobile electronic device or a non-mobile electronic device. For example, the mobile electronic device may be a mobile phone, a tablet computer, a notebook computer, a palm top computer, a vehicle-mounted electronic device, a wearable device, an ultra-mobile personal computer (UMPC), a netbook or a Personal Digital Assistant (PDA), and the like, and the non-mobile electronic device may be a server, a Network Attached Storage (NAS), a Personal Computer (PC), and the like, and the embodiment of the present invention is not limited in particular.
As shown in fig. 3, the method for processing a high sidelobe doppler stripe according to an embodiment of the present invention includes the following steps:
and step S310, obtaining a range-Doppler image of the object to be measured.
In some embodiments, the range-doppler plot includes a plurality of doppler cells and a plurality of range cells.
In some embodiments, the object to be measured may be any object to be measured, such as a human, an animal, a building, a vehicle, and the like. Specifically, a range-doppler plot of the object to be measured, such as a millimeter-wave radar, may be generated by a radar, and then the range-doppler plot may be acquired from a device or apparatus that stores the range-doppler plot.
Step S320, obtaining the number of pixels whose range doppler value exceeds a first preset threshold value in each distance unit, and determining the distance units whose number exceeds a second preset threshold value as target distance units.
In some embodiments, the pixel may be any point in a range-doppler plot, and the range-doppler value of the pixel may be represented by a two-dimensional coordinate, e.g., (120, 20), where 120 represents the value of the pixel in the doppler dimension and 20 represents the value of the pixel in the range dimension. Accordingly, the distance cells may be cells corresponding to different values of the distance dimension, for example, a distance cell having a value of 20, and may include pixels having a value of 20 for all distance dimensions in the RD map.
In some embodiments, the first preset threshold may be a detection threshold for detecting whether a pixel belongs to an object to be detected. Different detection thresholds can be set for different distance units according to the requirement of detection precision. For example, for a distance unit with a smaller value, a higher first preset threshold value may be set; for the distance unit with larger value, a lower first preset threshold value can be set.
The second preset threshold may be a determination threshold for determining whether there may be a high sidelobe doppler bin in the range unit. Since the high sidelobe doppler stripe runs through most or even all doppler channels, and each range bin corresponds to all doppler channels (doppler dimension), when there are a large number of pixels whose range doppler value exceeds the first preset threshold value in a range bin, the range bin has a high probability of having the high sidelobe doppler stripe. As such, a second preset threshold may be adopted as the above-mentioned determination threshold, for example, the second preset threshold may be set to 90% of the total dimension of the doppler dimension.
Therefore, the number of pixels of which the range-doppler value exceeds a first preset threshold value in each range unit can be obtained, and the range units of which the number exceeds a second preset threshold value are determined as target range units, wherein the target range units are range units with high probability of high sidelobe doppler bands.
And S330, grouping the target distance units according to the adjacent relation between the target distance units to obtain at least one distance unit group.
In some embodiments, since the high sidelobe doppler band may span multiple range units or may only exist in a certain range unit, the target range units may be grouped according to an adjacent relationship between the target range units to obtain at least one range unit group, and then the range unit groups are used as basic determination units to respectively determine whether there is a high sidelobe doppler band in each range unit group.
Optionally, the specific processing in step S330 may be as follows: dividing target distance units with unit serial numbers capable of forming continuous serial numbers into a distance unit group; each target distance unit, the unit serial number of which cannot form a continuous serial number, is divided into a distance unit group.
In some embodiments, assuming that the cell numbers of all target range cells are 3, 4, 5, 9, 10, 15, 19, it can be found that 3, 4 and 5, and 9 and 10 can constitute consecutive numbers, then the target range cells with cell numbers 3, 4 and 5 can be divided into a range cell group, and the target range cells with cell numbers 9 and 5 can be divided into a range cell group. In addition, neither of the cell numbers 15 and 19 can constitute a consecutive number, and then the target range cell with the cell number 15 may be divided into one range cell group, and the target range cell with the cell number 19 may be divided into one range cell group.
Step S340, determining a target range bin group with a high sidelobe doppler band in at least one range bin group according to the distribution of the range doppler values of the pixels in the range bin group.
In some embodiments, since the range unit group only has a high probability of having a high sidelobe doppler band, it may be determined whether a high sidelobe doppler band exists in a certain range unit group according to a distribution of the range doppler values of the pixels in the range unit group, and if a high sidelobe doppler band exists in the range unit group, the range unit group may be determined as the target range unit group. If no high sidelobe doppler bins are present in the range bin group, the range bin group may not be processed.
Thus, by the above processing, a high side lobe doppler band in the RD map can be found.
Alternatively, as shown in fig. 4, the specific processing of step S340 may be as follows:
s410, performing dimensionality reduction on the pixel of each target distance unit in the first distance unit group in Doppler dimension according to a preset proportion to obtain a dimensionality reduction pixel of the corresponding target distance unit; the first group of range cells is any one of the at least one group of range cells.
In some embodiments, the pixels of the target range bin may be reduced in the doppler dimension at a predetermined ratio of 8 to 1. Specifically, each 8 pixels of the doppler dimension in the target range bin may be reduced to a dimension-reduced pixel, and the range doppler value of the dimension-reduced pixel may be obtained according to the following step S420.
S420, preset data processing is carried out on the distance Doppler value of the pixel before dimensionality reduction corresponding to the dimensionality reduction pixel to obtain the distance Doppler value of the dimensionality reduction pixel.
In some embodiments, the predetermined data processing may be rounding down, averaging, or median. For example, assuming that the range doppler values of 8 pixels before dimensionality reduction corresponding to the dimensionality reduction pixel are (120,10), (121,10), (122,10), (123,10), (124,10), (125,10), (126,10), (127,10), respectively, taking a preset ratio of 8 to 1 and rounding down as an example, the range doppler value of the dimensionality reduction pixel is (15,10) by dividing the doppler value of each pixel by 8 and rounding down.
And S430, accumulating the number of the pixels before dimensionality reduction, of which the distance Doppler values corresponding to the dimensionality reduction pixels exceed a third preset threshold value, to the distance Doppler values of the dimensionality reduction pixels.
In some embodiments, a third predetermined threshold may be used to measure the probability that a reduced-dimension pixel belongs to a high sidelobe doppler bin.
S440, accumulating the range Doppler values of the dimensionality reduction pixels corresponding to the same dimensionality in the first range unit group to obtain the final range Doppler value of the corresponding dimensionality.
In some embodiments, the distance doppler values of the dimensionality reduction pixels corresponding to the same dimensionality are accumulated, and may be the numerical values of the doppler dimensions of the dimensionality reduction pixels corresponding to the same dimensionality reduced doppler dimension.
S450, if the number of dimensions in the first distance unit group whose final range doppler value is greater than the fourth preset threshold value is greater than the preset number, determining the first distance unit group as the target distance unit group.
In some embodiments, the fourth preset threshold may be used for the probability that the high sidelobe doppler bins exist in the first range bin group, and it should be noted that the greater the number of dimensions of the final range doppler value in the first range bin group greater than the fourth preset threshold, the greater the probability that the high sidelobe doppler bins exist.
Through the processing of the embodiment, after the dimension reduction and the preset data processing are performed on the pixels in the first range unit group, the relationship between the final range doppler value and each preset threshold value can better reflect the probability of the first range unit group having the high sidelobe doppler band, and the accuracy is higher.
And S350, resetting the range Doppler value of the pixel of which the signal-to-noise ratio value is smaller than the first signal-to-noise ratio value in the target range unit group to a preset value to obtain a processed range Doppler image.
In some embodiments, after determining that the target range unit group with the high side lobe doppler band exists, the high side lobe doppler band may be eliminated from the target range unit group.
It is worth mentioning that when a high sidelobe doppler stripe is generated, the stripe is distributed on both sides of the strong reflection point basically, and the signal-to-noise ratio of the strong reflection point is usually higher than the signal-to-noise ratio of the stripe by more than 20dB, so that the characteristic can be utilized to eliminate points outside the strong reflection target, thereby achieving the purpose of eliminating the high sidelobe doppler stripe.
Specifically, the snr values of all pixels in the target range bin may be compared with the first snr value. The first snr value may be set as a difference between a maximum snr value in the target range unit and a preset snr value, where the preset snr value may be greater than or equal to 20 dB. And if the signal-to-noise ratio value of the pixel in the target distance unit group is smaller than the first signal-to-noise ratio value, the pixel can be considered as the pixel in the high side lobe Doppler band. Then, the range doppler value of the pixel whose signal-to-noise ratio value in the target range unit group is smaller than the first signal-to-noise ratio value is reset to a preset value, for example, zero, so that the pixels in the high side lobe doppler bands can be deleted, and the purpose of eliminating the pixels in the high side lobe doppler bands can be achieved.
Thus, the range-doppler image from which the high-sidelobe doppler band is removed can be used as the final range-doppler image of the object to be measured. As shown in fig. 5, fig. 5 is an RD diagram obtained by removing the high side lobe doppler band in fig. 2.
In the embodiment of the invention, the range units possibly existing in the high sidelobe Doppler band can be preliminarily screened out, the range units are grouped to obtain a plurality of range unit groups, and then the distribution condition of the range Doppler values of the pixels in each range unit group can be analyzed, so that the target range unit group with the high sidelobe Doppler band can be determined. Therefore, after the target range unit group with the high-sidelobe Doppler stripe is determined, the high-sidelobe Doppler stripe can be removed. Because the high sidelobe Doppler strips can be accurately positioned, the problem of high missed detection rate caused by the fact that the detection threshold of the target is improved can be solved, and the missed detection rate can be reduced while the false detection rate is reduced.
In order to better understand the method for removing the high sidelobe doppler band provided by the embodiment of the present invention, a specific implementation is given below.
First, assuming that the size of the RD graph to be processed is M × N, i.e., M rows (corresponding to M doppler cells) and N columns (corresponding to N distance cells), as shown in fig. 6, each pixel in the RD graph may be represented by a two-dimensional array RD. In addition, on the basis of the two-dimensional array RD, a new two-dimensional array is created and is marked as RD _ cpr, as shown in fig. 7, the size of RD _ cpr is M/8 × N, i.e., M/8 rows and N columns, and the initial value of the two-dimensional array is set to be all 0.
Next, counting the number of pixels of the over-detection threshold in each distance unit in the RD graph, as shown in fig. 8, the statistical result is a one-dimensional array, which is denoted as RD _ cnt, and the length of the one-dimensional array is N, which is the same as the number of distance units of the RD data, and the value of each element in the RD _ cnt array is the number of pixels of the over-detection threshold in each distance unit in the corresponding RD data, for example, the value of the ith element in the RD _ cnt means the total number of target pixels of the over-detection threshold in the ith distance unit in the RD data.
Then, a threshold is set for the RD _ cnt array, for example, the threshold is set to 12, and the subscript position of a point in the array greater than the threshold value 12 is marked, as shown in fig. 9, a region marked with black is a data region greater than the threshold value 12, and a doppler band may exist on RD data corresponding to a distance unit index in the region. For example, assuming that three segments of data all satisfy the threshold condition, the sequence numbers of the corresponding start and end distance units are respectively StartIdx 0-StopIdx 0, StartIdx 1-StopIdx 1, and StartIdx 2-StopIdx 2.
Correspondingly selecting the distance units in the RD image according to the subscript positions of the marks, and mapping the numerical values of the corresponding distance units to the RD _ cpr array, wherein the mapping relation is as follows:
RD(DopplerIdx，RangeIdx)→RD_cpr(floor(DopplerIdx/8)，RangeIdx)，
for example, 8 points RD (0,0), RD (1,0), RD (2,0), RD (3,0), RD (4,0), RD (5,0), RD (6,0), RD (7,0) are mapped to obtain RD _ cpr (0, 1); the RD _ cpr (15,10) can be obtained by mapping 8 points RD (120,10), RD (121,10), RD (122,10), RD (123,10), RD (124,10), RD (125,10), RD (126,10), and RD (127, 10). And RD (x, y) or RD _ cpr (x, y) represents the value of the x-th row and the y-th column in the corresponding array.
Then, when the RD (DopplerIdx, RangeIdx) passes through the target detection threshold, the RD _ cpr (DopplerIdx/8, RangeIdx) value is increased by 1, the statistical meaning is to reduce the dimension of the RD data and perform statistics on the number of points passing through the target detection threshold, and the statistical result is reflected on the RD _ cpr array. And then, detecting distance units possibly having strips in the RD diagram, after a certain element in the RD diagram passes through a detection threshold, accumulating corresponding elements in the RD _ cpr array according to the mapping relation, traversing the whole RD array, and completing the mapping and accumulation of all elements passing through the detection threshold in the RD diagram on the RD _ cpr.
According to the above correspondence, data in three distance units in which a band may exist in the RD _ cpr data are processed, and specifically, data segments in the RD _ cpr array in specific distance units may be accumulated, for example, the first distance segment, i.e., the distance units StartIdx0 to StopIdx0, and each row in the range of the distance segment is summed up separately to obtain a one-dimensional array result, where the number of rows is the same as RD _ cpr, and is M/8. And obtaining other two one-dimensional arrays for other distance segments according to a similar processing mode. Let us assume here that the three one-dimensional arrays of length M/8 are denoted array0, array1, and array2, respectively. As shown in fig. 10, the relationship between the several arrays is shown.
And then, carrying out statistics again on the three formed one-dimensional arrays, taking array0 as an example, carrying out statistics on the arrays, adding 1 to the statistical number if one element value in the arrays is greater than or equal to 4, otherwise, not accumulating, and obtaining that the total number of the elements greater than or equal to 4 is M after traversing M/8 elements in array 0. And completing the statistics of other one-dimensional arrays by the same method to respectively obtain the total number of elements which are more than or equal to 4, namely n and k.
Finally, the three results M, n and k are respectively compared with M/8-2, if M > M/8-2 is satisfied, it can be determined that a high side lobe Doppler band exists in the first range segment StartIdx 0-StopIdx 0, if n > M/8-2 is satisfied, it can be determined that a high side lobe Doppler band exists in the second range segment StartIdx 1-StopIdx 1, and if k > M/8-2 is satisfied, it can be determined that a high side lobe Doppler band exists in the third range segment StartIdx 2-StopIdx 2. Otherwise, if there is one that does not satisfy the above relationship, then there is no band in the corresponding range segment, so that the high side lobe doppler band is detected.
Based on the processing method of the high sidelobe doppler band provided by the above embodiment, correspondingly, the invention also provides a specific implementation manner of the processing device of the high sidelobe doppler band applied to the processing method of the high sidelobe doppler band. Please see the examples below.
As shown in fig. 11, there is provided a processing apparatus for a high sidelobe doppler band, the apparatus comprising:
a first obtaining module 1110, configured to obtain a range-doppler plot of an object to be measured; the range-doppler plot comprises a plurality of doppler cells and a plurality of range cells;
a second obtaining module 1120, configured to obtain the number of pixels whose range-doppler value exceeds a first preset threshold in each distance unit, and determine the distance units whose number exceeds a second preset threshold as target distance units;
a grouping module 1130, configured to group the target range units according to an adjacent relationship between the target range units to obtain at least one range unit group;
a determining module 1140, configured to determine, according to a distribution of range-doppler values of pixels in a range unit group, a target range unit group in which a high side lobe doppler band exists in at least one range unit group;
the processing module 1150 is configured to reset a range doppler value of a pixel, in which a signal-to-noise ratio value in the target range unit group is smaller than the first signal-to-noise ratio value, to a preset value, so as to obtain a processed range doppler map.
Optionally, the grouping module is further configured to:
dividing target distance units with unit serial numbers capable of forming continuous serial numbers into a distance unit group;
each target distance unit, the unit serial number of which cannot form a continuous serial number, is divided into a distance unit group.
Optionally, the determining module is further configured to:
performing dimensionality reduction on the pixel of each target distance unit in the first distance unit group in Doppler dimension according to a preset proportion to obtain a dimensionality reduction pixel of the corresponding target distance unit; the first distance unit group is any one of at least one distance unit group;
performing preset data processing on the distance Doppler value of a pixel before dimensionality reduction corresponding to the dimensionality reduction pixel to obtain the distance Doppler value of the dimensionality reduction pixel;
accumulating the number of pixels before dimensionality reduction, the distance Doppler values of which correspond to the dimensionality reduction pixels exceed a third preset threshold value, to the distance Doppler values of the dimensionality reduction pixels;
accumulating the range Doppler values of the dimensionality reduction pixels corresponding to the same dimensionality in the first range unit group to obtain a final range Doppler value of the corresponding dimensionality;
and if the number of the dimensionalities of which the final range Doppler value in the first range unit group is greater than the fourth preset threshold value is greater than the preset number, determining the first range unit group as a target range unit group.
Optionally, the preset data processing is rounding down, averaging or median taking.
Optionally, the first signal-to-noise ratio value is a difference value between a maximum signal-to-noise ratio value in the target distance unit group and a preset signal-to-noise ratio value; the preset value is zero.
In the embodiment of the invention, the range units possibly existing in the high sidelobe Doppler band can be preliminarily screened out, the range units are grouped to obtain a plurality of range unit groups, and then the distribution condition of the range Doppler values of the pixels in each range unit group can be analyzed, so that the target range unit group with the high sidelobe Doppler band can be determined. Therefore, after the target range unit group with the high-sidelobe Doppler stripe is determined, the high-sidelobe Doppler stripe can be removed. Because the high side lobe Doppler stripe can be accurately positioned, the problem of high missed detection rate caused by the increase of the detection threshold of the target can be avoided, and the missed detection rate can be reduced while the false detection rate is reduced.
Fig. 12 is a schematic diagram of an electronic device according to an embodiment of the present invention. As shown in fig. 12, the electronic apparatus 12 of this embodiment includes: a processor 120, a memory 121, and a computer program 122 stored in the memory 121 and executable on the processor 120. The processor 120, when executing the computer program 122, implements the steps in the above described embodiments of the processing method for high side lobe doppler bins. Alternatively, the processor 120 implements the functions of the modules/units in the above device embodiments when executing the computer program 122.
Illustratively, the computer program 122 may be partitioned into one or more modules/units that are stored in the memory 121 and executed by the processor 120 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 122 in the electronic device 12. For example, the computer program 122 may be divided into a first obtaining module, a second obtaining module, a grouping module, a determining module, and a processing module, and the specific functions of the modules are as follows:
the first acquisition module is used for acquiring a range-Doppler image of an object to be detected; the range-doppler plot comprises a plurality of doppler cells and a plurality of range cells;
the second acquisition module is used for acquiring the number of pixels of which the distance Doppler value exceeds a first preset threshold value in each distance unit and determining the distance units of which the number exceeds a second preset threshold value as target distance units;
the grouping module is used for grouping the target distance units according to the adjacent relation between the target distance units to obtain at least one distance unit group;
the determining module is used for determining a target distance unit group with a high sidelobe Doppler strip in at least one distance unit group according to the distribution condition of the range Doppler values of the pixels in the distance unit group;
and the processing module is used for resetting the range Doppler value of the pixel of which the signal-to-noise ratio value in the target range unit group is smaller than the first signal-to-noise ratio value to a preset value to obtain a processed range Doppler image.
The electronic device 12 may be a computing device such as a desktop computer, a notebook, a palm computer, and a cloud server. The electronic device may include, but is not limited to, a processor 120, a memory 121. Those skilled in the art will appreciate that fig. 12 is merely an example of electronic device 12 and does not constitute a limitation of electronic device 12 and may include more or fewer components than shown, or some components may be combined, or different components, e.g., the electronic device may also include input-output devices, network access devices, buses, etc.
The Processor 120 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, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 121 may be an internal storage unit of the electronic device 12, such as a hard disk or a memory of the electronic device 12. The memory 121 may also be an external storage device of the electronic device 12, 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, which are provided on the electronic device 12. Further, the memory 121 may also include both an internal storage unit and an external storage device of the electronic device 12. The memory 121 is used for storing the computer program and other programs and data required by the electronic device. The memory 121 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 module/unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, 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 suitable additions or subtractions depending on the requirements of legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer-readable media may not include electrical carrier signals or telecommunication signals in accordance with 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 (8)
1. A method for processing a high sidelobe doppler swath, comprising:
obtaining a range-Doppler image of an object to be detected; the range-doppler plot includes a plurality of doppler cells and a plurality of range cells;
acquiring the number of pixels of which the distance Doppler value exceeds a first preset threshold value in each distance unit, and determining the distance units of which the number exceeds a second preset threshold value as target distance units;
grouping the target distance units according to the adjacent relation between the target distance units to obtain at least one distance unit group;
determining a target range unit group with a high sidelobe Doppler strip in the at least one range unit group according to the distribution condition of the range Doppler values of the pixels in the range unit group;
resetting the range Doppler value of the pixel of which the signal-to-noise ratio value is smaller than the first signal-to-noise ratio value in the target range unit group to a preset value to obtain a processed range Doppler image;
wherein, the determining a target range unit group with a high sidelobe Doppler stripe in the at least one range unit group according to the distribution of the range Doppler values of the pixels in the range unit group comprises: performing dimensionality reduction on the pixel of each target distance unit in the first distance unit group in Doppler dimension according to a preset proportion to obtain a dimensionality reduction pixel of the corresponding target distance unit; the first distance unit group is any one of the at least one distance unit group; performing preset data processing on the distance Doppler value of a pixel before dimensionality reduction corresponding to the dimensionality reduction pixel to obtain the distance Doppler value of the dimensionality reduction pixel; accumulating the number of pixels before dimensionality reduction, the distance Doppler values of which are beyond a third preset threshold value, corresponding to the dimensionality reduction pixels to the distance Doppler values of the dimensionality reduction pixels; accumulating the range Doppler values of the dimensionality reduction pixels corresponding to the same dimensionality in the first range unit group to obtain a final range Doppler value of the corresponding dimensionality; and if the number of dimensions of which the final range-doppler value in the first range bin is greater than a fourth preset threshold value is greater than a preset number, determining the first range bin as the target range bin.
2. The method for processing a high sidelobe doppler band of claim 1, wherein the grouping the target range bins according to a neighboring relationship between the target range bins to obtain at least one range bin group comprises:
dividing target distance units with unit serial numbers capable of forming continuous serial numbers into a distance unit group;
each target distance unit, the unit serial number of which cannot form a continuous serial number, is divided into a distance unit group.
3. The method of claim 2, wherein the predetermined data processing is rounding down, averaging, or median.
4. The method of claim 1, wherein the first snr value is a difference between a maximum snr value in the set of target range bins and a predetermined snr value; the preset value is zero.
5. A device for processing a high sidelobe doppler stripe, comprising:
the first acquisition module is used for acquiring a range-Doppler image of an object to be detected; the range-doppler plot includes a plurality of doppler cells and a plurality of range cells;
the second acquisition module is used for acquiring the number of pixels of which the distance Doppler value exceeds a first preset threshold value in each distance unit and determining the distance units of which the number exceeds a second preset threshold value as target distance units;
the grouping module is used for grouping the target distance units according to the adjacent relation between the target distance units to obtain at least one distance unit group;
a determining module, configured to determine, according to a distribution of range-doppler values of pixels in the range unit group, a target range unit group in which a high sidelobe doppler band exists in the at least one range unit group;
the processing module is used for resetting the range Doppler value of the pixel of which the signal-to-noise ratio value in the target range unit group is smaller than the first signal-to-noise ratio value to a preset value to obtain a processed range Doppler image;
wherein the determining module is further configured to: performing dimensionality reduction on the pixel of each target distance unit in the first distance unit group in Doppler dimension according to a preset proportion to obtain a dimensionality reduction pixel of the corresponding target distance unit; the first distance unit group is any one of the at least one distance unit group; performing preset data processing on the distance Doppler value of a pixel before dimensionality reduction corresponding to the dimensionality reduction pixel to obtain the distance Doppler value of the dimensionality reduction pixel; accumulating the number of pixels before dimensionality reduction, of which the distance Doppler value corresponding to the dimensionality reduction pixel exceeds a third preset threshold value, to the distance Doppler value of the dimensionality reduction pixel; accumulating the range Doppler values of the dimensionality reduction pixels corresponding to the same dimensionality in the first range unit group to obtain a final range Doppler value of the corresponding dimensionality; and if the number of dimensions of which the final range-doppler value in the first range unit group is greater than a fourth preset threshold value is greater than a preset number, determining the first range unit group as the target range unit group.
6. The apparatus for processing a high sidelobe doppler stripe of claim 5, wherein the grouping module is further to:
dividing target distance units with unit serial numbers capable of forming continuous serial numbers into a distance unit group;
each target distance unit, the unit serial number of which cannot form a continuous serial number, is divided into a distance unit group.
7. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the steps of the method according to any of claims 1 to 4 are implemented when the computer program is executed by the processor.
8. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011476054.7A CN112630742B (en) | 2020-12-15 | 2020-12-15 | Method, device and equipment for processing high sidelobe Doppler stripe and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011476054.7A CN112630742B (en) | 2020-12-15 | 2020-12-15 | Method, device and equipment for processing high sidelobe Doppler stripe and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112630742A CN112630742A (en) | 2021-04-09 |
| CN112630742B true CN112630742B (en) | 2022-08-26 |
Family
ID=75313543
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011476054.7A Active CN112630742B (en) | 2020-12-15 | 2020-12-15 | Method, device and equipment for processing high sidelobe Doppler stripe and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112630742B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023139773A1 (en) * | 2022-01-24 | 2023-07-27 | 三菱電機株式会社 | Data enhancing method and data enhancing device |
| CN116224280B (en) * | 2023-05-10 | 2023-07-25 | 南京隼眼电子科技有限公司 | Radar target detection method, radar target detection device, radar equipment and storage medium |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5539412A (en) * | 1994-04-29 | 1996-07-23 | Litton Systems, Inc. | Radar system with adaptive clutter suppression |
| CN101464513A (en) * | 2007-12-21 | 2009-06-24 | 中国电子科技集团公司第五十研究所 | Non-continuous spectrum high-frequency radar range sidelobe suppression apparatus and method thereof |
| CN109946665A (en) * | 2019-03-07 | 2019-06-28 | 西安电子科技大学 | The method of acquisition real goal based on array radar |
| CN110806566A (en) * | 2019-07-02 | 2020-02-18 | 中国航空工业集团公司雷华电子技术研究所 | Method and device for radar target detection by adopting multi-window combination and radar system |
| CN110865344A (en) * | 2019-11-22 | 2020-03-06 | 北京理工大学 | Rapid side lobe suppression method under pulse Doppler radar system |
| CN111060879A (en) * | 2019-11-22 | 2020-04-24 | 北京理工大学 | Joint side lobe suppression method based on two-dimensional matched filtering result |
| CN111983594A (en) * | 2020-08-31 | 2020-11-24 | 南京矽典微系统有限公司 | Millimeter wave radar target induction method and device based on two-dimensional Doppler FFT peak value |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106707278B (en) * | 2017-01-18 | 2019-12-06 | 北京无线电测量研究所 | doppler beam sharpening imaging method and device based on sparse representation |
| CN109581362B (en) * | 2018-11-28 | 2020-07-03 | 中国科学院国家空间科学中心 | Signal processing method of synthetic aperture radar altimeter in variable pulse cluster mode |
| CN109613527B (en) * | 2018-12-13 | 2022-11-08 | 北京无线电测量研究所 | Method and device for generating detection threshold of moving target |
-
2020
- 2020-12-15 CN CN202011476054.7A patent/CN112630742B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5539412A (en) * | 1994-04-29 | 1996-07-23 | Litton Systems, Inc. | Radar system with adaptive clutter suppression |
| CN101464513A (en) * | 2007-12-21 | 2009-06-24 | 中国电子科技集团公司第五十研究所 | Non-continuous spectrum high-frequency radar range sidelobe suppression apparatus and method thereof |
| CN109946665A (en) * | 2019-03-07 | 2019-06-28 | 西安电子科技大学 | The method of acquisition real goal based on array radar |
| CN110806566A (en) * | 2019-07-02 | 2020-02-18 | 中国航空工业集团公司雷华电子技术研究所 | Method and device for radar target detection by adopting multi-window combination and radar system |
| CN110865344A (en) * | 2019-11-22 | 2020-03-06 | 北京理工大学 | Rapid side lobe suppression method under pulse Doppler radar system |
| CN111060879A (en) * | 2019-11-22 | 2020-04-24 | 北京理工大学 | Joint side lobe suppression method based on two-dimensional matched filtering result |
| CN111983594A (en) * | 2020-08-31 | 2020-11-24 | 南京矽典微系统有限公司 | Millimeter wave radar target induction method and device based on two-dimensional Doppler FFT peak value |
Non-Patent Citations (2)
| Title |
|---|
| 基于空间多波束的高频地波雷达电离层杂波抑制算法;姚迪等;《电子与信息学报》;20171215(第12期);全文 * |
| 恒虚警处理在连发火炮多目标检测中的应用;韩壮志等;《现代电子技术》;20170801(第15期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112630742A (en) | 2021-04-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112630742B (en) | Method, device and equipment for processing high sidelobe Doppler stripe and storage medium | |
| CN112561940B (en) | Dense multi-target parameter extraction method and device and terminal equipment | |
| CN112415485B (en) | Angle super-resolution method and device of millimeter wave radar and terminal equipment | |
| CN108062767B (en) | Statistical same-distribution spatial pixel selection method based on time sequence SAR image | |
| CN109613527B (en) | Method and device for generating detection threshold of moving target | |
| CN111427032B (en) | Room wall contour recognition method based on millimeter wave radar and terminal equipment | |
| CN113009442B (en) | Method and device for identifying multipath target of radar static reflecting surface | |
| JP5305985B2 (en) | Artifact detection device, artifact detection method, and artifact detection program | |
| CN111008585B (en) | Ship target detection method based on self-adaptive layered high-resolution SAR image | |
| CN116012364B (en) | SAR image change detection method and device | |
| CN112233416A (en) | Traffic flow detection method and device | |
| CN110837079B (en) | Target detection method and device based on radar | |
| US20240134001A1 (en) | Method and apparatus for determining noise floor estimated value, target detection method and apparatus, and electronic device | |
| CN111583132B (en) | Method, device, equipment and medium for removing abnormal stripe noise of remote sensing image | |
| CN116027318A (en) | Method, device, electronic equipment and storage medium for multi-sensor signal fusion | |
| CN112801111A (en) | Image straight line edge point classification method and device based on gradient direction | |
| CN114690141A (en) | Speed deblurring method and device, electronic equipment and storage medium | |
| CN109801428B (en) | Method and device for detecting edge straight line of paper money and terminal | |
| CN108510636B (en) | Image segmentation method, image segmentation device and terminal equipment | |
| CN110766005B (en) | Target feature extraction method and device and terminal equipment | |
| CN116299195A (en) | Radar signal processing method based on TOA sequence relativity | |
| CN114814808A (en) | Kick signal identification method based on radar, storage medium and automobile | |
| CN112198488B (en) | Extremely narrow pulse radar angle-associated target echo space aggregation method | |
| CN113156386A (en) | Radar, radiation source identification method and computer readable storage medium | |
| CN112668670A (en) | Mulch film identification method and related equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |