CN112703421A - 回波信号处理方法、装置、系统及存储介质 - Google Patents

回波信号处理方法、装置、系统及存储介质 Download PDF

Info

Publication number
CN112703421A
CN112703421A CN201980060389.XA CN201980060389A CN112703421A CN 112703421 A CN112703421 A CN 112703421A CN 201980060389 A CN201980060389 A CN 201980060389A CN 112703421 A CN112703421 A CN 112703421A
Authority
CN
China
Prior art keywords
sampling point
pixel
point set
radar
angle 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.)
Granted
Application number
CN201980060389.XA
Other languages
English (en)
Other versions
CN112703421B (zh
Inventor
李洪磊
姜彤
李强
巫红英
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Huawei Technologies Co Ltd
Original Assignee
Huawei Technologies Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Huawei Technologies Co Ltd filed Critical Huawei Technologies Co Ltd
Publication of CN112703421A publication Critical patent/CN112703421A/zh
Application granted granted Critical
Publication of CN112703421B publication Critical patent/CN112703421B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • G01S7/415—Identification of targets based on measurements of movement associated with the target
    • 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
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/487—Extracting wanted echo signals, e.g. pulse detection
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
    • G01S13/584—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • 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
    • G01S7/28—Details of pulse systems
    • G01S7/285—Receivers
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • G01S15/10—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/42—Simultaneous measurement of distance and other co-ordinates
    • 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
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/523—Details of pulse systems
    • G01S7/526—Receivers
    • G01S7/527—Extracting wanted echo signals

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

一种回波信号处理方法、装置、系统及存储介质。该方法包括：在当前数据帧上确定雷达的接收视场内的第一像素和第一像素对应的回波信号上的N个采样点集合(S201)；分别根据N个采样点集合中的每个第一采样点集合估算雷达与目标物体的预估距离，分别根据每个预估距离确定与M个数据帧一一对应的M个累加接收视场(S202)；分别根据每个第一采样点集合在M个累加接收视场中的Q个邻居像素对应的回波信号上确定第二采样点集合，分别对每个第一采样点集合和对应的第二采样点集合进行叠加，以得到第一像素对应的叠加处理后的回波信号(S203)；根据叠加处理后的回波信号计算雷达与目标物体之间的实际距离(S204)。该方法通过实现帧间信号复用，提升回波信号信噪比，从而提高测距精度。

Description

PCT国内申请，说明书已公开。

Claims (30)

  1. PCT国内申请，权利要求书已公开。
CN201980060389.XA 2019-05-24 2019-05-24 回波信号处理方法、装置、系统及存储介质 Active CN112703421B (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/088436 WO2020237448A1 (zh) 2019-05-24 2019-05-24 回波信号处理方法、装置、系统及存储介质

Publications (2)

Publication Number Publication Date
CN112703421A true CN112703421A (zh) 2021-04-23
CN112703421B CN112703421B (zh) 2021-12-03

Family

ID=73552193

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201980060389.XA Active CN112703421B (zh) 2019-05-24 2019-05-24 回波信号处理方法、装置、系统及存储介质

Country Status (4)

Country Link
US (1) US20220082659A1 (zh)
EP (1) EP3964866A4 (zh)
CN (1) CN112703421B (zh)
WO (1) WO2020237448A1 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115267791A (zh) * 2022-07-07 2022-11-01 珠海极海半导体有限公司 一种超声波信号处理电路、芯片及车辆雷达装置
WO2023197531A1 (zh) * 2022-04-13 2023-10-19 上海禾赛科技有限公司 探测结果处理方法及装置、计算机可读存储介质

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112835006B (zh) * 2021-01-05 2023-05-16 成都汇蓉国科微系统技术有限公司 一种基于帧间积累的跟踪雷达海上小目标检测方法及系统
CN116577762B (zh) * 2023-07-12 2023-10-31 西安深信科创信息技术有限公司 仿真雷达数据生成方法、装置、设备及存储介质

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102645648A (zh) * 2012-04-19 2012-08-22 宁波成电泰克电子信息技术发展有限公司 一种用于改善船用雷达目标检测性能的脉冲积累方法
CN104833979A (zh) * 2015-04-27 2015-08-12 北京航天控制仪器研究所 一种激光测距及激光测距数据的信号处理的方法
CN106526567A (zh) * 2016-12-08 2017-03-22 长沙太电子科技有限公司 提高目标信噪比的超宽带雷达等效采样方法
CN109254271A (zh) * 2018-08-30 2019-01-22 安徽四创电子股份有限公司 一种用于地面监视雷达系统的静止目标抑制方法

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
USRE46930E1 (en) * 2007-12-21 2018-07-03 Leddartech Inc. Distance detection method and system
EP2806781B1 (en) * 2012-01-23 2018-03-21 Washington University Goggle imaging systems and methods
CN105137420B (zh) * 2015-09-09 2017-09-26 电子科技大学 一种多帧积累的非相干mimo雷达检测和定位方法
JP6753107B2 (ja) * 2016-03-29 2020-09-09 富士通株式会社 距離測定装置、距離測定方法及びプログラム
CN106338721B (zh) * 2016-08-23 2019-03-29 西安电子科技大学 基于多帧回波相参积累的空中匀速弱小目标检测方法
WO2019064062A1 (en) * 2017-09-26 2019-04-04 Innoviz Technologies Ltd. SYSTEMS AND METHODS FOR DETECTION AND LOCATION BY LIGHT
CN108519594B (zh) * 2018-03-26 2020-01-21 电子科技大学 一种重频间帧间联合积累的多重频雷达检测前跟踪方法
CN108802722B (zh) * 2018-08-28 2019-04-09 哈尔滨工业大学 一种基于虚拟谱的弱目标检测前跟踪方法
CN109782248B (zh) * 2019-02-18 2022-09-13 中国电子科技集团公司第二十研究所 一种雷达杂波处理方法

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102645648A (zh) * 2012-04-19 2012-08-22 宁波成电泰克电子信息技术发展有限公司 一种用于改善船用雷达目标检测性能的脉冲积累方法
CN104833979A (zh) * 2015-04-27 2015-08-12 北京航天控制仪器研究所 一种激光测距及激光测距数据的信号处理的方法
CN106526567A (zh) * 2016-12-08 2017-03-22 长沙太电子科技有限公司 提高目标信噪比的超宽带雷达等效采样方法
CN109254271A (zh) * 2018-08-30 2019-01-22 安徽四创电子股份有限公司 一种用于地面监视雷达系统的静止目标抑制方法

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
JINSHAN SU ET AL.: ""Long range detection of line-array multi-pulsed coding lidar by combining the Accumulation coherence and Subpixel-energy detection method"", 《OPTICS EXPRESS》 *
魏兰玲 等: ""一种用于微弱目标检测的帧间移位累加方法"", 《航空兵器》 *

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023197531A1 (zh) * 2022-04-13 2023-10-19 上海禾赛科技有限公司 探测结果处理方法及装置、计算机可读存储介质
CN115267791A (zh) * 2022-07-07 2022-11-01 珠海极海半导体有限公司 一种超声波信号处理电路、芯片及车辆雷达装置
CN115267791B (zh) * 2022-07-07 2023-12-22 珠海极海半导体有限公司 一种超声波信号处理电路、芯片及车辆雷达装置

Also Published As

Publication number Publication date
WO2020237448A1 (zh) 2020-12-03
US20220082659A1 (en) 2022-03-17
EP3964866A4 (en) 2022-05-04
EP3964866A1 (en) 2022-03-09
CN112703421B (zh) 2021-12-03

Similar Documents

Publication Publication Date Title
CN112703421B (zh) 回波信号处理方法、装置、系统及存储介质
US7463184B2 (en) Object detection apparatus, object detection method, object detection program, and distance sensor
CN107942329B (zh) 机动平台单通道sar对海面舰船目标检测方法
CN111123212A (zh) 一种基于复杂杂波背景下的场面监视雷达的信号处理方法
CN102193089B (zh) 回波信号处理装置、雷达装置、回波信号处理方法及程序
EP3460515B1 (en) Mapping for autonomous robotic devices
CN109669182B (zh) 无源双基地sar动/静目标联合稀疏成像方法
CN103197297B (zh) 基于认知框架的雷达动目标检测方法
KR20150109083A (ko) 거리 적응적 탐지 문턱값 적용에 의한 적외선 해상 표적 탐지장치 구현 방법
CN102721966B (zh) 相干类测深声纳正下方高精度测深方法及系统
CN110516621A (zh) 无障碍行驶区域的检测方法、装置、车辆及存储介质
KR101426226B1 (ko) 레이더의 신호 처리 방법
CN111443344B (zh) 一种侧扫声呐海底线自动提取方法及装置
US7869306B2 (en) System and method for automatic detection of a sonar contact
CN113009473B (zh) 一种多波束凝视雷达低仰角目标测高方法、装置及介质
CN114184256A (zh) 一种多目标背景下的水位测量方法
CN105652256B (zh) 一种基于极化信息的高频地波雷达tbd方法
CN113126064A (zh) 一种信号处理方法及相关装置
Weng et al. Underwater object detection and localization based on multi-beam sonar image processing
CN108508413B (zh) 一种基于概率统计的低信噪比条件下目标检测方法
KR20200117602A (ko) Sar 영상의 객체 응답 초해상도화 방법 및 객체 응답 초해상도화 장치
CN113126086B (zh) 一种基于状态预测积累的生命探测雷达弱目标检测方法
KR101813357B1 (ko) 수중 고정표적과 클러터 식별을 위한 가변 데이터 맵 및 가변 통계적 특징정보를 적용하는 클러터 제거 방법 및 장치
CN114779211A (zh) 一种激光脉冲雷达设备及点云密度提升方法及设备
CN114355324A (zh) 一种航迹生成方法

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