CN113030893A

CN113030893A - Random sampling method and device

Info

Publication number: CN113030893A
Application number: CN202110228292.4A
Authority: CN
Inventors: 杜枭
Original assignee: Chengdu Anzhijie Technology Co ltd
Current assignee: Chengdu Anzhijie Technology Co ltd
Priority date: 2021-03-01
Filing date: 2021-03-01
Publication date: 2021-06-25

Abstract

The application provides a random sampling method and a random sampling device, which are applied to the field of radar, wherein the method comprises the following steps: acquiring an echo signal, and processing the echo signal to obtain an intermediate frequency signal; wherein the transmission signal comprises a plurality of frequency modulation sequences; carrying out one-dimensional sampling on the intermediate frequency signal to obtain a plurality of groups of one-dimensional sampling data, and storing the plurality of groups of one-dimensional sampling data; each frequency modulation sequence corresponds to a group of one-dimensional sampling data; and carrying out two-dimensional sampling on the stored multiple groups of one-dimensional sampling data by utilizing a first random sequence string generated in advance to obtain two-dimensional sampling data, and storing the two-dimensional sampling data. In the above scheme, normal one-dimensional sampling may be performed on the intermediate frequency signal, and then two-dimensional sampling may be performed on the sampled one-dimensional data based on a first random sequence string generated in advance, that is, random snapshot sampling may be performed on the sampled one-dimensional data based on a second random sequence string. The total data amount stored in the radar signal processing process is reduced because the amount of the stored two-dimensional data is reduced.

Description

Random sampling method and device

Technical Field

The application relates to the field of radars, in particular to a random sampling method and a random sampling device.

Background

A radar is an electronic device for detecting a target using electromagnetic waves. The radar can irradiate a target by transmitting an electromagnetic wave and receive an echo thereof, thereby obtaining information on a distance, a distance change rate (radial velocity), an azimuth, an altitude, and the like of the target to an electromagnetic wave transmission point. Because the radar is not easily affected by the environment and has higher stability during working, the target detection method based on the radar is more and more applied to the fields of traffic, security and the like.

When the target detection is performed based on the radar, certain processing needs to be performed on signals received by the radar. In the radar signal processing process, the conventional processing is to sample one-dimensional (distance dimension) data and two-dimensional (speed dimension) data, and determine the motion parameters of the target according to the sampled data. However, in the signal processing, the amount of data obtained by sampling is generally large, and a part of the processors may not be able to store and calculate such huge data.

Disclosure of Invention

An object of the embodiments of the present application is to provide a random sampling method and apparatus, so as to solve a technical problem how to reduce the amount of stored data in a radar signal processing process.

In order to achieve the above purpose, the technical solutions provided in the embodiments of the present application are as follows:

in a first aspect, an embodiment of the present application provides a random sampling method, including: acquiring an echo signal received by a receiver, and processing the echo signal to obtain an intermediate frequency signal; wherein the echo signal corresponds to a transmission signal transmitted by a transmitter, the transmission signal comprising a plurality of frequency modulation sequences; performing one-dimensional sampling on the intermediate frequency signal to obtain a plurality of groups of one-dimensional sampling data, and storing the plurality of groups of one-dimensional sampling data; each frequency modulation sequence corresponds to a group of one-dimensional sampling data; and performing two-dimensional sampling on the stored multiple groups of one-dimensional sampling data by using a pre-generated first random sequence string to obtain two-dimensional sampling data, and storing the two-dimensional sampling data. In the above scheme, normal one-dimensional sampling may be performed on the intermediate frequency signal, and then two-dimensional sampling may be performed on the sampled one-dimensional data based on a first random sequence string generated in advance, that is, random snapshot sampling may be performed on the sampled one-dimensional data based on a second random sequence string. The total data amount stored in the radar signal processing process is reduced because the amount of the stored two-dimensional data is reduced.

In an optional embodiment of the present application, the first random sequence string includes a plurality of non-sampling points and a plurality of sampling points, and a sum of the number of the non-sampling points and the number of the sampling points is equal to a number of frequency modulation sequences in the transmission signal; the two-dimensional sampling is performed on the stored multiple groups of one-dimensional sampling data by using a pre-generated first random sequence string to obtain two-dimensional sampling data, and the two-dimensional sampling data is stored, including: and sampling and storing a group of one-dimensional sampling data corresponding to the sampling point, and discarding a group of one-dimensional sampling data corresponding to the non-sampling point to obtain the stored two-dimensional sampling data. In the above scheme, for the stored multiple sets of one-dimensional sampling data, one set of one-dimensional sampling data corresponding to the sampling points can be retained, and one set of one-dimensional sampling data corresponding to the non-sampling points is discarded, so that random sampling of the sampled one-dimensional data is realized. The total data amount stored in the radar signal processing process is reduced because the amount of the stored two-dimensional data is reduced.

In an optional embodiment of the present application, after the storing the two-dimensional sample data, the method further comprises: performing fast Fourier transform on the two-dimensional sampling data to obtain two-dimensional frequency domain data; and determining the speed and the distance of the target according to the two-dimensional frequency domain data. In the above scheme, after the one-dimensional data is normally sampled and the sampled one-dimensional data is randomly two-dimensionally sampled based on the first random sequence string, the two-dimensional sampled data obtained by sampling may be subjected to fast fourier transform, and the speed and distance of the target may be determined based on the two-dimensional frequency domain data after the fast fourier transform.

In an optional embodiment of the present application, the performing two-dimensional fast fourier transform on the two-dimensional sampling data to obtain two-dimensional frequency domain data includes: sequentially carrying out one-dimensional fast Fourier transform on each group of one-dimensional sampling data in the two-dimensional sampling data to obtain one-dimensional frequency domain data; and performing two-dimensional fast Fourier transform on the one-dimensional frequency domain data to obtain the two-dimensional frequency domain data. In the above scheme, in the process of performing fast fourier transform on the two-dimensional sampling data obtained by sampling, one-dimensional fast fourier transform and two-dimensional fast fourier transform can be directly performed on the two-dimensional sampling data subjected to random snapshot sampling, so that the speed and distance of the target can be determined according to the data subjected to fast fourier transform.

In an optional embodiment of the present application, the performing two-dimensional fast fourier transform on the two-dimensional sampling data to obtain two-dimensional frequency domain data includes: sequentially carrying out one-dimensional fast Fourier transform on each group of one-dimensional sampling data in the two-dimensional sampling data to obtain one-dimensional frequency domain data; and performing zero padding on the one-dimensional frequency domain data according to the first random sequence string, and performing two-dimensional fast Fourier transform on the data subjected to zero padding to obtain the two-dimensional frequency domain data. In the above scheme, in the process of performing fast fourier transform on two-dimensional sampling data obtained by sampling, zero padding can be performed on one-dimensional frequency domain data subjected to one-dimensional fast fourier transform, and two-dimensional fast fourier transform is performed on the data subjected to zero padding, so that the speed and the distance of a target are determined according to the data subjected to fast fourier transform on the basis of ensuring the precision.

In an optional embodiment of the present application, the performing one-dimensional sampling on the intermediate frequency signal to obtain a plurality of groups of one-dimensional sampling data, and storing the plurality of groups of one-dimensional sampling data includes: performing one-dimensional sampling on the intermediate frequency signal by using a pre-generated second random sequence string to obtain a plurality of groups of one-dimensional sampling data, and storing the plurality of groups of one-dimensional sampling data; and each group of one-dimensional sampling data is obtained by sampling the same second random sequence string. In the above scheme, the intermediate frequency signal may be subjected to one-dimensional sampling based on a second random sequence string generated in advance, that is, one-dimensional data is subjected to random snapshot sampling based on the second random sequence string, and then the sampled one-dimensional data may be subjected to two-dimensional sampling based on a first random sequence string generated in advance, that is, the sampled one-dimensional data is subjected to random snapshot sampling based on the second random sequence string. The total data amount stored in the radar signal processing process is reduced because the stored one-dimensional data amount and the two-dimensional data amount are reduced.

In an optional embodiment of the present application, the performing two-dimensional fast fourier transform on the two-dimensional sampling data to obtain two-dimensional frequency domain data includes: performing zero padding on each group of one-dimensional sampling data in the two-dimensional sampling data according to the second random sequence string, and sequentially performing one-dimensional fast Fourier transform on each group of zero-padded data to obtain one-dimensional frequency domain data; and performing zero padding on the one-dimensional frequency domain data according to the first random sequence string, and performing two-dimensional fast Fourier transform on the data subjected to zero padding to obtain the two-dimensional frequency domain data. In the above scheme, in the process of performing fast fourier transform on the two-dimensional sampling data obtained by sampling, zero padding can be performed on the one-dimensional sampling data after random snapshot sampling, one-dimensional fast fourier transform is performed on the data after zero padding, then zero padding can be performed on the one-dimensional frequency domain data after one-dimensional fast fourier transform, and two-dimensional fast fourier transform is performed on the data after zero padding, so that the speed and the distance of a target are determined according to the data after fast fourier transform on the basis of ensuring the precision.

In a second aspect, an embodiment of the present application provides a random sampling apparatus, including: the first acquisition module is used for acquiring an echo signal received by a receiver and processing the echo signal to obtain an intermediate frequency signal; wherein the echo signal corresponds to a transmission signal transmitted by a transmitter, the transmission signal comprising a plurality of frequency modulation sequences; the one-dimensional sampling module is used for performing one-dimensional sampling on the intermediate frequency signal to obtain a plurality of groups of one-dimensional sampling data and storing the plurality of groups of one-dimensional sampling data; each frequency modulation sequence corresponds to a group of one-dimensional sampling data; and the two-dimensional sampling module is used for performing two-dimensional sampling on the stored multiple groups of one-dimensional sampling data by utilizing a pre-generated first random sequence string to obtain two-dimensional sampling data and storing the two-dimensional sampling data. In the above scheme, normal one-dimensional sampling may be performed on the intermediate frequency signal, and then two-dimensional sampling may be performed on the sampled one-dimensional data based on a first random sequence string generated in advance, that is, random snapshot sampling may be performed on the sampled one-dimensional data based on a second random sequence string. The total data amount stored in the radar signal processing process is reduced because the amount of the stored two-dimensional data is reduced.

In an optional embodiment of the present application, the first random sequence string includes a plurality of non-sampling points and a plurality of sampling points, and a sum of the number of the non-sampling points and the number of the sampling points is equal to a number of frequency modulation sequences in the transmission signal; the two-dimensional sampling module is further configured to: and sampling and storing a group of one-dimensional sampling data corresponding to the sampling point, and discarding a group of one-dimensional sampling data corresponding to the non-sampling point to obtain the stored two-dimensional sampling data. In the above scheme, for the stored multiple sets of one-dimensional sampling data, one set of one-dimensional sampling data corresponding to the sampling points can be retained, and one set of one-dimensional sampling data corresponding to the non-sampling points is discarded, so that random sampling of the sampled one-dimensional data is realized. The total data amount stored in the radar signal processing process is reduced because the amount of the stored two-dimensional data is reduced.

In an alternative embodiment of the present application, the apparatus further comprises: the fast Fourier transform module is used for carrying out fast Fourier transform on the two-dimensional sampling data to obtain two-dimensional frequency domain data; and the determining module is used for determining the speed and the distance of the target according to the two-dimensional frequency domain data. In the above scheme, after the one-dimensional data is normally sampled and the sampled one-dimensional data is randomly two-dimensionally sampled based on the first random sequence string, the two-dimensional sampled data obtained by sampling may be subjected to fast fourier transform, and the speed and distance of the target may be determined based on the two-dimensional frequency domain data after the fast fourier transform.

In an optional embodiment of the present application, the fast fourier transform module is further configured to: sequentially carrying out one-dimensional fast Fourier transform on each group of one-dimensional sampling data in the two-dimensional sampling data to obtain one-dimensional frequency domain data; and performing two-dimensional fast Fourier transform on the one-dimensional frequency domain data to obtain the two-dimensional frequency domain data. In the above scheme, in the process of performing fast fourier transform on the two-dimensional sampling data obtained by sampling, one-dimensional fast fourier transform and two-dimensional fast fourier transform can be directly performed on the two-dimensional sampling data subjected to random snapshot sampling, so that the speed and distance of the target can be determined according to the data subjected to fast fourier transform.

In an optional embodiment of the present application, the fast fourier transform module is further configured to: sequentially carrying out one-dimensional fast Fourier transform on each group of one-dimensional sampling data in the two-dimensional sampling data to obtain one-dimensional frequency domain data; and performing zero padding on the one-dimensional frequency domain data according to the first random sequence string, and performing two-dimensional fast Fourier transform on the data subjected to zero padding to obtain the two-dimensional frequency domain data. In the above scheme, in the process of performing fast fourier transform on two-dimensional sampling data obtained by sampling, zero padding can be performed on one-dimensional frequency domain data subjected to one-dimensional fast fourier transform, and two-dimensional fast fourier transform is performed on the data subjected to zero padding, so that the speed and the distance of a target are determined according to the data subjected to fast fourier transform on the basis of ensuring the precision.

In an optional embodiment of the present application, the one-dimensional sampling module is further configured to: performing one-dimensional sampling on the intermediate frequency signal by using a pre-generated second random sequence string to obtain a plurality of groups of one-dimensional sampling data, and storing the plurality of groups of one-dimensional sampling data; and each group of one-dimensional sampling data is obtained by sampling the same second random sequence string. In the above scheme, the intermediate frequency signal may be subjected to one-dimensional sampling based on a second random sequence string generated in advance, that is, one-dimensional data is subjected to random snapshot sampling based on the second random sequence string, and then the sampled one-dimensional data may be subjected to two-dimensional sampling based on a first random sequence string generated in advance, that is, the sampled one-dimensional data is subjected to random snapshot sampling based on the second random sequence string. The total data amount stored in the radar signal processing process is reduced because the stored one-dimensional data amount and the two-dimensional data amount are reduced.

In an optional embodiment of the present application, the fast fourier transform module is further configured to: performing zero padding on each group of one-dimensional sampling data in the two-dimensional sampling data according to the second random sequence string, and sequentially performing one-dimensional fast Fourier transform on each group of zero-padded data to obtain one-dimensional frequency domain data; and performing zero padding on the one-dimensional frequency domain data according to the first random sequence string, and performing two-dimensional fast Fourier transform on the data subjected to zero padding to obtain the two-dimensional frequency domain data. In the above scheme, in the process of performing fast fourier transform on the two-dimensional sampling data obtained by sampling, zero padding can be performed on the one-dimensional sampling data after random snapshot sampling, one-dimensional fast fourier transform is performed on the data after zero padding, then zero padding can be performed on the one-dimensional frequency domain data after one-dimensional fast fourier transform, and two-dimensional fast fourier transform is performed on the data after zero padding, so that the speed and the distance of a target are determined according to the data after fast fourier transform on the basis of ensuring the precision.

In a third aspect, an embodiment of the present application provides an electronic device, including: a processor, a memory, and a bus; the processor and the memory are communicated with each other through the bus; the memory stores program instructions executable by the processor, the processor invoking the program instructions capable of performing the random sampling method as in the first aspect.

In a fourth aspect, embodiments of the present application provide a non-transitory computer-readable storage medium storing computer instructions that cause the computer to perform the random sampling method as in the first aspect.

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.

Fig. 1 is a flowchart of a random sampling method according to an embodiment of the present disclosure;

fig. 2 is a flowchart of another random sampling method provided in an embodiment of the present application;

fig. 3 is a block diagram of a random sampling apparatus according to an embodiment of the present disclosure;

fig. 4 is a block diagram of an electronic device according to an embodiment of the present disclosure.

Detailed Description

Before describing the random sampling method provided by the embodiment of the present application, a brief description will be given to a process of detecting an object by a radar in the prior art.

First, the processor may obtain a corresponding frequency modulation signal, and frequency modulate the initial signal with the frequency modulation signal to obtain a transmission signal. The processor may then control the radar transmitter to transmit the transmitted signal and, in response, the radar receiver to receive an echo signal corresponding to the transmitted signal. The processor may be a processor built in the radar, or may be an external processor, for example: a processor in an electronic device, etc., which is not specifically limited in this embodiment of the present application.

The processor acquires the echo signal and processes the echo signal to obtain an intermediate frequency signal. Taking the example that the intermediate frequency signal includes an I signal and a Q signal, the echo signal may first be filtered by passing through a band pass filter twice, then the filtered signal is mixed with a local oscillator signal (i.e., a transmission signal), then the mixed signal is passed through an intermediate frequency filter, and the phase shift and mixing processing are performed on the filtered signal, and finally the high frequency part in the signal is filtered, so that the intermediate frequency signal can be obtained.

After the intermediate frequency signal is obtained, sampling processing and fast fourier transform can be performed on the intermediate frequency signal, and parameters such as speed and distance of the target object can be calculated according to the processed result.

The method comprises the steps that a frequency modulation signal comprises a plurality of frequency modulation sequences, correspondingly, in the process of sampling the intermediate frequency signal, firstly, one-dimensional sampling is carried out on data corresponding to each frequency modulation sequence in the intermediate frequency signal in sequence to obtain a plurality of groups of one-dimensional sampling data, and at the moment, all the one-dimensional sampling data are stored. And then, carrying out two-dimensional sampling on the plurality of groups of stored one-dimensional sampling data to obtain corresponding two-dimensional sampling data, and storing the two-dimensional sampling data at the moment. Thus, the process of sampling the intermediate frequency signal is completed.

For example, 128 points are sampled in one dimension, and 256 points are sampled in two dimensions.

Firstly, sampling data corresponding to a first frequency modulation sequence in an intermediate frequency signal, sampling 128 effective points in total, namely obtaining 128 data, and storing the 128 data; then sampling data corresponding to a second frequency modulation sequence in the intermediate frequency signal, sampling 128 effective points in total, namely obtaining 128 data, and storing the 128 data; repeating the steps until sampling data corresponding to the second hundred fifty-six frequency modulation sequences of the final intermediate frequency signal, sampling 128 effective points in total, namely obtaining 128 data, and storing the 128 data; and completing one-dimensional sampling.

Then, sampling the first data in each group of 128 data, sampling 256 effective points in total, namely obtaining 256 data, and storing the 256 data; sampling the second data in each group of 128 data, sampling 256 effective points in total, namely obtaining 256 data, and storing the 256 data; repeating the steps until the one hundred twenty eight data in each group of 128 data are sampled, and sampling 256 effective points in total to obtain 256 data, and storing the 256 data; two-dimensional sampling is completed to obtain 128 × 256 data.

After the one-dimensional sampling and the two-dimensional sampling are completed, the data is stored as shown in table 1:

table 1 data storage form after sampling completion in prior art

It can be seen that the amount of data obtained by the above sampling is large, and some processors may not be able to store and calculate such large data. Therefore, in order to solve the above problem, embodiments of the present application provide a random sampling method to reduce the total data amount stored in the radar signal processing process.

The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

Referring to fig. 1, fig. 1 is a flowchart of a random sampling method according to an embodiment of the present disclosure, where the random sampling method includes the following steps:

step S101: and acquiring an echo signal received by the receiver, and processing the echo signal to obtain an intermediate frequency signal.

Step S102: and carrying out one-dimensional sampling on the intermediate frequency signal to obtain a plurality of groups of one-dimensional sampling data, and storing the plurality of groups of one-dimensional sampling data.

Step S103: and carrying out two-dimensional sampling on the stored multiple groups of one-dimensional sampling data by utilizing a first random sequence string generated in advance to obtain two-dimensional sampling data, and storing the two-dimensional sampling data.

Specifically, the transmitter transmits a transmission signal obtained by frequency modulation, the receiver receives an echo signal corresponding to the transmission signal, and the processor acquires the echo signal and executes a subsequent data processing process.

First, the processor may process the echo signal to obtain an intermediate frequency signal, where a specific processing procedure is described in detail in the foregoing embodiments and is not described herein again.

Then, the processor can sample the intermediate frequency signal, wherein the processor samples the intermediate frequency signal in two ways: one is to perform normal one-dimensional sampling on the intermediate frequency signal, and the other is to perform random one-dimensional sampling on the intermediate frequency signal.

First, an implementation of a random sampling method provided in the embodiment of the present application is introduced on the basis of normal one-dimensional sampling of an intermediate frequency signal.

Because the transmitting signal comprises a plurality of frequency modulation sequences, the process of normal one-dimensional sampling of the intermediate frequency signal by the processor is to sample data in each frequency modulation sequence of the intermediate frequency signal corresponding to the transmitting signal to obtain a group of complete one-dimensional sampling data. The plurality of frequency modulation sequences correspond to a plurality of groups of one-dimensional sampling data, and the plurality of groups of one-dimensional sampling data obtained by sampling are stored.

After the one-dimensional sampling is completed, the processor may perform two-dimensional sampling on the plurality of sets of one-dimensional sampling data by using a first random sequence string generated in advance, and store data obtained by the two-dimensional sampling. There are various ways to generate the first random sequence string, for example: the electronic equipment randomly generates a section of sequence as a first random sequence string; or, the electronic device randomly generates a plurality of segments of sequences, and the operator selects one segment from the plurality of segments of sequences as the first random sequence string, and the like, which is not specifically limited in this embodiment of the application. Further, the first random sequence string may include a plurality of non-sampling points and a plurality of sampling points, such as: the first random sequence string comprises a plurality of 0 s and a plurality of 1 s (11000101011); the first random sequence string includes a plurality of + and a plurality of- (++++ - + - - +), etc., which is not limited in this embodiment.

It can be understood that, in the embodiment of the present application, the number relationship between the non-sampling points and the sampling points in the first random sequence string is not specifically limited, for example: the number of the non-sampling points can be equal to the number of the sampling points, the number of the non-sampling points is half of the number of the sampling points, and the like, and the person skilled in the art can adjust the number appropriately according to the actual situation.

On the basis of table 1, taking the example that the number of non-sampling points in the first random sequence string is equal to the number of sampling points, and 128 points are sampled in one dimension, and 128 points are sampled in two dimensions, after the one-dimensional sampling and the two-dimensional sampling are completed, the data storage is as shown in table 2:

table 2 data storage form after sampling is completed in the embodiment of the present application

It can be seen that the amount of data in table 2 is reduced by half compared to the amount of data in table 1. Therefore, the normal one-dimensional sampling may be performed on the intermediate frequency signal, and then the sampled one-dimensional data may be two-dimensionally sampled based on the first random sequence string generated in advance, that is, the sampled one-dimensional data may be randomly sampled at a snapshot based on the second random sequence string. The total data amount stored in the radar signal processing process is reduced because the amount of the stored two-dimensional data is reduced.

Further, the step S103 may include the following steps:

and sampling and storing a group of one-dimensional sampling data corresponding to the sampling points, and discarding a group of one-dimensional sampling data corresponding to the non-sampling points to obtain stored two-dimensional sampling data.

Specifically, taking table 2 as an example, assume that the first random sequence is 10110 … 1 and the number of 0 s is equal to the number of 1 s.

Sampling data corresponding to a first frequency modulation sequence in the intermediate frequency signal, sampling 128 effective points in total, namely obtaining 128 data, and storing the 128 data; then sampling data corresponding to a second frequency modulation sequence in the intermediate frequency signal, sampling 128 effective points in total, namely obtaining 128 data, and storing the 128 data; repeating the steps until sampling data corresponding to the second hundred fifty-six frequency modulation sequences of the final intermediate frequency signal, sampling 128 effective points in total, namely obtaining 128 data, and storing the 128 data; and completing one-dimensional sampling to obtain 256 groups of one-dimensional sampling data.

Then, for the 256 groups of one-dimensional sampling data, sampling a first group of one-dimensional sampling data, sampling 128 effective points in total, and reserving the 128 data; then discarding the second set of one-dimensional sampled data; then sampling a third group of one-dimensional sampling data, sampling 128 effective points in total, and reserving the 128 data; then sampling a fourth group of one-dimensional sampling data, sampling 128 effective points in total, and reserving the 128 data; then discarding the fifth set of one-dimensional sampled data; repeating the steps until the second hundred fifty-six groups of one-dimensional sampling data are sampled finally, sampling 128 effective points in total, and reserving the 128 data; and finishing two-dimensional sampling.

Therefore, for the stored multiple groups of one-dimensional sampling data, one group of one-dimensional sampling data corresponding to the sampling points can be reserved, and one group of one-dimensional sampling data corresponding to the non-sampling points is discarded, so that random sampling of the sampled one-dimensional data is realized. The total data amount stored in the radar signal processing process is reduced because the amount of the stored two-dimensional data is reduced.

Further, referring to fig. 2, fig. 2 is a flowchart of another random sampling method provided in the embodiment of the present application, and after the step S103, the random sampling method provided in the embodiment of the present application may further include the following steps:

step S201: and carrying out fast Fourier transform on the two-dimensional sampling data to obtain two-dimensional frequency domain data.

Step S202: and determining the speed and the distance of the target according to the two-dimensional frequency domain data.

Specifically, the step S201 has two embodiments: firstly, directly carrying out fast Fourier transform on data after random sampling; and secondly, performing zero padding on the data after random sampling according to the first random sequence string, and then performing fast Fourier transform.

As a first embodiment, the step S201 may include the following steps:

the method comprises the following steps of firstly, sequentially carrying out one-dimensional fast Fourier transform on each group of one-dimensional sampling data in two-dimensional sampling data to obtain one-dimensional frequency domain data.

And secondly, performing two-dimensional fast Fourier transform on the one-dimensional frequency domain data to obtain two-dimensional frequency domain data.

Taking table 2 as an example, first, performing one-dimensional fast fourier transform on data in a first column, performing one-dimensional fast fourier transform on data in a second column, … …, and performing one-dimensional fast fourier transform on data in a second hundred fifty-six columns; then, the data of the first row is subjected to two-dimensional fast fourier transform, the data of the second row is subjected to two-dimensional fast fourier transform, … …, up to the data of sixty-fourth row. Therefore, the process of performing fast Fourier transform on the two-dimensional sampling data to obtain the two-dimensional frequency domain data is completed, and the speed and the distance of the target can be determined according to the two-dimensional frequency domain data.

Therefore, in the process of performing fast fourier transform on the sampled two-dimensional sampling data, the one-dimensional fast fourier transform and the two-dimensional fast fourier transform can be directly performed on the two-dimensional sampling data subjected to random snapshot sampling, so that the speed and the distance of the target can be determined according to the data subjected to fast fourier transform.

As a second embodiment, the step S201 may include the following steps:

And secondly, performing zero padding on the one-dimensional frequency domain data according to the first random sequence string, and performing two-dimensional fast Fourier transform on the data subjected to zero padding to obtain two-dimensional frequency domain data.

Taking table 2 and the random sequence of 10110 … 11 as an example, similarly, the data in the first column is first subjected to one-dimensional fast fourier transform, the data in the second column is subjected to one-dimensional fast fourier transform, … …, and the data up to the second hundred fifty-six columns are subjected to one-dimensional fast fourier transform. Then, zero padding is performed on the one-dimensional frequency domain data according to the first random sequence string, and the data after zero padding is shown in table 3:

TABLE 3 data after zero padding in the examples of the present application

As shown in table 3, the zero-padded data has 128 points per column, wherein 128 points are valid; each row has 256 dots, 128 of which are valid.

And after zero padding, performing two-dimensional fast Fourier transform on the data of the first row, performing two-dimensional fast Fourier transform on the data of the second row, and … …, until performing two-dimensional fast Fourier transform on the data of the one hundred twenty eight rows. Therefore, the two-dimensional sampling data is subjected to fast Fourier transform to obtain two-dimensional frequency domain data, and the speed and the distance of the target can be determined according to the two-dimensional frequency domain data.

Therefore, in the process of performing fast Fourier transform on two-dimensional sampling data obtained by sampling, zero padding can be performed on one-dimensional frequency domain data subjected to one-dimensional fast Fourier transform, and two-dimensional fast Fourier transform is performed on the data subjected to zero padding, so that the speed and the distance of a target are determined according to the data subjected to fast Fourier transform on the basis of ensuring the precision.

In the above scheme, after the one-dimensional data is normally sampled and the sampled one-dimensional data is randomly two-dimensionally sampled based on the first random sequence string, the two-dimensional sampled data obtained by sampling may be subjected to fast fourier transform, and the speed and distance of the target may be determined based on the two-dimensional frequency domain data after the fast fourier transform.

Next, an implementation of a random sampling method provided in the embodiment of the present application on the basis of performing random one-dimensional sampling on an intermediate frequency signal is described.

In this embodiment, the step S202 may include the following steps:

and carrying out one-dimensional sampling on the intermediate frequency signal by using a pre-generated second random sequence string to obtain a plurality of groups of one-dimensional sampling data, and storing the plurality of groups of one-dimensional sampling data.

Specifically, the processor may perform one-dimensional sampling on the intermediate frequency signal by using a second random sequence string generated in advance, and store data obtained by the one-dimensional sampling. The embodiment of generating the second random sequence string is similar to the embodiment of generating the first random sequence string, and is not described here again.

After the one-dimensional sampling is completed, the processor may perform two-dimensional sampling on the plurality of sets of one-dimensional sampling data by using a first random sequence string generated in advance, and store data obtained by the two-dimensional sampling.

On the basis of table 1, taking the example that the number of non-sampling points in the first random sequence string and the second random sequence string is equal to the number of sampling points, and 64 points are sampled in one dimension, and 128 points are sampled in two dimensions, after the one-dimensional sampling and the two-dimensional sampling are completed, the data storage is as shown in table 4:

table 4 data storage form after sampling is completed in the embodiment of the present application

It can be seen that the amount of data in table 4 is reduced by two times compared to the amount of data in table 1. Therefore, the intermediate frequency signal may be one-dimensionally sampled based on the second random sequence string generated in advance, that is, the one-dimensional data may be randomly sampled on the basis of the second random sequence string, and then the sampled one-dimensional data may be two-dimensionally sampled based on the first random sequence string generated in advance, that is, the sampled one-dimensional data may be randomly sampled on the basis of the second random sequence string. The total data amount stored in the radar signal processing process is reduced because the stored one-dimensional data amount and the two-dimensional data amount are reduced.

Further, the step of performing one-dimensional sampling on the intermediate frequency signal by using the pre-generated second random sequence string may have two embodiments: firstly, data corresponding to a non-sampling point in the second random sequence string is not sampled; second, data corresponding to non-sampling points in the second random sequence string is sampled but not stored.

As a first embodiment, the step of performing one-dimensional sampling on the intermediate frequency signal by using the pre-generated second random sequence string may include the following steps:

the method comprises the steps of firstly, sampling data corresponding to sampling points aiming at signals corresponding to each frequency modulation sequence in intermediate frequency signals, and not sampling data corresponding to non-sampling points to obtain a group of one-dimensional sampling data.

And secondly, storing the one-dimensional sampling data.

Specifically, taking table 4 as an example, it is assumed that the first random sequence and the second random sequence are both 10110 … 11. Sampling data corresponding to a first frequency modulation sequence in the intermediate frequency signal, sampling 64 effective points in total, namely obtaining 64 data, and storing the 64 data; then sampling data corresponding to a second frequency modulation sequence in the intermediate frequency signal, sampling 64 effective points in total, namely obtaining 64 data, and storing the 64 data; repeating the steps until the data corresponding to the second hundred fifty-six frequency modulation sequences of the intermediate frequency signal are sampled finally, sampling 64 effective points in total, namely obtaining 64 data, and storing the 64 data; and completing one-dimensional sampling to obtain 256 groups of one-dimensional sampling data.

In the process of sampling the data corresponding to the first frequency modulation sequence in the intermediate frequency signal, the first data is sampled, the second data is not sampled, the third data is sampled, the fourth data is sampled, and the fifth data is not sampled … … until the data corresponding to the first frequency modulation sequence in the intermediate frequency signal is sampled.

Then, for the 256 groups of one-dimensional sampling data, sampling a first group of one-dimensional sampling data, sampling 64 effective points in total, and reserving the 64 data; then discarding the second set of one-dimensional sampled data; then sampling a third group of one-dimensional sampling data, sampling 64 effective points in total, and reserving the 64 data; then sampling a fourth group of one-dimensional sampling data, sampling 64 effective points in total, and reserving the 64 data; then discarding the fifth set of one-dimensional sampled data; repeating the steps until the second hundred fifty-six groups of one-dimensional sampling data are sampled finally, sampling 64 effective points in total, and reserving the 64 data; and finishing two-dimensional sampling.

Therefore, for the signal corresponding to each frequency modulation sequence, the data corresponding to the sampling point can be sampled, and the data corresponding to the non-sampling points are not sampled, so that random sampling of the one-dimensional data is realized, and then normal two-dimensional sampling of the one-dimensional data after random sampling is performed. The total data amount stored in the radar signal processing process is reduced because the one-dimensional data amount stored is reduced.

As a second embodiment, the step of performing one-dimensional sampling on the intermediate frequency signal by using the pre-generated second random sequence string may include the following steps:

and sampling data corresponding to the sampling points and the non-sampling points aiming at the signals corresponding to each frequency modulation sequence in the intermediate frequency signals, and storing the sampling data corresponding to the sampling points to obtain a group of one-dimensional sampling data.

Specifically, also taking table 4 as an example, it is assumed that the first random sequence and the second random sequence are both 10110 … 11. Sampling data corresponding to a first frequency modulation sequence in the intermediate frequency signal, sampling 128 points in total, and storing data corresponding to 64 points in the 128 points; then sampling data corresponding to a second frequency modulation sequence in the intermediate frequency signal, sampling 128 points in total, and storing data corresponding to 64 points; repeating the steps until the data corresponding to the second hundred fifty-six frequency modulation sequences of the intermediate frequency signal are sampled, wherein 128 points are sampled in total, and the data corresponding to 64 points are stored; and completing one-dimensional sampling to obtain 256 groups of one-dimensional sampling data.

During the process of sampling the data corresponding to the first frequency modulation sequence in the intermediate frequency signal, the first data, the second data and the third data … … are sequentially sampled, the first data, the third data and the fourth data are stored for sampling … …, and the data corresponding to the first frequency modulation sequence in the intermediate frequency signal is sampled.

Therefore, for the signal corresponding to each frequency modulation sequence, the sampling point and the data corresponding to the non-sampling point can be sampled, and the sampling data corresponding to the non-sampling point is not stored, so that random sampling of the one-dimensional data is realized, and then normal two-dimensional sampling of the one-dimensional data after random sampling is performed. The total data amount stored in the radar signal processing process is reduced because the one-dimensional data amount stored is reduced.

Further, in this case, there are four embodiments in the step S201: firstly, directly carrying out fast Fourier transform on data after random sampling; secondly, performing zero padding on the data after random sampling according to the first random sequence string, and then performing fast Fourier transform; thirdly, performing zero padding on the data after random sampling according to the second random sequence string, and then performing fast Fourier transform; fourthly, after zero padding is carried out on the data after random sampling according to the first random sequence string and the second random sequence, fast Fourier transform is carried out.

The first embodiment and the second embodiment are similar to the first embodiment and the second embodiment in the above embodiments, and are not described herein again.

As a third embodiment, the step S201 may include the following steps:

and the first step, performing zero padding on each group of one-dimensional sampling data in the two-dimensional sampling data according to the second random sequence string, and sequentially performing one-dimensional fast Fourier transform on each group of data after zero padding to obtain one-dimensional frequency domain data.

Taking table 4 and the random sequence of 10110 … 11 as an example, first, zero padding needs to be performed on each group of one-dimensional sample data in the two-dimensional sample data according to the second random sequence string, where the data after zero padding is shown in table 5:

TABLE 5 data after zero padding in the examples of the present application

As shown in Table 5, the zero-padded data has 128 points per column, 64 of which are valid; each row has 128 dots, 128 of which are valid.

Then, performing one-dimensional fast Fourier transform on the data in the first column, performing one-dimensional fast Fourier transform on the data in the second column, … …, and performing one-dimensional fast Fourier transform on the data in the one hundred twenty-eight columns; then, two-dimensional fast fourier transform is performed on the data of the first row, two-dimensional fast fourier transform is performed on the data of the second row, … …, and up to the one hundred twenty eight rows. Therefore, the two-dimensional sampling data is subjected to fast Fourier transform to obtain two-dimensional frequency domain data, and the speed and the distance of the target can be determined according to the two-dimensional frequency domain data.

Therefore, in the process of performing fast Fourier transform on the two-dimensional sampling data obtained by sampling, zero padding can be performed on the one-dimensional sampling data subjected to random snapshot sampling, one-dimensional fast Fourier transform is performed on the data subjected to zero padding, and then two-dimensional fast Fourier transform is performed, so that on the basis of ensuring the precision, the speed and the distance of a target are determined according to the data subjected to fast Fourier transform.

As a fourth embodiment, the step S201 may include the following steps:

The implementation can be implemented by combining the zero padding modes in tables 3 and 5, and is not described herein again. Therefore, in the process of performing fast Fourier transform on the two-dimensional sampling data obtained by sampling, zero padding can be performed on the one-dimensional sampling data subjected to random snapshot sampling, one-dimensional fast Fourier transform is performed on the data subjected to zero padding, then zero padding can be performed on the one-dimensional frequency domain data subjected to one-dimensional fast Fourier transform, and two-dimensional fast Fourier transform is performed on the data subjected to zero padding, so that the speed and the distance of a target are determined according to the data subjected to fast Fourier transform on the basis of ensuring the precision.

Referring to fig. 3, fig. 3 is a block diagram of a random sampling apparatus according to an embodiment of the present disclosure, where the random sampling apparatus 300 may include: a first obtaining module 301, configured to obtain an echo signal received by a receiver, and process the echo signal to obtain an intermediate frequency signal; wherein the echo signal corresponds to a transmission signal transmitted by a transmitter, the transmission signal comprising a plurality of frequency modulation sequences; a one-dimensional sampling module 302, configured to perform one-dimensional sampling on the intermediate frequency signal to obtain multiple sets of one-dimensional sampling data, and store the multiple sets of one-dimensional sampling data; each frequency modulation sequence corresponds to a group of one-dimensional sampling data; and the two-dimensional sampling module 303 is configured to perform two-dimensional sampling on the stored multiple sets of one-dimensional sampling data by using a pre-generated first random sequence string to obtain two-dimensional sampling data, and store the two-dimensional sampling data.

In this embodiment of the present application, normal one-dimensional sampling may be performed on an intermediate frequency signal, and then two-dimensional sampling may be performed on the sampled one-dimensional data based on a first random sequence string generated in advance, that is, random snapshot sampling may be performed on the sampled one-dimensional data based on a second random sequence string. The total data amount stored in the radar signal processing process is reduced because the amount of the stored two-dimensional data is reduced.

Further, the first random sequence string comprises a plurality of non-sampling points and a plurality of sampling points, and the sum of the number of the non-sampling points and the number of the sampling points is equal to the number of the frequency modulation sequences in the transmitting signal; the two-dimensional sampling module 303 is further configured to: and sampling and storing a group of one-dimensional sampling data corresponding to the sampling point, and discarding a group of one-dimensional sampling data corresponding to the non-sampling point to obtain the stored two-dimensional sampling data.

In the embodiment of the application, for the stored multiple sets of one-dimensional sampling data, one set of one-dimensional sampling data corresponding to the sampling points can be retained, and one set of one-dimensional sampling data corresponding to the non-sampling points is discarded, so that random snapshot sampling of the sampled one-dimensional data is realized. The total data amount stored in the radar signal processing process is reduced because the amount of the stored two-dimensional data is reduced.

Further, the random sampling apparatus 300 further includes: the fast Fourier transform module is used for carrying out fast Fourier transform on the two-dimensional sampling data to obtain two-dimensional frequency domain data; and the determining module is used for determining the speed and the distance of the target according to the two-dimensional frequency domain data.

In the embodiment of the application, after the one-dimensional data is normally sampled and the sampled one-dimensional data is randomly sampled in a two-dimensional manner based on the first random sequence string, the two-dimensional sampled data obtained by sampling can be subjected to fast fourier transform, and the speed and the distance of the target are determined based on the two-dimensional frequency domain data subjected to fast fourier transform.

Further, the fast fourier transform module is further configured to: sequentially carrying out one-dimensional fast Fourier transform on each group of one-dimensional sampling data in the two-dimensional sampling data to obtain one-dimensional frequency domain data; and performing two-dimensional fast Fourier transform on the one-dimensional frequency domain data to obtain the two-dimensional frequency domain data.

In the embodiment of the application, in the process of performing fast fourier transform on two-dimensional sampling data obtained by sampling, one-dimensional fast fourier transform and two-dimensional fast fourier transform can be directly performed on the two-dimensional sampling data subjected to random snapshot sampling, so that the speed and the distance of a target can be determined according to the data subjected to fast fourier transform.

Further, the fast fourier transform module is further configured to: sequentially carrying out one-dimensional fast Fourier transform on each group of one-dimensional sampling data in the two-dimensional sampling data to obtain one-dimensional frequency domain data; and performing zero padding on the one-dimensional frequency domain data according to the first random sequence string, and performing two-dimensional fast Fourier transform on the data subjected to zero padding to obtain the two-dimensional frequency domain data.

In the embodiment of the application, in the process of performing fast fourier transform on two-dimensional sampling data obtained by sampling, zero padding can be performed on one-dimensional frequency domain data subjected to one-dimensional fast fourier transform, and two-dimensional fast fourier transform is performed on the data subjected to zero padding, so that the speed and the distance of a target are determined according to the data subjected to fast fourier transform on the basis of ensuring the precision.

Further, the one-dimensional sampling module 302 is further configured to: performing one-dimensional sampling on the intermediate frequency signal by using a pre-generated second random sequence string to obtain a plurality of groups of one-dimensional sampling data, and storing the plurality of groups of one-dimensional sampling data; and each group of one-dimensional sampling data is obtained by sampling the same second random sequence string.

In this embodiment of the present application, the intermediate frequency signal may be subjected to one-dimensional sampling based on a second random sequence string generated in advance, that is, one-dimensional data is subjected to random snapshot sampling based on the second random sequence string, and then the sampled one-dimensional data may be subjected to two-dimensional sampling based on a first random sequence string generated in advance, that is, the sampled one-dimensional data is subjected to random snapshot sampling based on the second random sequence string. The total data amount stored in the radar signal processing process is reduced because the stored one-dimensional data amount and the two-dimensional data amount are reduced.

Further, the fast fourier transform module is further configured to: performing zero padding on each group of one-dimensional sampling data in the two-dimensional sampling data according to the second random sequence string, and sequentially performing one-dimensional fast Fourier transform on each group of zero-padded data to obtain one-dimensional frequency domain data; and performing zero padding on the one-dimensional frequency domain data according to the first random sequence string, and performing two-dimensional fast Fourier transform on the data subjected to zero padding to obtain the two-dimensional frequency domain data.

In the embodiment of the application, in the process of performing fast fourier transform on two-dimensional sampling data obtained by sampling, zero padding can be performed on one-dimensional sampling data after random snapshot sampling, one-dimensional fast fourier transform is performed on the data after zero padding, then zero padding can be performed on one-dimensional frequency domain data after one-dimensional fast fourier transform, and two-dimensional fast fourier transform is performed on the data after zero padding, so that the speed and the distance of a target are determined according to the data after fast fourier transform on the basis of ensuring the precision.

Referring to fig. 4, fig. 4 is a block diagram of an electronic device according to an embodiment of the present disclosure, where the electronic device 400 includes: at least one processor 401, at least one communication interface 402, at least one memory 403 and at least one communication bus 404. Wherein the communication bus 404 is used for implementing direct connection communication of these components, the communication interface 402 is used for communicating signaling or data with other node devices, and the memory 403 stores machine-readable instructions executable by the processor 401. When the electronic device 400 is in operation, the processor 401 communicates with the memory 403 via the communication bus 404, and the machine-readable instructions, when called by the processor 401, perform the random sampling method described above.

For example, the processor 401 of the embodiment of the present application may read the computer program from the memory 403 through the communication bus 404 and execute the computer program to implement the following method: step S101: and acquiring an echo signal received by the receiver, and processing the echo signal to obtain an intermediate frequency signal. Step S102: and carrying out one-dimensional sampling on the intermediate frequency signal to obtain a plurality of groups of one-dimensional sampling data, and storing the plurality of groups of one-dimensional sampling data. Step S103: and carrying out two-dimensional sampling on the stored multiple groups of one-dimensional sampling data by utilizing a first random sequence string generated in advance to obtain two-dimensional sampling data, and storing the two-dimensional sampling data. In some examples, the processor 401 may also update the configuration item, that is, may perform the following steps: step S201: and carrying out fast Fourier transform on the two-dimensional sampling data to obtain two-dimensional frequency domain data. Step S202: and determining the speed and the distance of the target according to the two-dimensional frequency domain data.

The processor 401 may be an integrated circuit chip having signal processing capabilities. The Processor 401 may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. Which may implement or perform the various methods, steps, and logic blocks disclosed in the embodiments of the present application. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The Memory 403 may include, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read Only Memory (PROM), Erasable Read Only Memory (EPROM), electrically Erasable Read Only Memory (EEPROM), and the like.

It will be appreciated that the configuration shown in fig. 4 is merely illustrative and that electronic device 400 may include more or fewer components than shown in fig. 4 or have a different configuration than shown in fig. 4. The components shown in fig. 4 may be implemented in hardware, software, or a combination thereof. In the embodiment of the present application, the electronic device 400 may be, but is not limited to, an entity device such as a desktop, a laptop, a smart phone, an intelligent wearable device, and a vehicle-mounted device, and may also be a virtual device such as a virtual machine. In addition, the electronic device 400 is not necessarily a single device, but may be a combination of multiple devices, such as a server cluster, and the like.

Embodiments of the present application further provide a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, which when executed by a computer, the computer is capable of performing the steps of the random sampling method in the foregoing embodiments, for example, including: acquiring an echo signal received by a receiver, and processing the echo signal to obtain an intermediate frequency signal; wherein the echo signal corresponds to a transmission signal transmitted by a transmitter, the transmission signal comprising a plurality of frequency modulation sequences; performing one-dimensional sampling on the intermediate frequency signal to obtain a plurality of groups of one-dimensional sampling data, and storing the plurality of groups of one-dimensional sampling data; each frequency modulation sequence corresponds to a group of one-dimensional sampling data; and performing two-dimensional sampling on the stored multiple groups of one-dimensional sampling data by using a pre-generated first random sequence string to obtain two-dimensional sampling data, and storing the two-dimensional sampling data.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and 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 of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.

In addition, 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.

Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.

The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method of random sampling, comprising:

acquiring an echo signal received by a receiver, and processing the echo signal to obtain an intermediate frequency signal; wherein the echo signal corresponds to a transmission signal transmitted by a transmitter, the transmission signal comprising a plurality of frequency modulation sequences;

performing one-dimensional sampling on the intermediate frequency signal to obtain a plurality of groups of one-dimensional sampling data, and storing the plurality of groups of one-dimensional sampling data; each frequency modulation sequence corresponds to a group of one-dimensional sampling data;

and performing two-dimensional sampling on the stored multiple groups of one-dimensional sampling data by using a pre-generated first random sequence string to obtain two-dimensional sampling data, and storing the two-dimensional sampling data.

2. The random sampling method of claim 1, wherein the first random sequence string comprises a plurality of non-sampling points and a plurality of sampling points, and the sum of the number of non-sampling points and the number of sampling points is equal to the number of frequency modulation sequences in the transmission signal;

the two-dimensional sampling is performed on the stored multiple groups of one-dimensional sampling data by using a pre-generated first random sequence string to obtain two-dimensional sampling data, and the two-dimensional sampling data is stored, including:

and sampling and storing a group of one-dimensional sampling data corresponding to the sampling point, and discarding a group of one-dimensional sampling data corresponding to the non-sampling point to obtain the stored two-dimensional sampling data.

3. The random sampling method of claim 1 or 2, wherein after said storing the two-dimensional sample data, the method further comprises:

performing fast Fourier transform on the two-dimensional sampling data to obtain two-dimensional frequency domain data;

and determining the speed and the distance of the target according to the two-dimensional frequency domain data.

4. The random sampling method of claim 3, wherein the performing two-dimensional fast Fourier transform on the two-dimensional sampled data to obtain two-dimensional frequency domain data comprises:

sequentially carrying out one-dimensional fast Fourier transform on each group of one-dimensional sampling data in the two-dimensional sampling data to obtain one-dimensional frequency domain data;

and performing two-dimensional fast Fourier transform on the one-dimensional frequency domain data to obtain the two-dimensional frequency domain data.

5. The random sampling method of claim 3, wherein the performing two-dimensional fast Fourier transform on the two-dimensional sampled data to obtain two-dimensional frequency domain data comprises:

and performing zero padding on the one-dimensional frequency domain data according to the first random sequence string, and performing two-dimensional fast Fourier transform on the data subjected to zero padding to obtain the two-dimensional frequency domain data.

6. The random sampling method according to claim 3, wherein the one-dimensional sampling the intermediate frequency signal to obtain a plurality of sets of one-dimensional sampling data, and storing the plurality of sets of one-dimensional sampling data comprises:

performing one-dimensional sampling on the intermediate frequency signal by using a pre-generated second random sequence string to obtain a plurality of groups of one-dimensional sampling data, and storing the plurality of groups of one-dimensional sampling data; and each group of one-dimensional sampling data is obtained by sampling the same second random sequence string.

7. The random sampling method of claim 6, wherein the performing a two-dimensional fast Fourier transform on the two-dimensional sampled data to obtain two-dimensional frequency domain data comprises:

performing zero padding on each group of one-dimensional sampling data in the two-dimensional sampling data according to the second random sequence string, and sequentially performing one-dimensional fast Fourier transform on each group of zero-padded data to obtain one-dimensional frequency domain data;

8. A random sampling apparatus, comprising:

the first acquisition module is used for acquiring an echo signal received by a receiver and processing the echo signal to obtain an intermediate frequency signal; wherein the echo signal corresponds to a transmission signal transmitted by a transmitter, the transmission signal comprising a plurality of frequency modulation sequences;

the one-dimensional sampling module is used for performing one-dimensional sampling on the intermediate frequency signal to obtain a plurality of groups of one-dimensional sampling data and storing the plurality of groups of one-dimensional sampling data; each frequency modulation sequence corresponds to a group of one-dimensional sampling data;

and the two-dimensional sampling module is used for performing two-dimensional sampling on the stored multiple groups of one-dimensional sampling data by utilizing a pre-generated first random sequence string to obtain two-dimensional sampling data and storing the two-dimensional sampling data.

9. An electronic device, comprising: a processor, a memory, and a bus;

the processor and the memory are communicated with each other through the bus;

the memory stores program instructions executable by the processor, the processor invoking the program instructions to perform the random sampling method of any one of claims 1-7.

10. A non-transitory computer-readable storage medium storing computer instructions which, when executed by a computer, cause the computer to perform the stochastic sampling method of any one of claims 1 to 7.