CN113093132A - Radar clutter region determination method, device, storage medium and computer equipment - Google Patents
Radar clutter region determination method, device, storage medium and computer equipment Download PDFInfo
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- 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
Abstract
The invention provides a radar clutter area determination method, a radar clutter area determination device, a storage medium and computer equipment. The method comprises the following steps: scanning data obtained by scanning the target area by the radar in a specified number of continuous periods are obtained; dividing the target area into a plurality of sub-areas, and establishing a corresponding relation between the trace points and the sub-areas so as to obtain a corresponding relation between the trace points and the sub-areas corresponding to each period; for each sub-region, determining the accumulated trace point number of the sub-region in a specified number of continuous periods according to the corresponding relation between the trace point corresponding to each period and the sub-region; and when the accumulated trace point number of the target sub-area meets a first preset trace point number condition and the sum of the accumulated trace point numbers of a plurality of sub-areas including the target sub-area meets a second preset trace point number condition, determining the target sub-area as a clutter area. The method is favorable for improving the radar clutter area judgment accuracy and radar clutter processing effectiveness.
Description
Technical Field
The invention relates to the technical field of radar detection, in particular to a method and a device for determining a radar clutter area, a storage medium and computer equipment.
Background
The radar needs to detect moving targets such as airplanes, missiles, ships and the like, but signals received by the radar not only contain echo signals from the moving targets, but also echo signals generated by scattering of objects such as ground objects, cloud rain, artificially released foil strips and the like, the echo signals are called clutter, and point traces formed by the clutter cause great interference on target track processing. Firstly, the clutter cannot be completely eliminated at the radar signal processing end, thereby causing serious interference to the actual target detection of the radar. Secondly, the process of clutter suppression is carried out at a signal processing end, and the conventional clutter suppression method is usually limited to a certain type of clutter, so that the clutter suppression effect is poor.
Disclosure of Invention
The invention mainly aims to provide a method and a device for determining a radar clutter region, a storage medium and computer equipment, so as to improve the accuracy of clutter statistics and improve the effectiveness of clutter processing.
In a first aspect, the present invention provides a method for determining a radar clutter area, including the following steps: acquiring scanning data obtained by scanning the target area by the radar for a specified number of continuous periods, wherein the last period of the specified number of continuous periods is the current period, and the scanning data comprises each trace point and position information thereof in the target area corresponding to each period; dividing the target area into a plurality of sub-areas, and establishing a corresponding relation between the trace points and the sub-areas according to the trace points and the position information thereof in the target area for the scanning data of each period, so as to obtain the corresponding relation between the trace points and the sub-areas corresponding to each period; for each sub-region, determining the accumulated trace point number of the sub-region in a specified number of continuous periods according to the corresponding relation between the trace point corresponding to each period and the sub-region; judging whether the accumulated trace number of the target sub-region meets a first preset trace number condition, when the accumulated trace number of the target sub-region meets the first preset trace number condition, determining the accumulated trace number sum of a plurality of sub-regions including the target sub-region, judging whether the accumulated trace number sum meets a second preset trace number condition, and when the accumulated trace number sum meets the second preset trace number condition, determining the target sub-region as a clutter region.
In one embodiment, dividing the target region into a number of sub-regions includes: constructing a polar coordinate system by taking the geometric center of the target area as a pole; in the polar coordinate system, the target area is divided into a plurality of sub-areas by utilizing a plurality of concentric circles which take the pole as the circle center and have different radiuses and a plurality of rays which take the pole as the starting point and form different included angles with the polar axis.
In one embodiment, the radii of the plurality of concentric circles are in an arithmetic progression, and the angles of the plurality of rays with the polar axis are in an arithmetic progression.
In one embodiment, the first preset trace quantity condition includes: the accumulated trace point number of the target sub-area is greater than or equal to a first trace point number threshold value; the second preset trace quantity condition comprises: the sum of the accumulated number of traces of the sub-areas including the target sub-area is greater than or equal to a second trace number threshold.
In one embodiment, several sub-regions, including the target sub-region, include: the target sub-region and other individual sub-regions having a common point and/or common edge with the boundary of the target sub-region.
In one embodiment, the first number of traces threshold and the second number of traces threshold are determined by: for a plurality of sub-areas including the target sub-area, presetting that each sub-area has one trace point in each period of a specified number of continuous periods, determining the sum of the accumulated trace point number of the plurality of sub-areas in the specified number of continuous periods, and taking the product of the preset percentage of the sum of the accumulated trace point number and the preset agglomeration coefficient as a second trace point number threshold; and determining the average value of the accumulated trace number of each sub-area in the plurality of sub-areas according to the second trace number threshold value, and taking an integer obtained by rounding the average value upwards as the first trace number threshold value.
In one embodiment, the method further comprises the steps of: processing scan data for a clutter region, comprising: forbidding batching of a flight path formed by the trace points in the clutter area; setting five Doppler channels as the correlation threshold of the flight path; and when the scanning data of the clutter region is subjected to Kalman filtering, setting the weight of the state observation value to be greater than the weight of the state prediction value.
In a second aspect, the present invention provides a radar clutter region determining apparatus comprising: the data acquisition module is used for acquiring scanning data obtained by scanning the target area by the radar in a specified number of continuous periods, wherein the last period of the specified number of continuous periods is the current period, and the scanning data comprises each trace point and position information thereof in the target area corresponding to each period; the relation establishing module is used for dividing the target area into a plurality of sub-areas, and for the scanning data of each period, establishing the corresponding relation between the trace points and the sub-areas according to the trace points and the position information thereof in the target area, so as to obtain the corresponding relation between the trace points and the sub-areas corresponding to each period; the trace counting module is used for determining the accumulated trace number of the sub-region in a specified number of continuous periods according to the corresponding relation between the trace corresponding to each period and the sub-region for each sub-region; the region judging module is used for judging whether the accumulated trace number of the target sub-region meets a first preset trace number condition, determining the accumulated trace number sum of a plurality of sub-regions including the target sub-region when the accumulated trace number of the target sub-region meets the first preset trace number condition, judging whether the accumulated trace number sum meets a second preset trace number condition, and determining the target sub-region as a clutter region when the accumulated trace number sum meets the second preset trace number condition.
In a third aspect, the present invention provides a storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the steps of the radar clutter region determination method as described above.
In a fourth aspect, the present invention provides a computer device comprising a processor and a storage medium having program code stored thereon, which when executed by the processor, performs the steps of the radar clutter region determination method as described above.
According to the radar clutter area determining method, the radar detection area is divided according to grids, the number of grids where clutter is located is determined and clutter area marking is carried out through the detection of the number of the point traces in a period of time, and follow-up target flight path processing is facilitated. The method and the device adopt a periodic data acquisition mode, so that the updating rate of scanning data is ensured, and the judgment stability of the clutter region is ensured. For the sub-area which is determined as the clutter area, the clutter area determination in a larger range is carried out, and the accuracy of the clutter area determination is ensured.
The method is beneficial to improving the accuracy of judging the radar clutter region and improving the effectiveness of radar clutter processing.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention, in which:
FIG. 1 is a flow chart of a method of radar clutter region determination according to an exemplary embodiment of the present application;
FIG. 2 is a flow chart of a method of radar clutter area determination according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a target area divided into a plurality of sub-areas according to an embodiment of the present application;
FIG. 4 is a flowchart of a process for trace point data processing according to one embodiment of the present application;
FIG. 5 is a schematic view of several sub-regions including a target sub-region according to an embodiment of the present application;
FIG. 6 is a flowchart of a process for labeling clutter regions according to one embodiment of the present application;
FIG. 7A is scan data before clutter processing of a target region;
fig. 7B is scan data after clutter processing of a clutter region determined according to the radar clutter region determination method of the present application.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Example one
Fig. 1 is a flowchart of a method for determining a radar clutter region according to an exemplary embodiment of the present application. As shown in fig. 1, the method comprises the steps of:
s100: acquiring scanning data obtained by scanning the target area by the radar for a specified number of continuous periods, wherein the last period of the specified number of continuous periods is the current period, and the scanning data comprises each trace point and position information thereof in the target area corresponding to each period;
s200: dividing the target area into a plurality of sub-areas, and establishing a corresponding relation between the trace points and the sub-areas according to the trace points and the position information thereof in the target area for the scanning data of each period, so as to obtain the corresponding relation between the trace points and the sub-areas corresponding to each period;
wherein the target area may be divided into several sub-areas by: constructing a polar coordinate system by taking the geometric center of the target area as a pole; in the polar coordinate system, the target area is divided into a plurality of sub-areas by utilizing a plurality of concentric circles which take the pole as the circle center and have different radiuses and a plurality of rays which take the pole as the starting point and form different included angles with the polar axis. In one specific example, the radii of the plurality of concentric circles are in an arithmetic progression and the angles of the plurality of rays with the polar axis are in an arithmetic progression.
S300: for each sub-region, determining the accumulated trace point number of the sub-region in a specified number of continuous periods according to the corresponding relation between the trace point corresponding to each period and the sub-region;
s400: judging whether the accumulated trace number of the target sub-region meets a first preset trace number condition, when the accumulated trace number of the target sub-region meets the first preset trace number condition, determining the accumulated trace number sum of a plurality of sub-regions including the target sub-region, judging whether the accumulated trace number sum meets a second preset trace number condition, and when the accumulated trace number sum meets the second preset trace number condition, determining the target sub-region as a clutter region.
The first preset trace quantity condition may include: the accumulated number of traces for the target sub-region is greater than or equal to the first trace number threshold. The second preset trace quantity condition may include: the sum of the accumulated number of traces of the sub-areas including the target sub-area is greater than or equal to a second trace number threshold. Wherein, several sub-regions including the target sub-region may include: the target sub-region and other individual sub-regions having a common point and/or common edge with the boundary of the target sub-region.
Specifically, the first trace point quantity threshold and the second trace point quantity threshold may be determined by the following steps: for a plurality of sub-areas including the target sub-area, presetting that each sub-area has one trace point in each period of a specified number of continuous periods, determining the sum of the accumulated trace point number of the plurality of sub-areas in the specified number of continuous periods, and taking the product of the preset percentage of the sum of the accumulated trace point number and the preset agglomeration coefficient as a second trace point number threshold; and determining the average value of the accumulated trace number of each sub-area in the plurality of sub-areas according to the second trace number threshold value, and taking an integer obtained by rounding the average value upwards as the first trace number threshold value.
In one example, after determining the clutter region, the scan data of the clutter region needs to be processed accordingly, which may be specifically processed through the following steps: forbidding batching of a flight path formed by the trace points in the clutter area; setting five Doppler channels as the correlation threshold of the flight path; and when the scanning data of the clutter region is subjected to Kalman filtering, setting the weight of the state observation value to be greater than the weight of the state prediction value.
According to the radar clutter area determining method, the radar detection area is divided according to grids, the number of grids where clutter is located is determined and clutter area marking is carried out through the detection of the number of the point traces in a period of time, and follow-up target flight path processing is facilitated. The method and the device adopt a periodic data acquisition mode, so that the updating rate of scanning data is ensured, and the judgment stability of the clutter region is ensured. For the sub-area which is determined as the clutter area, the clutter area determination in a larger range is carried out, and the accuracy of the clutter area determination is ensured.
The method is beneficial to improving the accuracy of judging the radar clutter region and improving the effectiveness of radar clutter processing.
Example two
The present embodiment provides a method for determining a radar clutter region according to an embodiment, and fig. 2 is a flowchart of the method for determining a radar clutter region according to an embodiment of the present application. As shown in fig. 2, the technical solution of this embodiment includes the following steps:
1. acquiring scanning data, namely scanning data obtained by the radar for scanning a target area for a plurality of circles, wherein the scanning data comprises scanned trace point data;
2. processing trace data;
and calculating the grid coordinates of each trace point, and respectively adding the grid coordinates into the grid coordinate statistical linked list of the current circle.
3. Marking a clutter area;
and determining a clutter region by using a Sudoku statistical algorithm, and marking the clutter region.
4. And processing the clutter area.
If the point track is in the clutter area, stricter limitation is performed on data processing aspects such as batching, association and filtering of the flight track formed by the point track.
The specific embodiment is as follows:
1. acquiring scanning data;
2. processing trace data;
1) radar scanning area partitioning
As for the division of the radar scanning area, as shown in fig. 3, when the azimuth is divided at an angular interval of 45 ° and a distance interval of 100m, the radar scanning area is divided into 8 parts in azimuth and 3 parts in distance. Therefore, the radar scanning area is divided into a plurality of grids with a unit distance Istep of 100m and a unit angle Jstep of 45 °, a distance statistical total SectorI of 3, and an azimuth statistical total SectorJ of 8. The above division is for example only.
Wherein, Istep and Jstep can be set by observing the size of the clutter region needing to be identified at minimum. An excessively large grid may result in non-clutter regions being misidentified, and a too small grid may result in clutter regions being difficult to detect.
In the embodiment, the unit distance Istep of the radar clutter area is 50m, since the radar detection range is 10km, the distance statistical total SectorI is 200, the unit angle Jstep of the radar clutter area is 4.5 °, and the azimuth statistical total SectorJ is 80. If the polar coordinate of a certain point trace is 1.5km and the azimuth is 39 degrees, the grid coordinate of the point trace is (30, 8).
2) Trace data processing
FIG. 4 is a flowchart of a trace point data processing process according to one embodiment of the present application, generally as follows:
(a) and when the number of turns is changed, creating a current turn point trace coordinate statistical linked list, and adding the grid coordinate of the current turn point trace into the CurStatistics linked list when the current turn number does not exceed the total turn number set in the period.
(b) And when the number of turns is greater than STATICNUM, traversing the total number of the point traces in all turns in the period in each grid coordinate, and starting to mark the clutter area.
(c) When the number of turns is greater than STATICNUM, when the number of turns changes, the total number of traces in grid coordinates (I, J) in the gStatisticList linked list is subtracted by the number of traces in the corresponding coordinates in the FirstStatistics linked list.
(d) And deleting the first statistics linked list, and updating trace point data.
Interpretation of parameter names:
CurStatistics linked list: and counting a linked list of trace coordinates of the current circle.
The gstatisticlist linked list: and counting the total linked list by the coordinates of all circles of traces in the period.
STATICNUM: and counting the total number of turns in the total period. Specifically, the method is determined according to the frequency of the occurrence of the clutter, the STATICNUM is reduced when the frequency of the occurrence of the clutter is high, and the STATICNUM is increased when the frequency of the occurrence of the clutter is low. The setting of STATICNUM determines the setting of the back clutter detection threshold.
In this embodiment, the trace count of 1min may be counted, and the STATICNUM is 20 if the radar rotation speed is 20 rpm.
In fig. 4, I represents a distance coordinate, and the initial value is 0; j denotes the azimuth coordinate, and the initial value is 0.
First statistics linked list: and counting a linked list of the trace coordinates of the first circle in the period.
3. Labeling clutter regions
Clutter region labeling principle: the detection threshold of the center grid is a centrum trace (a first threshold value); the detection threshold of the squared figure is RONDNUM trace (second threshold).
And setting the two detection thresholds according to the clutter actual condition and STATICNUM. If we set the clutter points in each period in a certain grid coordinate region, the nine-square grid has 180 clutter points in 20 periods, the preset percentage is 60%, the agglomeration coefficient is 0.2, the second threshold value can be 21.6, that is, CENTNUM can be set to 21.6, and RONDNUM can be set to 3. For example, as shown in fig. 5, when the number of dot traces of region No. 5 is greater than 3 and the sum of the number of dot traces of 9 grids is greater than 21.6, region No. 5 is marked as a clutter region and all the dot traces in region No. 5 are marked as clutter.
FIG. 6 is a flowchart of a process for labeling clutter regions according to one embodiment of the present application, generally as follows:
(a) polling and judging whether the number of the traces in each grid is larger than CENTNUM when the grid is used as a center grid.
(b) When the number of the traces in the central grid is greater than CENTNUM, calculating the sum of the number of the traces of the nine-grid with the grid as the center.
(c) And when the sum of the number of the traces of the nine-square grid is greater than RONDNUM, setting 1 to the element of the lower mark array of the grid coordinate area mark corresponding to the central grid coordinate, namely marking the grid coordinate area as a clutter area. The array is the corresponding relation between each grid coordinate in each period and the trace number in the grid.
Interpretation of parameter names:
a: and when the number of the traces of the center grid is greater than CENTNUM, polling the distance coordinates of any grid in the nine-square grid taking the center grid as the center.
b: and when the number of the traces of the center grids is greater than CENTNUM, polling the position coordinates of any grid in the nine-square grids taking the center grids as the center.
4. Clutter region processing
(1) And reporting the grid coordinates of the clutter area to the radar terminal for observation and debugging.
(2) In the batching threshold, batching is not allowed for the tracks with poor track quality.
(3) In the correlation threshold, the limit on doppler is more stringent.
(4) In the Kalman filtering process, the innovation covariance S and the state covariance P are adjusted to achieve the purpose of increasing the gain K of the Kalman filter, and the weight is more biased to the observed value between the state predicted value and the observation error value.
FIG. 7A is scan data before clutter processing of a target region; fig. 7B is scan data after clutter processing of a clutter region determined according to the radar clutter region determination method of the present application. The gray area in fig. 7B is the clutter area, and clutter start is effectively suppressed after the clutter processing function is adopted.
EXAMPLE III
The present embodiment provides a radar clutter region determination apparatus, including:
the data acquisition module is used for acquiring scanning data obtained by scanning the target area by the radar in a specified number of continuous periods, wherein the last period of the specified number of continuous periods is the current period, and the scanning data comprises each trace point and position information thereof in the target area corresponding to each period;
the relation establishing module is used for dividing the target area into a plurality of sub-areas, and for the scanning data of each period, establishing the corresponding relation between the trace points and the sub-areas according to the trace points and the position information thereof in the target area, so as to obtain the corresponding relation between the trace points and the sub-areas corresponding to each period;
the trace counting module is used for determining the accumulated trace number of the sub-region in a specified number of continuous periods according to the corresponding relation between the trace corresponding to each period and the sub-region for each sub-region;
the region judging module is used for judging whether the accumulated trace number of the target sub-region meets a first preset trace number condition, determining the accumulated trace number sum of a plurality of sub-regions including the target sub-region when the accumulated trace number of the target sub-region meets the first preset trace number condition, judging whether the accumulated trace number sum meets a second preset trace number condition, and determining the target sub-region as a clutter region when the accumulated trace number sum meets the second preset trace number condition.
Example four
The present embodiment provides a storage medium storing a computer program, wherein the computer program is configured to, when executed by a processor, implement the steps of the radar clutter region determining method as described above.
Storage media, including permanent and non-permanent, removable and non-removable media, may implement the information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.
EXAMPLE five
The present embodiment provides a computer device comprising a processor and a storage medium storing program code which, when executed by the processor, implements the steps of the radar clutter region determination method as described above.
It is noted that the terms used herein are merely for describing particular embodiments and are not intended to limit exemplary embodiments according to the present application, and when the terms "include" and/or "comprise" are used in this specification, they specify the presence of features, steps, operations, devices, components, and/or combinations thereof.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein.
It should be understood that the exemplary embodiments herein may be embodied in many different forms and should not be construed as limited to only the embodiments set forth herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of these exemplary embodiments to those skilled in the art, and should not be construed as limiting the present invention.
Claims (10)
1. A radar clutter region determination method is characterized by comprising the following steps:
acquiring scanning data obtained by scanning the target area by the radar for a specified number of continuous periods, wherein the last period of the specified number of continuous periods is the current period, and the scanning data comprises each trace point and position information thereof in the target area corresponding to each period;
dividing the target area into a plurality of sub-areas, and establishing a corresponding relation between the trace points and the sub-areas according to the trace points and the position information thereof in the target area for the scanning data of each period, so as to obtain the corresponding relation between the trace points and the sub-areas corresponding to each period;
for each sub-region, determining the accumulated trace point number of the sub-region in a specified number of continuous periods according to the corresponding relation between the trace point corresponding to each period and the sub-region;
judging whether the accumulated trace number of the target sub-region meets a first preset trace number condition, when the accumulated trace number of the target sub-region meets the first preset trace number condition, determining the accumulated trace number sum of a plurality of sub-regions including the target sub-region, judging whether the accumulated trace number sum meets a second preset trace number condition, and when the accumulated trace number sum meets the second preset trace number condition, determining the target sub-region as a clutter region.
2. The radar clutter region determination method of claim 1, wherein dividing the target region into sub-regions comprises:
constructing a polar coordinate system by taking the geometric center of the target area as a pole;
in the polar coordinate system, the target area is divided into a plurality of sub-areas by utilizing a plurality of concentric circles which take the pole as the circle center and have different radiuses and a plurality of rays which take the pole as the starting point and form different included angles with the polar axis.
3. The method of claim 2, wherein the radii of the plurality of concentric circles are in an arithmetic progression and the angles of the plurality of rays with the polar axis are in an arithmetic progression.
4. The radar clutter region determination method of claim 1, wherein the first preset number of points condition comprises:
the accumulated trace point number of the target sub-area is greater than or equal to a first trace point number threshold value;
the second preset trace quantity condition comprises:
the sum of the accumulated number of traces of the sub-areas including the target sub-area is greater than or equal to a second trace number threshold.
5. The method of claim 4, wherein the plurality of sub-regions including the target sub-region comprises:
the target sub-region and other individual sub-regions having a common point and/or common edge with the boundary of the target sub-region.
6. The radar clutter region determination method of claim 4, wherein the first number of traces threshold and the second number of traces threshold are determined by:
for a plurality of sub-areas including the target sub-area, presetting that each sub-area has one trace point in each period of a specified number of continuous periods, determining the sum of the accumulated trace point number of the plurality of sub-areas in the specified number of continuous periods, and taking the product of the preset percentage of the sum of the accumulated trace point number and the preset agglomeration coefficient as a second trace point number threshold;
and determining the average value of the accumulated trace number of each sub-area in the plurality of sub-areas according to the second trace number threshold value, and taking an integer obtained by rounding the average value upwards as the first trace number threshold value.
7. The radar clutter region determination method of claim 1, further comprising the steps of:
processing scan data for a clutter region, comprising:
forbidding batching of a flight path formed by the trace points in the clutter area;
setting five Doppler channels as the correlation threshold of the flight path;
and when the scanning data of the clutter region is subjected to Kalman filtering, setting the weight of the state observation value to be greater than the weight of the state prediction value.
8. A radar clutter region determining apparatus, comprising:
the data acquisition module is used for acquiring scanning data obtained by scanning the target area by the radar in a specified number of continuous periods, wherein the last period of the specified number of continuous periods is the current period, and the scanning data comprises each trace point and position information thereof in the target area corresponding to each period;
the relation establishing module is used for dividing the target area into a plurality of sub-areas, and for the scanning data of each period, establishing the corresponding relation between the trace points and the sub-areas according to the trace points and the position information thereof in the target area, so as to obtain the corresponding relation between the trace points and the sub-areas corresponding to each period;
the trace counting module is used for determining the accumulated trace number of the sub-region in a specified number of continuous periods according to the corresponding relation between the trace corresponding to each period and the sub-region for each sub-region;
the region judging module is used for judging whether the accumulated trace number of the target sub-region meets a first preset trace number condition, determining the accumulated trace number sum of a plurality of sub-regions including the target sub-region when the accumulated trace number of the target sub-region meets the first preset trace number condition, judging whether the accumulated trace number sum meets a second preset trace number condition, and determining the target sub-region as a clutter region when the accumulated trace number sum meets the second preset trace number condition.
9. A storage medium storing a computer program which, when executed by a processor, carries out the steps of the radar clutter region determining method according to any of claims 1 to 7.
10. A computer device comprising a processor and a storage medium storing program code which, when executed by the processor, carries out the steps of the radar clutter region determination method of any of claims 1 to 7.
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