CN113552545A - Method for comparing detection result consistency of radar equipment - Google Patents
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- CN113552545A CN113552545A CN202110823661.4A CN202110823661A CN113552545A CN 113552545 A CN113552545 A CN 113552545A CN 202110823661 A CN202110823661 A CN 202110823661A CN 113552545 A CN113552545 A CN 113552545A
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- 239000011159 matrix material Substances 0.000 claims description 16
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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
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Abstract
The invention relates to the technical field related to laser radars, and discloses a method for comparing the consistency of detection results of radar equipment, which has strong objective fairness after subjective factors are completely removed, secondly, the overall data integration ratio has higher representativeness, the operation process is objective and reasonable, the conclusion has high reliability, compared with other statistical methods, the method is more suitable for comparison analysis of the observation data by adding special consideration to the characteristics of the observation data, and further, the method can be applied to the consistency comparison analysis of the monitoring data of other remote sensing monitoring equipment or other types of spatial distribution data by the atmospheric pollutant detection laser radar equipment, only the remote sensing monitoring object meets the precondition that a single medium and a substance are in a free diffusion phase, and has the advantages of objectivity, reliability, overall inspection, quantitative inspection result and the like.
Description
Technical Field
The invention relates to the technical field of laser radar correlation, in particular to a method for comparing detection result consistency of radar equipment.
Background
Before leaving a factory, the atmospheric pollutant detection laser radar equipment is required to be subjected to consistency comparison with a checking machine so as to reflect the reliability of a monitoring result of the factory equipment, the process is called a quality control process, consistency comparison work is often performed on the equipment in the quality control process, and after a limited number of reference factors are calibrated, the algorithm difference among different types of equipment and the environment uncertainty still can form uncontrollable interference when data are output; therefore, the reliability of equipment is checked from data, the reliability of the equipment has practical significance of practical application, the requirement on basic conditions of comparison is low, but the problem that the data volume is too large and is not suitable for comparison one by one completely is faced, the practical problem determines that an objective method for selecting subjective data to select limited and reasonable data for comparison is needed to represent the actual condition of the whole data, most of the current comparison modes show only a small number of fitting results of monitoring values of two comparison parties, comparison data information extracted from the whole data set is not replaced according to which basis, the objectivity of the data cannot be guaranteed, and the formed result has certain deviation from the actual condition.
In the prior art, most of radar observation result comparisons directly perform linear fitting on two groups of selected data, R value is checked, comparison data is not further processed, a trend graph is directly drawn on part of the acquired data, then direct comparison is performed, and a quantitative conclusion is lacked.
The prior art has strong subjectivity of direct comparison results, does not have sufficient data evidence, can not quantify specific parameters of consistency, and can be greatly interfered by the setting of display parameters, besides the reliable detection interval of stable inversion, the radar also has a transition zone with a certain referential significance, if the transition zone is not specially processed during data processing, the consistency of comparison may be lowered, if the transition zone and the non-credible detection zone are directly removed, the consistency of comparison results may be overestimated, and the prior art also has the phenomenon that the optimal height interval of inversion effects of two parties is directly selected for comparison, the consistency of data comparison can be greatly overestimated, differences possibly existing in different devices can be ignored, the frequency of data acquisition of the devices is different, the number of data which can be selected is limited to a certain extent, and the overall representativeness is reduced again.
Disclosure of Invention
The invention aims to provide a method for comparing the detection result consistency of radar equipment, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a method for comparing the consistency of detection results of radar equipment comprises the following steps:
acquiring radar detection result data, and generating a result digital matrix according to the radar detection result data, wherein the result digital matrix is used for representing a plurality of detection results of a certain height in linear time, and the number of the radar detection result data is two;
performing normal random sampling on the height to obtain a plurality of height data samples, sequentially arranging two groups of the plurality of height data samples respectively to generate a height data sample set, and performing fitting verification on the two groups of the height data sample sets to generate a height verification report;
normally and randomly sampling time at the heights of the plurality of height data samples to obtain a plurality of time samples, sequentially arranging two groups of the plurality of time samples to generate a time sample set, and performing fitting verification on the two groups of the time sample set to generate a time verification report;
and respectively outputting the height check report and the time check report.
On the basis of the technical scheme, the invention also provides the following optional technical scheme:
in an alternative solution: before the steps of performing the normal random sampling on the height to obtain a plurality of height data samples, sequentially arranging two groups of the plurality of height data samples to generate a height data sample set, performing fitting verification on the two groups of the height data sample sets, and generating a height verification report, the method further comprises:
and performing height division on the result digital matrix according to a preset height division function to generate a plurality of observation areas, wherein the plurality of observation areas are preset with credibility grades, and the credibility grades are used for representing the actual credibility of the detection results in the height.
In another alternative solution: the confidence level includes an untrusted, low confidence, and high confidence, the untrusted being indicative of the altitude being less than or greater than a valid detection range of the radar.
In another alternative solution: the observation area comprises a blind area, a transition area, a credibility area, a high-altitude noise point area and a detection range, the credibility levels of the blind area and the detection range are not credible, the credibility of the transition area and the high-altitude noise point area is low credibility, and the credibility of the credibility area is high credibility.
In another alternative solution: the step of performing normal random sampling on the height to obtain a plurality of height data samples specifically comprises:
reading a plurality of detection results in the result number matrix in the low-reliability observation area and the high-reliability observation area;
sequencing and recombining the detection results according to the heights to form a normal sampling extraction object;
and carrying out normal random sampling on the normally sampled extraction object to obtain a plurality of height data samples.
The invention provides a method for comparing the consistency of detection results of radar equipment, which has strong objective fairness after subjective factors are completely removed, has higher representativeness for the integral comparison of the whole data, has objective and reasonable conclusion and high reliability in the operation process, is more suitable for the comparison analysis of the observation data compared with other statistical methods by adding special consideration to the characteristics of the observation data, further can be popularized to the consistency comparison analysis of the monitoring data of other remote sensing monitoring equipment or other types of spatial distribution data by only needing a remote sensing monitoring object to meet the precondition that a single medium and a substance are in a free diffusion phase, and has the advantages of objective, reliable, integral inspection, quantitative inspection results and the like.
Drawings
Fig. 1 is a flowchart of a method for comparing detection result consistency of radar equipment.
Fig. 2 is a pseudo-color image generated by a radar which needs to be verified in the factory.
FIG. 3 is a pseudo-color image generated by the inspection machine.
Fig. 4 is a schematic diagram of normal sampling in a method for comparing the detection result consistency of radar equipment.
Detailed Description
The following embodiments will describe the present invention in detail with reference to the accompanying drawings. The examples are given solely for the purpose of illustration and are not intended to limit the scope of the invention. Any obvious modifications or variations can be made to the present invention without departing from the spirit or scope of the present invention.
Referring to fig. 1 to 4, a method for comparing the detection result consistency of radar equipment includes the following steps:
s100, radar detection result data are obtained, a result digital matrix is generated according to the radar detection result data, the result digital matrix is used for representing a plurality of detection results of a certain height in linear time, and the number of the radar detection result data is two.
In the embodiment of the invention, the radar detection data is preliminarily preprocessed, in a traditional processing mode, a space monitoring result (radar detection result data) detected by a radar is processed usually, the processed result is displayed in a pseudo-color image form after being redrawn through an algorithm (as shown in fig. 2), the processing mode is more intuitive for human analysis, an observer can more intuitively understand the content detected by the radar, two groups of radar detection result data are directly exported, one group of the two groups of radar detection result data is generated by the radar which needs to be checked when leaving a factory (as shown in fig. 2), the other group of the two groups of radar detection result data is generated by a checking machine (as shown in fig. 3), and a result digital matrix is generated by processing, wherein the result data matrix corresponds to each coordinate point of the pseudo-color image and is respectively a row representing height and a column representing time, and a detection result corresponding to each group of rows and columns, the generated result number matrix can represent that i are:
A11 A12 A13…A1(n-2)A1(n-1)A1n
A21 A22 A23…A2(n-2)A2(n-1)A2n
…
…
…
Am1 Am2 Am3…Am(n-2)Am(n-1)Amn
in the above matrix, each AmnEach corresponds to a data point in the pseudo-color image representing the detection mechanism, where m is a row, represented by height, n is a column, represented by time.
S200, performing normal random sampling on the height to obtain a plurality of height data samples, sequentially arranging two groups of the plurality of height data samples to generate a height data sample set, and performing fitting verification on the two groups of the height data sample sets to generate a height verification report.
In the embodiment of the invention, a noun time profile is required to be introduced, the time profile is a time sequence data set reflecting different heights, the heights and the times respectively correspond to the heights and the times in the step S100, and complete overall data is obtained when the height interval tends to the minimum spatial resolution, so that the overall effect can be reflected by selecting a proper profile item to complete comparison work, and the extracted height data sample has higher representativeness by adopting a normal random sampling mode on the height sequence, so that a more accurate height verification report capable of representing the whole is obtained.
S300, normally and randomly sampling time at the heights of the height data samples to obtain a plurality of time samples, sequentially arranging two groups of the time samples to generate a time sample set, and performing fitting verification on the two groups of the time sample set to generate a time verification report.
In the embodiment of the invention, the pair of random verification comparison pairs of the time profiles can meet the comparison work under most conditions, but in the time sequenceThe complete comparison on the columns may have a large operation pressure under the condition of a longer time span, and the radar may have different observation accuracies at different times, so that a sub-time period cannot be randomly selected for comparison in a continuous observation time period, and further global random point data comparison is proposed for the purpose of preserving the time continuity compared with the effect and simplifying the operation amount. On the basis, the data point comparison method carries out simplification constraint on the normal sampling without limiting non-repeated sampling, and still carries out normal sampling on the height sequence, the number of times of each height is extracted is marked as X (as marked in figure 4), and corresponding X point data are respectively obtained by random sampling on each extracted height (the extracted data is a time sequence number at the moment, for example, the sub-sampling parameter X is obtained by normal sampling on h heighthMeaning that X is again decimated in the time profile of height hhTime data, namely, numerical data observed by the radar cannot be directly extracted and only time can be extracted in order to ensure that the data of the two parties are compared to be consistent and comparable; the random sampling after the normal sampling is finished can give consideration to different confidence degree considerations in height and representativeness in a time sequence, and has the advantages of simplifying the operation data volume and ensuring the comparison reliability and objectivity.
And S400, respectively outputting the height check report and the time check report.
Referring to fig. 1 and 3, as a preferred embodiment of the present invention, before the steps of performing normal random sampling on the height to obtain a plurality of height data samples, sequentially arranging two groups of the plurality of height data samples to generate a height data sample set, and performing fitting verification on the two groups of the height data sample sets to generate a height verification report, the method further includes:
and S500, performing height division on the result digital matrix according to a preset height division function to generate a plurality of observation areas, wherein the plurality of observation areas are all preset with credibility grades, and the credibility grades are used for representing the actual credibility of the detection results in the height.
Specifically, the confidence level includes an untrustworthiness characterizing the height as being less than or greater than a valid detection range of the radar, a low confidence level, and a high confidence level.
More specifically, the observation region includes a blind region, a transition region, a confidence region, a high-altitude noise region, and a region outside the detection range, the confidence levels of the blind region and the region outside the detection range are not confidence, the confidence levels of the transition region and the high-altitude noise region are low confidence levels, and the confidence level of the confidence region is a high confidence level.
In the embodiment of the invention, the high-altitude noise points and the low-altitude transition zone presenting effects of the two groups of radar pseudo-color images are obviously different through the images 2 and 3, so that the uniform processing cannot be directly ignored in the data processing process, and the data needs to be partitioned.
Referring to fig. 4, as another preferred embodiment of the present invention, the step of performing normal random sampling on the height to obtain a plurality of height data samples specifically includes:
s201, reading a plurality of detection results in the low-reliability and high-reliability observation areas in the result digital matrix.
And S202, arranging and recombining the detection results according to the height in order to form a normally sampled extraction object.
S203, carrying out normal random sampling on the normally sampled extraction object to obtain a plurality of height data samples.
In the embodiment of the present invention, step decomposition is performed to describe the step of dynamically and randomly extracting height data samples, where in step S201, only the observation area with low reliability and high reliability is subjected to data reading, that is, the transition area and the reliability area, and the blind area and the detection area are beyond the effective detection range of the radar, so that the true reliability of the data is difficult to determine, and most of the data may be generated only by unreal signal noise points, and therefore, the data is not processed and included in the fitting-verification ratio pair, and the reliability of the transition area and the reliability area has a certain difference, so that the adopted normal random extraction manner can achieve the requirements of different area distinction processing and reasonable and objective, and it can be understood that the extracted height data samples are in a distribution state where small data is dense at the middle interval and large data is sparse at both ends, the state has the weight ratio of each region which is allocated with emphasis while the data of three regions is considered, the extracted data in the form of random sampling has the general objectivity characteristic, when the data are arranged and recombined in sequence, the extracted data can be arranged according to the height from high to low or in a reverse order, the height of an extraction object profile of normal sampling needs to meet non-repetitive extraction, namely the extraction result is n height, in the diagram, relevant parameters such as the lower boundary of a transition region and the upper boundary of high-altitude noise points with certain practical significance, and relevant reference values are set in advance according to experience, equipment performance parameters and the like (the sampling process can be realized by using excel or other software).
It should be understood that, although the steps in the flowcharts of the embodiments of the present invention are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in various embodiments may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (5)
1. A method for comparing the consistency of detection results of radar equipment is characterized by comprising the following steps:
acquiring radar detection result data, and generating a result digital matrix according to the radar detection result data, wherein the result digital matrix is used for representing a plurality of detection results of a certain height in linear time, and the number of the radar detection result data is two;
performing normal random sampling on the height to obtain a plurality of height data samples, sequentially arranging two groups of the plurality of height data samples respectively to generate a height data sample set, and performing fitting verification on the two groups of the height data sample sets to generate a height verification report;
normally and randomly sampling time at the heights of the plurality of height data samples to obtain a plurality of time samples, sequentially arranging two groups of the plurality of time samples to generate a time sample set, and performing fitting verification on the two groups of the time sample set to generate a time verification report;
and respectively outputting the height check report and the time check report.
2. The method according to claim 1, wherein before the steps of performing the normal random sampling on the altitude to obtain a plurality of altitude data samples, sequentially arranging two sets of the plurality of altitude data samples to generate an altitude data sample set, performing the fitting check on the two sets of the altitude data sample set, and generating the altitude check report, the method further comprises:
and performing height division on the result digital matrix according to a preset height division function to generate a plurality of observation areas, wherein the plurality of observation areas are preset with credibility grades, and the credibility grades are used for representing the actual credibility of the detection results in the height.
3. The method according to claim 2, wherein the confidence levels include an untrusted degree, a low confidence level and a high confidence level, the untrusted degree is used to indicate that the height is smaller or larger than a valid detection range of the radar.
4. The radar equipment detection result consistency comparison method according to claim 3, wherein the observation region comprises a blind region, a transition region, a confidence region, a high-altitude noise point region and a region outside the detection range, the confidence level of the blind region outside the detection range is not confidence, the confidence level of the transition region outside the detection range is low confidence, and the confidence level of the confidence region is high confidence.
5. The radar device detection result consistency comparison method according to claim 4, wherein the step of performing normal random sampling on the altitude to obtain a plurality of altitude data samples specifically comprises:
reading a plurality of detection results in the result number matrix in the low-reliability observation area and the high-reliability observation area;
sequencing and recombining the detection results according to the heights to form a normal sampling extraction object;
and carrying out normal random sampling on the normally sampled extraction object to obtain a plurality of height data samples.
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