CN114035183A - Pulse-based radar data positioning method, device, equipment and medium - Google Patents
Pulse-based radar data positioning method, device, equipment and medium Download PDFInfo
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- CN114035183A CN114035183A CN202111303678.3A CN202111303678A CN114035183A CN 114035183 A CN114035183 A CN 114035183A CN 202111303678 A CN202111303678 A CN 202111303678A CN 114035183 A CN114035183 A CN 114035183A
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
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Abstract
The embodiment of the invention discloses a pulse-based radar data positioning method, a pulse-based radar data positioning device, pulse-based radar data positioning equipment and a pulse-based radar data positioning medium. The method comprises the following steps: determining a target pulse signal from the candidate pulse signals according to a target data identifier of the target radar data and an incidence relation between the data identifier and the pulse identifier; wherein the target radar data is acquired by the target pulse signal trigger; determining target position information from each candidate position information according to the receiving time of the target pulse signal and the acquisition time of each candidate position information; and positioning the target radar data according to the target position information. The embodiment of the invention realizes the effect of improving the positioning accuracy of the radar data.
Description
Technical Field
The embodiment of the invention relates to the technical field of computers, in particular to a pulse-based radar data positioning method, device, equipment and medium.
Background
The road sinks downwards under the action of natural or artificial factors and collapses on the ground. Road collapse increases the risk of traffic accidents and casualties, and causes disasters such as building foundation sinking, house cracking, underground pipeline damage, urban flood and the like. Therefore, monitoring of road collapse is required to ensure the safety and benefits of the masses.
At present, no mature method for accurately positioning the road collapse point exists.
Disclosure of Invention
The embodiment of the application discloses a pulse-based radar data positioning method, device, equipment and medium, and aims to solve the problem of low positioning accuracy of existing radar data.
In a first aspect, an embodiment of the present invention provides a method for positioning radar data based on pulses, where the method includes:
determining a target pulse signal from the candidate pulse signals according to a target data identifier of the target radar data and an incidence relation between the data identifier and the pulse identifier; wherein the target radar data is acquired by the target pulse signal trigger;
determining target position information from each candidate position information according to the receiving time of the target pulse signal and the acquisition time of each candidate position information;
and positioning the target radar data according to the target position information.
In a second aspect, an embodiment of the present invention provides an apparatus for positioning radar data based on pulses, the apparatus including:
the pulse signal determining module is used for determining a target pulse signal from the candidate pulse signals according to a target data identifier of the target radar data and an incidence relation between the data identifier and the pulse identifier; wherein the target radar data is acquired by the target pulse signal trigger;
the position information determining module is used for determining target position information from each candidate position information according to the receiving time of the target pulse signal and the acquisition time of each candidate position information;
and the positioning module is used for positioning the target radar data according to the target position information.
In a third aspect, an embodiment of the present invention provides an apparatus, where the apparatus includes:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement a method for pulse-based radar data location as described in any of the embodiments of the invention.
In a fourth aspect, embodiments of the present invention provide a computer-readable medium, on which a computer program is stored, which when executed by a processor, implements a method for positioning pulse-based radar data according to any one of the embodiments of the present invention.
The embodiment of the invention realizes the effect of improving the positioning accuracy of the radar data.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a flowchart of a positioning method for pulse-based radar data according to an embodiment of the present invention;
fig. 2A is a flowchart of a positioning method for pulse-based radar data according to a second embodiment of the present invention;
fig. 2B is a schematic interaction diagram of a radar data positioning apparatus according to a second embodiment of the present invention;
fig. 2C is a schematic structural diagram of a pulse plate according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a positioning apparatus for pulse-based radar data according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an apparatus according to a fourth embodiment of the present invention.
Detailed Description
The embodiments of the present invention will be described in further detail with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the embodiments of the invention and that no limitation of the invention is intended. It should be further noted that, for convenience of description, only the structures related to the embodiments of the present invention are shown in the drawings, not all the structures.
In the research and development process of the applicant, it is found that in the existing road collapse monitoring method, radar data is generally obtained by using a ground penetrating radar, and whether road collapse exists at a current position point is determined according to the radar data, and position information of the current position point is mostly acquired through a Global Positioning System (GPS). However, in an urban environment, due to the influence of high buildings, overpasses, tree crowns or tunnels and the like, GPS signals are very unstable, and a position coordinate drift phenomenon is easily generated, which leads to the fact that radar data and position information cannot be accurately associated, and thus, the position of road collapse cannot be accurately positioned.
Example one
Fig. 1 is a flowchart of a positioning method for pulse-based radar data according to an embodiment of the present invention. The present embodiment is applicable to the case of positioning radar data, and the method may be performed by a positioning apparatus for pulse-based radar data provided by the embodiment of the present invention, and the apparatus may be implemented by software and/or hardware. As shown in fig. 1, the method may include:
s101, determining a target pulse signal from candidate pulse signals according to a target data identifier of target radar data and an incidence relation between the data identifier and the pulse identifier; wherein the target radar data is acquired by the target pulse signal trigger.
The target radar data are acquired by a ground penetrating radar, the ground penetrating radar is a geophysical method for detecting the characteristics and the distribution rule of substances in a medium by utilizing an antenna to transmit and receive high-frequency electromagnetic waves, in the embodiment, the ground penetrating radar transmits and detects the electromagnetic waves underground and receives the reflected electromagnetic waves as radar data, and the detection modes of the ground penetrating radar include but are not limited to a profile method, a wide-angle method, a transmission wave method, a three-dimensional measurement method and the like. The ground penetrating radar is arranged in the driving equipment, so that the radar data acquisition at a vehicle-mounted high speed is realized. The radar data are acquired through the ground penetrating radar, electrodes and cables do not need to be arranged, detection can be directly conducted, and convenience is high.
The data identifier represents identification information corresponding to the radar data, that is, after the ground penetrating radar performs detection every time to acquire one piece of radar data, one data identifier is given to the piece of radar data as a unique identifier of the piece of radar data, in other words, each data identifier only corresponds to unique radar data. The pulse mark represents mark information corresponding to a pulse signal, the pulse signal is generated according to a running state of a running device for collecting radar data, the pulse signal is periodically generated when the running device is in the running state, the generation period of the pulse signal is shorter when the running speed of the running device is higher, and correspondingly, the pulse signal is not generated when the running device is in a static state. The pulse signal is used for triggering the ground penetrating radar to detect, namely, the ground penetrating radar is triggered to collect radar data once every pulse signal is generated, and the ground penetrating radar stops collecting the radar data if the pulse signal is not generated currently. After the ground penetrating radar collects radar data once, the data identifier corresponding to the radar data is associated with the pulse identifier of the pulse signal triggering the ground penetrating radar to detect, for example, if the pulse signal A triggers the ground penetrating radar to detect and collect the radar data B, the pulse signal A is associated with the radar data B.
In one embodiment, if any radar data is determined to be abnormal, i.e., indicating that a road collapse problem exists, the radar data is taken as target radar data. And acquiring a data identifier of target radar data as a target data identifier, determining a target pulse identifier associated with the target data identifier according to a pre-established association relationship between the data identifier and the pulse identifier, and further determining a target pulse signal from the candidate pulse signals according to the target pulse identifier.
S102, determining target position information from each candidate position information according to the receiving time of the target pulse signal and the acquisition time of each candidate position information.
And the receiving time of the target pulse signal represents the corresponding time when the target pulse signal is received. The candidate position information is acquired in real time by a position acquisition device, and the position acquisition device is arranged in the running equipment, namely the position information of the running equipment is acquired in real time according to a preset period in the moving process of the running equipment. The acquisition time of the candidate position information represents the corresponding time when each candidate position information is acquired, that is, the corresponding time of the acquisition is recorded every time the candidate position information is acquired, and the time is used as the acquisition time of the candidate position information.
In one embodiment, the receiving time of the target pulse signal is obtained, matching is performed according to the receiving time of the target pulse signal and the acquisition time of each candidate position information, and the target position information is determined from each candidate position information according to the matching result.
S103, positioning the target radar data according to the target position information.
In one embodiment, the target position information is used as position information of the target radar data.
In another embodiment, the target position information is used as a position reference point, and the position information of the target radar data is calculated and determined on the basis of the position reference point by combining a preset position deviation value.
The technical scheme provided by the embodiment of the invention determines a target pulse signal from candidate pulse signals according to a target data identifier of target radar data and an incidence relation between the data identifier and the pulse identifier, wherein the target radar data is acquired by triggering the target pulse signal, target position information is determined from the candidate position information according to the receiving time of the target pulse signal and the acquisition time of each candidate position information, and the target radar data is positioned according to the target position information, and the incidence relation between the data identifier and the pulse identifier is pre-established, so that the target pulse signal for triggering the radar data acquisition can be determined according to the target data identifier of the target radar data, and further the target position information is determined according to the receiving time of the target pulse signal and the simultaneity of the acquisition time of the candidate position information so as to position the target radar data, the problem that position coordinate drifting in the prior art can not be associated with radar data is avoided, and the accuracy of radar data positioning is improved.
Example two
Fig. 2A is a flowchart of a positioning method for pulse-based radar data according to a second embodiment of the present invention. The present embodiment is optimized based on the above optional embodiments, as shown in fig. 2A, the method may include:
s201, determining a target pulse identifier from the pulse identifiers according to the target data identifiers of the target radar data and the incidence relation between the data identifiers and the pulse identifiers, and taking candidate pulse signals corresponding to the target pulse identifier as the target pulse signals.
In one embodiment, according to the target data identifier, the pulse identifier and the association relationship between the data identifier and the pulse identifier, the pulse identifier having the association relationship with the target data identifier is used as the target pulse identifier, the target pulse identifier is matched with the pulse identifier of each candidate pulse signal, and the candidate pulse signal corresponding to the target pulse identifier is used as the target pulse signal.
For example, assuming that the target data identifier is "0001", and the association relationship between the data identifier and the pulse identifier is that the data identifier "0001" and the pulse identifier "1000" have an association relationship therebetween, "1000" is taken as the target pulse identifier. Assuming that the pulse of the candidate pulse signal a is identified as "1000", the candidate pulse signal a is taken as the target pulse signal.
In an actual scenario, the association relationship between the data identifier and the pulse identifier may be determined as follows:
the distance measuring wheel of the driving device generates a pulse signal and sends the pulse signal to the pulse plate under the condition that the vehicle-mounted tire rotates, the pulse plate distributes a pulse identifier for the pulse signal and records the receiving time of the pulse signal, the pulse identifier and the corresponding receiving time are sent to the upper computer, and meanwhile the pulse plate can also generate a driving signal and send the driving signal to the upper computer to trigger the ground penetrating radar to detect. The ground penetrating radar responds to the driving signal to detect radar data, data identification is distributed to the radar data, the radar data and the corresponding data identification are sent to the upper computer, and the upper computer associates the pulse identification with the data identification.
S202, matching the receiving time of the target pulse signal with the acquisition time of each candidate position information, determining the target acquisition time matched with the receiving time, and taking the candidate position information corresponding to the target acquisition time as the target position information.
In one embodiment, the receiving time of the target pulse signal is matched with the acquisition time of the candidate position information, the acquisition time identical to the receiving time is used as the target acquisition time, and the candidate position information corresponding to the target acquisition time is used as the target position information according to the incidence relation between the acquisition time and the candidate position information.
For example, assuming that the reception time of the target pulse signal is "10 minutes 22 seconds", the acquisition time of "10 minutes 22 seconds" is taken as the target acquisition time. Assuming that the acquisition time associated with the candidate position information a is "10 minutes 22 seconds", the candidate position information a is taken as the target position information.
Optionally, each of the candidate position information is obtained by a global positioning system and/or an inertial measurement unit.
The global positioning system, i.e., GPS, can directly acquire the current position of the travel device as candidate position information. And the inertial measurement unit, namely the IMU inertial navigation measurement unit, can calculate to obtain the current position of the running equipment as candidate position information through the acquired acceleration and angular velocity.
S203, taking the target position information as a data acquisition position of the target radar data.
In one embodiment, the target position information is used as a data acquisition position of the target radar data, and if the target radar data is displayed abnormally, namely indicating that a road collapse problem exists, early warning is performed according to the target position information so as to prevent threats to the safety and benefits of people.
According to the technical scheme provided by the embodiment of the invention, the target pulse identifier is determined from the pulse identifier according to the target data identifier and the incidence relation between the data identifier and the pulse identifier, and the candidate pulse signal corresponding to the target pulse identifier is used as the target pulse signal, so that the effect of triggering the acquisition of the target pulse signal of radar data according to the incidence relation between the data identifier and the pulse identifier is realized; the receiving time is matched with the acquisition time of each candidate position information, the target acquisition time matched with the receiving time is determined, and the candidate position information corresponding to the target acquisition time is used as the target position information, so that the simultaneity between the receiving time of the target pulse signal and the acquisition time of each candidate position information is realized, the effect of determining the target position information is realized, and the time consistency between the target position information and the target pulse signal is ensured; by taking the target position information as the data acquisition position of the target radar data, the problem that position coordinate drifting in the prior art can not be associated with the radar data is avoided, and the accuracy of radar data positioning is improved.
On the basis of the above embodiment, fig. 2B is an interactive schematic diagram of the radar data positioning apparatus provided by the second embodiment of the present invention, as shown in fig. 2B, the distance measuring wheel 200 generates a pulse signal and sends the pulse signal to the pulse board 201 under the condition that the vehicle-mounted tire of the running apparatus rotates, the pulse board 201 assigns a pulse identifier to the pulse signal and records the receiving time of the pulse signal, and then sends the pulse identifier and the corresponding receiving time to the upper computer 202, and at the same time, the pulse board 201 also generates a driving signal and sends the driving signal to the upper computer 202 to trigger the ground penetrating radar 203 to detect. The ground penetrating radar 203 responds to the driving signal to detect radar data, data identification is distributed to the radar data, the radar data and the corresponding data identification are sent to the upper computer 202, and the upper computer 202 associates the pulse identification with the data identification. The position acquisition device 204 may be a global positioning system and/or an inertial measurement unit, and is configured to acquire the current position of the traveling apparatus in real time as candidate position information, record acquisition time of the candidate position information, and send the candidate position information and the acquisition time to the upper computer 202.
The upper computer 202 can determine a target pulse signal from the candidate pulse signals according to a target data identifier of the target radar data and an incidence relation between the data identifier and the pulse identifier; determining target position information from each candidate position information according to the receiving time of the target pulse signal and the acquisition time of each candidate position information; and positioning the target radar data according to the target position information. The specific implementation process of the method refers to the content recorded in the above method embodiments, and is not described herein again.
On the basis of the foregoing embodiment, fig. 2C is a schematic structural diagram of a pulse plate according to a second embodiment of the present invention, as shown in fig. 2C, 201 denotes the pulse plate, and the complex programmable logic device 205 is configured to output a driving signal according to an input pulse signal to trigger the ground penetrating radar to perform detection. The power source 206 is used for supplying power for the operation of the pulse board 201, and the communication interface 207 is used for communicating with an upper computer to transmit data. In this embodiment, the pulse board 201 may further output a plurality of synchronous driving signals, and a synchronous interface is reserved for subsequently driving a plurality of radars or other sensors, such as a camera, so as to enrich the combination of the system.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a positioning apparatus for pulse-based radar data according to a third embodiment of the present invention, which is capable of executing a positioning method for pulse-based radar data according to any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method. As shown in fig. 3, the apparatus may include:
a pulse signal determining module 31, configured to determine a target pulse signal from the candidate pulse signals according to a target data identifier of the target radar data and an association relationship between the data identifier and the pulse identifier; wherein the target radar data is acquired by the target pulse signal trigger;
a position information determining module 32, configured to determine target position information from each candidate position information according to the receiving time of the target pulse signal and the acquisition time of each candidate position information;
and the positioning module 33 is configured to position the target radar data according to the target position information.
On the basis of the foregoing embodiment, the pulse signal determining module 31 is specifically configured to:
determining a target pulse identifier from the pulse identifiers according to the target data identifiers and the incidence relation between the data identifiers and the pulse identifiers;
and taking the candidate pulse signal corresponding to the target pulse identification as the target pulse signal.
On the basis of the foregoing embodiment, the location information determining module 32 is specifically configured to:
matching the receiving time with the acquisition time of each candidate position information, and determining target acquisition time matched with the receiving time;
and taking the candidate position information corresponding to the target acquisition time as the target position information.
On the basis of the above embodiment, the positioning module 33 is specifically configured to:
and taking the target position information as a data acquisition position of the target radar data.
On the basis of the above embodiment, each of the candidate position information is acquired by a global positioning system and/or an inertial measurement unit.
The positioning device for radar data based on pulse provided by the embodiment of the invention can execute the positioning method for radar data based on pulse provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to a positioning method for pulse-based radar data provided in any embodiment of the present invention.
Example four
Fig. 4 is a schematic structural diagram of an apparatus according to a fourth embodiment of the present invention. Fig. 4 illustrates a block diagram of an exemplary device 400 suitable for use in implementing embodiments of the present invention. The apparatus 400 shown in fig. 4 is only an example and should not bring any limitations to the functionality or scope of use of the embodiments of the present invention.
As shown in FIG. 4, device 400 is in the form of a general purpose computing device. The components of device 400 may include, but are not limited to: one or more processors or processing units 401, a system memory 402, and a bus 403 that couples the various system components (including the system memory 402 and the processing unit 401).
The system memory 402 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)404 and/or cache memory 405. The device 400 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 406 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 4, and commonly referred to as a "hard drive"). Although not shown in FIG. 4, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 403 by one or more data media interfaces. Memory 402 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 408 having a set (at least one) of program modules 407 may be stored, for example, in memory 402, such program modules 407 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 407 generally perform the functions and/or methods of the described embodiments of the invention.
The processing unit 401 executes a program stored in the system memory 402 to execute various functional applications and data processing, for example, to implement the pulse-based radar data positioning method provided by the embodiment of the present invention, including:
determining a target pulse signal from the candidate pulse signals according to a target data identifier of the target radar data and an incidence relation between the data identifier and the pulse identifier; wherein the target radar data is acquired by the target pulse signal trigger;
determining target position information from each candidate position information according to the receiving time of the target pulse signal and the acquisition time of each candidate position information;
and positioning the target radar data according to the target position information.
EXAMPLE five
An embodiment of the present invention further provides a computer-readable storage medium, where the computer-executable instructions, when executed by a computer processor, are configured to perform a method for pulse-based radar data positioning, the method including:
determining a target pulse signal from the candidate pulse signals according to a target data identifier of the target radar data and an incidence relation between the data identifier and the pulse identifier; wherein the target radar data is acquired by the target pulse signal trigger;
determining target position information from each candidate position information according to the receiving time of the target pulse signal and the acquisition time of each candidate position information;
and positioning the target radar data according to the target position information.
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the method operations described above, and may also perform related operations in a positioning method based on pulse radar data provided by any embodiments of the present invention. The computer-readable storage media of embodiments of the invention may take any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A method for pulse-based positioning of radar data, comprising:
determining a target pulse signal from the candidate pulse signals according to a target data identifier of the target radar data and an incidence relation between the data identifier and the pulse identifier; wherein the target radar data is acquired by the target pulse signal trigger;
determining target position information from each candidate position information according to the receiving time of the target pulse signal and the acquisition time of each candidate position information;
and positioning the target radar data according to the target position information.
2. The method according to claim 1, wherein determining the target pulse signal from the candidate pulse signals according to the data identifier of the target radar data and the association relationship between the data identifier and the pulse identifier comprises:
determining a target pulse identifier from the pulse identifiers according to the target data identifiers and the incidence relation between the data identifiers and the pulse identifiers;
and taking the candidate pulse signal corresponding to the target pulse identification as the target pulse signal.
3. The method of claim 1, wherein determining the target position information from each of the candidate position information according to the receiving time of the target pulse signal and the acquisition time of each candidate position information comprises:
matching the receiving time with the acquisition time of each candidate position information, and determining target acquisition time matched with the receiving time;
and taking the candidate position information corresponding to the target acquisition time as the target position information.
4. The method of claim 1, wherein said locating the target radar data based on the target location information comprises:
and taking the target position information as a data acquisition position of the target radar data.
5. The method of claim 1, wherein each of the candidate position information is obtained by a global positioning system and/or an inertial measurement unit.
6. A pulse-based radar data locating apparatus, comprising:
the pulse signal determining module is used for determining a target pulse signal from the candidate pulse signals according to a target data identifier of the target radar data and an incidence relation between the data identifier and the pulse identifier; wherein the target radar data is acquired by the target pulse signal trigger;
the position information determining module is used for determining target position information from each candidate position information according to the receiving time of the target pulse signal and the acquisition time of each candidate position information;
and the positioning module is used for positioning the target radar data according to the target position information.
7. The apparatus of claim 6, wherein the pulse signal determination module is specifically configured to:
determining a target pulse identifier from the pulse identifiers according to the target data identifiers and the incidence relation between the data identifiers and the pulse identifiers;
and taking the candidate pulse signal corresponding to the target pulse identification as the target pulse signal.
8. The apparatus of claim 6, wherein the location information determining module is specifically configured to:
matching the receiving time with the acquisition time of each candidate position information, and determining target acquisition time matched with the receiving time;
and taking the candidate position information corresponding to the target acquisition time as the target position information.
9. An electronic device, characterized in that the electronic device further comprises:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the method for pulse-based radar data location according to any of claims 1-5.
10. A computer-readable medium, on which a computer program is stored which, when being executed by a processor, carries out a method for positioning pulse-based radar data according to any one of claims 1 to 5.
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