CN114200420A

CN114200420A - Detection processing method and device for static target, electronic equipment and storage medium

Info

Publication number: CN114200420A
Application number: CN202111457932.5A
Authority: CN
Inventors: 蒋闻涛
Original assignee: Shanghai Iding Info & Tech Co ltd
Current assignee: Shanghai Zhenfu Intelligent Technology Co ltd
Priority date: 2021-12-01
Filing date: 2021-12-01
Publication date: 2022-03-18

Abstract

The invention provides a method and a device for detecting and processing a static target, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring a plurality of groups of sampling data, and acquiring and extracting corresponding target sampling data for a plurality of times or even phases and steps based on the time redundancy of the detected sampling of the stationary target; determining whether the position point is the position point of the static target or not based on the difference of the sampling data of the same position point in the detection range; and determining detection information of the position point of the static target based on part or all of the sampling data of the position point of the static target.

Description

Detection processing method and device for static target, electronic equipment and storage medium

Technical Field

The invention relates to the field of detection, in particular to a method and a device for detecting and processing a static target by a microwave sensor, electronic equipment and a storage medium.

Background

Detection applications for microwave radar are numerous, useful for detecting the distance and velocity of objects, useful for positioning, useful for detecting cloud weather, useful for detecting underground structures, and so forth.

At present, microwave target detection is realized by utilizing a microwave frequency band in the industry.

The microwave sensor has many advantages for sensing the target and the environment, besides the detection of the distance and the movement speed of the moving object which is good at the detection of the target, the detection of the target is not easily influenced by external factors such as illumination, climate and the like, and the microwave sensor is an environment and target detection sensor in the industry at present.

However, when a microwave sensor is used for detection, only a dynamic object is generally detected, a detection means for a static object is lacked, and the requirement for high-performance environment sensing cannot be met.

Disclosure of Invention

The invention provides a detection processing method and device for a static object, electronic equipment and a storage medium, which are used for solving the problem of lack of detection means for the static object. Because the stationary target is detected, and the sensor is fixedly arranged at a position, the system fully utilizes the characteristic that the stationary object target reflects the millimeter wave signal, when echo signals are processed, focusing on reflected signals of a static target, repeatedly sampling and carrying out processing methods such as signal iteration accumulation and the like by utilizing the insensitivity of the detection of the static target on a time axis to acquire information so as to filter interference signals (random noise \ background noise and the like) and signals (non-corresponding static target signals) brought by moving targets, the configuration of the emission signals is finely adjusted to acquire more related effective information through the relevance data mining of the signals, the number of sampling points, the number of sampling channels and the precision of the target are equivalently increased, and the detection precision of the target (including the distance detection precision and the space angle positioning detection precision of the target) is improved; for the capturing, accessing and processing of target reflection signals, the redundancy (insensitivity) of a static target to time is also utilized, each captured frame or each pulse signal (chirp) is divided into parts (subunits) one by one or even, and then the parts are subjected to step capturing processing/storage and transmission, and then the processed signals of the parts are reunited to restore into a complete receiving signal unit for subsequent signal processing and target detection; the system improves the target detection precision by mining the relevance data of a large number of target reflection signals, filters out background noise and interference signals brought by moving targets, further overcomes the defect of the microwave radar in detecting static targets, and realizes the high-precision detection of the static targets in the target environment.

According to a first aspect of the present invention, there is provided a method for detecting and processing a static target by a microwave sensor, including:

acquiring a plurality of groups of sampling data;

wherein, when the multiple sets of sampling data are signals transmitted by the microwave sensor for multiple times, the sampling data corresponding to the reflected signals comprise: frequency information and phase information corresponding to the intermediate frequency signal; the corresponding intermediate frequency signal refers to: carrying out frequency mixing and sampling on the corresponding reflection signals to obtain signals;

determining whether the position point is the position point of the static target or not based on the sampling data of the same position point in the detection range at different times;

determining detection information of the position point of the static target based on partial or all sampling data of the position point of the static target, wherein the detection information comprises the distance of the corresponding position point and/or the space angle of the position of the static target.

Optionally, when the microwave sensor transmits a signal, the signal is transmitted according to a corresponding transmission configuration parameter, where the transmission configuration parameter includes: the initial frequency and the initial phase of the transmitted signal, the radar modulation slope of the frequency modulation continuous wave and the signal bandwidth;

the plurality of sets of sample data includes: and corresponding sampling data when the signals are transmitted by different transmission configuration parameters aiming at the same position point.

Optionally, the plurality of sets of sampling data include: arbitrary first sample data and second sample data; the first sampling data is sampling data corresponding to a reflection signal when the microwave sensor transmits a signal with a first transmission configuration parameter for multiple times, and the second sampling data is sampling data corresponding to the reflection signal when the microwave sensor transmits the signal with a second transmission configuration parameter;

correspondingly, determining whether the position point is the position point of the static target based on the sampling data of the same position point in the detection range at different times includes:

and for any one first position point, comparing the first sampling data and the second sampling data of the first position point, and adjusting the cumulative probability information of the first position point as a static target position point based on the comparison result, wherein the cumulative probability information represents the possibility that the corresponding position point is the static target position point.

The first position point is a general term, the microwave sensor can simultaneously detect one to a plurality of target position points each time the signal is transmitted and received, and for the simultaneous detection of a plurality of target position points, we can mark them as "first position point" and "second position point" … … respectively to process the same way.

Optionally, a radar modulation slope in the first transmission configuration parameter is a first slope, the corresponding transmission signal is a first transmission signal, a radar modulation slope in the second transmission configuration parameter is a second slope, the corresponding transmission signal is a second transmission signal, and the first slope and the second slope are different slopes;

comparing the first sampling data and the second sampling data of the first position point, and adjusting the cumulative probability information of the first position point as a static target position point based on the comparison result, including:

converting the second sampled data to equivalent sampled data based on a difference between the first slope and the second slope, the equivalent sampled data characterizing: if the second transmitting signal is sent out with a first slope, corresponding sampling data is obtained;

and if the equivalent sampling data is the same as or similar to the first sampling data, improving the cumulative probability information.

Optionally, an initial phase in the first transmission configuration parameter is a first phase, and an initial phase in the second transmission configuration parameter is a second phase;

and if the first sampling data is the same as or similar to the second sampling data, improving the cumulative probability information.

Optionally, the plurality of sets of sampling data include: arbitrary third sample data and fourth sample data;

the third sampling data is sampling data corresponding to a reflection signal when the microwave sensor transmits a signal with a third transmission configuration parameter for multiple times, and the fourth sampling data is sampling data corresponding to a reflection signal when the microwave sensor transmits a signal with a fourth transmission configuration parameter;

the starting frequency in the third transmission configuration parameter is a first frequency, and the starting frequency in the fourth transmission configuration parameter is a second frequency;

determining detection information of the position points of the static target based on partial or whole sampling data of the position points of the static target, wherein the detection information comprises;

and for any second position point of the static target, determining the distance of the second position point based on the phase difference in the third sampling data and the fourth sampling data.

Optionally, the plurality of sets of sampling data include: any fifth sample data and a plurality of sets of sixth sample data;

the fifth sampling data is sampling data corresponding to a reflection signal when the microwave sensor transmits a signal to a third position point, and the sixth sampling data is sampling data corresponding to a reflection signal when the microwave sensor transmits a signal to a fourth position point;

the detection method further comprises the following steps:

and judging whether the third position point and the fourth position point are in a static target of the same continuum or not based on the difference between the fifth sampling data and the sixth sampling data.

Optionally, determining whether the position point is a position point of the static target based on the sampling data of the same position point in the detection range at different times includes:

and filtering the sampling data of the same position point by using a preset filtering algorithm.

Optionally, when the microwave sensor receives and samples the signal, the microwave sensor receives and samples the signal according to the corresponding receiving sampling configuration parameter;

the plurality of sets of sample data includes: and receiving and sampling corresponding sampling data when the signals are received and sampled by different receiving sampling configuration parameters aiming at the same position point.

the plurality of sets of sample data includes: corresponding seventh sampling data when the signals are transmitted according to the same transmission configuration parameters aiming at the same position point;

determining whether the position point is the position point of the static target or not based on the sampling data of the same position point in the detection range at different sampling times, wherein the determining step comprises the following steps:

and comparing the seventh sampling data at different times aiming at the same position point, and adjusting the cumulative probability information of the position point according to the comparison result, wherein the cumulative probability information represents the possibility that the corresponding position point is a static target position point.

Optionally, the microwave sensor uses the redundancy (insensitivity) of the stationary target to time to divide each frame or each pulse signal (chirp) one by one or even into parts (subunits) to perform step-by-step transmission, reception, processing and storage, and then re-aggregates the processed signals of each part to recover into a complete signal receiving unit for subsequent signal processing and target detection, so that the system breaks through the hardware limitation (data storage capacity limitation, sensor data bandwidth limitation, sensor local data processing calculation force limitation and the like) of the edge side (sensor module side), and the effective acquisition of a large amount of sampling data of the target signal is also realized based on a small-memory and small-bandwidth system;

optionally, if the detection method is applied to a server (a scenario in which a sensor is connected to the server to work together), then:

acquiring a plurality of sets of sample data, including:

receiving a plurality of data units sequentially uploaded by the microwave sensor according to an appointed sequence; the plurality of data units are formed by dividing the sampling data by the microwave sensor;

and recombining the plurality of data units to obtain the plurality of groups of sampling data.

Optionally, the method for detecting and processing a static target by a microwave sensor further includes a data uploading method of the microwave sensor, including:

dividing the sampled data into a plurality of data units;

and uploading the data units to the server so as to enable the server to execute the detection processing method.

According to a second aspect of the present invention, there is provided a detection processing device for a static target by a microwave sensor, comprising:

the acquisition module is used for acquiring a plurality of groups of sampling data;

the static target determining module is used for determining whether the position point is the position point of the static target or not based on the sampling data of the same position point in the detection range at different times;

the detection information determining module is used for determining the detection information of the position point of the static target based on part or all of sampling data of the position point of the static target, and the detection information comprises the distance of the corresponding position point and/or the space angle of the position of the static target.

According to a third aspect of the invention, there is provided an electronic device comprising a memory and a processor:

the memory is used for storing codes;

the processor is adapted to execute the code in the memory for implementing the method according to the first aspect and its alternatives.

According to a fourth aspect of the present invention, there is provided a storage medium having a program stored thereon, wherein the program, when executed by a processor, implements the method of the first aspect and its alternatives.

The invention provides a method, a device, electronic equipment and a storage medium for detecting and processing a static target by detecting position points in a target environment for multiple times, and because the phase, the frequency and the like of a reflected signal of the static target through an intermediate frequency signal generated in a continuous frequency modulation signal mixer are unchanged or accord with a certain rule, the position points of the static target can be determined more accurately by taking sampling data at different times as the basis and acquiring information by processing methods of repeatedly sampling, performing signal iteration accumulation and the like. On the basis, the invention can determine the detection information of the position point of the static target based on the sampling data of the static target, realize the detection of the static target and is beneficial to meeting the requirement of high-performance environmental perception.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a flow chart of a method for detecting and processing a static object according to an embodiment of the invention;

FIG. 2 is a schematic diagram of a radar pulse signal in accordance with an embodiment of the present invention;

FIG. 3 is a schematic diagram of a Range Bin combination of radar ranging according to an embodiment of the present invention;

FIG. 4 is a diagram of a plurality of pulse signals combined into a larger bandwidth pulse signal according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a static target detection processing apparatus according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of an electronic device in an embodiment of the invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, 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 data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The technical solution of the present invention will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.

Referring to fig. 1 to 4, a method for detecting and processing a static target by a microwave sensor includes:

s11: acquiring a plurality of groups of sampling data;

s12: determining whether the position point is the position point of the static target or not based on the sampling data of the same position point in the detection range at different times;

s13: and determining detection information of the position point of the static target based on part or all of the sampling data of the position point of the static target.

The detection information includes the distance of the corresponding position point (i.e. the distance between the corresponding position point and the microwave sensor) and/or the spatial angle of the position of the static target, and no matter what the detection information is, the detection information is obtained based on the data during sampling, which does not depart from the scope of the embodiment of the present invention.

In step S11, since the corresponding intermediate frequency signal is generated by sampling the reflected signal after being processed by the mixer, the phase, frequency, and the like of the intermediate frequency signal obtained from the reflected signal of the static object are constant or regular.

Therefore, the position point of the static target can be accurately determined and the interference (such as the interference caused by the dynamic target) can be filtered based on the sampling data of different time. On the basis, the invention can realize the detection of the static target and obtain the corresponding detection information, compared with the scheme of only detecting the dynamic target, under the condition of adopting the invention, if the dynamic target is sensed at the same time, the requirement of high-performance environmental sensing can be met through comprehensive sensing.

Wherein, when the microwave sensor transmits signals, the signals are transmitted according to corresponding transmission configuration parameters, and the transmission configuration parameters include: the initial frequency and the initial phase of the transmitted signal, the radar modulation slope of the frequency modulation continuous wave and the signal bandwidth; other arbitrary parameters related to the Chirp signal (i.e., pulse signal) waveform, such as frequency modulation rate, signal bandwidth, etc., may also be included; the pulse signals can be understood by referring to fig. 2.

When the microwave sensor receives and samples signals, the signals can be received and sampled by corresponding receiving sampling configuration parameters; the plurality of sets of sample data includes: and receiving and sampling corresponding sampling data when the signals are received and sampled by different receiving sampling configuration parameters aiming at the same position point.

It can be seen that, by utilizing the time redundancy of sampling the static target by the sensor, rich sampling data can be formed by adjusting the configurations of signal transmission and reception sampling (i.e. transmission configuration parameters and reception sampling configuration parameters) at each time, for example, by setting different Chirp signal waveforms (realized by adjusting the frequency modulation rate, signal bandwidth, spectrum division and combination of FMCW Chirps, etc.) and data sampling processing settings of the received signals (for example, adjusting the sampling start time, the number of signal sampling points, and the sampling frequency of the received signals), and then accumulating and recording the data sampled at each time for uniform processing to increase the capability of signal detection (ranging accuracy, distance resolution) of the static target.

In one embodiment, in step S12, the sampling data of the same location point may be filtered by using a predetermined filtering algorithm.

It can be seen that, for the collected sampling data, a large amount of sampling data can be obtained by sampling and accumulating the received data for multiple times, and then noise and moving objects can be filtered by a mathematical method, for example, sampling data is captured by repeatedly accumulating and recording for a period of time (for example, sampling is repeated for 100 times or more, and data sampled each time is accumulated and recorded) and then data processing is performed; just as with the effective accumulated data combination, based on the sampled data, algorithms such as a filtering threshold and covariance matrix processing can be established to further filter out the sampled data of the non-static target and random interference noise.

In addition, for definition and filtering of radar moving targets, two-dimensional FFT operation can be performed on the targets based on a traditional radar algorithm to obtain speed dimension data of potential targets, the targets (reflection points) with speed movement characteristics are defined as the moving targets, when the moving targets appear, current (instant) sampling data is discarded, the system repeats sampling operation until no moving target (reflection point) is detected, and then the system stores the sampling data as effective data records.

Further, the first sample data, the second sample data, the third sample data, the fourth sample data, the fifth sample data, the sixth sample data, the seventh sample data, and the like mentioned later may be sample data remaining after being filtered through the above-described process.

In one embodiment, in order to provide quantifiable basis for the determination of the position point of the static object, the probability of whether a position point belongs to the static object may be represented by the cumulative probability information (which may also be understood as an acknowledgement probability value) of the position point, that is: the cumulative probability information characterizes the likelihood that the corresponding location point is a static target location point. Since the data amount of the sample data is large, the accumulated probability information is an accumulated amount, and may be, for example, an accumulated amount, a weighted accumulated amount, or the like. This manner of accumulation is illustrated below with reference to specific examples when using cumulative probability information. Further, in step S12, the cumulative probability information may be adjusted by comparing the sampled data at different times of the same location point within the detection range, and then, based on the finally adjusted cumulative probability information, it is determined whether the location point is a location point of the static object; for example, if the probability represented by the cumulative probability information is higher than a first threshold, the location point is determined to be a location point of the static object.

Any mathematical, statistical, means known in the art may be applied to process cumulative probability information without departing from the scope of embodiments of the present invention.

Therefore, the insensitivity of the detection of the static object on the time axis is utilized to repeatedly sample and perform signal iteration accumulation processing to obtain information, interference (such as random noise \ background noise and the like) and sampling data brought by a moving object (namely the sampling data brought by the non-static object) are filtered, and further, the position point of the static object can be accurately identified, namely the sampling data of the static object can be accurately extracted, so that the detection information is determined, and the accuracy of the detection of the static object is ensured.

In one embodiment, the plurality of sets of sampled data includes: corresponding sampling data when the signals are transmitted by different transmission configuration parameters aiming at the same position point;

the different transmit configuration parameters refer to: a group of emission configuration parameters is correspondingly adopted when the emission signal is sent out every time, and on the basis, one or more emission configuration parameters are distinguished between two groups of emission configuration parameters of different emission signals.

Furthermore, the number and the precision of sampling points of the target (such as a static target) are equivalently increased through fine adjustment of the emission configuration parameters, so that the detection precision of the target (such as the static target), such as the distance detection precision of the static target and the space angle positioning detection precision, is improved.

The plurality of sets of sample data includes: arbitrary first sample data and second sample data;

the first sample data and the second sample data are sample data at different times, which satisfies any of the following descriptions: the first sampling data is sampling data corresponding to a reflection signal when the microwave sensor transmits the signal with a first transmission configuration parameter for multiple times, and the second sampling data is sampling data corresponding to the reflection signal when the microwave sensor transmits the signal with a second transmission configuration parameter;

correspondingly, step S12 may include:

and for any one first position point, comparing the difference between the first sampling data and the second sampling data of the first position point, and adjusting the cumulative probability information of the first position point as a static target position point based on the comparison result.

In an example, when the first sampling data is the same as or similar to the second sampling data (or the converted sampling data thereof), the cumulative probability information of the corresponding position point is superimposed by a number greater than 0 or multiplied by a number greater than 1 to improve the cumulative probability information of the corresponding position point, and in a specific example, a preset weighted value may be multiplied on the basis of the number;

in another example, when the first sample data is not similar to the second sample data (or the converted sample data thereof), a reduction is performed on the accumulated probability information of the corresponding position point, for example, a number greater than 0 is subtracted or a number greater than 1 is divided to reduce the accumulated probability information of the corresponding position point, and in a specific example, a preset weighting value may also be multiplied on the basis of the number.

Wherein the similar lifting and the dissimilar lowering can be realized alternatively or concurrently.

Furthermore, the above is only an example of cumulative probability information processing, and no matter how such accumulation is implemented, the scope of the embodiments of the present invention is not deviated.

The radar modulation slope in the first transmission configuration parameter is a first slope, the corresponding transmission signal is a first transmission signal, the radar modulation slope in the second transmission configuration parameter is a second slope, the corresponding transmission signal is a second transmission signal, and the first slope and the second slope are different slopes;

adjusting cumulative probability information for the first location point to be a static target location point based on a difference between the first sampled data and the second sampled data for the first location point, including:

The process of converting to equivalent sample data may be, for example: the equivalent intermediate frequency signal value (namely, the protective equipment for equivalent sampling, which contains frequency and phase information) after frequency mixing corresponding to the radar modulation signal corresponding to the preset original slope parameter (namely, the first slope) is restored by the following two ways:

1) time axis switching (switching according to different slopes between chirp)

2) And the time shaft is not changed, the intermediate frequency sampling signal is directly converted (mapped) to the chirp with different slopes corresponding to the conversion, and the direct numerical value corresponding conversion of the intermediate frequency signal is carried out.

Wherein, adjusting the radar modulation slope can also improve the range resolution. The Range resolution is equal to the propagation speed of a radar signal divided by twice the bandwidth of a radar pulse signal, the Range resolution represents the capability of the radar for distinguishing two close-Range targets, namely, the Range accuracy between two position points is improved by improving the Range resolution, when the radar modulation slope is adjusted, namely, effective sampling data of corresponding position points are equivalently increased, namely, the effective sampling data of each pulse signal is increased, more radar ranging bins are correspondingly and effectively divided, and the Range resolution between the two position points is improved by taking the ranging bins as a unit in a detection area set by the radar.

It can be seen that when the slope parameter of the transmission signal is adjusted to repeatedly capture the signal, the signal reflection information data can be repeatedly captured by adjusting the slope parameter of the transmission signal (Chirp), then the corresponding received signal data value is converted into the sampling data corresponding to the slope parameter of the Chirp, and then the signal analysis is performed, wherein if two signals (or a plurality of signals) are the same or similar, the signal is the improvement of the confirmation probability value of the effective reflection signal of the target. Further, the method can be used to identify and extract the target signal and filter interference and background noise (interference and background noise signals are random and have substantially no probability of repeatedly appearing the associated values at all times and can be filtered out in this manner).

As shown in fig. 3, in one example, the range resolution may also be improved by increasing the bandwidth of the radar signal. For example, the radar chip only supports the signal bandwidth up to 2Ghz, and by means of 4 Chirps splices, Chirp 1 is set to be 60-62 Ghz (2Ghz bandwidth), Chirp 2 is set to be 62-64 Ghz (2Ghz bandwidth), and Chirp 3 is set to be 64 Ghz-

66Ghz (2Ghz bandwidth), the Chirp 4 is set to 66 Ghz-68 Ghz (2Ghz bandwidth), while the radar chip only supports the signal bandwidth up to 2Ghz, and according to the adjustment of the starting frequency, multiple groups of Chirp are spliced to data sampled by multiple groups of different frequency bands to synthesize a new Chirp with large bandwidth, namely a pulse signal with 60 Ghz-68 Ghz (8Ghz bandwidth). The bandwidth of the pulse signal is increased, the distance resolution is improved, and the system ranging precision is improved.

In one embodiment, the initial phase in the first transmission configuration parameter is a first phase, and the initial phase in the second transmission configuration parameter is a second phase;

It can be seen that, in addition to adjusting the slope parameter, also based on the target detection time adequacy with the detection of static targets, it is also possible to determine the properties of the received Signal by adjusting the initial phase of the transmitted Signal between different Signal transmit pulses (chirp), and then by using the comparison of the received Signal with the intermediate frequency Signal after passing through the continuous frequency modulated Signal Mixer (FMCW Signal Mixer): whether it is a static target reflection signal or a random disturbance or noise.

For the static target reflection Signal, after the phase of the transmission Signal is changed, the amplitude and the phase of an intermediate frequency Signal (IF Signal) generated after the reflection Signal of the static target passes through the continuous frequency modulation Signal mixer are unchanged. Based on the method, static target reflection signals in the signals can be detected through repeated comparison of multiple groups of signals; the more the number of repeated contrasts of the signals is, the higher the confidence of the detected static target reflection signals is, and the higher the confidence can be reflected in the cumulative probability information. In one embodiment, the plurality of sets of sampled data includes: arbitrary third sample data and fourth sample data;

the third sampling data is sampling data corresponding to a reflection signal when the microwave sensor transmits a signal with a third transmission configuration parameter, and the fourth sampling data is sampling data corresponding to the reflection signal when the microwave sensor transmits the signal with a fourth transmission configuration parameter;

It can be seen that, the phase correlation of the reflected signal is very valuable (there is continuity of the phase of the sampled data of the reflection point in the continuous space), and the phase correlation is utilized to improve the insufficiency and the challenge of the target space positioning caused by the insufficiency of the radar angular resolution.

Specifically, the static target is composed of one or more planes, for the radar, the detected plane is composed of a plurality of target reflection points, the plurality of reflection points of the static target are detected by the microwave radar, the phase continuity relation among the reflection points is included in the sampling data of the reflection points, when the spatial distance of the detected reflection points is within a half wavelength range, the phase difference of signals of the reflection points after passing through the mixer is continuously distributed within 360 degrees, for the distance detection of the reflection points, the phase information of the reflection signals can be obtained based on the sampling data, and the phase information of the reflection signals (the phase difference of the received reflection signals) is utilized to carry out precise positioning, so that the ranging precision is improved to the magnitude order of the microwave wavelength.

The specific method comprises the following steps: the difference between two or more groups of different set transmitting signals of the receiving signals of the reflecting targets at the same position point is fixed within one or more wavelengths lambda by finely adjusting the transmitting signals; the phase of the reflected echo of the transmitted signal with changing wavelength is changed periodically for the same static target position point (the phase phi of the reflected echo has a function relation with the target distance d and the radar signal wavelength lambda, and phi is F (4 pi (d/lambda)). In this way, the distance of the associated measured target is accurately positioned by utilizing the data analysis of the phase difference correlation of the static target to the reflected signals of different frequencies, so that the ranging precision of the associated measured target is further improved to the wavelength order (millimeter) of microwaves. The same can be used in both the horizontal and vertical phases, so the system can improve the detection range accuracy of the static target to the millimeter level (one tenth or one hundredth of a millimeter).

In one embodiment, the plurality of sets of sampled data includes: a plurality of sets of fifth sample data and a plurality of sets of sixth sample data;

the detection method further comprises the following steps:

and judging whether the third position point and the fourth position point are in the same static target or not based on the difference between the fifth sampling data and the sixth sampling data.

Therefore, through fine adjustment of the transmission configuration parameters of the transmission signals, more related effective information can be obtained by using relevance data mining of the signals, for example, whether the signals are in the same static target or not can be judged. Furthermore, due to the spatial continuity (composition of one or several faces) of the static object, this situation (scene) can be exploited to correlate the attribution of the reflected signals (whether they come from the same object or from different objects).

In one embodiment, the plurality of sets of sampled data includes: corresponding seventh sampling data when the signals are transmitted according to the same transmission configuration parameters aiming at the same position point;

determining whether the position point is the position point of the static target or not based on the difference of the sampling data of the same position point in the detection range, wherein the determining comprises the following steps:

The accumulated probability information is preset for the position point, the position point is repeatedly detected for multiple times by adjusting the modulation slope, the initial frequency, the initial phase, the radar signal bandwidth and the like of the radar, the accumulated probability information after each detection is correspondingly modified, and whether the detected position point is the position point of the static target or not can be accurately judged.

Since the signal sampling process of target detection is repeated and fine adjustment of the signal is performed to perform iterative sampling, a large amount of signal original sampling data and intermediate processing data are accumulated in the signal sampling and analyzing process, and a large data storage space is needed. Due to the consideration of system cost control, the radar sensor is not provided with a large data memory on the edge side (radar sensor system side), and the data memory (RAM) capacity of the radar sensor becomes a factor for preventing the implementation of the improved algorithm. In order to solve the problem, a redundant mechanism (time insensitivity) of data sampling of static target detection in a time dimension is also utilized, signal sampling data can be uploaded to a server in batches by using a mode of dividing the sampling information of the target detection firstly and then recombining and aggregating the signal sampling data, then the signal sampling data is recombined and aggregated and then is subjected to data processing, the data is processed by using the strong processing capacity and rich memory space of the server, and the detection of a static target cannot be influenced by the sampling information of the target detection by using a data transmission method of dividing the sampling information firstly and then recombining and aggregating the sampling information.

Therefore, in an embodiment, if the detection method is applied to a server, then:

acquiring a plurality of sets of sample data, including:

Correspondingly, the embodiment of the invention provides a data uploading method of a microwave sensor, which comprises the following steps:

dividing the sampled data into a plurality of data units;

and uploading the plurality of data units to the server so as to enable the server to execute the detection processing method.

In one example, the acquired sampling data is divided by taking a frame/pulse signal as a unit, then the divided sampling data is uploaded to a server in batches to be accumulated, the processing capacity of the server is utilized to process the sampling data, and meanwhile, the abundant memory space of the server is utilized to store the data.

And when the cut data is still limited by the transmission bandwidth, the sampled data of each frame/pulse signal is finely divided.

In another example, an ADC sampling time window may be divided into a plurality of ADC sampling time sub-windows, the sampling data of the ADC sampling time sub-windows is uploaded to a server for sample data accumulation, and the server receives the divided signals and then recombines them to restore the valid sampling data of a complete ADC sampling time window.

Specifically, the ADC sampling time window of each frame/or pulse signal is divided into a plurality of ADC sampling time sub-windows inside the radar sensor module, and the radar sensor repeats the detection process of the static target with each sub-window (even each Range Bin based on each Range) as a basic unit, and analyzes and filters the sampled data after multiple sampling and extracts effective sampled data, where the analyzing and filtering includes: and filtering noise points, random sampling errors and interference signals reflected by moving objects.

Also, since it is a static object that needs to be extracted, it is also possible to effectively extract signals and accumulate signals in stages by taking advantage of the redundancy in the time dimension. For the static target extraction process, the system is dynamically configured into a mode that is favorable for static target detection without worrying about setting constraints on the signal configuration of the capture quality of the dynamic target.

The microwave sensor utilizes the redundancy (insensitivity) of a static target to time to divide each captured frame or each pulse signal (chirp) into parts (subunits) one by one or even to perform step transmission, receiving, processing and storage, then, the processed signals of each part are reunited to restore into a complete signal receiving unit, and then subsequent signal processing and target detection are carried out, and the method can also be applied to the inside of a microwave sensor unit, and the data acquisition, storage and processing are divided into parts (subunits) to carry out step-by-step time-sharing processing, so that the system breaks through the hardware limit (the capacity limit of a local data storage of the sensor, the limit of the data bandwidth of the sensor, the limit of the processing calculation force of the local data of the sensor and the like) of an edge side (a sensor module side), and the effective acquisition of a large amount of sampling data of a target signal is also realized based on a small-memory and small-bandwidth microwave sensor system;

in addition, the Range Bin of the radar can be further refined, for example, corresponding to the limitation of the system hardware (sampling chip, etc.) design technology and system cost in the current industry, each signal pulse is commonly divided into 512/1024 ranging bins, which can be refined to be more times to refine the ranging processing of the radar (the aim is achieved by using the characteristic that the time margin is insensitive on the premise that the target and the radar are relatively static). Furthermore, by finely adjusting the initial set time of ADC sampling of signals between the Chirps, the sampling time of the reflected signals at each point in each group is finely shifted (shifted in the time domain) between different Chirps, and thus, when the sampling signals collected by a plurality of Chirps are accumulated and recombined, the number of effective sampling points of each Chirp is increased in proportion.

A new method of combining multiple chirps into a new Chirp with a larger bandwidth can be shown in fig. 4, for example.

In addition, the radar waveform with different transmission signal (chirp) slopes (i.e., slope parameters) can be used for repeatedly sampling the target for multiple times by dynamically adjusting the slope parameters of the transmission signal chirp, and then each group of received signals is converted into the equivalent intermediate frequency signal value (including frequency and phase information) after frequency mixing corresponding to the radar modulation signal corresponding to the preset original slope parameters by a value conversion method, that is, the formation of the equivalent sampling data mentioned above is understood, and the equivalent sampling data can be used as new sampling data to participate in the processing. Therefore, radar ranging is refined based on the time insensitivity of static target detection, the effective sampling number of each radar pulse signal (Chirp) is equivalently increased, and the limit that the target distance resolution ratio obtained by Nyquist sampling theorem is equal to C/2B (C: the propagation speed of radar signals; B: the bandwidth of radar pulse signals) on the basis of the equal-interval sampling method of the radar signals at present is broken through.

Fig. 3 shows a Range Bin combination typical of the current radar (the radar sets a detection area, partitions by distance, and scans and transmits (uploads) sampled raw data by one area); the effective sampling number of each Chirps is increased by utilizing the various methods mentioned above, which is equivalent to the improvement of the system ranging precision, and more Rang Bin can be effectively divided for improving the system ranging precision.

The radar sets a detection area, partitions are carried out by taking distance as a unit, and original data (raw data) are scanned and transmitted (uploaded) by one area. The advantage of taking distance as the unit is in order to improve the range resolution of radar, and then, can satisfy improvement range finding precision requirement by parameters such as dynamic adjustment chirp slope, signal ADC sampling start time and sampling interval.

Fig. 5 is a schematic diagram of a detection processing apparatus for a static object according to an embodiment of the present invention.

Referring to fig. 5, a detection processing apparatus 200 for a static object, applied to a server or a microwave sensor, includes:

an obtaining module 201, configured to obtain multiple sets of sample data;

a static target determining module 202, configured to determine whether a position point is a position point of a static target based on a difference between sampling data of the same position point in a detection range at different times;

the detection information determining module 203 is configured to determine detection information of a position point of a static object based on part or all of sampling data of the position point of the static object, where the detection information includes a distance of the corresponding position point.

Optionally, the plurality of sets of sampling data include: arbitrary first sample data and second sample data;

the first sampling data is sampling data corresponding to a reflection signal when the microwave sensor transmits a signal with a first transmission configuration parameter for multiple times, and the second sampling data is sampling data corresponding to the reflection signal when the microwave sensor transmits the signal with a second transmission configuration parameter;

correspondingly, the static target determining module 202 is specifically configured to:

the static object determination module 202 is specifically configured to:

Optionally, the plurality of sets of sampling data include: arbitrary fifth sample data and sixth sample data;

the detection device further comprises:

and the same static target judging module is used for judging whether the third position point and the fourth position point are in the same static target or not based on the difference between the fifth sampling data and the sixth sampling data.

Optionally, the static target determining module 202 is specifically configured to:

the plurality of sets of sample data includes: and receiving and sampling corresponding sampling data when the signals are received and sampled by different receiving sampling configuration parameters aiming at the same position point. 10. In accordance with the alternative of claim 1,

when the microwave sensor transmits signals, the signals are transmitted according to corresponding transmission configuration parameters, wherein the transmission configuration parameters comprise: the initial frequency and the initial phase of the transmitted signal, the radar modulation slope of the frequency modulation continuous wave and the signal bandwidth;

determining whether the position point is the position point of the static target or not based on the sampling data of the same position point in the detection range at different times, wherein the determining step comprises the following steps:

Alternatively to this, the first and second parts may,

if the detection method is applied to a server, the following steps are carried out:

the acquisition module is specifically configured to:

In summary, the present invention provides a method, an apparatus, an electronic device, and a storage medium for detecting and processing a static target, wherein a position point in a target environment is detected for multiple times, and since a phase, a frequency, and the like of an intermediate frequency signal generated by a continuous frequency modulation signal mixer of a reflected signal of the static target are constant or conform to a certain rule, the position point of the static target can be determined more accurately based on sampling data at different times. On the basis, the invention can determine the detection information of the position point of the static target based on the sampling data of the static target, realize the detection of the static target and is beneficial to meeting the requirement of high-performance environmental perception. In addition, the signals are cut, the cut signals are uploaded to the server or are calculated on the side edge of the module, the processing of data is completed by fully utilizing the memory and the calculation capacity of the server and the side edge of the module, and the configuration of the optimal cost of the system is achieved.

Referring to fig. 6, an electronic device 30 is provided, which includes:

a processor 31; and

a memory 32 for storing executable commands of the processor;

wherein the processor 31 is configured to perform the above-mentioned method via execution of the executable instructions.

The processor 31 is capable of communicating with the memory 32 via a bus 33.

The present embodiments also provide a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the above-mentioned method.

Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A detection processing method of a microwave sensor for a static target is applied to a server or the microwave sensor, and is characterized by comprising the following steps:

acquiring a plurality of groups of sampling data;

2. The detection processing method according to claim 1,

3. The detection processing method according to claim 2,

4. The detection processing method according to claim 3,

5. The detection processing method according to claim 3,

an initial phase in the first transmission configuration parameter is a first phase, and an initial phase in the second transmission configuration parameter is a second phase;

6. The detection processing method according to claim 2,

the plurality of sets of sample data includes: arbitrary third sample data and fourth sample data;

7. The detection processing method according to claim 2,

the plurality of sets of sample data includes: arbitrary fifth sample data and sixth sample data;

the detection method further comprises the following steps:

8. The processing method according to claim 1,

9. The processing method according to claim 1,

when the microwave sensor receives and samples signals, the microwave sensor receives and samples the signals according to the corresponding receiving sampling configuration parameters;

10. The processing method according to claim 1,

11. The processing method according to claim 1,

the plurality of sets of sample data includes: corresponding sampling data when the signals are transmitted by the same transmission configuration parameters aiming at the same position point;

the microwave sensor divides each frame or each pulse signal into parts one by one or even into parts to be transmitted, received, processed and stored step by step, and then the processed signals of the parts are reunited to restore into a complete signal receiving unit for subsequent signal processing and target detection.

12. The detection processing method according to claim 1 to 11,

acquiring a plurality of sets of sample data, including:

13. A data uploading method of a microwave sensor is characterized by comprising the following steps:

dividing the sampled data into a plurality of data units;

uploading the plurality of data units to the server to cause the server to perform the detection processing method of claim 10.

14. An inspection processing apparatus, comprising:

15. An electronic device comprising a memory, a processor and a program stored on the memory and executable on the processor, wherein the steps of the method of any of claims 1-12 are implemented when the program is executed by the processor.

16. A storage medium having a program stored thereon, wherein the program, when executed by a processor, performs the steps of the method of any of claims 1-12.