CN114265032A

CN114265032A - Radar echo data processing method and device, storage medium and terminal equipment

Info

Publication number: CN114265032A
Application number: CN202111491823.5A
Authority: CN
Inventors: 李国东; 钟填荣; 黄展宏; 吴居进
Original assignee: Guangzhou Xaircraft Technology Co Ltd
Current assignee: Guangzhou Xaircraft Technology Co Ltd
Priority date: 2021-12-08
Filing date: 2021-12-08
Publication date: 2022-04-01

Abstract

The application provides a radar echo data processing method, a device, a storage medium and a terminal device, wherein a first preset number of reference points are screened out from all target points, wherein the signal-to-noise ratio of any reference point is greater than that of a non-reference point, and the target points are points which are higher than a one-dimensional distance threshold in a one-dimensional distance spectrum corresponding to radar echo data; classifying all non-reference points according to the reference points, and determining a target class, wherein the number of target points in the target class is greater than or equal to a second preset number; target parameter information of a target point in the target category is output. By only reserving and outputting the target parameter information of the target point in the target category, the interference data in the target point is screened out, and the accuracy of the output target parameter information is further guaranteed.

Description

Radar echo data processing method and device, storage medium and terminal equipment

Technical Field

The application relates to the field of radars, in particular to a radar echo data processing method and device, a storage medium and terminal equipment.

Background

Millimeter wave imaging radars are widely used in various industries, such as the automotive field and the unmanned aerial vehicle field. Be different from the demand of automobile field to millimeter wave imaging radar two-dimensional high resolution, the imaging radar in unmanned aerial vehicle field mainly used realizes that unmanned aerial vehicle independently keeps away the barrier. Unmanned aerial vehicle of work in the agricultural field, radar need detect the target that trees, aerial electric wire, wire pole etc. need keep away the barrier and the target that ground, ditch, dykes and dams etc. are easily observed more accurately in the scene.

Because the unmanned aerial vehicle need avoid the target of monitoring at the operation in-process, if the condition of false detection takes place, probably influence unmanned aerial vehicle's operation, have the potential safety hazard even. Therefore, how to improve the detection accuracy of the radar becomes a difficult problem to be solved by the technical personnel in the field.

Disclosure of Invention

The present application aims to provide a radar echo data processing method, device, storage medium and terminal device, so as to at least partially improve the above problems.

In order to achieve the above purpose, the embodiments of the present application employ the following technical solutions:

in a first aspect, an embodiment of the present application provides a radar echo data processing method, where the method includes:

screening a first preset number of reference points from all target points, wherein the signal-to-noise ratio of any reference point is greater than that of a non-reference point, and the target points are points which are higher than a one-dimensional distance threshold in a one-dimensional distance spectrum corresponding to radar echo data;

classifying all non-reference points according to the reference points, and determining a target category, wherein the number of target points in the target category is greater than or equal to a second preset number;

and outputting target parameter information of the target point in the target category.

In a second aspect, an embodiment of the present application provides a radar echo data processing method, where the method includes:

determining a point higher than a one-dimensional distance threshold in a one-dimensional distance spectrum corresponding to radar echo data as a target point;

and acquiring target parameter information corresponding to the target point.

In a third aspect, an embodiment of the present application provides a radar echo data processing apparatus, where the apparatus includes:

the device comprises a processing unit, a distance threshold processing unit and a distance threshold processing unit, wherein the processing unit is used for screening a first preset number of reference points from all target points, the signal-to-noise ratio of any reference point is greater than that of a non-reference point, and the target points are points which are higher than a one-dimensional distance threshold in a one-dimensional distance spectrum corresponding to radar echo data;

the processing unit is further configured to classify all non-reference points according to the reference points, and determine a target category, where the number of target points in the target category is greater than or equal to a second preset number;

the output unit is used for outputting the target parameter information of the target point in the target category.

In a fourth aspect, an embodiment of the present application provides a radar echo data processing apparatus, where the apparatus includes:

the processing unit is used for determining a point which is higher than a one-dimensional distance threshold in a one-dimensional distance spectrum corresponding to the radar echo data as a target point; and the method is also used for acquiring target parameter information corresponding to the target point.

In a fifth aspect, an embodiment of the present application provides a radar device, where the radar device includes M first receiving antenna units, N second receiving antenna units, K transmitting antenna units, and a signal processing module, where the M first receiving antenna units maintain a first fixed interval and are arranged in a horizontal direction, the N second receiving antenna units are arranged in a target direction, an included angle between the target direction and the horizontal direction is a first preset angle value, an interval between any two of the second receiving antenna units is the first fixed interval, and at least two of the transmitting antenna units maintain a second fixed interval and are arranged in the horizontal direction; at least two transmitting antenna units are arranged along the target direction at a third fixed interval, wherein M is more than or equal to 4, N is more than or equal to 2, and K is more than or equal to 3;

the signal processing module is respectively connected with the first receiving antenna unit, the second receiving antenna unit and the transmitting antenna unit, and is used for processing radar echo data by any one of the methods.

In a sixth aspect, an embodiment of the present application provides a movable platform, which includes the radar apparatus described above.

In a seventh aspect, an embodiment of the present application provides a storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the method described above.

In an eighth aspect, an embodiment of the present application provides a terminal device, where the terminal device includes: a processor and memory for storing one or more programs; the one or more programs, when executed by the processor, implement the methods described above.

Compared with the prior art, the radar echo data processing method, the device, the storage medium and the terminal device provided by the embodiment of the application screen out a first preset number of reference points from all target points, wherein the signal-to-noise ratio of any reference point is greater than that of a non-reference point, and the target points are points higher than a one-dimensional distance threshold in a one-dimensional distance spectrum corresponding to radar echo data; classifying all non-reference points according to the reference points, and determining a target class, wherein the number of target points in the target class is greater than or equal to a second preset number; target parameter information of a target point in the target category is output. By only reserving and outputting the target parameter information of the target point in the target category, the interference data in the target point is screened out, and the accuracy of the output target parameter information is further guaranteed.

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

Drawings

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

Fig. 1 is a schematic arrangement diagram of an antenna unit in a radar apparatus according to an embodiment of the present application;

fig. 2 is a schematic diagram of a 3T12R imaging radar real aperture corresponding to an antenna array provided in the present embodiment;

fig. 3 is a schematic diagram of a 3T12R imaging radar virtual aperture array provided in an embodiment of the present application;

fig. 4 is a schematic flowchart of a radar echo data processing method according to an embodiment of the present disclosure;

fig. 5 is a schematic view of the substep of S109 provided in the embodiment of the present application;

FIG. 6 is a schematic diagram illustrating the substeps of S109-2 provided in the embodiments of the present application;

fig. 7 is a schematic flowchart of a radar echo data processing method according to an embodiment of the present disclosure;

fig. 8 is a schematic flowchart of a radar echo data processing method according to an embodiment of the present disclosure;

fig. 9 is a schematic diagram illustrating the substeps of S107 provided in the embodiment of the present application;

FIG. 10 is a schematic diagram illustrating the substeps of S107-3 provided in the embodiments of the present application;

FIG. 11 is a schematic diagram illustrating the substeps of S107-7 provided in the embodiments of the present application;

FIG. 12 is a schematic diagram of a field test scenario provided by an embodiment of the present application;

fig. 13 is a schematic diagram of an accumulation result of multi-frame point clouds before clustering according to the embodiment of the present application;

fig. 14 is a schematic diagram of an accumulation result of clustered multi-frame point clouds according to the embodiment of the present application;

fig. 15(a) is a top view and a side view of a plurality of accumulated point clouds before clustering according to the embodiment of the present application;

fig. 15(b) is a top view and a side view of the clustered multi-frame accumulated point cloud provided by the embodiment of the present application;

fig. 16 is a schematic flowchart of a radar echo data processing method according to an embodiment of the present disclosure;

fig. 17 is a schematic flowchart of a radar echo data processing method according to an embodiment of the present disclosure;

fig. 18 is a schematic diagram of units of a radar echo data processing apparatus according to an embodiment of the present application;

fig. 19 is a schematic structural diagram of a terminal device according to an embodiment of the present application.

In the figure: 10-a processor; 11-a memory; 12-a bus; 13-a communication interface; 301-a processing unit; 302-output unit.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. 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 application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. The term "comprising", without further limitation, means that the element so defined is not excluded from the group consisting of additional identical elements in the process, method, article, or apparatus that comprises the element.

In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships conventionally found in use of products of the application, and are used only for convenience in describing the present application and for simplification of description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present application.

In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

At present, most of unmanned airborne radars are close to the traditional vehicle-mounted radar, and only have horizontal direction resolution. Because of the lack of vertical resolution, part of the lower targets such as ground, ditches, dams, etc. and the upper targets such as aerial wires, etc. in an agricultural scene may be mistaken by the drone for obstacles at the same level in some cases, resulting in the drone flying around "non-existent obstacles". And the 4D imaging radar with vertical direction resolution is the key to solve the problem of obstacle avoidance of the scene.

The 4D imaging radar is a radar with a new system of horizontal and vertical dimension resolution, and is different from a traditional vehicle-mounted millimeter wave radar. The 4D imaging radar virtualizes a two-dimensional receiving antenna array through a certain receiving and transmitting antenna array design, can achieve the target identification capacity with two dimensions, and achieves the detection of four dimensions (4 dimensions) of target distance, speed, horizontal angle and vertical angle. The system radar can provide resolution in the vertical direction, and the problem that a traditional millimeter wave radar easily detects a target in a non-horizontal direction to cause misdetection is solved. The 4D imaging radar is applied to the fields of automobiles, unmanned planes and the like, and is beneficial to realizing the functions of three-dimensional space obstacle avoidance, road planning and the like.

The embodiment of the application provides a radar equipment, and radar equipment can be applied to movable platform, and movable platform terminal equipment can be unmanned aerial vehicle or unmanned vehicles or other survey equipment. In one possible implementation, the radar device may be a millimeter wave imaging radar. Referring to fig. 1, a radar apparatus includes M first receiving antenna units, N second receiving antenna units, K transmitting antenna units, and a signal processing module, where the M first receiving antenna units are arranged along a horizontal direction at a first fixed interval, the N second receiving antenna units are arranged along a target direction, an included angle between the target direction and the horizontal direction is a first preset angle value, an interval between any two second receiving antenna units is the first fixed interval, and at least two transmitting antenna units are arranged along the horizontal direction at a second fixed interval; at least two transmitting antenna units are arranged along the target direction at a third fixed interval, wherein M is more than or equal to 4, N is more than or equal to 2, and K is more than or equal to 3; the signal processing module is respectively connected with the first receiving antenna unit, the second receiving antenna unit and the transmitting antenna unit. Optionally, the signal processing module may execute the radar echo data processing method provided in this application.

Alternatively, the mth first receiving antenna unit (Rx8) and the N second receiving antenna units (Rx9-Rx12) are arranged along a preset straight line. The K transmit antenna elements transmit in sequence so that a virtual aperture array can be combined. For convenience of illustration, M is 8, N is 4, and K is 3 in fig. 1, but this is not a limitation, and the values of M and N may be adjusted as needed.

Alternatively, the first fixed spacing may be one half of the wavelength, with transmit antenna element spacing being relevant to designing the virtual array aperture. Optionally, the spacing (third fixed spacing) between Tx1 and Tx2 is 2.5 wavelengths, and the angle between the line connecting Tx1 and Tx2 (the target direction) and the horizontal direction is about 45 °; the spacing (second fixed pitch) between Tx2 and Tx3 is 4.5 wavelengths, and the line between Tx2 and Tx3 is parallel to the horizontal direction. Optionally, in fig. 1, the arrangement direction of Rx1 to Rx8 is a horizontal direction, and the interval between any two adjacent first receiving antenna units is 0.5 wavelength; the central connecting line direction of Rx 8-Rx 12 is parallel to the connecting line direction of Tx1 and Tx2, and the distance between the central points of any two adjacent second receiving antenna units is 0.5 wavelength.

The MIMO radar apparatus shown in fig. 1 adopts a time-sharing transmission method, the radar transmitter controls the transmitting antenna units Tx1, Tx2, Tx3 to alternately transmit a chirp (FMCW) wave with a carrier frequency of 24GHz and a bandwidth of 500MHz, and the receiving antenna units Rx1, Rx2 … Rx12 of the radar receiver receive electromagnetic waves in the air. After the electromagnetic wave signal is received, an echo signal is obtained through a Low Noise Amplifier (LNA), a mixer, a power divider, a Band Pass Filter (BPF) and an analog-to-digital converter (ADC).

Fig. 2 is a schematic diagram of a 3T12R imaging radar real aperture corresponding to the antenna array shown in fig. 1, and when Tx1, Tx2 and Tx3 in fig. 2 are transmitted sequentially, a 3T12R imaging radar virtual aperture array shown in fig. 3 can be formed. The 3T12R imaging radar virtual aperture array shown in fig. 3 is a cross or 4D imaging radar close to a cross, and can realize high-resolution detection capability of a two-dimensional target on the premise of transmitting and receiving arrays as few as possible.

In fig. 3, the virtual aperture array has 16 receiving antenna units at most in the horizontal direction, namely Rx13-Rx 20 and Rx 26-Rx 32, and 10 receiving antenna units at most in the vertical direction, namely Rx 8-Rx 12 and Rx 20-Rx 24, the angular resolution in the horizontal and vertical directions can reach 7.16 degrees and 11.46 degrees at most, and a relatively balanced two-dimensional angular resolution capability is achieved under a limited receiving array. Since it is difficult to keep the interval in the vertical direction at λ/2 and to arrange the receiving antennas vertically for a vertically polarized linear array, the receiving antennas in the vertical direction have an angle θ rx with the horizontal direction. Due to the perspective problem of the oblique array, target parameters estimated by the radar equipment need to be mapped into a rectangular coordinate system of the real world through coordinate transformation. This 4D shaping radar can realize the accurate estimation of single target distance, speed, horizontal angle, vertical angle parameter, nevertheless to a plurality of targets of same distance, same speed, its level and vertical angle can't obtain corresponding the matching through traditional two-dimensional angle FFT processing, consequently can lead to the missed measure of complicated scene or low SNR target, mismeasure for output point cloud quality descends.

The radar echo data processing method provided in the embodiment of the present application may be applied to, but is not limited to, the radar device shown in fig. 1, and please refer to fig. 4, where the radar echo data processing method: s108, S109, and S111.

S108, screening out a first preset number of reference points from all the target points.

The signal-to-noise ratio of any reference point is greater than that of a non-reference point, and the target point is a point which is higher than a one-dimensional distance threshold in a one-dimensional distance spectrum corresponding to radar echo data.

When the module value of the target point on the RD signal spectrum is greatly higher than the threshold, the surrounding points can be screened out, and the estimation accuracy of the target point with higher signal-to-noise ratio (SNR) is high. In a possible implementation manner, the corresponding signal-to-noise ratios of all target points in the RD domain signal spectrum may be obtained, the signal-to-noise ratios of all target points are sorted from high to low, the first preset number of target points in the sorting are used as reference points, and the remaining target points are used as non-reference points. Of course, the SNR of all target points can also be ranked from low to high.

The first preset number may be determined in advance according to the total number of the target points.

S109, classifying all non-reference points according to the reference points, and determining the target category.

And the number of the target points in the target category is greater than or equal to a second preset number.

In one possible implementation, the target points in the echo data reflected back by the target object to be monitored should be concentrated and clustered, i.e. the number of target points in the target category is greater than or equal to a second preset number. It can be understood that, when the number of the target points in a certain category is less than the second preset number, it indicates that the target points in the category are not signal data reflected back by the target object to be monitored, that is, interference data, and the data in the category does not need to be retained.

And S111, outputting target parameter information of the target point in the target category.

Optionally, the target parameter information of the target point in the target category is output according to a preset communication protocol.

To sum up, the embodiment of the present application provides a radar echo data processing method, where a first preset number of reference points are screened from all target points, where a signal-to-noise ratio of any reference point is greater than a signal-to-noise ratio of a non-reference point, and a target point is a point higher than a one-dimensional distance threshold in a one-dimensional distance spectrum corresponding to radar echo data; classifying all non-reference points according to the reference points, and determining a target class, wherein the number of target points in the target class is greater than or equal to a second preset number; target parameter information of a target point in the target category is output. By only reserving and outputting the target parameter information of the target point in the target category, the interference data in the target point is screened out, and the accuracy of the output target parameter information is further guaranteed.

On the basis of fig. 4, for the content in S109, the embodiment of the present application further provides a possible implementation manner, please refer to fig. 5, where S109 includes: s109-1 to S109-4.

S109-1, determining whether the non-reference point is the same as any one reference point or not for each non-reference point to be confirmed of the category needing to be classified. If yes, executing S109-2; if not, S109-3 is executed.

Optionally, the non-reference point to be confirmed for a category is determined from all the non-reference points that need to be classified. For example, all non-reference points include point A, point B, point C, and point D, and the reference points include point A and point B. The point a may be first determined as a non-reference point whose category is to be confirmed, and the point a may be classified.

Judging whether the point A is the same as the point A or not, if so, marking the point A as the category corresponding to the point A, namely executing S109-2, and if not, judging whether the point A is the same as the point B or not, repeatedly judging until determining that the point A is different from all the reference points, and determining the point A as a new reference point, namely executing S109-3.

S109-2, marking the non-reference points as the categories corresponding to the reference points.

And S109-3, determining the non-reference point as a new reference point.

For example, when the point a is used as a new reference point and the subsequent points B, C, and D are classified, it is also determined whether they are similar to the point a.

In a possible implementation manner, after the point a is classified, the point B, the point C, and the point D are not classified yet, a new non-reference point to be confirmed in a category needs to be determined from the point B, the point C, and the point D, and the above S109-1 is repeated until the point B, the point C, and the point D are all classified completely, and when there is no non-reference point which is not classified, a target category is determined from all the categories, that is, S109-4 is performed.

And S109-4, determining the categories of which the number of the included target points is greater than or equal to a second preset number as target categories.

On the basis of fig. 5, regarding how to determine whether the non-reference point to be identified in the category is the same as any one of the reference points in S109-2, the embodiment of the present application further provides a possible implementation manner, please refer to fig. 6, where S109-1 includes: S109-1A, S109-1B and S109-1C.

S109-1A, determining whether the non-reference point meets a first condition, a second condition and a third condition.

The first condition represents that the absolute value of the distance parameter difference between the non-reference point and the reference point is less than or equal to a preset distance threshold; the second condition represents that the absolute values of all horizontal angle parameter differences between the non-reference point and the reference point are less than or equal to a preset horizontal angle threshold; and the third condition represents that the absolute values of all the vertical angle parameter differences between the non-reference point and the reference point are less than or equal to a preset vertical angle threshold.

In a possible implementation manner, the target parameter information corresponding to the target point includes distance information, speed information, a horizontal angle value, and a vertical angle value of the target point. The horizontal angle value includes { theta₁，θ₂，...，θ_kThe vertical angle value includes { phi }₁，φ₂，...，φ_l}。

θ₁、θ₂...θ_kRespectively a horizontal maximum value point g in a horizontal angle pseudo-spectrum₁、g₂...g_kCorresponding horizontal angle value.

Respectively a vertical maximum point h in a vertical angle pseudo-spectrum₁、h₂...h_lThe corresponding vertical angle value. Alternatively, g₁、g₂...g_kIn descending order, h₁、h₂...h_lIn descending order.

Please refer to the following expression:

{(R，V，θ₁，φ₁)，(R，V，θ₂，φ₂)，…，(R，V，θ_min(k，l)，φ_min(k，l))}；

the expression is an information matrix of the target point, where R characterizes distance information of the target point, V characterizes velocity information of the target point, and min (k, l) represents the minimum of k and l.

In a possible implementation manner, whether the absolute value of the distance parameter difference between the non-reference point to be confirmed and the reference point of the category is less than or equal to the preset distance threshold may be determined according to the following distance judgment expression. The distance judgment expression is as follows:

wherein,

characterizing an absolute value of a difference of distance parameters, R, between an ith non-reference point and a kth reference point_iDistance information characterizing the ith non-reference point,

characterizing distance information of the kth reference point, R_thCharacterizing a distance threshold, optionally R_thSet as distance resolution r_nMultiple, points representing adjacent or allowed to be spaced apart by D distance resolutions are labeled as the same class, r_n≥1。

In a possible implementation manner, whether absolute values of all horizontal angle parameter differences between a non-reference point to be confirmed and a reference point of a category are all smaller than or equal to a preset horizontal angle threshold may be judged according to the following horizontal angle judgment expression. The horizontal angle judgment expression is as follows:

wherein,

characterizing an absolute value, θ, of a difference between horizontal angular parameters of an ith non-reference point and a kth reference point_iCharacterizing the horizontal angle value of the ith non-reference point,

characterizing the horizontal angle value, theta, of the kth reference point_thA horizontal angle threshold is characterized, for example 7.6 °. It should be noted that, as shown above, the information matrix:

therefore, the number of the horizontal angle values of the ith non-reference point is more than one, whether the absolute value of the horizontal angle parameter difference between each horizontal angle value of the ith non-reference point and the horizontal angle value of the kth reference point is smaller than or equal to a preset horizontal angle threshold needs to be judged, if the absolute values of all the horizontal angle parameter differences are smaller than or equal to the preset horizontal angle threshold, whether the non-reference points are similar to the reference points needs to be further confirmed, and whether the non-reference points meet a third condition is determined; otherwise, when the absolute value of the difference between the horizontal angle parameter of one horizontal angle value of the ith non-reference point and the horizontal angle parameter of the kth reference point is larger than the preset horizontal angle threshold, determining that the non-reference points to be determined in the category are not in the same category as the reference points.

In a possible implementation manner, whether absolute values of all vertical angle parameter differences between the non-reference point to be confirmed and the reference point of the category are all smaller than or equal to a preset vertical angle threshold may be determined according to the following vertical angle determination expression. The vertical angle judgment expression is as follows:

wherein,

characterizing an absolute value of a vertical angle parameter difference between an ith non-reference point and a kth reference point,

a vertical angle value characterizing the ith non-reference point,

a vertical angle value characterizing the kth reference point,

a vertical angle threshold is characterized, for example 11.46 °. It should be noted that, as shown above, the information matrix:

{(R，V，θ₁，φ₁)，(R，V，θ₂，φ₂)，...，(R，V，θ_min(k，l)，φ_min(k，l))}；

therefore, the number of the vertical angle values of the ith non-reference point is more than one, whether the absolute value of the vertical angle parameter difference between each vertical angle value of the ith non-reference point and the vertical angle value of the kth reference point is smaller than or equal to a preset vertical angle threshold needs to be judged, if the absolute values of all the vertical angle parameter differences are smaller than or equal to the preset vertical angle threshold, the two are determined to be the same, and S109-1B is executed; otherwise, when the absolute value of the vertical angle parameter difference between one vertical angle value of the ith non-reference point and the vertical angle value of the kth reference point is greater than the preset vertical angle threshold, determining that the non-reference point to be determined in the category is not in the category with the reference point, and then executing S109-1C.

S109-1B, when the non-reference point meets the first condition, the second condition and the third condition, determining that the non-reference point is the same as the reference point.

S109-1C, when the non-reference point is not under any one of the first condition, the second condition and the third condition, determining that the non-reference point is not in the same class as the reference point.

It should be understood that when the non-reference point simultaneously satisfies the first condition, the second condition and the third condition, the non-reference point is determined to be homogeneous with the reference point; determining that the non-reference point is not classified as the reference point when the non-reference point is less than any one of the first condition, the second condition, and the third condition.

In a possible implementation manner, the first item in the information matrix corresponding to the reference point may be used as the reference information in the above judgment.

On the basis of fig. 4, regarding the processing of the target parameter information of the target point in the non-target category, the embodiment of the present application further provides a possible implementation manner, as shown in fig. 7, after determining the target category, the radar echo data processing method further includes S112.

And S112, discarding the target parameter information of the target point in the non-target category.

As described above, the target parameter information of the target point in the non-target category is interference data, and in order to avoid interference to subsequent operations and users, the interference data needs to be discarded.

In a possible implementation manner, the original target parameter information is a polar coordinate parameter, please continue to refer to fig. 7, for convenience of user observation, before S111, the radar echo data processing method further includes S110.

S110, converting the target parameter information of the target point in the target category into a parameter in a geographic coordinate system.

Optionally, the included angle theta between the horizontal direction and the vertical direction of the 3T12R millimeter wave imaging radar_rxThe target parameter information conversion is performed according to the following equation, when the target parameter information is 45 °.

y＝x tanθ

Wherein x, y and z respectively represent parameters of an x axis, a y axis and a z axis under a geographic coordinate system, theta represents a horizontal angle value before the target point is converted,

and representing the vertical angle value before the target point is converted.

On the basis of fig. 4, regarding how to obtain the target point and the corresponding target parameter information, the embodiment of the present application further provides a possible implementation manner, please refer to fig. 8, where the radar echo data processing method further includes: s101 to S107.

And S101, filtering the radar echo data to filter low-frequency components.

The FMCW system radar acquires the distance, the speed and the angle value of a target by utilizing the frequency spectrum of an echo signal, because an ADC (analog-to-digital converter) can only acquire the real signal amplitude, the coupling of a receiving and transmitting antenna and other influences, the direct current component and the low-frequency component with the frequency close to the direct current of the echo signal need to be filtered, a curve is fitted according to the echo signal by adopting an N-order polynomial fitting mode in an echo signal preprocessing part, and the fitted polynomial curve is subtracted from the original echo signal so as to achieve the target of removing the low-frequency component. Wherein N is generally not greater than 5.

And S102, performing range Fourier transform and Doppler fast Fourier transform on the radar echo data with the low-frequency components removed to obtain an RD domain signal spectrum.

As previously mentioned, the radar transmitter controls the transmit antenna units to alternately transmit N_dWheel, each echo signal acquisition N_rPoint, radar receiver receives N_r×N_dX36 echo data. To N_r×N_dThe x36 echo data are subjected to range fourier transform (echo direction acquisition) and doppler fast fourier transform (echo accumulation direction), and N for each reception channel_r×N_dPoint echo data as N_rfPoint sum N_dfFourier transform of the point to obtain a size N_rf×N_dfRD domain signal spectrum x 36. Each point in the RD domain signal spectrum is in a complex form and represents the amplitude and the phase of the corresponding echo frequency point.

Wherein,

indicating rounding up a.

S103, performing modulus calculation on the RD domain signal spectrum to obtain a modulus value of the RD domain signal spectrum.

And S104, performing incoherent superposition on the RD domain signal spectrum modulus values to obtain the RD domain signal spectrum amplitude.

Taking module value back edge of each point of RD domain signal spectrumThe directions of the receiving channels are overlapped to obtain a sheet with the size of N_rf×N_dfThe RD domain signal spectral amplitude of.

And S105, acquiring a one-dimensional distance spectrum according to the RD domain signal spectrum amplitude.

Optionally, a maximum value in a doppler dimension (second dimension) is searched in the RD domain signal spectrum amplitude along a distance dimension (first dimension), the maximum value in the doppler direction corresponding to each distance cell and its coordinates are recorded, and a sequence obtained from the maximum values is a one-dimensional distance spectrum sequence, i.e., a one-dimensional distance spectrum. Its index is used for target velocity estimation and target motion compensation.

And S106, determining the point in the one-dimensional distance spectrum, which is higher than the one-dimensional distance threshold, as a target point.

It can be understood that two dimensions of the RD domain signal spectrum respectively correspond to frequency changes of the emission time and the accumulation time of the echo, and correspond to the distance and the speed of the target, and when the radar scattering cross-sectional area (RCS) of the radar emission signal of the target is strong enough, a peak at the position corresponding to the distance and the speed can be observed on the amplitude of the RD domain signal spectrum. Obtaining the maximum value of Doppler dimension along the distance dimension direction on the RD signal spectrum amplitude to obtain a one-dimensional distance spectrum, and obtaining a model of radar signal attenuation along the distance and a noise floor S_noiseAnd signal-to-noise ratio parameter P_SNRCalculating to obtain a one-dimensional distance threshold Th according to the following formula_rAnd taking the point higher than the threshold as a target to be detected, namely a target point.

Wherein K is a model parameter and is specifically set by a worker.

S107, acquiring target parameter information corresponding to the target point.

And after the target points are determined to be completed, respectively acquiring target parameter information corresponding to each target point.

The target parameter information includes a horizontal angle value and a vertical angle value, and on the basis of fig. 8, for the content in S107, the embodiment of the present application further provides a possible implementation manner, please refer to fig. 9, where S107 includes: s107-1 to S107-10.

S107-1, obtaining the FFT value of the target point in the RD domain signal spectrum.

Optionally, the acquisition target point is at size N_rf×N_dfThe FFT value in the RD domain signal spectrum of x36 is used as the input value for two-dimensional angle detection.

And S107-2, arranging the FFT values of the target points in the RD domain signal spectrum to obtain a corresponding virtual aperture array.

The virtual aperture array is a permutation and combination of the receiving antenna group relative to different transmitting antennas.

Alternatively, a virtual aperture array is shown in fig. 3. Wherein, Rx1-Rx12 represent the receiving channels corresponding to Tx1 in the one-round signal, Rx13-Rx24 represent the receiving channels corresponding to Tx2 in the one-round signal, and Rx25-Rx36 represent the receiving channels corresponding to Tx3 in the one-round signal. And arranging the FFT values of the target points in the RD domain signal spectrum according to the receiving channels to obtain the corresponding virtual aperture array.

And S107-3, determining a target horizontal array from the virtual aperture array.

Optionally, the data of Rx13-Rx 20 and Rx25-Rx 32 are arranged into a vector, which is the target horizontal array.

S107-4, adding Hanning window to the target horizontal array, and carrying out N_cfAnd performing point Fourier transform and then performing modulus to obtain a horizontal angle pseudo spectrum.

Optionally, N in this application embodiment_cfIs 32.

S107-5, screening out a horizontal maximum value point from the horizontal angle pseudo-spectrum.

The horizontal maximum point is a point in the horizontal angle pseudo spectrum which is greater than the horizontal angle pseudo spectrum threshold. With continued reference to the above example, the horizontal maximum point in the horizontal angle pseudo-spectrum includes g₁、g₂...g_k，g₁、g₂...g_kArranged in descending order, the maximum point corresponds to an index value i in the horizontal angle pseudo-spectrum₁、i₂...i_k，g₁≥g₂≥...≥g_k，0≤k≤N_cf. Wherein, can pass throughCalculating a horizontal angle pseudo-spectrum threshold by the following formula:

S_th＝(S_max-S_mean)F_th；

wherein S is_thCharacterizing the horizontal angle pseudo-spectral threshold, S_maxMaximum value of pseudo-spectrum of characteristic horizontal angle, S_meanMean value of pseudo-spectrum of characteristic horizontal angle, F_thAnd characterizing a preset angle threshold factor, wherein optionally, the angle threshold factor is set by a worker according to experience.

And S107-6, carrying out quadratic curve interpolation processing on the horizontal angle pseudo-spectrum according to the index value of the horizontal maximum value point, thereby obtaining the horizontal angle value of the target point.

Optionally, quadratic curve interpolation processing is performed on the index value of the horizontal maximum value point in the horizontal angle pseudo spectrum to obtain a horizontal interpolation result, and the horizontal interpolation result is substituted into the horizontal angle formula to obtain a horizontal angle value.

Optionally, the expression of the horizontal angle equation is as follows:

wherein, theta_kRepresenting a horizontal maximum point g in a horizontal angle pseudo-spectrum_kCorresponding horizontal angle value in units of degree, i'_kMaximum value point g of characterization level_kD represents the ratio of the virtual array antenna interval to the carrier frequency wavelength, and the value is 0.5, k is more than or equal to 0 and less than or equal to N_cf。

And S107-7, determining a target vertical array from the virtual aperture array.

Optionally, the data of Rx 8-Rx 12 and Rx 20-Rx 24 are arranged into a vector, which is the target vertical array.

S107-8, adding Hanning window to the target vertical array, and carrying out N_cfAnd performing point Fourier transform and then performing modulus to obtain a vertical angle pseudo spectrum.

S107-9, screening out vertical maximum value points from the vertical angle pseudo-spectrum.

The vertical maximum point is a point in the vertical angle pseudo-spectrum which is greater than the threshold of the vertical angle pseudo-spectrum. With continued reference to the above example, the vertical maxima in the vertical angle pseudo-spectrum include h₁、h₂...h_l，h₁、h₂...h_lArranged in descending order, the maximum point corresponds to the index value j in the horizontal angle pseudo-spectrum₁、j₂...j_l，h₁≥h₂≥...≥h_l，0≤l≤N_cf。

The process of obtaining the vertical maximum value point refers to the process of screening out the horizontal maximum value point from the horizontal angle pseudo spectrum in the above S107-5, which is not described herein again.

And S107-10, carrying out quadratic curve interpolation processing on the vertical angle pseudo-spectrum according to the index value of the vertical maximum value point, thereby obtaining the vertical angle value of the target point.

Optionally, quadratic curve interpolation processing is performed on the index value of the vertical maximum value point on the vertical angle pseudo spectrum to obtain a vertical interpolation result, and the vertical interpolation result is substituted into the vertical angle formula to obtain a vertical angle value.

Optionally, the expression of the vertical angle equation is as follows:

wherein,

representing a vertical maximum point h in a vertical angle pseudo-spectrum_lCorresponding vertical angle value in units of degree, j'_lCharacterizing the vertical maxima point h_lD represents the ratio of the virtual array antenna interval to the carrier frequency wavelength, and the value is 0.5, l is more than or equal to 0 and is less than or equal to N_cf。

After S107-6 and S107-10, an information matrix of target points may be acquired:

where R characterizes distance information of the target point, V characterizes velocity information of the target point, and min (k, l) represents the minimum of k and l.

On the basis of fig. 9, for the content in S107-3, the embodiment of the present application further provides a possible implementation manner, please refer to fig. 10, where S107-3 includes: S107-3A, S107-3B, S107-3C and S107-3D.

And S107-3A, determining a first horizontal sub-array and a second horizontal sub-array from the virtual aperture array.

The first horizontal subarray is a permutation and combination of a receiving antenna group relative to a first transmitting antenna (TX2), the second horizontal subarray is a permutation and combination of a receiving antenna group relative to a second transmitting antenna (TX3), the first transmitting antenna and the second transmitting antenna are aligned in the horizontal direction, and in each round of signal transmission, the first transmitting antenna and the second transmitting antenna transmit signals firstly.

The first horizontal sub-array is for example Rx 8-Rx 12 in fig. 3, and the second horizontal sub-array is for example Rx 20-Rx 24 in fig. 3.

And S107-3B, determining a horizontal phase compensation factor according to the velocity dimension parameter in the first horizontal subarray.

Optionally, the target point velocity v is estimated from the velocity dimension parameter, and the compensation factor f is obtained according to the following formula.

Where v denotes the target point velocity, Tp is the transmission time interval, λ is the wavelength, k is the transmit antenna element number, e.g., the number of transmit antennas is 2, k is 1 or 2, and for the 2 nd transmit antenna element k-1 is 1.

And S107-3C, performing phase compensation on the second horizontal subarray according to the horizontal phase compensation factor.

And S107-3D, arranging the first horizontal subarray and the second horizontal subarray after phase compensation, and thus obtaining a target horizontal array.

On the basis of fig. 9, for the content in S107-7, the embodiment of the present application further provides a possible implementation manner, please refer to fig. 11, where S107-7 includes: S107-7A, S107-7B, S107-7C and S107-7D.

And S107-7A, determining a first vertical sub-array and a third vertical sub-array from the virtual aperture array.

The first vertical subarray is the permutation and combination of the receiving antenna group relative to the first transmitting antenna (TX2), the third vertical subarray is the permutation and combination of the receiving antenna group relative to the third transmitting antenna (TX1), and in each round of signal transmission, the third transmitting antenna transmits signals with the first transmitting antenna first.

The third vertical sub-array may be, for example, Rx 8-Rx 12 in FIG. 3, and the first vertical sub-array may be, for example, Rx 20-Rx 24 in FIG. 3.

And S107-7B, determining a vertical phase compensation factor according to the velocity dimension parameter in the third vertical subarray.

Optionally, referring to the method for obtaining the horizontal phase compensation factor in S107-3B, the vertical phase compensation factor is obtained, which is not described herein again.

And S107-7C, performing phase compensation on the first vertical subarray according to the vertical phase compensation factor.

And S107-7D, arranging the third vertical subarray and the first vertical subarray after phase compensation, and thus obtaining a target vertical array.

The radar echo data processing method in the embodiment of the application adopts an intra-frame processing method, the problem of target two-dimensional angle mismatching is avoided as far as possible through an angle spectrum amplitude matching mode, and the influence of random phase disturbance caused by the influence of a complex environment, receiver bottom noise and the like can be effectively avoided by a clustering method based on adjacent point target association. The radar echo data processing method provided by the embodiment has the following advantages: the angle estimation carries out pre-sorting according to the intensity of the spectrum, so that effective target points can be conveniently reserved in subsequent searching, and random noise points are eliminated; the linear search mode is adopted for clustering, so that the processing efficiency is higher; a field test scenario is shown in fig. 12, the test scenario is lake-side, and the 24GHz3T12R millimeter wave imaging radar provided by this embodiment is used. The point cloud before clustering, its top view and side view are shown in fig. 13 and fig. 15(a), and the point cloud after clustering is shown in fig. 14 and fig. 15 (b).

And comparing the number of single-frame point clouds of the test plate radar in a multi-frame overlapping mode. After clustering, the target point clouds are more aggregated, and the noise points are less than those of the targets before clustering. In fig. 15(b), the number of processed point clouds of targets (marked by circles) that do not exist in the lake-side scene is also greatly reduced, and the effectiveness of the radar echo data processing method provided by the embodiment is verified.

It should be noted that the radar echo data processing method provided by the embodiment of the present application may be applied to satisfy two-dimensional angle measurement, and may output a radar including a distance, a speed, a horizontal angle, and a vertical angle, and has a better effect of reducing noise misdetection for the illustrated 3T12R array radar.

An embodiment of the present application further provides a radar echo data processing method, please refer to fig. 16, and as shown in fig. 16, the radar echo data processing method includes: s206 and S207.

And S206, determining a point higher than a one-dimensional distance threshold in the one-dimensional distance spectrum corresponding to the radar echo data as a target point.

And S207, acquiring target parameter information corresponding to the target point.

On the basis of fig. 16, for the content in S207, the embodiment of the present application further provides a possible implementation manner, please refer to the following, where S207 includes: s207-1 to S207-10.

S207-1, obtaining the FFT value of the target point in the RD domain signal spectrum.

And S207-2, arranging the FFT values of the target points in the RD domain signal spectrum to obtain the corresponding virtual aperture array.

And S207-3, determining a target horizontal array from the virtual aperture array.

S207-4, adding Hanning window to the target horizontal array, and carrying out N_cfAnd performing point Fourier transform and then performing modulus to obtain a horizontal angle pseudo spectrum.

Optionally, N in this application embodiment_cfIs 32.

S207-5, screening out a horizontal maximum value point from the horizontal angle pseudo-spectrum.

The horizontal maximum point is a point in the horizontal angle pseudo spectrum which is greater than the horizontal angle pseudo spectrum threshold. With continued reference to the above example, the horizontal maximum point in the horizontal angle pseudo-spectrum includes g₁、g₂...g_k，g₁、g₂...g_kArranged in descending order, the maximum point corresponds to an index value i in the horizontal angle pseudo-spectrum₁、i₂...i_k，g₁≥g₂≥...≥g_k，0≤k≤N_cf。

S_th＝(S_max-S_mean)F_th；

Wherein S is_thCharacterizing the horizontal angle pseudo-spectral threshold, S_maxMaximum value of pseudo-spectrum of characteristic horizontal angle, S_meanMean value of pseudo-spectrum of characteristic horizontal angle, F_thCharacterizing a preset angle threshold factor.

And S207-6, carrying out quadratic curve interpolation processing on the horizontal angle pseudo-spectrum according to the index value of the horizontal maximum value point, thereby obtaining the horizontal angle value of the target point.

Optionally, the expression of the horizontal angle equation is as follows:

And S207-7, determining a target vertical array from the virtual aperture array.

S207-8, adding Hanning window to the target vertical array, and carrying out N_cfAnd performing point Fourier transform and then performing modulus to obtain a vertical angle pseudo spectrum.

S207-9, screening out vertical maximum value points from the vertical angle pseudo-spectrum.

And S207-10, carrying out quadratic curve interpolation processing on the vertical angle pseudo-spectrum according to the index value of the vertical maximum value point, thereby obtaining the vertical angle value of the target point.

Optionally, quadratic curve interpolation processing is performed on the index value of the vertical maximum value point in the vertical angle pseudo spectrum to obtain a vertical interpolation result, and the vertical interpolation result is substituted into the vertical angle formula to obtain a vertical angle value.

Optionally, the expression of the vertical angle equation is as follows:

wherein,

On the basis of the foregoing, for the content in S207-3, the embodiment of the present application further provides a possible implementation manner, please refer to the following, where S207-3 includes: S207-3A, S207-3B, S207-3C and S207-3D.

And S207-3A, determining a first horizontal sub-array and a second horizontal sub-array from the virtual aperture array.

The first horizontal subarray is a permutation and combination of a receiving antenna group relative to a first transmitting antenna (TX2), the second horizontal subarray is a permutation and combination of a receiving antenna group relative to a second transmitting antenna (TX3), the first transmitting antenna and the second transmitting antenna are aligned in the horizontal direction, and in each round of signal transmission, the first transmitting antenna transmits signals with the second transmitting antenna first.

And S207-3B, determining a horizontal phase compensation factor according to the velocity dimension parameter in the first horizontal subarray.

And S207-3C, performing phase compensation on the second horizontal subarray according to the horizontal phase compensation factor.

And S207-3D, arranging the first horizontal subarray and the second horizontal subarray after phase compensation, and thus obtaining a target horizontal array.

On the basis of the above, for the content in S207-7, the embodiment of the present application further provides a possible implementation manner, please refer to the following, where S207-7 includes: S207-7A, S207-7B, S207-7C and S207-7D.

And S207-7A, determining a first vertical sub-array and a third vertical sub-array from the virtual aperture array.

And S207-7B, determining a vertical phase compensation factor according to the velocity dimension parameter in the third vertical subarray.

And S207-7C, performing phase compensation on the first vertical subarray according to the vertical phase compensation factor.

And S207-7D, arranging the third vertical sub-array and the first vertical sub-array after phase compensation, thereby obtaining the target vertical array.

On the basis of fig. 16, regarding how to obtain a one-dimensional distance spectrum, the embodiment of the present application further provides a possible implementation manner, please refer to fig. 17, where the radar echo data processing method further includes: s201 to S205.

S201, filtering the radar echo data to filter out low-frequency components.

And S202, performing range Fourier transform and Doppler fast Fourier transform on the radar echo data with the low-frequency components removed to obtain an RD domain signal spectrum.

Wherein,

indicating rounding up a.

And S203, performing modulus calculation on the RD domain signal spectrum to obtain a modulus value of the RD domain signal spectrum.

And S204, performing incoherent superposition on the RD domain signal spectrum modulus values to obtain the RD domain signal spectrum amplitude.

After each point of the RD domain signal spectrum is subjected to modulus value taking, the values are overlapped along the direction of a receiving channel to obtain a signal with the size of N_rf×N_dfThe RD domain signal spectral amplitude of.

And S205, acquiring a one-dimensional distance spectrum according to the RD domain signal spectrum amplitude.

Referring to fig. 18, fig. 18 is a radar echo data processing apparatus according to an embodiment of the present application, and optionally, the radar echo data processing apparatus is applied to the terminal device described above.

The radar echo data processing device includes: a processing unit 301 and an output unit 302.

The processing unit 301 is configured to screen a first preset number of reference points from all target points, where a signal-to-noise ratio of any reference point is greater than a signal-to-noise ratio of a non-reference point, and a target point is a point higher than a one-dimensional distance threshold in a one-dimensional distance spectrum corresponding to radar echo data.

The processing unit 301 is further configured to classify all the non-reference points according to the reference points, and determine a target class, where the number of target points in the target class is greater than or equal to a second preset number.

The output unit 302 is used to output target parameter information of a target point in a target category.

Alternatively, the processing unit 301 may perform the above-described S101 to S110 and S112, and the output unit 302 may perform the above-described S111.

In a possible implementation manner, the processing unit 301 is configured to determine, as the target point, a point in the one-dimensional distance spectrum corresponding to the radar echo data, which is higher than a one-dimensional distance threshold; and the method is also used for acquiring target parameter information corresponding to the target point.

Alternatively, the processing unit 301 may perform S201 to S207 described above.

It should be noted that the radar echo data processing apparatus provided in this embodiment may execute the method flows shown in the above method flow embodiments to achieve the corresponding technical effects. For the sake of brevity, the corresponding contents in the above embodiments may be referred to where not mentioned in this embodiment.

The embodiment of the application also provides a storage medium, wherein the storage medium stores computer instructions and programs, and the computer instructions and the programs execute the radar echo data processing method of the embodiment when being read and run. The storage medium may include memory, flash memory, registers, or a combination thereof, etc.

The following provides a terminal device, which may be a remote controller or other handheld devices, and the terminal device may communicate with a radar device in a wired or wireless manner. The terminal device is shown in fig. 19, and the radar device is shown in fig. 1, and the above radar echo data processing method can be implemented by the cooperation of the terminal device and the radar device. In some embodiments, the radar device may be incorporated into the terminal device such that the terminal device is directly provided with the radar device; in other embodiments, the radar device and the terminal device may be separately provided; specifically, the terminal device includes: processor 10, memory 11, bus 12. The processor 10 may be a CPU. The memory 11 is used to store one or more programs, which when executed by the processor 10, perform the radar echo data processing method of the above-described embodiment.

Optionally, the processor 10, the memory 11 are connected by a bus 12, and the processor 10 is configured to execute an executable module, such as a computer program, stored in the memory 11.

The processor 10 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the radar echo data processing method may be implemented by integrated logic circuits of hardware or instructions in the form of software in the processor 10. The Processor 10 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.

The Memory 11 may comprise a high-speed Random Access Memory (RAM) and may further comprise a non-volatile Memory (non-volatile Memory), such as at least one disk Memory.

The bus 12 may be an ISA (Industry Standard architecture) bus, a PCI (peripheral Component interconnect) bus, an EISA (extended Industry Standard architecture) bus, or the like. Only one bi-directional arrow is shown in fig. 19, but this does not indicate only one bus 12 or one type of bus 12.

The memory 11 is used for storing programs, such as programs corresponding to the radar echo data processing device. The radar echo data processing device includes at least one software functional module which can be stored in the memory 11 in the form of software or firmware (firmware) or solidified in an Operating System (OS) of the terminal equipment. The processor 10, upon receiving the execution instruction, executes the program to implement the radar echo data processing method.

Possibly, the terminal device provided by the embodiment of the present application further includes a communication interface 13. The communication interface 13 is connected to the processor 10 via a bus.

It should be noted that the terminal device includes the radar device described in fig. 1, and the processor 10 may control the radar device and acquire echo data of the radar device.

It should be understood that the structure shown in fig. 19 is only a schematic structural diagram of a portion of a terminal device, and the terminal device may also include more or fewer components than shown in fig. 19, or have a different configuration than shown in fig. 19. The components shown in fig. 19 may be implemented in hardware, software, or a combination thereof.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

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

The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

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

It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. A method of radar echo data processing, the method comprising:

2. The radar echo data processing method of claim 1, wherein the step of classifying all non-reference points according to the reference points and determining a target class comprises:

determining whether the non-reference point is the same as any one of the reference points or not for each non-reference point to be confirmed of the category needing to be classified;

if so, marking the non-reference point as a category corresponding to the reference point;

if not, determining the non-reference point as a new reference point;

and determining the categories with the number of the included target points being larger than or equal to a second preset number as target categories.

3. The radar echo data processing method of claim 2 wherein said step of determining whether said non-reference points are homogeneous with any of said reference points comprises:

determining whether the non-reference point satisfies a first condition, a second condition, and a third condition; wherein the first condition represents that the absolute value of the distance parameter difference between the non-reference point and the reference point is less than or equal to a preset distance threshold; the second condition represents that the absolute values of all horizontal angle parameter differences between the non-reference point and the reference point are less than or equal to a preset horizontal angle threshold; the third condition represents that the absolute values of all vertical angle parameter differences between the non-reference point and the reference point are less than or equal to a preset vertical angle threshold;

determining that the non-reference point is homogeneous with the reference point when the non-reference point satisfies the first condition, the second condition, and the third condition;

determining that the non-reference point is not categorized as the reference point when any one of the first condition, the second condition, and the third condition is not satisfied by the non-reference point.

4. The radar echo data processing method of claim 1, wherein after determining a target class by classifying all non-reference points according to the reference points, the method further comprises:

target parameter information for target points in the non-target category is discarded.

5. The radar echo data processing method of claim 1, wherein the original target parameter information is a polar coordinate parameter, and before outputting the target parameter information of the target point in the target category, the method further comprises:

and converting the target parameter information of the target point in the target category into a parameter under a geographic coordinate system.

6. The radar echo data processing method of claim 1, wherein before screening out a first preset number of reference points from all target points, the method further comprises:

filtering the radar echo data to filter out low-frequency components;

performing range Fourier transform and Doppler fast Fourier transform on the radar echo data with the low-frequency components removed to obtain an RD domain signal spectrum;

performing modulus calculation on the RD domain signal spectrum to obtain a modulus value of the RD domain signal spectrum;

performing incoherent superposition on the RD domain signal spectrum modulus value to obtain an RD domain signal spectrum amplitude value;

acquiring a one-dimensional distance spectrum according to the RD domain signal spectrum amplitude;

determining a point in the one-dimensional distance spectrum which is higher than the one-dimensional distance threshold as a target point;

and acquiring target parameter information corresponding to the target point.

7. A method of radar echo data processing, the method comprising:

and acquiring target parameter information corresponding to the target point.

8. The radar echo data processing method of claim 7, wherein the target parameter information includes a horizontal angle value and a vertical angle value; the step of obtaining the target parameter information corresponding to the target point includes:

obtaining an FFT value of the target point in an RD domain signal spectrum;

arranging FFT values of the target points in the RD domain signal spectrum to obtain corresponding virtual aperture arrays; the virtual aperture array is a permutation and combination of a receiving antenna group relative to different transmitting antennas;

determining a target horizontal array from the virtual aperture array, adding a Hanning window to the target horizontal array, and performing N_cfPerforming point Fourier transform, and then performing modulus to obtain a horizontal angle pseudo spectrum;

screening out a horizontal maximum value point from the horizontal angle pseudo-spectrum, wherein the horizontal maximum value point is a point which is larger than a horizontal angle pseudo-spectrum threshold;

carrying out quadratic curve interpolation processing on the horizontal angle pseudo-spectrum according to the index value of the horizontal maximum value point, thereby obtaining a horizontal angle value of the target point;

determining a target vertical array from the virtual aperture array, adding a Hanning window to the target vertical array, and performing N_cfPerforming point Fourier transform, and then performing modulus to obtain a vertical angle pseudo spectrum;

screening out vertical maximum value points from the vertical angle pseudo-spectrum, wherein the vertical maximum value points are points larger than a vertical angle pseudo-spectrum threshold;

and carrying out quadratic curve interpolation processing on the vertical angle pseudo-spectrum according to the index value of the vertical maximum value point, thereby obtaining the vertical angle value of the target point.

9. The radar echo data processing method of claim 8, wherein the step of determining a target level array from the virtual aperture array comprises:

determining a first horizontal sub-array and a second horizontal sub-array from the virtual aperture array, wherein the first horizontal sub-array is a permutation combination of a receiving antenna group relative to a first transmitting antenna, the second horizontal sub-array is a permutation combination of a receiving antenna group relative to a second transmitting antenna, the first transmitting antenna is aligned with the second transmitting antenna in a horizontal direction, and in each round of signal transmission, the first transmitting antenna transmits a signal with the second transmitting antenna first;

determining a horizontal phase compensation factor according to the velocity dimension parameter in the first horizontal subarray;

performing phase compensation on the second horizontal subarray according to the horizontal phase compensation factor;

and arranging the first horizontal subarray and the second horizontal subarray after phase compensation to obtain a target horizontal array.

10. The radar echo data processing method of claim 8, wherein the step of determining a vertical array of targets from the virtual aperture array comprises:

determining a first vertical subarray and a third vertical subarray from the virtual aperture array, wherein the first vertical subarray is a permutation and combination of a receiving antenna group relative to a first transmitting antenna, the third vertical subarray is a permutation and combination of a receiving antenna group relative to a third transmitting antenna, and in each round of signal transmission, the third transmitting antenna transmits signals with the first transmitting antenna first;

determining a vertical phase compensation factor according to the velocity dimension parameter in the third vertical subarray;

performing phase compensation on the first vertical subarray according to the vertical phase compensation factor;

and arranging the third vertical subarray and the first vertical subarray after phase compensation, thereby obtaining a target vertical array.

11. The radar echo data processing method of claim 7, wherein before determining a point in the one-dimensional distance spectrum corresponding to the radar echo data that is above the one-dimensional distance threshold as a target point, the method further comprises:

filtering the radar echo data to filter out low-frequency components;

and acquiring a one-dimensional distance spectrum according to the RD domain signal spectrum amplitude.

12. A radar echo data processing apparatus, characterized in that the apparatus comprises:

13. A radar echo data processing apparatus, characterized in that the apparatus comprises:

14. The radar equipment is characterized by comprising M first receiving antenna units, N second receiving antenna units, K transmitting antenna units and a signal processing module, wherein the M first receiving antenna units are arranged along the horizontal direction at a first fixed interval, the N second receiving antenna units are arranged along the target direction, the included angle between the target direction and the horizontal direction is a first preset angle value, the interval between any two second receiving antenna units is the first fixed interval, and at least two transmitting antenna units are arranged along the horizontal direction at a second fixed interval; at least two transmitting antenna units are arranged along the target direction at a third fixed interval, wherein M is more than or equal to 4, N is more than or equal to 2, and K is more than or equal to 3;

the signal processing module is connected to the first receiving antenna unit, the second receiving antenna unit, and the transmitting antenna unit, respectively, and is configured to process radar echo data by the method according to any one of claims 1 to 11.

15. A movable platform comprising the radar apparatus of claim 14.

16. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-11.

17. A terminal device, comprising: a processor and memory for storing one or more programs; the one or more programs, when executed by the processor, implement the method of any of claims 1-11.