CN114966566A - Method, device and equipment for suppressing radar interference - Google Patents
Method, device and equipment for suppressing radar interference Download PDFInfo
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- CN114966566A CN114966566A CN202210541300.5A CN202210541300A CN114966566A CN 114966566 A CN114966566 A CN 114966566A CN 202210541300 A CN202210541300 A CN 202210541300A CN 114966566 A CN114966566 A CN 114966566A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/36—Means for anti-jamming, e.g. ECCM, i.e. electronic counter-counter measures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
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Abstract
The invention discloses a method, a device and equipment for inhibiting radar interference. The method comprises the following steps: determining a threshold value according to statistical parameters of a difference frequency signal sampling sequence corresponding to the radar signal; performing suppression processing on the difference frequency signal sampling sequence based on the threshold value to obtain an updated difference frequency signal sampling sequence; determining an updated threshold value according to the statistical parameters of the updated difference frequency signal sampling sequence; if the updated threshold value and the threshold value before updating meet the set condition, determining the updated difference frequency signal sampling sequence as a target signal; and if the set condition is not satisfied between the updated threshold value and the threshold value before updating, the updated difference frequency signal sampling sequence is subjected to suppression processing based on the updated threshold value until the set condition is satisfied between the updated threshold value and the threshold value before updating. The accuracy rate of detecting radar interference is improved, and the anti-interference capability of the radar is improved.
Description
Technical Field
The present invention relates to the field of radar signal processing technologies, and in particular, to a method, an apparatus, and a device for suppressing radar interference.
Background
With the development of science and technology, the living standard of people is improved, and a safe transportation mode becomes a problem which is more and more concerned by people. In order to provide a safer and more efficient transportation means, research on the application of an Automobile Driving Assistance System (ADAS) and an automatic driving technique has been conducted. ADAS and autopilot technology require various sensors, including cameras, lidar, ultrasonic radar, and millimeter wave radar. The millimeter wave radar occupies a place in each radar in good performance in severe environments such as rainy, foggy and dark environments. However, as more and more Frequency Modulated Continuous Wave (FMCW) millimeter Wave radars are used, inter-radar interference, such as broadband interference, occurs. The broadband interference degrades the SIGNAL-to-NOISE RATIO (SNR) of the target, causing radar false alarms.
Disclosure of Invention
The invention provides a method, a device and equipment for inhibiting radar interference, which aim to solve the problem of width interference of a frequency modulation continuous wave millimeter wave radar.
According to an aspect of the present invention, there is provided a radar interference suppression method, including:
determining a threshold value according to statistical parameters of a difference frequency signal sampling sequence corresponding to the radar signal;
performing suppression processing on the difference frequency signal sampling sequence based on the threshold value to obtain an updated difference frequency signal sampling sequence;
determining an updated threshold value according to the statistical parameter of the updated difference frequency signal sampling sequence;
if the updated threshold value and the threshold value before updating meet the set condition, determining the updated difference frequency signal sampling sequence as a target signal;
and if the set condition is not satisfied between the updated threshold value and the threshold value before updating, the updated difference frequency signal sampling sequence is subjected to suppression processing based on the updated threshold value until the set condition is satisfied between the updated threshold value and the threshold value before updating.
According to another aspect of the present invention, there is provided a radar interference suppressing apparatus, including:
the first determining module is used for determining a threshold value according to the statistical parameters of the difference frequency signal sampling sequence corresponding to the radar signal;
the first processing module is used for carrying out suppression processing on the difference frequency signal sampling sequence based on the threshold value to obtain an updated difference frequency signal sampling sequence;
a second determining module, configured to determine an updated threshold according to the statistical parameter of the updated difference frequency signal sampling sequence;
a third determining module, configured to determine the updated difference frequency signal sampling sequence as a target signal if a set condition is satisfied between the updated threshold and the threshold before updating;
and a second processing module, configured to, if the set condition is not satisfied between the updated threshold and the pre-update threshold, perform suppression processing on the updated difference frequency signal sampling sequence based on the updated threshold until the set condition is satisfied between the updated threshold and the pre-update threshold.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the method of suppressing radar interference according to any of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement the method for suppressing radar interference according to any one of the embodiments of the present invention when the computer instructions are executed.
According to the technical scheme of the embodiment of the invention, the threshold value is determined according to the statistical parameters of the difference frequency signal sampling sequence corresponding to the radar signal; performing suppression processing on the difference frequency signal sampling sequence based on the threshold value to obtain an updated difference frequency signal sampling sequence; determining an updated threshold value according to the statistical parameters of the updated difference frequency signal sampling sequence; if the updated threshold value and the threshold value before updating meet the set condition, determining the updated difference frequency signal sampling sequence as a target signal; and if the set condition is not satisfied between the updated threshold value and the threshold value before updating, the updated difference frequency signal sampling sequence is subjected to suppression processing based on the updated threshold value until the set condition is satisfied between the updated threshold value and the threshold value before updating. According to the technical scheme, the problem of width interference of the frequency modulation continuous wave millimeter wave radar is solved through the radar interference suppression method based on the difference frequency signal statistical parameter loop iteration, and meanwhile, compared with the prior art, the accuracy rate of detecting radar interference is improved and the anti-interference capability of the radar is improved in a mode of performing suppression processing on the updated difference frequency signal sampling sequence based on the updated threshold value.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of a method for suppressing radar interference according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for suppressing radar interference according to a second embodiment of the present invention;
fig. 3 is a schematic diagram illustrating an implementation of a radar interference suppression method according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a radar interference suppression device according to a third embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device implementing a method for suppressing radar interference according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, 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 obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above 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.
Example one
Fig. 1 is a flowchart of a method for suppressing radar interference according to an embodiment of the present invention, where the method is applicable to a situation where wide interference occurs between multiple radars, and the method may be implemented by a device for suppressing radar interference, where the device for suppressing radar interference may be implemented in a form of hardware and/or software, and the device for suppressing radar interference may be configured in a computer device. As shown in fig. 1, the method includes:
and S110, determining a threshold value according to the statistical parameters of the difference frequency signal sampling sequence corresponding to the radar signal.
The difference frequency signal can be obtained by that the FMCW millimeter wave radar transmits frequency modulation continuous waves to a target through a transmitting antenna and receives transmitting information of the target, and coherent mixing is carried out on a part of an echo signal and the transmitting signal to obtain the difference frequency signal containing target distance and speed information. The sequence of difference frequency signal samples may be a sequence of difference frequency signals at a plurality of signal points.
The statistical parameters may include variance, covariance, standard deviation, mean square error, root mean square, and the like. Preferably, the present embodiment uses root mean square. The threshold value may be a threshold value composed of a threshold factor and a root mean square of the difference frequency signal sample sequence.
In particular, the threshold may be determined based on a threshold factor and a root mean square of the sequence of difference frequency signal samples. The threshold factor may be a coefficient determined according to the radar noise floor condition.
For example, if the difference frequency signal sampling sequence is x (N), N is 1.
Th＝k*rms(x)(1)，
Where k is the threshold factor and rms (x) is the root mean square of the sequence of samples of the beat signal.
According to the embodiment of the invention, the threshold value can be determined through the root mean square of the difference frequency signal sampling sequence corresponding to the radar signal and the threshold factor.
And S120, performing suppression processing on the difference frequency signal sampling sequence based on a threshold value to obtain an updated difference frequency signal sampling sequence.
It should be noted that, after the threshold is obtained, the amplitude value of each element in the difference frequency signal sampling sequence may be compared with the threshold one by one, and when the set condition is not satisfied, an interference point is detected, and the interference point is subjected to suppression processing. The suppression processing may be performed by directly removing the interference points in the difference frequency signal sample sequence, or by removing the interference points in the difference frequency signal sample sequence by using a method denoted by 0. After the interference points in the sequence of difference frequency signal samples are suppressed, an updated sequence of difference frequency signal samples can be obtained.
And S130, determining an updated threshold according to the statistical parameters of the updated difference frequency signal sampling sequence.
It should be noted that the interference signal can be divided into a complex signal which is difficult to process and a signal which is easy to process. In one iteration, some interference points which are easy to process can be subjected to suppression processing, and complex signals which are difficult to process need a new threshold value, and the new threshold value is used as a basis for needing secondary suppression processing or is used as a basis for judging whether the interference points exist in the difference frequency signal sampling sequence or not.
Specifically, the statistical parameter of the difference frequency signal sample sequence after the suppression processing and the threshold factor may be used to determine a new threshold, that is, an updated threshold. The statistical parameter may be the same parameter as the threshold before updating, such as root mean square. But the root mean square input before updating and the updated threshold value are determined to be different, and the threshold value updated each time is based on the difference frequency signal sampling sequence after the suppression processing. For example, when the threshold is processed for the first time, i.e. initially, the root mean square input is the original difference frequency signal sampling sequence; when the threshold value is updated, namely the threshold value is processed for the second time, the input of the root mean square is a difference frequency signal sampling sequence after the first suppression processing; when the threshold is updated, namely the threshold is processed for the third time, the input of the root mean square is a difference frequency signal sampling sequence after the second suppression processing; if the threshold is updated again, and so on.
And S140, if the updated threshold value and the threshold value before updating meet set conditions, determining the updated difference frequency signal sampling sequence as a target signal.
It can be understood that if a set condition is satisfied between the updated threshold and the threshold before updating, it is determined that no interference point exists in the difference frequency signal sampling sequence.
Specifically, if a set condition is satisfied between the updated threshold and the threshold before the updated threshold, where the set condition may be that an absolute value of a difference between the updated threshold and the threshold before the updated threshold is smaller than a preset value, the difference frequency signal sampling sequence after the suppression processing may be used as the target signal. The target signal may be a difference frequency signal sampling sequence after the interference point is removed.
And S150, if the set condition is not met between the updated threshold value and the threshold value before updating, the updated difference frequency signal sampling sequence is subjected to suppression processing based on the updated threshold value until the set condition is met between the updated threshold value and the threshold value before updating.
It should be noted that if the updated threshold and the threshold before updating do not satisfy the set condition, it is determined that an interference point still exists in the difference frequency signal sampling sequence.
Specifically, if the setting condition is not satisfied between the updated threshold and the threshold before updating, where the setting condition may be that the absolute value of the difference between the updated threshold and the threshold before updating is greater than a preset value, the difference frequency signal sampling sequence after the suppression processing is performed again according to the updated threshold until the setting condition is satisfied between the updated threshold and the threshold before updating.
Further, on the basis of the above embodiment of the present invention, a condition is set that an absolute value of a difference between the updated threshold value and the threshold value before updating is smaller than a set value.
According to the technical scheme of the embodiment of the invention, the threshold value is determined according to the statistical parameters of the difference frequency signal sampling sequence corresponding to the radar signal; performing suppression processing on the difference frequency signal sampling sequence based on a threshold value to obtain an updated difference frequency signal sampling sequence; determining an updated threshold value according to the statistical parameters of the updated difference frequency signal sampling sequence; if the updated threshold value and the threshold value before updating meet the set condition, determining the updated difference frequency signal sampling sequence as a target signal; and if the set condition is not met between the updated threshold value and the threshold value before updating, the updated difference frequency signal sampling sequence is subjected to suppression processing based on the updated threshold value until the set condition is met between the updated threshold value and the threshold value before updating. According to the technical scheme, the problem of width interference of the frequency modulation continuous wave millimeter wave radar is solved through the radar interference suppression method based on the difference frequency signal statistical parameter loop iteration, and meanwhile, compared with the prior art, the accuracy rate of detecting radar interference is improved and the anti-interference capability of the radar is improved in a mode of performing suppression processing on the updated difference frequency signal sampling sequence based on the updated threshold value.
Example two
Fig. 2 is a flowchart of a method for suppressing radar interference according to a second embodiment of the present invention, which is embodied on the basis of the second embodiment of the present invention, and referring to fig. 2, the method provided in the second embodiment of the present invention specifically includes the following steps:
s210, determining a threshold value according to the statistical parameters of the difference frequency signal sampling sequence corresponding to the radar signal.
And S211, acquiring a mark sequence corresponding to the difference frequency signal sampling sequence.
When an interference point is detected in the difference frequency signal sample sequence, it is necessary to perform suppression processing. According to the embodiment of the invention, the marker sequence corresponding to the difference frequency signal sampling sequence can be obtained, and the marker sequence is utilized to suppress the interference point. Wherein the elements in the marker sequence may have a one-to-one correspondence with the elements in the sequence of the difference frequency signal samples.
S212, comparing the amplitude of each element in the difference frequency signal sampling sequence with a threshold value respectively.
It is understood that the amplitudes of the elements in the difference frequency signal sample sequence may be compared with threshold values respectively to detect whether there is an interference point in the difference frequency signal sample sequence point by point. Specifically, the amplitudes of each element in the difference frequency signal sampling sequence are compared with a threshold value point by point, wherein in one round of detection, the threshold values compared by the amplitudes of each element are the same.
And S213, adjusting the marker sequence according to the comparison result to obtain an updated marker sequence.
It should be noted that, if the comparison result of a certain point is an interference point in the process of performing point-by-point traversal comparison, the element at the position in the marker sequence corresponding to the difference frequency signal sampling sequence is adjusted.
Illustratively, if x (n) is [ x (1), x (2),.. multidot.x (n) ], if x (1) in the first position of the sequence is an interference point, the flag sequence flag (n) ([ 1, 1.. multidot.1 ]) marks the element in the first position as 0, and the updated flag sequence is flag (n) ([ 0, 1.. multidot.1 ]).
And S214, multiplying each element of the difference frequency signal sampling sequence with the corresponding element in the updated mark sequence to obtain an updated difference frequency signal sampling sequence.
It can be understood that after the interference point is detected and the updated marker sequence is obtained, each element of the difference frequency signal sample sequence may be multiplied by the corresponding element in the updated marker sequence to obtain the difference frequency signal sample sequence after the suppression processing. I.e. the updated sequence of difference frequency signal samples.
And S215, determining an updated threshold according to the statistical parameters of the updated difference frequency signal sampling sequence.
And S216, if the updated threshold value and the threshold value before updating meet set conditions, determining the updated difference frequency signal sampling sequence as a target signal.
And S217, if the set condition is not satisfied between the updated threshold value and the threshold value before updating, the updated difference frequency signal sampling sequence is subjected to suppression processing based on the updated threshold value until the set condition is satisfied between the updated threshold value and the threshold value before updating.
In the embodiment of the invention, the interference point is suppressed by the marker sequence, so that each time when a certain element in the difference frequency signal sampling sequence is processed (interference point is processed), the element behind the element in the difference frequency signal sampling sequence does not need to be moved forward by one bit, that is, the elements in the difference frequency signal sampling sequence do not need to be rearranged, thereby saving the calculation cost and the time cost and improving the efficiency of suppressing the radar interference signal. For example, if x (1) in the first position of the sequence is an interference point, the method of marking the sequence is adopted, and after the suppression processing is performed on x (1), x (2),..,. x (n) is not required to be moved forward by one bit for sorting.
Further, on the basis of the above embodiment of the present invention, the amplitude of each element of the tag sequence is a first set value, and the tag sequence is adjusted according to the comparison result to obtain an updated tag sequence, including:
if the amplitude of the element in the difference frequency signal sampling sequence is larger than the threshold value, modifying the amplitude of the corresponding element in the mark sequence to a second set value to obtain an updated mark sequence; and determining a point corresponding to the element as an interference point.
It will be appreciated that each element in the tag sequence is initially at a first set value, for example 1. If the amplitude of the element in the difference frequency signal sampling sequence is greater than the threshold value in the process of point-by-point traversal comparison, the amplitude (element) at the position corresponding to the difference frequency signal sampling sequence in the mark sequence is modified to be a second set value, and the point corresponding to the element is determined to be an interference point, for example, the element at the corresponding position in the mark sequence is marked to be 0, so that an updated mark sequence can be obtained.
Further, on the basis of the foregoing embodiment of the invention, determining an updated threshold according to the statistical parameter of the updated sampling sequence of the difference frequency signal includes:
a1, counting the number of interference points in the updated difference frequency signal sampling sequence.
It can be understood that, after the interference point in the difference frequency signal sampling sequence is detected, in addition to performing the update of the marker sequence, the number of interference points in the difference frequency signal sampling sequence may also be counted, of course, the initial value is 0, when there is an interference point, the add-1 operation is performed, and when the suppression processing is performed according to the updated difference frequency signal sampling sequence, if there is an interference point, the add-1 operation is still performed to count the number of interference points in the difference frequency signal sampling sequence.
Illustratively, the number of interference points may be counted by the following equation (3):
M＝M+1(3)，
where M represents the number of interference points.
b1, determining a threshold factor based on the number of interference points.
It should be noted that, since the suppression processing is performed according to the updated difference frequency signal sample sequence, if there is an interference point, the element at the corresponding position is 0, in order to ensure the accuracy of the calculation, it is necessary to compensate the value of the statistical parameter of the updated difference frequency signal sample sequence, for example, the root mean square value, and then the corresponding threshold factor may be the following formula (4):
wherein the content of the first and second substances,
k is an original threshold factor and is constant each time for the root mean square correction factor of the updated difference frequency signal sampling sequence. But to compensate for the rms value of the updated sequence of difference frequency signal samples, k is used new As a threshold factor.
c1, determining the updated threshold value according to the threshold factor and the statistical parameter of the updated difference frequency signal sampling sequence.
According to the embodiment of the invention, the updated threshold value can be determined according to the threshold factor and the statistical parameter of the updated difference frequency signal sampling sequence. Wherein the statistical parameter may be root mean square.
For example, the updated threshold value can be calculated by the following formula (5):
Th_new＝k new *rms(x*flag)(5)，
where x flag is the updated sequence of difference frequency signal samples, rms (x flag) indicates that the root mean square value is calculated based on the updated sequence of difference frequency signal samples.
For example, to facilitate understanding, fig. 3 is a schematic diagram of an implementation of a method for suppressing radar interference according to an embodiment of the present invention.
As shown in fig. 3, it is assumed that the difference frequency signal sampling sequence is x (N), N is 1,., N is the number of signal points, the initial threshold is Th k rms (x), k is the threshold factor, rms (x) is the root mean square of the difference frequency signal sampling sequence, and the initial flag sequence is flag (N) [1, 1,.., 1]]The values of the elements in the initial time in the marker sequence are all 1, the number of the elements in the marker sequence is the same as the number of the elements in the difference frequency signal sampling sequence, and the number M of the interference points is initially 0. Based on threshold Th, suppression processing is performed on difference frequency signal sampling sequence x (n) or x for short, specifically: and comparing the amplitude of each element in the difference frequency signal sampling sequence x (n) with a threshold Th, modifying the amplitude of the corresponding element in the marking sequence to be 0 if the amplitude of the element in the difference frequency signal sampling sequence is greater than the threshold Th, and counting the number M of the interference points to be M + 1. Determining the updated threshold value from the root mean square of the updated sequence of samples of the difference frequency signal, i.e. the updated threshold value
If the absolute value of the difference between the updated threshold Th _ new and the threshold Th before updating is smaller than the set value, the updated difference frequency signal sample sequence is determined as the target signal, i.e., y ═ x × flag (each element of the difference frequency signal sample sequence is multiplied by the corresponding element in the updated flag sequence). If the absolute value of the difference between the updated threshold value Th _ new and the threshold value Th before update is greater than the set value, that is, abs (Th-Th _ new) < delta where abs () represents an absolute value, abs (Th-Th _ new) represents an absolute value of the difference between the updated threshold value Th _ new and the threshold value Th before update, and delta represents a set value, the updated difference signal sample sequence (x ═ x flag) is suppressed based on the updated threshold value (Th ═ Th _ new).
EXAMPLE III
Fig. 4 is a schematic structural diagram of a radar interference suppression device according to a third embodiment of the present invention. As shown in fig. 4, the apparatus includes: a first determination module 401, a first processing module 402, a second determination module 403, a third determination module 404, and a second processing module 405. Wherein the content of the first and second substances,
a first determining module 401, configured to determine a threshold according to a statistical parameter of a difference frequency signal sampling sequence corresponding to a radar signal;
a first processing module 402, configured to perform suppression processing on the difference frequency signal sample sequence based on the threshold to obtain an updated difference frequency signal sample sequence;
a second determining module 403, configured to determine an updated threshold according to the statistical parameter of the updated difference frequency signal sampling sequence;
a third determining module 404, configured to determine the updated difference frequency signal sampling sequence as a target signal if a set condition is satisfied between the updated threshold and the threshold before updating;
a second processing module 405, configured to, if the setting condition is not satisfied between the updated threshold and the threshold before updating, perform suppression processing on the updated difference frequency signal sampling sequence based on the updated threshold until the setting condition is satisfied between the updated threshold and the threshold before updating.
According to the technical scheme of the embodiment of the invention, a threshold value is determined by a first determining module according to the statistical parameters of a difference frequency signal sampling sequence corresponding to a radar signal; the first processing module carries out suppression processing on the difference frequency signal sampling sequence based on the threshold value to obtain an updated difference frequency signal sampling sequence; determining, by a second determination module, an updated threshold value according to the statistical parameter of the updated difference frequency signal sampling sequence; determining the updated difference frequency signal sampling sequence as a target signal by a third determining module if the updated threshold value and the threshold value before updating meet a set condition; and if the set condition is not met between the updated threshold value and the threshold value before updating, the second processing module suppresses the updated difference frequency signal sampling sequence based on the updated threshold value until the set condition is met between the updated threshold value and the threshold value before updating. According to the technical scheme, the problem of width interference of the frequency modulation continuous wave millimeter wave radar is solved through the radar interference suppression method based on the difference frequency signal statistical parameter loop iteration, and meanwhile, compared with the prior art, the accuracy rate of detecting radar interference is improved and the anti-interference capability of the radar is improved in a mode of performing suppression processing on the updated difference frequency signal sampling sequence based on the updated threshold value.
Further, on the basis of the above embodiment of the invention, the first processing module includes:
an acquisition unit configured to acquire a marker sequence corresponding to the difference frequency signal sample sequence;
the comparison unit is used for comparing the amplitude of each element in the difference frequency signal sampling sequence with the threshold value respectively;
the adjusting unit is used for adjusting the marker sequence according to the comparison result to obtain an updated marker sequence;
and the obtaining unit is used for multiplying each element of the difference frequency signal sampling sequence with the corresponding element in the updated mark sequence to obtain an updated difference frequency signal sampling sequence.
Further, on the basis of the above embodiment of the present invention, the amplitude of each element of the mark sequence is a first set value, and the adjusting unit is specifically configured to:
if the amplitude of the element in the difference frequency signal sampling sequence is larger than the threshold value, modifying the amplitude of the corresponding element in the mark sequence to a second set value to obtain an updated mark sequence; and determining a point corresponding to the element as an interference point.
Further, on the basis of the embodiment of the present invention, the second determining module is specifically configured to:
counting the number of interference points in the updated difference frequency signal sampling sequence;
determining a threshold factor based on the number of interference points;
and determining an updated threshold value according to the threshold factor and the statistical parameter of the updated difference frequency signal sampling sequence.
Further, on the basis of the above embodiment of the present invention, the setting condition is that an absolute value of a difference between the updated threshold value and the threshold value before updating is smaller than a set value.
The radar interference suppression device provided by the embodiment of the invention can execute the radar interference suppression method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
Fig. 5 is a schematic structural diagram of an electronic device implementing a method for suppressing radar interference according to an embodiment of the present invention. FIG. 5 illustrates a schematic diagram of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 5, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM)12, a Random Access Memory (RAM)13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM)12 or the computer program loaded from a storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the electronic apparatus 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
A number of components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, or the like. The processor 11 performs the various methods and processes described above, such as the method of radar interference suppression.
In some embodiments, a method of radar interference suppression may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. The computer program, when loaded into RAM 13 and executed by processor 11, may perform one or more steps of the method of radar interference suppression described above. Alternatively, in other embodiments, the processor 11 may be configured by any other suitable means (e.g., by means of firmware) to perform the method a radar interference suppression.
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), blockchain networks, and the Internet.
The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.
It should be understood that various forms of the flows shown above, reordering, adding or deleting steps, may be used. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method for suppressing radar interference, comprising:
determining a threshold value according to statistical parameters of a difference frequency signal sampling sequence corresponding to the radar signal;
performing suppression processing on the difference frequency signal sampling sequence based on the threshold value to obtain an updated difference frequency signal sampling sequence;
determining an updated threshold value according to the statistical parameters of the updated difference frequency signal sampling sequence;
if the updated threshold value and the threshold value before updating meet the set condition, determining the updated difference frequency signal sampling sequence as a target signal;
and if the set condition is not satisfied between the updated threshold value and the threshold value before updating, the updated difference frequency signal sampling sequence is subjected to suppression processing based on the updated threshold value until the set condition is satisfied between the updated threshold value and the threshold value before updating.
2. The method of claim 1, wherein suppressing the sequence of difference frequency signal samples based on the threshold value to obtain an updated sequence of difference frequency signal samples comprises:
acquiring a mark sequence corresponding to the difference frequency signal sampling sequence;
comparing the amplitude of each element in the difference frequency signal sampling sequence with the threshold value respectively;
adjusting the marker sequence according to the comparison result to obtain an updated marker sequence;
and multiplying each element of the difference frequency signal sampling sequence with the corresponding element in the updated mark sequence to obtain an updated difference frequency signal sampling sequence.
3. The method of claim 2, wherein the amplitude of each element of the marker sequence is a first set value, and adjusting the marker sequence according to the comparison results to obtain an updated marker sequence comprises:
if the amplitude of the element in the difference frequency signal sampling sequence is larger than the threshold value, modifying the amplitude of the corresponding element in the mark sequence to a second set value to obtain an updated mark sequence; and determining a point corresponding to the element as an interference point.
4. The method of claim 3, wherein determining an updated threshold based on the statistical parameter of the updated sequence of difference frequency signal samples comprises:
counting the number of interference points in the updated difference frequency signal sampling sequence;
determining a threshold factor based on the number of interference points;
and determining an updated threshold value according to the threshold factor and the statistical parameter of the updated difference frequency signal sampling sequence.
5. The method according to claim 1, wherein the set condition is that an absolute value of a difference between the updated threshold value and the threshold value before updating is smaller than a set value.
6. An apparatus for suppressing radar interference, comprising:
the first determining module is used for determining a threshold value according to the statistical parameters of the difference frequency signal sampling sequence corresponding to the radar signal;
the first processing module is used for carrying out suppression processing on the difference frequency signal sampling sequence based on the threshold value to obtain an updated difference frequency signal sampling sequence;
a second determining module, configured to determine an updated threshold according to the statistical parameter of the updated difference frequency signal sampling sequence;
a third determining module, configured to determine the updated difference frequency signal sampling sequence as a target signal if a set condition is satisfied between the updated threshold and the threshold before updating;
and a second processing module, configured to, if the set condition is not satisfied between the updated threshold and the pre-update threshold, perform suppression processing on the updated difference frequency signal sampling sequence based on the updated threshold until the set condition is satisfied between the updated threshold and the pre-update threshold.
7. The apparatus of claim 6, wherein the first processing module comprises:
an acquisition unit configured to acquire a marker sequence corresponding to the difference frequency signal sample sequence;
the comparison unit is used for comparing the amplitude of each element in the difference frequency signal sampling sequence with the threshold value respectively;
the adjusting unit is used for adjusting the marker sequence according to the comparison result to obtain an updated marker sequence;
and the obtaining unit is used for multiplying each element of the difference frequency signal sampling sequence with the corresponding element in the updated mark sequence to obtain an updated difference frequency signal sampling sequence.
8. The apparatus according to claim 7, wherein the amplitude of each element of the sequence of marks is a first set value, and the adjusting unit is specifically configured to:
if the amplitude of the element in the difference frequency signal sampling sequence is larger than the threshold value, modifying the amplitude of the corresponding element in the mark sequence to a second set value to obtain an updated mark sequence; and determining a point corresponding to the element as an interference point.
9. An electronic device, characterized in that the electronic device comprises:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of radar interference mitigation of any one of claims 1-5.
10. A computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions for causing a processor to implement the method for suppressing radar interference according to any one of claims 1 to 5 when executed.
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