CN115144852B - Method and system for enhancing navigation radar target echo - Google Patents
Method and system for enhancing navigation radar target echo Download PDFInfo
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- CN115144852B CN115144852B CN202211056022.0A CN202211056022A CN115144852B CN 115144852 B CN115144852 B CN 115144852B CN 202211056022 A CN202211056022 A CN 202211056022A CN 115144852 B CN115144852 B CN 115144852B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
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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
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/414—Discriminating targets with respect to background clutter
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Abstract
The embodiment of the invention discloses a method for enhancing a navigation radar target echo, which comprises the following steps: determining a weighted echo value of each sampling point in the current frame radar image; determining a detection threshold of each sampling point in the current frame radar image; determining an amplitude marking value of each sampling point in the current frame radar image under a rectangular coordinate system according to a preset condition, wherein the preset condition at least comprises the judgment of a weighted echo value of each sampling point in the current frame radar image through the detection threshold; and determining the corresponding pixel value of the amplitude mark value of each sampling point in the polar coordinate system, and displaying based on the determined pixel value. The embodiment of the invention also discloses a system for enhancing the navigation radar target echo. The invention combines the weighted echo and the echo display, and further improves the enhancement effect of the target echo.
Description
Technical Field
The invention relates to the technical field of radars, in particular to a method and a system for enhancing a navigation radar target echo.
Background
In the prior art, generally, inter-frame correlation is used for enhancing a target echo, and an average echo and a detection threshold are used to determine whether the target echo is the target echo, if the average echo is greater than the detection threshold, the target echo is considered to be the target echo, and the target echo is displayed, otherwise, the target echo is not displayed. The method has a certain enhancement effect on the echo of the target, but the echo is lost for a small target which is hidden and appeared.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide a method and a system for enhancing a target echo of a navigation radar, which combine a weighted echo with an echo display, so as to further improve the enhancement effect of the target echo.
The embodiment of the invention provides a method for enhancing a navigation radar target echo, which comprises the following steps:
s1, determining a weighted echo value of each sampling point in a current frame radar image:
in the formula (I), wherein,
indicating the r-th frameThe weighted echo value of the ith sampling point of the nth azimuth unit in the image,
represents the weighted echo value of the ith sampling point of the nth azimuth unit in the r-1 th frame radar image,
representing data of an azimuth unit where a current scanning line is located in an r-th frame of radar image, wherein r represents the number of turns of antenna rotation;
s2, determining the detection threshold of each sampling point in the radar image of the current frame
：
In the formula (I), wherein,
represents the basic detection threshold of the ith sample point of the nth azimuth unit,
representing a secondary adjustment threshold obtained by adjusting the sea clutter gain value;
s3, determining the amplitude mark value of each sampling point in the current frame radar image under a rectangular coordinate system according to preset conditions, wherein the preset conditions at least comprise that the detection threshold is passed
Judging the weighted echo value of each sampling point in the current frame radar image;
and S4, determining a pixel value corresponding to the amplitude mark value of each sampling point in the radar image of the current frame in a polar coordinate system, and displaying based on the determined pixel values, wherein one amplitude mark value corresponds to one pixel value.
As a further improvement of the present invention, for the r-th frame radar image, the azimuth unit where each scanning line is located is determined according to the azimuth code corresponding to each scanning line, in S1,
if the plurality of scanning lines are located in the same azimuth unit, performing weighted echo processing in the S1 on a first scanning line in the plurality of scanning lines;
and if the position unit of the current scanning line and the position unit of the last scanning line are discontinuous, adopting the data of the position unit of the current scanning line to perform data filling processing on the position unit between the position unit of the current scanning line and the position unit of the last scanning line.
As a further improvement of the present invention, the nth azimuth unit is determined by the azimuth code m corresponding to the current scanning line in the r-th frame radar image: n = M/M k,
in the formula, M represents the actual number of azimuth codes of the radar, and k represents the number of azimuth elements artificially divided in the azimuth dimension.
As a further improvement of the invention, the basic detection threshold is
The clutter map statistical method comprises the following steps:
averaging the amplitude values of all sampling points in each grid unit to obtain an average amplitude value of each grid unit;
carrying out weighting processing on the average amplitude values of four grid units around each grid unit to obtain a statistical amplitude value of each grid unit;
performing broken line and smooth processing on the statistical amplitude value of each grid unit to obtain the basic detection threshold
。
As a further improvement of the invention, the secondary adjustment threshold is obtained by adjusting the gain value of the sea clutter
：
Wherein coeff is an adjustment coefficient, rend is an adjustment distance, and both coeff and Rend are associated with the sea clutter gain value.
As a further refinement of the invention, the amplitude flag values include amplitude flag values 4, 3, 2, 1 and 0, the corresponding pixel values being light color 3, light color 2, light color 1, dark color and black, respectively.
As a further improvement of the present invention, in S3,
if the original echo value of the sampling point in the current frame radar image is greater than the detection threshold, the weighted echo value of the sampling point in the current frame radar image is greater than the detection threshold, and the amplitude mark value of the sampling point in the previous frame radar image is 0, giving 1 the current amplitude mark value of the sampling point;
if the original echo value of the sampling point in the current frame radar image is greater than the detection threshold, the weighted echo value of the sampling point in the current frame radar image is greater than the detection threshold, and the amplitude marking value of the sampling point in the previous frame radar image is not 0, giving 4 the current amplitude marking value of the sampling point;
and if the original echo value of the sampling point in the current frame radar image is not greater than the detection threshold, or the weighted echo value of the sampling point in the current frame radar image is not greater than the detection threshold, reducing the current amplitude mark value of the sampling point by one level compared with the amplitude mark value of the sampling point in the previous frame radar image.
The embodiment of the invention also provides a system for enhancing the target echo of the navigation radar, which comprises the following steps:
the weighted echo processing module is used for determining the weighted echo value of each sampling point in the current frame radar image:
in the formula (I), wherein,
representing the weighted echo value of the ith sampling point of the nth azimuth unit in the r frame radar image,
represents the weighted echo value of the ith sampling point of the nth azimuth unit in the r-1 th frame radar image,
data of an azimuth unit where a current scanning line is located in the r-th frame of radar image are represented, and r represents the number of turns of antenna rotation;
a detection curve determining module for determining the detection threshold of each sampling point in the radar image of the current frame
：
In the formula (I), wherein,
represents the basic detection threshold of the ith sample point of the nth azimuth unit,
representing a secondary adjustment threshold obtained by adjusting the sea clutter gain value;
an amplitude mark value determining module, configured to determine an amplitude mark value of each sampling point in the current frame radar image in the rectangular coordinate system according to a preset condition, where the preset condition at least includes that the sampling point passes the detection threshold
Judging the weighted echo value of each sampling point in the current frame radar image;
and the pixel value determining and displaying module is used for determining the pixel value corresponding to the amplitude marking value of each sampling point in the current frame radar image under the polar coordinate system and displaying the pixel values based on the determined pixel values, wherein one amplitude marking value corresponds to one pixel value.
As a further improvement of the invention, for the r frame radar image, the azimuth unit where each scanning line is located is determined according to the azimuth code corresponding to each scanning line, in the weighted echo processing module,
if a plurality of scanning lines fall on the same azimuth unit, performing weighted echo processing in the weighted echo processing module on a first scanning line in the plurality of scanning lines;
and if the position unit of the current scanning line and the position unit of the last scanning line are discontinuous, adopting the data of the position unit of the current scanning line to perform data filling processing on the position unit between the position unit of the current scanning line and the position unit of the last scanning line.
As a further improvement of the present invention, the nth azimuth unit is determined by the azimuth code m corresponding to the current scanning line in the r-th frame radar image: n = M/M k,
in the formula, M represents the actual azimuth code number of the radar, and k represents the number of azimuth units artificially divided in the azimuth dimension.
As a further improvement of the invention, the basic detection threshold
The clutter map statistical method comprises the following steps:
averaging the amplitude values of all sampling points in each grid unit to obtain an average amplitude value of each grid unit;
carrying out weighting processing on the average amplitude values of four grid units around each grid unit to obtain a statistical amplitude value of each grid unit;
performing broken line and smooth processing on the statistical amplitude value of each grid unit to obtain the basic detection threshold
。
As a further improvement of the invention, the secondary adjustment threshold is obtained by adjusting the gain value of the sea clutter
：
Wherein coeff is an adjustment coefficient, rend is an adjustment distance, and both coeff and Rend are associated with the sea clutter gain value.
As a further refinement of the invention, the amplitude flag values include amplitude flag values 4, 3, 2, 1 and 0, the corresponding pixel values being light color 3, light color 2, light color 1, dark color and black, respectively.
As a further improvement of the invention, in the amplitude flag value determination module,
if the original echo value of the sampling point in the current frame radar image is greater than the detection threshold, the weighted echo value of the sampling point in the current frame radar image is greater than the detection threshold, and the amplitude mark value of the sampling point in the previous frame radar image is 0, giving 1 the current amplitude mark value of the sampling point;
if the original echo value of the sampling point in the current frame radar image is greater than the detection threshold, the weighted echo value of the sampling point in the current frame radar image is greater than the detection threshold, and the amplitude mark value of the sampling point in the previous frame radar image is not 0, giving 4 to the current amplitude mark value of the sampling point;
and if the original echo value of the sampling point in the current frame radar image is not greater than the detection threshold, or the weighted echo value of the sampling point in the current frame radar image is not greater than the detection threshold, reducing the current amplitude mark value of the sampling point by one level compared with the amplitude mark value of the sampling point in the previous frame radar image.
Embodiments of the present invention also provide an electronic device, which includes a memory and a processor, and is characterized in that the memory is configured to store one or more computer instructions, where the one or more computer instructions are executed by the processor to implement the method.
An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the method.
The invention has the beneficial effects that:
by counting the weighted echo of each frame of radar image and judging the weighted echo based on the detection threshold, clutter echoes can be suppressed, and target echoes can be enhanced. And a plurality of pixel levels are set, and each sampling point is converted into a pixel point to be displayed, clutter echoes and target echoes can be distinguished more through sharp contrast of different colors, and further enhanced display of the target echoes is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
Fig. 1 is a schematic flowchart of a method for enhancing an echo of a navigation radar target according to an exemplary embodiment of the present invention;
fig. 2 is a schematic diagram of an original echo of a radar image of a current frame according to an exemplary embodiment of the present invention;
FIG. 3 is a diagram illustrating weighted echoes of a radar image of a current frame according to an exemplary embodiment of the invention;
FIG. 4 is a diagram illustrating a quadratic adjustment threshold according to an exemplary embodiment of the invention;
FIG. 5 is a schematic diagram illustrating a color level corresponding to a pixel point according to an exemplary embodiment of the present invention;
fig. 6 is a schematic diagram illustrating a judgment according to a preset condition according to an exemplary embodiment of the invention;
fig. 7 is a schematic diagram illustrating a display effect of a radar image of a current frame in a polar coordinate system according to an exemplary embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, back, 8230; etc.) are involved in the embodiment of the present invention, the directional indications are only used for explaining the relative positional relationship between the components, the motion situation, etc. in a specific posture (as shown in the figure), and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, in the description of the present invention, the terms used are for illustrative purposes only and are not intended to limit the scope of the present invention. The terms "comprises" and/or "comprising" are used to specify the presence of stated elements, steps, operations, and/or components, but do not preclude the presence or addition of one or more other elements, steps, operations, and/or components. The terms "first," "second," and the like may be used to describe various elements, not necessarily order, and not necessarily limit the elements. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified. These terms are only used to distinguish one element from another. These and/or other aspects will become apparent to those of ordinary skill in the art in view of the following drawings, and the description of the embodiments of the present invention will be more readily understood by those of ordinary skill in the art. The drawings are only for purposes of illustrating the described embodiments of the invention. One skilled in the art will readily recognize from the following description that alternative embodiments of the structures and methods illustrated in the present application may be employed without departing from the principles described in the present application.
In the method for enhancing the echo of the target of the navigation radar, in the radar scanning range, the azimuth dimension is divided into a plurality of azimuth units, the distance dimension of each azimuth unit is divided into a plurality of distance units, one distance unit in each azimuth unit forms a grid unit, each grid unit comprises a plurality of sampling points, as shown in fig. 1, the method comprises the following steps:
s1, determining a weighted echo value of each sampling point in a current frame radar image:
in the formula (I), wherein,
represents the weighted echo value of the ith sampling point of the nth azimuth unit in the r frame radar image,
represents the weighted echo value of the ith sampling point of the nth azimuth unit in the r-1 th frame radar image,
representing data of an azimuth unit where a current scanning line is located in an r-th frame of radar image, wherein r represents the number of turns of antenna rotation;
s2, determining the detection threshold of each sampling point in the current frame radar image
：
In the formula (I), the reaction is carried out,
represents the basic detection threshold of the ith sample point of the nth azimuth unit,
representing a secondary adjustment threshold obtained by adjusting the sea clutter gain value;
s3, determining the amplitude mark value of each sampling point in the current frame radar image under the rectangular coordinate system according to the preset condition, wherein the amplitude mark value isWherein the predetermined condition at least includes passing the detection threshold
Judging the weighted echo value of each sampling point in the current frame radar image;
and S4, determining a pixel value corresponding to the amplitude marker value of each sampling point in the current frame radar image under a polar coordinate system, and displaying based on the determined pixel values, wherein one amplitude marker value corresponds to one pixel value.
According to the method, the weighted echo is counted for each frame of radar image, and the weighted echo is judged based on the detection threshold, so that the clutter echo can be inhibited, and the target echo can be enhanced. And a plurality of pixel levels are set, and each sampling point is converted into a pixel point to be displayed, clutter echoes and target echoes can be distinguished more through the sharp contrast of different colors, and the further enhanced display of the target echoes is realized. It can be understood that the echo values of each sampling point in the radar image are counted to obtain the weighted echo of each frame of radar image. And when the weighted echo is judged, judging the weighted echo value obtained by statistics on each sampling point based on the corresponding detection threshold.
It can also be understood that in S1, the original echo value of each sampling point in the 1 st frame radar image is used as an initial value to calculate a weighted echo value of each sampling point in the 2 nd frame radar image.
In one embodiment, for the r frame radar image, the azimuth unit where each scanning line is located is determined according to the azimuth code corresponding to each scanning line, in S1,
if a plurality of scanning lines fall on the same azimuth unit, performing weighted echo processing in the S1 on a first scanning line in the plurality of scanning lines;
and if the position unit of the current scanning line and the position unit of the last scanning line are discontinuous, adopting the data of the position unit of the current scanning line to perform data filling processing on the position unit between the position unit of the current scanning line and the position unit of the last scanning line.
For example, 4096 azimuth cells are divided in the azimuth dimension, sampling points are divided in the distance dimension, the azimuth cell where each scanning line is located is found according to the azimuth code of each scanning line, if a plurality of scanning lines fall on one azimuth cell, only the first scanning line is selected for processing, and if the azimuth cell where the current scanning line is located and the azimuth cell where the last scanning line is located are discontinuous, the azimuth cell where no calculation is performed in the middle is filled with data of the current azimuth cell.
In one embodiment, the nth azimuth unit is determined by the azimuth code m corresponding to the current scanning line in the r-th frame radar image: n = M/M k,
in the formula, M represents the actual azimuth code number of the radar, and k represents the number of azimuth units artificially divided in the azimuth dimension.
For example, k =4096, and the azimuth code corresponding to the current scan line is m, then the azimuth unit where the current scan line is located is: n = M/M4096. Where M is typically 4096, k may be artificially partitioned 4096, 2048 or some other number.
As shown in fig. 2 and 3, the original echo of the current frame radar image and the weighted echo of the current frame radar image are respectively (i.e., each sampling point in the current frame radar image is subjected to weighted echo processing to obtain a corresponding weighted echo value, and each sampling point is displayed according to the weighted echo value).
In one embodiment, the basic detection threshold is set to
The clutter map statistical method comprises the following steps:
averaging the amplitude values of all sampling points in each grid unit to obtain an average amplitude value of each grid unit;
carrying out weighting processing on the average amplitude values of four grid units around each grid unit to obtain a statistical amplitude value of each grid unit;
performing polyline and smooth processing on the statistical amplitude value of each grid unit to obtain the basic detection threshold
。
In one embodiment, the secondary adjustment threshold is obtained by adjusting the gain value of the sea clutter
：
Wherein coeff is an adjustment coefficient, rend is an adjustment distance, and both coeff and Rend are associated with the sea clutter gain value.
It will be appreciated that for each revolution of the antenna, a frame of radar image is acquired. When averaging the amplitude values of the sampling points of each grid cell, the amplitude values of all the sampling points of each grid cell in the current frame may be directly averaged. Multi-frame recursion processing can also be performed. In the recursion process, when the antenna rotates the 1 st turn, the average value of the amplitude values of all sampling points in each grid unit is used as an initial value, and the initial value is used to add the preset amplitude value (used as a reference amplitude value) of each grid unit of the current frame to obtain the average value in a recursion manner. For example, the reference amplitude value of the grid cell where the jth distance cell of the nth position cell in the current frame (the r-th rotation circle of the antenna) is located is N1, the average amplitude value of the grid cell where the jth distance cell of the nth position cell in the previous frame (the r-1 th rotation circle of the antenna) is N2, the average amplitude value of the grid cell where the jth distance cell of the nth position cell in the current frame is located is N3= a1 × N1+ a2 × N2, and coefficients a1 and a2 therein may be the same or different.
When the average amplitude value of the grid unit is weighted to obtain the statistical amplitude value, for example, the same weighting coefficient may be given to the previous grid unit, the next grid unit, the previous grid unit, and the next grid unit of the current grid unit, or different weighting coefficients may be adaptively given.
When the broken line and the smooth processing are carried out on the statistical amplitude value of each grid unit, the slope and the intercept are firstly obtained by utilizing the statistical amplitude value and the number of sampling points of every two grid units, then the broken line processing is carried out, so that the sampling point in each grid unit has the corresponding amplitude value, and then the distance smooth processing is carried out on all the sampling point data, so as to obtain the basic detection threshold
. After the basic detection threshold is obtained, the secondary adjustment threshold is obtained by adjusting the sea clutter gain value
And summing the basic detection threshold and the secondary adjustment threshold to obtain a detection threshold corresponding to each sampling point. The detection threshold generated by the process can filter out sea clutter and keep the effect of the target echo. As shown in fig. 4, in the graph, the abscissa represents the number of sampling points, the ordinate represents an amplitude value, and the detection threshold is obtained by adjusting the sea clutter gain value sea, where a smooth curve is the detection threshold, and the other line is data of the azimuth unit where the current scanning line is located.
In one embodiment, the amplitude marker values include amplitude marker values 4, 3, 2, 1, and 0, and the corresponding pixel values are light color 3, light color 2, light color 1, dark color, and black, respectively.
It can be understood that the rectangular coordinate system formed by the sampling points and the azimuth units is changed by sine and cosine to obtain a polar coordinate system. In rectangular coordinates, the corresponding pixel values in polar coordinates are found according to the amplitude mark values of the sampling points, wherein the corresponding pixel values of the amplitude marks 4, 3, 2, 1, 0 in the polar coordinates are respectively light color 3, light color 2, light color 1, dark color, and black, wherein the corresponding colors of the pixel values are divided from light to dark, which is also the gradation of the colors from high to low, as shown in fig. 5. The bright colors 3, 2, 1, and dark colors are not shown in fig. 5, but it is understood that the bright colors 3, 2, and 1 are all vivid colors, wherein the brightness of the bright color 3 is greater than that of the bright color 2, and the brightness of the bright color 2 is greater than that of the bright color 1; the dark color is a darker color with respect to the light colors 3, 2, and 1, and the luminance of the dark color is lower than that of the light color 1 but higher than that of the black color. That is, the RGB values of the bright color 3, the bright color 2, the bright color 1, the dark color, and the black are gradually decreased, and the brightness is gradually decreased.
In one embodiment, as shown in fig. 6, in S3,
if the original echo value of the sampling point in the current frame radar image is greater than the detection threshold, the weighted echo value of the sampling point in the current frame radar image is greater than the detection threshold, and the amplitude mark value of the sampling point in the previous frame radar image is 0, giving 1 to the current amplitude mark value of the sampling point;
if the original echo value of the sampling point in the current frame radar image is greater than the detection threshold, the weighted echo value of the sampling point in the current frame radar image is greater than the detection threshold, and the amplitude marking value of the sampling point in the previous frame radar image is not 0, giving 4 the current amplitude marking value of the sampling point;
and if the original echo value of the sampling point in the current frame radar image is not greater than the detection threshold, or the weighted echo value of the sampling point in the current frame radar image is not greater than the detection threshold, reducing the current amplitude mark value of the sampling point by one level compared with the amplitude mark value of the sampling point in the previous frame radar image. For example, as shown in fig. 4, when the amplitude flag value of the sampling point in the previous radar image is 4, the amplitude flag value of the sampling point in the current radar image is reduced to 3, that is, when the pixel value of the previous frame is bright color 3, the pixel value of the current frame is bright color 2, and so on.
The display effect of the current frame radar image in the polar coordinate system is shown in fig. 7, where black is a background color, the sea clutter is displayed as a dark color, and the target is displayed as a bright color, where a process from the bright color 3 to the bright color 2 to the bright color 1 and then to the dark color is a process in which a target echo gradually disappears (the process of color change is not shown in the figure, and the process of color change can be observed by observing for a period of time during actual use). It can be seen that, for a small target which is hidden and appeared, echo display is more stable by the method of echo delay disappearance. The invention sets 5 grades of colors, and the appearance of the echo is changed by two stages of pixels from dark to bright; the extinction of the echo is changed by the bright, sub-bright, dark and black five-level pixels, the target echo is more stable by the echo delay display and echo delay extinction method, and the user can distinguish the target echo from the clutter echo by the bright contrast of different colors.
The embodiment of the invention also provides a system for enhancing the target echo of the navigation radar, which comprises the following steps:
the weighted echo processing module is used for determining the weighted echo value of each sampling point in the current frame radar image:
in the formula (I), wherein,
representing the weighted echo value of the ith sampling point of the nth azimuth unit in the r frame radar image,
represents the weighted echo value of the ith sampling point of the nth azimuth unit in the r-1 th frame radar image,
representing data of an azimuth unit where a current scanning line is located in an r-th frame of radar image, wherein r represents the number of turns of antenna rotation;
a detection curve determining module for determining the detection threshold of each sampling point in the radar image of the current frame
：
In the formula (I), wherein,
represents the basic detection threshold of the ith sample point of the nth azimuth unit,
representing a secondary adjustment threshold obtained by adjusting a sea clutter gain value;
an amplitude mark value determining module, configured to determine an amplitude mark value of each sampling point in the current frame radar image in the rectangular coordinate system according to a preset condition, where the preset condition at least includes that the sampling point passes the detection threshold
Judging the weighted echo value of each sampling point in the current frame radar image;
and the pixel value determining and displaying module is used for determining the pixel value corresponding to the amplitude marking value of each sampling point in the current frame radar image under the polar coordinate system and displaying the pixel values based on the determined pixel values, wherein one amplitude marking value corresponds to one pixel value.
In one embodiment, for the r-th frame of radar image, the azimuth unit where each scanning line is located is determined according to the azimuth code corresponding to each scanning line, in the weighted echo processing module,
if a plurality of scanning lines fall on the same azimuth unit, performing weighted echo processing in the weighted echo processing module on a first scanning line in the plurality of scanning lines;
and if the position unit of the current scanning line and the position unit of the last scanning line are discontinuous, adopting the data of the position unit of the current scanning line to perform data filling processing on the position unit between the position unit of the current scanning line and the position unit of the last scanning line.
In one embodiment, the nth azimuth unit is determined by the azimuth code m corresponding to the current scanning line in the r-th frame radar image: n = M/M x k,
in the formula, M represents the actual number of azimuth codes of the radar, and k represents the number of azimuth elements artificially divided in the azimuth dimension.
In one embodiment, the basic detection threshold is set to
The clutter map statistical method comprises the following steps:
averaging the amplitude values of all sampling points in each grid unit to obtain an average amplitude value of each grid unit;
carrying out weighting processing on the average amplitude values of four grid units around each grid unit to obtain a statistical amplitude value of each grid unit;
performing broken line and smooth processing on the statistical amplitude value of each grid unit to obtain the basic detection threshold
。
In one embodiment, the secondary adjustment threshold is obtained by adjusting the gain value of the sea clutter
：
Wherein coeff is an adjustment coefficient, rend is an adjustment distance, and both coeff and Rend are associated with the sea clutter gain value.
In one embodiment, the amplitude marker values include amplitude marker values 4, 3, 2, 1, and 0, and the corresponding pixel values are light color 3, light color 2, light color 1, dark color, and black, respectively.
In one embodiment, in the amplitude marker value determination module,
if the original echo value of the sampling point in the current frame radar image is greater than the detection threshold, the weighted echo value of the sampling point in the current frame radar image is greater than the detection threshold, and the amplitude mark value of the sampling point in the previous frame radar image is 0, giving 1 the current amplitude mark value of the sampling point;
if the original echo value of the sampling point in the current frame radar image is greater than the detection threshold, the weighted echo value of the sampling point in the current frame radar image is greater than the detection threshold, and the amplitude marking value of the sampling point in the previous frame radar image is not 0, giving 4 the current amplitude marking value of the sampling point;
and if the original echo value of the sampling point in the current frame radar image is not greater than the detection threshold, or the weighted echo value of the sampling point in the current frame radar image is not greater than the detection threshold, reducing the level of the current amplitude mark value of the sampling point by one level compared with the level of the amplitude mark value of the sampling point in the previous frame radar image.
The disclosure also relates to an electronic device comprising a server, a terminal and the like. The electronic device includes: at least one processor; a memory communicatively coupled to the at least one processor; and a communication component communicatively coupled to the storage medium, the communication component receiving and transmitting data under control of the processor; wherein the memory stores instructions executable by the at least one processor to implement the method of the above embodiments.
In an alternative embodiment, the memory is used as a non-volatile computer-readable storage medium for storing non-volatile software programs, non-volatile computer-executable programs, and modules. The processor executes various functional applications of the device and data processing, i.e., implements the method, by executing nonvolatile software programs, instructions, and modules stored in the memory.
The memory may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store a list of options, etc. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory optionally includes memory located remotely from the processor, and such remote memory may be connected to the external device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
One or more modules are stored in the memory and, when executed by the one or more processors, perform the methods of any of the method embodiments described above.
The product can execute the method provided by the embodiment of the application, has corresponding functional modules and beneficial effects of the execution method, and can refer to the method provided by the embodiment of the application without detailed technical details in the embodiment.
The present disclosure also relates to a computer-readable storage medium for storing a computer-readable program for causing a computer to perform some or all of the above method embodiments.
That is, as can be understood by those skilled in the art, all or part of the steps in the method for implementing the embodiments described above may be implemented by a program instructing related hardware, where the program is stored in a storage medium and includes several instructions to enable a device (which may be a single chip, a chip, or the like) or a processor (processor) to execute all or part of the steps of the method described in 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 various media capable of storing program codes.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Moreover, those of ordinary skill in the art will appreciate that although some embodiments described herein include some features included in other embodiments, not others, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.
It will be understood by those skilled in the art that while the present invention has been described with reference to exemplary embodiments, various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the essential scope thereof. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (10)
1. A method of enhancing the echo of a navigation radar target, the method comprising:
s1, determining a weighted echo value of each sampling point in a current frame radar image:
in the formula (I), wherein,
represents the weighted echo value of the ith sampling point of the nth azimuth unit in the r frame radar image,
represents the weighted echo value of the ith sampling point of the nth azimuth unit in the r-1 frame radar image,
data of an azimuth unit where a current scanning line is located in the r-th frame of radar image are represented, and r represents the number of turns of antenna rotation;
s2, determining the detection threshold of each sampling point in the current frame radar image
：
In the formula (I), wherein,
represents the basic detection threshold of the ith sample point of the nth azimuth unit,
representing a secondary adjustment threshold obtained by adjusting the sea clutter gain value;
s3, determining the amplitude mark value of each sampling point in the current frame radar image under a rectangular coordinate system according to preset conditions, wherein the preset conditions at least comprise that the detection threshold is passed
Judging the weighted echo value of each sampling point in the current frame radar image;
and S4, determining a pixel value corresponding to the amplitude mark value of each sampling point in the radar image of the current frame in a polar coordinate system, and displaying based on the determined pixel values, wherein one amplitude mark value corresponds to one pixel value.
2. The method of claim 1, wherein for the r frame radar image, the azimuth unit of each scanning line is determined according to the azimuth code corresponding to each scanning line, in S1,
if the plurality of scanning lines are located in the same azimuth unit, performing weighted echo processing in the S1 on a first scanning line in the plurality of scanning lines;
and if the azimuth unit where the current scanning line is located is discontinuous from the azimuth unit where the last scanning line is located, adopting the data of the azimuth unit where the current scanning line is located to perform data filling processing on the azimuth unit between the azimuth unit where the current scanning line is located and the azimuth unit where the last scanning line is located.
3. The method of claim 1, wherein the nth azimuth element is determined by the azimuth code m corresponding to the current scan line in the r-th frame of radar images: n = M/M k,
in the formula, M represents the actual azimuth code number of the radar, and k represents the number of azimuth units artificially divided in the azimuth dimension.
4. The method of claim 1, wherein the base detection threshold is obtained by a clutter map statistical method comprising:
averaging the amplitude values of all sampling points in each grid unit to obtain an average amplitude value of each grid unit;
carrying out weighting processing on the average amplitude values of four grid units around each grid unit to obtain a statistical amplitude value of each grid unit;
performing broken line and smooth processing on the statistical amplitude value of each grid unit to obtain the basic detection threshold
。
5. The method of claim 1, wherein the quadratic adjustment threshold is obtained by adjusting a sea clutter gain value
：
Wherein coeff is an adjustment coefficient, rend is an adjustment distance, and both coeff and Rend are associated with the sea clutter gain value.
6. The method of claim 1, wherein the amplitude marker values comprise amplitude marker values 4, 3, 2, 1, and 0, and the corresponding pixel values are light color 3, light color 2, light color 1, dark color, and black, respectively.
7. The method of claim 6, wherein, in S3,
if the original echo value of the sampling point in the current frame radar image is greater than the detection threshold, the weighted echo value of the sampling point in the current frame radar image is greater than the detection threshold, and the amplitude mark value of the sampling point in the previous frame radar image is 0, giving 1 to the current amplitude mark value of the sampling point;
if the original echo value of the sampling point in the current frame radar image is greater than the detection threshold, the weighted echo value of the sampling point in the current frame radar image is greater than the detection threshold, and the amplitude marking value of the sampling point in the previous frame radar image is not 0, giving 4 the current amplitude marking value of the sampling point;
and if the original echo value of the sampling point in the current frame radar image is not greater than the detection threshold, or the weighted echo value of the sampling point in the current frame radar image is not greater than the detection threshold, reducing the current amplitude mark value of the sampling point by one level compared with the amplitude mark value of the sampling point in the previous frame radar image.
8. A system for enhancing the echo of a navigation radar target, the system comprising:
the weighted echo processing module is used for determining the weighted echo value of each sampling point in the current frame radar image:
in the formula (I), the reaction is carried out,
represents the weighted echo value of the ith sampling point of the nth azimuth unit in the r frame radar image,
represents the weighted echo value of the ith sampling point of the nth azimuth unit in the r-1 frame radar image,
data of an azimuth unit where the current scanning line is located in the r-th frame of radar image is represented, wherein r represents the number of turns of antenna rotation；
A detection curve determining module for determining the detection threshold of each sampling point in the current frame radar image
：
In the formula (I), the reaction is carried out,
represents the basic detection threshold of the ith sample point of the nth azimuth unit,
representing a secondary adjustment threshold obtained by adjusting the sea clutter gain value;
the amplitude marking value determining module is used for determining the amplitude marking value of each sampling point in the current frame radar image under a rectangular coordinate system according to a preset condition, wherein the preset condition at least comprises the judgment of the weighted echo value of each sampling point in the current frame radar image through the detection threshold;
and the pixel value determining and displaying module is used for determining a pixel value corresponding to the amplitude marking value of each sampling point in the current frame radar image in the polar coordinate system and displaying the pixel values based on the determined pixel values, wherein one amplitude marking value corresponds to one pixel value.
9. An electronic device comprising a memory and a processor, wherein the memory is configured to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement the method of any one of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, the computer program being executable by a processor for implementing the method according to any one of claims 1-7.
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