CN115372993A - Target position information detection system and control method thereof - Google Patents
Target position information detection system and control method thereof Download PDFInfo
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Abstract
The invention belongs to a position detection control method, and provides a target position information detection system and a control method thereof for solving the technical problems of motion blur and difficulty in extraction of miss-target amount when the current 3D GISC Lidar technology is applied to actual application.
Description
Technical Field
The invention belongs to a position detection control method, and particularly relates to a target position information detection system and a control method thereof.
Background
Laser three-dimensional intensity correlated imaging radar (3D GISC LiDAR) is based on a novel non-local laser imaging radar mechanism. Different from the traditional information acquisition mode of a point-to-point mode, the laser three-dimensional intensity correlation imaging radar firstly utilizes laser to irradiate the rotating ground glass to generate a speckle field, and the speckle field is divided into two paths after passing through the beam splitter: one path is a reference light path, the spatial distribution information of the speckle field intensity is recorded by a reference camera, the other path is an object light path, the speckle field is projected to a target scene to be detected so as to realize the spatial intensity coding of the target, and a barrel detector without spatial resolution capability is utilized to record the flight time signal of the target echo; and finally, acquiring the three-dimensional information of the target scene by calculating the second-order correlation between the reference speckle and the target flight time signal. According to the working principle of the laser three-dimensional intensity correlation imaging radar, on one hand, the introduction of the space intensity code enables the space intensity code to acquire high-dimensional information of a target by using a point detector, so that the requirement on a detection device is reduced, and simultaneously, the anti-interference performance of the space intensity code under a complex channel environment is enhanced to a certain extent; on the other hand, the information acquisition mode based on the second-order correlation depends on multiple sampling, so that the inherent motion blur problem exists in the moving object scene.
The 3DGISC Lidar technology is applied to practical application and results are converted, and the problem of high-resolution imaging of a high-speed moving target needs to be mainly solved, and because the 3DGISC Lidar belongs to a staring imaging method with multiple measurements, the data acquisition time is long and real-time imaging cannot be achieved, the imaging resolution is reduced (namely motion blur) due to relative movement of the target and a system. In addition, if the energy of the target light source is insufficient, the target cannot be detected by the visible light or infrared camera, and the miss distance cannot be extracted by the video module.
Disclosure of Invention
The invention provides a target position information detection system and a control method thereof, aiming at solving the technical problems of motion blur and difficulty in extracting miss distance when target light source energy is insufficient when the current 3D GISC Lidar technology is oriented to practical application to realize achievement conversion.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
a target position information detection system comprises a laser, rotary ground glass and a first beam splitter, wherein the rotary ground glass and the first beam splitter are sequentially arranged on an emergent light path of the laser, and two light paths are formed by the first beam splitter, one light path is a reference light path, and the other light path is an object light path; the device is characterized by also comprising a controller and a receiving system;
the emission tracking mirror and the collimation optical system are sequentially arranged on the object light path along the light path, and light collimated by the collimation optical system is incident to a target scene to be detected, so that the target scene to be detected sends a return signal;
the receiving system comprises a main reflector, a secondary reflector, a receiving tracking mirror, a condenser, a nutation scanning mirror and a bucket detector which are sequentially arranged along the light path of a return light signal, wherein the return signal enters the main reflector, and the nutation scanning mirror is driven by piezoelectric ceramics;
the controller is respectively connected with the transmitting tracking mirror, the receiving tracking mirror, the nutation scanning mirror and the barrel detector and is used for receiving echo signals generated by the barrel detector and position information of the nutation scanning mirror, obtaining miss distance, controlling the working state of the nutation scanning mirror and controlling the positions of the transmitting tracking mirror and the receiving tracking mirror according to the miss distance.
Further, the monitoring device also comprises a second beam splitter, a first lens and a monitoring camera;
the reflecting surface of the second beam splitter is positioned in the object light path and positioned between the first beam splitter and the emission tracking mirror; and a first lens and a monitoring camera are sequentially arranged on a transmission light path of the second beam splitter along the light path.
Further, the nutating scan mirror has a motion amplitude of 1mrad and a frequency of 1KHz.
Furthermore, the transmitting tracking mirror and the receiving tracking mirror are driven by voice coil motors.
A control method of the above object position information detecting system, characterized in that, after the laser emits the laser light, the object position information detecting system is controlled by the steps of:
s1, acquiring an echo signal generated by a barrel detector and a position signal of a nutation scanning mirror through a controller;
s2, controlling the nutation scanning mirror through a controller to enable the starting points of the given positions of the X axis and the Y axis of the nutation scanning mirror to be synchronous with echo signals;
s3, obtaining miss distance according to the echo signal generated by the barrel detector and the position signal of the nutation scanning mirror;
and S4, controlling the transmitting tracking mirror according to the miss distance, and controlling the receiving tracking mirror according to the position of the transmitting tracking mirror, so that the angle of the receiving tracking mirror and the angle of the transmitting tracking mirror are in a multiplying power relation.
Further, the step S2 is specifically that the motion frequency of the nutating scanning mirror is 1KHz, and the nutating scanning mirror is controlled by the controller, so that each nutating scanning mirror nutates for one circle, the bucket detector generates 100 echo signals, and each echo signal corresponds to the position coordinate (X) of the nutating scanning mirror M ，Y M ) Comprises the following steps:
wherein M =0,1,2 M Indicating the position coordinate abscissa, Y, of the nutating scanning mirror M Indicating position coordinate ordinate of nutating scanning mirrorAnd (4) marking.
Further, step 3 specifically comprises:
the amount of off-target is obtained by the following formula:
wherein, m represents the number of echo signal sequence numbers corresponding to the maximum value of echo signal energy for each nutation circle of the nutation scanning mirror: r represents the absolute distance between the detected nutation circle center and the target point, x represents the abscissa component of the miss distance, and y represents the ordinate component of the miss distance.
Further, in step S3, R is obtained by:
normalizing the energy E of each echo signal by the following formula to obtain a corresponding normalization result E':
wherein E is max The maximum value of the echo signal energy is shown when the nutation scanning mirror nutates for one circle;
solving for R by:
further, in step S3, the E max Is determined by:
if the quantity of the echo signals corresponding to the maximum energy value of the echo signals is equal to 1, directly determining the maximum energy value of the echo signals;
if the quantity of the echo signals corresponding to the maximum energy value of the echo signals is more than 1, arranging the echo signals corresponding to the maximum energy values of all the echo signals in sequence to obtain an echo signal sequence; judging whether the requirements are met
And is provided with
Is an integer, if yes, take the first
The echo signal is used as the maximum value E of the echo signal energy max Corresponding echo signal, otherwise, take
The echo signal is used as the maximum value E of the echo signal energy max A corresponding echo signal; wherein, L is the sequence number of the first echo signal in the echo signal sequence in 100 echo signals, n is the sequence number of the last echo signal in the echo signal sequence in 100 echo signals, and C is the total number of echo signals in the echo signal sequence.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention provides a target position information detection system, which is provided with a nutation scanning mirror and a double FSM (finite state machine) consisting of a transmitting tracking mirror and a receiving tracking mirror, wherein the working states of the transmitting tracking mirror, the nutation scanning mirror and the receiving tracking mirror are controlled by acquiring position information of the nutation scanning mirror and an echo signal of a barrel detector through a controller, and the problems of motion blur, difficulty in extracting off-target amount of the detector and the like in practical application-oriented and achievement conversion of a 3D GISC Lidar technology can be effectively solved.
2. The invention is also provided with a monitoring camera which can monitor the target scene to be detected, and in addition, when the target scene to be detected is close, the target scene to be detected can be imaged by the monitoring camera.
3. The transmitting tracking mirror and the receiving tracking mirror are driven by voice coil motors, so that the precision is higher, the stroke quantity is large and the response speed is high.
4. The control method of the target position information detection system provided by the invention can detect and control a long-distance or low-energy target scene to be detected, the miss distance is calculated according to the position signal of the nutation scanning mirror and the echo signal of the barrel detector, the emission tracking mirror is controlled according to the miss distance, the detection system is further controlled, and the detection capability of the 3D GISC Lidar on a long-distance high-speed moving target is greatly improved.
Drawings
FIG. 1 is a schematic diagram of an embodiment of a target location information detection system according to the present invention;
FIG. 2 is a schematic diagram illustrating the principle of calculating the miss distance when the maximum echo signal energy point is unique within one nutation circle of the nutation scanning mirror in the embodiment of the invention.
Wherein: the system comprises a 1-laser, a 2-rotating ground glass, a 3-first beam splitter, a 4-emission tracking mirror, a 5-collimation optical system, a 6-controller, a 7-receiving system, a 701-main reflecting mirror, a 702-receiving tracking mirror, a 703-collecting mirror, a 704-nutation scanning mirror, a 705-barrel detector, an 8-second beam splitter, a 9-first lens, a 10-monitoring camera, a 11-first reflecting mirror, a 12-second reflecting mirror, a 13-reference mirror, a 14-second lens, a 15-third reflecting mirror, a 16-third lens, a 17-fourth reflecting mirror, an 18-target scene to be measured, a 19-secondary reflecting mirror, a 20-fifth reflecting mirror and a 21-reference camera.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
The tracking and aiming control system is high in precision, quick in response and anti-interference in response to the requirements of high-resolution imaging on the tracking and aiming control system. If the energy of the target light source is insufficient, the target light source cannot be detected by a visible light or infrared camera, and the miss distance cannot be extracted by a video module. Aiming at the situation, the invention combines the composite axis tracking and aiming control system with the echo signal of the 3D GISC Lidar and researches the high-precision tracking and aiming imaging based on the mode of scanning and detecting the position information of the target by the nutation galvanometer. An echo signal obtained by high-frequency scanning of a nutation galvanometer is used as a modulation signal, the miss distance in the process of tracking the target by the composite shaft is obtained according to the change of the output power of a photoelectric detector (PIN tube), and a fine tracking FSM is controlled in real time to track, so that the high-precision composite shaft tracking closed-loop control combined with the echo signal of the 3DGISC Lidar is finally realized.
As shown in fig. 1, the present invention provides a target position information detection system, which includes a laser 1, a rotating ground glass 2, a first reflector 11 and a first beam splitter 3, which are sequentially arranged along a light path, wherein laser light emitted by the laser 1 irradiates the rotating ground glass 2 to generate a speckle field, the speckle field enters the first beam splitter 3 after passing through the first reflector 11, transmitted light forms a reference light path, the reference light path is collected by a reference camera 21 after passing through a second reflector 12 and a reference mirror 13, reflected light enters a second beam splitter 8 after passing through a second lens 14 and a third reflector 15, the reflected light is reflected by the second beam splitter 8, passes through a transmitting tracking mirror 4, and irradiates a target scene 18 to be detected after passing through a third lens 16, a fourth reflector 17 and a collimating optical system 5. The target scene 18 to be measured will return a signal after being illuminated, and enter the receiving system.
The receiving system 7 includes a main mirror 701, a receiving tracking mirror 702, a collection mirror 703, a nutating scanning mirror 704, and a bucket detector 705. The signal returned by the target measuring scene 18 is input to the main reflector 701 and the secondary reflector 19, then the main reflector 701 compresses the light path field of view, parallel light is output, the parallel light sequentially passes through the receiving tracking mirror 702, the fifth reflector 20, the collecting mirror 703 and the nutation scanning mirror 704 and then enters the bucket detector 705, the bucket detector 705 can generate an echo signal, and the bucket detector 705 can adopt a photon multiplier tube.
The detection system is also provided with a controller 6 which can collect the position information of the nutating scanning mirror 704 and the echo signal of the barrel detector 705 and can also control the transmitting tracking mirror 4, the nutating scanning mirror 704 and the receiving tracking mirror 702 according to the miss-target amount.
The specific control method comprises the steps of planning a scanning position track based on the nutation scanning mirror 704, firstly analyzing the relation between the scanning frequency of the nutation scanning mirror 704 and the target jitter frequency and the influence factors of the miss distance accuracy to obtain the nutation frequency, the nutation amplitude and the number of sampling points of a required echo signal in a nutation period, and finally carrying out algorithm pairAnd obtaining a calculating process of the miss distance by the modeling theory. The X-axis input amplitude of the nutating mirror 704 is A, a sine signal of frequency f, and the Y-axis input amplitude of the nutating mirror 704 is A, a cosine signal of frequency f. Thus, the nutating scan mirror 704 employs a piezoceramic driven FSM that follows a circular motion with an amplitude of 1mrad, and a frequency of 1K. The nutating scan mirror 704 is driven with piezo ceramics to account for frequency and amplitude requirements. The starting points of the given positions of the X axis and the Y axis of the nutation scanning mirror 704 and the echo signals of the 3D GISC Lidar adopt a synchronous mode, the extraction frequency of the echo signals is 100KHz, and therefore, 100 echo signal energies can be obtained in sequence every nutation circle, which is recorded as E 0 -E 99 The corresponding position of each echo signal point is shown as follows;
m is 0,1,2 \ 823099, which represents 100 echo signal energies E 0 -E 99 The subscript of (c).
M, below, represents the number of echo signal sequences corresponding to the maximum energy of the echo signal for each nutation of the nutating mirror 704: as shown in fig. 2, m/100 is determined as follows, wherein a in fig. 2 represents the center of the first quadrant track:
1)0＜m/100＜1/4
at this time, the nutating dot is in the third quadrant relative to the target dot:
x represents the lateral component of the miss distance and y represents the longitudinal component of the miss distance.
2)1/4＜m/100≤1/2
At this time, the nutating dot is in the fourth quadrant relative to the target dot
3)1/2＜m/100≤3/4
At this time, the nutating dot is in the first quadrant relative to the target dot
4)3/4＜m/100≤1
At this time, the nutating dot is in the second quadrant relative to the target dot
And R represents the absolute distance between the detected nutation circle center and the target point. Since the echo signal energy is a monotone decreasing function with the static angle deviation and the random jitter, the offset distance R can be calculated by detecting the average value of the energy values of the echo signal 100 times in each period. And then substituting the formula to calculate the miss distance.
In summary, no matter the nutation circle center is in the quadrant, the miss distance coordinate of the circle center position can be calculated by the following formula:
(1) If the maximum point of the echo signal energy is unique, m can be directly determined;
(2) If the maximum point of the echo signal energy is not unique
Assuming that the echo signal energy maximum point includes: e L ……E n (L.. N < 100), and the total number of the maximum points of the echo signal energy is C.
If:
and is
Is a positive integer, then take
As the maximum point of the echo signal energy.
Otherwise: get first
Points, i.e.
For the maximum point of the echo signal energy, the corresponding m is equal to
L is the sequence number of the first echo signal in the echo signal sequence in 100 echo signals, and n is the sequence number of the last echo signal in the echo signal sequence in 100 echo signals.
The method for obtaining the R value is as follows:
because the size of the echo energy E and the R value present a normal distribution relationship, firstly, when the target is at the coordinate center, the echo energy E is normalized:
thus, can define
Where μ =0 and σ =1, this is a standard calculation formula for normal distribution.
The R value can be obtained by the two formulas.
In addition, the detection system of the invention is also provided with a monitoring light path, if the distance of the target scene 18 to be detected is short, the target scene 18 to be detected is irradiated, passes through the collimating optical system 5, the fourth reflector 17 and the third lens 16, is transmitted by the second beam splitter 8, and is collected by the monitoring camera 10 through the first lens 9. The target scene 18 to be detected can also be monitored while being detected by the detection system.
The mirrors in the above embodiments are related to the setting positions of the system in the above embodiments, and are set according to the system layout.
The oscillating mirror occupies an increasingly important position in the fields of space science and communication due to the characteristics of precise positioning and quick response, and is one of the top technologies at present. The oscillating Mirror as a fine tracking executing mechanism is a high-speed Mirror surface deflection mechanism, also called as a Fast Steering Mirror (FSM), and mainly comprises piezoelectric ceramic drive and voice coil motor drive. The piezoelectric ceramic driven fast reflector has the advantages of high precision, high response speed and the like, but the driving stroke is only dozens of microns, while the voice coil motor driven fast reflector has the advantages of high precision, large stroke quantity, high response speed, small driving voltage and the like, and is widely used for inhibiting large-amplitude light beam jitter, and the output precision of the fast reflector determines the control precision of a light beam jitter system. Therefore, in the present invention, both the transmitting tracking mirror 4 and the receiving tracking mirror 702 are driven by voice coil motors, and the nutating scanning mirror 704 is driven by piezoelectric ceramics.
The invention provides a scheme of a moving target laser three-dimensional correlation imaging radar system based on a nutation scanning mirror 704 and a double FSM tracking mode. The system consists of two parts, transmission and reception. The correlation imaging radar device adopts the operating wavelength of 1064nm and is incident on the emission FSM in the form of parallel light to realize optical path coupling. The transmission and the reception are both designed by adopting the expanded beam collimation scheme to respectively meet the requirements of imaging resolution/detection signal-to-noise ratio by being limited by the effective area of the FSM. Specifically, the method comprises the following steps: in the transmission process, solid pulse laser (the central wavelength is l =1064nm, the pulse width is 10ns, and the repetition frequency is 2 kHz) irradiates the rotating ground glass 2 to form a speckle field, the speckle field is divided into two paths after passing through the first beam splitter 3, one path is recorded by the local reference camera 21, the other path passes through the emission tracking mirror 4 and then irradiates the target scene 18 to be measured through the beam expanding and collimating system, and meanwhile, the active tracking module assembled through a good light path images a target area by means of the beam expanding and collimating system and the emission FSM. The active tracking module adopts a method of detecting target position information by combining a nutation scanning mirror 704 with a 3 DGISCIlidar echo signal, obtains miss distance through coordinate transformation, and injects the miss distance into a controller to perform target stable tracking. And then the laser three-dimensional correlation real-time imaging is realized through the nutation scanning mirror and double FSM tracking.
For the receiving part, the echo signal from the target scene 18 to be measured is collected by the card receiving collimating mirror (the primary mirror 701 and the secondary mirror 19), and then is finally irradiated on the barrel detector 705 (PMT) through the receiving tracking mirror 702 and the nutation scanning mirror 704, wherein the deflection angle of the receiving tracking mirror 702 can be calculated by the emitting tracking mirror 4 of the emitting part and the active tracking module of the controller 6 according to the optical magnification, the given target angle of the receiving tracking mirror 702 and the calculated target angle of the emitting tracking mirror 4 form a magnification relationship, and the proportionality coefficient is related to the optical path setting. After the condenser lens 703, a nutation scanning mirror 704 is adopted to carry out 1KHz circular scanning and then is transmitted to the PMT, and the target miss distance is obtained through a control algorithm corresponding to the real-time position of the nutation scanning mirror 704 and the real-time energy of an echo signal. Finally, stable tracking of the moving target and laser three-dimensional correlation imaging are achieved through cooperation of the emission tracking mirror 4 and the receiving tracking mirror 702. The tracking stability determines the resolution of the laser three-dimensional correlation imaging.
Since the 3D GISC Lidar belongs to a multi-measurement gaze imaging method, the data acquisition time is long and real-time imaging cannot be achieved. The invention aims at the defects that the existing position detector has weak anti-interference capability, high requirements on target energy characteristics and the like. The method for detecting the position information of the target by combining the nutation galvanometer and the 3 DGISCIlidar echo signal solves the problem that the 3D GISC Lidar technology is mainly used for practical application and needs to solve the problem of high-resolution imaging of a long-distance high-speed moving target in the process of result conversion. By the method, the tracking precision can be improved, and the motion blur problem of 3D GISC Lidar imaging is reduced. The nutation scan frequency and the number of samples in the present invention can be adaptively adjusted. The aperture size of the nutating scan mirror 704 or the direction in which the circular path is scanned may also be varied as appropriate.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A target position information detection system comprises a laser (1), a rotating ground glass (2) and a first beam splitter (3), wherein the rotating ground glass (2) and the first beam splitter (3) are sequentially arranged on an emergent light path of the laser (1), and light is split by the first beam splitter (3) to form two light paths, one light path is a reference light path, and the other light path is an object light path; the method is characterized in that: the system also comprises a controller (6) and a receiving system (7);
an emission tracking mirror (4) and a collimation optical system (5) are sequentially arranged on the object optical path along the optical path, and light collimated by the collimation optical system (5) is incident to a target scene (18) to be detected, so that the target scene (18) to be detected sends a return light signal;
the receiving system (7) comprises a main reflecting mirror (701), a secondary reflecting mirror (19), a receiving tracking mirror (702), a collecting mirror (703), a nutation scanning mirror (704) and a barrel detector (705), which are sequentially arranged along the optical path of a return light signal, wherein the return signal enters the main reflecting mirror (701), and the nutation scanning mirror (704) is driven by piezoelectric ceramics;
the controller (6) is respectively connected with the transmitting tracking mirror (4), the receiving tracking mirror (702), the nutation scanning mirror (704) and the barrel detector (705) and is used for receiving echo signals generated by the barrel detector (705) and position information of the nutation scanning mirror (704), obtaining miss distance, controlling the working state of the nutation scanning mirror (704) and controlling the positions of the transmitting tracking mirror (4) and the receiving tracking mirror (702) according to the miss distance.
2. An object position information detecting system according to claim 1, characterized in that: the monitoring system also comprises a second beam splitter (8), a first lens (9) and a monitoring camera (10);
the reflecting surface of the second beam splitter (8) is positioned in the object optical path and is positioned between the first beam splitter (3) and the emission tracking mirror (4); a first lens (9) and a monitoring camera (10) are sequentially arranged on a transmission light path of the second beam splitter (8).
3. An object position information detecting system according to claim 1 or 2, characterized in that: the nutating scanning mirror (704) has a motion amplitude of 1mrad and a frequency of 1KHz.
4. An object position information detecting system according to claim 3, characterized in that: the transmitting tracking mirror (4) and the receiving tracking mirror (702) are driven by voice coil motors.
5. A method for controlling an object position information detecting system according to any one of claims 1 to 4, characterized in that after the laser (1) emits the laser light, the object position information detecting system is controlled by:
s1, acquiring an echo signal generated by a barrel detector (705) and a position signal of a nutation scanning mirror (704) through a controller (6);
s2, controlling the nutation scanning mirror (704) through the controller (6) to enable the starting points of the given positions of the X axis and the Y axis of the nutation scanning mirror (704) to be synchronous with echo signals;
s3, obtaining miss distance according to an echo signal generated by the barrel detector (705) and a position signal of the nutation scanning mirror (704);
and S4, controlling the emission tracking mirror (4) according to the miss distance, and controlling the receiving tracking mirror (702) according to the position of the emission tracking mirror (4) to enable the angle of the receiving tracking mirror (702) and the angle of the emission tracking mirror (4) to be in a multiplying power relation.
6. A control method of an object position information detecting system according to claim 5, characterized in that: the step S2 is specifically that the motion frequency of the nutation scanning mirror (704) is 1KHz, the nutation scanning mirror (704) is controlled through the controller (6), so that each nutation scanning mirror (704) rotates for one circle, 100 echo signals are generated by the barrel detector (705), and each echo signal corresponds to the position coordinate (X) of the nutation scanning mirror (704) M ，Y M ) Comprises the following steps:
wherein M =0,1,2 M Indicating the position coordinate abscissa, Y, of the nutating scan mirror (704) M Represents a position coordinate ordinate of the nutating scan mirror (704).
7. The control method of an object position information detecting system according to claim 6, characterized in that: the step 3 specifically comprises the following steps:
the amount of off-target is obtained by the following formula:
wherein m represents the number of echo signal sequence numbers corresponding to the maximum value of echo signal energy in each nutation circle of the nutation scanning mirror (704): r represents the absolute distance between the detected nutation circle center and the target point, x represents the abscissa component of the miss distance, and y represents the ordinate component of the miss distance.
8. The control method of an object position information detecting system according to claim 7, characterized in that: in step S3, R is obtained by:
normalizing the energy E of each echo signal by the following formula to obtain a corresponding normalization result E':
wherein, E max Indicating each nutation of the nutating scanning mirror (704)One turn, echo signal energy maximum;
solving for R by:
9. the control method of an object position information detecting system according to claim 8, characterized in that: in step S3, said E max Is determined by:
if the quantity of the echo signals corresponding to the maximum energy value of the echo signals is equal to 1, directly determining the maximum energy value of the echo signals;
if the quantity of the echo signals corresponding to the maximum energy value of the echo signals is more than 1, arranging the echo signals corresponding to the maximum energy values of all the echo signals in sequence to obtain an echo signal sequence; judging whether the requirements are met
And is provided with
Is an integer, if yes, take the first
The echo signal is used as the maximum value E of the echo signal energy max Corresponding echo signal, otherwise, take
The echo signal is used as the maximum value E of the echo signal energy max A corresponding echo signal; wherein, L is the number of the first echo signal in the echo signal sequence in 100 echo signals, n is the number of the last echo signal in the echo signal sequence in 100 echo signals, and C is the total number of echo signals in the echo signal sequence.
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