CN116436856A - Radar signal processing method and device - Google Patents
Radar signal processing method and device Download PDFInfo
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- CN116436856A CN116436856A CN202310460607.7A CN202310460607A CN116436856A CN 116436856 A CN116436856 A CN 116436856A CN 202310460607 A CN202310460607 A CN 202310460607A CN 116436856 A CN116436856 A CN 116436856A
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- 238000003672 processing method Methods 0.000 title claims abstract description 24
- 238000000034 method Methods 0.000 claims abstract description 21
- 238000004422 calculation algorithm Methods 0.000 claims description 5
- 238000012163 sequencing technique Methods 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 2
- 230000006870 function Effects 0.000 claims description 2
- 238000004590 computer program Methods 0.000 claims 2
- 230000005540 biological transmission Effects 0.000 abstract description 10
- 230000000903 blocking effect Effects 0.000 abstract description 4
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- 238000002592 echocardiography Methods 0.000 description 2
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L47/00—Traffic control in data switching networks
- H04L47/10—Flow control; Congestion control
- H04L47/12—Avoiding congestion; Recovering from congestion
- H04L47/129—Avoiding congestion; Recovering from congestion at the destination endpoint, e.g. reservation of terminal resources or buffer space
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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
- G01S7/28—Details of pulse systems
- G01S7/285—Receivers
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L47/00—Traffic control in data switching networks
- H04L47/10—Flow control; Congestion control
- H04L47/26—Flow control; Congestion control using explicit feedback to the source, e.g. choke packets
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L47/00—Traffic control in data switching networks
- H04L47/10—Flow control; Congestion control
- H04L47/43—Assembling or disassembling of packets, e.g. segmentation and reassembly [SAR]
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Abstract
The invention discloses a radar signal processing method and a radar signal processing device, wherein the radar signal processing method comprises the following steps: a first node of a receiving board card receives a downlink echo signal of a radar array surface; the first node of the receiving board card distributes the downlink echo signal polling to a plurality of data processing board cards; the data processing board distributes the received downlink echo signal polling to the processing node; the processing node processes the received downlink echo signals; the processing node sends the processed data to a sending board card; according to the radar signal processing method, the received downlink echo signals are transmitted in a mode of inter-board polling transmission and intra-board polling transmission, so that the received signals can be rapidly distributed to the data processing nodes, and meanwhile, each data processing node is provided with a complete signal processing link, so that the processing efficiency is high, and the blocking phenomenon can not be transmitted.
Description
Technical Field
The present invention relates to the field of data processing, and in particular, to a method and an apparatus for processing a radar signal.
Background
In the existing radar signal processing architecture, data processed by each node of each signal board card are data processed by a previous node, the signal boards need to cooperate with each other, and once a link is blocked, the whole data processing link is interrupted, so that a data interruption phenomenon is caused.
Disclosure of Invention
In order to solve the problems, the invention provides a radar signal processing method and a device with high processing efficiency.
In order to achieve the above object, an aspect of the present invention provides a method for processing a radar signal, including:
a first node of a receiving board card receives a downlink echo signal of a radar array surface;
the first node of the receiving board card distributes the downlink echo signal polling to a plurality of data processing board cards;
the data processing board distributes the received downlink echo signal polling to the processing node;
the processing node processes the received downlink echo signals;
the processing node sends the processed data to a sending board card;
and the sending board card sorts the received data and sends the sorted data to the next-stage system.
As a preferred technical solution, the first node of the receiving board distributes the downlink echo signal poll to a plurality of data processing boards, and further includes:
rearranging the downlink echo signals according to a data format required by signal processing by the receiving board card;
and distributing the arranged downlink echo signal polling to the first nodes of the plurality of data processing boards.
As a preferred technical solution, the data processing board distributes the received downlink echo signal poll to the processing node, and further includes:
the first node of the data processing board sequentially fills the received downlink echo data into a cache space;
and the other nodes of the data processing board sequentially take out downlink echo signals to be processed from the buffer space.
As a preferred solution, the cache space includes a plurality of memory spaces for repeated use.
Preferably, the processing node comprises a complete slave data processing link.
As a preferred technical solution, the processing node includes a kernel cluster formed by a plurality of kernels, and in a data processing process of the downlink echo signal, parallel computation is performed on data which are not coupled with each other in the algorithm functional module through the plurality of kernels.
As a preferable technical solution, the processing node sends the processed data to a sending board card, and further includes:
the processing node performs on-board ordering on the processed data;
and sending the ordered data to a sending board card.
As a preferable technical solution, the sending board card orders the received data and sends the ordered data to the next-stage system, and the sending board card further includes:
the transmitting board card performs inter-board ordering on all received data,
and the sending board card sends the ordered data to the next-stage system.
On the other hand, the invention also provides a radar signal processing device, which comprises:
the receiving unit is used for receiving the downlink echo signals of the radar array surface;
the first sending unit is used for distributing the downlink echo signal polling to a plurality of data processing boards;
the second sending unit is used for distributing the received downlink echo signal polling to the processing node;
the processing unit is used for carrying out data processing on the received downlink echo signals;
the third sending unit is used for sending the processed data to the sending board card;
and the fourth sending unit is used for sequencing the received data and sending the sequenced data to the next-stage system.
Compared with the prior art, the invention has the beneficial effects that: according to the radar signal processing method, the received downlink echo signals are transmitted in a data transmission mode through inter-board polling transmission and intra-board polling transmission, the received signals can be rapidly distributed to the data processing nodes, meanwhile, each data processing node is provided with a complete signal processing link, so that the processing efficiency is high, the blocking phenomenon is avoided, the data are transmitted to the next-stage system through sequencing, the phenomena of system blocking, frame sequence number disorder and the like are avoided, and the trace points in each frame of data accord with the expected result.
Drawings
FIG. 1 is a flow chart of a method for processing radar signals provided by the invention;
FIG. 2 is a diagram of a radar signal processing system architecture provided by the present invention;
FIG. 3 is a schematic diagram of radar signal poll distribution provided by the present invention;
FIG. 4 is a schematic diagram of radar signal trace sending provided by the present invention;
fig. 5 is a schematic diagram of a radar signal processing device provided by the invention.
Description of the embodiments
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The embodiment provides a processing method of radar signals, as shown in fig. 1, the processing method includes the following steps:
s10: a first node of a receiving board card receives a downlink echo signal of a radar array surface;
it should be noted that this embodiment is based on a spread-spectrum-Peng processor implementation, where the spread-spectrum-Peng processor system-on-chip integrates 64 processor cores, each configured with private L1 and L2 caches, and a shared L3 Cache. Each 4 processor cores are grouped into a core cluster, and the core clusters of the processor and I/O clusters and other components are interconnected through an on-chip bus. The on-chip bus provides access channels for Cache coherency.
As shown in fig. 2, the signal processing system of the present embodiment includes a plurality of spread spectrum computing boards, and the signal processing architecture divides the spread spectrum computing boards into three parts, namely echo receiving, signal processing and trace-pointing transmitting. During signal processing, each node processes a complete signal processing link.
S20: the first node of the receiving board card distributes the downlink echo signal polling to a plurality of data processing board cards;
as shown in fig. 2, in the present embodiment, the first Node (Node-0) of the signal processing board 1 receives and distributes echo data, and the first Node of the board 1~M receives echo data distributed by the board 1, respectively.
Firstly, node-0 of the board card 1 receives downlink echoes of the radar array surface through optical fibers, and rearranges the echo data according to a data format required by signal processing. The arranged data is then distributed by means of polling, the specific procedure of which is shown in fig. 3.
S30: the data processing board distributes the received downlink echo signal polling to the processing node;
similarly, after the echo signal is sent to the inside of the board card, the inside of the board card also adopts a polling distribution mode to send the echo signal to the data processing Node, specifically, the echo receiving Node distributes the multi-frame echo data received in a time-sharing mode by adopting an inter-board polling mode firstly, and then the receiving Node (Node-0) of each processing board card adopts an intra-board polling processing mode for the current frame data. By the polling distribution processing mode, echo signals can be uniformly distributed to the processing nodes of all the boards, and hardware resources are fully utilized.
S40: the processing node processes the received downlink echo signals;
it should be noted that in this embodiment, each node of the spread-spectrum processor processes a complete signal processing link. The receiving and transmitting nodes of the data are removed, and a signal processing system consisting of M board cards can simultaneously operate M-15-1 frames of data.
Because each node is a kernel cluster composed of 4 kernels, in the signal processing process, parallel computation can be performed on data which are not coupled with each other in the algorithm functional module through the 4 kernels. The signal processing link is deployed at a certain processing node, wherein the main thread realizes memory allocation, data transmission and scheduling of each functional algorithm of the system, and parallel calculation of echo signals is realized in the functional algorithm by creating sub-threads.
The present embodiment employs OpenMP-based multithreading programming. Taking DPC function as an example, the system uses OpenMP technology to create 4 sub-threads in 4 kernels, and performs a pulse compression function on P pulse data respectively.
S50: the processing node sends the processed data to a sending board card;
as shown in fig. 4, in this embodiment, although multi-frame data is time-division received, there is fluctuation in computing power between parallel nodes, and in order to ensure that the transmitted trace frame numbers are continuous, it is necessary to perform summary sequencing on trace echoes of multiple nodes.
S60: and the sending board card sorts the received data and sends the sorted data to the next-stage system.
Corresponding to the distribution of echo data, the trace point sending also comprises two processes in the board and between boards, and each time the processing result of the signal processing link is processed, the trace point echo with the minimum frame number is selected to be sent to the next-stage system. The first Node (Node-0) of each processing board card performs data ordering of the current board card, and the 2 nd Node (Node-1) of the signal processing board card 1 receives the sending data of all board cards and performs data ordering among boards.
By the processing method, the signal processing link is deployed, so that hardware expansion can be conveniently performed without modifying a software architecture. For example, 80ms is required for the processing node to complete a single frame signal processing link, and the real-time requirement of the signal processing system is 3ms, so that the system requirement can be met by only 27 computing nodes, namely the signal processing system needs 2 spread-spectrum computing boards. When the system or index is changed, the processing node is only required to be expanded to respond to the requirement.
The signal processing architecture also has strong software expansibility. In the architecture, since a complete signal processing link is deployed on one processing node, when the processing flow needs to be modified, all processing nodes adapt to the current processing link, and no influence is caused on other nodes.
The signal processing program runs on one node, so that the operations of computing resource scheduling, data I/O and the like of the program among the nodes are reduced, meanwhile, the Cache hit rate is improved by finishing processing on one node, and the data access delay is reduced. Therefore, the signal processing architecture has higher operation efficiency.
The present embodiment also provides specific experimental data as follows:
test data: 256K complex floating point data.
Processing link: such as the signal processing link shown in fig. 2.
Hardware resources: 3 blocks of the Kunpeng board cards, wherein each board card is distributed with 1 data receiving and transmitting node, the board card 1 is additionally provided with 1 data summarizing and sorting node and 44 processing nodes.
Wherein, 1 node processes 1 frame data and takes 35ms, and according to theoretical analysis, 44 processing nodes calculate in parallel, and the average processing time of 1 frame data is 0.79ms. Thus, the analog echo data is sent to the signal processing system at intervals of 0.8ms per frame to check the accuracy of the trace echo.
Through verification, the frame numbers of the trace echo data after signal processing are continuous, the phenomena of system blocking, frame number disorder and the like are avoided, and the trace in each frame of data accords with the expected result. Therefore, the signal processing architecture operates correctly, and meets the use requirements of high real-time performance and high processing efficiency.
In another embodiment, the present invention further provides a processing device for radar signals, as shown in fig. 5, where the processing device includes:
a receiving unit 100, configured to receive a downlink echo signal of a radar array; it should be noted that, since the specific receiving manner and principle are described in detail in the step S10 of the radar signal processing method described in the above embodiment, the description is omitted here.
A first transmitting unit 200, configured to distribute downlink echo signal polling to a plurality of data processing boards; it should be noted that, since the specific transmission mode and principle are described in detail in the step S20 of the radar signal processing method described in the above embodiment, the description is omitted here.
A second sending unit 300, configured to distribute the received downlink echo signal poll to the processing node; it should be noted that, since the specific transmission mode and principle are described in detail in the step S20 of the radar signal processing method described in the above embodiment, the description is omitted here.
A processing unit 400, configured to perform data processing on the received downlink echo signal; it should be noted that, since the specific processing manner and principle are described in detail in the step S20 of the radar signal processing method described in the above embodiment, the description is omitted here.
A third transmitting unit 500 for transmitting the processed data to the transmitting board card; it should be noted that, since the specific transmission mode and principle are described in detail in the step S20 of the radar signal processing method described in the above embodiment, the description is omitted here.
A fourth transmitting unit 600, configured to sort the received data and transmit the sorted data to a next-stage system; it should be noted that, since the specific transmission mode and principle are described in detail in the step S20 of the radar signal processing method described in the above embodiment, the description is omitted here.
In addition, an embodiment of the present invention further provides a computer readable storage medium, where the computer readable storage medium may store a program, where the program when executed includes some or all of the steps of any one of the radar signal processing methods described in the foregoing method embodiments.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable memory. Based on this understanding, the technical solution of the present invention may be embodied essentially or partly in the form of a software product, or all or part of the technical solution, which is stored in a memory, and includes several instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned memory includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Those of ordinary skill in the art will appreciate that all or a portion of the steps in the various methods of the above embodiments may be implemented by a program that instructs associated hardware, and the program may be stored in a computer readable memory, which may include: flash disk, read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), magnetic disk or optical disk.
Exemplary flowcharts for processing radar signals according to embodiments of the present invention are described above with reference to the accompanying drawings. It should be noted that the numerous details included in the above description are merely illustrative of the invention and not limiting of the invention. In other embodiments of the invention, the method may have more, fewer, or different steps, and the order, inclusion, functional relationship between steps may be different than that described and illustrated.
Claims (10)
1. A method of processing radar signals, comprising:
a first node of a receiving board card receives a downlink echo signal of a radar array surface;
the first node of the receiving board card distributes the downlink echo signal polling to a plurality of data processing board cards;
the data processing board distributes the received downlink echo signal polling to the processing node;
the processing node processes the received downlink echo signals;
the processing node sends the processed data to a sending board card;
and the sending board card sorts the received data and sends the sorted data to the next-stage system.
2. The processing method of claim 1, wherein the first node of the receiving board distributes downstream echo signal polling to a plurality of data processing boards, further comprising:
rearranging the downlink echo signals according to a data format required by signal processing by the receiving board card;
and distributing the arranged downlink echo signal polling to the first nodes of the plurality of data processing boards.
3. The processing method according to claim 2, wherein the data processing board distributes the received downlink echo signal poll to the processing node, further comprising:
the first node of the data processing board sequentially fills the received downlink echo data into a cache space;
and the other nodes of the data processing board sequentially take out downlink echo signals to be processed from the buffer space.
4. A processing method according to claim 3, wherein the cache space comprises a plurality of memory spaces for repeated use.
5. A processing method according to claim 1, characterized in that: the processing node comprises a complete slave data processing link.
6. A processing method according to claim 5, characterized in that: the processing node comprises a kernel cluster formed by a plurality of kernels, and the kernels are used for carrying out parallel calculation on the data which are not coupled with each other in the algorithm function module in the process of carrying out data processing on the downlink echo signals.
7. A processing method according to claim 1, characterized in that: the processing node sends the processed data to a sending board card, and the processing node further comprises:
the processing node performs on-board ordering on the processed data;
and sending the ordered data to a sending board card.
8. The processing method according to claim 1, wherein the transmitting board orders the received data and transmits the ordered data to the next stage system, further comprising:
the transmitting board card performs inter-board ordering on all received data,
and the sending board card sends the ordered data to the next-stage system.
9. A radar signal processing apparatus, comprising:
the receiving unit is used for receiving the downlink echo signals of the radar array surface;
the first sending unit is used for distributing the downlink echo signal polling to a plurality of data processing boards;
the second sending unit is used for distributing the received downlink echo signal polling to the processing node;
the processing unit is used for carrying out data processing on the received downlink echo signals;
the third sending unit is used for sending the processed data to the sending board card;
and the fourth sending unit is used for sequencing the received data and sending the sequenced data to the next-stage system.
10. A computer-readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of a method of processing radar signals according to any one of claims 1 to 8.
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| CN202310460607.7A CN116436856A (en) | 2023-04-26 | 2023-04-26 | Radar signal processing method and device |
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| CN202310460607.7A CN116436856A (en) | 2023-04-26 | 2023-04-26 | Radar signal processing method and device |
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