CN117872360A - Target attribute judging method, system and storage medium based on radar waveform feedback - Google Patents
Target attribute judging method, system and storage medium based on radar waveform feedback Download PDFInfo
- Publication number
- CN117872360A CN117872360A CN202410285979.5A CN202410285979A CN117872360A CN 117872360 A CN117872360 A CN 117872360A CN 202410285979 A CN202410285979 A CN 202410285979A CN 117872360 A CN117872360 A CN 117872360A
- Authority
- CN
- China
- Prior art keywords
- information
- monitored object
- radar
- determining
- target
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 59
- 230000000877 morphologic effect Effects 0.000 claims abstract description 21
- 238000004590 computer program Methods 0.000 claims description 10
- 238000012937 correction Methods 0.000 claims description 10
- 238000007405 data analysis Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 230000008859 change Effects 0.000 abstract description 10
- 230000007547 defect Effects 0.000 abstract description 5
- 238000012544 monitoring process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 3
- 238000004088 simulation Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Landscapes
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a target attribute judging method, a target attribute judging system and a target attribute judging storage medium based on radar waveform feedback, which relate to the technical field of radar monitoring and comprise the steps of determining radar scanning azimuth information according to basic information of a target object; and scanning by using a radar according to the radar scanning azimuth information, determining a monitored object of the target object, and acquiring azimuth information of the monitored object. In the embodiment of the invention, the azimuth of the monitored object is determined in advance according to the echo feedback of the radar, and then the overall outline profile, the flight attitude, the speed and other morphological information of the monitored object are obtained in a multi-dimensional manner according to the information fed back by the radar obtained secondarily, so that effective reference is provided for the real-time dynamic change of the follow-up monitored object. The method effectively solves the defect that the traditional radar has a single effective information acquisition mode of the target attribute in the prior art, and ensures the navigation safety of the target object.
Description
Technical Field
The invention relates to the technical field of radar monitoring, in particular to a target attribute judging method, a target attribute judging system and a storage medium based on radar waveform feedback.
Background
In the civil aviation flight system, the radar system is adopted to acquire targets of factors possibly invading the route of the system or the outside, and the factors are used for obstacle avoidance, navigation, target detection and the like, so that the perception capability of the autonomous system can be effectively improved.
At present, the traditional radar system mainly focuses on primary scattering of a target on a transmitted signal, so that when the radar system acquires the target attribute, only unilateral scattered waves can acquire effective information of the target, namely, speed information of the target is acquired only through Doppler benefit, and the like. However, the effective information obtained by the conventional radar is too limited, so that an effective basis cannot be provided for judging the attribute of the target.
Disclosure of Invention
The invention aims to solve the defect that the traditional radar has a too single mode for acquiring effective information by using target attributes, and provides a target attribute judging method, a target attribute judging system and a storage medium based on radar waveform feedback.
In order to achieve the above purpose, the present invention adopts the following technical scheme: the first aspect of the invention provides a target attribute judging method based on radar waveform feedback, which comprises the following steps:
determining radar scanning azimuth information according to basic information of a target object;
scanning by using a radar according to the radar scanning azimuth information, determining a monitored object of a target object, and acquiring azimuth information of the monitored object;
according to the azimuth information of the monitored object, the radar is utilized to secondarily acquire the feedback information of the monitored object, and the morphological information of the monitored object is obtained;
acquiring real-time dynamic information of the monitored object according to the form information of the monitored object and the azimuth information of the monitored object and combining the basic information of the target object;
according to the morphological information of the monitored object, carrying out data analysis on the real-time dynamic information of the monitored object, and determining the attribute of the monitored object;
and obtaining the correction operation information of the target object according to the attribute of the monitored object and the basic information of the target object.
In a possible embodiment, the morphological information of the monitored object includes:
any one or more of the profile, the flight attitude (such as the flight direction, the flight angle and the like) and the speed of the monitored object are combined.
In a possible embodiment, the method for obtaining morphological information of the monitored object includes:
according to the radar scanning azimuth information, determining a radar scanning range, and randomly selecting a reference plane and a plurality of positioning auxiliary planes in the radar scanning range;
carrying out azimuth determination on a monitored object of the target object according to the scanning range of the radar to obtain azimuth information of the monitored object;
according to the scanning range of the radar and the azimuth information of the monitored object, performing secondary acquisition on the monitored object by utilizing a reference surface and a plurality of positioning aids, and determining feedback information of the monitored object;
and according to the radar scanning azimuth information, combining feedback information of the monitored object, and determining image information of the monitored object.
In a possible embodiment, the method for determining image information of a monitored object includes:
determining scanning angle information of a reference plane in a radar scanning range according to radar scanning azimuth information;
determining the scanning angle information of at least two positioning auxiliary surfaces according to the scanning angle information of the reference surface;
acquiring feedback information of the monitored object according to azimuth information and radar scanning range information of the monitored object;
according to radar scanning azimuth information, combining the scanning angle information of the reference surface and the scanning angle information of the positioning auxiliary surface, carrying out coordinate acquisition on feedback information of the monitored object to obtain the outline coordinate of the monitored object;
and determining the image information of the monitored object according to the outline coordinates of the monitored object.
In a possible embodiment, the method for determining image information of the monitored object further includes:
randomly selecting a datum line from the datum plane, taking the datum line as a connecting line between the target object and the monitored object, and determining positioning information of the datum line on the monitored object;
according to the radar scanning range and the azimuth information of the monitored object, at least two positioning auxiliary lines are selected at will in the radar scanning range by combining with the reference line, and the positioning information of the positioning auxiliary lines on the monitored object is determined by combining with the positioning information of the reference line on the monitored object;
and determining the plane image information of the monitored object according to the positioning information of the datum line on the monitored object and the positioning information of the positioning auxiliary line on the monitored object.
In a possible embodiment, the positioning aid line and the reference line are parallel to each other.
In a possible embodiment, the feedback information of the monitored object includes:
the radar generates one or more of echo signals, echo time lengths and echo angles generated by the high-frequency pulse signals.
In a possible embodiment, the method for obtaining the correction operation information of the target object includes:
determining a pre-navigation route of the target object according to the basic information of the target object;
acquiring morphological information of the monitored object in two different time sequence sections by utilizing radar scanning azimuth information;
according to radar scanning azimuth information, respectively processing form information of two monitored objects in different time sequence segments to respectively obtain first dynamic information and second dynamic information of the monitored objects;
comparing the first dynamic information with the second dynamic information to obtain real-time dynamic information of the monitored object;
determining a pre-sailing route of the monitored object according to the real-time dynamic information of the monitored object;
and comparing the pre-navigation route of the target object with the pre-navigation route of the monitored object to determine the correction operation information of the target object.
The second aspect of the present invention provides a radar waveform feedback-based target attribute determining system, which adopts the radar waveform feedback-based target attribute determining method according to any one of the first aspect.
A third aspect of the present invention provides a computer-readable medium having stored thereon a computer program, wherein the program when executed by a processor implements a target attribute determination method based on radar waveform feedback as in any one of the first aspects.
The beneficial effects of the invention are as follows:
in the embodiment of the invention, the azimuth of the monitored object is determined in advance according to the echo feedback of the radar, and then the overall outline profile, the flight attitude, the speed and other morphological information of the monitored object are obtained in a multi-dimensional manner according to the information fed back by the radar obtained secondarily, so that effective reference is provided for the real-time dynamic change of the follow-up monitored object. The method effectively solves the defect that the traditional radar has a single effective information acquisition mode of the target attribute in the prior art, and ensures the navigation safety of the target object.
Drawings
Fig. 1 is a schematic overall flow chart of a target attribute determining method based on radar waveform feedback according to an embodiment of the present invention;
fig. 2 is a schematic diagram of simulation of positioning point setting in a target attribute determining method based on radar waveform feedback according to an embodiment of the present invention;
fig. 3 is a schematic diagram of reference plane setting simulation in a target attribute determining method based on radar waveform feedback according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a simulation of reference line setting in a target attribute determining method based on radar waveform feedback according to an embodiment of the present invention.
Detailed Description
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.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.
In the present invention, unless specifically stated and limited otherwise, the terms "connected," "affixed," and the like are to be construed broadly, and for example, "affixed" may be a fixed connection, a removable connection, or an integral body; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" as it appears throughout includes three parallel schemes, for example "A and/or B", including the A scheme, or the B scheme, or the scheme where A and B are satisfied simultaneously. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
Embodiment one: referring to fig. 1 to fig. 4, in order to solve the disadvantage that the conventional radar has too single mode of acquiring effective information by using the target attribute in the prior art, the present embodiment provides a target attribute determining method based on radar waveform feedback, where the determining method determines the azimuth of the monitored object in advance according to radar echo feedback, and then acquires the form information such as the overall outline, the flight attitude and the speed of the monitored object in a multi-dimensional manner according to the information of secondarily acquiring radar echo feedback, so as to provide an effective reference for the real-time dynamic change of the subsequent monitored object. The method effectively solves the defect that the traditional radar has a single effective information acquisition mode of the target attribute in the prior art, and ensures the navigation safety of the target object.
Specifically, the first aspect of the present invention provides a target attribute determining method based on a secondary radar, including:
determining radar scanning azimuth information according to basic information of a target object; the radar emission scanning position of the target object can be determined according to the overall structure or design of the target object, so that the subsequent judgment of the scanning direction and the azimuth of the radar can be conveniently ensured. According to the radar scanning method, radar scanning is carried out on a pre-flight route of a target object according to the scanning azimuth of the radar, targets possibly appearing in the flight route of the target object are monitored, namely, radar searching and positioning are carried out on a monitored object of the target object, and the azimuth information of the monitored object of the target object is determined, so that the method is beneficial to providing effective reference for the clear analysis of the follow-up actions of the monitored object. Namely, according to radar scanning azimuth information, the radar is utilized to scan, a monitored object of the target object is determined, and azimuth information of the monitored object is obtained. In order to monitor and learn the azimuth of the monitored object in real time in multiple dimensions, the radar is used for acquiring echo signals secondarily according to the azimuth information of the monitored object so as to obtain feedback information (such as echo signals, echo time length, echo angle and the like generated by the radar scanning high-frequency pulse signals passing through the monitored object) of the monitored object more clearly, and then the morphological information (such as the overall outline, flying speed and flying direction and the like of the monitored object) of the monitored object is obtained according to the received echo feedback condition of the monitored object; then according to the form information of the monitored object and the azimuth information of the monitored object, and combining the basic information of the target object, acquiring the real-time dynamic information of the monitored object, namely acquiring the motion state information of the target object and the monitored object, and providing a reference for the subsequent judgment of the operation of the monitored object; and then, according to the morphological information of the monitored object, acquiring the motion track or motion direction change condition of the monitored object, then, carrying out data analysis on the real-time dynamic information of the monitored object, determining the attribute of the monitored object, and judging whether the monitored object is in the flight route of the target object or not, thereby acquiring the correction operation information of the target object. In this embodiment, the radar scanning position and the radar scanning direction are determined according to the basic information of the target object, the radar scanning range is then determined, the direction of the monitored object is determined in advance according to the echo feedback of the radar, and the overall outline, the flight attitude, the speed and other morphological information of the monitored object are obtained in a multi-dimensional manner according to the information fed back by the radar obtained in a secondary manner, so that an effective reference is provided for the subsequent real-time dynamic change of the monitored object. The method solves the defect that the traditional radar has a single effective information acquisition mode of the target attribute in the prior art, and ensures the navigation safety of the target object. In this embodiment, the morphological information of the monitored object includes: any one or more of the profile, the flight attitude (such as the flight direction, the flight angle and the like) and the speed of the monitored object are combined.
Referring to fig. 2 and 3, in this embodiment, in order to facilitate understanding how to obtain the morphological information of the monitored object of the target object, the following description is given herein, and specifically, the method for obtaining the morphological information of the monitored object includes:
according to the radar scanning azimuth information, determining a radar scanning range, and randomly selecting a reference plane and a plurality of positioning auxiliary planes M1 in the radar scanning range; as shown in fig. 3, according to the radar scanning range, a reference plane M is arbitrarily selected in the radar waveform scanning range, and the position information of the reference plane M in the radar scanning range is determined, and at least two positioning auxiliary planes M1 are set at the same time, and the position information of the two positioning auxiliary planes M1 in the radar scanning range is determined according to the position information of the reference plane M in the radar scanning range. Then, carrying out azimuth determination on the monitored object of the target object according to the scanning range of the radar to obtain azimuth information of the monitored object; continuously acquiring the monitored object secondarily by utilizing the reference plane M and the plurality of positioning auxiliary planes M1 according to the scanning range of the radar and the azimuth information of the monitored object, and determining the feedback information of the monitored object; namely, according to the condition of echo signals obtained by a radar in a scanning range (such as echo signals, echo time length, echo angle and the like generated by the radar scanning generation high-frequency pulse signals passing through a monitored object), the appearance tangent line of the monitored object of the target object is utilized by a reference plane M and a positioning auxiliary plane M1 in the radar scanning range so as to obtain feedback information of the monitored object; and then according to radar scanning azimuth information, the image information of the monitored object is determined by combining the reference plane M and the auxiliary positioning plane and combining feedback information of the monitored object, namely, the form information (namely, the outline image information) of the monitored object is determined, and the method is favorable for providing reference for subsequent analysis of real-time dynamic changes of the monitored object.
In order to further understand how the above-mentioned manner of acquiring the image information of the monitored object using the reference plane M and the positioning auxiliary plane M1 in the radar scanning range is implemented, as described in more detail below, the method for determining the image information of the monitored object includes:
determining scanning angle information of a reference plane M in a radar scanning range according to radar scanning azimuth information; determining the scanning angle information of at least two positioning auxiliary surfaces M1 according to the scanning angle information of the reference surface M; namely, according to the scanning azimuth information in the radar scanning range, the setting azimuth information of the reference plane M in the radar scanning range is determined, and then the positioning auxiliary plane M1 is continuously determined according to the reference plane MThe azimuth information is set so as to determine the set azimuth of the reference plane M and the positioning auxiliary plane M1 in the radar scanning range, so that the azimuth information of the monitored object is combined with the azimuth information of the monitored object in the radar scanning range by using the reference plane M and the positioning auxiliary plane M1 in the follow-up process. Acquiring feedback information of the monitored object according to azimuth information and radar scanning range information of the monitored object; the method comprises the steps of utilizing the feedback echo condition of a monitored object obtained by acquisition in a radar receiver, then combining the scanning angle information of a reference plane M and the scanning angle information of a positioning auxiliary plane M1 according to radar scanning azimuth information, and acquiring the morphological coordinates of the monitored object by the echo duration in the feedback condition of the echo in the feedback information of the monitored object to obtain the outline coordinates of the monitored object; that is, the surface where the appearance of the monitored object is different is inconvenient, so that the appearance of the monitored object is also different in the whole echo condition, then the echo feedback condition of the monitored object can be analyzed according to the radar scanning range in combination with the reference plane M and the positioning auxiliary plane M1, the outline coordinate of the monitored object is determined, and then the image information of the monitored object can be determined according to the outline coordinate of the monitored object. Specifically, the manner of acquiring the outline coordinates of the monitored object is described with reference to fig. 2: according to radar scanning azimuth information, determining any connecting line between a radar and a monitored object in a reference plane M, and taking a positioning point K of the connecting line on the monitored object as a reference point to calculate an inclined distance R between the radar and the monitored object, wherein the inclined distance R is a distance between the radar and the monitored objectWherein->In order to achieve the light velocity, the light beam is,the duration of the scan waveform and the received echo is transmitted for the radar. By calculating the slant distance R and then calculating the vertical height H and the horizontal distance D of the positioning point K in the radar scanning range, the positioning point K can be determined to be the monitored object according to the radar scanning azimuth informationAnd the coordinate information in the radar scanning range is similarly obtained by determining all the outline structure coordinates of the monitored object according to the connecting lines between other radars and the monitored object by the reference plane M and the positioning auxiliary plane M1, so as to obtain the morphological coordinates of the monitored object and obtain the image model of the monitored object. In the present embodiment, in order to be able to facilitate determination of the setting position of the positioning auxiliary surface M1 by using the reference surface M, the reference surface M and the positioning auxiliary surface M1 are parallel to each other. In this embodiment, the three-dimensional image information of the monitored object can be obtained by obtaining the appearance structure of the monitored object with the reference plane M and the positioning auxiliary surface, so as to facilitate the subsequent visual analysis of the monitored attribute and dynamic motion information. In addition, the above-described method may be used in combination with the change in the radar scanning range to perform waveform scanning on each surface of the object to be monitored, that is, three-dimensional image information of the object to be monitored may be obtained.
Referring to fig. 2 and 4, in a possible embodiment, in order to obtain planar image information of the monitored object more quickly, there is further provided a method for obtaining image information of the monitored object, where the method for determining image information of the monitored object further includes:
randomly selecting a reference line L from the reference plane M, taking the reference line L as a connecting line between a target object and a monitored object, and determining positioning information of the reference line L on the monitored object;
according to the radar scanning range and the azimuth information of the monitored object, combining the reference line L, randomly selecting at least two positioning auxiliary lines L1 in the radar scanning range, and combining the positioning information of the reference line L on the monitored object to determine the positioning information of the positioning auxiliary lines L1 on the monitored object;
and determining the plane image information of the monitored object according to the positioning information of the datum line L on the monitored object and the positioning information of the positioning auxiliary line L1 on the monitored object. In this embodiment, it is preferable that the positioning auxiliary line L1 and the reference line L are parallel to each other.
In this embodiment, the shape profile of the monitored object of the target object is obtained, then the shape profile change conditions of the monitored object in different time periods are obtained, so as to obtain the real-time dynamic condition of the monitored object, and then the target object determines the route correction operation according to the real-time dynamic condition of the monitored object. Specifically, the method for obtaining the correction operation information of the target object includes:
determining a pre-navigation route of the target object according to the basic information of the target object; the method comprises the steps of obtaining a pre-flight route of a target object and determining a flight route of the target object; simultaneously, radar scanning azimuth information is utilized to acquire morphological information of the monitored objects in two different time sequence sections; then, according to radar scanning azimuth information, respectively processing form information of the monitored object in two different time sequence sections to respectively obtain first dynamic information and second dynamic information of the monitored object; comparing the first dynamic information with the second dynamic information to obtain real-time dynamic information of the monitored object; the method comprises the steps of determining azimuth coordinate information of a monitored object in a radar scanning range in first dynamic information according to the radar scanning azimuth and the radar scanning range, determining azimuth coordinate information of the monitored object in the radar scanning range in second dynamic information, determining form change information such as flight attitude (flight direction) and speed of the monitored object according to the real-time dynamic change condition of the radar scanning range, so as to obtain pre-flight routes of whether the monitored object invades a target object, and determining the pre-flight routes of the monitored object according to the real-time dynamic information of the monitored object; and then comparing the pre-navigation route of the target object with the pre-navigation route of the monitored object to determine the correction operation information of the target object. The method comprises the steps of acquiring the form information of the whole outline, the flight attitude, the speed and the like of a monitored object in a multidimensional manner according to the information fed back by the radar echo acquired secondarily, providing effective reference for the real-time dynamic change of the follow-up monitored object, and realizing effective reference for the pre-flight route adjustment of the target object.
The second aspect of the present invention provides a radar waveform feedback-based target attribute determining system, which adopts the radar waveform feedback-based target attribute determining method according to any one of the first aspect. In this embodiment, the determination system may be applied to an unmanned aerial vehicle or an aircraft, so as to automatically correct a flight route according to factors of an invading flight route, thereby ensuring navigation safety.
In some embodiments, the decision system may communicate using any currently known or future developed network protocol, such as HTTP (Hyper Text Transfer Protocol ), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the internet (e.g., the internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed networks.
The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a Complex Programmable Logic Device (CPLD), and the like.
A third aspect of the present invention provides a computer-readable medium having stored thereon a computer program, wherein the program when executed by a processor implements a target attribute determination method based on radar waveform feedback as in any one of the first aspects. The computer readable medium in this embodiment may write computer program code for performing the operations of some embodiments of the present disclosure in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In particular, according to some embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, some embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flow chart.
A fourth aspect of the present invention provides an electronic device comprising: one or more processors; a storage device having one or more programs stored thereon; the one or more programs, when executed by the one or more processors, cause the one or more processors to implement a target attribute determination method based on radar waveform feedback as described in the first aspect. Wherein the computer readable medium may be contained in the electronic device; or may be present alone, i.e. not fitted into the electronic device. The computer-readable medium carries one or more programs which, when executed by the electronic device, enable the electronic device to implement a target attribute determination method based on radar waveform feedback as described in the first aspect.
A fifth aspect of the invention provides a computer program product comprising a computer program which, when executed by a processor, implements a target attribute determination method based on radar waveform feedback as described in the first aspect.
The foregoing description is only of the preferred embodiments of the present disclosure and description of the principles of the technology being employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combination of the above technical features, but encompasses other technical features formed by any combination of the above technical features or their equivalents without departing from the spirit of the invention. Such as the above-described features, are mutually substituted with (but not limited to) the features having similar functions disclosed in the embodiments of the present disclosure.
Claims (10)
1. The target attribute judging method based on radar waveform feedback is characterized by comprising the following steps of:
determining radar scanning azimuth information according to basic information of a target object;
scanning by using a radar according to the radar scanning azimuth information, determining a monitored object of a target object, and acquiring azimuth information of the monitored object;
according to the azimuth information of the monitored object, the radar is utilized to secondarily acquire the feedback information of the monitored object, and the morphological information of the monitored object is obtained;
acquiring real-time dynamic information of the monitored object according to the form information of the monitored object and the azimuth information of the monitored object and combining the basic information of the target object;
according to the morphological information of the monitored object, carrying out data analysis on the real-time dynamic information of the monitored object, and determining the attribute of the monitored object;
and obtaining the correction operation information of the target object according to the attribute of the monitored object and the basic information of the target object.
2. The method for determining a target attribute based on radar waveform feedback according to claim 1, wherein the morphological information of the monitored object includes:
any one or more of profile, attitude and speed of the monitored object.
3. The method for determining a target attribute based on radar waveform feedback according to claim 2, wherein the method for obtaining morphological information of the monitored object comprises:
according to the radar scanning azimuth information, determining a radar scanning range, and randomly selecting a reference plane and a plurality of positioning auxiliary planes in the radar scanning range;
carrying out azimuth determination on a monitored object of the target object according to the scanning range of the radar to obtain azimuth information of the monitored object;
according to the scanning range of the radar and the azimuth information of the monitored object, performing secondary acquisition on the monitored object by utilizing a reference surface and a plurality of positioning aids, and determining feedback information of the monitored object;
and according to the radar scanning azimuth information, combining feedback information of the monitored object, and determining image information of the monitored object.
4. A method for determining target properties based on radar waveform feedback according to claim 3, wherein said method for determining image information of a monitored object comprises:
determining scanning angle information of a reference plane in a radar scanning range according to radar scanning azimuth information;
determining the scanning angle information of at least two positioning auxiliary surfaces according to the scanning angle information of the reference surface;
acquiring feedback information of the monitored object according to azimuth information and radar scanning range information of the monitored object;
according to radar scanning azimuth information, combining the scanning angle information of the reference surface and the scanning angle information of the positioning auxiliary surface, carrying out coordinate acquisition on feedback information of the monitored object to obtain the outline coordinate of the monitored object;
and determining the image information of the monitored object according to the outline coordinates of the monitored object.
5. The method for determining target property based on radar waveform feedback according to claim 4, wherein said method for determining image information of a monitored object further comprises:
randomly selecting a datum line from the datum plane, taking the datum line as a connecting line between the target object and the monitored object, and determining positioning information of the datum line on the monitored object;
according to the radar scanning range and the azimuth information of the monitored object, at least two positioning auxiliary lines are selected at will in the radar scanning range by combining with the reference line, and the positioning information of the positioning auxiliary lines on the monitored object is determined by combining with the positioning information of the reference line on the monitored object;
and determining the plane image information of the monitored object according to the positioning information of the datum line on the monitored object and the positioning information of the positioning auxiliary line on the monitored object.
6. The method of claim 5, wherein the positioning auxiliary line and the reference line are parallel to each other.
7. The method according to any one of claims 4 to 6, wherein the feedback information of the monitored object includes:
the radar generates one or more of echo signals, echo time lengths and echo angles generated by the high-frequency pulse signals.
8. The method for determining the target attribute based on the radar waveform feedback according to claim 7, wherein the method for obtaining the correction operation information of the target object comprises:
determining a pre-navigation route of the target object according to the basic information of the target object;
acquiring morphological information of the monitored object in two different time sequence sections by utilizing radar scanning azimuth information;
according to radar scanning azimuth information, respectively processing form information of two monitored objects in different time sequence segments to respectively obtain first dynamic information and second dynamic information of the monitored objects;
comparing the first dynamic information with the second dynamic information to obtain real-time dynamic information of the monitored object;
determining a pre-sailing route of the monitored object according to the real-time dynamic information of the monitored object;
and comparing the pre-navigation route of the target object with the pre-navigation route of the monitored object to determine the correction operation information of the target object.
9. A radar waveform feedback-based target attribute determination system, wherein the radar waveform feedback-based target attribute determination method according to any one of claims 1 to 8 is employed.
10. A computer-readable medium, on which a computer program is stored, wherein the program, when executed by a processor, implements a target property determination method based on radar waveform feedback as claimed in any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410285979.5A CN117872360B (en) | 2024-03-13 | 2024-03-13 | Target attribute judging method, system and storage medium based on radar waveform feedback |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410285979.5A CN117872360B (en) | 2024-03-13 | 2024-03-13 | Target attribute judging method, system and storage medium based on radar waveform feedback |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117872360A true CN117872360A (en) | 2024-04-12 |
| CN117872360B CN117872360B (en) | 2024-05-10 |
Family
ID=90592078
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410285979.5A Active CN117872360B (en) | 2024-03-13 | 2024-03-13 | Target attribute judging method, system and storage medium based on radar waveform feedback |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117872360B (en) |
Citations (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB770176A (en) * | 1954-02-09 | 1957-03-20 | Communications Patents Ltd | Radar or visual display apparatus |
| US5247303A (en) * | 1992-07-20 | 1993-09-21 | University Corporation For Atmospheric Research | Data quality and ambiguity resolution in a doppler radar system |
| JP2000284049A (en) * | 1999-03-31 | 2000-10-13 | Mitsubishi Electric Corp | Radar integration tracking system |
| JP2003107149A (en) * | 2001-09-28 | 2003-04-09 | Toshiba Corp | Radar device |
| CN1628237A (en) * | 2002-09-30 | 2005-06-15 | 石川岛播磨重工业株式会社 | Method of measuring object and system for measuring object |
| US20130009808A1 (en) * | 2011-07-05 | 2013-01-10 | Jeffrey Hering | Aircraft Weather Radar with Reduced Heading, Attitude and Range Artifacts |
| EP2863176A2 (en) * | 2013-10-21 | 2015-04-22 | Sick Ag | Sensor with scanning unit that can be moved around a rotating axis |
| CN108169331A (en) * | 2017-12-04 | 2018-06-15 | 北京星航机电装备有限公司 | Thin plate lattice fin construction joint phased array ultrasonic detection device and detection method |
| DE102018208366B3 (en) * | 2018-05-28 | 2019-11-28 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Synthetic aperture radar method and synthetic aperture radar apparatus |
| CN112034474A (en) * | 2019-05-14 | 2020-12-04 | 阿里巴巴集团控股有限公司 | Monitoring equipment adjusting method and device and laser radar adjusting method |
| CN112634275A (en) * | 2021-03-11 | 2021-04-09 | 北京海兰信数据科技股份有限公司 | Radar echo image processing method and system |
| WO2021077907A1 (en) * | 2019-10-22 | 2021-04-29 | 珠海格力电器股份有限公司 | Area monitoring method and apparatus, electronic device, and storage medium |
| CN114355304A (en) * | 2021-12-29 | 2022-04-15 | 森思泰克河北科技有限公司 | Radar blocking condition judgment method and device, electronic equipment and storage medium |
| CN114415203A (en) * | 2021-12-24 | 2022-04-29 | 苏州科技大学 | Slope section monitoring and early warning system combining Beidou positioning and unmanned aerial vehicle radar |
| CN114527480A (en) * | 2021-10-28 | 2022-05-24 | 江苏集萃未来城市应用技术研究所有限公司 | Precise positioning method for ground service vehicles in complex environment of airport |
| CN114779233A (en) * | 2022-04-20 | 2022-07-22 | 南京理工大学 | Terahertz radar-based FOD detection system |
| US20220252717A1 (en) * | 2021-02-09 | 2022-08-11 | Airbus Defence and Space GmbH | Arrangement and a Method for measuring a Radar Cross Section |
| CN116184343A (en) * | 2022-08-18 | 2023-05-30 | 电子科技大学 | Three-dimensional space swarm target detection and information estimation method based on phased array radar |
| CN116413680A (en) * | 2021-12-29 | 2023-07-11 | 武汉万集光电技术有限公司 | Scanning method and detection system based on laser radar and millimeter wave radar |
| CN116413683A (en) * | 2021-12-30 | 2023-07-11 | 武汉万集光电技术有限公司 | Laser radar, scanning method thereof and readable storage medium |
-
2024
- 2024-03-13 CN CN202410285979.5A patent/CN117872360B/en active Active
Patent Citations (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB770176A (en) * | 1954-02-09 | 1957-03-20 | Communications Patents Ltd | Radar or visual display apparatus |
| US5247303A (en) * | 1992-07-20 | 1993-09-21 | University Corporation For Atmospheric Research | Data quality and ambiguity resolution in a doppler radar system |
| JP2000284049A (en) * | 1999-03-31 | 2000-10-13 | Mitsubishi Electric Corp | Radar integration tracking system |
| JP2003107149A (en) * | 2001-09-28 | 2003-04-09 | Toshiba Corp | Radar device |
| CN1628237A (en) * | 2002-09-30 | 2005-06-15 | 石川岛播磨重工业株式会社 | Method of measuring object and system for measuring object |
| US20130009808A1 (en) * | 2011-07-05 | 2013-01-10 | Jeffrey Hering | Aircraft Weather Radar with Reduced Heading, Attitude and Range Artifacts |
| EP2863176A2 (en) * | 2013-10-21 | 2015-04-22 | Sick Ag | Sensor with scanning unit that can be moved around a rotating axis |
| CN108169331A (en) * | 2017-12-04 | 2018-06-15 | 北京星航机电装备有限公司 | Thin plate lattice fin construction joint phased array ultrasonic detection device and detection method |
| DE102018208366B3 (en) * | 2018-05-28 | 2019-11-28 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Synthetic aperture radar method and synthetic aperture radar apparatus |
| CN112034474A (en) * | 2019-05-14 | 2020-12-04 | 阿里巴巴集团控股有限公司 | Monitoring equipment adjusting method and device and laser radar adjusting method |
| WO2021077907A1 (en) * | 2019-10-22 | 2021-04-29 | 珠海格力电器股份有限公司 | Area monitoring method and apparatus, electronic device, and storage medium |
| US20220252717A1 (en) * | 2021-02-09 | 2022-08-11 | Airbus Defence and Space GmbH | Arrangement and a Method for measuring a Radar Cross Section |
| CN112634275A (en) * | 2021-03-11 | 2021-04-09 | 北京海兰信数据科技股份有限公司 | Radar echo image processing method and system |
| CN114527480A (en) * | 2021-10-28 | 2022-05-24 | 江苏集萃未来城市应用技术研究所有限公司 | Precise positioning method for ground service vehicles in complex environment of airport |
| CN114415203A (en) * | 2021-12-24 | 2022-04-29 | 苏州科技大学 | Slope section monitoring and early warning system combining Beidou positioning and unmanned aerial vehicle radar |
| CN114355304A (en) * | 2021-12-29 | 2022-04-15 | 森思泰克河北科技有限公司 | Radar blocking condition judgment method and device, electronic equipment and storage medium |
| CN116413680A (en) * | 2021-12-29 | 2023-07-11 | 武汉万集光电技术有限公司 | Scanning method and detection system based on laser radar and millimeter wave radar |
| CN116413683A (en) * | 2021-12-30 | 2023-07-11 | 武汉万集光电技术有限公司 | Laser radar, scanning method thereof and readable storage medium |
| CN114779233A (en) * | 2022-04-20 | 2022-07-22 | 南京理工大学 | Terahertz radar-based FOD detection system |
| CN116184343A (en) * | 2022-08-18 | 2023-05-30 | 电子科技大学 | Three-dimensional space swarm target detection and information estimation method based on phased array radar |
Non-Patent Citations (4)
| Title |
|---|
| 曲学超: "基于高分辨距离像的雷达目标识别算法研究", 《中国优秀硕士学位论文全文数据库 信息科技辑》, 15 September 2018 (2018-09-15), pages 136 - 241 * |
| 李银斌;李勇;何力;: "机载多扫描气象雷达的目标垂直轮廓重建", 雷达科学与技术, no. 01, 15 February 2016 (2016-02-15) * |
| 杜利平, 苏广川: "毫米波雷达多运动目标检测算法研究", 系统工程与电子技术, no. 09, 20 September 2005 (2005-09-20) * |
| 杨少科: "基于Kalman滤波的雷达目标跟踪算法研究", 《中国优秀硕士学位论文全文数据库 信息科技辑》, 15 March 2018 (2018-03-15), pages 136 - 1452 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117872360B (en) | 2024-05-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110889808B (en) | Positioning method, device, equipment and storage medium | |
| CN110736971B (en) | Real-time identification method for non-cooperative target in sea clutter measurement area of shore-based radar | |
| CN112051591B (en) | Detection method and related device for laser radar and inertial measurement unit | |
| CN112013877B (en) | Detection method and related device for millimeter wave radar and inertial measurement unit | |
| CN107817488A (en) | The unmanned plane obstacle avoidance apparatus and barrier-avoiding method merged based on millimetre-wave radar with vision | |
| CN112558023A (en) | Calibration method and device of sensor | |
| CN112051575B (en) | Method for adjusting millimeter wave radar and laser radar and related device | |
| CN110516621B (en) | Method and device for detecting barrier-free driving area, vehicle and storage medium | |
| CN113850102B (en) | Vehicle-mounted vision detection method and system based on millimeter wave radar assistance | |
| CN111090283B (en) | Unmanned ship combined positioning and orientation method and system | |
| CN108844538B (en) | Unmanned aerial vehicle obstacle avoidance waypoint generation method based on vision/inertial navigation | |
| JP2020148694A (en) | Self-position estimating device, automatic drive system equipped therewith, and self-generated map sharing device | |
| Iqbal et al. | Imaging radar for automated driving functions | |
| CN109407086B (en) | Aircraft trajectory generation method and system and trapping system target guiding method | |
| CN111694012A (en) | Three-dimensional terrain online generation method and system based on airborne laser radar | |
| CN111999744A (en) | Unmanned aerial vehicle multi-azimuth detection and multi-angle intelligent obstacle avoidance method | |
| CN107818324B (en) | System and method for adding functional grid cells to a random sparse tree grid for spatial filtering | |
| CN114018269B (en) | Positioning method, positioning device, electronic equipment, storage medium and automatic driving vehicle | |
| CN113296120B (en) | Obstacle detection method and terminal | |
| CN113734176A (en) | Environment sensing system and method for intelligent driving vehicle, vehicle and storage medium | |
| CN117872360B (en) | Target attribute judging method, system and storage medium based on radar waveform feedback | |
| KR102260240B1 (en) | Terrain following flight method | |
| WO2022230332A1 (en) | Ship monitoring system, ship monitoring method, information processing device, and program | |
| Deusch et al. | Improving localization in digital maps with grid maps | |
| CN114119465B (en) | Point cloud data processing method and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |