CN118131149A - Radar target frequency component estimation method, device, computer equipment and medium - Google Patents
Radar target frequency component estimation method, device, computer equipment and medium Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
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Abstract
The invention relates to the field of signal processing, and provides a radar target frequency component estimation method, a radar target frequency component estimation device, computer equipment and a medium. The radar target frequency component estimation method comprises the following steps: acquiring a target echo signal of a radar; performing Fourier transform on the target echo signal to obtain a first frequency spectrum in the target echo signal; performing low-pass filtering processing on the first frequency spectrum to obtain a second frequency spectrum; according to the second frequency spectrum and the first frequency spectrum, calculating energy values corresponding to all frequency components in the target echo signal; the frequency component with the largest energy value is determined as the target frequency component. According to the method and the device, accuracy of target frequency estimation is improved, and radar detection performance is improved.
Description
Technical Field
The present invention relates to the field of signal processing, and in particular, to a method, an apparatus, a computer device, and a medium for estimating a radar target frequency component.
Background
Frequency Modulated Continuous Wave (FMCW) radar has a wide range of measurement range and target speed applications. The radar calculates a target distance from a frequency difference between the transmitted signal and the received echo signal. However, when the distance of the target object is long or the motion amplitude of the target object is small, the accuracy of estimating the target frequency component is poor based on the current FMCW radar detection algorithm, and the radar performance is to be improved.
Disclosure of Invention
In order to improve the accuracy of estimating the target frequency component and the radar detection performance, the invention provides a radar target frequency component estimating method, a device, computer equipment and a medium.
In a first aspect, the present invention provides a radar target frequency component estimation method, the method comprising:
Acquiring a target echo signal of a radar;
Performing Fourier transform for preset times on the target echo signal to obtain a first frequency spectrum in the target echo signal;
performing low-pass filtering processing on the first frequency spectrum to obtain a second frequency spectrum;
According to the second frequency spectrum and the first frequency spectrum, calculating energy values corresponding to all frequency components in the target echo signal;
The frequency component with the largest energy value is determined as the target frequency component.
According to the method, the target echo signals received by the radar are subjected to Fourier transform for preset times to obtain more frequency information related to the motion change of the target object, and the first frequency spectrum obtained by the Fourier transform is subjected to low-pass filtering to obtain the second frequency spectrum, so that the target frequency component is enhanced, meanwhile, the influence of noise on a detection result is reduced, and therefore the target frequency component is accurately estimated according to the first frequency spectrum and the second frequency spectrum, the radar can still detect the target frequency component even if the distance of the target object is far or the motion amplitude is small, and the radar detection performance is improved.
In an alternative embodiment, performing fourier transform on the target echo signal for a preset number of times to obtain a first frequency spectrum in the target echo signal, including:
performing Fourier transform on the target echo signal to obtain a third frequency spectrum in the target echo signal;
Performing Fourier transform on the third frequency spectrum to obtain a fourth frequency spectrum;
and carrying out absolute value operation on the fourth frequency spectrum to obtain a first frequency spectrum.
In an alternative embodiment, the low-pass filtering processing is performed on the first spectrum to obtain a second spectrum, including:
For each frequency component in the first frequency spectrum, determining a first calculation window corresponding to the frequency component;
Calculating a first average value of amplitude values corresponding to the frequency components in each first calculation window;
and (3) performing difference between the amplitude value corresponding to each frequency component in the first frequency spectrum and the first average value corresponding to the frequency component to obtain a second frequency spectrum.
In an alternative embodiment, the difference between the amplitude value corresponding to each frequency component in the first spectrum and the first average value corresponding to the frequency component is obtained, so as to obtain a second spectrum, which includes:
The amplitude value corresponding to each frequency component in the first frequency spectrum is differenced with the first average value corresponding to the frequency component, so that a fifth frequency spectrum is obtained;
And correcting the fifth frequency spectrum to obtain a second frequency spectrum.
In an alternative embodiment, the correcting the fifth spectrum to obtain the second spectrum includes:
And correcting the amplitude value smaller than the preset value in the fifth frequency spectrum to obtain a second frequency spectrum.
In an alternative embodiment, calculating energy values corresponding to frequency components in the target echo signal according to the second spectrum and the first spectrum includes:
for each frequency component in the second spectrum, determining a second calculation window corresponding to the frequency component;
Calculating a second average value of amplitude values corresponding to the frequency components in each second calculation window;
and multiplying the amplitude value corresponding to each frequency component in the first frequency spectrum by the second average value corresponding to each frequency component to obtain the energy value corresponding to each frequency component.
In an alternative embodiment, the method further comprises:
the target distance, and/or the target speed, is calculated from the target frequency component.
In a second aspect, the present invention also provides a radar target frequency component estimation apparatus, the apparatus comprising:
the acquisition module is used for acquiring a target echo signal of the radar;
The transformation module is used for carrying out Fourier transformation on the target echo signal for a preset number of times to obtain a first frequency spectrum in the target echo signal;
the low-pass filtering module is used for carrying out low-pass filtering processing on the first frequency spectrum to obtain a second frequency spectrum;
The first calculation module is used for calculating energy values corresponding to all frequency components in the target echo signal according to the second frequency spectrum and the first frequency spectrum;
and the determining module is used for determining the frequency component with the largest energy value as the target frequency component.
Through the device, the target echo signal received by the radar is subjected to Fourier transform for preset times to obtain more frequency information related to the motion change of the target object, and the first frequency spectrum obtained by the Fourier transform is subjected to low-pass filtering to obtain the second frequency spectrum, so that the target frequency component is enhanced, and meanwhile, the influence of noise on a detection result is reduced, so that the target frequency component is accurately estimated according to the first frequency spectrum and the second frequency spectrum, the radar can still detect the target frequency component even if the distance of the target object is far or the motion amplitude is small, and the radar detection performance is improved.
In a third aspect, the present invention also provides a computer device, including a memory and a processor, where the memory and the processor are communicatively connected to each other, and the memory stores computer instructions, and the processor executes the computer instructions, thereby executing the steps of the radar target frequency component estimation method according to the first aspect or any implementation manner of the first aspect.
In a fourth aspect, the present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the radar target frequency component estimation method of the first aspect or any implementation manner of the first aspect.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for estimating radar target frequency components according to an exemplary embodiment;
FIG. 2 is a graph of amplitude values corresponding to frequency components in a first spectrum versus a first average value in an example;
FIG. 3 is a graph of amplitude values corresponding to frequency components in a second spectrum versus a second average value in an example;
FIG. 4 is a graph of calculated energy values for each frequency component in an example;
FIG. 5 is a graph comparing the power value of an echo signal obtained by a conventional radar detection method with the power value obtained by the method provided by the embodiment of the present invention;
Fig. 6 is a schematic structural diagram of a radar target frequency component estimating apparatus according to an exemplary embodiment;
fig. 7 is a schematic diagram of a hardware structure of a computer device according to an exemplary embodiment.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. 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.
In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
In order to improve the accuracy of estimating the target frequency component and the radar detection performance, the invention provides a radar target frequency component estimating method, a device, computer equipment and a medium.
Fig. 1 is a flowchart of a radar target frequency component estimation method according to an exemplary embodiment. As shown in fig. 1, the radar target frequency component estimation method includes the following steps S101 to S105.
Step S101: and acquiring a target echo signal of the radar.
In an alternative embodiment, when an electromagnetic wave signal emitted by the radar encounters a target object, the signal is reflected back to form a target echo signal. The target echo signal generally carries information such as a distance to a target object, a speed, and the like.
Step S102: and carrying out Fourier transform on the target echo signal for preset times to obtain a first frequency spectrum in the target echo signal.
In an alternative embodiment, the number of times of fourier transform is not particularly limited, and may be set according to actual circumstances. In the embodiment of the invention, the target echo signal is subjected to two times of Fourier transformation, and the time domain signal is converted into the frequency domain signal. And obtaining distance information in the target echo signal through first Fourier transform, and obtaining frequency information in the target echo signal through second Fourier transform.
Step S103: and performing low-pass filtering processing on the first frequency spectrum to obtain a second frequency spectrum.
In an alternative embodiment, the first frequency spectrum is subjected to a low-pass filtering process, so as to remove the noise interference signal, so as to better analyze the frequency information of the target echo signal.
Step S104: and calculating the energy value corresponding to each frequency component in the target echo signal according to the second frequency spectrum and the first frequency spectrum.
In an alternative embodiment, the amplitude value of each frequency component in the second frequency spectrum and the amplitude value corresponding to each frequency component in the first frequency spectrum may be multiplied to obtain the energy value corresponding to each frequency component.
Step S105: the frequency component with the largest energy value is determined as the target frequency component.
In an alternative embodiment, the frequency component with the largest energy value is the most dominant frequency component in the target echo signal, and may represent the characteristics of the entire target echo signal.
According to the method, the target echo signals received by the radar are subjected to Fourier transform for preset times to obtain more frequency information related to the motion change of the target object, and the first frequency spectrum obtained by the Fourier transform is subjected to low-pass filtering to obtain the second frequency spectrum, so that the target frequency component is enhanced, meanwhile, the influence of noise on a detection result is reduced, and therefore the target frequency component is accurately estimated according to the first frequency spectrum and the second frequency spectrum, the radar can still detect the target frequency component even if the distance of the target object is far or the motion amplitude is small, and the radar detection performance is improved.
In an example, in the step S102, the target echo signal is subjected to fourier transform for a preset number of times, so as to obtain a first spectrum in the target echo signal:
first, fourier transform is performed on a target echo signal to obtain a third spectrum in the target echo signal.
In an alternative embodiment, the first fourier transform is performed on the target echo signal, and the obtained third spectrum includes distance information of the target object.
Then, fourier transform is performed on the third spectrum to obtain a fourth spectrum.
In an alternative embodiment, the second fourier transform is performed on the target echo signal, and the obtained fourth spectrum includes speed information of the target object. The frequency component obtained by performing the first fourier transform on the target echo signal may be affected by signal mutation, noise, other interference, and the like, so in the embodiment of the present invention, the target echo signal is subjected to the second fourier transform, so that the obtained fourth frequency spectrum is more accurate and reliable.
And finally, carrying out absolute value operation on the fourth frequency spectrum to obtain a first frequency spectrum. And (3) carrying out absolute value operation on the fourth frequency spectrum to obtain an amplitude spectrum in the target echo signal, namely a first frequency spectrum, so that the distribution condition of each frequency component in the target echo signal can be analyzed according to the obtained first frequency spectrum.
In an example, in the step S103, the first spectrum is subjected to low-pass filtering processing, so as to obtain a second spectrum, by:
step a1: for each frequency component in the first spectrum, a first calculation window corresponding to the frequency component is determined.
In an alternative embodiment, the center and width of the first computing window may be adjusted according to the actual situation. In the embodiment of the present invention, the center of the first calculation window is set as the frequency component.
Step a2: a first average value of amplitude values corresponding to the frequency components in each first calculation window is calculated.
In an alternative embodiment, the first average value of the first calculation window is an average value of amplitude values corresponding to all other frequency components except for the frequency component corresponding to the center in the first calculation window. In the embodiment of the present invention, the calculation formula of the first average value is as follows:
X1'＝1/2pΣX(i)
wherein X 1' is a first average value, X (i) is an amplitude value corresponding to a frequency component i in the first spectrum, the center frequency of the first calculation window is i, the width is 2p, i.e., i=k-p to k+p, and i+.k.
Step a3: and (3) performing difference between the amplitude value corresponding to each frequency component in the first frequency spectrum and the first average value corresponding to the frequency component to obtain a second frequency spectrum.
In an example, in the step a3, the second spectrum is obtained by:
First, the amplitude value corresponding to each frequency component in the first frequency spectrum is differenced from the first average value corresponding to the frequency component, so as to obtain a fifth frequency spectrum.
Then, the fifth spectrum is corrected to obtain a second spectrum.
In the embodiment of the invention, the amplitude value smaller than the preset value in the fifth frequency spectrum is corrected to obtain the second frequency spectrum, and the specific formula is as follows:
X1(k)＝X(k)-X1'(k)+(-1×(X(k)-X1'(k)))
Wherein X 1 (k) is a second spectrum obtained after correction, X (k) is an amplitude value corresponding to a frequency component k in the first spectrum, X 1' (k) is a first average value corresponding to the frequency component k, and a difference between X (k) and X 1' (k) is smaller than a preset value, wherein in the embodiment of the invention, the preset value is set to 0. And correcting the amplitude values smaller than the preset value in the fifth frequency spectrum to ensure that the amplitude values in the obtained second frequency spectrum are all larger than or equal to 0, thereby facilitating the detection of the target frequency component according to the amplitude value corresponding to the frequency component.
In an example, in the above step S104, the energy value corresponding to each frequency component in the target echo signal is calculated as follows:
First, for each frequency component in the second spectrum, a second calculation window corresponding to the frequency component is determined.
In an alternative embodiment, the center and width of the second calculation window may be adjusted according to the actual situation. In the embodiment of the present invention, the center of the second calculation window is also set as the frequency component.
Then, a second average value of the amplitude values corresponding to the frequency components in each second calculation window is calculated. And (3) adjusting the peak value in the frequency spectrum of the target echo signal by calculating the second average value, further smoothing the frequency spectrum, and reducing the influence of noise or other interference.
And finally, multiplying the amplitude value corresponding to each frequency component in the first frequency spectrum by the second average value corresponding to each frequency component to obtain the energy value corresponding to each frequency component.
In an alternative embodiment, the second average value of the second calculation window is an average value of amplitude values corresponding to all other frequency components except for the frequency component corresponding to the center in the second calculation window. In the embodiment of the present invention, the calculation formula of the second average value is as follows:
X2'＝1/2pΣX1(i)
Wherein X 2' is a second average value, X 1 (i) is an amplitude value corresponding to a frequency component i in the second spectrum, the center frequency of the second calculation window is i, the width is 2p, i.e., i=k-p to k+p, and i+.k.
Fig. 2 is a graph comparing amplitude values corresponding to respective frequency components in the first spectrum with a first average value. Fig. 3 is a graph comparing amplitude values corresponding to frequency components in the second spectrum with a second average value. Fig. 4 shows the energy values of the respective frequency components obtained. Fig. 5 is a graph comparing the power value of an echo signal obtained by a conventional radar detection method with the power value obtained by the method provided by the embodiment of the present invention. As can be seen from fig. 5, compared with the conventional method, the power value calculated by the method provided by the embodiment of the invention is increased by 8dB. Therefore, the radar target frequency estimation method provided by the embodiment of the invention can detect the target object with a longer distance or smaller motion amplitude, thereby improving the radar detection performance, expanding the application range of the radar and leading the application field of the radar to be wider.
In an example, the method provided by the embodiment of the invention further includes:
the target distance, and/or the target speed, is calculated from the target frequency component.
In an alternative embodiment, the target distance may be calculated based on the target frequency component and the signal propagation velocity.
In an alternative embodiment, the target speed may be derived from the calculated target distance and signal propagation time.
Fig. 6 is a schematic structural diagram of a radar target frequency component estimating apparatus according to an exemplary embodiment. The device comprises:
An acquisition module 601, configured to acquire a target echo signal of a radar; the details are described in step S101 in the above embodiments, and are not described herein.
The transformation module 602 is configured to perform fourier transformation on the target echo signal for a preset number of times, so as to obtain a first frequency spectrum in the target echo signal; the details refer to the description of step S102 in the above embodiment, and are not repeated here.
The low-pass filtering module 603 is configured to perform low-pass filtering processing on the first spectrum to obtain a second spectrum; the details are described in step S103 in the above embodiments, and are not described herein.
The first calculating module 604 is configured to calculate energy values corresponding to each frequency component in the target echo signal according to the second frequency spectrum and the first frequency spectrum; the details are referred to the description of step S104 in the above embodiment, and will not be repeated here.
A determining module 605 is configured to determine a frequency component with the largest energy value as a target frequency component. The details are described in step S105 in the above embodiments, and are not described herein.
Through the device, the target echo signal received by the radar is subjected to Fourier transform for preset times to obtain more frequency information related to the motion change of the target object, and the first frequency spectrum obtained by the Fourier transform is subjected to low-pass filtering to obtain the second frequency spectrum, so that the target frequency component is enhanced, and meanwhile, the influence of noise on a detection result is reduced, so that the target frequency component is accurately estimated according to the first frequency spectrum and the second frequency spectrum, the radar can still detect the target frequency component even if the distance of the target object is far or the motion amplitude is small, and the radar detection performance is improved.
In an example, the transformation module 602 includes:
The first transformation submodule is used for carrying out Fourier transformation on the target echo signal to obtain a third frequency spectrum in the target echo signal; the details are described in the above embodiments, and are not repeated here.
The second transformation submodule is used for carrying out Fourier transformation on the third frequency spectrum to obtain a fourth frequency spectrum; the details are described in the above embodiments, and are not repeated here.
And the operation sub-module is used for carrying out absolute value operation on the fourth frequency spectrum to obtain a first frequency spectrum. The details are described in the above embodiments, and are not repeated here.
In one example, the low pass filtering module 603 includes:
The first determining submodule is used for determining a first calculation window corresponding to each frequency component in the first frequency spectrum; the details are described in the above embodiments, and are not repeated here.
The first calculation sub-module is used for calculating a first average value of amplitude values corresponding to the frequency components in each first calculation window; the details are described in the above embodiments, and are not repeated here.
And the second calculation sub-module is used for carrying out difference on the amplitude value corresponding to each frequency component in the first frequency spectrum and the first average value corresponding to the frequency component to obtain a second frequency spectrum. The details are described in the above embodiments, and are not repeated here.
In one example, the second computing submodule includes:
The computing unit is used for making a difference between the amplitude value corresponding to each frequency component in the first frequency spectrum and the first average value corresponding to the frequency component to obtain a fifth frequency spectrum; the details are described in the above embodiments, and are not repeated here.
And the correction unit is used for correcting the fifth frequency spectrum to obtain a second frequency spectrum. The details are described in the above embodiments, and are not repeated here.
In an example, the correction unit includes:
And the correction subunit is used for correcting the amplitude value smaller than the preset value in the fifth frequency spectrum to obtain a second frequency spectrum. The details are described in the above embodiments, and are not repeated here.
In an example, the first computing module 604 includes:
a second determining submodule, configured to determine, for each frequency component in the second spectrum, a second calculation window corresponding to the frequency component; the details are described in the above embodiments, and are not repeated here.
The third calculation sub-module is used for calculating a second average value of amplitude values corresponding to the frequency components in each second calculation window; the details are described in the above embodiments, and are not repeated here.
And the fourth calculation sub-module is used for multiplying the amplitude value corresponding to each frequency component in the first frequency spectrum with the second average value corresponding to each frequency component to obtain the energy value corresponding to each frequency component. The details are described in the above embodiments, and are not repeated here.
In an example, the apparatus further comprises:
and the second calculation module is used for calculating the target distance and/or the target speed according to the target frequency component. The details are described in the above embodiments, and are not repeated here.
The specific limitation of the above device and the beneficial effects can be referred to the limitation of the radar target frequency component estimation method, and are not repeated here. The various modules described above may be implemented in whole or in part by software, hardware, or a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
Fig. 7 is a schematic diagram of a hardware structure of a computer device according to an exemplary embodiment. As shown in fig. 7, the device includes one or more processors 710 and a memory 720, the memory 720 including persistent memory, volatile memory and a hard disk, one processor 710 being illustrated in fig. 7. The apparatus may further include: an input device 730 and an output device 740.
Processor 710, memory 720, input device 730, and output device 740 may be connected by a bus or other means, for example in fig. 7.
The processor 710 may be a central processing unit (Central Processing Unit, CPU). The Processor 710 may also be a chip such as another general purpose Processor, a digital signal Processor (DIGITAL SIGNAL Processor, DSP), an Application SPECIFIC INTEGRATED Circuit (ASIC), a Field-Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, or a combination thereof. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 720 is used as a non-transitory computer readable storage medium, and includes a persistent memory, a volatile memory, and a hard disk, and may be used to store a non-transitory software program, a non-transitory computer executable program, and a module, such as a program instruction/module corresponding to the radar target frequency component estimation method in the embodiment of the present application. Processor 710 executes various functional applications of the server and data processing, i.e., implements any of the radar target frequency component estimation methods described above, by running non-transitory software programs, instructions, and modules stored in memory 720.
Memory 720 may include a storage program area that may store an operating system, at least one application program required for functionality, and a storage data area; the storage data area may store data or the like used as needed. In addition, memory 720 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 720 may optionally include memory located remotely from processor 710, which may be connected to the data processing apparatus via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 730 may receive input numeric or character information and generate signal inputs related to user settings and function control. The output device 740 may include a display device such as a display screen.
One or more modules are stored in memory 720 that, when executed by one or more processors 710, perform the method as shown in fig. 1.
The product can execute the method provided by the embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method. Technical details which are not described in detail in the present embodiment can be found in the embodiment shown in fig. 1.
The present invention also provides a non-transitory computer storage medium storing computer executable instructions that can perform the method of any of the above-described method embodiments. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a Flash Memory (Flash Memory), a hard disk (HARD DISK DRIVE, abbreviated as HDD), a Solid state disk (Solid-STATE DRIVE, SSD), or the like; the storage medium may also comprise a combination of memories of the kind described above.
It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
The foregoing is merely exemplary of embodiments of the present invention to enable those skilled in the art to understand or practice the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A method of radar target frequency component estimation, the method comprising:
Acquiring a target echo signal of a radar;
Performing Fourier transform on the target echo signal for preset times to obtain a first frequency spectrum in the target echo signal;
Performing low-pass filtering processing on the first frequency spectrum to obtain a second frequency spectrum;
according to the second frequency spectrum and the first frequency spectrum, calculating energy values corresponding to all frequency components in the target echo signal;
The frequency component with the largest energy value is determined as the target frequency component.
2. The method of claim 1, wherein performing a fourier transform on the target echo signal a predetermined number of times to obtain a first spectrum in the target echo signal, comprises:
Performing Fourier transform on the target echo signal to obtain a third frequency spectrum in the target echo signal;
performing Fourier transform on the third frequency spectrum to obtain a fourth frequency spectrum;
And carrying out absolute value operation on the fourth frequency spectrum to obtain the first frequency spectrum.
3. The method of claim 1, wherein low pass filtering the first spectrum to obtain a second spectrum comprises:
For each frequency component in the first frequency spectrum, determining a first calculation window corresponding to the frequency component;
Calculating a first average value of amplitude values corresponding to the frequency components in each first calculation window;
and the amplitude value corresponding to each frequency component in the first frequency spectrum is differenced with the first average value corresponding to the frequency component, so that the second frequency spectrum is obtained.
4. A method according to claim 3, wherein the step of obtaining the second spectrum by subtracting the amplitude value corresponding to each frequency component in the first spectrum from the first average value corresponding to the frequency component comprises:
The amplitude value corresponding to each frequency component in the first frequency spectrum is subjected to difference with a first average value corresponding to the frequency component, so that a fifth frequency spectrum is obtained;
and correcting the fifth frequency spectrum to obtain the second frequency spectrum.
5. The method of claim 4, wherein modifying the fifth spectrum to obtain the second spectrum comprises:
and correcting the amplitude value smaller than a preset value in the fifth frequency spectrum to obtain the second frequency spectrum.
6. The method according to claim 1 or 2, wherein calculating energy values corresponding to frequency components in the target echo signal from the second spectrum and the first spectrum comprises:
For each frequency component in the second spectrum, determining a second calculation window corresponding to the frequency component;
Calculating a second average value of amplitude values corresponding to the frequency components in each second calculation window;
And multiplying the amplitude value corresponding to each frequency component in the first frequency spectrum by the second average value corresponding to each frequency component to obtain the energy value corresponding to each frequency component.
7. The method according to claim 1, wherein the method further comprises:
and calculating a target distance and/or a target speed according to the target frequency component.
8. A radar target frequency component estimation apparatus, the apparatus comprising:
the acquisition module is used for acquiring a target echo signal of the radar;
the transformation module is used for carrying out Fourier transformation on the target echo signal for preset times to obtain a first frequency spectrum in the target echo signal;
the low-pass filtering module is used for carrying out low-pass filtering processing on the first frequency spectrum to obtain a second frequency spectrum;
the first calculation module is used for calculating energy values corresponding to all frequency components in the target echo signal according to the second frequency spectrum and the first frequency spectrum;
and the determining module is used for determining the frequency component with the largest energy value as the target frequency component.
9. A computer device comprising a memory and a processor, said memory and said processor being communicatively coupled to each other, said memory having stored therein computer instructions, said processor executing said computer instructions to perform the steps of the radar target frequency component estimation method according to any one of claims 1-7.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the radar target frequency component estimation method according to any one of claims 1-7.
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