CN118209947A - Radar multi-echo signal identification method, device, equipment and medium - Google Patents
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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
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
- G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
- G01F23/28—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring the variations of parameters of electromagnetic or acoustic waves applied directly to the liquid or fluent solid material
- G01F23/284—Electromagnetic waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
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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
- G01S7/021—Auxiliary means for detecting or identifying radar signals or the like, e.g. radar jamming signals
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Abstract
The invention relates to a radar multi-echo signal identification method, a device, equipment and a medium, wherein the method comprises the steps of processing a received radar echo signal to obtain frequency spectrum data; the spectrum data comprises target parameters and sequence numbers corresponding to the target parameters; generating a sequence set based on the sequence numbers corresponding to the target parameters; judging whether each sequence row in the sequence set meets a first preset rule or not, and determining a target parameter sequence corresponding to the sequence row meeting the first preset rule; judging whether the target parameter sequence meets a second preset rule or not, and determining echo signals corresponding to the target parameter sequence meeting the second preset rule as multiple echo signals. According to the method, the spectrum data are processed for multiple times, and finally the echo signals are confirmed for multiple times, so that the correct echo signals are accurately identified, and false detection caused by multiple peak values formed by back and forth reflection between the radar signals and the measured object is avoided.
Description
Technical Field
The invention belongs to the technical field of detection, and particularly relates to a method, a device, equipment and a medium for identifying multiple echo signals of a radar.
Background
With the continuous development of urban areas in China, the urban scale is increasingly increased, and the scale and complexity of the drainage pipe network are also increasingly increased. The increasingly complex drainage pipe network needs accurate liquid level detection equipment matched with the drainage pipe network to ensure the stable operation of the drainage pipe network and to position the problem in time when the problem occurs. The traditional contact type liquid level meter is easy to cause inaccurate measurement due to dirt hanging; the ultrasonic level gauge is susceptible to external conditions such as temperature and humidity during use, and is prone to false detection when facing soft, porous objects such as scum. The radar emits electromagnetic waves, the wavelength is short, and the measurement accuracy, stability and resolution can reach higher level. Radar level gauges are therefore used in large numbers in drain lines.
In the related art, radar level gauges generally use an on-board radar antenna, and in particular, a radar chip integrated into a radar chip has a relatively small gain and weak capability of transmitting and receiving radar signals. When measuring a long-distance, weakly reflecting object, the signal intensity is often too weak to obtain a correct measurement effect. Therefore, the use of a wave-focusing mask is a common means of improving radar signal strength. The wave-collecting cover is a spherical reflecting surface made of conductor materials, the radar receiving and transmitting antenna is horizontally arranged, and electromagnetic waves vertically and downwards propagate to the liquid level to be measured after being reflected by the wave-collecting cover. However, the wave-focusing cover can form multiple echoes while enhancing the radar signal, namely, the radar signal is reflected back and forth between the wave-focusing cover and the measured liquid level to form multiple peaks on the frequency spectrum, so that false detection is caused.
Disclosure of Invention
In view of the above, the present invention aims to overcome the defects of the prior art, and provide a method, a device and a medium for identifying multiple echo signals of a radar, so as to solve the problem of false measurement when the radar level gauge is used to measure the liquid level in the prior art.
In order to achieve the above purpose, the invention adopts the following technical scheme: a radar multi-echo signal identification method, comprising:
Processing the received radar echo signals to obtain frequency spectrum data; the spectrum data comprises a spectrum envelope and a sequence number corresponding to the spectrum envelope; the serial number is in linear relation with the distance between the radar and the measured object;
Screening the spectrum envelope to obtain a target parameter, and generating a sequence set based on a sequence number corresponding to the target parameter;
Judging whether each sequence row in the sequence set meets a first preset rule or not, and determining a target parameter sequence corresponding to the sequence row meeting the first preset rule;
judging whether the target parameter sequence meets a second preset rule or not, and determining echo signals corresponding to the target parameter sequence meeting the second preset rule as multi-echo signals.
Further, the processing the received radar echo signal to obtain spectrum data includes:
sequentially performing filtering processing and windowing processing on the received radar echo signals to obtain preprocessed radar echo signals;
And performing linear frequency modulation conversion on the preprocessed radar echo signals to obtain frequency spectrum data.
Further, the step of screening the spectrum envelope to obtain a target parameter, and generating a sequence set based on a sequence number corresponding to the target parameter includes:
screening the spectrum envelope according to a preset first screening condition to obtain a first target set;
screening the target parameters in the first target set according to a preset second screening condition to obtain a second target set;
Determining a sequence number corresponding to a target parameter in the second target set based on the spectrum data;
And processing the sequence numbers corresponding to the target parameters in the second target set to obtain a sequence set.
Further, the determining whether each sequence row in the sequence set meets a first preset rule, and determining a target parameter sequence corresponding to the sequence row meeting the first preset rule includes:
retrieving sequence rows in the sequence set row by row;
If the element values in the current sequence row meet a first preset rule and are sequentially increased from left to right, the current sequence row is reserved, otherwise, the current sequence row is abandoned;
Determining sequence numbers corresponding to all reserved sequence lines to obtain a target sequence;
And determining a target parameter sequence corresponding to the target sequence based on the frequency spectrum data.
Further, determining whether the target parameter sequence meets a second preset rule includes:
Processing the target parameter sequence to obtain a pending sequence;
Judging whether the undetermined sequence meets a second preset rule or not; the second preset rule is to judge that in the sequence to be determined, the first element and the subsequent continuous elements meet the preset threshold range, and the last continuous element meeting the element within the preset threshold range does not meet the preset threshold range.
Further, the method further comprises the following steps:
and eliminating echo signals for multiple times, and determining the eliminated echo signals as reflected signals of the measured object.
Further, the target parameter is a peak value.
The embodiment of the application provides a radar multi-echo signal identification device, which comprises:
The processing module is used for processing the received radar echo signals to obtain frequency spectrum data; the spectrum data comprises a spectrum envelope and a sequence number corresponding to the spectrum envelope; the serial number is in linear relation with the distance between the radar and the measured object;
the generation module is used for screening the spectrum envelope to obtain a target parameter and generating a sequence set based on a sequence number corresponding to the target parameter;
The judging module is used for judging whether each sequence row in the sequence set meets a first preset rule or not and determining a target parameter sequence corresponding to the sequence row meeting the first preset rule;
And the determining module is used for judging whether the target parameter sequence meets a second preset rule or not, and determining echo signals corresponding to the target parameter sequence meeting the second preset rule as multiple echo signals.
An embodiment of the present application provides a computer apparatus including: the radar multi-echo signal identification device comprises a memory and a processor, wherein the memory stores a computer program which is executed by the processor to enable the processor to execute the steps of the radar multi-echo signal identification method.
The embodiment of the application also provides a computer storage medium, which stores a computer program, wherein the computer program, when executed by a processor, causes the processor to execute the steps of any radar multi-echo signal identification method.
By adopting the technical scheme, the invention has the following beneficial effects:
The application provides a radar multi-echo signal identification method, a device, equipment and a medium. The method can judge the multi-echo signals, thereby accurately identifying the correct echo signals and solving the problem of false detection caused by a plurality of peak values formed by back and forth reflection between the radar signals and the measured object.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram illustrating steps of a radar multi-echo signal identification method according to the present invention;
fig. 2 is a schematic waveform diagram of a radar multi-echo signal according to an embodiment of the present invention;
FIG. 3 is a spectrum envelope diagram provided by an embodiment of the present invention;
FIG. 4 is a schematic diagram of a multi-echo signal recognition device of the radar of the present invention;
fig. 5 is a schematic diagram of a computer structure involved in the radar multi-echo signal identification method according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, based on the examples herein, which are within the scope of the invention as defined by the claims, will be within the scope of the invention as defined by the claims.
The following describes a specific radar multi-echo signal identification method, device, equipment and medium provided in the embodiments of the present application with reference to the accompanying drawings.
As shown in fig. 1, the method for identifying multiple echo signals of a radar provided in the embodiment of the present application includes:
s101, processing a received radar echo signal to obtain spectrum data; the spectrum data comprises a spectrum envelope and a sequence number corresponding to the spectrum envelope; the serial number is in linear relation with the distance between the radar and the measured object;
Taking millimeter wave radar with single transmission and single reception as an example, the voltage-controlled oscillator sends out a group of signals with uniform frequency change along with time, and electromagnetic waves are sent out through the transmitting antenna. Electromagnetic waves are sent out through the sending antenna, reflected after meeting a measured object, and received. The method is used for judging whether the received radar echo is a multi-echo signal, the multi-echo signal is a false detection signal, rejection is needed, and the rest echo signal after rejection is an effective echo signal. Thus, the problem of false radar detection can be avoided.
In some embodiments, the processing the received radar echo signal to obtain spectral data includes:
sequentially performing filtering processing and windowing processing on the received radar echo signals to obtain preprocessed radar echo signals;
And performing linear frequency modulation conversion on the preprocessed radar echo signals to obtain frequency spectrum data.
Specifically, as shown in fig. 2, the received radar echo signal is filtered and windowed, so that an interference signal in the radar echo signal can be removed to obtain a preprocessed radar echo signal, and then a linear frequency modulation (chirp Z transform, CZT) is performed on the preprocessed radar echo signal to obtain spectrum data, that is, a spectrum envelope is shown in fig. 3. Since the spectrum data is obtained by CZT transformation, there is a frequency spread phenomenon, and the peaks of the spectrum data are smoother peaks, and no abrupt change in the wave break occurs. Therefore, the protection area is not required to be set for the peak-picking processing on the spectrum data obtained by the CZT conversion. Wherein the spectrum envelope is
X(n)＝{X1 X2 … XN}
Where X (n) is the set of spectral envelopes and X 1、X2…XN is the spectral envelope.
S102, screening the spectrum envelope to obtain a target parameter, and generating a sequence set based on a sequence number corresponding to the target parameter;
In some embodiments, the filtering the spectrum envelope to obtain a target parameter, generating a sequence set based on a sequence number corresponding to the target parameter includes:
screening the spectrum envelope according to a preset first screening condition to obtain a first target set;
screening the target parameters in the first target set according to a preset second screening condition to obtain a second target set;
Determining a sequence number corresponding to a target parameter in the second target set based on the spectrum data;
And processing the sequence numbers corresponding to the target parameters in the second target set to obtain a sequence set.
Specifically, after obtaining the spectrum data, firstly screening the spectrum envelope according to a preset first screening condition to obtain a first target set, where it is to be noted that the first screening condition in the present application is that
Wherein, X n－1 is the n-1 th spectral envelope, X n is the n-th spectral envelope, and is the n+1 th spectral envelope.
And screening out the spectrum envelope with the current spectrum envelope larger than the left spectrum envelope and the current spectrum envelope larger than the right spectrum envelope as target parameters by the first screening condition, wherein the target parameters are effective peak values, and then taking all the screened target parameters as a first target set.
Xe(m)＝{Xe1 Xe2 … XeM}
Wherein X e (m) is the first target set and Xe 1、Xe2…XeM is the target parameter.
And record its sequence number in the original spectrum envelope as:
Ie(m)＝{Ie1 Ie2 … IeM}
Wherein I e (m) is a sequence number set, ie 1、Ie2…IeM is a sequence number.
Wherein Xe and Ie are in one-to-one correspondence.
The second screening condition of the application is compared with a target threshold value Xt, and it can be understood that the technical scheme of the application aims at liquid level monitoring, the property of the measured object is single, the interference source mainly comes from multiple echoes and frequency diffusion instead of white noise, so that the target threshold value is not suitable for being calculated by a constant false alarm algorithm, but is suitable for using a fixed threshold value method, namely, the target threshold value Xt is set, the peak which is larger than the target threshold value Xt is considered to be the effective reflection peak of the measured target, namely, the target parameter in the second target set, and then the target parameter in the second target set and the corresponding sequence number are recorded together, and the method comprises the following steps:
wherein, X et (l) is the second target set, xet 1、Xet2…XetL is the target parameter, I et (l) is the sequence number set, and Iet 1、Iet2…IetL is the sequence number.
Then, the sequence numbers corresponding to the target parameters in the second target set are processed to obtain a sequence set as follows,
S103, judging whether each sequence row in the sequence set meets a first preset rule or not, and determining a target parameter sequence corresponding to the sequence row meeting the first preset rule;
It should be noted that the filtering is performed sequentially on the basis of the spectrum envelope set X (n), and the order of spectrum envelopes in X (n) is not changed, so that Iet (l) is a monotonically increasing sequence. The serial number is in linear relation with the distance between the radar and the measured object, and the measured object distance is in direct proportion to Iet (l). The multi-echo phenomenon is formed by the back and forth reflection of the radar signal between the object to be measured and the transmitting antenna, so that the serial numbers of the corresponding peaks theoretically have a continuous integer multiple relationship. However, in practical engineering, there is not a complete integer multiple relationship, but a change coefficient V c, which is usually 1.1. For example, the number corresponding to the peak of the measured object is 1000, there are three multiple echoes, and the number corresponding to the peak of the three multiple echoes is theoretically [2000 3000 4000], but in actual engineering, a large number of tests prove that the actual multiple echoes are [1000 x (1+V c) 1000*(1+2*Vc) 1000*(1+3*Vc) ], namely [2100 3200 4300], and the expression of the number corresponding to the peak of the multiple echoes is that the first preset rule:
Im(n)＝If*(1+Vc*(n′-1))±0.08
Wherein n 'is the number of echoes, I m (n) is the number corresponding to the peak of the n' th echo, I f is the number corresponding to the peak of the actual measured object, V c is the change coefficient, and 0.08 is the allowable error range, which is an empirical value.
In some embodiments, the determining whether each sequence row in the sequence set meets a first preset rule, and determining a target parameter sequence corresponding to the sequence row meeting the first preset rule includes:
retrieving sequence rows in the sequence set row by row;
If the element values in the current sequence row meet a first preset rule and are sequentially increased from left to right, the current sequence row is reserved, otherwise, the current sequence row is abandoned;
Determining sequence numbers corresponding to all reserved sequence lines to obtain a target sequence;
And determining a target parameter sequence corresponding to the target sequence based on the frequency spectrum data.
Specifically, if elements exist in a sequence row that satisfies a first preset rule and sequentially satisfies increasing from left to right (interval allowed in the middle), the elements in the row that satisfy the formula are separately recorded, and at the same time, the values Xet i of the spectrum envelopes corresponding to the elements are recorded. For example, if the element [Iet1/Iet1 Iet2/Iet1 Iet3/Iet1 Iet4/Iet1Iet5/Iet1 Iet6/Iet1] of the first row is [11.57 2.13 2.7 3.24 4.31], the requirement is met, if the element [Iet1/Iet1 Iet2/Iet1 Iet3/Iet1 Iet4/Iet1Iet5/Iet1 Iet6/Iet1] is [11.57 2.43 2.7 3.24 4.31], the requirement is not met (three echoes and four echoes do not exist but no secondary echo exists), specifically, the value in [11.57 2.13 2.7 3.24 4.31] is sequentially brought into an expression of a first preset rule, the value of n 'is calculated, according to whether the value of n' meets the requirement of increasing from left to right (interval is allowed in the middle), or the value of n 'in the first preset rule is assigned, the value of n' is assigned to be 1,2 and 3 … …, and then the element is compared with [11.57 2.13 2.7 3.24 4.31], if the element is within the allowable error range, if the element is the acceptable, the sequence meets the requirement, and if the element is not, the sequence does not meet the requirement, and multiple echoes do not exist; the above [11.57 2.13 2.7 3.24 4.31] does not satisfy the requirement, specifically that there are no occurrence of three echoes and four echoes but no secondary echo.
The rows where there may be multiple echoes are recorded as:
M(i)＝[Iet1 Iet3 Iet5 Iet6]＝[M1 M2 M3 M4]
Xm(i)＝[Xet1 Xet3 Xet5 Xet6]＝[Xm1 Xm2 Xm3 Xm4]
Where M (i) is a record of the sequence number corresponding to the peak, which may be multiple echoes, and X m (i) is a record of the spectral envelope corresponding thereto.
After all the rows of the sequence R are processed according to the method, a complete sequence M and a target parameter X m can be obtained.
And S104, judging whether the target parameter sequence meets a second preset rule, and determining echo signals corresponding to the target parameter sequence meeting the second preset rule as multi-echo signals.
In some embodiments, determining whether the target parameter sequence meets a second preset rule includes:
Processing the target parameter sequence to obtain a pending sequence;
Judging whether the undetermined sequence meets a second preset rule or not; the second preset rule is to judge that in the sequence to be determined, the first element and the subsequent continuous elements meet the preset threshold range, and the last continuous element meeting the element within the preset threshold range does not meet the preset threshold range.
Specifically, the target parameter sequence is processed by the following method to obtain the target sequence:
Xmc(i)＝[Xm1/Xm1 Xm2/Xm1 Xm3/Xm1 Xm4/Xm1]
then, judging that the elements in the target sequence, the first element and the following continuous elements all meet the preset threshold range, and the last continuous element after the last element meeting the preset threshold range does not meet the preset threshold range, for example, the preset threshold is in the range of [0.7,1.3], for example, X mc is in the range of [ 1.9.0.84.0.3 ], the second item and the third item are multiple echoes, and if the first item and the last continuous element meet the preset threshold range, the group does not have multiple echoes.
In some embodiments, a radar multi-echo signal identification method further includes:
and eliminating echo signals for multiple times, and determining the eliminated echo signals as reflected signals of the measured object.
The target parameter is a peak value.
It can be understood that in the application, the actual measurement result is obtained by finally removing all the multi-echo items.
The embodiment of the application provides a radar multi-echo signal identification method, which comprises the steps of firstly processing a received radar echo signal to obtain frequency spectrum data, then generating a sequence set based on sequence numbers corresponding to target parameters in the frequency spectrum data, judging each sequence, obtaining a sequence row conforming to a first preset rule after meeting a first preset rule, obtaining a target parameter sequence corresponding to the sequence row according to the frequency spectrum data and the sequence row, judging whether the target parameter sequence meets a second preset rule, and determining echo signals corresponding to the target parameter sequence meeting the second preset rule as multi-echo signals. The method can judge the multi-echo signals, thereby accurately identifying the correct echo signals and solving the problem of false detection caused by a plurality of peak values formed by back and forth reflection between the radar signals and the measured object.
As shown in fig. 4, an embodiment of the present application provides a radar multi-echo signal identifying apparatus, including:
The processing module 201 is configured to process the received radar echo signal to obtain spectrum data; the spectrum data comprises a spectrum envelope and a sequence number corresponding to the spectrum envelope; the serial number is in linear relation with the distance between the radar and the measured object;
A generating module 202, configured to filter the spectrum envelope to obtain a target parameter, and generate a sequence set based on a sequence number corresponding to the target parameter;
The judging module 203 is configured to judge whether each sequence line in the sequence set meets a first preset rule, and determine a target parameter sequence corresponding to the sequence line meeting the first preset rule;
the determining module 204 is configured to determine whether the target parameter sequence meets a second preset rule, and determine an echo signal corresponding to the target parameter sequence that meets the second preset rule as a multi-echo signal.
The embodiment of the application provides a radar multi-echo signal identification device, wherein a processing module 201 processes a received radar echo signal to obtain frequency spectrum data; the spectrum data comprises a spectrum envelope and a sequence number corresponding to the spectrum envelope; the serial number is in linear relation with the distance between the radar and the measured object; the generation module 202 screens the spectrum envelope to obtain target parameters, and generates a sequence set based on sequence numbers corresponding to the target parameters; the judging module 203 judges whether each sequence row in the sequence set meets a first preset rule, and determines a target parameter sequence corresponding to the sequence row meeting the first preset rule; the determining module 204 determines whether the target parameter sequence meets a second preset rule, and determines an echo signal corresponding to the target parameter sequence meeting the second preset rule as a multi-echo signal.
In some embodiments, the processing module 201 includes:
the first processing unit is used for sequentially carrying out filtering processing and windowing processing on the received radar echo signals to obtain preprocessed radar echo signals;
and the transformation unit is used for carrying out linear frequency modulation transformation on the preprocessed radar echo signals to obtain frequency spectrum data.
In some embodiments, the generating module 202 includes:
the first screening unit is used for screening the spectrum envelope according to a preset first screening condition to obtain a first target set;
the second screening unit is used for screening the target parameters in the first target set according to a preset second screening condition to obtain a second target set;
A first determining unit, configured to determine a sequence number corresponding to a target parameter in the second target set based on the spectrum data;
And the second processing unit is used for processing the sequence numbers corresponding to the target parameters in the second target set to obtain a sequence set.
In some embodiments, the determining module 203 includes:
The searching unit is used for searching the sequence rows in the sequence set row by row;
the reservation unit is used for reserving the current sequence line if the element values in the current sequence line meet a first preset rule and are sequentially increased from left to right, otherwise, discarding the current sequence line;
The output unit is used for determining sequence numbers corresponding to all reserved sequence lines to obtain a target sequence;
and the second determining unit is used for determining a target parameter sequence corresponding to the target sequence based on the frequency spectrum data.
In some embodiments, the determining module 204 includes:
The third processing unit is used for processing the target parameter sequence to obtain a pending sequence;
A third determining unit, configured to determine whether the pending sequence meets a second preset rule; the second preset rule is to judge that in the sequence to be determined, the first element and the subsequent continuous elements meet the preset threshold range, and the last continuous element meeting the element within the preset threshold range does not meet the preset threshold range.
The present application provides a computer device comprising: the memory and processor may also include a network interface, the memory storing a computer program, the memory may include volatile memory in a computer readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash memory (flash RAM). The computer device stores an operating system, with memory being an example of a computer-readable medium. The computer program, when executed by the processor, causes the processor to perform the radar multi-echo signal identification method, apparatus, device and medium, the structure shown in fig. 5 is merely a block diagram of a portion of the structure related to the present application, and does not constitute a limitation of the computer device to which the present application is applied, and a specific computer device may include more or fewer components than those shown in the drawings, or may combine some components, or have a different arrangement of components.
In one embodiment, the radar multi-echo signal identification method provided by the present application may be implemented in the form of a computer program that is executable on a computer device as shown in fig. 5.
In some embodiments, the computer program, when executed by the processor, causes the processor to perform the steps of: processing the received radar echo signals to obtain frequency spectrum data; the spectrum data comprises a spectrum envelope and a sequence number corresponding to the spectrum envelope; the serial number is in linear relation with the distance between the radar and the measured object; screening the spectrum envelope to obtain a target parameter, and generating a sequence set based on a sequence number corresponding to the target parameter; judging whether each sequence row in the sequence set meets a first preset rule or not, and determining a target parameter sequence corresponding to the sequence row meeting the first preset rule; judging whether the target parameter sequence meets a second preset rule or not, and determining echo signals corresponding to the target parameter sequence meeting the second preset rule as multi-echo signals.
The present application also provides a computer storage medium, examples of which include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassette storage or other magnetic storage devices, or any other non-transmission medium, that can be used to store information that can be accessed by a computing device.
In some embodiments, the present invention further provides a computer readable storage medium storing a computer program, where the computer program when executed by a processor processes a received radar echo signal to obtain spectrum data; the spectrum data comprises a spectrum envelope and a sequence number corresponding to the spectrum envelope; the serial number is in linear relation with the distance between the radar and the measured object; screening the spectrum envelope to obtain a target parameter, and generating a sequence set based on a sequence number corresponding to the target parameter; judging whether each sequence row in the sequence set meets a first preset rule or not, and determining a target parameter sequence corresponding to the sequence row meeting the first preset rule; judging whether the target parameter sequence meets a second preset rule or not, and determining echo signals corresponding to the target parameter sequence meeting the second preset rule as multi-echo signals.
It can be understood that the above-provided method embodiments correspond to the above-described apparatus embodiments, and corresponding specific details may be referred to each other and will not be described herein.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, magnetic disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A method for radar multi-echo signal identification, comprising: display device
Processing the received radar echo signals to obtain frequency spectrum data; the spectrum data comprises a spectrum envelope and a sequence number corresponding to the spectrum envelope; the serial number is in linear relation with the distance between the radar and the measured object;
Screening the spectrum envelope to obtain a target parameter, and generating a sequence set based on a sequence number corresponding to the target parameter;
Judging whether each sequence row in the sequence set meets a first preset rule or not, and determining a target parameter sequence corresponding to the sequence row meeting the first preset rule;
judging whether the target parameter sequence meets a second preset rule or not, and determining echo signals corresponding to the target parameter sequence meeting the second preset rule as multi-echo signals.
2. The method of claim 1, wherein processing the received radar echo signal to obtain spectral data comprises:
sequentially performing filtering processing and windowing processing on the received radar echo signals to obtain preprocessed radar echo signals;
And performing linear frequency modulation conversion on the preprocessed radar echo signals to obtain frequency spectrum data.
3. The method of claim 1, wherein the screening the spectral envelope to obtain a target parameter, generating a sequence set based on a sequence number corresponding to the target parameter, comprises:
screening the spectrum envelope according to a preset first screening condition to obtain a first target set;
screening the target parameters in the first target set according to a preset second screening condition to obtain a second target set;
Determining a sequence number corresponding to a target parameter in the second target set based on the spectrum data;
And processing the sequence numbers corresponding to the target parameters in the second target set to obtain a sequence set.
4. The method of claim 3, wherein determining whether each sequence row in the sequence set meets a first preset rule, and determining a target parameter sequence corresponding to the sequence row meeting the first preset rule, comprises:
retrieving sequence rows in the sequence set row by row;
If the element values in the current sequence row meet a first preset rule and are sequentially increased from left to right, the current sequence row is reserved, otherwise, the current sequence row is abandoned;
Determining sequence numbers corresponding to all reserved sequence lines to obtain a target sequence;
And determining a target parameter sequence corresponding to the target sequence based on the frequency spectrum data.
5. The method of claim 1, wherein determining whether the target parameter sequence meets a second preset rule comprises:
Processing the target parameter sequence to obtain a pending sequence;
Judging whether the undetermined sequence meets a second preset rule or not; the second preset rule is to judge that in the sequence to be determined, the first element and the subsequent continuous elements meet the preset threshold range, and the last continuous element meeting the element within the preset threshold range does not meet the preset threshold range.
6. The method as recited in claim 1, further comprising:
and eliminating echo signals for multiple times, and determining the eliminated echo signals as reflected signals of the measured object.
7. The method of claim 5, wherein the step of determining the position of the probe is performed,
The target parameter is a peak value.
8. A radar multi-echo signal identification device, comprising:
The processing module is used for processing the received radar echo signals to obtain frequency spectrum data; the spectrum data comprises a spectrum envelope and a sequence number corresponding to the spectrum envelope; the serial number is in linear relation with the distance between the radar and the measured object;
the generation module is used for screening the spectrum envelope to obtain a target parameter and generating a sequence set based on a sequence number corresponding to the target parameter;
The judging module is used for judging whether each sequence row in the sequence set meets a first preset rule or not and determining a target parameter sequence corresponding to the sequence row meeting the first preset rule;
And the determining module is used for judging whether the target parameter sequence meets a second preset rule or not, and determining echo signals corresponding to the target parameter sequence meeting the second preset rule as multiple echo signals.
9. A computer device, comprising: a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the radar multi-echo signal identification method of any one of claims 1 to 7.
10. A computer storage medium, characterized in that a computer program is stored, which, when being executed by a processor, causes the processor to perform the radar multi-echo signal identification method according to any one of claims 1 to 7.
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