WO2020113441A1 - 目标检测方法、装置和无人机 - Google Patents

目标检测方法、装置和无人机 Download PDF

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Publication number
WO2020113441A1
WO2020113441A1 PCT/CN2018/119231 CN2018119231W WO2020113441A1 WO 2020113441 A1 WO2020113441 A1 WO 2020113441A1 CN 2018119231 W CN2018119231 W CN 2018119231W WO 2020113441 A1 WO2020113441 A1 WO 2020113441A1
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Prior art keywords
target
false alarm
constant false
alarm detector
detection information
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English (en)
French (fr)
Inventor
王俊喜
高迪
王春明
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Priority to PCT/CN2018/119231 priority Critical patent/WO2020113441A1/zh
Priority to CN201880069892.7A priority patent/CN111316124A/zh
Publication of WO2020113441A1 publication Critical patent/WO2020113441A1/zh
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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
    • 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
    • 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
    • G01S7/414—Discriminating targets with respect to background clutter

Definitions

  • the invention relates to the technical field of detection, in particular to a target detection method, a target detection device and a drone.
  • the target's echo signal will be interfered by the noise signal and clutter echo, resulting in the inability to accurately determine the target.
  • a detector is used to detect the received signal, and only the signal whose intensity is greater than the threshold value is determined as the target signal, thereby eliminating the interference of noise signals and clutter echoes.
  • the detector's threshold setting the factors considered may not be comprehensive, and in order to ensure a low false alarm probability, the threshold will be set higher, resulting in the signal strength of some targets being less than Threshold values were excluded, leading to missed inspections.
  • the invention provides a target detection method, a target detection device and an unmanned aerial vehicle to solve technical problems in related technologies.
  • a target detection method which is suitable for microwave radar, and the method includes:
  • the collected signals are respectively detected by multiple constant false alarm detectors to obtain target detection information, wherein the multiple constant false alarm detectors at least include a first constant false alarm detector and a second constant false alarm detector
  • the threshold value of the first constant false alarm detector is different from the threshold value of the second constant false alarm detector
  • a microwave radar including:
  • a signal acquisition circuit used to acquire the acquisition signal of the echo signal of the microwave radar
  • the processor electrically connected to the signal acquisition circuit, is used to perform the following operations:
  • the collected signals are respectively detected by multiple constant false alarm detectors to obtain target detection information, wherein the multiple constant false alarm detectors include a first constant false alarm detector and a second constant false alarm detector ,
  • the threshold value of the first constant false alarm detector is different from the threshold value of the constant false alarm detector;
  • an unmanned aerial vehicle including:
  • the microwave radar described in the above embodiment is installed on the airframe and is used for position information of obstacles around the unmanned aerial vehicle.
  • the threshold of the detector is generally set based on experience, the factors considered may not be comprehensive, and in order to ensure a low probability of false alarm, the threshold will be The higher setting causes the detector to have more accurate detection results for specific scenes, while the detection results in other scenes may not be accurate.
  • the collected signals can be detected by a plurality of constant false alarm detectors, respectively, to obtain detection information of a target, because multiple constant false alarm detectors
  • the threshold value of the first constant false alarm detector is different from the threshold value of the second constant false alarm detector.
  • the target detected by the first constant false alarm detector can be detected by the second constant false alarm detector.
  • the target obtained is different in most cases, and then the target detected by the two can be fused to obtain more targets. Compared with a constant false alarm detector, a more comprehensive target can be detected. This can reduce the missed detection rate for the target.
  • FIG. 1 is a schematic flowchart of a target detection method according to an embodiment of the present disclosure.
  • FIG. 2 is a schematic flowchart of a threshold value according to an embodiment of the present disclosure.
  • FIG. 3 is a schematic diagram showing a relationship between a threshold value and a window length according to an embodiment of the present disclosure.
  • FIG. 4 shows a method for detecting the detection information of the target detected by the first constant false alarm detector and the detection information of the target detected by the second constant false alarm detector according to an embodiment of the present disclosure.
  • Schematic flow chart of fusion shows a method for detecting the detection information of the target detected by the first constant false alarm detector and the detection information of the target detected by the second constant false alarm detector according to an embodiment of the present disclosure.
  • FIG. 5 is a schematic flowchart of another target detection method according to an embodiment of the present disclosure.
  • FIG. 1 is a schematic flowchart of a target detection method according to an embodiment of the present disclosure.
  • the target detection method shown in this embodiment can be applied to a microwave radar.
  • the microwave radar can emit electromagnetic waves and can receive echo signals reflected by the target.
  • the microwave radar can include a pulse radar and a continuous wave radar.
  • the target detection method may include the following steps:
  • Step S1 Acquire the collected signal of the echo signal of the microwave radar.
  • the received echo signal is an analog signal
  • the echo signal can be processed by an ADC (analog-to-digital converter) to obtain a sample signal, where the sample signal is a digital signal, which is convenient for subsequent processing by the microwave radar .
  • ADC analog-to-digital converter
  • step S2 the collected signals are detected by multiple constant false alarm detectors to obtain target detection information, wherein the multiple constant false alarm detectors at least include a first constant false alarm detector and a second constant false alarm detector A false alarm detector, the threshold value of the first constant false alarm detector is different from the threshold value of the second constant false alarm detector;
  • Step S3 fuse the detection information of the target detected by the first constant false alarm detector with the detection information of the target detected by the second constant false alarm detector.
  • multiple constant false-alarm (CFAR) detectors may be provided in the microwave radar.
  • the type of the constant false alarm detector can be selected according to needs, for example, it can be an ordered constant false alarm detector (OS-CFAR), and the calculation method of the false alarm probability P FA of the ordered constant false alarm detector is as follows:
  • the false alarm probability P FA does not depend on the actual interference power, but is only related to the threshold value T, the median value K, and the number of unit samples N, so that the ordered constant false alarm detector exhibits a constant false alarm. characteristic.
  • the threshold of the detector is generally set based on experience, the factors considered may not be comprehensive, and in order to ensure a low probability of false alarm, the threshold will be The higher setting causes the detector to have more accurate detection results for specific scenes, while the detection results in other scenes may not be accurate.
  • the shape of the target is more complicated. Taking the target as a bush, for example, the target can reflect signals to the microwave radar from multiple angles, so that the microwave radar receives more echo signals and obtains more collected signals, however, In the case where the threshold of the detector is high, more of the collected signals will be below the threshold, and thus will be excluded from being judged as the target, which will lead to a more serious problem of missed detection.
  • the collected signals can be detected by a plurality of constant false alarm detectors, respectively, to obtain detection information of a target, because multiple constant false alarm detectors
  • the threshold value of the first constant false alarm detector is different from the threshold value of the second constant false alarm detector.
  • the target detected by the first constant false alarm detector can be detected by the second constant false alarm detector.
  • the target obtained is different in most cases, and then the target detected by the two can be fused to obtain more targets. Compared with a constant false alarm detector, a more comprehensive target can be detected. This can reduce the missed detection rate for the target.
  • the threshold value of the first constant false alarm detector and the threshold value of the second constant false alarm detector are different, and may include the following situations:
  • the threshold of the first constant false alarm detector is always higher than the threshold of the second constant false alarm detector
  • the threshold of the first constant false alarm detector is always lower than the threshold of the second constant false alarm detector
  • the threshold value of the first constant false alarm detector is lower than the threshold value of the second constant false alarm detector in some cases, and higher than the threshold value of the second constant false alarm detector in some cases
  • the value, in some cases, is equal to the threshold value of the second constant false alarm detector.
  • FIG. 2 is a schematic flowchart of a threshold value according to an embodiment of the present disclosure.
  • the threshold value of the first constant false alarm detector is lower than the threshold value of the second constant false alarm detector in some cases, and in some cases
  • the threshold value higher than the second constant false alarm detector is equal to the threshold value of the second constant false alarm detector in some cases.
  • the amplitude of the collected signal corresponding to the targets A, B and C is greater than the threshold value passing the first constant false alarm detector, then the targets A, B and C can be detected by the first constant false alarm detector, the target B,
  • the amplitude of the collected signal corresponding to C and D is greater than the threshold value through the second constant false alarm detector, then the targets B, C and D can be detected by the second constant false alarm detector, then the two detectors
  • the detected targets are fused, and the resulting targets are A, B, C, and D, relative to the targets A, B, and C detected by the first constant false alarm detector, and the target B detected by the second constant false alarm detector , C and D, the test results are more comprehensive, which can reduce the missed detection rate for the target.
  • FIG. 3 is a schematic diagram showing a relationship between a threshold value and a window length according to an embodiment of the present disclosure.
  • the threshold value of the constant false alarm detector is determined based on at least one of the following:
  • the factors that affect the threshold value of the constant false alarm detector mainly include window length, median value, false alarm rate, and protection unit.
  • the threshold value of the constant false alarm detector is equal to 12, 14, 16, 18 in the window length The time is different.
  • the amplitude of the collected signal of the target is greater than the constant false alarm detector only when the window length is equal to 18, that is, only when the window length is set to 18, can the target be detected.
  • the threshold value of the constant false alarm detector can be set by setting the threshold value.
  • one or more of the median value, the false alarm rate and the protection unit can also be set to set the threshold value of the constant false alarm detector.
  • the false alarm rate of each of the constant false alarm detectors is the same.
  • each constant false alarm detector by setting the false alarm rate of each constant false alarm detector to be the same, it is possible to ensure that each constant false alarm detector targets while maintaining the same false alarm rate, so that multiple constant false alarm detectors The detection process can still reflect the characteristics of constant false alarm.
  • the above constant false alarm detector is an ordered constant false alarm detector
  • the median value is equal to 9
  • the protection unit is equal to 0
  • the false alarm rate is equal to 0.01
  • the window isocratic 12
  • the median value equal to 6
  • the protection unit equal to 2
  • the false alarm rate equal to 0.01
  • the window length of the first constant false alarm detector and the window length of the second constant false alarm detector are different.
  • the window length of the first constant false alarm detector and the window length of the second constant false alarm detector may be different, so that the first constant false alarm detector and the second constant false alarm detector There are different thresholds.
  • the threshold value in this embodiment.
  • the median value, false alarm rate, and false alarm rate of the first and second constant false alarm detectors can also be set. Any one of the three parameters of the protection unit, so that the first constant false alarm detector and the second constant false alarm detector have different thresholds.
  • FIG. 4 shows a method for detecting the detection information of the target detected by the first constant false alarm detector and the detection information of the target detected by the second constant false alarm detector according to an embodiment of the present disclosure.
  • Schematic flow chart of fusion As shown in FIG. 4, on the basis of the embodiment shown in FIG. 1, the detection information of the target detected by the first constant false alarm detector and the position detected by the second constant false alarm detector The detection information of the target mentioned above is fused, including:
  • Step S31 according to the position information of each of the targets, determine whether multiple targets are the same target
  • step S32 if the multiple targets are the same target, the multiple targets are recorded as one target, and if the multiple targets are different pending targets, the multiple targets are recorded as multiple different targets.
  • the process of fusion may be a process of calculating union. Among them, it can be calculated according to the location information of each target to determine whether multiple targets are the same target. By marking the same target as a target, it is possible to avoid subsequent repeated processing of the same target, so as to avoid wasting the resources of microwave radar.
  • three targets X, Y, and Z can be detected by the first constant false alarm detector, and three targets X', Y', and Z'can be detected by the second constant false alarm detector.
  • Y, Z, X', Y'and Z'can determine their position information respectively, where the position information of Y and X'is the same, the position information of Z and Y'is the same, then Y and X'can be marked as the same target Y , Mark Z and Y'as the same target Z, and then get the fusion results X, Y, Z and Z'rate.
  • the position information of the target is the observation distance of the target.
  • FIG. 5 is a schematic flowchart of another target detection method according to an embodiment of the present disclosure. As shown in FIG. 5, based on the embodiment shown in FIG. 1, the method further includes:
  • Step S4 According to the preset detection information, remove the false target among the multiple merged targets.
  • detection may be performed according to preset detection information to determine the false target therein, and then the false target is removed to ensure the accuracy of the input result.
  • the target is a false target if the value of the detection information of the target is less than the value of the preset detection information.
  • the target can be determined whether the value of the target's detection information is less than the value of the preset detection information. If it is less than the value of the preset detection information, the target can be determined as a false target for removal.
  • the detection information is the detection energy corresponding to the target.
  • the detection energy represents the power of the frequency domain peak corresponding to the target.
  • the preset detection information is determined according to at least one of the following factors: observation distance, observation angle, characteristics of the target (for example, characteristics of the target object to absorb radar waves, characteristics of reflected radar waves), and observation environment.
  • the preset detection information is not static, the detection energy is the detection energy of the target, and the preset detection information is the preset detection energy as an example, if there is more fog in the observation environment, then It may result in poor reception of microwave radar.
  • the preset detection energy can be set to a smaller value to ensure that the target is accurately determined as a false target based on the detection energy of the target.
  • the preset detection information can also be determined according to other factors, such as observation distance, observation angle, characteristics of the target (such as the characteristics of the target for radar signal absorption and reflection), etc., to ensure that the detection energy of the target is accurately Determine if the target is a false target.
  • the detection information includes at least one of the following: the observation distance of the target, the observation angle of the target, the detection energy corresponding to the target, the effective flag of the target, and the number of the targets.
  • the detection information may also include multiple types, such as the observation distance of the target, the observation angle of the target, the effective flag of the target, the number of targets, etc.
  • the data structure can be as follows:
  • tgt_info_a indicates that the stored detection information is detected by the first constant false alarm detector
  • the first item dis[num] indicates an array of observation distances of the detected target this time
  • the second item doa[num] indicates this detection
  • the third item power[num] indicates the array of detection energy corresponding to the detected target
  • the fourth item flag indicates whether the detection result is valid
  • the fifth item num indicates this The number of targets detected at a time.
  • An embodiment of the present disclosure also proposes a microwave radar, including a signal acquisition circuit and a processor.
  • the signal acquisition circuit is used to acquire the acquisition signal of the echo signal of the microwave radar.
  • the signal acquisition circuit may be an ADC sampling circuit.
  • the processor electrically connected to the signal acquisition circuit, is used to perform the following operations:
  • the collected signals are respectively detected by multiple constant false alarm detectors to obtain target detection information, wherein the multiple constant false alarm detectors include a first constant false alarm detector and a second constant false alarm detector ,
  • the threshold value of the first constant false alarm detector is different from the threshold value of the constant false alarm detector;
  • the threshold value of the constant false alarm detector is determined based on at least one of the following:
  • the false alarm rate of each of the constant false alarm detectors is the same.
  • the window length of the first constant false alarm detector and the window length of the second constant false alarm detector are different.
  • the processor is used to,
  • each of the targets determine whether multiple targets are the same target
  • the multiple targets are recorded as one target, and if the multiple targets are different pending targets, the multiple targets are recorded as multiple different targets.
  • the position information of the target is the observation distance of the target.
  • the processor is further configured to remove false targets from the multiple merged targets according to preset detection information.
  • the target is a false target if the value of the detection information of the target is less than the value of the preset detection information.
  • the detection information is the detection energy corresponding to the target.
  • the detection energy represents the power of the frequency domain peak corresponding to the target.
  • the processor is used to determine the preset detection information according to at least one of the following factors: observation distance, observation angle, target characteristics, and observation environment.
  • the detection information includes at least one of the following: the observation distance of the target, the observation angle of the target, the detection energy corresponding to the target, the effective flag of the target, the target’s Quantity.
  • An embodiment of the present disclosure also proposes an unmanned aerial vehicle, including:
  • the microwave radar according to any one of the above embodiments is installed on the airframe and used for position information of obstacles around the unmanned aerial vehicle.
  • the system, device, module or unit explained in the above embodiments may be specifically implemented by a computer chip or entity, or implemented by a product with a certain function.
  • the functions are divided into various units and described separately.
  • the functions of each unit may be implemented in one or more software and/or hardware.
  • the embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware.
  • the present invention may take the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.

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Abstract

本公开提出了目标检测方法，包括：获取微波雷达的回波信号的采集信号；分别通过多个恒虚警检测器对采集信号进行检测，获取目标的检测信息，其中，多个恒虚警检测器至少包括第一恒虚警检测器以及第二恒虚警检测器，第一恒虚警检测器的门限值与第二所述恒虚警检测器的门限值不同；将第一恒虚警检测器检测的目标的检测信息与所述第二恒虚警检测器检测的所述目标的检测信息进行融合。根据本公开的实施例，通过设置多个恒虚警检测器，可以分别通过多个恒虚警检测器对所述采集信号进行检测，获取目标的检测信息，就可以得到更多的目标，相对于通过一个恒虚警检测器可以检测到更为全面的目标，从而可以降低对于目标的漏检率。

Description

目标检测方法、装置和无人机 技术领域
本发明涉及检测技术领域，尤其涉及目标检测方法、目标检测装置和无人机。
背景技术
雷达在检测目标的过程中，目标的回波信号会受到噪声信号、杂波回波的干扰，导致无法准确地确定目标。
相关技术中通过一个检测器对接收到的信号进行检测，仅将强度大于门限值的信号确定为目标的信号，从而排除噪声信号、杂波回波的干扰。
然而由于检测器的门限值设定时，所考虑到的因素可能并不全面，并且为了保证较低的虚警概率，会将门限值设置的较高，从而导致部分目标的信号的强度小于门限值而被排除，导致漏检。
发明内容
本发明提供目标检测方法、目标检测装置和无人机，以解决相关技术中的技术问题。
根据本公开实施例的第一方面，提出一种目标检测方法，适用于微波雷达，所述方法包括：
获取所述微波雷达的回波信号的采集信号；
分别通过多个恒虚警检测器对所述采集信号进行检测，获取目标的检测信息，其中，所述多个恒虚警检测器至少包括第一恒虚警检测器以及第二恒虚警检测器，所述第一恒虚警检测器的门限值与第二所述恒虚警检测器的门限值不同；
将所述第一恒虚警检测器检测的所述目标的检测信息与所述第二恒虚警检测器检测的所述目标的检测信息进行融合。
根据本公开实施例的第二方面，提出一种微波雷达，包括：
信号采集电路，用于获取所述微波雷达的回波信号的采集信号；
处理器，与所述信号采集电路电连接，用于执行如下操作：
获取所述微波雷达的回波信号的采集信号；
分别通过多个恒虚警检测器对所述采集信号进行检测，获取目标的检测信息，其中，所述多个恒虚警检测器包括第一恒虚警检测器以及第二恒虚警检测器，所述第一恒虚警检测器的门限值与所述恒虚警检测器的门限值不同；
将所述第一恒虚警检测器检测的所述目标的检测信息与所述第一恒虚警检测器检测的所述目标的检测信息进行融合。
根据本公开实施例的第三方面，提出一种无人飞行器，包括：
机体；以及
上述实施例所述的微波雷达，安装在所述机体上，用于所述无人飞行器的周围障碍物的位置信息。
由于相关技术中仅采用一个检测器对采样信号进行检测，而检测器的门限一般是根据经验设置的，所考虑的因素可能并不全面，并且为了保证较低的虚警概率，会将门限值设置的较高，导致检测器对于特定场景的检测结果可能较为准确，而在其他场景下的检测结果可能并不准确。
根据本公开的实施例，通过设置多个恒虚警检测器，可以分别通过多个恒虚警检测器对所述采集信号进行检测，获取目标的检测信息，由于多个恒虚警检测器中的第一恒虚警检测器的门限值和第二恒虚警检测器的门限值不同，通过第一恒虚警检测器检测到的目标，与通过第二恒虚警检测器可以检测到的目标，在大多数情况下是不同的，进而将两者所检测到的目标融合， 就可以得到更多的目标，相对于通过一个恒虚警检测器可以检测到更为全面的目标，从而可以降低对于目标的漏检率。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是根据本公开的实施例示出的一种目标检测方法的示意流程图。
图2是根据本公开的实施例示出的一种门限值的示意流程图。
图3是根据本公开的实施例示出的一种门限值和窗口长度的关系示意图。
图4是根据本公开的实施例示出的一种将所述第一恒虚警检测器检测的所述目标的检测信息与所述第二恒虚警检测器检测的所述目标的检测信息进行融合的示意流程图。
图5是根据本公开的实施例示出的另一种目标检测方法的示意流程图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。另外，在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
图1是根据本公开的实施例示出的一种目标检测方法的示意流程图。本实施例所示的目标检测方法可以适用于微波雷达，微波雷达可以发射电磁波，并可以接收目标反射的回波信号，其中，微波雷达可以包括脉冲雷达和连续波雷达。
如图1所示，所述目标检测方法可以包括以下步骤：
步骤S1，获取所述微波雷达的回波信号的采集信号。
在一个实施例中，接收到的回波信号为模拟信号，可以将通过ADC(模数转换器)对回波信号进行处理得到采样信号，其中，采样信号为数字信号，便于微波雷达后续进行处理。
步骤S2，分别通过多个恒虚警检测器对所述采集信号进行检测，获取目标的检测信息，其中，所述多个恒虚警检测器至少包括第一恒虚警检测器以及第二恒虚警检测器，所述第一恒虚警检测器的门限值与第二所述恒虚警检测器的门限值不同；
步骤S3，将所述第一恒虚警检测器检测的所述目标的检测信息与所述第二恒虚警检测器检测的所述目标的检测信息进行融合。
在一个实施例中，可以在微波雷达中设置多个恒虚警(Constant False-Alarm Rate，简称CFAR)检测器。
其中，恒虚警检测器的类型可以根据需要选择，例如可以是有序恒虚警检测器(OS-CFAR)，有序恒虚警检测器的虚警概率P FA计算方式如下：
Figure PCTCN2018119231-appb-000001
可见，其中虚警概率P FA不依赖于实际的干扰功率，而仅与门限值T、中位值K和单元样本数N有关，从而使得有序恒虚警检测器表现出恒虚警的特性。
由于相关技术中仅采用一个检测器对采样信号进行检测，而检测器的门限一般是根据经验设置的，所考虑的因素可能并不全面，并且为了保证较低的虚警概率，会将门限值设置的较高，导致检测器对于特定场景的检测结果可能较为准确，而在其他场景下的检测结果可能并不准确。
例如目标的形状较为复杂，以目标为灌木丛为例，目标可以从多个角度向微波雷达反射信号，从而使得微波雷达接收到较多的回波信号，并获取到较多的采集信号，然而在检测器的门限值较高的情况下，较多的采集信号会 在门限值以下，从而被排除而不会被判定为目标，这会导致较为严重的漏检问题。
根据本公开的实施例，通过设置多个恒虚警检测器，可以分别通过多个恒虚警检测器对所述采集信号进行检测，获取目标的检测信息，由于多个恒虚警检测器中的第一恒虚警检测器的门限值和第二恒虚警检测器的门限值不同，通过第一恒虚警检测器检测到的目标，与通过第二恒虚警检测器可以检测到的目标，在大多数情况下是不同的，进而将两者所检测到的目标融合，就可以得到更多的目标，相对于通过一个恒虚警检测器可以检测到更为全面的目标，从而可以降低对于目标的漏检率。
需要说明的是，第一恒虚警检测器的门限值和第二恒虚警检测器的门限值不同，可以包括以下几种情况：
其一，第一恒虚警检测器的门限值始终高于第二恒虚警检测器的门限值；
其二，第一恒虚警检测器的门限值始终低于第二恒虚警检测器的门限值；
其三，第一恒虚警检测器的门限值在某些情况下低于第二恒虚警检测器的门限值，在某些情况下高于第二恒虚警检测器的门限值，在某些情况下等于第二恒虚警检测器的门限值。
以下以第三种情况为例进行示例性说明。
图2是根据本公开的实施例示出的一种门限值的示意流程图。
如图2所示，基于图1所示的实施例，第一恒虚警检测器的门限值在某些情况下低于第二恒虚警检测器的门限值，在某些情况下高于第二恒虚警检测器的门限值，在某些情况下等于第二恒虚警检测器的门限值。
目标A、B和C对应的采集信号的幅值大于通过第一恒虚警检测器的门限值，那么通过通过第一恒虚警检测器可以检测到目标A、B和C，目标B、C和D对应的采集信号的幅值大于通过第二恒虚警检测器的门限值，那么通过通过第二恒虚警检测器可以检测到目标B、C和D，那么将两个检测器所检测到的目标融合，得到的目标为A、B、C和D，相对于第一恒虚警检测器检测的目标A、B和C，以及通过第二恒虚警检测器检测的目标B、C和D，检 测结果更为全面，从而可以降低对于目标的漏检率。
图3是根据本公开的实施例示出的一种门限值和窗口长度的关系示意图。
可选地，所述恒虚警检测器的门限值基于以下至少之一确定：
窗口长度、中位值、虚警率、保护单元。
在一个实施例中，影响恒虚警检测器的门限值的因素主要有窗口长度、中位值、虚警率、保护单元。
以窗口长度为例，在中位值、虚警率和保护单元不变的情况下，如图3所示，恒虚警检测器的门限值，在窗口长度等于12、14、16、18时有所不同，目标的采集信号的幅值仅在窗口长度等于18时，才大于恒虚警检测器，也即仅有才设置窗口长度等于18时，才能确定检测到目标。
因此，可以通过设置门限值，来设置恒虚警检测器的门限值。相应地，也可以设置中位值、虚警率和保护单元中的一项或多项，来设置恒虚警检测器的门限值。
可选地，每个所述恒虚警检测器的虚警率相同。
在一个实施例中，通过设置每个恒虚警检测器的虚警率相同，可以保证每个恒虚警检测器在保持相同虚警率的情况下目标，使得多个恒虚警检测器的检测过程仍能体现恒虚警特性。
例如上述恒虚警检测器为有序恒虚警检测器，那么针对第一恒虚警检测器，可以设置窗口等度等于18，中位值等于9，保护单元等于0，虚警率等于0.01，针对第二恒虚警检测器，可以设置窗口等度等于12，中位值等于6，保护单元等于2，虚警率等于0.01。据此，可以在第一恒虚警检测器和第二恒虚警检测器的虚警率相同的情况下，为第一恒虚警检测器和第二恒虚警检测器设置不同的门限值，使得第一恒虚警检测器和第二恒虚警检测器能够在保持恒虚警特性的情况下，基于不同的门限值目标。
可选地，所述第一恒虚警检测器的窗口长度和所述第二恒虚警检测器的窗口长度不同。
在一个实施例中，可以通过设置第一恒虚警检测器的窗口长度和所述第 二恒虚警检测器的窗口长度不同，使得第一恒虚警检测器和第二恒虚警检测器具有不同的门限值。
当然，这只是本实施例中设置门限值的一种方式，除了这种方式，还可以通过设置第一恒虚警检测器和第二恒虚警检测器的中位值、虚警率、保护单元这三项参数中任一项参数，以使第一恒虚警检测器和第二恒虚警检测器具有不同的门限值。
图4是根据本公开的实施例示出的一种将所述第一恒虚警检测器检测的所述目标的检测信息与所述第二恒虚警检测器检测的所述目标的检测信息进行融合的示意流程图。如图4所示，在图1所示实施例的基础上，所述将所述第一恒虚警检测器检测的所述目标的检测信息与所述第二恒虚警检测器检测的所述目标的检测信息进行融合，包括：
步骤S31，根据每个所述目标的位置信息，判断多个目标是否为相同的目标；
步骤S32，若多个目标为相同的目标，将所述多个目标记为一个目标，若多个目标为不同的待定目标，将所述多个目标记为多个不同的目标。
在一个实施例中，融合的过程可以是一个计算并集的过程。其中，可以计算根据每个目标的位置信息，判断多个目标是否为相同的目标。通过将相同的目标标记为一个目标，可以避免后续对同一目标进行重复处理，以避免浪费微波雷达的资源。
例如通过通过第一恒虚警检测器可以检测到三个目标X、Y和Z，通过第二恒虚警检测器可以检测到三个目标X’、Y’和Z’，那么针对目标X、Y、Z，X’、Y’和Z’可以分别确定其位置信息，其中，Y和X’的位置信息相同，Z和Y’的位置信息相同，那么可以标记Y和X’为同一目标Y，标记Z和Y’为同一目标Z，进而得到融合结果X、Y、Z和Z’率。
可选地，所述目标的位置信息为所述目标的观测距离。
图5是根据本公开的实施例示出的另一种目标检测方法的示意流程图。如图5所示，在图1所示实施例的基础上，所述方法还包括：
步骤S4,根据预设检测信息，去除融合后的多个所述目标中的虚假目标。
在一个实施例中，针对融合后的目标，可以根据预设检测信息进行检测，以确定其中的虚假目标，进而去除虚假目标，可以保证输入结果的准确性。
可选地，若所述目标的检测信息的值小于预设检测信息的值，则所述目标为虚假目标。
在一个实施例中，针对融合后的目标，可以判断目标的检测信息的值是否小于预设检测信息的值，若小于预设检测信息的值，可以该目标判定为虚假目标以进行去除。
在一个实施例中，所述检测信息为所述目标对应的检测能量。
在一个实施例中，所述检测能量表示所述目标对应的频域波峰的功率。
可选地，根据如下至少一个因素确定所述预设检测信息：观测距离，观测角度，目标的特性(例如，目标物体的吸收雷达波的特性，反射雷达波的特性)，观测环境。
在一个实施例中，针对目标而言，预设检测信息并非一成不变的，以检测信息为目标的检测能量，预设检测信息为预设检测能量为例，若观测环境中存在较多雾气，那么可能导致微波雷达的接收效果较差，那么在这种情况下，可以将预设检测能量设置的较小，以保证准确地根据目标的检测能量确定目标是否为虚假目标。
除了上述观测环境，还可以根据其他因素确定预设检测信息，例如观测距离，观测角度，目标的特性(例如目标对于雷达信号吸收和反射的特性)等因素，以保证准确地根据目标的检测能量确定目标是否为虚假目标。
可选地，所述检测信息包括如下至少一种：所述目标的观测距离，所述目标的观测角度，所述目标对应的检测能量，所述目标的有效标志位，所述目标的数量。
在一个实施例中，检测信息除了上述目标对应的检测能量，还可以包括多种，例如目标的观测距离，目标的观测角度，目标的有效标志位，目标的数量等，其中，可以通过数据结构存储上述五种检测信息，数据结构可以如 下所示：
tgt_info_a{dis[num]、doa[num]、power[num]、flag、num]}；
tgt_info_a表示存储的检测信息是第一恒虚警检测器检测到的，第一项dis[num]表示本次检测到的目标的观测距离构成的数组，第二项doa[num]表示本次检测到的目标的观测角度构成的数组，第三项power[num]表示本次检测到的目标对应的检测能量构成的数组，第四项flag表示本次检测结果是否有效，第五项num表示本次检测到的目标的数量。
本公开的实施例还提出一种微波雷达，包括信号采集电路以及处理器。
信号采集电路，用于获取所述微波雷达的回波信号的采集信号。具体地，所述信号采集电路可以为ADC采样电路。
处理器，与所述信号采集电路电连接，用于执行如下操作：
获取所述微波雷达的回波信号的采集信号；
分别通过多个恒虚警检测器对所述采集信号进行检测，获取目标的检测信息，其中，所述多个恒虚警检测器包括第一恒虚警检测器以及第二恒虚警检测器，所述第一恒虚警检测器的门限值与所述恒虚警检测器的门限值不同；
将所述第一恒虚警检测器检测的所述目标的检测信息与所述第一恒虚警检测器检测的所述目标的检测信息进行融合。
在一个实施例中，所述恒虚警检测器的门限值基于以下至少之一确定：
窗口长度、中位值、虚警率、保护单元。
在一个实施例中，每个所述恒虚警检测器的虚警率相同。
在一个实施例中，所述第一恒虚警检测器的窗口长度和所述第二恒虚警检测器的窗口长度不同。
在一个实施例中，所述处理器用于，
根据每个所述目标的位置信息，判断多个目标是否为相同的目标；
若多个目标为相同的目标，将所述多个目标记为一个目标，若多个目标为不同的待定目标，将所述多个目标记为多个不同的目标。
在一个实施例中，所述目标的位置信息为所述目标的观测距离。
在一个实施例中，所述处理器还用于，根据预设检测信息，去除融合后的多个所述目标中的虚假目标。
在一个实施例中，若所述目标的检测信息的值小于预设检测信息的值，则所述目标为虚假目标。
在一个实施例中，所述检测信息为所述目标对应的检测能量。
在一个实施例中，所述检测能量表示所述目标对应的频域波峰的功率。
在一个实施例中，所述处理器用于，根据如下至少一个因素确定所述预设检测信息：观测距离，观测角度，目标的特性，观测环境。
在一个实施例中，所述检测信息包括如下至少一种：所述目标的观测距离，所述目标的观测角度，所述目标对应的检测能量，所述目标的有效标志位，所述目标的数量。
本公开的实施例还提出一种无人飞行器，包括：
机体；以及
上述权上述任一实施例所述的微波雷达，安装在所述机体上，用于所述无人飞行器的周围障碍物的位置信息。
上述实施例阐明的系统、装置、模块或单元，具体可以由计算机芯片或实体实现，或者由具有某种功能的产品来实现。为了描述的方便，描述以上装置时以功能分为各种单元分别描述。当然，在实施本申请时可以把各单元的功能在同一个或多个软件和/或硬件中实现。本领域内的技术人员应明白，本发明的实施例可提供为方法、系统、或计算机程序产品。因此，本发明可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本发明可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本说明书中的各个实施例均采用递进的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同 之处。尤其，对于系统实施例而言，由于其基本相似于方法实施例，所以描述的比较简单，相关之处参见方法实施例的部分说明即可。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上所述仅为本申请的实施例而已，并不用于限制本申请。对于本领域技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原理之内所作的任何修改、等同替换、改进等，均应包含在本申请的权利要求范围之内。

Claims (25)

  1. 一种目标检测方法，其特征在于，适用于微波雷达，所述方法包括：
    获取所述微波雷达的回波信号的采集信号；
    分别通过多个恒虚警检测器对所述采集信号进行检测，获取目标的检测信息，其中，所述多个恒虚警检测器至少包括第一恒虚警检测器以及第二恒虚警检测器，所述第一恒虚警检测器的门限值与第二所述恒虚警检测器的门限值不同；
    将所述第一恒虚警检测器检测的所述目标的检测信息与所述第二恒虚警检测器检测的所述目标的检测信息进行融合。
  2. 根据权利要求1所述的方法，其特征在于，所述恒虚警检测器的门限值基于以下至少之一确定：
    窗口长度、中位值、虚警率、保护单元。
  3. 根据权利要求2所述的方法，其特征在于，每个所述恒虚警检测器的虚警率相同。
  4. 根据权利要求2所述的方法，其特征在于，所述第一恒虚警检测器的窗口长度和所述第二恒虚警检测器的窗口长度不同。
  5. 根据权利要求1所述的方法，其特征在于，所述将所述第一恒虚警检测器检测的所述目标的检测信息与所述第二恒虚警检测器检测的所述目标的检测信息进行融合，包括：
    根据每个所述目标的位置信息，判断多个目标是否为相同的目标；
    若多个目标为相同的目标，将所述多个目标记为一个目标，若多个目标为不同的待定目标，将所述多个目标记为多个不同的目标。
  6. 根据权利要求5所述的方法，其特征在于，所述目标的位置信息为所述目标的观测距离。
  7. 根据权利要求1至5中任一项所述的方法，其特征在于，还包括：
    根据预设检测信息，去除融合后的多个所述目标中的虚假目标。
  8. 根据权利要求7所述的方法，其特征在于，若所述目标的检测信息的 值小于预设检测信息的值，则所述目标为虚假目标。
  9. 根据权利要求7所述的方法，其特征在于，所述检测信息为所述目标对应的检测能量。
  10. 根据权利要求9所述的方法，其特征在于，所述检测能量表示所述目标对应的频域波峰的功率。
  11. 根据权利要求7所述的方法，其特征在于，根据如下至少一个因素确定所述预设检测信息：观测距离，观测角度，目标的特性，观测环境。
  12. 根据权利要求8所述的方法，其特征在于，所述检测信息包括如下至少一种：所述目标的观测距离，所述目标的观测角度，所述目标对应的检测能量，所述目标的有效标志位，所述目标的数量。
  13. 一种微波雷达，其特征在于，包括：
    信号采集电路，用于获取所述微波雷达的回波信号的采集信号；
    处理器，与所述信号采集电路电连接，用于执行如下操作：
    获取所述微波雷达的回波信号的采集信号；
    分别通过多个恒虚警检测器对所述采集信号进行检测，获取目标的检测信息，其中，所述多个恒虚警检测器包括第一恒虚警检测器以及第二恒虚警检测器，所述第一恒虚警检测器的门限值与所述恒虚警检测器的门限值不同；
    将所述第一恒虚警检测器检测的所述目标的检测信息与所述第一恒虚警检测器检测的所述目标的检测信息进行融合。
  14. 根据权利要求13所述的微波雷达，其特征在于，所述恒虚警检测器的门限值基于以下至少之一确定：
    窗口长度、中位值、虚警率、保护单元。
  15. 根据权利要求14所述的微波雷达，其特征在于，每个所述恒虚警检测器的虚警率相同。
  16. 根据权利要求14所述的微波雷达，其特征在于，所述第一恒虚警检测器的窗口长度和所述第二恒虚警检测器的窗口长度不同。
  17. 根据权利要求13所述的微波雷达，其特征在于，所述处理器用于，
    根据每个所述目标的位置信息，判断多个目标是否为相同的目标；
    若多个目标为相同的目标，将所述多个目标记为一个目标，若多个目标为不同的待定目标，将所述多个目标记为多个不同的目标。
  18. 根据权利要求17所述的微波雷达，其特征在于，所述目标的位置信息为所述目标的观测距离。
  19. 根据权利要求13至18中任一项所述的微波雷达，其特征在于，所述处理器还用于，根据预设检测信息，去除融合后的多个所述目标中的虚假目标。
  20. 根据权利要求19所述的微波雷达，其特征在于，若所述目标的检测信息的值小于预设检测信息的值，则所述目标为虚假目标。
  21. 根据权利要求19所述的微波雷达，其特征在于，所述检测信息为所述目标对应的检测能量。
  22. 根据权利要求21所述的微波雷达，其特征在于，所述检测能量表示所述目标对应的频域波峰的功率。
  23. 根据权利要求19所述的微波雷达，其特征在于，所述处理器用于，根据如下至少一个因素确定所述预设检测信息：观测距离，观测角度，目标的特性，观测环境。
  24. 根据权利要求20所述的微波雷达，其特征在于，所述检测信息包括如下至少一种：所述目标的观测距离，所述目标的观测角度，所述目标对应的检测能量，所述目标的有效标志位，所述目标的数量。
  25. 一种无人飞行器，其特征在于，包括：
    机体；以及
    上述权利要求13至24中任一项所述的微波雷达，安装在所述机体上，用于所述无人飞行器的周围障碍物的位置信息。
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