WO2022088314A1 - Procédé et appareil de mesure de cible, dispositif de mesure et support de stockage - Google Patents

Procédé et appareil de mesure de cible, dispositif de mesure et support de stockage Download PDF

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WO2022088314A1
WO2022088314A1 PCT/CN2020/130333 CN2020130333W WO2022088314A1 WO 2022088314 A1 WO2022088314 A1 WO 2022088314A1 CN 2020130333 W CN2020130333 W CN 2020130333W WO 2022088314 A1 WO2022088314 A1 WO 2022088314A1
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target
measurement
fourier transform
measured
signal
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PCT/CN2020/130333
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English (en)
Chinese (zh)
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梁伟
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苏州镭智传感科技有限公司
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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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G01S17/26—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein the transmitted pulses use a frequency-modulated or phase-modulated carrier wave, e.g. for pulse compression of received signals
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/50—Systems of measurement based on relative movement of target
    • G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems

Definitions

  • the embodiments of the present application relate to the technical field of laser ranging, for example, to a target measurement method, device, measurement device, and storage medium.
  • the coherent laser ranging method based on [0, ⁇ ] pseudorandom code phase modulation is an effective method for coherent continuous wave laser target measurement.
  • the basic principle of this method is that the driving signal of the electro-optical phase modulator is sequentially shifted to a certain degree.
  • the relative movement speed of the system so as to further determine the distance between the target to be measured and the measurement system according to the relative movement speed.
  • the amount of calculation is large, especially when a higher modulation rate and sampling rate are required to improve the target measurement accuracy, the computing resources required for the demodulation process are difficult to use low-cost embedded systems. implementation, which limits the application of this method.
  • the present application provides a target measurement method, device, measurement device and storage medium, which can reduce the calculation amount of the demodulation process and improve the target measurement efficiency.
  • an embodiment of the present application provides a target measurement method, including:
  • the echo signal is a signal returned by the target to be tested based on an outgoing signal modulated by a pseudo-random code sequence
  • a measurement result is determined based on the peak value of the Fourier transform spectrum, and the measurement result includes at least one of a distance between the measurement position and the target to be measured, and a radial velocity of the target to be measured relative to the measurement position .
  • an embodiment of the present application provides a target measurement device, including:
  • a receiving module configured to receive an echo signal, where the echo signal is a signal returned by the target to be tested based on an outgoing signal modulated by a pseudo-random code sequence;
  • a transformation module configured to take an absolute value of the echo signal and perform Fourier transform to obtain a Fourier transform spectrum
  • a measurement module configured to determine a measurement result based on the peak value of the Fourier transform spectrum, the measurement result including the distance between the measurement position and the target to be measured, and the diameter of the target to be measured relative to the measurement position at least one of the velocities.
  • an embodiment of the present application provides a measurement device, including:
  • a storage device for storing programs
  • the processor When the program is executed by the processor, the processor implements the target measurement method described in the first aspect.
  • an embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the object described in the first aspect is achieved Measurement methods.
  • FIG. 1 is a flowchart of a target measurement method provided by an embodiment
  • FIG. 2 is a schematic structural diagram of a target measurement system provided by an embodiment
  • FIG. 3 is a flowchart of a target measurement method provided by another embodiment
  • FIG. 4 is a flowchart of a target measurement method provided by another embodiment
  • FIG. 5 is a flowchart of a target measurement method provided by yet another embodiment
  • FIG. 6 is a schematic structural diagram of a target measurement device provided by an embodiment
  • FIG. 7 is a schematic diagram of a hardware structure of a measurement device according to an embodiment.
  • Some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowchart depicts the steps as a sequential process, many of the steps may be performed in parallel, concurrently, or concurrently. Furthermore, the order of the steps can be rearranged. The process may be terminated when its operation is complete, but may also have additional steps not included in the figures.
  • the processes may correspond to methods, functions, procedures, subroutines, subroutines, and the like.
  • FIG. 1 is a flow chart of a method for measuring a target according to an embodiment. This embodiment is applicable to the case where a laser is used to measure a target to be measured, and the speed and/or distance of the target to be measured relative to a measurement position can be measured.
  • the target measurement method can be performed by a target measurement device, and the target measurement device can be implemented by means of software and/or hardware and integrated in a measurement device.
  • the measurement device may include electronic devices such as a computer, an industrial computer, a host computer, and a tablet computer.
  • the method may include the following steps:
  • S110 Receive an echo signal, where the echo signal is a signal returned by the target to be tested based on an outgoing signal modulated by a pseudo-random code sequence.
  • the target measurement system sends out an outgoing signal modulated based on a pseudo-random code sequence.
  • the pseudo-random code sequence is a sequence with random characteristics.
  • the structure of the pseudo-random code sequence can be predetermined or repeatedly generated, but the The loop length of is quite large and can be used as a random code.
  • the outgoing signal is returned after encountering the target to be measured.
  • FIG. 2 is a schematic structural diagram of a target measurement system according to an embodiment.
  • the laser is divided into two paths by a beam splitter, one path generates a fixed frequency shift f m via an acousto-optic modulator; the other path is modulated by a series of pseudo-random coding sequences of 0 and ⁇ phases via an electro-optic phase modulator , the modulated light exits through the circulator and the collimator, the echo signal returned by the target to be measured (shown by the dashed arrow in the figure) is coupled with the local oscillator light after the frequency shift f m through the circulator, and then by the balanced photoelectric
  • the detector mixes the frequency and enters the measurement device through analog-digital conversion (Analog-Digital, AD) sampling, and the processor of the measurement device calculates and determines the distance and speed of the target to be measured.
  • analog-digital conversion Analog-Digital, AD
  • the echo signal S can be expressed as:
  • ⁇ m denotes the frequency of the acousto-optic modulator, Among them, v is the radial velocity of the target to be measured relative to the measurement position, c is the speed of light, f 0 is the frequency of light, ⁇ d is the Doppler frequency shift corresponding to the Doppler effect caused by the movement of the target to be measured, R Represents the distance of the target to be measured relative to the measurement position (that is, relative to the target measurement system, or relative to the position of the outgoing signal, or relative to the lidar) when the echo signal is currently received, and ⁇ represents the current received echo signal. random phase.
  • n is a pseudo-random code sequence composed of 0 and 1, the probability of 0 and 1 is 1/2, and the total number of symbols is N
  • n is an integer between 1 and N
  • ⁇ t is the width of the pseudo-random code
  • p(t) represents the gate function, when (n-1) ⁇ t ⁇ t The value is 1 when ⁇ n ⁇ t, and 0 otherwise.
  • the coherent signal after pseudo-random code phase modulation is a cosine signal with discontinuous phase.
  • the echo signal S can be simplified as:
  • the absolute value of the echo signal is obtained to obtain:
  • S130 Determine a measurement result based on the peak value of the Fourier transform spectrum, where the measurement result includes the distance between the measurement position and the target to be measured, and/or the radial velocity of the target to be measured relative to the measurement position.
  • the driving signal generated by the electro-optical phase modulator is shifted by a pseudo-random code sequence, the shifted signal is multiplied by the received echo signal and Fourier transform is performed, and the two signals can be analyzed. If the shift does not match the echo delay of the target to be measured, the Fourier transform spectrum will not show an obvious peak; only when the shift matches the echo delay of the target to be measured, the Fourier transform spectrum will not show an obvious peak. The Lie transform spectrum will have obvious peaks. The echo delay can be determined according to the peak value of the Fourier transform spectrum.
  • the echo delay is multiplied by the speed of light and divided by 2 to obtain the distance relative to the measurement position; the frequency corresponding to the peak value is the frequency of the acousto-optic modulator and The sum of the Doppler shifts, where the Doppler shifts are proportional to the radial velocity of the target to be measured relative to the measurement location.
  • the pulse compression method can also be used to determine the measurement result based on the peak value of the Fourier transform spectrum.
  • the target measurement method of this embodiment by taking the absolute value of the echo signal, the influence of positive and negative phases is eliminated, and the number of Fourier transforms is reduced; When the corresponding displacement is obtained, the measurement result is obtained on this basis.
  • This method reduces the calculation amount of the echo signal demodulation, and can improve the target measurement efficiency.
  • FIG. 3 is a flowchart of a target measurement method provided by another embodiment.
  • the process of performing ranging based on the peak value of the Fourier transform spectrum is described.
  • determining the distance between the measurement position and the target to be measured based on the peak value of the Fourier transform spectrum includes: generating a digital quadrature signal based on the frequency corresponding to the peak value of the Fourier transform spectrum; The signal and the shifted pseudorandom code sequence determine the distance between the measurement position and the target to be measured.
  • determining the distance between the measurement position and the target to be measured according to the digital quadrature signal, the echo signal and the shifted pseudorandom code sequence includes: multiplying each digital quadrature signal and the echo signal respectively. , obtain the corresponding demodulated signal; calculate the correlation value between each demodulated signal and the shifted pseudorandom code sequence; determine the distance between the measurement position and the target to be measured according to the sum of the squares of the correlation values.
  • the method may include the following steps:
  • S210 Receive an echo signal, where the echo signal is a signal returned by the target to be tested based on an outgoing signal modulated by a pseudo-random code sequence.
  • the frequency corresponding to the peak of the Fourier transform spectrum is 2( ⁇ m + ⁇ d ), and digital quadrature signals are generated accordingly: sin[( ⁇ m + ⁇ d )t] and cos[( ⁇ m + ⁇ d )t] m + ⁇ d )t], which is used to demodulate the echo signal S.
  • the digital quadrature signals sin[( ⁇ m + ⁇ d )t] and cos[( ⁇ m + ⁇ d )t] are respectively multiplied by the simplified echo signal S to obtain two demodulation signals.
  • S260 Determine the distance between the measurement position and the target to be measured according to the sum of squares of the correlation values.
  • determining the distance between the measurement position and the target to be measured according to the sum of the squares of the correlation values includes: determining the displacement corresponding to the maximum sum of the squares of the correlation values, and dividing the displacement by the product of the speed of light. One is the distance between the measurement position and the target to be measured.
  • the target measurement method of this embodiment reduces the number of Fourier transforms by taking the absolute value of the echo signal; generates a digital quadrature signal according to the peak frequency obtained by the Fourier transform, and uses the digital quadrature signal to calculate the demodulated signal
  • the square sum of the correlation value with the shifted pseudorandom code sequence realizes the measurement of the distance between the measurement position and the target to be measured, reduces the calculation amount of the echo signal demodulation, and can improve the target measurement efficiency.
  • FIG. 4 is a flowchart of a method for measuring a target according to another embodiment.
  • the process of performing ranging based on the peak value of the Fourier transform spectrum is described.
  • the pulse compression method is used for ranging.
  • determining the distance between the measurement position and the target to be measured according to the digital quadrature signal, the echo signal, and the shifted pseudorandom code sequence includes: respectively comparing each digital quadrature signal with the echo signal. Multiply to get the corresponding demodulated signal; Fourier transform is performed on each demodulated signal and the shifted pseudorandom code sequence respectively; Orthogonality is obtained by inverse transformation of the convolution operation of the result of the Fourier transform component; determine the distance between the measurement position and the target to be measured according to the magnitude of the quadrature component.
  • the method may include the following steps:
  • S310 Receive an echo signal, where the echo signal is a signal returned by the target to be tested based on an outgoing signal modulated by a pseudo-random code sequence.
  • the digital quadrature signals are: sin[( ⁇ m + ⁇ d )t] and cos[( ⁇ m + ⁇ d )t].
  • each digital quadrature signal is multiplied by the echo signal S, respectively, to obtain two demodulated signals:
  • FFT is performed on the two demodulated signals and the shifted pseudorandom code sequence C' R (t), respectively, to obtain:
  • inverse FFT transform is performed on Y i *conj(Y C ) and Y q *conj(Y C ) to obtain quadrature components I and Q.
  • "*" represents convolution
  • conj represents complex conjugate.
  • determining the distance between the measurement position and the target to be measured according to the amplitude of the quadrature components includes: determining the displacement amount corresponding to the maximum squared sum of the amplitudes of the quadrature components, and the displacement amount is equal to One-half of the product is the distance between the measurement position and the target to be measured.
  • the target measurement method of this embodiment reduces the number of Fourier transforms by taking the absolute value of the echo signal; generates a digital quadrature signal according to the peak frequency obtained by the Fourier transform, and uses the digital quadrature signal to calculate the demodulated signal
  • the quadrature component of the result of the Fourier transform of the shifted pseudorandom code sequence can realize the measurement of the distance between the measurement position and the target to be measured, reduce the calculation amount of the echo signal demodulation, and can improve the target measurement efficiency.
  • FIG. 5 is a flowchart of a target measurement method provided by yet another embodiment; this embodiment, on the basis of the above-mentioned embodiment, describes the process of performing speed measurement based on the peak value of the Fourier transform spectrum.
  • determining the radial velocity of the target to be measured relative to the measurement position based on the peak value of the Fourier transform spectrum includes: determining the Doppler frequency shift according to the peak value of the Fourier transform spectrum; determining the Doppler frequency shift according to the peak value of the Fourier transform spectrum; The radial velocity of the target to be measured relative to the measurement position.
  • the method may include the following steps:
  • S410 Receive an echo signal, where the echo signal is a signal returned by the target to be tested based on an outgoing signal modulated by a pseudo-random code sequence.
  • the Fourier transform spectrum can be obtained.
  • the frequency corresponding to the peak of the Fourier transform spectrum is 2( ⁇ m + ⁇ d ), where ⁇ m is a known modulation frequency, so the Doppler frequency shift ⁇ d can be determined, according to the Doppler frequency Calculate the radial velocity of the target to be measured relative to the measurement position with the frequency shift ⁇ d f0 is the optical frequency.
  • the Doppler frequency can be determined according to the peak value of the Fourier transform spectrum. It can realize the measurement of the distance between the measurement position and the target to be measured, reduce the calculation amount of the demodulation of the echo signal, and improve the target measurement efficiency.
  • FIG. 6 is a schematic structural diagram of a target measurement device according to an embodiment. As shown in FIG. 6 , the target measurement device provided in this embodiment includes:
  • the receiving module 510 is configured to receive an echo signal, where the echo signal is a signal returned by the target to be tested based on an outgoing signal modulated by a pseudo-random code sequence;
  • the transformation module 520 is configured to take the absolute value of the echo signal and perform Fourier transform to obtain the Fourier transform spectrum
  • the measurement module 530 is configured to determine a measurement result based on the peak value of the Fourier transform spectrum, and the measurement result includes the distance between the measurement position and the target to be measured, and/or the distance of the target to be measured relative to the measurement position. radial velocity.
  • a target measurement device provided by this embodiment, by taking the absolute value of the echo signal, the influence of positive and negative phases is eliminated, the number of Fourier transforms is reduced, the calculation amount of the demodulation of the echo signal is reduced, and the target is improved. Measure efficiency.
  • the measurement module 530 includes:
  • a generating unit configured to generate a digital quadrature signal based on the frequency corresponding to the peak value of the Fourier transform spectrum
  • the ranging unit is configured to determine the distance between the measurement position and the target to be measured according to the digital quadrature signal, the echo signal and the shifted pseudorandom code sequence.
  • the ranging unit is configured to:
  • the distance between the measurement position and the target to be measured is determined according to the sum of squares of the correlation values.
  • determining the distance between the measurement position and the target to be measured according to the sum of squares of the correlation values includes:
  • the displacement corresponding to the maximum sum of squares of the correlation values is determined, and one half of the product of the displacement and the speed of light is the distance between the measurement position and the target to be measured.
  • the ranging unit is configured to:
  • the quadrature component is obtained by inversely transforming the convolution operation of the result of the Fourier transform
  • the distance between the measurement position and the target to be measured is determined according to the magnitude of the quadrature component.
  • determining the distance between the measurement position and the target to be measured according to the magnitude of the quadrature component includes:
  • the measurement module includes:
  • a frequency determination unit configured to determine the Doppler shift according to the peak value of the Fourier transform spectrum
  • a velocity measurement unit configured to determine the radial velocity of the target to be measured relative to the measurement position according to the Doppler frequency shift.
  • the target measurement apparatus provided in this embodiment can be used to execute the target measurement method provided by any of the foregoing embodiments, and has corresponding functions and advantages.
  • FIG. 7 is a schematic diagram of a hardware structure of a measurement device according to an embodiment.
  • the measurement equipment may include electronic equipment such as computers, industrial computers, upper computers, and tablet computers.
  • a measurement device provided in this embodiment includes: a processor 610 and a storage device 620. There may be one or more processors in the measuring device. In FIG. 7, one processor 610 is used as an example.
  • the processor 610 and the storage device 620 in the measuring device may be connected by a bus or in other ways. Connecting via a bus is an example.
  • the one or more programs are executed by the one or more processors 610, so that the one or more processors implement the target measurement method described in any of the above embodiments.
  • the storage device 620 in the measurement device can be used to store one or more programs, and the programs can be software programs, computer-executable programs, and modules, such as the target measurement method in the embodiment of the present application.
  • Corresponding program instructions/modules for example, the modules in the target measurement device shown in FIG. 6 include: a receiving module 510, a transforming module 520, and a measuring module 530).
  • the processor 610 executes various functional applications and data processing of the measurement device by running the software programs, instructions and modules stored in the storage device 620, ie, implements the target measurement method in the above method embodiments.
  • the storage device 620 mainly includes a stored program area and a stored data area, wherein the stored program area can store the operating system, the application program required for at least one function; the stored data area can store data created according to the use of the measuring equipment, etc. Fourier transform spectrum, pseudo-random code sequence, etc. in embodiments).
  • storage device 620 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device.
  • storage 620 may include memory located remotely from processor 610, which may be connected to the measurement device through a network. Examples of such networks may include the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
  • the following operations are performed: receiving an echo signal, the echo signal being the target to be measured based on a pseudo-random code sequence The signal returned by the modulated outgoing signal; taking the absolute value of the echo signal and performing Fourier transform to obtain a Fourier transform spectrum; determining a measurement result based on the peak value of the Fourier transform spectrum, and the measurement result includes The distance between the measurement position and the target to be measured, and/or the radial velocity of the target to be measured relative to the measurement position.
  • the measurement device proposed in this embodiment belongs to the same inventive concept as the target measurement method proposed in the above-mentioned embodiment.
  • the technical details not described in detail in this embodiment reference may be made to any of the above-mentioned embodiments, and this embodiment has the same characteristics as the implementation of the target measurement method. The advantages.
  • this embodiment also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a target measurement device, realizes the target measurement method in any of the above-mentioned embodiments of the present application.
  • the method includes: receiving an echo signal, the echo signal being a signal returned by a target to be tested based on an outgoing signal modulated by a pseudo-random code sequence; taking an absolute value of the echo signal and performing Fourier transform to obtain a Fourier transform Transforming the spectrum; determining a measurement result based on the peak value of the Fourier transform spectrum, the measurement result including the distance between the measurement position and the target to be measured, and/or the radial velocity of the target to be measured relative to the measurement position.
  • the computer-executable instructions of the storage medium can perform the above-mentioned target measurement method operations, and can also execute the target measurement method provided by any embodiment of the present application. related operations in , and have corresponding functions and advantages.
  • the present application can be implemented by means of software and necessary general-purpose hardware, and certainly can also be implemented by hardware.
  • the technical solutions of the present application can be embodied in the form of software products in essence or the parts that make contributions to related technologies, and the computer software products can be stored in a computer-readable storage medium, such as a computer floppy disk, Read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), flash memory (FLASH), hard disk or optical disk, etc., including several instructions to make a computer device (which can be a personal computer, A server, or a network device, etc.) executes the target measurement method described in each embodiment of the present application.
  • a computer device which can be a personal computer, A server, or a network device, etc.
  • Embodiments of the present application provide a target measurement method, device, measurement device, and storage medium.
  • the method includes: receiving an echo signal, the echo signal being a signal returned by a target to be tested based on an outgoing signal modulated by a pseudo-random code sequence; taking an absolute value of the echo signal and performing Fourier transform to obtain Fourier leaf-transform spectrum; determining a measurement result based on the peak value of the Fourier-transform spectrum, the measurement result including the distance between the measurement position and the object to be measured, and at least one of the radial velocity of the object to be measured relative to the measurement position one.
  • the above technical solution eliminates the influence of positive and negative phases by taking the absolute value of the echo signal, reduces the number of Fourier transforms, reduces the calculation amount of the echo signal demodulation, and improves the target measurement efficiency.

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  • General Physics & Mathematics (AREA)
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Abstract

Procédé et appareil de mesure de cible, dispositif de mesure et support de stockage. Le procédé consiste : à recevoir un signal d'écho, en fonction d'un signal sortant modulé par une séquence de code pseudo-aléatoire, le signal d'écho étant un signal renvoyé par une cible à mesurer (S110); à prendre une valeur absolue du signal d'écho et à réaliser une transformée de Fourier afin d'obtenir un spectre de transformée de Fourier (S120); et à déterminer un résultat de mesure en fonction d'une valeur de pic du spectre de transformée de Fourier, le résultat de mesure comprenant la distance entre une position de mesure et la cible, et/ou la vitesse radiale de la cible par rapport à la position de mesure (S130).
PCT/CN2020/130333 2020-10-30 2020-11-20 Procédé et appareil de mesure de cible, dispositif de mesure et support de stockage WO2022088314A1 (fr)

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