WO2022141048A1

WO2022141048A1 - Method for acquiring point cloud clustering wave gate, and radar, movable platform and storage medium

Info

Publication number: WO2022141048A1
Application number: PCT/CN2020/140822
Authority: WO
Inventors: 王石荣; 王俊喜; 高迪
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-12-29
Filing date: 2020-12-29
Publication date: 2022-07-07
Also published as: CN114631035A

Abstract

A method (400) for acquiring a point cloud clustering wave gate, and a radar, a movable platform and a storage medium. The method (400) is applied to a radar, and the radar is arranged on a movable platform. The method (400) comprises: acquiring a wave gate shape of a wave gate of a first target (S110), wherein the wave gate shape comprises one of the following shapes: a spherical shape, an ellipsoidal shape and a cuboid shape; acquiring an orientation dimension precision, a pitch angle precision and a distance dimension precision of a radar (S120), wherein at least two of the orientation dimension precision, the pitch angle precision and the distance dimension precision are different; and on the basis of the wave gate shape, the orientation dimension precision, the pitch angle precision and the distance dimension precision, determining a wave gate range of the wave gate centered on the first target (S130). Therefore, a wave gate conforming well to the characteristics of a radar is obtained, such that more precise effective range determination is realized; and the method is applied to situations such as clustering and track association, and a more precise clustering result or track association result, etc., can be provided, thereby improving the adaptability of an algorithm.

Description

Method, radar, movable platform and storage medium for obtaining point cloud clustering gates

manual

technical field

The present invention generally relates to the technical field of radar, and more particularly, to a method for acquiring point cloud clustering gates, a radar, a movable platform and a storage medium.

Background technique

The Density-Based Spatial Clustering of Application with Noise (DBSCAN) algorithm with noise is based on the difference in the density of points in the space. Given a set of points in a space, this algorithm can group the points in the density range into a group, and determine the points in the low-density area as outliers. Among them, the density range refers to the given area range in space, which is expressed as "gate" in radar science. At present, radar usually uses a spherical wave gate, taking the target point as the center of the circle. It only needs to determine whether the distance from the surrounding point to the target point is less than the radius of the given circle to determine whether the surrounding point is within the density range of the target point.

However, for different applications, not only circular and spherical gates with the same distance in each direction are considered. Especially for rotating radars, it is also necessary to consider ellipsoidal gates, cuboid gates and other gates with special shapes. Therefore, how to obtain the range of gates with different shapes is a technical problem that needs to be solved urgently.

SUMMARY OF THE INVENTION

The present invention has been made to solve at least one of the above-mentioned problems. Specifically, one aspect of the present invention provides a method for acquiring a point cloud clustering gate, the method is applied to a radar, and the radar is set on a movable platform, and the method includes:

obtaining the wave gate shape of the wave gate of the first target, wherein the wave gate shape includes one of the following shapes: a sphere, an ellipsoid, and a cuboid;

Acquiring the azimuth dimension accuracy, pitch angle accuracy and range dimension accuracy of the radar, wherein at least two of the azimuth dimension accuracy, pitch angle accuracy and distance dimension accuracy are different;

Based on the gate shape, the azimuth dimension precision, the pitch angle precision, and the range dimension precision, a gate range of the wave gate centered on the first target is determined.

Yet another aspect of the present invention provides a radar, the radar comprising: one or more processors, working individually or jointly, the processors are configured to implement the aforementioned method for obtaining a point cloud clustering gate.

Another aspect of the present invention provides a movable platform, comprising: a movable platform body;

In the aforementioned radar, the radar is arranged on the movable platform body.

Another aspect of the present invention provides a computer storage medium on which a computer program is stored, characterized in that, when the computer program is executed by a processor, the aforementioned method for obtaining a point cloud clustering gate is implemented.

The method for obtaining power clustering gates in the embodiment of the present application determines the gate range of the gate centered on the first target by combining the shape of the gate and the accuracy of the azimuth dimension, pitch angle, and distance dimension of the radar, so as to obtain A gate that is more in line with radar characteristics, in order to achieve a more refined effective range judgment, used in clustering, track correlation and other occasions, and then can provide more refined clustering results or track correlation results, etc., and improve the self-adaptation of the algorithm sex.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative labor.

Fig. 1 shows the schematic diagram of the DBSCAN algorithm in an embodiment of the present application;

FIG. 2 shows a schematic diagram of point cloud clustering discrimination by different shaped gates in a rotating radar system in an embodiment of the present application;

Figure 3 shows a schematic diagram of an erroneous cuboid gate in one embodiment;

FIG. 4 shows a schematic flowchart of a method for obtaining a point cloud clustering gate in an embodiment of the present application;

5 shows a schematic block diagram of an azimuth expression form of an ellipsoid gate in an embodiment of the present invention;

FIG. 6 shows a schematic block diagram of a microwave radar in an embodiment of the present application.

Detailed ways

In order to make the objects, technical solutions and advantages of the present invention more apparent, exemplary embodiments according to the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of the embodiments of the present invention, and it should be understood that the present invention is not limited by the example embodiments described herein. Based on the embodiments of the present invention described in the present invention, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present invention.

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without one or more of these details. In other instances, some technical features known in the art have not been described in order to avoid obscuring the present invention.

It should be understood that the present invention may be embodied in different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms "a," "an," and "the/the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It should also be understood that the terms "compose" and/or "include", when used in this specification, identify the presence of stated features, integers, steps, operations, elements and/or components, but do not exclude one or more other The presence or addition of features, integers, steps, operations, elements, parts and/or groups. As used herein, the term "and/or" includes any and all combinations of the associated listed items.

For a thorough understanding of the present invention, detailed structures will be presented in the following description in order to explain the technical solutions proposed by the present invention. Alternative embodiments of the present invention are described in detail below, however, the invention is capable of other embodiments in addition to these detailed descriptions.

The DBSCAN algorithm is implemented based on the difference in density of points in space. Given a set of points in a space, this algorithm can group the points in the density range into a group, and determine the points in the low-density area as outliers. Among them, the density range refers to the given area range in space, which is expressed as "gate" in radar science. For example, for the target point A in Figure 1, the determination range taken is a circle (that is, the circle is also a wave gate), that is, it is only necessary to determine whether the distance from the surrounding point to point A is less than the radius of the given circle, then the point Within the density range of point A, point A is the initial point, points B and C are points determined by the extended clustering, and point D is the noise point. However, for different applications, not only circular and spherical gates with the same distance in each direction are considered. Especially for rotating radars (including but not limited to rotating microwave radars), it is also necessary to consider ellipsoid gates, cuboid gates and other gates with special shapes, as shown in Figure 2.

The gate judgment of microwave radar: generally does not involve the conversion of the coordinate system, because the direction of the radar beam is fixed. In this case, the beam direction may be taken as the x-axis direction of the gate. Or, the processing method of the car radar is to convert the target point to the car coordinate system, and then take the direction of the front of the car as the x-axis direction of the wave gate. Or, if the radar has a velocity measurement function, the velocity direction is the x-axis direction of the gate. However, since the beam direction of the target changes at each grating angle of the rotating radar, the use of cuboid wave gates and ellipsoid wave gates requires basic transformation processing and adjustment of the wave gates according to the radial direction from the antenna direction to the target. If the azimuth is directly judged in the current coordinate system, it is impossible to associate the targets of several consecutive grating grids under the same distance and the same pitch angle bin, such as the wrong rectangular wave gate shown in Figure 3, resulting in Clustering results are not accurate, etc.

Therefore, in view of the existence of the above problems, an embodiment of the present application provides a method for obtaining a point cloud clustering gate, the method is applied to a radar, and the radar is set on a movable platform, and the method includes: obtaining a first target The wave gate shape of the wave gate, wherein, the wave gate shape includes one of the following shapes: spherical, ellipsoid, cuboid; obtain the azimuth dimension precision, pitch angle precision, and distance dimension precision of the radar, wherein, all at least two of the azimuth dimension accuracy, pitch angle accuracy, and range dimension accuracy are different; based on the gate shape, the azimuth dimension accuracy, the pitch angle accuracy, and the range dimension accuracy, it is determined that the first target The gate range of the centered gate can be obtained to obtain a gate that is more in line with the radar characteristics, so as to achieve a more refined effective range judgment, which can be used for clustering, track correlation and other occasions, and then can provide more refined clustering results. Or track correlation results, etc., to improve the adaptability of the algorithm.

Next, with reference to FIG. 4 and FIG. 5 , the method for obtaining a point cloud clustering gate in the embodiment of the present application is described. Fig. 4 shows a schematic flow chart of a method for obtaining a point cloud clustering gate in an embodiment of the present application; Fig. 5 shows a schematic diagram of an azimuth expression form of an ellipsoidal wave gate in an embodiment of the present invention block diagram.

The method of the present application can be applied to radars, such as rotating radars, lidars, etc., wherein the rotating radars are, for example, rotating microwave radars, etc., and the radars are arranged on a movable platform, such as the body of the movable platform. The movable platform includes but It is not limited to an aircraft, a robot, a vehicle, a ship, etc., wherein the aircraft is such as an unmanned aerial vehicle, and the vehicle is such as an unmanned vehicle.

As an example, as shown in FIG. 4 , the method 400 for obtaining a point cloud clustering gate includes the following steps:

First, in step S110, the wave gate shape of the wave gate of the first target is acquired.

The wave gate shape includes one of the following shapes: sphere, ellipsoid, and cuboid. The above-mentioned gate shapes are only examples, and other gate shapes can also be applied to the method of the present application.

The gate shape of the gate of the first target can be obtained based on any suitable method known to those skilled in the art, for example, the gate shape of the gate of the first target is determined according to the user instruction. For example, based on the setting interface displayed on the man-machine exchange interface, a selection instruction input by the user is obtained through the setting interface, and the selection instruction is used to indicate the type of the gate to be used.

For example, it may be a suitable gate shape automatically selected by the processor according to the moving speed, radar sensitivity, and the like. In one example, acquiring the wave gate shape of the first target's wave gate includes: obtaining the wave gate shape of the first target's wave gate according to the current moving speed of the movable platform. Generally, the larger the moving speed of the movable platform, the larger the range of the wave gate required. For example, when the moving speed is within the first speed threshold range, the shape of the wave gate is determined to be spherical; When the speed is within the second speed threshold range, the shape of the wave gate is determined to be a cuboid; when the moving speed is within the third speed threshold range, it is determined that the shape of the wave gate is an ellipsoid, wherein the first The speed threshold range is greater than the second speed threshold range, and the second speed threshold range is greater than the third speed threshold range. The first speed threshold range, the second speed threshold range, and the third speed threshold range can be reasonably set according to actual needs, which are not specifically limited herein.

In this embodiment of the present application, acquiring the gate shape of the gate of the first target may further include: determining the shape of the gate based on the sensitivity of the radar, for example, when the sensitivity is within the range of the first sensitivity threshold, determining the The shape of the wave gate is spherical; when the sensitivity is within the range of the second sensitivity threshold, the shape of the gate is determined to be a rectangular parallelepiped; when the sensitivity is within the range of the third sensitivity threshold, the shape of the gate is determined is an ellipsoid, wherein the first sensitivity threshold range is greater than the second sensitivity threshold range, and the second sensitivity threshold range is greater than the third sensitivity threshold range. The first sensitivity threshold range, the second sensitivity threshold range, and the third sensitivity threshold range can be any suitable preset values. For a radar with high sensitivity, a wider range of gates, such as a spherical gate, can be selected to Make a quicker response according to the sensitivity, and if the sensitivity is low, you can choose an ellipsoidal wave gate, etc., to finely measure the weight of each direction and determine a finer wave gate range.

The shape of the acquisition gate can be set by the user before the movable platform starts to move, or it can acquire the moving speed, sensitivity and other information in real time during the moving process of the movable platform. information, adjust the shape of the wave gate in real time to adapt to the attitude transformation, speed transformation and orientation transformation of the movable platform.

Next, in step S120, the azimuth dimension precision, the pitch angle precision and the range dimension precision of the radar are obtained, wherein at least two precisions among the azimuth dimension precision, the pitch angle precision and the range dimension precision are different.

Taking the rotating microwave radar as an example, it has the following characteristics: 1. The direction of the radar beam is determined by the rotational position of the motor, and the azimuth angle is obtained through an angle sensor such as a grating angle sensor, covering 360° at different times; 2. In the distance dimension, In the three dimensions of the pitch dimension and the azimuth dimension, the precisions are inconsistent, that is, at least two of the azimuth dimension precision, the pitch angle precision and the distance dimension precision are different.

The azimuth dimension accuracy, pitch angle accuracy, and range dimension accuracy of the radar can be obtained by the following methods.

For example, the resolution of the distance dimension (that is, the accuracy of the distance dimension) can be determined based on the modulation slope, the frequency of the intermediate frequency signal, the bandwidth, etc., which can be expressed by the following formula (1):

Among them, K is the modulation slope, Δf is the frequency of the intermediate frequency signal, B is the bandwidth, and the upper limit of the bandwidth is fixed, so the accuracy of the distance dimension is a fixed value ε.

Further, acquiring the azimuth dimension accuracy of the radar includes: determining the azimuth dimension accuracy according to the target distance between the first target and the radar and the angle measurement accuracy of the azimuth dimension. When the angle is measured by the grating goniometric sensor, the angle measurement accuracy of the azimuth dimension may include the step angle of the grating.

Specifically, the angle measurement accuracy of the azimuth dimension is the step angle of the grating angle

For example, in a radar with 268 gratings, 2-3 gratings produce a set of 2-dimensional (2D) Constant False-Alarm Rate (CFAR) results, then the grating angle step angle

Corresponding to the distance between the two sets of 2D CFAR results on the horizontal plane (that is, the direction dimension accuracy)

where d is the target distance.

In an example, the acquiring the pitch angle accuracy of the radar includes: determining the pitch angle accuracy according to the target distance between the first target and the radar and the angle measurement accuracy of the elevation dimension. The angle measurement accuracy of the pitch dimension increases with the angle, and the accuracy is worse. Taking the angle measurement accuracy as Δθ, the distance variation of the target in the pitch dimension (that is, the pitch angle accuracy) is Δd=d*Δθ, where d is the target distance. The angle measurement formula (2) is as follows:

Among them, lambda is the wavelength, phi is the phase difference of the echo, and the maximum Δθ can reach 2.7°.

Based on the above characteristics of the rotating radar, the direction of the wave gate, that is, the azimuth of the wave gate, can be designed according to the azimuth angle of the grating and the elevation angle of the electrical scanning of the antenna, as shown in Figure 2.

Next, in step S130, based on the gate shape, the azimuth dimension accuracy, the pitch angle accuracy, and the range dimension accuracy, a gate range of the gate centered on the first target is determined.

In one example, determining the gate range of the wave gate centered on the first target based on the gate shape, the azimuth dimension accuracy, the pitch angle accuracy, and the range dimension accuracy includes: according to the The position information of the first target determines the beam pointing of the current radar; according to the beam pointing of the current radar, the orientation of the wave gate centered on the first target is determined, and the orientation of the wave gate includes three of the wave gates. Axial axis of the main shaft. Wherein, the axes of the three main axes of the wave gate point to the radar beam vector, the tangential vector of the first target azimuth dimension, and the tangential vector of the first target elevation dimension, respectively, as shown in FIG. Taking the shape gate as an example, the coordinates of the first target, such as the current point to be clustered, are P0=[x, y, z] ^T , the target elevation tangent vector c, and the radar beam vector can be a=[x, y, z ] ^T , the tangential vector b of the target azimuth dimension. For rotating radar, adjusting the orientation and shape of the gate according to the direction of the rotating radar beam can provide finer clustering results.

In one example, based on the gate shape, the range dimension accuracy, the azimuth dimension accuracy, and the pitch angle accuracy, determining the gate range of the wave gate centered on the first target, further comprising: according to the The distance dimension accuracy, the azimuth dimension accuracy and the pitch angle accuracy are used to determine the length parameters of the three main axes of the wave gate; based on the length parameters of the three main axes of the wave gate, the range of the wave gate is determined .

In an example, the axial directions of the three main axes of the wave gate point to the radar beam vector, the tangential vector of the first target azimuth dimension, and the tangential vector of the first target elevation dimension, respectively. According to the accuracy of the range dimension , the azimuth dimension accuracy and the pitch angle accuracy, and determining the length parameters of the three main axes of the wave gate, including: according to the range dimension accuracy, determining the three main axes of the wave gate pointing to the radar The length parameter of the first principal axis of the beam vector; according to the accuracy of the azimuth dimension, determine the length parameter of the second principal axis of the tangential vector pointing to the first target azimuth dimension among the three principal axes of the beam gate; The pitch angle accuracy is determined, and the length parameter of the third major axis of the tangential vector pointing to the first target pitch dimension among the three major axes of the wave gate is determined. Optionally, the length parameter of the first principal axis is equal to the distance dimension precision, the length parameter of the second principal axis is equal to the azimuth dimension precision, and the length parameter of the third principal axis is equal to the pitch dimension precision.

When the gate shape of the wave gate is an ellipsoid, the length parameter of the first major axis is the radius of the first major axis, the length parameter of the second major axis is the radius of the second major axis, and the length parameter of the third major axis is the third major axis. radius.

When the shape of the wave gate is a cuboid, the length parameter of the first main axis is the length from the first target to the surface of the cuboid along the first main axis; the length parameter of the second main axis is the length from the first target to the surface of the cuboid along the second major axis; the length parameter of the third major axis is the length from the first target to the surface of the cuboid along the third major axis, that is, They are 1/2 of the length, 1/2 of the width, and 1/2 of the height of the cuboid.

The length parameter of the first main axis can also be reasonably adjusted according to the movement parameters of the movable platform. For example, according to the distance dimension accuracy, the first main axis pointing to the radar beam vector among the three main axes of the wave gate is determined. The length parameter includes: determining the length parameter of the first spindle according to the moving speed of the movable platform and the distance dimension accuracy. Wherein, when the moving speed of the movable platform is the first speed, the length parameter of the first spindle is the first length parameter determined according to the distance dimension accuracy; when the moving speed of the movable platform is the first length parameter In the case of two speeds, the length parameter of the first spindle is the second length parameter determined according to the accuracy of the distance dimension, wherein, if the second speed is greater than the first speed, the second length parameter is greater than the The first length parameter. When the moving speed is large, the length parameter of the first main shaft can be increased to make the wave gate range larger, so as to adapt to the speed of the movable platform.

The method of determining the length parameter of the first main shaft according to the moving speed can be any suitable method. For example, the moving speed of the movable platform can be used as a weight, and the distance dimension accuracy can be multiplied to obtain the length parameter of the first main shaft, or, for example, It is also possible to add the movement speed as an offset and the distance dimension precision to obtain the length parameter of the first principal axis.

The following will take the spherical, ellipsoidal, and cuboid shapes as examples to describe the method for solving the gates of each shape.

Taking the spherical wave gate as an example, if a spherical wave gate is used, since the distance constraints from all directions to the center of the sphere are equal within the range of the spherical wave gate, the distance from the target to be judged (such as the second target) to the center can be directly calculated. , no transformation is required. When the wave gate shape of the wave gate is a sphere, the length parameters of the three main axes of the wave gate are also the length of the radius of the sphere, and the length of the radius is the azimuth dimension accuracy, the pitch The maximum value of the angular precision and the distance dimension precision, that is, the radius of the sphere in the range with the largest variation, such as the azimuth dimension precision

The pitch dimension accuracy is d*Δθ, in some radars, usually

are larger than Δθ. Therefore, only the direction dimension needs to be considered

The distance accuracy can be compared with the distance dimension accuracy ε, and the maximum value r is taken as the radius of the sphere, which is specifically implemented as the following formula (3):

Further, taking the ellipsoid gate as an example, if the accuracy in different directions is considered, and a more refined gate is used to select an effective target, the spherical gate can be improved to an ellipsoid gate with different distances in different directions. As shown in Figure 2, the axial direction of the ellipsoid gate needs to be consistent with the current beam pointing or grating pointing direction, and a gate shape consistent with the direction of the aircraft nose cannot be used at every position. Therefore, it is necessary to solve the azimuth expression of the ellipsoid gate according to the current radar beam pointing to determine the range of the ellipsoid gate, as shown in Figure 5.

The three principal axes of the ellipsoid

They are orthogonal to each other. In order to make the azimuth of the ellipsoid match the azimuth of the beam sweeping towards the target, it is necessary to make the main axis of the ellipse point to the radar beam vector, the tangential direction of the target azimuth dimension, and the tangential direction of the target elevation dimension, that is, the first main axis points to the radar beam vector. The radar beam vector, the tangential direction of the second principal axis pointing to the azimuth dimension of the target, and the tangential direction of the third principal axis pointing to the elevation dimension of the target, the corresponding vector expressions are solved as follows:

From the coordinates [x, y, z] ^T of the current point to be clustered (that is, the first target), the beam direction vector emitted from the origin of the radar along the current grating angle can be recorded as:

From the property that the three main axes of the ellipsoid are orthogonal to each other, it can be known that the tangential vector along the target azimuth dimension

perpendicular to the

and

The formed plane aOz, where

is the vector in the z-axis direction, which can be written as

therefore:

which is

(Among them, the formula has a direction, which can be known from the right-hand rule as

).

Similarly, the tangential vector along the target pitch dimension

as follows:

Then, yes

Normalize to get a unit vector

at this time,

The formed space represents the transformation from the coordinate system Oxyz of the movable platform (such as an aircraft) to the coordinate system Oabc of the radar gate, that is, the corresponding rotation matrix R:

When the wave gate shape is an ellipsoid, based on the wave gate shape, the azimuth dimension precision, the pitch angle precision, and the range dimension precision, determine the wave gate range of the wave gate centered on the first target , including: determining the radius of the first main axis of the three main axes of the wave gate pointing to the radar beam vector according to the accuracy of the distance dimension; determining the three main axes of the wave gate according to the accuracy of the azimuth dimension The radius of the second main axis of the tangential vector pointing to the first target azimuth dimension in The radius of the third principal axis of the vector; according to the radius of the first principal axis, the radius of the second principal axis, and the radius of the third principal axis, the equation of the ellipsoid is obtained to determine the range of the wave gate. For example, the distance from the first target to the origin is

In the Oabc coordinate system, the distance dimension accuracy ε _a =ε, the azimuth dimension accuracy

The pitch dimension accuracy ε _C =Δd=d*Δθ, the corresponding ellipsoid gate equation can be obtained as formula (4):

In another example, in some specific scenes, there are obstacles with cuboid geometry, such as wires, fences, and walls, so using cuboid gates for clustering can describe the geometry of such obstacles more finely. Wherein, according to the accuracy of the distance dimension, a length parameter of the first major axis pointing to the radar beam vector among the three major axes of the wave gate is determined, and the length parameter of the first major axis is a direction along the first major axis from The length from the first target to the surface of the cuboid; according to the azimuth dimension accuracy, determine the radius of the second main axis of the tangential vector pointing to the azimuth dimension of the first target among the three main axes of the wave gate, wherein , the length parameter of the second main axis is the length from the first target to the surface of the cuboid along the second main axis; according to the pitch angle accuracy, determine which of the three main axes of the wave gate points to the The radius of the third main axis of the tangential vector of the first target pitch dimension, the length parameter of the third main axis is the length from the first target to the surface of the cuboid along the third main axis; according to the first main axis The length parameter of the second main axis, the length parameter of the second main axis, and the length parameter of the third main axis, and the equation of the cuboid wave gate is obtained to determine the range of the wave gate.

The equation of the cuboid gate is expressed as formula (5):

The parameters are the distance dimension accuracy ε _a = ε, the azimuth dimension accuracy

Pitch dimension accuracy ε _C =Δd=d*Δθ.

Further, after determining the range of each wave gate shape, the method of the present application further includes the following steps S140 and S150: in step S140, obtain the first position information and the second target of the first target in the first coordinate system second position information in the first coordinate system; determining whether the second target is located in the wave of the wave gate according to the first position information, the second position information and the range of the wave gate within the door range. According to the determined wave gate range, it is judged whether the second target is within the wave gate range of the first target, so as to determine whether the second target and the first target can be clustered.

In one example, determining whether the second target is located within the wave gate range of the wave gate according to the first position information, the second position information and the wave gate range includes: placing the wave gate The second position information of the second target is converted into third position information in a wave gate coordinate system, wherein the wave gate coordinate system is based on the first target as the origin and the three main axes of the wave gate. The axial directions are respectively the Cartesian coordinate system established by the three coordinate axes, and the axial directions of the three main axes of the gate are respectively directed to the radar beam vector, the tangential vector of the first target azimuth dimension, and the first target elevation dimension. tangential vector; determining whether the second target is located within the range of the wave gate according to the third position information.

The second position information of the second surface can be converted into the third position information in the wave gate coordinate system by any suitable method, for example, the conversion of the second position information of the second target into the wave gate The third position information in the coordinate system includes: obtaining a rotation matrix from the first coordinate system to the wave gate coordinate system according to the first position information; according to the rotation matrix, the first position information and For the second location information, obtain the third location information. Wherein, the first coordinate system can be the movable platform coordinate system Oxyz, for example, when the movable platform is an aircraft, it is the body coordinate system OXYZ, the origin is located at the center of gravity of the aircraft, the X axis is consistent with the longitudinal axis of the aircraft, and points to the front of the aircraft, The Y-axis is perpendicular to the plane of symmetry of the aircraft and points to the right, and the Z-axis is in the plane of symmetry of the aircraft and perpendicular to the longitudinal axis, pointing down or up. The wave gate coordinate system is Oabc, and the rotation matrix can be obtained by any suitable method well known to those skilled in the art.

When the wave gate shape is spherical, it can be determined whether the second target is within the wave gate range of the first target based on whether the distance between the second target and the first target is greater than the radius r, for example, when less than or equal to r, It is determined that the second target is within the gate range of the first target (that is, the density range), and when it is greater than r, it is determined that the second target is not within the gate range of the first target, so as to further determine whether the two can converge. class etc.

When the shape of the wave gate is an ellipsoid, determining whether the second target is located within the range of the wave gate according to the third position information includes: substituting the third position information into the ellipsoid equation to solve the equation Obtain a solution result, when the solution result is less than or equal to 1, determine that the second target is located within the gate range of the ellipsoid gate, and when the solution result is greater than 1, determine the second target outside the range of the gate of the ellipsoid.

For example, as shown in FIG. 5 , taking an aircraft equipped with a rotating radar as an example, according to the current target to be clustered (ie, the first target) p0 coordinates [x0, y0, z0] ^T , and whether it falls into the ellipse to be judged The target of the ball gate (that is, the second target) p1 coordinate [x1, y1, z1] ^T , the judgment steps are as follows: First, according to the coordinates of p0, calculate the rotation matrix R from the body coordinate system Oxyz to the radar gate coordinate system Oabc ; Convert the coordinates of the target p1 to the radar gate coordinate system to obtain the coordinates P1' (that is, the third position information), and the calculation process is as shown in the following formula (6):

p1'=R*(p1-p0)=[x1',y1',z1'] ^T formula (6)

After that, the coordinate p1' converted to the radar gate coordinate system is substituted into the ellipsoid gate equation, if:

Then p1 is within the range of the ellipsoid gate of p0, and if it is greater than 1, then p1 is outside the range of the ellipsoid gate of p0.

In another example, when the shape of the wave gate is a cuboid, the determining whether the second target is located within the range of the wave gate according to the third position information includes: when the third position information When the absolute value of the first coordinate on the first coordinate axis (eg X axis) is less than or equal to the length parameter of the first main axis, and when the third position information is on the second coordinate axis (eg Y axis) When the absolute value of the second coordinate is less than or equal to the length parameter of the second main axis, and when the absolute value of the third coordinate on the third coordinate axis (for example, the Z axis) in the third position information is less than or equal to the third When the length parameter of the main axis is used, it is determined that the second target is located within the range of the cuboid-shaped wave gate.

For example, when the shape of the wave gate is a cuboid, according to the current target p0 coordinate [x0, y0, z0] ^T to be clustered, and the target p1 coordinate [x1, y1, z1] to be judged whether it falls into the cuboid wave gate ^T , the judging steps are roughly the same as the ellipsoid gate: first, calculate the rotation matrix R from the body coordinate system Oxyz to the radar gate coordinate system Oabc according to the coordinates of p0; then, convert the target p1 coordinates to the radar gate coordinate system, To obtain the coordinate P1', the calculation process is as follows:

p1'=R*(p1-p0)=[x1',y1',z1'] ^T

After that, the coordinate p1' converted to the radar gate coordinate system is substituted into the cuboid gate equation, if the following formula is satisfied:

Then p1 is within the range of the cuboid gate of p0, otherwise, p1 is outside the range of the cuboid gate of p0.

So far, the description of the method for obtaining point cloud clustering gates of the present application is completed. It is worth mentioning that the steps of the above method can be exchanged or performed interspersed on the premise of no conflict.

To sum up, according to the method for obtaining power clustering gates according to the embodiments of the present application, the shape of the gate and the accuracy of the azimuth dimension, the accuracy of the pitch angle, and the accuracy of the distance dimension of the radar are combined to determine the first target as the center of the gate. The gate range can be obtained to obtain a gate that is more in line with the characteristics of the radar, so as to achieve a more refined effective range judgment, which can be used in clustering, track correlation and other occasions, and then can provide more refined clustering results or track correlation results, etc. , to improve the adaptability of the algorithm.

Next, the radar in the embodiment of the present application will be described with reference to FIG. 6 , where FIG. 6 shows a schematic block diagram of the microwave radar in an embodiment of the present application. The radar can be used as the main body of the method for obtaining the point cloud clustering wave gate mentioned above, and is used to realize the method mentioned above.

The radar in the embodiment of the present application may be any type of radar, such as a lidar, a rotating radar; the rotating radar may also be a rotating microwave radar. In this embodiment, the rotating microwave radar is mainly used as an example, and the specific structure of the laser radar can be any result known to those skilled in the art, which is not limited here.

As shown in FIG. 6 , the microwave radar 100 includes: one or more processors 303, an antenna device 101, a signal processing circuit 102, and a processor 103, wherein the antenna device 101 is used for transmitting microwave signals and receiving reflected signals, and the signal processing circuit 102 is electrically connected to the antenna device for processing the reflected signal and converting it into a data signal, and the processor 103 is connected in communication with the signal processing circuit 102 for processing the data sent by the signal processing circuit 102 Signal. Communication between the signal processing circuit 102 and the processor 103 may be performed in a wired or wireless manner.

In an example, after the microwave signal emitted by the antenna device is reflected by the target, it is received by the receiving module of the antenna device, thereby obtaining the reflected signal of the target to be measured, which may also be referred to as a point cloud. The antenna device 101 may include an array antenna dedicated to transmitting microwave signals (eg, a sending antenna) and an array antenna dedicated to receiving reflected signals (eg, a receiving antenna).

The signal processing circuit 102 includes an incident wave inference unit AU. The incident wave inference unit AU infers the distance to the wave source of the incident wave, that is, the target, the relative velocity of the target, and the azimuth (that is, the angle) of the target through a well-known algorithm, and generates a data signal representing the inference result. The antenna device is electrically connected to process the reflected signal and convert it into a data signal, where the data signal includes position information of the reflected target point and the like.

The signal processing circuit in the embodiment of the present invention is not limited to a single circuit, but also includes a form in which a combination of multiple circuits is generally understood as one functional element. The signal processing circuit 102 may also be implemented by one or more systems on a chip (SoC). For example, a part or the whole of the signal processing circuit 102 may also be a programmable logic device (PLD), that is, an FPGA (Field-Programmable Gate Array: Field Programmable Gate Array). In this case, the signal processing circuit 102 includes multiple arithmetic elements (eg, general purpose logic and multipliers) and multiple storage elements (eg, look-up tables or memory modules). Alternatively, the signal processing circuit 102 may also be a combination of a general-purpose processor and a main storage device. The signal processing circuit 102 may also be a circuit including a processor core and memory. These can function as the signal processing circuit 102 .

It should be noted that the components and structures of the microwave radar 100 shown in FIG. 6 are only exemplary and not limiting, and the components of the microwave radar 100 may also have other components and structures as required.

For example, the microwave radar 100 further includes a rotation driving device (not shown) for driving the antenna device to rotate; optionally, the rotation driving device includes a motor (not shown) for driving the antenna device to rotate and a An angle sensor (not shown) for sensing the rotation angle of the antenna device. Optionally, the angle sensor of the microwave radar includes at least one of the following: a grating angle sensor and a Hall sensor.

The microwave radar 100 may also include a memory (not shown) for storing various data and executable programs generated in the method for obtaining a point cloud clustering gate, such as system programs for storing radar, various application programs Or algorithms that implement various specific functions. One or more computer program products may be included, and the computer program products may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and/or cache memory, among others. Non-volatile memory may include, for example, read only memory (ROM), hard disk, flash memory, and the like.

The processor 103 may be a central processing unit (CPU), a graphics processing unit (GPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other forms with data processing capabilities and/or instruction execution capabilities and can control other components in microwave radar 100 to perform desired functions. The processor can execute the instructions stored in the memory to execute the method for obtaining point cloud clustering gates described herein. The implementation principles and technical effects are similar. For details, refer to the foregoing description, which will not be repeated here. For example, processor 103 can include one or more embedded processors, processor cores, microprocessors, logic circuits, hardware finite state machines (FSMs), digital signal processors (DSPs), or combinations thereof.

In addition, an embodiment of the present application further provides a movable platform, the movable platform includes a movable platform body, and the radar can be arranged on the movable platform body. In certain embodiments, the mobile platform includes an aircraft (eg, an unmanned aerial vehicle), a robot, a vehicle, or a boat. When the radar is applied to the unmanned aerial vehicle, the platform body is the fuselage of the unmanned aerial vehicle, wherein the radar can be arranged on the movable platform body, and one or more radars can be arranged. When the radar is applied to the vehicle, the platform body is the body of the vehicle. The vehicle may be a self-driving car or a semi-autonomous driving car, which is not limited here. When the radar is applied to the robot, the platform body is the robot. When the radar is applied to a ship, the platform body is the hull.

In addition, an embodiment of the present invention further provides a computer storage medium, on which a computer program is stored. When the computer program is executed by the processor, the method for obtaining a point cloud clustering gate according to the embodiment of the present invention can be implemented. For example, the computer storage medium may include, for example, a memory card for a smartphone, a storage unit for a tablet computer, a hard disk for a personal computer, read only memory (ROM), erasable programmable read only memory (EPROM), portable compact disk Read only memory (CD-ROM), USB memory, or any combination of the above storage media. The computer-readable storage medium can be any combination of one or more computer-readable storage media. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor may execute the program instructions stored in the memory to implement the functions (implemented by the processor) in the embodiments of the present invention described herein and/or other desired functions, for example, to execute the corresponding steps of the method for obtaining a point cloud clustering gate according to an embodiment of the present invention. Various application programs and various data, such as various data used and/or generated by the application program, etc., may also be stored in the computer-readable storage medium.

Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above-described example embodiments are exemplary only, and are not intended to limit the scope of the invention thereto. Various changes and modifications can be made therein by those of ordinary skill in the art without departing from the scope and spirit of the invention. All such changes and modifications are intended to be included within the scope of the invention as claimed in the appended claims.

Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of the present invention.

In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or May be integrated into another device, or some features may be omitted, or not implemented.

In the description provided herein, numerous specific details are set forth. It will be understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it is to be understood that in the description of the exemplary embodiments of the invention, various features of the invention are sometimes grouped together , or in its description. However, this method of the invention should not be interpreted as reflecting the intention that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the corresponding claims reflect, the invention lies in the fact that the corresponding technical problem may be solved with less than all features of a single disclosed embodiment. Thus, the claims following the Detailed Description are hereby expressly incorporated into this Detailed Description, with each claim standing on its own as a separate embodiment of this invention.

It will be understood by those skilled in the art that all features disclosed in this specification (including the accompanying claims, abstract and drawings) and any method or apparatus so disclosed may be used in any combination, except that the features are mutually exclusive. Processes or units are combined. Each feature disclosed in this specification (including accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, it will be understood by those skilled in the art that although some of the embodiments described herein include certain features, but not others, included in other embodiments, that combinations of features of different embodiments are intended to be within the scope of the invention within and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.

Various component embodiments of the present invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all of the functions of some modules according to the embodiments of the present invention. The present invention may also be implemented as apparatus programs (eg, computer programs and computer program products) for performing part or all of the methods described herein. Such a program implementing the present invention may be stored on a computer-readable medium, or may be in the form of one or more signals. Such signals may be downloaded from Internet sites, or provided on carrier signals, or in any other form.

It should be noted that the above-described embodiments illustrate rather than limit the invention, and that alternative embodiments may be devised by those skilled in the art without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, and third, etc. do not denote any order. These words can be interpreted as names.

Claims

A method for obtaining a point cloud clustering gate, characterized in that the method is applied to a radar, and the radar is set on a movable platform, and the method comprises:

obtaining the wave gate shape of the wave gate of the first target, wherein the wave gate shape includes one of the following shapes: a sphere, an ellipsoid, and a cuboid;

Acquiring the azimuth dimension accuracy, pitch angle accuracy and range dimension accuracy of the radar, wherein at least two of the azimuth dimension accuracy, pitch angle accuracy and distance dimension accuracy are different;

Based on the gate shape, the azimuth dimension precision, the pitch angle precision, and the range dimension precision, a gate range of the wave gate centered on the first target is determined.
The method according to claim 1, wherein acquiring the azimuth dimension accuracy of the radar comprises: determining the azimuth dimension according to the target distance between the first target and the radar and the azimuth dimension accuracy Azimuth dimension accuracy.
The method of claim 2, wherein the angle measurement accuracy of the azimuth dimension includes the step angle of the grating.
The method according to claim 1, wherein acquiring the pitch angle accuracy of the radar comprises: determining the Pitch angle accuracy.
The method of claim 1, wherein the acquiring the wave gate shape of the wave gate of the first target comprises:

According to the current moving speed of the movable platform, the wave gate shape of the wave gate of the first target is obtained.
The method of claim 5, wherein obtaining the wave gate shape of the wave gate of the first target according to the current moving speed of the movable platform, comprising:

When the moving speed is within the first speed threshold range, determining that the wave gate shape is a sphere;

When the moving speed is within the second speed threshold range, determining that the wave gate shape is a rectangular parallelepiped;

When the moving speed is within a third speed threshold range, it is determined that the wave gate shape is an ellipsoid, wherein the first speed threshold range is greater than the second speed threshold range, and the second speed threshold range is greater than the third speed threshold range.
The method of claim 1, wherein the acquiring the wave gate shape of the wave gate of the first target comprises:

The gate shape is determined according to the sensitivity of the radar.
The method of claim 7, wherein the determining the wave gate shape according to the sensitivity of the radar comprises:

When the sensitivity is within the first sensitivity threshold range, determining that the shape of the wave gate is a spherical shape;

When the sensitivity is within the second sensitivity threshold range, determining that the shape of the wave gate is a rectangular parallelepiped;

When the sensitivity is within a third sensitivity threshold range, it is determined that the wave gate shape is an ellipsoid, wherein the first sensitivity threshold range is greater than the second sensitivity threshold range, and the second sensitivity threshold range is greater than the the third sensitivity threshold range.
The method of claim 1, wherein the acquiring the wave gate shape of the wave gate of the first target comprises:

According to the user instruction, the wave gate shape of the wave gate of the first target is determined.
The method of claim 1, wherein the wave gate of the wave gate centered on the first target is determined based on the wave gate shape, the azimuth dimension precision, the pitch angle precision, and the range dimension precision Door range, including:

Determine the beam pointing of the current radar according to the position information of the first target;

According to the beam direction of the current radar, the azimuth of the wave gate centered on the first target is determined, and the azimuth of the wave door includes the axial directions of the three main axes of the wave door.
The method according to claim 10, wherein the axial directions of the three main axes of the wave gate respectively point to the radar beam vector, the tangential vector of the first target azimuth dimension, and the tangential direction of the first target elevation dimension vector.
11. The method of claim 10, wherein the wave gate of the gate centered on the first target is determined based on the gate shape, the range dimension accuracy, the azimuth dimension accuracy, and the pitch angle accuracy Door range, also includes:

According to the accuracy of the distance dimension, the accuracy of the azimuth dimension and the accuracy of the pitch angle, determine the length parameters of the three main axes of the wave gate;

The range of the wave gate is determined based on the length parameters of the three principal axes of the wave gate.
The method according to claim 12, wherein the axial directions of the three main axes of the wave gate respectively point to the radar beam vector, the tangential vector of the first target azimuth dimension, and the tangential direction of the first target elevation dimension Vector, according to the accuracy of the distance dimension, the accuracy of the azimuth dimension and the accuracy of the pitch angle, to determine the length parameters of the three main axes of the wave gate, including:

According to the accuracy of the distance dimension, determining a length parameter of the three main axes of the wave gate pointing to the first main axis of the radar beam vector;

According to the azimuth dimension accuracy, determine the length parameter of the second principal axis of the tangential vector pointing to the first target azimuth dimension among the three principal axes of the wave gate;

According to the pitch angle accuracy, a length parameter of the third major axis of the tangential vector pointing to the first target pitch dimension among the three major axes of the wave gate is determined.
The method according to claim 13, wherein, according to the accuracy of the range dimension, determining a length parameter of the three main axes of the wave gate pointing to the first main axis of the radar beam vector, comprising:

The length parameter of the first spindle is determined according to the moving speed of the movable platform and the distance dimension accuracy.
The method of claim 14, wherein when the moving speed of the movable platform is the first speed, the length parameter of the first spindle is the first length parameter determined according to the distance dimension accuracy;

When the moving speed of the movable platform is a second speed, the length parameter of the first spindle is a second length parameter determined according to the distance dimension accuracy, wherein the second speed is greater than the first speed , the second length parameter is greater than the first length parameter.
The method according to claim 13, wherein the length parameter of the first main axis is equal to the distance dimension precision, the length parameter of the second main axis is equal to the azimuth dimension precision, and the length of the third main axis is equal to the azimuth dimension precision. The parameter is equal to the pitch dimension accuracy.
The method according to claim 12, wherein when the wave gate of the wave gate is spherical, the length parameters of the three main axes of the wave gate are the length of the radius of the spherical sphere, and the length of the radius The length is the maximum value of the azimuth dimension accuracy, the pitch angle accuracy, and the range dimension accuracy.
The method of claim 13, wherein when the gate shape of the wave gate is an ellipsoid, the length parameter of the first major axis is the radius of the first major axis, and the length parameter of the second major axis is the second major axis , and the length parameter of the third main axis is the radius of the third main axis.
The method of claim 12, wherein when the wave gate of the wave gate is in the shape of a cuboid,

The length parameter of the first main axis is the length from the first target to the surface of the cuboid along the first main axis;

The length parameter of the second main axis is the length from the first target to the surface of the cuboid along the second main axis;

The length parameter of the third main axis is the length from the first target to the surface of the cuboid along the third main axis.
The method of claim 1, wherein the method further comprises:

acquiring first position information of the first target under the first coordinate system and second position information of the second target under the first coordinate system;

According to the first position information, the second position information and the range of the wave gate, it is determined whether the second target is located within the wave gate range of the wave gate.
The method of claim 20, wherein, according to the first position information, the second position information and the range of the wave gate, determining whether the second target is located at the wave gate of the wave gate range, including:

Converting the second position information of the second target into third position information under the wave gate coordinate system, wherein the wave gate coordinate system is based on the first target as the origin, and the wave gate coordinate system is based on the wave gate. The axes of the three main axes are respectively the Cartesian coordinate systems established by the three coordinate axes, and the axes of the three main axes of the wave gate point to the radar beam vector, the tangential vector of the first target azimuth dimension, the first Tangential vector of the target pitch dimension;

Whether the second target is located within the range of the wave gate is determined according to the third position information.
The method of claim 21, wherein the converting the second position information of the second target into the third position information in a wave gate coordinate system comprises:

Acquiring a rotation matrix from the first coordinate system to the wave gate coordinate system according to the first position information;

The third position information is acquired according to the rotation matrix, the first position information and the second position information.
The method of claim 21, wherein when the wave gate shape is an ellipsoid, based on the wave gate shape, the azimuth dimension accuracy, the pitch angle accuracy, and the range dimension accuracy, determining The gate range of the gate centered on the first target, including:

According to the accuracy of the distance dimension, determining the radius of the three main axes of the gate pointing to the first main axis of the radar beam vector;

According to the azimuth dimension accuracy, determining the radius of the second principal axis of the tangential vector pointing to the first target azimuth dimension among the three principal axes of the wave gate;

According to the pitch angle accuracy, determine the radius of the third main axis of the tangential vector pointing to the first target pitch dimension among the three main axes of the wave gate;

According to the radius of the first major axis, the radius of the second major axis, and the radius of the third major axis, the equation of the ellipsoid is obtained to determine the range of the wave gate.
The method of claim 23, wherein the determining whether the second target is located within the range of the wave gate according to the third position information comprises:

Substituting the third position information into the ellipsoid equation solving equation to obtain a solution result, when the solution result is less than or equal to 1, it is determined that the second target is located within the gate range of the ellipsoid gate , when the solution result is greater than 1, it is determined that the second target is located outside the range of the wave gate of the ellipsoid.
The method according to claim 21, wherein when the wave gate shape is a rectangular parallelepiped, based on the wave gate shape, the azimuth dimension accuracy, the pitch angle accuracy and the range dimension accuracy, determining The gate range of the gate centered on the first target, including:

According to the accuracy of the distance dimension, a length parameter of the first major axis pointing to the radar beam vector among the three major axes of the wave gate is determined, and the length parameter of the first major axis is the length of the first major axis along the first major axis from the the length of the first target to the surface of the cuboid;

According to the accuracy of the azimuth dimension, determine the radius of the second main axis of the tangential vector pointing to the first target azimuth dimension among the three main axes of the wave gate, wherein the length parameter of the second main axis is along the the length of the second principal axis from the first target to the surface of the cuboid;

According to the pitch angle accuracy, determine the radius of the third major axis of the tangential vector pointing to the first target pitch dimension among the three major axes of the wave gate, and the length parameter of the third major axis is along the The length of the three main axes from the first target to the surface of the cuboid;

According to the length parameter of the first major axis, the length parameter of the second major axis, and the length parameter of the third major axis, the equation of the cuboid-shaped wave gate is obtained to determine the range of the wave gate.
The method of claim 25, wherein the determining whether the second target is located within the range of the wave gate according to the third position information comprises:

When the absolute value of the first coordinate on the first coordinate axis in the third position information is less than or equal to the length parameter of the first main axis, and

When the absolute value of the second coordinate on the second coordinate axis in the third position information is less than or equal to the length parameter of the second main axis, and

When the absolute value of the third coordinate on the third coordinate axis in the third position information is less than or equal to the length parameter of the third main axis, it is determined that the second target is located within the range of the cuboid wave gate.
A radar, characterized in that the radar comprises:

One or more processors, working individually or collectively, for implementing the method of any one of claims 1 to 26.
28. The radar of claim 27, wherein the radar comprises a lidar or a microwave radar.
The radar of claim 27, wherein when the radar is a microwave radar, the radar further comprises:

an antenna arrangement for transmitting microwave signals and receiving reflected signals; and

a signal processing circuit, electrically connected to the antenna device, for processing the reflected signal and converting it into a data signal,

Wherein, the processor is connected in communication with the signal processing circuit, and is used for processing the data signal sent by the signal processing circuit.
A movable platform is characterized in that, comprising:

Movable platform body;

The radar according to any one of claims 27-29, wherein the radar is provided on the movable platform body.
31. The movable platform of claim 30, wherein the movable platform comprises an aircraft, a robot, a vehicle, or a boat.
A computer storage medium on which a computer program is stored, characterized in that, when the computer program is executed by a processor, the method for obtaining a point cloud clustering gate described in any one of 1 to 26 is implemented.