A Pulse Detection Method for Radar Signals

Abstract

The present application provides a pulse detection method for radar signals, which relates to the field of digital signal technology. The method includes: obtaining a digital time-domain signal corresponding to the radar signal, calculating the amplitude of the digital time-domain signal to obtain the signal amplitudes of each sampling point on the digital time-domain signal, performing a delay process on the signal amplitudes of each sampling point for a preset number of clock cycles, using the signal amplitudes of each sampling point after the delay to perform envelope detection on the digital time-domain signal to obtain the envelope signal of the digital time-domain signal, performing time-domain alignment on the digital time-domain signal and the envelope signal according to a preset number of clock cycles, finally calculating the pulse width of the digital time-domain signal based on the envelope signal after time-domain alignment to obtain the signal pulse width of the digital time-domain signal, calculating the signal amplitude of the digital time-domain signal according to the envelope signal after time-domain alignment and the signal amplitudes of each sampling point, and performing envelope detection on the digital time-domain signal, which can improve the detection accuracy of the signal pulse width and the signal amplitude.

Description

Technical Field

[0001] The present invention relates to the technical field of digital signal processing, and in particular, to a method for detecting pulses of radar signals. Background Art

[0002] The pulse width detection technology is an important branch in the field of electronic measurement, and is indispensable in communication technology, medical equipment, industrial automation, and various electronic systems. In the communication field, signals are transmitted through the width of pulse signals, and the pulse detection technology is used to identify and decode these signals, so as to achieve accurate transmission and reception of data. With the rapid development of the communication field, the types of electromagnetic sources have become numerous, the signal types have become rich, and the electromagnetic environment has become increasingly complex. In a complex electromagnetic environment, the interweaving and superposition of various sources may generate interference, so effective and high-precision signal identification and communication design face huge challenges.

[0003] Currently, in the communication field, a pulse detection system composed of a digital receiver and a reconnaissance antenna is mostly used for receiving pulse signals, detecting pulse signals, and measuring frequencies. Along with the increasingly complex electromagnetic environment, the existing technologies mostly use means such as improving the performance of antennas and the hardware performance of digital receivers to improve the acquisition of radar signal information. However, this will increase the volume of the composed pulse detection system, as well as the number of devices and costs. Summary of the Invention

[0004] The purpose of the present invention is to provide a method for detecting pulses of radar signals for the deficiencies in the above-mentioned existing technologies, so as to accurately detect the envelope signal of the digital time-domain signal by performing envelope detection on the digital time-domain signal, making the finally calculated signal amplitude and signal pulse width of the digital time-domain signal more accurate. Without using means such as improving the performance of antennas and the hardware performance of digital receivers, the detection accuracy of the signal pulse width and signal amplitude can also be improved.

[0005] To achieve the above purpose, the technical solutions adopted in the embodiments of the present application are as follows:

[0006] In a first aspect, an embodiment of the present application provides a method for detecting pulses of radar signals, including:

[0007] Obtain a digital time-domain signal corresponding to the radar signal;

[0008] Perform amplitude calculation on the digital time-domain signal to obtain the signal amplitudes of each sampling point on the digital time-domain signal;

[0009] Perform a delay process on the signal amplitudes of each sampling point for a preset number of clock cycles;

[0010] Perform envelope detection on the digital time-domain signal using the signal amplitudes of the respective sampled points after delay to obtain the envelope signal of the digital time-domain signal;

[0011] Perform time-domain alignment on the digital time-domain signal and the envelope signal according to the preset number of clock cycles;

[0012] Calculate the signal pulse width of the digital time-domain signal according to the envelope signal after time-domain alignment;

[0013] Calculate the signal amplitude of the digital time-domain signal according to the envelope signal after time-domain alignment and the signal amplitudes of the respective sampled points.

[0014] In an alternative embodiment, the performing amplitude calculation on the digital time-domain signal to obtain the signal amplitudes of the respective sampled points on the digital time-domain signal includes:

[0015] Perform preprocessing on the digital time-domain signal to obtain the in-phase and quadrature signals of the respective sampled points;

[0016] Calculate the amplitude and phase of the respective sampled points according to the in-phase and quadrature signals of the respective sampled points;

[0017] Construct the modulus and phase of the signal vectors of the respective sampled points in a preset rectangular coordinate system according to the amplitude and phase of the respective sampled points; the two coordinate axes of the preset rectangular coordinate system correspond to the in-phase and quadrature signals;

[0018] Perform multiple pseudo-rotations on the signal vectors of the respective sampled points;

[0019] Calculate the modulus value of the signal vectors of the respective sampled points after pseudo-rotation as the signal amplitudes of the respective sampled points.

[0020] In an alternative embodiment, the performing envelope detection on the digital time-domain signal using the signal amplitudes of the respective sampled points after delay to obtain the envelope signal of the digital time-domain signal includes:

[0021] Calculate the energy mean values of multiple sliding windows starting from the initial sampled point based on the signal amplitudes of the respective sampled points after delay;

[0022] Calculate the floating energy threshold value of the first signal detection window corresponding to the initial sampled point according to the energy mean values of the multiple sliding windows;

[0023] Perform envelope detection on the first signal detection window according to the floating energy threshold value of the first signal detection window and the preset fixed energy threshold value of the detection environment corresponding to the radar signal to obtain the sub-envelope signal of the first signal detection window;

[0024] Determine the next window of the first signal detection window as the second signal detection window;

[0025] Continue to perform envelope detection on the second signal detection window until the detection of the digital time-domain signal is completed, and obtain the envelope signal.

[0026] In an alternative embodiment, the performing envelope detection on the first signal detection window according to the floating energy threshold value of the first signal detection window and the preset fixed energy threshold value of the detection environment corresponding to the radar signal to obtain the sub-envelope signal of the first signal detection window includes:

[0027] Determine the maximum threshold value of the floating energy threshold value of the first signal detection window and the preset fixed energy threshold value as the first preset comparison threshold value;

[0028] Perform envelope detection on the first signal detection window according to the first preset comparison threshold value to obtain the sub-envelope signal of the first signal detection window.

[0029] In an alternative embodiment, the performing envelope detection on the first signal detection window according to the first preset comparison threshold value to obtain the sub-envelope signal of the first signal detection window includes:

[0030] Determine the first preset window value corresponding to the first signal detection window as the current detection window value, where the first preset window value is a window value pre-calculated according to the energy mean value of the multiple sliding windows;

[0031] Determine the first preset comparison threshold value as the current detection threshold value;

[0032] Perform envelope detection on the first signal detection window according to the current detection window value and the current detection threshold value to obtain continuous pulses in the first signal detection window;

[0033] Generate the sub-envelope signal of the first signal detection window according to the detected continuous pulses.

[0034] In an alternative embodiment, the first preset window value includes: a first window value, a second window value, a third window value, and a fifth window value, where the first window value is an energy value pre-calculated according to the energy mean values of the first two sliding windows among the multiple sliding windows, the second window value and the third window value are respectively the energy mean values of the second window and the third window among the multiple sliding windows, and the fifth window value is a first preset multiple of the energy mean value of the last window among the multiple sliding windows;

[0035] Performing envelope detection on the first signal detection window according to the current detection window value and the current detection threshold value to obtain continuous pulses in the first signal detection window includes:

[0036] If the third window value in the current detection window value is greater than the first window value, and the energy value of the initial sampling point is greater than the current detection threshold value, it is determined that the signal rising edge at the initial sampling point arrives;

[0037] If the second window value in the current detection window value is greater than the fifth window value, compare the energy value of the initial sampling point with the current detection threshold value;

[0038] If the energy value of the initial sampling point is greater than the current detection threshold value, it is determined that a pulse is detected at the initial sampling point;

[0039] Continue to determine whether the energy values of each sampling point in the first signal detection window are greater than the current detection threshold value;

[0040] If at least a first preset number of sampling points in the first signal detection window have energy values greater than the current detection threshold value, it is determined that the detected pulse in the first signal detection window is a continuous pulse.

[0041] In an alternative embodiment, performing envelope detection on the first signal detection window according to the current detection window value and the current detection threshold value to obtain continuous pulses in the first signal detection window further includes:

[0042] If the second window value in the current detection window value is less than or equal to the fifth window value, compare the fifth window value with the first window value;

[0043] If the fifth window value in the current detection window value is less than or equal to the first window value, it is determined that the signal rising edge at the initial sampling point is an interference signal;

[0044] If the fifth window value in the current detection window value is greater than the first window value, compare the energy value of the initial sampling point with the current detection threshold value;

[0045] If the energy value of the initial sampling point is greater than the current detection threshold value, it is determined that a pulse is detected at the initial sampling point;

[0046] Continue to determine whether the energy values of each sampling point in the first signal detection window are greater than the current detection threshold value;

[0047] If the energy values of at least a second preset number of sampling points in the first signal detection window are all greater than the preset comparison threshold value, it is determined that the detected pulses in the first signal detection window are continuous pulses, where the second preset number is greater than the first preset number.

[0048] In an alternative embodiment, the continued envelope detection of the second signal detection window includes:

[0049] Obtain a second preset window value corresponding to the second signal detection window and a second preset comparison threshold value corresponding to the second signal detection window, where the second preset window value is a window value pre-calculated based on the energy mean of a plurality of sliding windows starting from the second signal detection window; the second preset window value includes: a second window value and a sixth window value, the second window value in the second preset window value is the energy mean of the next window of the second signal detection window, and the sixth window value in the second preset window value is a second preset multiple of the energy mean of the last sliding window among the plurality of sliding windows starting from the second signal detection window, and the second preset multiple is greater than the first preset multiple;

[0050] If the sub-envelope signal of the first signal detection window indicates that there are continuous pulses in the first signal detection window, update each window value in the current detection window value according to the second preset window value, and update the current detection threshold value according to the second preset comparison threshold value;

[0051] Compare the second window value and the sixth window value in the updated current detection window value;

[0052] If the second window value in the updated current detection window value is greater than the sixth window value, compare the energy value of the initial sampling point of the second signal detection window with the current detection threshold value;

[0053] If the energy value of the initial sampling point of the second signal detection window is greater than the current detection threshold value, it is determined that a pulse is detected at the initial sampling point of the second signal detection window;

[0054] Continue to determine whether the energy values of each sampling point in the second signal detection window are greater than the current detection threshold value;

[0055] If the energy values of at least the first preset number of sampling points in the second signal detection window are all greater than the current detection threshold value, it is determined that the detected pulses in the second signal detection window are continuous pulses.

[0056] In an alternative embodiment, the continued envelope detection of the second signal detection window further includes:

[0057] If the second window value in the updated current detection window value is less than or equal to the sixth window value, then compare the energy value of the initial sampling point of the second signal detection window with the current detection threshold value;

[0058] If the energy value of the initial sampling point of the second signal detection window is greater than the current detection threshold value, it is determined that a pulse is detected at the initial sampling point of the second signal detection window;

[0059] Continue to determine whether the energy values of each sampling point within the second signal detection window are greater than the current detection threshold value;

[0060] If the energy values of at least a third preset number of sampling points within the second signal detection window are all greater than the current detection threshold value, it is determined that the detected pulse within the second signal detection window is a continuous pulse, where the third preset number is less than the first preset number.

[0061] In an alternative embodiment, the calculating the signal pulse width of the digital time-domain signal according to the envelope signal after time-domain alignment includes:

[0062] Using a pre-designed counting clock to perform pulse counting on the envelope signal to obtain a plurality of pulse count values;

[0063] Detecting the rising edge and falling edge of the envelope signal to obtain the pulse times of each group in the envelope signal;

[0064] Determining the count value corresponding to the rising edge in each pulse time of the plurality of pulse count values as the start time of a pulse;

[0065] Determining the count value corresponding to the falling edge in each rising pulse time of the plurality of pulse count values as the end time of the one pulse;

[0066] Determining the signal pulse width of the one pulse according to the end time and start time of the one pulse;

[0067] The calculating the signal amplitude of the digital time-domain signal according to the envelope signal after time-domain alignment and the signal amplitudes of the respective sampling points includes:

[0068] Calculating the average value of the signal amplitudes of each sampling point within the start and end times of the one pulse according to the start time and end time of the one pulse to obtain the signal amplitude of the one pulse.

[0069] In a second aspect, an embodiment of the present application further provides a pulse detection device for radar signals, including:

[0070] An acquisition module, configured to acquire a digital time-domain signal corresponding to a radar signal;

[0071] A calculation module, configured to calculate the amplitude of the digital time-domain signal to obtain the signal amplitudes of each sampling point on the digital time-domain signal;

[0072] A delay module, configured to perform a delay process on the signal amplitudes of each sampling point for a preset number of clock cycles;

[0073] A detection module, configured to perform envelope detection on the digital time-domain signal by using the delayed signal amplitudes of each sampling point to obtain the envelope signal of the digital time-domain signal;

[0074] An alignment module, configured to perform time-domain alignment on the digital time-domain signal and the envelope signal according to the preset number of clock cycles;

[0075] The calculation module is further configured to calculate the signal pulse width of the digital time-domain signal according to the envelope signal after time-domain alignment;

[0076] The calculation module is further configured to calculate the signal amplitude of the digital time-domain signal according to the envelope signal after time-domain alignment and the signal amplitudes of each sampling point.

[0077] In a third aspect, an embodiment of the present application further provides an electronic device, including: a processor, a storage medium, and a bus. The storage medium stores program instructions executable by the processor. When the electronic device runs, the processor communicates with the storage medium through the bus, and the processor executes the program instructions to perform the steps of the pulse detection method of the radar signal according to any one of the first aspects.

[0078] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is run by a processor, it performs the steps of the pulse detection method of the radar signal according to any one of the first aspects.

[0079] The beneficial effects of the present application are:

[0080] An embodiment of the present application provides a method for pulse detection of radar signals, including: obtaining a digital time-domain signal corresponding to a radar signal, calculating the amplitude of the digital time-domain signal to obtain the signal amplitudes of each sampling point on the digital time-domain signal, performing a delay process on the signal amplitudes of each sampling point for a preset number of clock cycles, using the delayed signal amplitudes of each sampling point to perform envelope detection on the digital time-domain signal to obtain an envelope signal of the digital time-domain signal, then aligning the digital time-domain signal and the envelope signal in the time domain according to a preset number of clock cycles, and finally calculating the pulse width of the digital time-domain signal according to the envelope signal after time-domain alignment to obtain the signal pulse width of the digital time-domain signal, and calculating the signal amplitude of the digital time-domain signal according to the envelope signal after time-domain alignment and the signal amplitudes of each sampling point. The method of the present application can accurately detect the envelope signal of the digital time-domain signal through envelope detection of the digital time-domain signal, making the finally calculated pulse amplitude and pulse width of the digital time-domain signal more accurate. Without the need to adopt means to improve the performance of the antenna and the hardware performance of the digital receiver, the detection accuracy of the signal pulse width and signal amplitude can also be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0082] Figure 1 FIG. 1 is a schematic flow chart of a method for pulse detection of radar signals provided by an embodiment of the present application;

[0083] Figure 2 FIG. 2 is a schematic flow chart of a method for pulse detection of radar signals provided by an embodiment of the present application;

[0084] Figure 3 FIG. 3 is a schematic diagram of a preset plane rectangular coordinate system provided by an embodiment of the present application;

[0085] Figure 4 FIG. 4 is a schematic diagram of another preset plane rectangular coordinate system provided by an embodiment of the present application;

[0086] Figure 5 FIG. 5 is a schematic flow chart of a method for pulse detection of radar signals provided by an embodiment of the present application;

[0087] Figure 6 FIG. 6 is a schematic flow chart of a method for pulse detection of radar signals provided by an embodiment of the present application;

[0088] Figure 7The fifth flowchart of a method for detecting radar signal pulses provided by an embodiment of the present application;

[0089] Figure 8 The sixth flowchart of a method for detecting radar signal pulses provided by an embodiment of the present application;

[0090] Figure 9 The seventh flowchart of a method for detecting radar signal pulses provided by an embodiment of the present application;

[0091] Figure 10 The eighth flowchart of a method for detecting radar signal pulses provided by an embodiment of the present application;

[0092] Figure 11 The ninth flowchart of a method for detecting radar signal pulses provided by an embodiment of the present application;

[0093] Figure 12 The tenth flowchart of a method for detecting radar signal pulses provided by an embodiment of the present application;

[0094] Figure 13 The functional module diagram of a device for detecting radar signal pulses provided by an embodiment of the present application;

[0095] Figure 14 The schematic diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0096] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention.

[0097] Therefore, the detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application claimed, but merely represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the scope of protection of the present application.

[0098] In addition, the terms "first", "second", etc. in the description, claims, and the above-mentioned drawings of the present invention are used to distinguish similar objects and do not necessarily need to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order different from those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0099] It should be noted that, without conflict, the features in the embodiments of the present application can be combined with each other.

[0100] In order to improve the detection accuracy of the signal width and signal amplitude of radar signals, an embodiment of the present application provides a pulse detection method for radar signals. By obtaining the digital time-domain signal corresponding to the radar signal, calculating the amplitude of the digital time-domain signal to obtain the signal amplitude of each sampling point on the digital time-domain signal, performing a delay process on the signal amplitude of each sampling point for a preset number of clock cycles, using the signal amplitude of each sampling point after the delay to perform envelope detection on the digital time-domain signal to obtain the envelope signal of the digital time-domain signal, then aligning the digital time-domain signal and the envelope signal in the time domain according to a preset number of clock cycles, and finally calculating the pulse width according to the envelope signal after the time-domain alignment to obtain the pulse width of the digital time-domain signal, and calculating the amplitude according to the envelope signal after the time-domain alignment and the signal amplitude of each sampling point to obtain the pulse amplitude of the digital time-domain signal. By performing envelope detection on the digital time-domain signal, the envelope signal of the digital time-domain signal can be accurately detected, so that the finally calculated signal amplitude and signal pulse width of the digital time-domain signal are also more accurate, thereby improving the detection accuracy of the signal pulse width and signal amplitude.

[0101] The following will explain in detail the pulse detection method for radar signals provided by the embodiments of the present application with specific examples in combination with the drawings. The pulse detection method for radar signals provided by the embodiments of the present application can be implemented by a computer device pre-installed with a preset pulse detection method algorithm or detection software by running the algorithm or software. The computer device can be, for example, a server or a terminal, and the terminal can be a user computer. Figure 1 This is one of the flow diagrams of a pulse detection method for radar signals provided by an embodiment of the present application. As Figure 1 shown, the method includes:

[0102] S101. Obtain the digital time-domain signal corresponding to the radar signal.

[0103] S102. Calculate the amplitude of the digital time-domain signal to obtain the signal amplitudes of each sampling point on the digital time-domain signal.

[0104] In this embodiment, the radar signal is converted into a digital time-domain signal by using an Analog to Digital Converter (ADC).

[0105] Then, the Coordinate Rotation Digital Computer (CORDIC) is used to calculate the amplitude of the digital time-domain signal to obtain the signal amplitudes of each sampling point on the digital time-domain signal. At this time, the signal amplitudes of each sampling point are high-precision signal amplitudes, that is, the signal amplitudes of each sampling point are greater than the initial signal amplitudes of each sampling point.

[0106] S103. Perform a delay process on the signal amplitudes of each sampling point for a preset number of clock cycles.

[0107] Specifically, since it takes a certain amount of time for subsequent envelope detection of the digital time-domain signal, the signal amplitudes of each sampling point are pre-delayed for a preset number of clock cycles to ensure that the digital time-domain signal can complete envelope detection and the alignment of the envelope signal and the digital time-domain signal. Among them, the preset number of clock cycles can be set to 300, which is not limited here.

[0108] S104. Use the delayed signal amplitudes of each sampling point to perform envelope detection on the digital time-domain signal to obtain the envelope signal of the digital time-domain signal.

[0109] S105. Align the digital time-domain signal and the envelope signal in the time domain according to a preset number of clock cycles.

[0110] Among them, the envelope detection of the digital time-domain signal is performed by using the combination of Cell Averaging-Constant False-Alarm Rate (CA-CFAR) and window function decision to obtain the envelope signal of the digital time-domain signal.

[0111] Since the signal amplitudes of each sampling point are pre-delayed for a preset number of clock cycles, the digital time-domain signal and the envelope signal are aligned in the time domain according to a preset number of clock cycles.

[0112] S106. Calculate the signal pulse width of the digital time-domain signal according to the envelope signal after time-domain alignment.

[0113] S107. Calculate the signal amplitude based on the envelope signal after time-domain alignment and the signal amplitudes of each sampling point to obtain the signal amplitude of the digital time-domain signal.

[0114] Specifically, before calculating the pulse width of the envelope signal after time-domain alignment, first send the envelope signal to an anti-narrowing processing module to accumulate the continuous envelope signal Compare it with the burr length and notch length, and output the processed envelope signal after removing the false detections caused by interference.

[0115] When the value of the envelope signal is updated, compare it with the previous envelope signal If the envelope signal and the previous envelope signal then it is considered that the rising edge of the digital time-domain signal arrives. If the envelope signal and the previous envelope signal then it is considered that the falling edge of the digital time-domain signal arrives.

[0116] Then calculate the signal pulse width of the data time-domain signal based on the rising edge arrival time and falling edge arrival time of the digital time-domain signal, and calculate the signal amplitude of the data time-domain signal based on the signal amplitudes of each sampling point between the rising edge arrival time and falling edge arrival time of the digital time-domain signal.

[0117] In summary, the embodiment of the present application provides a method for detecting pulses of radar signals, including: obtaining the digital time-domain signal corresponding to the radar signal, calculating the amplitude of the digital time-domain signal to obtain the signal amplitudes of each sampling point on the digital time-domain signal, performing a delay process on the signal amplitudes of each sampling point for a preset number of clock cycles, using the delayed signal amplitudes of each sampling point to perform envelope detection on the digital time-domain signal to obtain the envelope signal of the digital time-domain signal, then performing time-domain alignment on the digital time-domain signal and the envelope signal according to a preset number of clock cycles, and finally calculating the pulse width according to the envelope signal after time-domain alignment to obtain the new pulse width of the digital time-domain signal, and calculating the signal amplitude of the digital time-domain signal according to the envelope signal after time-domain alignment and the signal amplitudes of each sampling point. The method of the present application can accurately detect the envelope signal of the digital time-domain signal through envelope detection of the digital time-domain signal, making the finally calculated signal amplitude and signal pulse width of the digital time-domain signal more accurate. Without the means of improving the performance of the antenna and the digital receiver hardware, the detection accuracy of the signal pulse width and signal amplitude can also be improved.

[0118] Based on the method for detecting pulses of radar signals provided in the above embodiment, the embodiment of the present application also provides another possible implementation manner of the method for detecting pulses of radar signals. Figure 2It is the second flowchart of a pulse detection method for radar signals provided by an embodiment of the present application. Figure 3 It is a schematic diagram of a preset plane rectangular coordinate system provided by an embodiment of the present application. Figure 4 It is a schematic diagram of another preset plane rectangular coordinate system provided by an embodiment of the present application. As Figure 2 shown, amplitude calculation is performed on the digital time-domain signal to obtain the signal amplitudes of each sampling point on the digital time-domain signal, including:

[0119] S201. Preprocess the digital time-domain signal to obtain the in-phase and quadrature signals of each sampling point.

[0120] In this embodiment, after preprocessing the digital time-domain signal, the in-phase and quadrature signals of each sampling point are output. Among them, the in-phase and quadrature signals include: the baseband signal I(n) of the in-phase branch and the baseband signal Q(n) of the quadrature branch, specifically expressed as:

[0121]

[0122] S202. Calculate the amplitude and phase of each sampling point according to the in-phase and quadrature signals of each sampling point.

[0123] Specifically, the following formula (1-2) is used to extract the amplitude α(n) and phase of each sampling point from the in-phase and quadrature signals of each sampling point

[0124]

[0125] S203. Construct the modulus and phase of the signal vector of each sampling point in the preset plane rectangular coordinate system according to the amplitude and phase of each sampling point.

[0126] Among them, the two coordinate axes of the preset plane rectangular coordinate system correspond to the in-phase and quadrature signals.

[0127] Since exponential, square root, and inverse trigonometric function calculations cannot be directly performed in the FPGA, the CORDIC algorithm is used in this embodiment to calculate the signal amplitude and signal phase of each sampling point on the digital time-domain signal. Among them, the CORDIC algorithm inputs the real part and imaginary part of the differential filtered signal, that is, the digital time-domain signal, into the X-axis and Y-axis registers respectively, determines whether the highest bit of the Y-axis register is positive. If the highest bit is positive, it rotates counterclockwise. If the highest bit is negative, it rotates clockwise. The idea of the dichotomy method is used for coordinate axis rotation. The new X-axis and Y-axis coordinates obtained after each rotation are calculated using the rotation angle, and the data in the registers of the corresponding pipeline group are updated. Finally, after rotating a preset number of times, the operation of the CORDIC algorithm is completed, and the signal amplitude and signal phase of each sampling point on the digital time-domain signal are output.

[0128] Specifically, the in-phase baseband signal I and the quadrature baseband signal Q are respectively two coordinate axes of a preset rectangular coordinate system. In this embodiment, taking the in-phase baseband signal I as the horizontal coordinate axis and the quadrature baseband signal Q as the vertical coordinate axis as an example, it can be known from the above formula (1-2) that according to the amplitude and phase of each sampling point, the initial signal vector corresponding to each sampling point, that is, the starting vector, can be constructed in the preset rectangular coordinate system. The modulus and phase of the signal vector of each sampling point respectively correspond to the amplitude and phase of each sampling point.

[0129] S204. Perform multiple pseudo-rotations on the signal vectors of each sampling point.

[0130] Specifically, along the preset rotation direction towards the coordinate axis of the in-phase baseband signal, perform multiple pseudo-rotations on the initial signal vectors of each sampling point, so that the signal vectors after each pseudo-rotation gradually approach the coordinate axis corresponding to the in-phase baseband signal.

[0131] Exemplarily, the signal vectors of each sampling point start to perform multiple pseudo-rotations along the preset rotation direction towards the coordinate axis of the in-phase baseband signal, that is, the direction of the X axis, to make it approach the required target vector. As Figure 3 shown, so that the signal vectors after each pseudo-rotation gradually approach the coordinate axis corresponding to the in-phase baseband signal.

[0132] Specifically, obtain the i-th pseudo-rotation of the signal vector of a sampling point. As Figure 4 shown, where α i is the angle of the i-th pseudo-rotation of the signal vector, θ i is the phase of the signal vector before the i-th pseudo-rotation, R i is the modulus of the signal vector before the i-th pseudo-rotation, R i+1 is the modulus of the signal vector after the i-th pseudo-rotation. Since the i-th pseudo-rotation is performed on the signal vector, R i+1 the modulus of the signal vector increases after the pseudo-rotation, and R i+1 and R i can form the hypotenuse and a right side of a right triangle. Among them, d i is the direction of the i-th rotation. If the rotation direction is clockwise, then d i =-1. If the rotation direction is counterclockwise, then d i =+1. According to the different values of d i , the signal vector rotates in different directions.

[0133] Among them, the horizontal and vertical coordinates of R i+1 are respectively expressed as:

[0134]

[0135] The angle of the i-th pseudo-rotation of the signal vector needs to satisfy the following conditions:

[0136] α i = arctan2 -i (1 - 4)

[0137] That is, tanα i = 2 -i , let z represent the angle φ by which the vector is finally to be rotated, expressed as:

[0138]

[0139] In order to make z gradually approach the phase angle of the target vector, in the rotation mode, d i needs to satisfy d i = sign{z i}, and in the vector mode, d i needs to satisfy d i = -sign{z i}. The output of the CORDIC algorithm in the vector mode is expressed as:

[0140]

[0141]

[0142] Substituting formula (1 - 6) into formula (1 - 3) gives:

[0143]

[0144] Substituting formula (1 - 7) and formula (1 - 8) into formula (1 - 9) gives the following system of equations:

[0145]

[0146] Let z be the angle value after the i-th pseudo-rotation of the signal vector. Let the initial angle of the vector z1 = 0, and substitute d i into formula (1 - 10) to obtain the recurrence formula of the CORDIC algorithm:

[0147]

[0148] Formula (1 - 11) is the recurrence formula for the horizontal and vertical coordinates and the angle of R i+1 after the i-th pseudo-rotation of the signal vector. Starting from the pseudo-rotation times i = 0 and as i increases, the x, y, and z of the signal vectors at each sampling point are continuously recursively calculated. When i approaches infinity, x, y, and z converge to 0 and where x and y are the horizontal and vertical coordinates of the initial signal vector. k is the compensation factor for the modulus of the signal vector. Since the modulus of the signal vector increases after each pseudo-rotation of the signal vector times, so it is necessary to compensate for the magnitude of the signal

[0149] vector.

[0150] If the number of rotations of the final signal vector is N, the ratio k of the magnitude of the target signal vector to the magnitude of the initial signal vector is:

[0151]

[0152] S205. Calculate the magnitude value of the signal vector of each sampling point after pseudo-rotation as the signal amplitude of each sampling point.

[0153] Specifically, through formula (1-11) and formula (1-12), the magnitude calculation and phase operation of the signal vector can be converted into basic addition, subtraction and shift operations, which is convenient for implementation in FPGA. Since the number of pseudo-rotations is limited in actual implementation, the number of pseudo-rotations is selected according to the system accuracy. In this embodiment, considering the calculation accuracy and hardware resources, the number of pseudo-rotations can be set to 11 times, so as to obtain the magnitude value of the signal vector with high precision at each sampling point and use it as the signal amplitude of each sampling point.

[0154] In the method provided by the embodiment of the present application, by preprocessing the digital time-domain signal, the in-phase and quadrature signals of each sampling point are obtained, and then according to the in-phase and quadrature signals of each sampling point, the amplitude and phase of each sampling point are calculated. According to the amplitude and phase of each sampling point, the magnitude and phase of the signal vector of each sampling point are constructed in a preset plane rectangular coordinate system. The two coordinate axes of the preset plane rectangular coordinate system respectively correspond to the in-phase and quadrature signals. The signal vectors of each sampling point are pseudo-rotated multiple times, and the magnitude value of the signal vector of each sampling point after pseudo-rotation is calculated as the signal amplitude of each sampling point. By constructing the magnitude and phase of the signal vector of each sampling point in the preset plane rectangular coordinate system according to the amplitude and phase of each sampling point, and performing multiple pseudo-rotations on the signal vectors of each sampling point, the magnitude value of the signal vector of each sampling point obtained after multiple pseudo-rotations is a high-precision signal magnitude value, effectively improving the detection accuracy of the signal amplitude and signal pulse width of the digital time-domain signal.

[0155] Since radar detection is affected by noise, clutter, and interference, fixed thresholds are needed for target detection. However, when the clutter background fluctuates, the false alarm rate will increase sharply, seriously affecting the radar's detection performance. Therefore, by dynamically adjusting the detection threshold based on radar clutter data, the maximum target detection probability can be achieved while maintaining a constant false alarm rate. This method is called the constant false alarm rate (CFAR) detection technique. Currently, many efficient CFAR detection techniques have been proposed for various complex environments in the prior art, which can be generally divided into the mean-based CFAR algorithm (Cell Averaging-Constant False-Alarm Rate, CA-CFAR). The premise of applying this type of algorithm is to assume that the background clutter is uniformly distributed. The other is the ordered statistics-based CFAR algorithm (Ordered Statistics-Constant False-Alarm Rate, OS-CFAR), which is designed to handle the situation of multiple targets in the neighborhood.

[0156] In a pulse detection method for radar signals provided by this application, envelope detection is performed on the digital time-domain signal by combining a CA-CFAR algorithm and window function decision, providing another possible implementation of the pulse detection method for radar signals. Figure 5 This is the third schematic diagram of the process of a pulse detection method for radar signals provided by an embodiment of this application. As Figure 5 shown, the signal amplitudes of the delayed sampling points are used to perform envelope detection on the digital time-domain signal to obtain the envelope signal of the digital time-domain signal, including:

[0157] S301. Calculate the energy means of multiple sliding windows starting from the initial sampling point based on the signal amplitudes of the delayed sampling points.

[0158] In this embodiment, energy calculation is performed on the signal amplitudes of the delayed sampling points to determine the energy values of each sampling point. Starting from the initial sampling point, multiple sliding windows are selected. Each sliding window includes 32 sampling points of the signal. According to the energy values of the 32 sampling points of the signal, the energy means of each sliding window are calculated respectively, where the initial sampling point is the sampling point at which envelope detection starts.

[0159] S302. Calculate the floating energy threshold value of the first signal detection window corresponding to the initial sampling point according to the energy means of the multiple sliding windows.

[0160] Specifically, based on the energy means of multiple sliding windows, calculate the total energy mean of the multiple sliding windows. According to the total energy mean of the multiple sliding windows and a preset proportionality coefficient, calculate the floating energy threshold value of the first signal detection window corresponding to the initial sampling point, where the preset proportionality coefficient is any positive number less than 1. For example, if the preset proportionality coefficient is set to 0.625, then determine that the floating energy threshold value of the first signal detection window is 0.625 times the total energy value of the multiple sliding windows.

[0161] S303. Perform envelope detection on the first signal detection window according to the floating energy threshold value of the first signal detection window and the preset fixed energy threshold value of the detection environment corresponding to the radar signal, to obtain the sub-envelope signal of the first signal detection window.

[0162] Specifically, calculate the preset fixed energy threshold value λ based on the noise power value of the detection environment, the number of sampling points within a single sliding window, and the preset false alarm probability. The calculation formula is as follows:

[0163]

[0164] where Q -1 () represents the inverse function of the Q function, represents the noise power value of the detection environment, N represents the number of sampling points within a single sliding window, and P f represents the preset false alarm probability.

[0165] Then, perform envelope detection on each sampling point within the first signal detection window according to the floating energy threshold value of the first signal detection window and the preset fixed energy threshold value, to obtain the sub-envelope signal of the first signal detection window.

[0166] S304. Determine the next window of the first signal detection window as the second signal detection window.

[0167] Among them, the first signal detection window includes 32 sampling points. After all the sampling points in the first signal detection window are detected, detect the next second signal detection window. The initial sampling point of the second signal detection window is continuous with the last sampling point of the first signal detection window.

[0168] S305. Continue to perform envelope detection on the second signal detection window until the detection of the digital time-domain signal is completed, to obtain the envelope signal.

[0169] Specifically, continue to perform envelope detection on the second signal detection window, including calculating the energy means of multiple sliding windows starting from the initial sampling point of the second signal detection window, then calculating the floating energy threshold value of the second signal detection window, and performing envelope detection on the second signal detection window according to the floating energy threshold value of the second signal detection window and a preset fixed energy threshold value to obtain the sub-envelope signal of the second signal detection window until the detection of the digital time-domain signal is completed, and finally obtaining the envelope signal of the digital time-domain signal.

[0170] In the method provided by the embodiments of the present application, based on the signal amplitudes of the sampled points after delay, calculate the energy means of multiple sliding windows starting from the initial sampling point, calculate the floating energy threshold value of the first signal detection window corresponding to the initial sampling point according to the energy means of the multiple sliding windows, and perform envelope detection on the first signal detection window according to the floating energy threshold value of the first signal detection window and the preset fixed energy threshold value of the detection environment corresponding to the radar signal to obtain the sub-envelope signal of the first signal detection window, then determine the next window of the first signal detection window as the second signal detection window, and continue to perform envelope detection on the second signal detection window until the detection of the digital time-domain signal is completed to obtain the envelope signal. It can be seen that the floating energy threshold value of each signal detection window and the preset fixed energy threshold value are calculated in sequence, envelope detection is performed on each signal detection window to obtain the sub-envelope signal of each signal detection window, and thus the envelope signal of the digital time-domain signal is obtained according to the sub-envelope signal of each signal detection window.

[0171] Based on the pulse detection method of a radar signal provided in the above embodiments, the embodiments of the present application also provide a possible implementation manner of another pulse detection method of a radar signal. Figure 6 It is a schematic flow chart IV of a pulse detection method of a radar signal provided by the embodiments of the present application. As Figure 6 shown, performing envelope detection on the first signal detection window according to the floating energy threshold value of the first signal detection window and the preset fixed energy threshold value of the detection environment corresponding to the radar signal to obtain the sub-envelope signal of the first signal detection window includes:

[0172] S401. Determine the maximum threshold value between the floating energy threshold value of the first signal detection window and the preset fixed energy threshold value as the first preset comparison threshold value.

[0173] S402. Perform envelope detection on the first signal detection window according to the first preset comparison threshold value to obtain the sub-envelope signal of the first signal detection window.

[0174] In this embodiment, the maximum threshold value is determined from the floating energy threshold value in the first signal detection window and the preset fixed energy threshold value as the first preset comparison threshold value. According to the first preset comparison threshold value and the energy values of each sampling point in the first signal detection window, envelope detection is performed on the first signal detection window to obtain the sub-envelope signal of the first signal detection window.

[0175] Another possible implementation of the pulse detection method for radar signals is also provided in the embodiments of the present application. Figure 7 It is a fifth flowchart of the pulse detection method for radar signals provided by the embodiments of the present application. As Figure 7 shown, performing envelope detection on the first signal detection window according to the first preset comparison threshold value to obtain the sub-envelope signal of the first signal detection window includes:

[0176] S501. Determine that the first preset window value corresponding to the first signal detection window is the current detection window value.

[0177] In this embodiment, the first preset window value is a window value pre-calculated according to the energy mean values of multiple sliding windows.

[0178] S502. Determine that the first preset comparison threshold value is the current detection threshold value.

[0179] S503. Perform envelope detection on the first signal detection window according to the current detection window value and the current detection threshold value to obtain continuous pulses in the first signal detection window.

[0180] S504. Generate the sub-envelope signal of the first signal detection window according to the detected continuous pulses.

[0181] Specifically, according to the current detection window value and the current detection threshold value, envelope detection is performed on the first signal detection window to determine whether the initial sampling point of the first signal detection window reaches the rising edge, and whether the sampling points of the first signal detection window are continuous after reaching the rising edge, so as to obtain continuous pulses in the first signal detection window, and generate the sub-envelope signal of the first signal detection window according to the continuous pulses.

[0182] Based on the pulse detection method of a radar signal provided in the above embodiments, the embodiments of the present application also provide a possible implementation of another pulse detection method for radar signals. The first preset window values include: the first window value, the second window value, the third window value, and the fifth window value. Among them, the first window value is an energy value calculated in advance according to the energy means of the first two sliding windows among multiple sliding windows. The second window value and the third window value are respectively the energy means of the second window and the third window among multiple sliding windows. The fifth window value is a first preset multiple of the energy mean of the last window among multiple sliding windows. For example, if the number of multiple sliding windows is 4, namely window 1, window 2, window 3, and window 4, the first window value, denoted as window a, is 1.75 times the average of the energy means of window 1 and window 2. The second window value, denoted as window b, is the energy mean of window 2. The third window value, denoted as window c, is the energy mean of window 3. The fifth window value, denoted as window e, is 2 times the energy mean of window 4, which is the first preset multiple. The first preset window values also include: the fourth window value and the sixth window value. Among them, the fourth window value is the energy mean of the last window among multiple sliding windows, that is, the fourth window value, denoted as window d, is the energy mean of window 4. The sixth window value is a second preset multiple of the energy mean of the last window among multiple sliding windows, that is, the sixth window value, denoted as window f, is 2.5 times the energy mean of window 4, which is the second preset multiple. It should be noted that the second preset multiple and the first preset multiple are not limited here.

[0183] Figure 8 This is the sixth flowchart of the pulse detection method for a radar signal provided by the embodiments of the present application. As Figure 8 shown, according to the current detection window value and the current detection threshold value, envelope detection is performed on the first signal detection window to obtain continuous pulses in the first signal detection window, including:

[0184] S601. If the third window value in the current detection window value is greater than the first window value, and the energy value of the initial sampling point is greater than the current detection threshold value, it is determined that the signal rising edge at the initial sampling point arrives.

[0185] S602. If the second window value in the current detection window value is greater than the fifth window value, compare the energy value of the initial sampling point with the current detection threshold value.

[0186] In this embodiment, if the third window value in the current detection window value, that is, window c, is greater than the first window value, that is, window a, and the energy value of the initial sampling point is greater than the current detection threshold value, it is determined that the signal rising edge at the initial sampling point arrives, and then signal pulse detection is performed. By comparing the second window value and the fifth window value in the current detection window value, it is determined whether a pulse is detected at the initial sampling point.

[0187] If the second window value in the current detection window value, i.e., window b, is greater than the fifth window value, i.e., window e, compare the energy value of the initial sampling point with the current detection threshold value.

[0188] It should be noted that if the third window value in the current detection window value is less than or equal to the first window value, or the energy value of the initial sampling point is less than the current detection threshold value, it is determined that the signal rising edge at the initial sampling point has not arrived, and continue to determine and wait for the signal rising edge to arrive.

[0189] S603. If the energy value of the initial sampling point is greater than the current detection threshold value, it is determined that a pulse is detected at the initial sampling point.

[0190] S604. Continue to determine whether the energy values of the sampling points in the first signal detection window are greater than the current detection threshold value.

[0191] S605. If there are at least a first preset number of sampling points in the first signal detection window whose energy values are all greater than the current detection threshold value, it is determined that the pulses detected in the first signal detection window are continuous pulses.

[0192] Specifically, the first preset number can be set to 25. If the energy value of the initial sampling point is greater than the current detection threshold value, it is determined that a pulse is detected at the initial sampling point. If there are at least 25 sampling points in the first signal detection window whose energy values are all greater than the current detection threshold value, it is determined that the pulses detected in the first signal detection window are continuous pulses.

[0193] If the energy value of the initial sampling point is less than or equal to the current detection threshold value, it is determined that no pulse is detected at the initial sampling point.

[0194] If there are not at least 25 sampling points in the first signal detection window whose energy values are all greater than the current detection threshold value, it is determined that the pulses detected in the first signal detection window are not continuous pulses, and the detection of the current signal ends, and the signal of the next signal detection window is re-detected.

[0195] In the method provided by the embodiment of the present application, if the third window value in the current detection window value is greater than the first window value, and the energy value of the initial sampling point is greater than the current detection threshold value, it is determined that the signal rising edge at the initial sampling point arrives. If the second window value in the current detection window value is greater than the fifth window value, compare the energy value of the initial sampling point with the current detection threshold value. If the energy value of the initial sampling point is greater than the current detection threshold value, it is determined that a pulse is detected at the initial sampling point. Continue to determine whether the energy values of the sampling points in the first signal detection window are greater than the current detection threshold value. If there are at least a first preset number of sampling points in the first signal detection window whose energy values are all greater than the current detection threshold value, it is determined that the pulses detected in the first signal detection window are continuous pulses, so as to obtain the continuous pulses in the first signal detection window.

[0196] The embodiment of the present application also provides a possible implementation manner of another method for detecting pulses of radar signals. Figure 9 It is the seventh flowchart diagram of a method for detecting pulses of radar signals provided by the embodiment of the present application. As Figure 9 shown, according to the current detection window value and the current detection threshold value, envelope detection is performed on the first signal detection window to obtain continuous pulses in the first signal detection window. This method further includes:

[0197] S701. If the second window value in the current detection window value is less than or equal to the fifth window value, compare the fifth window value with the first window value.

[0198] S702. If the fifth window value in the current detection window value is less than or equal to the first window value, determine that the signal rising edge at the initial sampling point is an interference signal.

[0199] S703. If the fifth window value in the current detection window value is greater than the first window value, compare the energy value of the initial sampling point with the current detection threshold value.

[0200] S704. If the energy value of the initial sampling point is greater than the current detection threshold value, determine that a pulse is detected at the initial sampling point.

[0201] S705. Continue to determine whether the energy values of each sampling point in the first signal detection window are greater than the current detection threshold value.

[0202] S706. If at least a second preset number of sampling points in the first signal detection window have energy values greater than the preset comparison threshold value, determine that the pulses detected in the first signal detection window are continuous pulses.

[0203] In this embodiment, the second preset number is greater than the first preset number.

[0204] If the second window value in the current detection window value, i.e., window b, is less than or equal to the fifth window value, i.e., window e, compare the fifth window value, i.e., window e, with the first window value, i.e., window a. If the fifth window value in the current detection window value, i.e., window e, is greater than the first window value, i.e., window a, compare the energy value of the initial sampling point with the current detection threshold value.

[0205] Specifically, the second preset number can be set to 26. If the energy value of the initial sampling point is greater than the current detection threshold value, determine that a pulse is detected at the initial sampling point. If at least 26 sampling points in the first signal detection window have energy values greater than the current detection threshold value, determine that the pulses detected in the first signal detection window are continuous pulses.

[0206] If the energy value of the initial sampling point is less than or equal to the current detection threshold value, determine that no pulse is detected at the initial sampling point.

[0207] If there are no energy values of at least 26 sampling points in the first signal detection window that are all greater than the current detection threshold value, it is determined that the pulses detected in the first signal detection window are not continuous pulses, and the detection of the current signal ends, and the signal of the next detection window is detected again.

[0208] In the method provided by the embodiments of the present application, if the second window value in the current detection window value is less than or equal to the fifth window value, the fifth window value is compared with the first window value; if the fifth window value in the current detection window value is less than or equal to the first window value, it is determined that the signal rising edge at the initial sampling point is an interference signal; if the fifth window value in the current detection window value is greater than the first window value, the energy value of the initial sampling point is compared with the current detection threshold value; if the energy value of the initial sampling point is greater than the current detection threshold value, it is determined that a pulse is detected at the initial sampling point; continue to judge whether the energy values of each sampling point in the first signal detection window are greater than the current detection threshold value; if there are at least a second preset number of sampling points in the first signal detection window whose energy values are all greater than the preset comparison threshold value, it is determined that the pulses detected in the first signal detection window are continuous pulses, where the second preset number is greater than the first preset number, so as to obtain the continuous pulses in the first signal detection window.

[0209] The above embodiments provide an implementation manner of a pulse detection method for radar signals by performing envelope detection on the first signal detection window. The embodiments of the present application also provide a possible implementation manner of another pulse detection method for radar signals by continuing to perform envelope detection on the second signal detection window. Figure 10 It is a schematic flowchart VIII of a pulse detection method for radar signals provided by the embodiments of the present application. As Figure 10 shown, continuing to perform envelope detection on the second signal detection window includes:

[0210] S801. Obtain a second preset window value corresponding to the second signal detection window and a second preset comparison threshold value corresponding to the second signal detection window.

[0211] Among them, the second preset window value is a window value pre-calculated based on the energy mean of multiple sliding windows starting from the second signal detection window. The second preset window value includes: a second window value and a sixth window value. The second window value in the second preset window value is the energy mean of the next window of the second signal detection window, and the sixth window value in the second preset window value is a second preset multiple of the energy mean of the last sliding window among the multiple sliding windows starting from the second signal detection window. The second preset multiple is greater than the first preset multiple. The calculation method of each window value in the second preset window value is the same as that of each window value in the first preset window value. The difference is that the energy mean of the multiple sliding windows corresponding to the second signal detection window is different from the energy mean of the multiple sliding windows corresponding to the first signal detection window, which will not be elaborated here.

[0212] S802. If the sub-envelope signal of the first signal detection window indicates that there are continuous pulses in the first signal detection window, update each window value in the current detection window value according to the second preset window value, and update the current detection threshold according to the second preset comparison threshold.

[0213] At this time, the current detection window value is the second preset window value, and the current detection threshold is the second preset comparison threshold. The second preset comparison threshold is the maximum threshold among the floating energy threshold of the second signal detection window and the preset fixed energy threshold.

[0214] S803. Compare the second window value and the sixth window value in the updated current detection window value.

[0215] S804. If the second window value in the updated current detection window value is greater than the sixth window value, compare the energy value of the initial sampling point of the second signal detection window with the current detection threshold.

[0216] S805. If the energy value of the initial sampling point of the second signal detection window is greater than the current detection threshold, it is determined that a pulse is detected at the initial sampling point of the second signal detection window.

[0217] S806. Continue to judge whether the energy value of each sampling point in the second signal detection window is greater than the current detection threshold.

[0218] S807. If the energy values of at least the first preset number of sampling points in the second signal detection window are all greater than the current detection threshold, it is determined that the pulses detected in the second signal detection window are continuous pulses.

[0219] Specifically, if the second window value in the current detection window value, that is, window b, is greater than the sixth window value, that is, window f, compare the energy value of the initial sampling point of the second signal detection window with the current detection threshold.

[0220] Specifically, the first preset quantity can be set to 25. If the energy value of the initial sampling point of the second signal detection window is greater than the current detection threshold value, it is determined that a pulse is detected at the initial sampling point of the second signal detection window. If the energy values of at least 25 sampling points in the second signal detection window are all greater than the current detection threshold value, it is determined that the pulses detected in the second signal detection window are continuous pulses.

[0221] If the energy value of the initial sampling point of the second signal detection window is less than or equal to the current detection threshold value, it is determined that no pulse is detected at the initial sampling point of the second signal detection window.

[0222] If there are not at least 25 sampling points in the second signal detection window whose energy values are all greater than the current detection threshold value, it is determined that the pulses detected in the second signal detection window are not continuous pulses, and the detection of the current signal ends, and the signal of the next detection window is detected again.

[0223] In the method provided by the embodiments of the present application, a second preset window value corresponding to the second signal detection window and a second preset comparison threshold value corresponding to the second signal detection window are obtained. If the sub-envelope signal of the first signal detection window indicates that there are continuous pulses in the first signal detection window, each window value in the current detection window value is updated according to the second preset window value, and the current detection threshold value is updated according to the second preset comparison threshold value; the second window value and the sixth window value in the updated current detection window value are compared; if the second window value in the updated current detection window value is greater than the sixth window value, the energy value of the initial sampling point of the second signal detection window is compared with the current detection threshold value; if the energy value of the initial sampling point of the second signal detection window is greater than the current detection threshold value, it is determined that a pulse is detected at the initial sampling point of the second signal detection window; continue to judge whether the energy values of each sampling point in the second signal detection window are greater than the current detection threshold value; if there are at least the first preset quantity of sampling points in the second signal detection window whose energy values are all greater than the current detection threshold value, it is determined that the pulses detected in the second signal detection window are continuous pulses, so as to obtain the continuous pulses of the second signal detection window.

[0224] The embodiments of the present application also provide a possible implementation manner of another radar signal pulse detection method by continuing envelope detection on the second signal detection window. Figure 11 This is the ninth flowchart of a radar signal pulse detection method provided by the embodiments of the present application. As Figure 11 shown, continuing envelope detection on the second signal detection window includes:

[0225] S901. If the second window value in the updated current detection window value is less than or equal to the sixth window value, the energy value of the initial sampling point of the second signal detection window is compared with the current detection threshold value.

[0226] S902. If the energy value of the initial sampling point of the second signal detection window is greater than the current detection threshold, it is determined that a pulse is detected at the initial sampling point of the second signal detection window.

[0227] S903. Continue to determine whether the energy values of the sampling points within the second signal detection window are greater than the current detection threshold.

[0228] S904. If the energy values of at least a third preset number of sampling points within the second signal detection window are all greater than the current detection threshold, it is determined that the pulse detected within the second signal detection window is a continuous pulse.

[0229] In this embodiment, the third preset number is less than the first preset number.

[0230] If the second window value in the current detection window value, i.e., window b, is less than or equal to the sixth window value, i.e., window f, compare the energy value of the initial sampling point of the second signal detection window with the current detection threshold.

[0231] Specifically, the third preset number can be set to 20. If the energy value of the initial sampling point of the second signal detection window is greater than the current detection threshold, it is determined that a pulse is detected at the initial sampling point of the second signal detection window. If the energy values of at least 20 sampling points within the second signal detection window are all greater than the current detection threshold, it is determined that the pulse detected within the second signal detection window is a continuous pulse.

[0232] If the energy value of the initial sampling point of the second signal detection window is less than or equal to the current detection threshold, it is determined that no pulse is detected at the initial sampling point of the second signal detection window.

[0233] If there are not at least 20 sampling points within the second signal detection window whose energy values are all greater than the current detection threshold, it is determined that the pulse detected within the second signal detection window is not a continuous pulse, and the detection of the current signal ends, and the signal of the next detection window is detected again.

[0234] In the method provided by the embodiment of the present application, if the second window value in the updated current detection window value is less than or equal to the sixth window value, the energy value of the initial sampling point of the second signal detection window is compared with the current detection threshold; if the energy value of the initial sampling point of the second signal detection window is greater than the current detection threshold, it is determined that a pulse is detected at the initial sampling point of the second signal detection window; continue to determine whether the energy values of the sampling points within the second signal detection window are greater than the current detection threshold; if the energy values of at least a third preset number of sampling points within the second signal detection window are all greater than the current detection threshold, it is determined that the pulse detected within the second signal detection window is a continuous pulse, where the third preset number is less than the first preset number, so as to obtain the continuous pulse of the second signal detection window.

[0235] Another possible implementation of the pulse detection method for radar signals is also provided in the embodiments of the present application. Figure 12 FIG. 10 is a schematic flowchart of a pulse detection method for radar signals provided in the embodiments of the present application. As Figure 12 shown, the pulse widths of multiple pulses in the digital time domain signal are calculated according to the envelope signal after time domain alignment, including:

[0236] S1001: Use a pre-designed counting clock to perform pulse counting on the envelope signal to obtain multiple pulse count values.

[0237] S1002: Detect the rising edge and falling edge of the envelope signal to obtain the pulse times of each group in the envelope signal.

[0238] S1003: Determine the count value corresponding to the rising edge in the pulse time of each group among the multiple pulse count values as the start time of a pulse.

[0239] S1004: Determine the count value corresponding to the falling edge in the rising pulse time of each group among the multiple pulse count values as the end time of a pulse.

[0240] S1005: Determine the signal pulse width of a pulse according to the end time and start time of a pulse.

[0241] In this embodiment, the preprocessing clock of 200 MHz is selected as the counting clock, and the clock period is 5 ns. Pulse counting is performed on the envelope signal to obtain multiple pulse count values. When the counting clock starts counting and the rising edge of the pulse is detected, the current count value is latched as the start time of a pulse. When the falling edge of the pulse is detected, the current count value is latched as the end time of a pulse. The end time of a pulse is subtracted from the start time to obtain the signal pulse width of a pulse.

[0242] Based on the above, the signal amplitude of the digital time domain signal is calculated according to the envelope signal after time domain alignment and the signal amplitudes of each sampling point, including:

[0243] The average value of the signal amplitudes of each sampling point within the start and end times of a pulse is calculated according to the start time and end time of a pulse to obtain the signal amplitude of a pulse.

[0244] Specifically, according to the start time and end time of a pulse, when the rising edge of a pulse arrives, the amplitudes of a pulse start to be accumulated. When the falling edge of a pulse arrives, the accumulated amplitudes are averaged, and this average value is used as the signal amplitude of a pulse.

[0245] The following continues to provide corresponding explanations for the pulse detection device and electronic device of radar signals provided in any of the above embodiments of the present application. The specific implementation process and the resulting technical effects are the same as those in the corresponding method embodiments described above. For a brief description, for parts not mentioned in this embodiment, reference may be made to the corresponding content in the method embodiments.

[0246] Figure 13 It is a schematic diagram of the functional modules of a pulse detection device for radar signals provided in an embodiment of the present application. As Figure 13 shown, the pulse detection device 100 of the radar signal includes:

[0247] An acquisition module 110, configured to acquire a digital time-domain signal corresponding to the radar signal;

[0248] A calculation module 120, configured to perform amplitude calculation on the digital time-domain signal to obtain the signal amplitudes of each sampling point on the digital time-domain signal;

[0249] A delay module 130, configured to perform delay processing on the signal amplitudes of each sampling point for a preset number of clock cycles;

[0250] A detection module 140, configured to perform envelope detection on the digital time-domain signal by using the delayed signal amplitudes of each sampling point to obtain the envelope signal of the digital time-domain signal;

[0251] An alignment module 150, configured to perform time-domain alignment on the digital time-domain signal and the envelope signal according to a preset number of clock cycles;

[0252] The calculation module 120 is further configured to calculate the signal pulse width of the digital time-domain signal according to the envelope signal after time-domain alignment;

[0253] The calculation module 120 is further configured to calculate the signal amplitude of the digital time-domain signal according to the envelope signal after time-domain alignment and the signal amplitudes of each sampling point.

[0254] Optionally, the calculation module is further configured to preprocess the digital time-domain signal to obtain the in-phase and quadrature signals of each sampling point; calculate the amplitude and phase of each sampling point according to the in-phase and quadrature signals of each sampling point; construct the modulus and phase of the signal vector of each sampling point in a preset plane rectangular coordinate system; the two coordinate axes of the preset plane rectangular coordinate system correspond to the in-phase and quadrature signals; perform multiple pseudo-rotations on the signal vectors of each sampling point; calculate the modulus value of the signal vector of each sampling point after pseudo-rotation as the signal amplitude of each sampling point.

[0255] Optionally, the detection module 140 is further configured to calculate the energy means of multiple sliding windows starting from the initial sampling point based on the signal amplitudes of each sampling point after time delay; calculate the floating energy threshold value of the first signal detection window corresponding to the initial sampling point according to the energy means of the multiple sliding windows; perform envelope detection on the first signal detection window according to the floating energy threshold value of the first signal detection window and the preset fixed energy threshold value of the detection environment corresponding to the radar signal, to obtain the sub-envelope signal of the first signal detection window; determine the next window of the first signal detection window as the second signal detection window; continue to perform envelope detection on the second signal detection window until the detection of the digital time-domain signal is completed, to obtain the envelope signal.

[0256] Optionally, the detection module 140 is further configured to determine the maximum threshold value between the floating energy threshold value of the first signal detection window and the preset fixed energy threshold value as the first preset comparison threshold value; perform envelope detection on the first signal detection window according to the first preset comparison threshold value, to obtain the sub-envelope signal of the first signal detection window.

[0257] Optionally, the detection module 140 is further configured to determine the first preset window value corresponding to the first signal detection window as the current detection window value, where the first preset window value is a window value pre-calculated according to the energy means of the multiple sliding windows; determine the first preset comparison threshold value as the current detection threshold value; perform envelope detection on the first signal detection window according to the current detection window value and the current detection threshold value, to obtain the continuous pulses in the first signal detection window; generate the sub-envelope signal of the first signal detection window according to the detected continuous pulses.

[0258] Optionally, the detection module 140 is further configured to determine that the signal rising edge arrives at the initial sampling point if the third window value in the current detection window value is greater than the first window value and the energy value of the initial sampling point is greater than the current detection threshold value; compare the energy value of the initial sampling point with the current detection threshold value if the second window value in the current detection window value is greater than the fifth window value; determine that a pulse is detected at the initial sampling point if the energy value of the initial sampling point is greater than the current detection threshold value; continue to determine whether the energy values of each sampling point in the first signal detection window are greater than the current detection threshold value; determine that the pulse detected in the first signal detection window is a continuous pulse if at least the first preset number of sampling points in the first signal detection window have energy values greater than the current detection threshold value.

[0259] Optionally, the detection module 140 is further configured to, if the second window value in the current detection window value is less than or equal to the fifth window value, compare the fifth window value with the first window value; if the fifth window value in the current detection window value is less than or equal to the first window value, determine that the signal rising edge at the initial sampling point is an interference signal; if the fifth window value in the current detection window value is greater than the first window value, compare the energy value of the initial sampling point with the current detection threshold value; if the energy value of the initial sampling point is greater than the current detection threshold value, determine that a pulse is detected at the initial sampling point; continue to determine whether the energy values of the sampling points in the first signal detection window are greater than the current detection threshold value; if at least a second preset number of sampling points in the first signal detection window have energy values greater than the preset comparison threshold value, determine that the pulse detected in the first signal detection window is a continuous pulse, where the second preset number is greater than the first preset number.

[0260] Optionally, the detection module 140 is further configured to obtain a second preset window value corresponding to the second signal detection window and a second preset comparison threshold value corresponding to the second signal detection window. If the sub-envelope signal of the first signal detection window indicates that there is a continuous pulse in the first signal detection window, update each window value in the current detection window value according to the second preset window value and update the current detection threshold value according to the second preset comparison threshold value; compare the second window value and the sixth window value in the updated current detection window value; if the second window value in the updated current detection window value is greater than the sixth window value, compare the energy value of the initial sampling point of the second signal detection window with the current detection threshold value; if the energy value of the initial sampling point of the second signal detection window is greater than the current detection threshold value, determine that a pulse is detected at the initial sampling point of the second signal detection window; continue to determine whether the energy values of the sampling points in the second signal detection window are greater than the current detection threshold value; if at least a first preset number of sampling points in the second signal detection window have energy values greater than the current detection threshold value, determine that the pulse detected in the second signal detection window is a continuous pulse.

[0261] Optionally, the detection module 140 is further configured to, if the second window value in the updated current detection window value is less than or equal to the sixth window value, compare the energy value of the initial sampling point of the second signal detection window with the current detection threshold value; if the energy value of the initial sampling point of the second signal detection window is greater than the current detection threshold value, determine that a pulse is detected at the initial sampling point of the second signal detection window; continue to determine whether the energy values of the sampling points in the second signal detection window are greater than the current detection threshold value; if at least a third preset number of sampling points in the second signal detection window have energy values greater than the current detection threshold value, determine that the pulse detected in the second signal detection window is a continuous pulse, where the third preset number is less than the first preset number.

[0262] Optionally, the calculation module 120 is further configured to use a pre-designed counting clock to perform pulse counting on the envelope signal to obtain a plurality of pulse count values; detect the rising edge and falling edge of the envelope signal to obtain the pulse time of each group in the envelope signal; determine the count value corresponding to the rising edge in each group of pulse times among the plurality of pulse count values as the start time of a pulse; determine the count value corresponding to the falling edge in each group of pulse times among the plurality of pulse count values as the end time of a pulse; and determine the signal pulse width of a pulse according to the end time and start time of a pulse.

[0263] Optionally, the calculation module 120 is further configured to calculate the average value of the signal amplitudes of each sampling point within the start and end times of a pulse according to the start time and end time of a pulse to obtain the signal amplitude of a pulse.

[0264] The above device is used to execute the method provided in the foregoing embodiment, and its implementation principle and technical effects are similar, which will not be elaborated here.

[0265] The above modules may be one or more integrated circuits configured to implement the above method, for example: one or more application specific integrated circuits (ASICs), or, one or more microprocessors, or, one or more field programmable gate arrays (FPGAs), etc. Again, when a certain module above is implemented in the form of a processing element scheduling program code, the processing element may be a general-purpose processor, such as a central processing unit (CPU) or other processors that can call program code. Again, these modules may be integrated together and implemented in the form of a system on chip (SOC).

[0266] Figure 14 FIG. is a schematic diagram of an electronic device provided in an embodiment of the present application, and this electronic device can be used for pulse detection of radar signals. As Figure 14 shown, the electronic device includes: a processor 210, a storage medium 220, and a bus 230.

[0267] The storage medium 220 stores machine-readable instructions executable by the processor 210. When the electronic device runs, the processor 210 communicates with the storage medium 220 through the bus 230, and the processor 210 executes the machine-readable instructions to execute the steps of the above method embodiment. The specific implementation manner and technical effects are similar and will not be elaborated here.

[0268] Optionally, the present application further provides a storage medium 220, on which a computer program is stored. When the computer program is run by a processor, it executes the steps of the foregoing method embodiments. The specific implementation manners and technical effects are similar and will not be elaborated here.

[0269] In several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method can be implemented in other ways. For example, the apparatus embodiments described above are merely 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 can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of the apparatus or units can be in electrical, mechanical or other forms.

[0270] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0271] In addition, in each embodiment of the present invention, the functional units can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated units can be implemented in the form of hardware, or in the form of a combination of hardware and software functional units.

[0272] The above integrated units implemented in the form of software functional units can be stored in a computer-readable storage medium. The above software functional units are stored in a storage medium and include several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (English: processor) to execute some steps of the methods described in the various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (English: Read-Only Memory, abbreviated as: ROM), random access memories (English: Random Access Memory, abbreviated as: RAM), magnetic disks, or optical discs that can store program codes.

[0273] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A pulse detection method for radar signals, characterized in that: include: Obtaining a digital time domain signal corresponding to the radar signal; Using a coordinate rotation digital calculation method to calculate the amplitude of the digital time domain signal, and obtain the signal amplitude of each sampling point on the digital time domain signal; Performing delay processing for a preset number of clock cycles on the signal amplitude of each sampling point; Using the signal amplitude of each sampling point after the delay, perform envelope detection on the digital time domain signal to obtain an envelope signal of the digital time domain signal; According to the preset number of clock cycles, performing time domain alignment on the digital time domain signal and the envelope signal; Performing pulse width calculation according to the envelope signal after time domain alignment to obtain the signal pulse width of the digital time domain signal; Amplitude calculation is performed based on the envelope signal after time domain alignment and the signal amplitude of each sampling point to obtain the signal amplitude of the digital time domain signal.

2. The method according to claim 1, characterized in that The step of calculating the amplitude of the digital time domain signal to obtain the signal amplitude of each sampling point on the digital time domain signal includes: Preprocessing the digital time domain signal to obtain in-phase and quadrature signals of each sampling point; Calculating the amplitude and phase of each sampling point according to the in-phase and quadrature signals of each sampling point; According to the amplitude and phase of each sampling point, construct the magnitude and phase of the signal vector of each sampling point in a preset plane rectangular coordinate system; the two coordinate axes of the preset plane rectangular coordinate system correspond to in-phase orthogonal signals; Performing multiple pseudo rotations on the signal vectors of the sampling points; The modulus of the signal vector of each sampling point after pseudo rotation is calculated as the signal amplitude of each sampling point.

3. The method according to claim 1, characterized in that The method of using the signal amplitude of each sampling point after the delay to perform envelope detection on the digital time domain signal to obtain the envelope signal of the digital time domain signal includes: Based on the signal amplitude of each sampling point after the delay, calculating the energy mean of multiple sliding windows starting from the initial sampling point; Calculating a floating energy threshold value of a first signal detection window corresponding to the initial sampling point according to energy averages of the multiple sliding windows; According to the floating energy threshold value of the first signal detection window and the preset fixed energy threshold value of the radar signal corresponding to the detection environment, performing envelope detection on the first signal detection window to obtain a sub-envelope signal of the first signal detection window; Determining that the next window of the first signal detection window is a second signal detection window; The envelope detection is continued on the second signal detection window until the detection of the digital time domain signal is completed to obtain the envelope signal.

4. The method according to claim 3, characterized in that The step of performing envelope detection on the first signal detection window according to the floating energy threshold value of the first signal detection window and the preset fixed energy threshold value of the radar signal corresponding to the detection environment to obtain a sub-envelope signal of the first signal detection window includes: Determine the floating energy threshold value of the first signal detection window and the maximum threshold value among the preset fixed energy threshold values ​​as a first preset comparison threshold value; According to the first preset comparison threshold value, envelope detection is performed on the first signal detection window to obtain a sub-envelope signal of the first signal detection window.

5. The method according to claim 4, characterized in that The step of performing envelope detection on the first signal detection window according to the first preset comparison threshold value to obtain a sub-envelope signal of the first signal detection window includes: Determine a first preset window value corresponding to the first signal detection window, wherein the first preset window value is a window value pre-calculated according to an energy average of the multiple sliding windows; Determine the first preset comparison threshold value as the current detection threshold value; Performing envelope detection on the first signal detection window according to the current detection window value and the current detection threshold value to obtain continuous pulses in the first signal detection window; A sub-envelope signal of the first signal detection window is generated according to the detected continuous pulses.

6. The method according to claim 5, characterized in that The first preset window value includes: a first window value, a second window value, a third window value and a fifth window value, wherein the first window value is an energy value pre-calculated according to the energy averages of the first two sliding windows in the multiple sliding windows, the second window value and the third window value are respectively the energy averages of the second window and the third window in the multiple sliding windows, and the fifth window value is a first preset multiple of the energy average of the last window in the multiple sliding windows; The step of performing envelope detection on the first signal detection window according to the current detection window value and the current detection threshold value to obtain continuous pulses in the first signal detection window includes: If the third window value in the current detection window value is greater than the first window value, and the energy value of the initial sampling point is greater than the current detection threshold value, it is determined that the rising edge of the signal at the initial sampling point has arrived; If the second window value in the current detection window value is greater than the fifth window value, comparing the energy value of the initial sampling point with the current detection threshold value; If the energy value of the initial sampling point is greater than the current detection threshold value, it is determined that a pulse is detected at the initial sampling point; Continue to determine whether the energy value of each sampling point in the first signal detection window is greater than the current detection threshold value; If there are at least a first preset number of sampling points in the first signal detection window whose energy values ​​are all greater than the current detection threshold value, it is determined that the pulse detected in the first signal detection window is a continuous pulse.

7. The method according to claim 6, characterized in that The step of performing envelope detection on the first signal detection window according to the current detection window value and the current detection threshold value to obtain continuous pulses in the first signal detection window further includes: If the second window value in the current detection window value is less than or equal to the fifth window value, comparing the fifth window value with the first window value; If the fifth window value in the current detection window value is less than or equal to the first window value, determining that the rising edge of the signal at the initial sampling point is an interference signal; If the fifth window value in the current detection window value is greater than the first window value, comparing the energy value of the initial sampling point with the current detection threshold value; If the energy value of the initial sampling point is greater than the current detection threshold value, it is determined that a pulse is detected at the initial sampling point; Continue to determine whether the energy value of each sampling point in the first signal detection window is greater than the current detection threshold value; If there are at least a second preset number of sampling points in the first signal detection window whose energy values ​​are all greater than the preset comparison threshold value, it is determined that the detected pulse in the first signal detection window is a continuous pulse, wherein the second preset number is greater than the first preset number.

8. The method according to claim 6, characterized in that The continuing to perform envelope detection on the second signal detection window includes: Obtain a second preset window value corresponding to the second signal detection window, and a second preset comparison threshold value corresponding to the second signal detection window, wherein the second preset window value is a window value pre-calculated according to the energy mean of multiple sliding windows starting with the second signal detection window; the second preset window value includes: a second window value and a sixth window value, the second window value in the second preset window value is the energy mean of the next window of the second signal detection window, the sixth window value in the second preset window value is the second preset multiple of the energy mean of the last sliding window in the multiple sliding windows starting with the second signal detection window, and the second preset multiple is greater than the first preset multiple; If the sub-envelope signal of the first signal detection window indicates that there are continuous pulses in the first signal detection window, respectively updating each window value in the current detection window value according to the second preset window value, and updating the current detection threshold value according to the second preset comparison threshold value; Comparing the updated second window value and the sixth window value in the current detection window value; If the second window value in the updated current detection window value is greater than the sixth window value, comparing the energy value of the initial sampling point of the second signal detection window with the current detection threshold value; If the energy value of the initial sampling point of the second signal detection window is greater than the current detection threshold value, determining that a pulse is detected at the initial sampling point of the second signal detection window; Continue to determine whether the energy value of each sampling point in the second signal detection window is greater than the current detection threshold value; If there are at least the first preset number of sampling points in the second signal detection window whose energy values ​​are all greater than the current detection threshold value, it is determined that the pulses detected in the second signal detection window are continuous pulses.

9. The method according to claim 8, characterized in that The continuing to perform envelope detection on the second signal detection window further includes: If the second window value in the updated current detection window value is less than or equal to the sixth window value, then the energy value of the initial sampling point of the second signal detection window is compared with the current detection threshold value; If the energy value of the initial sampling point of the second signal detection window is greater than the current detection threshold value, determining that a pulse is detected at the initial sampling point of the second signal detection window; Continue to determine whether the energy value of each sampling point in the second signal detection window is greater than the current detection threshold value; If there are at least a third preset number of sampling points in the second signal detection window whose energy values ​​are all greater than the current detection threshold value, it is determined that the pulse detected in the second signal detection window is a continuous pulse, wherein the third preset number is smaller than the first preset number.

10. The method according to claim 1, characterized in that The step of calculating the pulse width of the envelope signal after time domain alignment to obtain the signal pulse width of the digital time domain signal comprises: Using a preset counting clock, pulse counting is performed on the envelope signal to obtain a plurality of pulse counting values; Perform rising edge and falling edge detection on the envelope signal to obtain each group of pulse times in the envelope signal; Determine the count value corresponding to the rising edge in each group of pulse times in the plurality of pulse count values ​​as the start time of a pulse; Determine the count value corresponding to the falling edge of each group of rising pulse times in the plurality of pulse count values ​​as the end time of the one pulse; Determining a signal pulse width of the pulse according to an end time and a start time of the pulse; The step of performing amplitude calculation based on the envelope signal after time domain alignment and the signal amplitude of each sampling point to obtain the signal amplitude of the digital time domain signal includes: According to the start time and the end time of the pulse, the signal amplitude of each sampling point within the start and end time of the pulse is averaged to obtain the signal amplitude of the pulse.

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