A radar detection method, device, equipment and medium in a multi-target environment

Abstract

The present invention discloses a radar detection method, device, equipment and medium in a multi-target environment, including: obtaining a target echo signal, and performing FFT processing on the target echo signal; selecting M / 2 echo units on the left and right of the target echo unit as reference echo units; sorting a number of reference echo units that have not been eliminated according to the signal amplitude mean square error estimation of a number of reference echo units that have not been eliminated to obtain a first sequence; determining the second-order difference value of each reference echo unit in the first sequence, and taking the reference echo unit corresponding to the minimum second-order difference value as the reference echo unit; in the first sequence, determining whether the target echo unit contains a detection target according to the signal power of the reference echo unit, the signal power of the echo unit before the reference echo unit and the preset zoom factor. The present invention belongs to the field of radar detection. The present invention can improve the detection probability of the radar in a multi-target environment.

Description

Technical Field

[0001] The present invention relates to the field of radar detection, and in particular to a radar detection method, device, equipment and medium in a multi-target environment. Background Art

[0002] Radar detection is a technology that uses radio waves to detect the position, speed and other characteristics of an object. Its full English name is Radio Detection and Ranging. Radar systems work by transmitting electromagnetic waves (usually microwaves) and then receiving the signals reflected from the target.

[0003] In a multi-target environment, the radar echo signal contains multiple target echo signals after FFT. Since the target signal strength is generally stronger than the noise or clutter signal. When estimating the background clutter power of a unit where a target to be detected is located, other target signals may be used as reference unit signals and used to estimate the background clutter power, which indirectly raises the reference signal strength for determining the threshold, resulting in an overestimation of the threshold of the detection unit. When the target signal strength of the detection unit is weaker than the estimated threshold, the target signal on the detection unit will be missed, and the detection probability of the radar system will decrease. How to improve the detection capability of the radar in a multi-target environment is an urgent problem to be solved. Summary of the invention

[0004] The present invention solves the technical problem that radar is prone to missed detection in a multi-target environment in the prior art by providing a radar detection method, device, equipment and medium in a multi-target environment, and achieves the technical effect of improving the radar detection capability in a multi-target environment.

[0005] In a first aspect, the present invention provides a radar detection method in a multi-target environment, the method comprising:

[0006] Acquire a target echo signal and perform FFT processing on the target echo signal, wherein the target echo signal is composed of a plurality of echo units;

[0007] Select M / 2 echo units on the left and right of the target echo unit as reference echo units, where M is a multiple of 2;

[0008] For each reference echo unit, steps S31-S33 are performed, including:

[0009] Step S31, determining a mean square error estimate of the signal amplitude of the reference echo unit according to N / 2 echo units to the left and right of the reference echo unit, wherein N is a multiple of 2;

[0010] Step S32, determining whether the reference echo unit needs to be removed according to the signal amplitude mean square error estimation of the reference echo unit and the preset mean square error threshold;

[0011] Step S33, sorting the plurality of reference echo units that have not been eliminated according to the mean square error estimation of the signal amplitudes of the plurality of reference echo units that have not been eliminated to obtain a first sequence;

[0012] Determine the second-order difference value of each reference echo unit in the first sequence, and use the reference echo unit corresponding to the minimum second-order difference value as the reference echo unit;

[0013] In the first sequence, whether the target echo unit contains the detection target is determined according to the signal power of the reference echo unit, the signal power of the echo unit before the reference echo unit, and a preset zoom factor.

[0014] Further, according to the N / 2 echo units to the left and right of the reference echo unit, a signal amplitude mean square error estimation of the reference echo unit is determined, including:

[0015]

[0016] in, For the The signal amplitude mean square error estimation of reference echo units, N is the The number of echo cells around the reference echo cell, For the The signal power of a reference echo unit, is the signal power mean of all reference echo units, and M is the number of echo units selected on the left and right of the target echo unit.

[0017] Further, determining whether the reference echo unit needs to be removed according to the signal amplitude mean square error estimation of the reference echo unit and the preset mean square error threshold includes:

[0018] If the mean square error of the signal amplitude of the reference echo unit is greater than or equal to the preset mean square error threshold, the reference echo unit is discarded; or,

[0019] If the signal amplitude mean square error of the reference echo unit is less than the preset mean square error threshold, the reference echo unit is retained.

[0020] Further, in the first sequence, determining whether the target echo unit contains the detection target according to the signal power of the reference echo unit, the signal power of the echo unit before the reference echo unit, and the preset zoom factor includes:

[0021] The sum of the signal power of the reference echo unit and the signal power of the echo unit before the reference echo unit is taken as the reference signal power;

[0022] The product of the reference signal power and the preset zoom factor is used as the signal power threshold;

[0023] If the signal power of the target echo unit is less than or equal to the signal power threshold, the target echo unit contains the detected target;

[0024] If the signal power of the target echo unit is greater than the signal power threshold, the target echo unit does not contain the detected target.

[0025] Further, including:

[0026]

[0027]

[0028] in, is the signal power threshold, is the zoom ratio, is the sum of the signal power of the reference echo unit and the signal power of the echo unit before the reference echo unit, K is the number of echo units including the reference echo unit and the echo units before it, For the The signal power of each echo unit.

[0029] Further, determining the second-order difference value of each reference echo unit in the first sequence includes:

[0030]

[0031] in, For the The second-order difference value of the reference echo unit.

[0032] Furthermore, a number of reference echo units that have not been eliminated are sorted to obtain a first sequence, including:

[0033] The signal amplitude mean square error estimates of a number of reference echo units that have not been eliminated are sorted in positive order to obtain a first sequence.

[0034] In a second aspect, the present invention provides a radar detection device in a multi-target environment, the device comprising:

[0035] An acquisition module is used to acquire a target echo signal and perform FFT processing on the target echo signal, wherein the target echo signal is composed of a plurality of echo units;

[0036] A reference selection module is used to select M / 2 echo units on the left and right of the target echo unit as reference echo units, where M is a multiple of 2;

[0037] The sequence determination module is used to execute steps S31-S33 for each reference echo unit, including:

[0038] Step S31, determining a mean square error estimate of the signal amplitude of the reference echo unit according to N / 2 echo units to the left and right of the reference echo unit, wherein N is a multiple of 2;

[0039] Step S32, determining whether the reference echo unit needs to be removed according to the signal amplitude mean square error estimation of the reference echo unit and the preset mean square error threshold;

[0040] Step S33, sorting the plurality of reference echo units that have not been eliminated according to the mean square error estimation of the signal amplitudes of the plurality of reference echo units that have not been eliminated to obtain a first sequence;

[0041] A reference determination module, used to determine the second-order difference value of each reference echo unit in the first sequence, and use the reference echo unit corresponding to the minimum second-order difference value as the reference echo unit;

[0042] The detection judgment module is used to determine whether the target echo unit contains a detection target in the first sequence according to the signal power of the reference echo unit, the signal power of the echo unit before the reference echo unit and the preset zoom factor.

[0043] In a third aspect, the present invention provides an electronic device, comprising:

[0044] processor;

[0045] a memory for storing processor-executable instructions;

[0046] The processor is configured to execute to implement a radar detection method in a multi-target environment as provided in the first aspect.

[0047] In a fourth aspect, the present invention provides a non-temporary computer-readable storage medium. When the instructions in the storage medium are executed by a processor of an electronic device, the electronic device is enabled to implement a radar detection method in a multi-target environment as provided in the first aspect.

[0048] One or more technical solutions provided in the present invention have at least the following technical effects or advantages:

[0049] The present invention provides a radar detection method in a multi-target environment, comprising: acquiring a target echo signal and performing FFT processing on the target echo signal, wherein the target echo signal is composed of a plurality of echo units; selecting M / 2 echo units on the left and right of the target echo unit as reference echo units, wherein M is a multiple of 2; for each reference echo unit, executing steps S31-S33, comprising: step S31, determining a signal amplitude mean square error estimation of the reference echo unit according to N / 2 echo units on the left and right of the reference echo unit, wherein N is a multiple of 2; step S32, determining a signal amplitude mean square error estimation of the reference echo unit according to the reference echo unit The signal amplitude mean square error estimation and the mean square error preset threshold are used to determine whether the reference echo unit needs to be eliminated; step S33, according to the signal amplitude mean square error estimation of several reference echo units that have not been eliminated, several reference echo units that have not been eliminated are sorted to obtain a first sequence; the second-order difference value of each reference echo unit in the first sequence is determined, and the reference echo unit corresponding to the minimum second-order difference value is used as the reference echo unit; in the first sequence, according to the signal power of the reference echo unit, the signal power of the echo unit before the reference echo unit and the preset zoom factor, it is determined whether the target echo unit contains the detection target. Through the above operations, in a multi-target environment, when the radar receives an echo signal containing multiple targets, for a certain unit to be detected, the mean square error corresponding to its reference echo unit is estimated respectively to determine whether the reference echo unit has other target signals. If the reference echo unit has echo signals of other targets, the reference unit echo is discarded. The updated reference echo units are sorted and used as the reference signal sequence for background clutter power statistics. At the same time, the second-order difference estimation is performed on all reference unit signals respectively, the reference unit number corresponding to the minimum second-order difference is found, and the threshold used to judge whether there is a target on the detection unit is output. Finally, according to the threshold and the detection unit signal power, it can be determined whether there is a target signal on the detection unit.

[0050] Compared with other traditional multi-target detection algorithms, when other algorithms estimate the background clutter power of a certain target signal unit, if the reference unit contains echo signals of other targets, it may interfere with the estimation of the background clutter power threshold, resulting in a decrease in the detection probability of the target signal unit, which reduces the detection performance of the radar system in a multi-target environment. The present invention uses the concept of mean square error to determine the discrete degree of the reference unit data used to estimate the background clutter power, and determines whether the reference unit contains other target information based on the mean square error estimation result; the dynamic relationship between adjacent reference unit signals is represented by the second-order difference, and the minimum second-order difference is used as the standard to determine the reference signal used to estimate the background clutter power, thereby achieving target detection. When detecting a certain target signal in a multi-target echo signal, the present invention can eliminate the interference of other target echo signals, thereby ensuring the detection performance of the radar system in a multi-target environment and improving the detection probability of the radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0052] Figure 1 A schematic diagram of a flow chart of a radar detection method in a multi-target environment provided by the present invention;

[0053] Figure 2 A schematic diagram of an echo unit provided by the present invention;

[0054] Figure 3 A schematic diagram of the structure of a radar detection device in a multi-target environment provided by the present invention;

[0055] Figure 4 The present invention provides a schematic structural diagram of an electronic device. DETAILED DESCRIPTION

[0056] The embodiment of the present invention solves the technical problem in the prior art that radar is prone to missed detection in a multi-target environment by providing a radar detection method in a multi-target environment.

[0057] The technical solution of the present invention is to solve the above technical problems, and the overall idea is as follows:

[0058] A radar detection method in a multi-target environment, the method comprising: obtaining a target echo signal and performing FFT processing on the target echo signal, wherein the target echo signal is composed of a plurality of echo units; selecting M / 2 echo units on the left and right of the target echo unit as reference echo units, wherein M is a multiple of 2; for each reference echo unit, executing steps S31-S33, comprising: step S31, determining a signal amplitude mean square error estimate of the reference echo unit according to N / 2 echo units on the left and right of the reference echo unit, wherein N is a multiple of 2; step S32, determining a signal amplitude mean square error estimate of the reference echo unit according to the signal amplitude mean square error estimate of the reference echo unit Amplitude mean square error estimation and mean square error preset threshold are used to determine whether the reference echo unit needs to be eliminated; step S33, according to the signal amplitude mean square error estimation of several reference echo units that have not been eliminated, several reference echo units that have not been eliminated are sorted to obtain a first sequence; the second-order difference value of each reference echo unit in the first sequence is determined, and the reference echo unit corresponding to the smallest second-order difference value is used as the reference echo unit; in the first sequence, according to the signal power of the reference echo unit, the signal power of the echo unit before the reference echo unit and the preset zoom factor, it is determined whether the target echo unit contains the detection target.

[0059] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0060] First of all, the term "and / or" in this article is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0061] When the radar transmits a pulse, an echo signal is formed when the pulse contacts a target (the target can be a moving object or a stationary object). When multiple target signals exist in one echo signal at the same time, the setting of the judgment condition will be affected by the mutual interference of the echo signals of the multiple targets, resulting in a decrease in the detection probability of the radar for multiple targets, which may lead to missed detection of targets. Therefore, the purpose of the present invention is to reduce the missed detection probability and improve the detection capability of the radar in a multi-target environment.

[0062] The present invention provides Figure 1 A radar detection method in a multi-target environment is shown, comprising steps S11-S15.

[0063] Step S11, acquiring a target echo signal, and performing FFT processing on the target echo signal, wherein the target echo signal is composed of a plurality of echo units.

[0064] First, the pulse sent by the radar is reflected back after encountering the target to form an echo signal. The echo signal is captured by the receiver. The target echo signal contains information from different targets and background noise.

[0065] For each echo unit, the Fast Fourier Transform (FFT) algorithm is used to convert the echo unit from the time domain to the frequency domain. FFT can effectively calculate the Discrete Fourier Transform (DFT) of a discrete time series, thereby revealing the hidden frequency components in the signal.

[0066] Step S12, selecting M / 2 echo units on the left and right of the target echo unit as reference echo units, wherein M is a multiple of 2.

[0067] The target echo unit refers to an echo unit to be detected among a plurality of echo units. Each echo unit in the target echo signal can be used as a target echo unit, and steps S12 to S15 are performed respectively.

[0068] The number of M can be set according to actual conditions and is not limited here.

[0069] like Figure 2 As shown, D is the target echo unit, and M / 2 echo units are selected on both sides of D for mean square error estimation.

[0070] Step S13, for each reference echo unit, executing steps S31-S33, including:

[0071] Step S31, determining a mean square error estimate of the signal amplitude of the reference echo unit according to N / 2 echo units to the left and right of the reference echo unit, wherein N is a multiple of 2.

[0072] Specifically include:

[0073]

[0074] in, For the The signal amplitude mean square error estimation of reference echo units, N is the The number of echo cells around the reference echo cell, For the The signal power of a reference echo unit, is the signal power mean of all reference echo units, and M is the number of echo units selected on the left and right of the target echo unit.

[0075] For example, in Figure 2 In the reference echo unit For the echo unit that currently needs signal amplitude mean square error estimation, select the reference echo unit The N / 2 echo units on the left and right are used for signal amplitude mean square error estimation.

[0076] According to the above method, for the M reference echo units corresponding to the target echo unit, the signal amplitude mean square error estimation of each reference echo unit is determined.

[0077] Step S32: determining whether the reference echo unit needs to be removed according to the mean square error estimation of the signal amplitude of the reference echo unit and a preset mean square error threshold.

[0078] Specifically include:

[0079] If the signal amplitude mean square error of the reference echo unit is greater than or equal to the preset mean square error threshold, it means that other target signals exist in the reference echo unit, and the reference echo unit can be eliminated.

[0080] If the signal amplitude mean square error of the reference echo unit is less than the preset mean square error threshold, it means that there is no other target signal in the reference echo unit, and the reference echo unit can be retained.

[0081] Step S33: sorting the plurality of reference echo units that have not been eliminated according to the mean square error estimation of the signal amplitudes of the plurality of reference echo units that have not been eliminated to obtain a first sequence.

[0082] Specifically, the method comprises: sorting the signal amplitude mean square error estimates of a plurality of reference echo units that have not been eliminated in a positive sequence to obtain a first sequence.

[0083] It can be understood that after the reference echo units are eliminated, it means that the number of reference echo units must be less than or equal to M. The reference echo units that are not eliminated are sorted from small to large according to the mean square error of the signal amplitudes to obtain a first sequence. The first sequence can be in the form of { , where L is the number of reference echo units that are not eliminated, Y is the number of reference echo units that are not eliminated, and .

[0084] Step S14, determining the second-order difference value of each reference echo unit in the first sequence, and taking the reference echo unit corresponding to the minimum second-order difference value as the reference echo unit.

[0085] For the remaining L reference echo units that have not been eliminated, the second-order difference value of each reference echo unit is determined, including:

[0086]

[0087] in, For the The second-order difference value of the reference echo unit.

[0088] Among the L reference echo units that are not eliminated, the reference echo unit with the smallest second-order difference value is used as the benchmark echo unit.

[0089] Step S15, in the first sequence, determining whether the target echo unit contains the detection target according to the signal power of the reference echo unit, the signal power of the echo unit before the reference echo unit, and the preset zoom factor.

[0090] After determining the reference echo unit, the sum of the signal power of the reference echo unit and the signal power of the echo unit before the reference echo unit is used as the reference signal power; the product between the reference signal power and the preset zoom factor is used as the signal power threshold;

[0091] include:

[0092]

[0093]

[0094] in, is the signal power threshold, is the zoom ratio, is the sum of the signal power of the reference echo unit and the signal power of the echo unit before the reference echo unit, K is the number of echo units including the reference echo unit and the echo units before it, For the The signal power of each echo unit.

[0095] If the signal power of the target echo unit is less than or equal to the signal power threshold, the target echo unit contains the detected target; if the signal power of the target echo unit is greater than the signal power threshold, the target echo unit does not contain the detected target.

[0096] For example, in the first sequence, The second-order difference value of is the smallest, then the reference echo unit is , the reference echo unit and the sequence before the reference echo unit are { , the first sequence { The signal powers of the K corresponding reference echo units are added together to obtain the sum of the powers, that is, the reference signal power. The signal power threshold is determined according to the above formula, and the target echo unit is detected based on the signal power threshold.

[0097] In summary, the present invention provides a radar detection method in a multi-target environment, comprising: acquiring a target echo signal and performing FFT processing on the target echo signal, wherein the target echo signal is composed of a plurality of echo units; selecting M / 2 echo units on the left and right of the target echo unit as reference echo units, wherein M is a multiple of 2; for each reference echo unit, executing steps S31-S33, comprising: step S31, determining a signal amplitude mean square error estimate of the reference echo unit according to the N / 2 echo units on the left and right of the reference echo unit, wherein N is a multiple of 2; step S32, determining a signal amplitude mean square error estimate of the reference echo unit according to the N / 2 echo units on the left and right of the reference echo unit, wherein N is a multiple of 2; step S33, determining a signal amplitude mean square error estimate of the reference echo unit according to the N / 2 echo units on the left and right of the reference echo unit, wherein N is a multiple of 2; step S34, determining a signal amplitude mean square error estimate of the reference echo unit according to the N / 2 echo units on the left and right of the reference echo unit, wherein N is a multiple of 2; step S35, determining a signal amplitude mean square error estimate of the reference echo unit according to the N / 2 echo units on the left and right of the reference echo unit, wherein N is a multiple of 2; step S36, determining a signal amplitude mean square error estimate of the reference echo unit according to the N / 2 echo units on the left and right of the reference echo unit, wherein N is a multiple of 2; step S37, determining a signal amplitude mean square error estimate of the reference echo unit according to the N / 2 echo units on the left and right of the reference echo unit, wherein N is a multiple of 2; step S38, determining a signal amplitude mean square error estimate of the reference echo unit according to the N / 2 echo units on the left and right of the reference echo unit, wherein N is a multiple of 2; step S39, determining a signal amplitude mean square error estimate of the reference echo unit according to the N / 2 echo units on the left and right of the reference echo unit, wherein N is a multiple of 2 The method comprises the following steps: determining whether the reference echo unit needs to be eliminated based on the signal amplitude mean square error estimation of the reference echo unit and the preset threshold of the mean square error; step S33, sorting the reference echo units that have not been eliminated according to the signal amplitude mean square error estimation of the reference echo units that have not been eliminated to obtain a first sequence; determining the second-order difference value of each reference echo unit in the first sequence, and taking the reference echo unit corresponding to the minimum second-order difference value as the reference echo unit; in the first sequence, determining whether the target echo unit contains the detection target based on the signal power of the reference echo unit, the signal power of the echo unit before the reference echo unit and the preset zoom factor. Through the above operations, in a multi-target environment, when the radar receives an echo signal containing multiple targets, for a certain unit to be detected, the mean square error corresponding to its reference echo unit is estimated respectively to determine whether the reference echo unit has other target signals. If the reference echo unit has echo signals of other targets, the reference unit echo is discarded. The updated reference echo units are sorted to serve as the reference signal sequence for background clutter power statistics. At the same time, the second-order difference estimation is performed on all reference unit signals respectively, the reference unit number corresponding to the minimum second-order difference is found, and the threshold used to judge whether there is a target on the detection unit is output. Finally, according to the threshold and the detection unit signal power, it can be determined whether there is a target signal on the detection unit.

[0098] Compared with other traditional multi-target detection algorithms, when other algorithms estimate the background clutter power of a certain target signal unit, if the reference unit contains echo signals of other targets, it may interfere with the estimation of the background clutter power threshold, resulting in a decrease in the detection probability of the target signal unit, which reduces the detection performance of the radar system in a multi-target environment. The present invention uses the concept of mean square error to determine the discrete degree of the reference unit data used to estimate the background clutter power, and determines whether the reference unit contains other target information based on the mean square error estimation result; the dynamic relationship between adjacent reference unit signals is represented by the second-order difference, and the minimum second-order difference is used as the standard to determine the reference signal used to estimate the background clutter power, thereby achieving target detection. When detecting a certain target signal in a multi-target echo signal, the present invention can eliminate the interference of other target echo signals, thereby ensuring the detection performance of the radar system in a multi-target environment and improving the detection probability of the radar.

[0099] Based on the same inventive concept, the present invention provides Figure 3 A radar detection device in a multi-target environment is shown, the device comprising:

[0100] An acquisition module 31 is used to acquire a target echo signal and perform FFT processing on the target echo signal, wherein the target echo signal is composed of a plurality of echo units;

[0101] A reference selection module 32, for selecting M / 2 echo units on the left and right of the target echo unit as reference echo units, where M is a multiple of 2;

[0102] The sequence determination module 33 is used to execute steps S31-S33 for each reference echo unit, including:

[0103] Step S31, determining a mean square error estimate of the signal amplitude of the reference echo unit according to N / 2 echo units to the left and right of the reference echo unit, wherein N is a multiple of 2;

[0104] Step S32, determining whether the reference echo unit needs to be removed according to the signal amplitude mean square error estimation of the reference echo unit and the preset mean square error threshold;

[0105] Step S33, sorting the plurality of reference echo units that have not been eliminated according to the mean square error estimation of the signal amplitudes of the plurality of reference echo units that have not been eliminated to obtain a first sequence;

[0106] A reference determination module 34, configured to determine a second-order difference value of each reference echo unit in the first sequence, and to use a reference echo unit corresponding to a minimum second-order difference value as a reference echo unit;

[0107] The detection judgment module 35 is used to determine whether the target echo unit contains the detection target in the first sequence according to the signal power of the reference echo unit, the signal power of the echo unit before the reference echo unit and the preset zoom factor.

[0108] Based on the same inventive concept, the present invention also provides Figure 4 An electronic device as shown includes:

[0109] Processor 41;

[0110] A memory 42 for storing instructions executable by the processor 41;

[0111] The processor 41 is configured to execute to implement a radar detection method in a multi-target environment as provided above.

[0112] Based on the same inventive concept, the present invention also provides a non-temporary computer-readable storage medium. When the instructions in the storage medium are executed by the processor 41 of the electronic device, the electronic device can execute a radar detection method in a multi-target environment as provided above.

[0113] Since the electronic device introduced in this embodiment is an electronic device used to implement the information processing method in the embodiment of the present invention, based on the information processing method introduced in the embodiment of the present invention, a person skilled in the art can understand the specific implementation of the electronic device of this embodiment and its various variations, so how the electronic device implements the method in the embodiment of the present invention is not described in detail here. As long as the electronic device used by a person skilled in the art to implement the information processing method in the embodiment of the present invention, it belongs to the scope of protection of the present invention.

[0114] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0115] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0116] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0117] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0118] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0119] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A radar detection method in a multi-target environment, characterized in that: The method comprises: Acquire a target echo signal, and perform FFT processing on the target echo signal, wherein the target echo signal is composed of a plurality of echo units; Select M / 2 echo units on the left and right of the target echo unit as reference echo units, where M is a multiple of 2; For each reference echo unit, steps S31-S33 are performed, including: Step S31, determining a mean square error estimate of the signal amplitude of the reference echo unit according to N / 2 echo units to the left and right of the reference echo unit, wherein N is a multiple of 2; Step S32, determining whether the reference echo unit needs to be removed according to the signal amplitude mean square error estimation of the reference echo unit and the preset mean square error threshold; Step S33, sorting the plurality of reference echo units that have not been eliminated according to the mean square error estimation of the signal amplitudes of the plurality of reference echo units that have not been eliminated to obtain a first sequence; Determine the second-order difference value of each reference echo unit in the first sequence, and use the reference echo unit corresponding to the minimum second-order difference value as the reference echo unit; In the first sequence, whether the target echo unit contains a detection target is determined based on the signal power of the benchmark echo unit, the signal power of the echo unit before the benchmark echo unit, and a preset zoom factor, including: taking the sum of the signal power of the benchmark echo unit and the signal power of the echo unit before the benchmark echo unit as the benchmark signal power; taking the product of the benchmark signal power and the preset zoom factor as the signal power threshold; if the signal power of the target echo unit is less than or equal to the signal power threshold, the target echo unit contains the detection target; if the signal power of the target echo unit is greater than the signal power threshold, the target echo unit does not contain the detection target.

2. The radar detection method in a multi-target environment as claimed in claim 1, characterized in that: Determine the signal amplitude mean square error estimation of the reference echo unit according to the N / 2 echo units to the left and right of the reference echo unit, including: in, For the The signal amplitude mean square error estimation of reference echo units, N is the The number of echo cells around the reference echo cell, For the The signal power of a reference echo unit, is the signal power mean of all reference echo units, and M is the number of echo units selected on the left and right of the target echo unit.

3. The radar detection method in a multi-target environment as claimed in claim 1, characterized in that: Determining whether the reference echo unit needs to be removed according to the signal amplitude mean square error estimation of the reference echo unit and the preset mean square error threshold includes: If the mean square error of the signal amplitude of the reference echo unit is greater than or equal to the preset mean square error threshold, the reference echo unit is discarded; or, If the signal amplitude mean square error of the reference echo unit is less than the preset mean square error threshold, the reference echo unit is retained.

4. The radar detection method in a multi-target environment as claimed in claim 1, characterized in that: include: in, is the signal power threshold, is the zoom ratio, is the sum of the signal power of the reference echo unit and the signal power of the echo unit before the reference echo unit, K is the number of echo units including the reference echo unit and the echo units before it, For the The signal power of each echo unit.

5. The radar detection method in a multi-target environment as claimed in claim 2, characterized in that: Determining a second-order difference value of each reference echo unit in the first sequence includes: in, For the The second-order difference value of the reference echo unit.

6. The radar detection method in a multi-target environment as claimed in claim 1, characterized in that: A plurality of reference echo units that have not been eliminated are sorted to obtain a first sequence, including: The signal amplitude mean square error estimates of a number of reference echo units that have not been eliminated are sorted in positive order to obtain the first sequence.

7. A radar detection device in a multi-target environment, characterized in that: A radar detection method in a multi-target environment applied to any one of claims 1-6, the device comprising: An acquisition module, used for acquiring a target echo signal and performing FFT processing on the target echo signal, wherein the target echo signal is composed of a plurality of echo units; A reference selection module is used to select M / 2 echo units on the left and right of the target echo unit as reference echo units, where M is a multiple of 2; The sequence determination module is used to execute steps S31-S33 for each reference echo unit, including: Step S31, determining a mean square error estimate of the signal amplitude of the reference echo unit according to N / 2 echo units to the left and right of the reference echo unit, wherein N is a multiple of 2; Step S32, determining whether the reference echo unit needs to be removed according to the signal amplitude mean square error estimation of the reference echo unit and the preset mean square error threshold; Step S33, sorting the plurality of reference echo units that have not been eliminated according to the mean square error estimation of the signal amplitudes of the plurality of reference echo units that have not been eliminated to obtain a first sequence; A reference determination module, configured to determine a second-order difference value of each reference echo unit in the first sequence, and use a reference echo unit corresponding to a minimum second-order difference value as a reference echo unit; The detection judgment module is used to determine whether the target echo unit contains a detection target in the first sequence according to the signal power of the reference echo unit, the signal power of the echo unit before the reference echo unit and a preset zoom factor.

8. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute to implement a radar detection method in a multi-target environment as described in any one of claims 1 to 6.

9. A non-transitory computer-readable storage medium, characterized in that: When the instructions in the storage medium are executed by a processor of an electronic device, the electronic device is enabled to implement a radar detection method in a multi-target environment as described in any one of claims 1 to 6.

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