Ground clutter processing method, device, computer equipment and storage medium

Abstract

The present application relates to a method, device, computer equipment and storage medium for processing ground clutter. The method includes: a server obtains data of multiple original target points, screens candidate ground clutter points from the multiple original target points based on the pitch angle in the data, and screens target ground clutter points from the candidate ground clutter points based on the distance and signal-to-noise ratio in the data. In the method, the server performs preliminary ground clutter point screening on the original target points according to the pitch angle of the target object obtained by the radar, determines the candidate ground clutter points, and then further screens the candidate ground clutter points according to the distance and signal-to-noise ratio. Through the joint screening of multiple dimensions such as pitch angle, distance, signal-to-noise ratio and / or speed, the problem of one-size-fits-all for close-range weak targets is avoided. By screening the target ground clutter points by this method, the recognition accuracy of the ground clutter points is relatively accurate.

Description

Technical Field

[0001] The present application relates to the technical field of target detection, and in particular to a ground clutter processing method, device, computer equipment and storage medium. Background Art

[0002] When using sensors for target detection, they are often affected by clutter from other directions, which can lead to inaccurate target detection results. Among them, the most important and most influential clutter is the ground clutter reflected from the ground. Ground clutter can not only create false targets, but also affect the detection of small and weak targets at close range. Therefore, the method of processing ground clutter plays an important role in the process of target detection.

[0003] At present, the method for processing ground clutter is generally to process ground clutter by raising the close-range detection threshold, that is, the original detection points with a signal-to-noise ratio less than the ground clutter detection threshold are determined as ground clutter points for elimination.

[0004] However, while processing ground clutter points, the above method also reduces the detection performance of close-range target points, and the results in ground clutter recognition, processing precision and accuracy are not ideal. Summary of the invention

[0005] Based on this, it is necessary to provide a ground clutter processing method, device, computer equipment and storage medium to address the above technical problems.

[0006] In a first aspect, a ground clutter processing method is provided, which is applied to a signal processing layer for target detection using a sensor, and the method comprises:

[0007] Acquire data of multiple original target points; the data of each original target point includes a pitch angle, a distance, and a signal-to-noise ratio;

[0008] Based on the pitch angle, candidate ground clutter points are screened out from multiple original target points; and

[0009] Based on the distance and signal-to-noise ratio, the target ground clutter points are screened out from the candidate ground clutter points.

[0010] In one of the optional embodiments, the above-mentioned screening out candidate ground clutter points from a plurality of original target points based on the pitch angle includes:

[0011] Preset pitch angle range; and

[0012] The original target points whose pitch angles are within the pitch angle range are determined as candidate ground clutter points.

[0013] In one optional embodiment, the preset pitch angle range includes:

[0014] Acquire data of multiple sample ground clutter points; the data of each sample ground clutter point includes a pitch angle;

[0015] The distribution range of the pitch angles of the clutter points on the sample ground is statistically analyzed to obtain the pitch angle range.

[0016] In one of the optional embodiments, the above-mentioned screening out candidate ground clutter points from a plurality of original target points based on the pitch angle further includes:

[0017] Preset distance ranges; and

[0018] The original target point whose distance is within the distance range and whose pitch angle is also within the pitch angle range is determined as a candidate ground clutter point.

[0019] In one of the optional embodiments, the above-mentioned preset distance range includes:

[0020] Acquire data of multiple sample ground clutter points; the data of each sample ground clutter point includes a distance;

[0021] The distribution range of the distances of the clutter points of the sample ground is statistically analyzed to obtain the distance range.

[0022] In one optional embodiment, the data of each original target point also includes an azimuth and a speed; the above-mentioned screening of candidate ground clutter points from multiple original target points based on the pitch angle also includes:

[0023] Preset azimuth ranges and speed ranges; and

[0024] The original target point whose azimuth is within the azimuth range, whose speed is within the speed range, whose distance is within the distance range, and whose pitch angle is also within the pitch angle range is determined as the candidate ground clutter point.

[0025] In one of the optional embodiments, the above-mentioned preset distance range includes:

[0026] Acquire data of multiple sample ground clutter points; the data of each sample ground clutter point includes azimuth and velocity;

[0027] Statistically analyze the distribution range of the azimuth angles of the clutter points on the sample ground to obtain the azimuth angle range;

[0028] The velocity distribution range of the sample ground clutter points is statistically analyzed to obtain the velocity range.

[0029] In one of the optional embodiments, the above-mentioned screening out the target ground clutter point from the candidate ground clutter points based on the distance and the signal-to-noise ratio includes:

[0030] Preset ground clutter point determination model;

[0031] Using the distances corresponding to the candidate ground clutter points as inputs to the ground clutter point determination model to obtain ground clutter thresholds corresponding to the candidate ground clutter points; and

[0032] The candidate ground clutter point whose signal-to-noise ratio is less than the corresponding ground clutter threshold is determined as the target ground clutter point.

[0033] In one of the optional embodiments, the above-mentioned preset ground clutter point determination model includes:

[0034] Acquiring data of multiple sample ground clutter points; the data of each sample ground clutter point includes distance and signal-to-noise ratio; and

[0035] With distance R as the independent variable and signal-to-noise ratio SNR as the dependent variable, the data of multiple sample ground clutter points are linearly fitted to obtain the ground clutter point determination model.

[0036] In one of the optional embodiments, the above-mentioned distance R is used as an independent variable, the signal-to-noise ratio SNR is used as a dependent variable, and a linear fitting is performed on the data of multiple sample ground clutter points to obtain a ground clutter point determination model, including:

[0037] With distance R as the independent variable and signal-to-noise ratio SNR as the dependent variable, the ground clutter plane data is drawn based on the data of multiple sample ground clutter points;

[0038] In the distance dimension, the data of the sample ground clutter points corresponding to the two ground clutter plane map data points with the largest signal-to-noise ratio (SNR) in the ground clutter plane map data are taken as the upper envelope data;

[0039] According to the upper envelope data and the preset K curve models, linear fitting is performed to obtain K curves corresponding to the K curve models; wherein K is a natural number greater than 0;

[0040] The curve with the smallest sum of square distances from all upper envelope points to the curve among the K curves is determined as the candidate curve;

[0041] A preset adjustment factor is added to the curve model corresponding to the candidate curve to obtain a ground clutter point determination model.

[0042] In one of the optional embodiments, the above method further includes:

[0043] Eliminate target ground clutter points from a plurality of original target points to obtain a real target point, so as to perform target tracking based on the real target point; and / or

[0044] The sensor may include an integrated circuit such as an AiP (Antenna in Package) chip or an AoC (Antenna on Chip) chip, and the signal emitted by the sensor may also be a millimeter wave signal, that is, a millimeter wave sensor.

[0045] In a second aspect, a ground clutter processing method is provided, which is applied to a signal processing layer for target detection using a sensor, and the method comprises:

[0046] Acquire data of a plurality of original target points; the data of each original target point includes at least two parameter factors;

[0047] Screening out target ground clutter points from a plurality of original target points based on at least two parameter factors; and

[0048] Target ground clutter points among multiple original target points are eliminated to obtain real target points, so as to track the target based on the real target points.

[0049] In one of the optional embodiments, the above-mentioned screening out target ground clutter points from a plurality of original target points based on at least two parameter factors includes:

[0050] Using at least one parameter factor of the at least two parameter factors as a first parameter factor;

[0051] using at least two parameter factors of the at least two parameter factors as second parameter factors;

[0052] Screening candidate ground clutter points from a plurality of original target points based on a first parameter factor; and

[0053] The target ground clutter point is screened out from the candidate ground clutter points based on the second parameter factor.

[0054] In one of the optional embodiments, the above-mentioned screening out the target ground clutter point from the candidate ground clutter points based on the second parameter factor includes:

[0055] Preset ground clutter point determination model;

[0056] Obtaining a ground clutter threshold value corresponding to each candidate ground clutter point based on the second parameter factor and the ground clutter point determination model; and

[0057] The candidate ground clutter points that are smaller than the corresponding ground clutter threshold value are determined as target ground clutter points.

[0058] In one optional embodiment, the first parameter factor includes a pitch angle, an azimuth angle, a speed and / or a distance; and / or

[0059] The second parameter factors include distance and signal-to-noise ratio.

[0060] In one optional embodiment, the first parameter factor includes a pitch angle, an azimuth angle, a speed and a distance; and

[0061] The second parameter factors include distance and signal-to-noise ratio.

[0062] In a third aspect, a ground clutter processing device is provided, the device comprising:

[0063] An acquisition module is used to acquire data of multiple original target points; the data of each original target point includes a pitch angle, a distance, and a signal-to-noise ratio;

[0064] A preliminary screening module, for screening candidate ground clutter points from a plurality of original target points based on a pitch angle; and

[0065] The secondary screening module is used to screen out target ground clutter points from candidate ground clutter points based on distance and signal-to-noise ratio.

[0066] In a fourth aspect, a ground clutter processing device is provided, the device comprising:

[0067] An acquisition module, used to acquire data of a plurality of original target points; the data of each original target point includes at least two parameter factors;

[0068] A screening module, used for screening out target ground clutter points from a plurality of original target points based on at least two parameter factors;

[0069] The elimination module is used to eliminate target ground clutter points from multiple original target points to obtain real target points, so as to track the target based on the real target points.

[0070] In a fifth aspect, a computer device is provided, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the ground clutter processing method described in any one of the first aspect and the second aspect is implemented.

[0071] In a sixth aspect, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the ground clutter processing method described in any one of the first aspect and the second aspect is implemented.

[0072] In the above-mentioned ground clutter processing method, device, computer equipment and storage medium, the server obtains data of multiple original target points, screens candidate ground clutter points from the multiple original target points based on the pitch angle in the data, and screens target ground clutter points from the candidate ground clutter points based on the distance and signal-to-noise ratio in the data. In this method, the server performs preliminary ground clutter point screening on the original target points according to the pitch angle of the target object obtained by the radar, determines the candidate ground clutter points, and then further screens the candidate ground clutter points according to the distance and signal-to-noise ratio. Through the joint screening of multiple dimensions such as pitch angle, distance, signal-to-noise ratio and / or speed, the problem of one-size-fits-all for close-range weak targets is avoided. By screening the target ground clutter points by this method, the recognition accuracy of the ground clutter points is relatively accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] Figure 1A diagram showing an application environment of a method for processing clutter in one embodiment;

[0074] Figure 1a A schematic side view of a vehicle-mounted forward radar of a method for processing clutter in one embodiment;

[0075] Figure 1b A schematic top view of a vehicle-mounted forward radar of a method for processing clutter in an embodiment;

[0076] Figure 2 A schematic diagram of a flow chart of a method for processing ground clutter in one embodiment;

[0077] Figure 3 A schematic diagram of a flow chart of a method for processing ground clutter in one embodiment;

[0078] Figure 4 A schematic diagram of a flow chart of a method for processing ground clutter in one embodiment;

[0079] Figure 5 A schematic diagram of a flow chart of a method for processing ground clutter in one embodiment;

[0080] Figure 6 A schematic diagram of a flow chart of a method for processing ground clutter in one embodiment;

[0081] Figure 7 A schematic diagram of a flow chart of a method for processing ground clutter in one embodiment;

[0082] Figure 8 A schematic diagram of a flow chart of a method for processing ground clutter in one embodiment;

[0083] Fig. 9 A schematic diagram of a flow chart of a method for processing ground clutter in one embodiment;

[0084] Fig.10 A schematic diagram of a flow chart of a method for processing ground clutter in one embodiment;

[0085] Fig.11 A schematic diagram of a flow chart of a method for processing ground clutter in one embodiment;

[0086] Fig.12 is a flow chart of a method for processing ground clutter in another embodiment;

[0087] Fig.13 A schematic diagram of a flow chart of a method for processing ground clutter in one embodiment;

[0088] Fig.14 A schematic diagram of a flow chart of a method for processing ground clutter in one embodiment;

[0089] Fig.15 is a flow chart of a method for processing ground clutter in another embodiment;

[0090] Fig.16 is a structural block diagram of a clutter processing device in one embodiment;

[0091] Fig.17 is a structural block diagram of a clutter processing device in one embodiment;

[0092] Fig.18 is a structural block diagram of a clutter processing device in another embodiment;

[0093] Fig.19 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0094] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0095] The ground clutter processing method provided in this application can be applied to Figure 1 In the application environment shown. Figure 1 As shown, the server 101 communicates with the radar 102 via a network (wired and / or wireless network), wherein the server 101 may be an independent server or a server cluster composed of multiple servers. In other optional embodiments, the server 101 may also be arranged in the car, or integrated with the radar 102 as an integral device. The radar 102 may be a millimeter wave radar or other types of radars. It should be noted that the radar 102 has the function of measuring parameters such as pitch angle, speed, and signal-to-noise ratio. The installation position may be any one of the forward, side, or rearward directions of the vehicle body. This embodiment is explained by taking the forward installation of the vehicle body as an example. Figure 1a As shown, Figure 1a 1 is a side view schematic diagram of a vehicle-mounted forward radar. The radar 102 can measure the distance R and the pitch angle β of the target object, which is not limited in this embodiment.

[0096] The following will explain in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems through embodiments and in combination with the accompanying drawings. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. It should be noted that the present application Figure 2-Figure 11The ground clutter processing method provided in the embodiment is executed by the server 101 or a ground clutter processing device, which can be part or all of the server 101 through software, hardware, or a combination of software and hardware. In the following method embodiments, the execution subject is taken as the server 101 as an example for description.

[0097] In one embodiment, Figure 2 As shown, a ground clutter processing method is provided, which involves a server acquiring data of multiple original target points, screening candidate ground clutter points from the multiple original target points based on the pitch angle in the data, and screening target ground clutter points from the candidate ground clutter points based on the distance and signal-to-noise ratio in the data, including the following steps:

[0098] S201, acquiring data of a plurality of original target points; the data of each original target point includes a pitch angle, a distance, and a signal-to-noise ratio.

[0099] The data of the original target points are the data obtained after radar reception and processing. The data of each original target point includes the pitch angle β of each target object, the distance R between each target object and the radar, the signal-to-noise ratio SNR of the echo signal reflected by each target object, and other information.

[0100] In this embodiment, the server communicates with the radar data to obtain the data of multiple original target points received by the radar, wherein the process of the radar receiving and processing the data of the original points is that the radar transmitter radiates the emitted electromagnetic in the form of electromagnetic waves through the antenna, and after the electromagnetic waves are irradiated to the surrounding target objects, they are reflected to form a reflected echo signal, and the radar receiver receives the reflected echo signal and further processes the reflected echo signal. Optionally, the received reflected echo signal is processed at the signal layer, including processing methods such as distance dimension, speed dimension, incoherent accumulation, constant false alarm detection, angle measurement (such as azimuth, pitch angle, etc.), and after data processing, the data of multiple original target points are obtained, and the data of each original target point contains information such as the distance, pitch angle, signal-to-noise ratio, etc. of the target object. The server communicates with the radar to obtain the data of the original target point after data processing, and performs screening processing of ground clutter points, which is not limited in this embodiment.

[0101] S202: based on the pitch angle, select candidate ground clutter points from a plurality of original target points.

[0102] In this embodiment, the server may determine the candidate ground clutter point according to the pitch angle and the range corresponding to the pitch angle. For example, the preset pitch angle range refers to a threshold range of pitch angles obtained by statistics according to the pitch angle distribution ranges in the data of multiple sample ground clutter points in the data preprocessing stage. The threshold range of pitch angles may be a threshold range of pitch angles corresponding to ground clutter points, or may be a threshold range of pitch angles corresponding to non-ground clutter points. When the server screens the ground clutter points according to the pitch angle and the preset pitch angle range, correspondingly, if the threshold range of the pitch angle is the threshold range of the pitch angle corresponding to the ground clutter point, in the process of screening the ground clutter points, if the pitch angle of the original target point is within the pitch angle range, then the current original target point can be determined as a candidate ground clutter point; if the threshold range of the pitch angle is the threshold range of the pitch angle corresponding to the non-ground clutter point, in the process of screening the ground clutter points, if the pitch angle of the original target point is not within the pitch angle range, then the current original target point can be determined as a candidate ground clutter point; or, the server can also directly determine the candidate ground clutter point according to the angle threshold of the pitch angle. For example, the server can determine the ground clutter point with a pitch angle greater than the preset angle threshold as a candidate ground clutter point, which is not limited in this embodiment.

[0103] S203: Filter out target ground clutter points from candidate ground clutter points based on distance and signal-to-noise ratio.

[0104] In this embodiment, the server constructs a ground clutter determination model, takes the distance of the candidate ground clutter point as the input of the ground clutter point determination model, and outputs the ground clutter threshold value corresponding to each candidate ground clutter point through calculation of the ground clutter point determination model. Thus, according to the ground clutter threshold value of each candidate ground clutter point, the signal-to-noise ratio of each candidate ground clutter point is compared and judged to determine whether the current candidate ground clutter point is the target ground clutter point. Optionally, the ground clutter threshold value can be the upper threshold value of the ground clutter point, that is, if the signal-to-noise ratio of the candidate ground clutter point is less than the corresponding ground clutter threshold value, the current candidate ground clutter point is determined to be the target ground clutter point; optionally, the ground clutter threshold value can also be the lower threshold value of the ground clutter point, that is, if the signal-to-noise ratio of the candidate ground clutter point is greater than the corresponding ground clutter threshold value, the current candidate ground clutter point is determined to be the target ground clutter point. Alternatively, the server may also determine the target ground clutter point among the candidate ground clutter points according to the distance and signal-to-noise ratio of the candidate ground clutter points and a preset ground clutter determination algorithm, which is not limited in this embodiment.

[0105] In the above ground clutter processing method, the server obtains data of multiple original target points, and based on the pitch angle in the data, selects candidate ground clutter points from the multiple original target points, and based on the distance and signal-to-noise ratio in the data, selects target ground clutter points from the candidate ground clutter points. In this method, the server performs preliminary ground clutter point screening on the original target points according to the pitch angle of the target object obtained by the radar, determines the candidate ground clutter points, and then further screens the candidate ground clutter points according to the distance and signal-to-noise ratio. Through the joint screening of multiple dimensions such as pitch angle, distance, and signal-to-noise ratio, the problem of one-size-fits-all for close-range weak targets is avoided. By screening the target ground clutter points through this method, the recognition accuracy of ground clutter points is relatively accurate.

[0106] When the server screens the ground clutter points of the original target point data, it can perform multiple screenings, for example, determining the candidate ground clutter points according to the pitch angle. Optionally, the preliminary screening can be based on the numerical range of the original target point data. Figure 3 As shown, the candidate ground clutter points are screened out from multiple original target points according to the pitch angle and the preset pitch angle range, including:

[0107] S301, preset a pitch angle range.

[0108] Among them, the pitch angle range refers to the corresponding pitch angle range formed under the scenario where the radar vehicle travels at different speeds under ideal conditions according to different road conditions.

[0109] Optionally, in one embodiment, Figure 4 As shown in the figure, the preset pitch angle range includes:

[0110] S401, acquiring data of a plurality of sample ground clutter points; the data of each sample ground clutter point includes a pitch angle.

[0111] In this embodiment, based on the ideal environment of different road conditions and various scenarios where the radar vehicle travels at different speeds, the server obtains data of multiple sample clutter points in each scenario; the data of the sample clutter points includes pitch angles. Among them, different road conditions include urban roads, highways, country roads, cement roads and other road conditions; the ideal environment refers to a road environment where the current road is wide and no vehicles pass by during the collection process, for example, the road width is greater than 10m, and there are no vehicles or no passing vehicles within a radius of 20m of the radar vehicle; different driving speeds correspond to different speed ranges, and the speed range refers to the driving speed range of the radar vehicle set to ensure the accuracy of the original target points collected.

[0112] In this embodiment, the server can obtain the data of sample ground clutter points collected under different radar loading modes under ideal environments of different road conditions. Taking the case where the radar loading mode is placed forward of the vehicle body under a certain road condition as an example, the server obtains the data of sample ground clutter points collected by the forward loading radar under the ideal environment of the current road condition while driving at a preset driving speed. The data of the sample ground clutter points includes the pitch angle of the target object. Optionally, the height of the forward loading radar from the ground can be set to H, so as to calculate the pitch angle and other parameters of the target object.

[0113] Taking the radar mounting method of placing the radar in the front of the vehicle body as an example, the server obtains data of sample ground clutter points collected by the forward-mounted radar under the ideal environment of the current road conditions while driving at a preset driving speed. The data of the sample ground clutter points includes the pitch angle of the target object. Optionally, the height of the forward-mounted radar from the ground can be set to H in order to calculate the pitch angle of the target object. This embodiment does not limit this.

[0114] S402: Statistically analyze the distribution range of the pitch angles of the sample ground clutter points to obtain the pitch angle range.

[0115] In this embodiment, the server statistically determines the maximum value β of the pitch angle among the sample clutter points obtained by screening according to the obtained sample clutter points. max and the minimum value β min , where the maximum value β max and the minimum value β min It is determined based on the current road conditions and the current radar mounting position. Different road conditions and different radar mounting positions correspond to different maximum and minimum values ​​of the parameters. The server determines the maximum value β max and the minimum value β min , (β min , β max ) is determined as the pitch angle range.

[0116] In this embodiment, the server determines the pitch angle range according to the distribution range of the pitch angles of the sample ground clutter points, so that the ground clutter points within the threshold range can be preliminarily screened according to the threshold range. This screening method is simple and effective, saving screening resources and calculation amount for ground clutter points.

[0117] S302: Determine an original target point whose pitch angle is within the pitch angle range as a candidate ground clutter point.

[0118] In this embodiment, taking the urban road condition and the vehicle body forward loading radar as an example, the maximum value of the pitch angle is set to β2, and the minimum value of the pitch angle is set to β1. The server selects the original target points whose pitch angles of the sample ground clutter points are within the range of (β1, β2) from the acquired original target points according to β2 and β1, as candidate ground clutter points. For example, the server selects the ground clutter points according to the acquired pitch angles of the original target points and the preset pitch angle range. If the server determines that the pitch angle β of the original target point is within the pitch angle range (β min ,β max ), the original target point is determined to be a candidate ground clutter point. For example, the preset pitch angle range may be (-70°, 0°). When the pitch angle β of a certain original target point obtained by the server is -30°, the pitch angle β of the original target point is within the pitch angle range, and the server determines that the current original target point is a candidate ground clutter point.

[0119] In this embodiment, the server performs preliminary screening based on the pitch angle of the data of the original target point and the preset threshold range of the pitch angle. The screening method based on the value range is simple and effective, which reduces the amount of data for secondary screening of ground clutter to a certain extent and improves the accuracy of ground clutter screening.

[0120] When the server screens the ground clutter points for the original target point data, it may perform multiple screenings, for example, determining the candidate ground clutter points according to the distance. In one optional embodiment, Figure 5 As shown, the above method of selecting candidate ground clutter points from multiple original target points based on the pitch angle also includes:

[0121] S501, preset distance range.

[0122] Optionally, in one embodiment, Figure 6 As shown, the preset distance ranges include:

[0123] S601, acquiring data of a plurality of sample ground clutter points; the data of each sample ground clutter point includes a distance.

[0124] In this embodiment, the radar is mounted in the forward direction of the vehicle body as an example. The server obtains data of sample ground clutter points collected by the forward-mounted radar under the ideal environment of the current road conditions while driving at a preset speed. The data of the sample ground clutter points includes distances. Optionally, the height of the forward-mounted radar from the ground can be set to H in order to calculate the distance to the target object. This embodiment does not limit this.

[0125] S602: Statistically analyze the distribution range of the distances of the clutter points of the sample ground to obtain a distance range.

[0126] In this embodiment, the server statistically determines the maximum value R of the distance among the sample clutter points obtained by screening according to the obtained sample clutter points. max and the minimum value R min , will (R min , R max ) is determined as the threshold range of the distance.

[0127] S502: Determine an original target point whose distance is within the distance range and whose pitch angle is also within the pitch angle range as a candidate ground clutter point.

[0128] The maximum and minimum values ​​corresponding to the preset distance are determined according to the current road conditions and the current radar installation position. Different road conditions and different radar installation positions correspond to different maximum and minimum values ​​of the parameters.

[0129] In this embodiment, taking urban road conditions and a vehicle body forward-mounted radar as an example, the maximum distance is set to R2 and the minimum distance is set to R1. The server selects the original target points whose distances to the original target points are within the range of (R1, R2) from the acquired original target points according to R2 and R1, and determines them as candidate ground clutter points, which is not limited in this embodiment.

[0130] In this embodiment, the server determines the corresponding threshold range according to the distribution range of the distance of the original target point, so that the ground clutter points within the distance threshold range can be preliminarily screened according to the distance threshold range. This screening method is simple and effective, saving the screening resources and calculation amount of the ground clutter points.

[0131] When the server screens the ground clutter points for the original target point data, it may perform multiple screenings, for example, determining the candidate ground clutter points according to the azimuth and the speed. In one optional embodiment, Figure 7 As shown, the data of each original target point also includes azimuth and velocity; the above-mentioned method of selecting candidate ground clutter points from multiple original target points based on the pitch angle also includes:

[0132] S701. Preset an azimuth angle range and a speed range.

[0133] Optionally, in one embodiment, if Figure 8 As shown, the preset azimuth range and speed range include:

[0134] S801, acquiring data of a plurality of sample ground clutter points; the data of each sample ground clutter point includes an azimuth and a velocity.

[0135] In this embodiment, similar to obtaining the pitch angle, distance and other parameters in the above steps, the server mounts the radar on the front of the vehicle body, obtains the ideal environment of the current road conditions, and drives at a preset driving speed. The data of the sample ground clutter points collected by the forward-mounted radar include azimuth and speed. Optionally, the height of the forward-mounted radar from the ground can be set to H, so as to calculate the azimuth and speed of the target object.

[0136] S802: Statistically analyze the distribution range of the azimuth angles of the clutter points of the sample ground to obtain the azimuth angle range.

[0137] In this embodiment, the server statistically determines the maximum azimuth angle θ of the sample ground clutter points obtained by screening, based on the obtained sample ground clutter points. max and the minimum value θ min , and (θ min ,θ max ) is determined as the threshold range of the azimuth angle. The maximum and minimum values ​​of the azimuth angle are determined according to the current road conditions and the current radar mounting position.

[0138] S803. Statistically analyze the distribution range of the speed of the sample ground clutter points to obtain a speed range.

[0139] In this embodiment, the server statistically determines the maximum velocity V of the sample ground clutter points obtained by screening according to the obtained sample ground clutter points. max and minimum value V min , will (V min , V max ) is determined as the threshold range of speed. The maximum and minimum values ​​of the speed are determined according to the current road conditions and the current radar mounting position.

[0140] S702: Determine an original target point whose azimuth is within the azimuth range, whose speed is within the speed range, whose distance is within the distance range, and whose pitch angle is also within the pitch angle range as a candidate ground clutter point.

[0141] In this embodiment, taking urban road conditions and vehicle body forward loading radar as an example, the maximum azimuth angle is set to θ2, the minimum azimuth angle is set to θ1, the maximum speed is set to V2, and the minimum speed is set to V1. The server selects the original target points whose azimuth angles are within the range of (θ1, θ2) and whose speeds are within the range of (V1, V2) from the acquired original target points according to θ2 and θ1, V2 and V1, as candidate ground clutter points, which are not limited in this embodiment.

[0142] In this embodiment, the server determines various corresponding threshold ranges according to the azimuth and velocity distribution ranges of the sample ground clutter points, so that the ground clutter points within the threshold ranges can be preliminarily screened from the original target points as candidate ground clutter points according to the respective corresponding threshold ranges. This screening method is simple and effective, saving screening resources and calculation amount for ground clutter points.

[0143] After the server preliminarily screens the data of the original target point according to the pitch angle and the pitch angle range to obtain the candidate ground clutter points, in order to improve the screening accuracy of the ground clutter points, the server may further perform a secondary screening on the candidate ground clutter points. In one embodiment, Fig. 9 As shown, the above-mentioned method of selecting target ground clutter points from candidate ground clutter points according to the distance, signal-to-noise ratio, and preset ground clutter point determination model of the candidate ground clutter points includes:

[0144] S901. Preset a ground clutter point determination model.

[0145] The preset ground clutter point determination model refers to a ground clutter point determination model generated by a curve fitting method based on the relationship between the distance and the signal-to-noise ratio of the ground clutter points in the sample ground clutter points, and the input parameter of the ground clutter point determination model is the distance, and the output parameter is the signal-to-noise ratio. Optionally, the server defines the signal-to-noise ratio output by the ground clutter point determination model as a ground clutter threshold value for performing a ground clutter point screening operation.

[0146] S902: Use the distances corresponding to the candidate ground clutter points as inputs to a ground clutter point determination model to obtain ground clutter thresholds corresponding to the candidate ground clutter points.

[0147] The input of the ground clutter point determination model is the distance, and the output is the ground clutter threshold. For example, the calculation formula of the ground clutter threshold can be expressed as:

[0148] T k =f out (R k )

[0149] In this embodiment, the server calculates the distance R of the kth candidate clutter point k Substitute it into the ground clutter point determination model and calculate the ground clutter threshold value T corresponding to the kth candidate ground clutter point k .

[0150] S903: Determine a candidate ground clutter point whose signal-to-noise ratio is less than a corresponding ground clutter threshold as a target ground clutter point.

[0151] In this embodiment, the server calculates the signal-to-noise ratio (SNR) of the echo signal of the candidate clutter point. k The calculated ground clutter threshold T kFor comparison, if SNR k <T k , the server determines the kth candidate clutter point as the target clutter point; if SNR k ≥T k , the server determines the kth candidate clutter point as a valid point, which is not limited in this embodiment.

[0152] In this embodiment, the server further screens and determines the candidate ground clutter points through the ground clutter point determination model, which can effectively perform secondary screening on the candidate ground clutter points, thereby improving the recognition and screening accuracy of the ground clutter points.

[0153] Optionally, the server constructs a ground clutter point determination model based on the collected sample ground clutter point data. In one embodiment, Fig.10 As shown, the preset ground clutter point determination model includes:

[0154] S1001, acquiring data of multiple sample ground clutter points; the data of each sample ground clutter point includes a distance and a signal-to-noise ratio.

[0155] In this embodiment, based on ideal environments of different road conditions and various scenarios where radar-carrying vehicles travel at different speeds, the server obtains data of multiple sample ground clutter points in each scenario; the data of the sample ground clutter points includes distance and signal-to-noise ratio.

[0156] S1002, taking the distance R as the independent variable and the signal-to-noise ratio SNR as the dependent variable, linear fitting is performed on the data of multiple sample ground clutter points to obtain a ground clutter point determination model.

[0157] The input of the ground clutter point determination model is the distance R of the sample ground clutter point, and the output is the signal-to-noise ratio SNR of the sample ground clutter point.

[0158] Optionally, in one of the optional embodiments, as Fig.11 As shown, the above-mentioned ground clutter point determination model is obtained by linearly fitting the data of multiple sample ground clutter points with the distance R as the independent variable and the signal-to-noise ratio SNR as the dependent variable, including:

[0159] S1101. Using the distance R as an independent variable and the signal-to-noise ratio SNR as a dependent variable, based on data of a plurality of sample ground clutter points, draw ground clutter plane map data.

[0160] In this embodiment, the server draws ground clutter plane map data according to the distance R and the signal-to-noise ratio SNR in the data of all sample ground clutter points, and the ground clutter plane map data uses R as an independent variable (i.e., the horizontal axis x in the coordinate system) and SNR as a dependent variable (i.e., the vertical axis y in the coordinate system). Optionally, the ground clutter plane map data is scatter plot data.

[0161] S1102. In the distance dimension, the data of the sample ground clutter points corresponding to the two ground clutter plane map data points with the largest signal-to-noise ratio (SNR) in the ground clutter plane map data are used as upper envelope data.

[0162] In this embodiment, the server extracts data corresponding to the two ground clutter plane map data points with the largest SNR at each distance R point in the clutter plane map data as upper envelope data. Optionally, the server may first count how many distance R points there are, and then respectively count the SNR values ​​of the sample ground clutter points corresponding to each distance R point, and select the data of the two ground clutter plane map data points with the largest SNR values ​​as upper envelope data by sorting, comparison or other methods, which is not limited in this embodiment.

[0163] S1103 . Linearly fit the upper envelope data and the preset K curve models to obtain K curves corresponding to the K curve models; wherein K is a natural number greater than 0.

[0164] Among them, the preset K curve model can be expressed as:

[0165] y=a k x k +a k-1 x k-1 +...+a1x 1 +a0

[0166] Wherein, k = 1, 2, ..., K, K is the number of curves; a is the linear coefficient.

[0167] In this embodiment, the server fits K curves according to all the upper envelope data determined in the above steps and the above K curve models by linear least squares fitting method or any other linear fitting method. Optionally, the equations corresponding to the K curves can be expressed as:

[0168] y=f k (x)

[0169] Wherein, k = 1, 2, ..., K, K is the number of curves.

[0170] S1104. Determine, among the K curves, the curve with the smallest sum of squares of distances from all upper envelope points to the curve as a candidate curve.

[0171] In this embodiment, the server may determine the optimal candidate curve from the K curves according to the sum of the squares of the distances from all upper envelope points to the curves. Optionally, the server may determine the curve with the smallest sum of the squares of the distances from the upper envelope points to the curves as the optimal candidate curve. The optimal candidate curve may be expressed as:

[0172] y=f opt (x)

[0173] The basis for determination, that is, the expression for minimizing the sum of the squares of the distances from the upper envelope point to the curve, can be expressed as:

[0174]

[0175] Where K is the number of curves and M is the number of upper envelope points.

[0176] S1105. Add a preset adjustment factor to the curve model corresponding to the candidate curve to obtain a ground clutter point determination model.

[0177] The preset adjustment factor is set according to the actual road conditions, radar installation location, etc. The function of the adjustment factor is to ensure that the upper envelope points are all below the optimal candidate curve.

[0178] In this embodiment, optionally, the server may add a preset adjustment factor to the curve model corresponding to the optimal candidate curve to obtain a ground clutter point determination model. For example, the curve equation corresponding to the ground clutter point determination model may be expressed as:

[0179] y=f out (x) = f opt (x)+c

[0180] Where c is the adjustment factor, f opt (x) is the optimal candidate curve expression.

[0181] In this embodiment, the server constructs a ground clutter point determination model based on the sample ground clutter points, so that when performing ground clutter point screening on the acquired original target point data, the candidate ground clutter points can be effectively screened for a second time. Since the ground clutter point determination model is obtained by fitting the data of typical sample ground clutter points, the recognition and screening accuracy of ground clutter points is improved.

[0182] After determining the target ground clutter point, the server may perform the next step of data processing on the target ground clutter point. In one optional embodiment, the ground clutter processing method further includes:

[0183] Target ground clutter points are eliminated from a plurality of original target points to obtain real target points, so as to perform target tracking based on the real target points; and / or, the sensor is a millimeter wave sensor.

[0184] In this embodiment, the server obtains the target ground clutter point according to the ground clutter processing method provided in the above embodiment. Optionally, the server can search and remove the corresponding original target point from the data list of the original target point according to the target ground clutter point; the server can also assign a first value to the data corresponding to the target ground clutter point and remove the corresponding original target point according to the first value. Optionally, after removing the target ground clutter point, the server can perform tracking processing according to the remaining valid original target points, which is not limited in this embodiment.

[0185] In this embodiment, since the target ground clutter points determined in the ground clutter processing method are screened twice, the obtained target ground clutter points are relatively accurate. Therefore, after the target ground clutter points are eliminated, the accuracy of the retained non-ground clutter points is also relatively high.

[0186] Another ground clutter processing method provided by the present application can also be applied to Figure 1 It should be noted that, in this embodiment, the radar 102 should also have a transceiver antenna for measuring azimuth, pitch angle, speed, distance, and signal-to-noise ratio. This embodiment is still explained by taking the vehicle body forward installation as an example. Figure 1b As shown, Figure 1b 1 is a top view schematic diagram of a vehicle-mounted forward radar. The radar 102 can also measure the azimuth angle θ and distance R of the target object, which is not limited in this embodiment.

[0187] The following will explain in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems through embodiments and in combination with the accompanying drawings. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. It should be noted that the present application Figure 12-14 The ground clutter processing method provided in the embodiment is executed by the server 101 or a ground clutter processing device, which can be part or all of the server 101 through software, hardware, or a combination of software and hardware. In the following method embodiments, the execution subject is taken as the server 101 as an example for description.

[0188] In one embodiment, Fig.12 As shown, a ground clutter processing method is provided, which involves a process in which a server obtains data of multiple original target points, screens out target ground clutter points from the multiple original target points based on at least two parameter factors in the data, removes the target ground clutter points from the multiple original target points to obtain a real target point, and tracks a target based on the real target point, including the following steps:

[0189] S1201. Acquire data of a plurality of original target points; the data of each original target point includes at least two parameter factors.

[0190] Among them, the data of the original target point obtained by the server includes information such as the pitch angle β, azimuth angle θ, speed V, the distance R between each target object and the radar, and the signal-to-noise ratio SNR of the echo signal reflected by each target object. Optionally, at least two parameter factors may include a first parameter factor and a second parameter factor, the first parameter factor includes the pitch angle, azimuth angle, speed and / or distance; and / or the second parameter factor includes distance and signal-to-noise ratio.

[0191] In this embodiment, the data of the original target point acquired by the server is the data obtained after radar reception processing. The data of each original target point includes information such as the distance, pitch angle, azimuth angle, speed, and signal-to-noise ratio of the target object. The server performs ground clutter point screening processing based on the acquired data of the original target point, and this embodiment does not limit this.

[0192] S1202: Filter out target ground clutter points from a plurality of original target points based on at least two parameter factors.

[0193] According to the example given in step S1201 above, the first parameter factor is used to screen candidate ground clutter points from multiple original target points; and the second parameter factor is used to determine the target ground clutter point from the candidate ground clutter points.

[0194] In this embodiment, the server can explain how to determine the candidate ground clutter points according to the first parameter factor according to the embodiment given in the above step 202; and explain how to determine the target ground clutter points according to the second parameter factor according to the embodiment given in the above step 203, which will not be described in detail in this embodiment.

[0195] S1203: Eliminate target ground clutter points from a plurality of original target points to obtain real target points, and perform target tracking based on the real target points.

[0196] In this embodiment, the server determines a target ground clutter point from multiple original target points according to the ground clutter processing method given in step S1202. Optionally, the server can search and remove the corresponding original target point from the data list of the original target points according to the target ground clutter point; the server can also assign a first value to the data corresponding to the target ground clutter point and remove the corresponding original target point according to the first value. Optionally, after removing the target ground clutter point, the server can perform tracking processing according to the remaining valid original target points.

[0197] In the above ground clutter processing method, the server obtains data of multiple original target points; the data of each original target point includes at least two parameter factors, and the target ground clutter points are screened out from the multiple original target points based on the at least two parameter factors, and the target ground clutter points in the multiple original target points are eliminated to obtain the real target points, so as to track the target based on the real target points. In this method, the server performs a multi-dimensional joint screening process on the original target points through the at least two parameter factors of the acquired target object, which effectively improves the precision and accuracy of ground clutter point identification and processing.

[0198] The server performs multiple screening on the data of the original target point according to various parameters of the data of the original target point and the threshold range of the parameters. In one embodiment, Fig.13 As shown, the above method of screening out target ground clutter points from multiple original target points based on at least two parameter factors includes:

[0199] S1301. Use at least one parameter factor among at least two parameter factors as a first parameter factor.

[0200] In this embodiment, the first parameter factor includes at least one parameter of a pitch angle, an azimuth angle, a speed, and a distance.

[0201] S1302: Use at least two parameter factors of the at least two parameter factors as second parameter factors.

[0202] In this embodiment, the second parameter factor may include distance and signal-to-noise ratio; the second parameter factor may also include parameters included in the first parameter factor, for example, the second parameter factor includes pitch angle, azimuth angle, speed, distance and signal-to-noise ratio.

[0203] S1303: Screen out candidate ground clutter points from a plurality of original target points based on the first parameter factor.

[0204] In this embodiment, the server may screen candidate ground clutter points based on the pitch angle, azimuth, speed, distance, and respective corresponding threshold ranges of the acquired original target point; and may also screen candidate ground clutter points based on the pitch angle, azimuth, speed, distance, and respective corresponding threshold ranges of the acquired original target point in a preset order, and the preset order may be distance, speed, pitch angle, azimuth, or any other order.

[0205] In this embodiment, if the server determines that the pitch angle, azimuth angle, speed, and distance corresponding to the original target point are all within the corresponding threshold ranges, the server determines that the current original target point is a candidate ground clutter point. That is, the server determines that the pitch angle β of the original target point is within the pitch angle range (β min ,β max), and the azimuth angle θ of the original target point is within the azimuth range (θ min ,θ max ), and the velocity V of the original target point is within the velocity range (V min ,V max ), and the distance R of the original target point is within the distance range (R min ,R max ), the current original target point is determined to be a candidate ground clutter point. For example, the pitch angle range is (-70°, 0°), the azimuth range is (-70°, 70°), the speed range is (0, 60km / h), and the distance range is (0, 20m). The data of the current original target point includes a pitch angle of -30°, an azimuth range of 40°, a speed range of 30km / h, and a distance range of 10m. Each parameter is within its corresponding threshold range, and the server determines that the current original target point is a candidate ground clutter point, which is not limited in this embodiment.

[0206] S1304: Filter out target ground clutter points from candidate ground clutter points based on the second parameter factor.

[0207] After the server preliminarily screens the data of the original target point according to the first parameter factor to obtain the candidate ground clutter points, in order to improve the screening accuracy of the ground clutter points, the server may further perform a secondary screening on the candidate ground clutter points. Optionally, in one embodiment, Fig.14 As shown, the above-mentioned method of selecting the target ground clutter point from the candidate ground clutter points based on the second parameter factor includes:

[0208] S1401. Preset a ground clutter point determination model.

[0209] In this embodiment, similar to the preset method of the ground clutter point determination model provided in step 901 of the embodiment, the server generates the ground clutter point determination model by a curve fitting method according to the relationship between the distance and the signal-to-noise ratio of the ground clutter points in the sample ground clutter points.

[0210] S1402: Obtain a ground clutter threshold value corresponding to each candidate ground clutter point based on a second parameter factor and a ground clutter point determination model.

[0211] In this embodiment, similar to step 902 above, the server uses the distance of the candidate ground clutter point as the input of the preset ground clutter point determination model, and outputs the ground clutter threshold value corresponding to each candidate ground clutter point through calculation of the ground clutter point determination model, which will not be described in detail in this embodiment.

[0212] S1403: Determine a candidate ground clutter point whose value is smaller than a corresponding ground clutter threshold as a target ground clutter point.

[0213] In this embodiment, the server compares and determines whether the current candidate ground clutter point is the target ground clutter point based on the ground clutter threshold value of each candidate ground clutter point and the signal-to-noise ratio of each candidate ground clutter point collected. The specific determination method is similar to the embodiment provided in step 903 and is not described in detail in this embodiment.

[0214] In this embodiment, the server performs preliminary screening based on the first parameter factor of the data of the original target point, which reduces the amount of data for secondary screening of ground clutter to a certain extent, determines the target ground clutter point based on the second parameter factor and a preset ground clutter point determination model, and performs joint judgment from multiple dimensions, thereby improving the screening accuracy of ground clutter points.

[0215] In order to better illustrate the above method, Fig.15 As shown, this embodiment provides a ground clutter processing method, which specifically includes:

[0216] S101, acquiring data of a plurality of sample ground clutter points; the data of each sample ground clutter point includes at least one of a pitch angle, a distance, an azimuth angle and a speed;

[0217] S102, statistically analyzing the distribution ranges of the pitch angle, distance, azimuth and speed of the clutter points at the sample site, and obtaining the ranges of the pitch angle, distance, azimuth and speed;

[0218] S103, acquiring data of multiple sample clutter points; the data of each sample clutter point includes distance and signal-to-noise ratio;

[0219] S104, taking the distance R as an independent variable and the signal-to-noise ratio SNR as a dependent variable, linear fitting is performed on the data of multiple sample ground clutter points to obtain a ground clutter point determination model;

[0220] S105, acquiring data of a plurality of original target points; the data of each original target point includes a pitch angle, a distance, and a signal-to-noise ratio;

[0221] S106, determining an original target point whose pitch angle is within the pitch angle range, and / or whose distance is within the distance range, and / or whose azimuth is within the azimuth range, and / or whose speed is within the speed range as a candidate ground clutter point;

[0222] S107, using the distances corresponding to the candidate ground clutter points as inputs to the ground clutter point determination model to obtain ground clutter thresholds corresponding to the candidate ground clutter points;

[0223] S108, determining a candidate ground clutter point whose signal-to-noise ratio is less than a corresponding ground clutter threshold as a target ground clutter point;

[0224] S109: Eliminate target ground clutter points from a plurality of original target points to obtain real target points, and perform target tracking based on the real target points.

[0225] In this embodiment, the server pre-processes the data of the sample ground clutter points to obtain the threshold ranges of parameters of different dimensions and the ground clutter point determination model corresponding to the sample ground clutter points, so that after obtaining the pitch angle, azimuth, speed, distance, and signal-to-noise ratio of the echo signal of the target object corresponding to the data of multiple original target points, the original target points are screened twice according to the threshold ranges of parameters of different dimensions and the ground clutter point determination model, and the original target points are jointly processed from multiple dimensions to improve the ground clutter point recognition accuracy, and the ground clutter points are eliminated according to the screening results to improve the processing accuracy and accuracy of the ground clutter points. Furthermore, since the ground clutter points are effectively and accurately eliminated, the burden of memory and calculation amount for subsequent radar point tracking is reduced.

[0226] The implementation principle and technical effect of the ground clutter processing method provided in the above embodiment are similar to those of the above method embodiment, and will not be described in detail here.

[0227] It should be understood that although Figure 2-15 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 2-15 At least part of the steps may include multiple steps or multiple stages. These steps or stages are not necessarily performed at the same time, but can be performed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed in turn or alternately with other steps or at least part of the steps or stages in other steps.

[0228] In one embodiment, Fig.16 As shown, a ground clutter processing device is provided, comprising: an acquisition module 01, a preliminary screening module 02 and a secondary screening module 03, wherein:

[0229] The acquisition module 01 is used to acquire data of multiple original target points; the data of each original target point includes a pitch angle, a distance, and a signal-to-noise ratio;

[0230] A preliminary screening module 02 is used to screen candidate ground clutter points from a plurality of original target points based on the pitch angle; and

[0231] The secondary screening module 03 is used to screen out target ground clutter points from candidate ground clutter points based on distance and signal-to-noise ratio.

[0232] In one of the optional embodiments, the preliminary screening module 02 is used to preset a pitch angle range; and determine the original target point whose pitch angle is within the pitch angle range as a candidate ground clutter point.

[0233] In one of the optional embodiments, the preliminary screening module 02 is specifically used to obtain data of multiple sample ground clutter points; the data of each sample ground clutter point includes a pitch angle; and statistically analyze the distribution range of the pitch angles of the sample ground clutter points to obtain the pitch angle range.

[0234] In one of the optional embodiments, the preliminary screening module 02 is further configured to preset a distance range; and determine an original target point whose distance is within the distance range and whose pitch angle is also within the pitch angle range as a candidate ground clutter point.

[0235] In one of the optional embodiments, the preliminary screening module 02 is specifically used to obtain data of multiple sample ground clutter points; the data of each sample ground clutter point includes a distance; and the distribution range of the distances of the sample ground clutter points is statistically analyzed to obtain a distance range.

[0236] In one of the optional embodiments, the data of each original target point also includes an azimuth and a speed; the preliminary screening module 02 is further used to preset an azimuth range and a speed range; and the original target points whose azimuth is within the azimuth range, whose speed is within the speed range, whose distance is within the distance range, and whose pitch angle is also within the pitch angle range are determined as candidate ground clutter points.

[0237] In one of the optional embodiments, the preliminary screening module 02 is specifically used to obtain data of multiple sample ground clutter points; the data of each sample ground clutter point includes an azimuth and a speed; the distribution range of the azimuth of the sample ground clutter points is statistically analyzed to obtain an azimuth range; the distribution range of the speed of the sample ground clutter points is statistically analyzed to obtain a speed range.

[0238] In one of the optional embodiments, the secondary screening module 03 is used to preset a ground clutter point determination model; use the distances corresponding to the candidate ground clutter points as inputs to the ground clutter point determination model to obtain ground clutter thresholds corresponding to the candidate ground clutter points; and determine the candidate ground clutter points whose signal-to-noise ratios are less than the corresponding ground clutter thresholds as target ground clutter points.

[0239] In one of the optional embodiments, the secondary screening module 03 is specifically used to obtain data of multiple sample ground clutter points; the data of each sample ground clutter point includes distance and signal-to-noise ratio; and with distance R as an independent variable and signal-to-noise ratio SNR as a dependent variable, linear fitting is performed on the data of multiple sample ground clutter points to obtain a ground clutter point determination model.

[0240] In one of the optional embodiments, the secondary screening module 03 is specifically used to draw ground clutter plane map data based on the data of multiple sample ground clutter points, taking the distance R as the independent variable and the signal-to-noise ratio SNR as the dependent variable; in the distance dimension, taking the data of the sample ground clutter points corresponding to the two ground clutter plane map data points with the largest signal-to-noise ratio SNR in the ground clutter plane map data as the upper envelope data; according to the upper envelope data and the preset K curve models, linear fitting is performed to obtain K curves corresponding to the K curve models; wherein K is a natural number greater than 0; the curve with the smallest sum of squares of distances from all upper envelope points to the curves in the K curves is determined as a candidate curve; and a preset adjustment factor is added to the curve model corresponding to the candidate curve to obtain a ground clutter point determination model.

[0241] In one of the optional embodiments, Fig.17 As shown, the above-mentioned ground clutter processing device also includes a removal module 04;

[0242] The elimination module 04 is used to eliminate target ground clutter points from multiple original target points to obtain real target points, so as to track the target based on the real target points; and / or the sensor is a millimeter wave sensor.

[0243] In one embodiment, Fig.18 As shown, another ground clutter processing device is provided, comprising: an acquisition module 11, a screening module 12 and a rejection module 13, wherein:

[0244] An acquisition module 11 is used to acquire data of a plurality of original target points; the data of each original target point includes at least two parameter factors;

[0245] A screening module 12, configured to screen out target ground clutter points from a plurality of original target points based on at least two parameter factors;

[0246] The elimination module 13 is used to eliminate target ground clutter points from a plurality of original target points to obtain real target points, so as to perform target tracking based on the real target points.

[0247] In one of the optional embodiments, the screening module 12 is used to use at least one parameter factor of the at least two parameter factors as a first parameter factor; use at least two parameter factors of the at least two parameter factors as second parameter factors; screen out candidate ground clutter points from multiple original target points based on the first parameter factor; and screen out target ground clutter points from the candidate ground clutter points based on the second parameter factor.

[0248] In one of the optional embodiments, the screening module 12 is specifically used to preset a ground clutter point determination model; obtain a ground clutter threshold value corresponding to each candidate ground clutter point based on the second parameter factor and the ground clutter point determination model; and determine a candidate ground clutter point that is smaller than the corresponding ground clutter threshold value as a target ground clutter point.

[0249] In one of the optional embodiments, the first parameter factor includes pitch angle, azimuth angle, speed and / or distance; and / or the second parameter factor includes distance and signal-to-noise ratio.

[0250] For the specific definition of the ground clutter processing device, please refer to the definition of the ground clutter processing method above, which will not be repeated here. Each module in the above-mentioned ground clutter processing device can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0251] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Fig.19 As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, an operator network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a method for processing ground clutter is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covered on the display screen, or a button, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0252] Those skilled in the art will understand that Fig.19 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0253] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0254] Acquire data of multiple original target points; the data of each original target point includes a pitch angle, a distance, and a signal-to-noise ratio;

[0255] Based on the pitch angle, candidate ground clutter points are screened out from multiple original target points; and

[0256] Based on the distance and signal-to-noise ratio, the target ground clutter points are screened out from the candidate ground clutter points.

[0257] The implementation principle and technical effect of the computer device provided in the above embodiment are similar to those of the above method embodiment, and will not be repeated here.

[0258] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0259] Acquire data of a plurality of original target points; the data of each original target point includes at least two parameter factors;

[0260] Screening out target ground clutter points from a plurality of original target points based on at least two parameter factors; and

[0261] Target ground clutter points among multiple original target points are eliminated to obtain real target points, so as to track the target based on the real target points.

[0262] The implementation principle and technical effect of the computer device provided in the above embodiment are similar to those of the above method embodiment, and will not be repeated here.

[0263] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0264] Acquire data of multiple original target points; the data of each original target point includes a pitch angle, a distance, and a signal-to-noise ratio;

[0265] Based on the pitch angle, candidate ground clutter points are screened out from multiple original target points; and

[0266] Based on the distance and signal-to-noise ratio, the target ground clutter points are screened out from the candidate ground clutter points.

[0267] The computer-readable storage medium provided in the above embodiment has similar implementation principles and technical effects as those of the above method embodiment, and will not be described in detail here.

[0268] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0269] Acquire data of a plurality of original target points; the data of each original target point includes at least two parameter factors;

[0270] Screening out target ground clutter points from a plurality of original target points based on at least two parameter factors; and

[0271] Target ground clutter points among multiple original target points are eliminated to obtain real target points, so as to track the target based on the real target points.

[0272] The computer-readable storage medium provided in the above embodiment has similar implementation principles and technical effects as those of the above method embodiment, and will not be described in detail here.

[0273] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0274] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0275] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A method for processing ground clutter, characterized in that: Applied in a signal processing layer for target detection using a sensor, the method comprises: Acquire data of multiple original target points; the data of each original target point includes a pitch angle, a distance, and a signal-to-noise ratio; Preset a pitch angle range and a distance range, and determine an original target point whose distance is within the distance range and whose pitch angle is also within the pitch angle range as a candidate ground clutter point; and Based on the distance and the signal-to-noise ratio, the target ground clutter point is selected from the candidate ground clutter points; Target ground clutter points are eliminated from the multiple original target points to obtain real target points, so as to perform target tracking based on the real target points.

2. The method according to claim 1, characterized in that The preset pitch angle range includes: Acquire data of multiple sample ground clutter points; the data of each sample ground clutter point includes a pitch angle; The distribution range of the pitch angles of the sample ground clutter points is statistically analyzed to obtain the pitch angle range.

3. The method according to claim 1, characterized in that The preset distance range includes: Acquire data of multiple sample ground clutter points; the data of each sample ground clutter point includes a distance; The distribution range of the distances of the sample ground clutter points is statistically analyzed to obtain the distance range.

4. The method according to claim 1, characterized in that: The data of each original target point also includes an azimuth and a speed; the method further includes: Preset azimuth ranges and speed ranges; and An original target point whose azimuth is within the azimuth range, whose speed is within the speed range, whose distance is within the distance range, and whose pitch angle is also within the pitch angle range is determined as the candidate ground clutter point.

5. The method according to claim 4, characterized in that The preset azimuth angle range and speed range include: Acquire data of multiple sample ground clutter points; the data of each sample ground clutter point includes azimuth and velocity; Statistically analyzing the distribution range of the azimuth angles of the sample ground clutter points to obtain the azimuth angle range; The speed range is obtained by statistically analyzing the distribution range of the speeds of the sample ground clutter points.

6. The method according to claim 1, characterized in that The step of selecting the target ground clutter point from the candidate ground clutter points based on the distance and the signal-to-noise ratio includes: Preset ground clutter point determination model; Using the distances corresponding to the candidate ground clutter points as inputs to the ground clutter point determination model to obtain ground clutter thresholds corresponding to the candidate ground clutter points; and The candidate ground clutter point whose signal-to-noise ratio is less than the corresponding ground clutter threshold is determined as the target ground clutter point.

7. The method according to claim 6, characterized in that The preset ground clutter point determination model includes: Acquiring data of multiple sample ground clutter points; the data of each sample ground clutter point includes distance and signal-to-noise ratio; and The ground clutter point determination model is obtained by performing linear fitting on the data of the plurality of sample ground clutter points with the distance R as the independent variable and the signal-to-noise ratio SNR as the dependent variable.

8. The method according to claim 7, characterized in that The method of taking the distance R as the independent variable and the signal-to-noise ratio SNR as the dependent variable and performing linear fitting on the data of the plurality of sample ground clutter points to obtain the ground clutter point determination model comprises: Taking the distance R as an independent variable and the signal-to-noise ratio SNR as a dependent variable, based on the data of the plurality of sample ground clutter points, plotting ground clutter plane map data; In the distance dimension, the data of the sample ground clutter points corresponding to the two ground clutter plane map data points with the largest signal-to-noise ratio (SNR) in the ground clutter plane map data are used as the upper envelope data; According to the upper envelope data and the preset K curve models, linear fitting is performed to obtain K curves corresponding to the K curve models; wherein K is a natural number greater than 0; Determine the curve with the smallest sum of squares of distances from all upper envelope points to the curve among the K curves as a candidate curve; A preset adjustment factor is added to the curve model corresponding to the candidate curve to obtain the ground clutter point determination model.

9. The method according to any one of claims 1 to 8, characterized in that The sensor is a millimeter wave sensor.

10. A method for processing ground clutter, characterized in that: Applied in a signal processing layer for target detection using a sensor, the method comprises: Acquire data of a plurality of original target points; the data of each original target point includes at least two parameter factors; the at least two parameter factors include a first parameter factor and a second parameter factor, the first parameter factor includes a pitch angle; the second parameter factor includes a distance and a signal-to-noise ratio; Filtering out target ground clutter points from the multiple original target points based on the at least two parameter factors includes: filtering out candidate ground clutter points from the multiple original target points based on the first parameter factor; and filtering out target ground clutter points from the candidate ground clutter points based on the second parameter factor; Eliminating target ground clutter points from the plurality of original target points to obtain real target points; and Target tracking is performed based on the real target point.

11. The method according to claim 10, characterized in that The step of screening out target ground clutter points from the plurality of original target points based on the at least two parameter factors comprises: Using at least one parameter factor of the at least two parameter factors as a first parameter factor; using at least two parameter factors of the at least two parameter factors as second parameter factors; Screening candidate ground clutter points from the plurality of original target points based on the first parameter factor; and A target ground clutter point is screened out from the candidate ground clutter points based on the second parameter factor.

12. The method according to claim 11, characterized in that The step of selecting the target ground clutter point from the candidate ground clutter points based on the second parameter factor includes: Preset ground clutter point determination model; Obtaining a ground clutter threshold value corresponding to each candidate ground clutter point based on the second parameter factor and the ground clutter point determination model; and A candidate ground clutter point with a value smaller than a corresponding ground clutter threshold is determined as the target ground clutter point.

13. A ground clutter processing device, characterized in that: The device comprises: An acquisition module is used to acquire data of multiple original target points; the data of each original target point includes a pitch angle, a distance, and a signal-to-noise ratio; A preliminary screening module, configured to preset a pitch angle range and a distance range, and determine an original target point whose distance is within the distance range and whose pitch angle is also within the pitch angle range as a candidate ground clutter point; and A secondary screening module, used for screening out target ground clutter points from the candidate ground clutter points based on distance and signal-to-noise ratio; The elimination module is used to eliminate target ground clutter points from the multiple original target points to obtain real target points, so as to perform target tracking based on the real target points.

14. A ground clutter processing device, characterized in that: The device comprises: An acquisition module, used for acquiring data of a plurality of original target points; the data of each original target point includes at least two parameter factors; the at least two parameter factors include a first parameter factor and a second parameter factor, the first parameter factor includes a pitch angle; the second parameter factor includes a distance and a signal-to-noise ratio; A screening module, configured to screen out target ground clutter points from the plurality of original target points based on the at least two parameter factors; the screening module screens out candidate ground clutter points from the plurality of original target points based on the first parameter factor, and screens out target ground clutter points from the candidate ground clutter points based on the second parameter factor; The elimination module is used to eliminate target ground clutter points from the multiple original target points to obtain real target points, so as to perform target tracking based on the real target points.

15. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 12 are implemented.

16. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 12 are implemented.

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