A distance determination method, apparatus, device, and storage medium

Abstract

An embodiment of the present invention discloses a distance determination method, apparatus, device, and storage medium. The method includes: determining a frequency-domain signal and a target Doppler frequency unit according to the acquired echo data; determining a difference-frequency measurement distance and an integral measurement distance of each beat signal in the frequency-domain signal according to the frequency-domain signal and the target Doppler frequency unit; determining the validity of each difference-frequency measurement distance according to each integral measurement distance, and determining a target measurement distance according to the determination result. The problem of inaccurate distance prediction in the trajectory prediction process is solved. Two distances, namely, the integral measurement distance and the difference-frequency measurement distance, are calculated. The validity of each difference-frequency measurement distance is determined by the integral measurement distance, and a stable target measurement distance is determined, so as to accurately measure the distance of the target object and obtain the stable distance of the target object.

Description

Technical Field

[0001] The embodiments of the present invention relate to radar measurement technologies, and in particular, to a distance determination method, apparatus, device, and storage medium. Background Art

[0002] Continuous wave radars have extensive applications in aspects such as target tracking and target surveillance measurement. During the measurement of moving targets by multi-frequency continuous wave radars, due to the maneuvering or attitude change of the targets, the quality of the target signals may be poor or even lost, resulting in a serious deviation of the measured distance value of the targets from the true distance value of the targets. Therefore, it is particularly crucial to achieve stable distance measurement of moving targets in continuous wave radar target measurement.

[0003] Currently, the distance measurement of targets based on multi-frequency continuous waves is mainly achieved according to the differential frequency phase calculation. Since the maneuvering, attitude adjustment, noise interference, etc. during the movement of the targets will all cause the stability of the target phase to deteriorate, resulting in jitter or even errors in the calculated distance. Therefore, how to achieve stable distance measurement of moving targets is an urgent problem to be solved. Summary of the Invention

[0004] The present invention provides a distance determination method, apparatus, device, and storage medium to achieve accurate prediction of the distance and obtain a stable distance.

[0005] In a first aspect, an embodiment of the present invention provides a distance determination method, and the distance determination method includes:

[0006] Determine a frequency domain signal and a target Doppler frequency unit according to the acquired echo data;

[0007] Determine the differential frequency measurement distance and the integral measurement distance of each beat signal in the frequency domain signal according to the frequency domain signal and the target Doppler frequency unit;

[0008] Perform validity determination on each differential frequency measurement distance according to each integral measurement distance, and determine the target measurement distance according to the determination result.

[0009] In a second aspect, an embodiment of the present invention further provides a distance determination apparatus, and the distance determination apparatus includes:

[0010] A signal determination module, configured to determine a frequency domain signal and a target Doppler frequency unit according to the acquired echo data;

[0011] A distance determination module, configured to determine the differential frequency measurement distance and the integral measurement distance of each beat signal in the frequency domain signal according to the frequency domain signal and the target Doppler frequency unit;

[0012] A determination module, configured to determine the validity of each difference frequency measurement distance according to each of the integral measurement distances, and determine a target measurement distance according to the determination result.

[0013] In a third aspect, an embodiment of the present invention further provides a computer device, which includes:

[0014] One or more processors;

[0015] A memory, configured to store one or more programs,

[0016] When the one or more programs are executed by the one or more processors, the one or more processors implement a distance determination method as described in any one of the embodiments of the present invention.

[0017] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, it implements a distance determination method as described in any one of the embodiments of the present invention.

[0018] The embodiment of the present invention provides a distance determination method, device, equipment and storage medium. By determining a frequency domain signal and a target Doppler frequency unit according to the acquired echo data; determining a difference frequency measurement distance and an integral measurement distance of each beat signal in the frequency domain signal according to the frequency domain signal and the target Doppler frequency unit; determining the validity of each difference frequency measurement distance according to each of the integral measurement distances, and determining a target measurement distance according to the determination result. The problem of inaccurate distance prediction in the trajectory prediction process is solved. Two distances, namely the integral measurement distance and the difference frequency measurement distance, are calculated. The validity of each difference frequency measurement distance is determined by the integral measurement distance, and a stable target measurement distance is determined, so as to accurately measure the distance of the target object and obtain the stable distance of the target object. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a flowchart of a distance determination method in Embodiment 1 of the present invention;

[0020] Figure 2 is a schematic diagram of the transmission timing of multiple frequency points of a continuous wave radar in Embodiment 1 of the present invention;

[0021] Figure 3 is a flowchart of a distance determination method in Embodiment 2 of the present invention;

[0022] Figure 4 is a schematic diagram of a difference frequency measurement distance in Embodiment 2 of the present invention;

[0023] Figure 5 is a schematic diagram of a target measurement distance in Embodiment 2 of the present invention;

[0024] Figure 6 It is a schematic structural diagram of a distance determination device in Embodiment 3 of the present invention;

[0025] Figure 7 It is a schematic structural diagram of a computer device in Embodiment 4 of the present invention. Specific Embodiments

[0026] To make the objectives, technical solutions, and advantages of the present application clearer, the following will further describe in detail the embodiments of the present application in conjunction with the accompanying drawings. It should be clear that the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0027] When the following description involves the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all the embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0028] In the description of the present application, it should be understood that the terms "first", "second", "third", etc. are only used to distinguish similar objects, and do not have to be used to describe a specific order or sequence, nor can they be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances. In addition, in the description of the present application, unless otherwise specified, "a plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after.

[0029] Embodiment 1

[0030] Figure 1 A flowchart of a distance determination method provided in Embodiment 1 of the present application is given. This method is applicable to the situation where a stable distance is obtained during distance prediction based on a continuous wave radar. This method can be executed by a computer device, which can be composed of two or more physical entities or one physical entity. Generally speaking, the computer device can be a notebook, a desktop computer, and a smart tablet, etc.

[0031] As Figure 1 shown, a distance determination method provided in Embodiment 1 of the present application specifically includes the following steps:

[0032] S110. Determine the frequency-domain signal and the target Doppler frequency unit based on the acquired echo data.

[0033] In this embodiment, the echo data can be specifically understood as the data collected by a continuous-wave radar; the frequency-domain signal can be specifically understood as the signal on the frequency spectrum; the target Doppler frequency unit can be specifically understood as the Doppler frequency unit where the target object is located. The target object refers to the object measured by the continuous-wave radar. A continuous-wave radar distinguishes different target objects through a velocity spectrum, and the number of targets that the radar can track and process simultaneously is limited. The simplest case is that the radar only tracks one target object. Since the target object is moving, there will be a Doppler velocity spectrum, that is, the corresponding Doppler frequency unit.

[0034] Specifically, the continuous-wave radar collects echo data and transmits the echo data to a computer device that executes the distance determination method provided in this application. The computer device performs frequency-domain transformation and other processing on the echo data to obtain the frequency-domain signal, and detects the frequency-domain signal to obtain the target Doppler frequency unit where the target object is located.

[0035] S120. Determine the difference-frequency measurement distance and the integral measurement distance of each beat signal in the frequency-domain signal based on the frequency-domain signal and the target Doppler frequency unit.

[0036] In this embodiment, the difference-frequency measurement distance can be specifically understood as the distance of the target object predicted by calculating the difference frequency. The integral measurement distance can be specifically understood as the distance of the target object predicted by integrating the velocity.

[0037] It should be noted that the frequency-domain signal contains multiple beat signals, and each beat signal is composed of multiple frames of signals. Exemplarily, Figure 2 FIG. 18 is a schematic diagram of the transmission timing of multiple frequency points of a continuous-wave radar provided by an embodiment of the present invention. The transmission frequency f 0 of the continuous-wave radar can be 10.5 GHz, the sampling rate is 1.25 MHz, and the transmission frequency group f i takes 4 as an example. The 4 f i working frequency points are spaced f 0 apart, and the frequencies are 2937500 Hz, 2968750 Hz, 3125000 Hz, and 3906250 Hz respectively, and the number of measurement beats is 187 beats. P is the number of multiple frequency points of the continuous-wave radar.

[0038] Specifically, according to each beat signal in the frequency-domain signal and the corresponding target Doppler frequency unit, the difference-frequency phase of each beat signal can be calculated, and then phase deblurring is performed according to the difference-frequency phase, and further the difference-frequency measurement distance of each beat signal is calculated. Analyze the data corresponding to the frequency-domain signal, such as the sampling frequency of the radar, the radar frame period, etc., and calculate the integral measurement distance in combination with the target Doppler frequency unit.

[0039] S130. Determine the validity of each difference frequency measurement distance according to each integral measurement distance, and determine the target measurement distance according to the determination result.

[0040] In this embodiment, the target measurement distance can be specifically understood as a stable predicted distance. Since the difference frequency measurement distance may jitter or even be incorrect under the interference of maneuvers, attitude adjustments, noise, etc. during the movement of the target object, the validity of the difference frequency measurement distance is determined by the integral measurement distance. Determine the change value of the distance according to each difference frequency measurement distance, and judge whether the change value of the distance is stable according to the integral measurement distance. If it is stable, the difference frequency measurement distance can be determined as a valid value; otherwise, it is an invalid value. Determine the target measurement distance according to whether the difference frequency measurement distance is valid.

[0041] The embodiment of the present invention provides a distance determination method. By determining the frequency domain signal and the target Doppler frequency unit according to the acquired echo data; determining the difference frequency measurement distance and the integral measurement distance of each beat signal in the frequency domain signal according to the frequency domain signal and the target Doppler frequency unit; determining the validity of each difference frequency measurement distance according to each integral measurement distance, and determining the target measurement distance according to the determination result. It solves the problem of inaccurate distance prediction during the trajectory prediction process. Calculate two distances, the integral measurement distance and the difference frequency measurement distance. Determine the validity of each difference frequency measurement distance through the integral measurement distance, and determine the stable target measurement distance, so as to accurately measure the distance of the target object and obtain the stable distance of the target object.

[0042] Embodiment 2

[0043] Figure 3 It is a flowchart of a distance determination method provided by the second embodiment of the present invention. The technical solution of this embodiment is further refined on the basis of the above technical solution, and specifically mainly includes the following steps:

[0044] S201. Perform a frequency domain transformation on the acquired echo data to obtain a frequency domain signal.

[0045] Perform a fast Fourier transform (FFT) on the echo data to transform the echo signal into the Doppler frequency domain to obtain a frequency domain signal, so as to accumulate the energy of the moving target at the corresponding Doppler unit.

[0046] S202. Perform a constant false alarm sliding window detection on the frequency domain signal to determine the target Doppler frequency unit.

[0047] It should be noted that in radar signal detection, when the intensity of external interference changes, the radar can automatically adjust its sensitivity to keep the false alarm probability of the radar unchanged. Constant false alarm rate detection requires that the false alarm probability remains constant. The false alarm probability refers to the probability that in the process of radar detection, when using the threshold detection method, due to the widespread existence and fluctuations of noise, it is judged that there is a target when there is actually no target.

[0048] Perform constant false alarm sliding window detection on the frequency-domain signal to detect the target Doppler frequency unit where the target object is located.

[0049] S203. Determine the second-order difference frequency phase according to the target Doppler frequency unit and each beat signal in the frequency-domain signal.

[0050] Calculate the second-order difference frequency phase of the target object based on the target Doppler frequency unit and multiple frames of data in each beat signal. The second-order difference frequency phase at the target Doppler frequency unit can be expressed as:

[0051]

[0052] where φ i+1,i (n) is the second-order difference frequency phase between the nth beat frequency-domain signal f i+1 and f i . i = 1, …, P - 1 is the index number of multiple frequency points of the continuous wave radar, P is the number of multiple frequency points of the continuous wave radar, n = 1, …, N, N is the number of beats of the radar's observation of the target object. is the first-order difference frequency phase of the signal at the nth beat f 0 and f i frequency points. s 0 (n,k;i) is the signal of the i-th frame at the nth beat of the f 0 frequency. k = 1, …, K is the Doppler frequency unit of the nth beat signal, K is the number of Doppler frequency units per frame, i = 1, …, P. s i (n,k) is the complex signal of the target Doppler frequency unit at the nth beat and the i-th frequency point of f i . The f 0 frequency is the operating frequency of the continuous wave radar.

[0053] S204. Perform phase ambiguity resolution on each second-order difference frequency phase to obtain an unambiguous phase.

[0054] In this embodiment, the unambiguous phase can be specifically understood as the calculated unambiguous phase.

[0055] Specifically, after calculating the second-order difference frequency phase of the nth beat signal (each beat signal), perform phase ambiguity resolution on the second-order difference frequency phase of the signal, which can be specifically expressed as:

[0056]

[0057] Among them, ψ m+1,m (n) is the unambiguous phase of the second-order difference frequency between the target signal f m+1 and f m at the frequency point, m = 2, …, P - 1, is the frequency point f m+1 、f m and f m 、f m-1 is the multiple of the difference frequency between.

[0058] In practical applications, for the convenience of calculation, L m can use a fixed value, for example, L m = 5.

[0059] S205. Calculate the difference frequency measurement distance of each beat signal according to each unambiguous phase.

[0060] After the second-order difference frequency phase of the target signal of the nth beat is deblurred, the unambiguous phase is obtained. According to the unambiguous phase and the difference frequency, calculate the difference frequency measurement distance measured in the nth beat, which is specifically expressed as:

[0061]

[0062] Among them, R p (n) is the difference frequency measurement distance of the nth beat signal, c is the electromagnetic wave propagation speed, f P and f P-1 are the frequencies of the Pth and (P - 1)th frequency points of the continuous wave radar respectively.

[0063] S206. Determine the signal data corresponding to the frequency domain signal, where the signal data includes at least the sampling frequency, the radar frame period, and the number of Doppler frequency units.

[0064] In this embodiment, the signal data can be specifically understood as the basic signal information corresponding to the frequency domain signal, such as the sampling frequency of the radar, the radar frame period, and the number of Doppler frequency units.

[0065] Since when the radar collects the echo signal, the sampling frequency and the radar frame period are both fixed, and the number of Doppler frequency units is also certain under the condition that the echo signal is known, so based on the known frequency domain signal, determine the signal data corresponding to the frequency domain signal.

[0066] S207. Determine the integral measurement distance of each beat signal according to the signal data and the target Doppler frequency unit corresponding to each beat signal in combination with a pre-determined distance determination formula.

[0067] In this embodiment, the distance determination formula can be specifically understood as a mathematical formula for calculating the distance.

[0068] The integrated distance of the target within the nth beat calculated by the Doppler frequency unit of the target object, the integrated measurement distance

[0069] where F s is the radar sampling frequency, k n,i is the target Doppler frequency unit at the ith frequency point in the nth beat, and T is the continuous wave radar frame period.

[0070] S208. For the difference frequency measurement distance corresponding to each beat signal, perform a second difference frequency ambiguity resolution phase calculation on the difference frequency measurement distance and the previous difference frequency measurement distance to obtain a distance difference.

[0071] In this embodiment, the previous difference frequency measurement distance can specifically be understood as the difference frequency measurement distance of the previous beat.

[0072] R n,n-1 = R P (n) - R P (n - 1) is the distance difference obtained by performing a second difference frequency ambiguity resolution phase calculation on the nth beat and the (n - 1)th beat (i.e., the difference frequency measurement distance and the previous difference frequency measurement distance).

[0073] S209. Calculate the difference value between the distance difference and the corresponding integrated measurement distance.

[0074] The difference value between the integrated measurement distance and the distance difference in the nth beat can be expressed as:

[0075] ΔR(n) = R n,n-1 - R v (n)

[0076] where ΔR(n) is the difference value, R n,n-1 is the distance difference, and R v (n) is the integrated measurement distance.

[0077] S210. Determine whether the difference value is less than a preset difference threshold. If so, execute S211; otherwise, execute S212.

[0078] In this embodiment, the difference threshold can specifically be understood as a boundary value set in advance according to the stability requirements of the data, used to determine whether the difference value meets the requirements. For example, the difference threshold is set to 10m. The difference threshold can be flexibly adjusted according to needs. By comparing the difference value and the preset difference threshold, the validity of each beat signal is determined.

[0079] S211. Determine that the difference frequency measurement distance is a valid value, and determine the difference frequency measurement distance as the target measurement distance.

[0080] S212. Determine that the difference frequency measurement distance is an invalid value, and determine the integral measurement distance corresponding to the difference frequency measurement distance as the target measurement distance.

[0081] Specifically, when the difference frequency measurement distance is a valid value, at this time the difference frequency measurement distance is stable, and directly determine the difference frequency measurement distance as the target measurement distance; when the difference frequency measurement distance is an invalid value, at this time the difference frequency measurement distance is unstable and needs to be excluded, and determine the integral measurement distance corresponding to the difference frequency measurement distance as the target measurement distance to achieve the compensation for unstable data.

[0082] S213. Perform distance fitting on each target measurement distance and the given polynomial formula to obtain polynomial coefficients.

[0083] In this embodiment, the polynomial formula can be understood as a formula for trajectory fitting, which is used to establish a distance fitting polynomial model of the target object.

[0084] Exemplarily, the present application gives a polynomial formula:

[0085] R(n) = a Q (nT) Q + a Q-1 (nT) Q-1 +…+ a 1 (nT) + a 0 ;

[0086] wherein, R(n) is the target measurement distance of the target object at the nth beat, a q , q = 0, …, Q are the polynomial coefficients of the target measurement distance fitting model, and Q is the polynomial order of the fitting model.

[0087] According to the known target measurement distance and the polynomial formula, perform data fitting by means of data fitting to obtain the polynomial coefficients with the smallest error.

[0088] The polynomial order can be determined according to engineering experience; it can also perform error analysis based on measured data and real data, and optimize the fitting polynomial according to the structure of the error analysis; it can also use mathematical methods such as the least squares method to fit a distance polynomial with a not very high order and a small enough error. Generally, individual jump points (invalid difference frequency measurement values) can be directly excluded. In fact, generally there are no continuous measurement results with too large errors. If the error is very large, a sliding filter method can also be adopted to calculate an estimated value as the target measurement distance, and use this target measurement distance as the value of the previous period of the next period.

[0089] S214. Determine the motion trajectory of the target object according to the polynomial coefficients and the target measurement distance.

[0090] After determining the polynomial coefficients, the target measured distance is fitted according to the polynomial coefficients to obtain the fitted distance, and a stable motion trajectory of the target object is formed based on the fitted distance.

[0091] Curve fitting is performed on the motion trajectory corresponding to the target according to the target measured distance. The number of fitting orders is related to the correlation between the fitted curve and the actual data.

[0092] Exemplarily, Figure 4 A schematic diagram of differential frequency measurement distance provided by an embodiment of the present application. The differential frequency measurement distance obtained by directly solving the distance according to the unambiguous phase obtained by solving the ambiguity of the quadratic differential frequency. It is composed of Figure 4 It can be seen that due to the influence of noise and the like, the distance solution value (i.e., the differential frequency measurement distance) of the target object has severe jitter, seriously affecting the target measurement accuracy and stability.

[0093] Figure 5 A schematic diagram of a target measured distance provided by an embodiment of the present application. Outliers (invalid differential frequency measurement distances) of each beat data are screened by the integral measurement distance to obtain the target measured distance. The differential stability determination threshold value of the integral measurement distance and the distance difference is 10m, that is, the differential threshold value is 10m. It is composed of Figure 5 It can be seen that through the validity determination, the differential frequency measurement distances with severe jitter can be effectively removed.

[0094] An embodiment of the present invention provides a distance determination method. By determining the frequency domain signal and the target Doppler frequency unit according to the acquired echo data; determining the differential frequency measurement distance and the integral measurement distance of each beat signal in the frequency domain signal according to the frequency domain signal and the target Doppler frequency unit; performing validity determination on each differential frequency measurement distance according to each integral measurement distance, and determining the target measured distance according to the determination result. It solves the problem of inaccurate distance prediction in the trajectory prediction process. Two distances, namely the integral measurement distance and the differential frequency measurement distance, are calculated. The validity of each differential frequency measurement distance is determined by the integral measurement distance, and the unstable differential frequency measurement distances are filtered to obtain a stable target measured distance, realizing the accurate measurement of the distance of the target object and obtaining the stable distance of the target object. And the motion trajectory of the target object is fitted according to the target measured distance to realize the trajectory prediction of the target object. From the echo data of the target object in the motion with low signal-to-noise ratio and unstable signal, the stable distance solution of the differential frequency phase of the target object and the accurate measurement of the distance trajectory are realized.

[0095] Embodiment III

[0096] Figure 6 A schematic structural diagram of a distance determination device provided by Embodiment III of the present invention. The device includes: a signal determination module 31, a distance determination module 32, and a determination module 33.

[0097] Among them, the signal determination module 31 is used to determine the frequency-domain signal and the target Doppler frequency unit according to the acquired echo data;

[0098] The distance determination module 32 is used to determine the difference-frequency measurement distance and the integral measurement distance of each beat signal in the frequency-domain signal according to the frequency-domain signal and the target Doppler frequency unit;

[0099] The determination module 33 is used to perform validity determination on each difference-frequency measurement distance according to each integral measurement distance, and determine the target measurement distance according to the determination result.

[0100] An embodiment of the present invention provides a distance determination device, which determines the frequency-domain signal and the target Doppler frequency unit according to the acquired echo data; determines the difference-frequency measurement distance and the integral measurement distance of each beat signal in the frequency-domain signal according to the frequency-domain signal and the target Doppler frequency unit; performs validity determination on each difference-frequency measurement distance according to each integral measurement distance, and determines the target measurement distance according to the determination result. The problem of inaccurate distance prediction in the trajectory prediction process is solved. Two distances, namely the integral measurement distance and the difference-frequency measurement distance, are calculated. The validity of each difference-frequency measurement distance is determined by the integral measurement distance, and the unstable difference-frequency measurement distances are filtered to obtain a stable target measurement distance, realizing accurate measurement of the distance of the target object and obtaining the stable distance of the target object. And the motion trajectory of the target object is fitted according to the target measurement distance to realize the trajectory prediction of the target object.

[0101] Further, the signal determination module 31 includes:

[0102] The transformation unit is used to perform frequency-domain transformation on the acquired echo data to obtain the frequency-domain signal;

[0103] The detection unit is used to perform constant false alarm sliding window detection on the frequency-domain signal to determine the target Doppler frequency unit.

[0104] Further, the distance determination module 32 includes:

[0105] The difference-frequency phase determination unit is used to determine the second difference-frequency phase according to the target Doppler frequency unit and each beat signal in the frequency-domain signal;

[0106] The phase ambiguity resolution unit is used to perform phase ambiguity resolution on each second difference-frequency phase to obtain the unambiguous phase;

[0107] The difference-frequency distance determination unit is used to calculate the difference-frequency measurement distance of each beat signal according to each unambiguous phase.

[0108] Further, the distance determination module 32 includes:

[0109] A data determination unit for determining signal data corresponding to the frequency-domain signal, where the signal data at least includes a sampling frequency, a radar frame period, and the number of Doppler frequency units;

[0110] An integrated distance determination unit for determining the integrated measurement distance of each beat signal according to the signal data and the target Doppler frequency unit corresponding to each beat signal in combination with a pre-determined distance determination formula.

[0111] Further, the determination module 33 includes:

[0112] A distance difference determination unit for performing a second difference frequency ambiguity resolution phase calculation on the difference frequency measurement distance corresponding to each beat signal to obtain a distance difference between the difference frequency measurement distance and the previous difference frequency measurement distance;

[0113] A difference value determination unit for calculating a difference value between the distance difference and the corresponding integrated measurement distance;

[0114] A determination unit for determining whether the difference value is less than a preset difference threshold value. If so, determining that the difference frequency measurement distance is a valid value; otherwise, determining that the difference frequency measurement distance is an invalid value.

[0115] Further, the determination module 33 includes:

[0116] A first determination unit for, for each difference frequency measurement distance, if the difference frequency measurement distance is a valid value, determining the difference frequency measurement distance as the target measurement distance;

[0117] A second determination unit for, if the difference frequency measurement distance is an invalid value, determining the integrated measurement distance corresponding to the difference frequency measurement distance as the target measurement distance.

[0118] Further, the device further includes:

[0119] A fitting module for performing distance fitting on each of the target measurement distances and a given polynomial formula to obtain polynomial coefficients;

[0120] A trajectory determination unit for determining the motion trajectory of the target object according to the polynomial coefficients and the target measurement distance.

[0121] The distance determination device provided by the embodiments of the present invention can execute the distance determination method provided by any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method.

[0122] Embodiment 4

[0123] Figure 7 It is a schematic structural diagram of a computer device provided by Embodiment 4 of the present invention, as Figure 7As shown in the figure, the device includes a processor 40, a memory 41, an input device 42, and an output device 43; the number of processors 40 in the device can be one or more, Figure 7 Taking one processor 40 as an example; the processor 40, memory 41, input device 42, and output device 43 in the device can be connected through a bus or other means, Figure 7 Taking connection through a bus as an example.

[0124] The memory 41, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the distance determination method in the embodiments of the present invention (for example, the signal determination module 31, distance determination module 32, and determination module 33 in the distance determination device). The processor 40 executes various functional applications and data processing of the device by running the software programs, instructions, and modules stored in the memory 41, that is, implements the above-mentioned distance determination method.

[0125] The memory 41 mainly includes a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of the terminal, etc. In addition, the memory 41 can include high-speed random access memory, and can also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage devices. In some instances, the memory 41 can further include a memory remotely set relative to the processor 40, and these remote memories can be connected to the device through a network. Examples of the above network include but are not limited to the Internet, enterprise intranet, local area network, mobile communication network, and their combinations.

[0126] The input device 42 can be used to receive input digital or character information, and generate key signal inputs related to the user settings and function control of the device. The output device 43 can include a display device such as a display screen.

[0127] Embodiment Five

[0128] Embodiment Five of the present invention further provides a storage medium containing computer-executable instructions, and the computer-executable instructions are used to execute a distance determination method when executed by a computer processor. The method includes:

[0129] Determining a frequency-domain signal and a target Doppler frequency unit according to the acquired echo data;

[0130] Determining the difference-frequency measurement distance and the integral measurement distance of each beat signal in the frequency-domain signal according to the frequency-domain signal and the target Doppler frequency unit;

[0131] Determine the validity of each of the difference frequency measurement distances according to each of the integral measurement distances, and determine the target measurement distance according to the determination result.

[0132] Certainly, for a storage medium containing computer-executable instructions provided by an embodiment of the present invention, the computer-executable instructions are not limited to the method operations described above, and can also execute related operations in the distance determination method provided by any embodiment of the present invention.

[0133] From the above description of the embodiments, those skilled in the art can clearly understand that the present invention can be implemented by means of software and necessary general hardware. Of course, it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk, or optical disc of a computer, etc., including several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in various embodiments of the present invention.

[0134] It should be noted that in the embodiments of the above distance determination device, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of mutual distinction and do not limit the protection scope of the present invention.

[0135] Note that the above is only a preferred embodiment of the present invention and the technical principles applied. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, re-adjustments, and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, more other equivalent embodiments can be included, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A distance determination method, characterized in that, it includes: Determining a frequency-domain signal and a target Doppler frequency unit according to the acquired echo data; Determining the difference-frequency measurement distance and the integral measurement distance of each beat signal in the frequency-domain signal according to the frequency-domain signal and the target Doppler frequency unit; Determining the validity of each difference-frequency measurement distance according to each integral measurement distance, and determining the target measurement distance according to the determination result; The determining the validity of each difference-frequency measurement distance according to each integral measurement distance includes: For the difference-frequency measurement distance corresponding to each beat signal, performing a second-difference-frequency ambiguity resolution phase calculation on the difference-frequency measurement distance and the previous difference-frequency measurement distance to obtain a distance difference value; Calculating the difference value between the distance difference value and the corresponding integral measurement distance; Judging whether the difference value is less than a preset difference threshold value. If so, determining that the difference-frequency measurement distance is a valid value; otherwise, determining that the difference-frequency measurement distance is an invalid value.

2. The method according to claim 1, characterized in that, the determining the frequency-domain signal and the target Doppler frequency unit according to the acquired echo data includes: Performing a frequency-domain transformation on the acquired echo data to obtain a frequency-domain signal; Performing a constant false alarm rate sliding window detection on the frequency-domain signal to determine the target Doppler frequency unit.

3. The method according to claim 1, characterized in that, the determining the difference-frequency measurement distance of each beat signal in the frequency-domain signal according to the frequency-domain signal and the target Doppler frequency unit includes: Determining a second-difference-frequency phase according to the target Doppler frequency unit and each beat signal in the frequency-domain signal; Performing phase ambiguity resolution on each of the second-difference-frequency phases to obtain an unambiguous phase; Calculating the difference-frequency measurement distance of each beat signal according to each of the unambiguous phases.

4. The method according to claim 1, characterized in that, the determining the integral measurement distance of each beat signal in the frequency-domain signal according to the frequency-domain signal and the target Doppler frequency unit includes: Determining the signal data corresponding to the frequency-domain signal, where the signal data at least includes a sampling frequency, a radar frame period, and the number of Doppler frequency units; Determining the integral measurement distance of each beat signal according to the signal data, the target Doppler frequency unit corresponding to each beat signal, and a pre-determined distance determination formula.

5. The method according to claim 1, characterized in that, the determining the target measurement distance according to the determination result includes: For each difference-frequency measurement distance, if the difference-frequency measurement distance is a valid value, determining the difference-frequency measurement distance as the target measurement distance; If the difference-frequency measurement distance is an invalid value, determining the integral measurement distance corresponding to the difference-frequency measurement distance as the target measurement distance.

6. The method according to claim 1, characterized in that, it further includes: Performing distance fitting on each of the target measurement distances and a given polynomial formula to obtain polynomial coefficients; Determining the motion trajectory of the target object according to the polynomial coefficients and the target measurement distance.

7. A distance determination device, characterized in that, it includes: A signal determination module, configured to determine a frequency-domain signal and a target Doppler frequency unit according to the acquired echo data; A distance determination module, configured to determine the difference-frequency measurement distance and the integral measurement distance of each beat signal in the frequency-domain signal according to the frequency-domain signal and the target Doppler frequency unit; A determination module, configured to perform validity determination on each difference-frequency measurement distance according to each integral measurement distance, and determine a target measurement distance according to the determination result; The determination module includes: A distance difference determination unit, configured to perform secondary difference-frequency ambiguity resolution phase calculation on the difference-frequency measurement distance and the previous difference-frequency measurement distance for each difference-frequency measurement distance corresponding to each beat signal, to obtain a distance difference; A difference value determination unit, configured to calculate a difference value between the distance difference and the corresponding integral measurement distance; A determination unit, configured to determine whether the difference value is less than a preset difference threshold value. If so, determine that the difference-frequency measurement distance is a valid value; otherwise, determine that the difference-frequency measurement distance is an invalid value.

8. A computer device, characterized in that, the device includes: one or more processors; a memory, configured to store one or more programs, when the one or more programs are executed by the one or more processors, enabling the one or more processors to implement the distance determination method according to any one of claims 1-6.

9. A computer-readable storage medium, on which a computer program is stored, characterized in that, when the program is executed by a processor, it implements the distance determination method according to any one of claims 1-6.

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