Positioning method, device, equipment and medium based on pulse radar data

Abstract

Embodiments of the present invention disclose a pulse-based radar data positioning method, apparatus, device, and medium. The method includes: determining a target pulse signal from candidate pulse signals based on a target data identifier of the target radar data and an association between the data identifier and the pulse identifier; wherein the target radar data is acquired by triggering the target pulse signal; determining target location information from each candidate location information based on the reception time of the target pulse signal and the acquisition time of each candidate location information; and locating the target radar data based on the target location information. Embodiments of the present invention achieve the effect of improving the accuracy of radar data positioning.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of computer technology, and in particular to a positioning method, apparatus, device, and medium based on pulse radar data. Background Art

[0002] Roads can sink due to natural or human factors, forming ground subsidence. These subsidences increase the risk of traffic accidents and casualties, while also causing building foundations to sink, cracks in buildings, damage to underground pipelines, and urban flooding. Therefore, monitoring road subsidence is crucial to ensure public safety and well-being.

[0003] There is currently no mature method to accurately locate road collapse points. Summary of the Invention

[0004] The embodiments of the present application disclose a positioning method, apparatus, device, and medium based on pulse radar data to solve the problem of low positioning accuracy of existing radar data.

[0005] In a first aspect, an embodiment of the present invention provides a positioning method based on pulse radar data, the method comprising:

[0006] Determining a target pulse signal from candidate pulse signals based on a target data identifier of target radar data and an association between the data identifier and the pulse identifier; wherein the target radar data is acquired by triggering the target pulse signal;

[0007] Determining target position information from each candidate position information according to the reception time of the target pulse signal and the acquisition time of each candidate position information;

[0008] The target radar data is located according to the target position information.

[0009] In a second aspect, an embodiment of the present invention provides a positioning device based on pulse radar data, the device comprising:

[0010] a pulse signal determination module, configured to determine a target pulse signal from candidate pulse signals based on a target data identifier of target radar data and an association between the data identifier and the pulse identifier; wherein the target radar data is acquired by triggering the target pulse signal;

[0011] a position information determining module, configured to determine target position information from each candidate position information according to a reception time of the target pulse signal and an acquisition time of each candidate position information;

[0012] A positioning module is used to locate the target radar data according to the target position information.

[0013] In a third aspect, an embodiment of the present invention provides a device, comprising:

[0014] one or more processors;

[0015] a storage device for storing 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 the pulse radar data-based positioning method as described in any one of the embodiments of the present invention.

[0017] In a fourth aspect, an embodiment of the present invention provides a computer-readable medium having a computer program stored thereon, which, when executed by a processor, implements a positioning method based on pulse radar data as described in any one of the embodiments of the present invention.

[0018] The embodiments of the present invention achieve the effect of improving the positioning accuracy of radar data. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 A flowchart of a positioning method based on pulse radar data provided in Example 1 of the present invention;

[0021] Figure 2A A flowchart of a positioning method based on pulse radar data provided in the second embodiment of the present invention;

[0022] Figure 2B A schematic diagram of device interaction for radar data positioning provided in the second embodiment of the present invention;

[0023] Figure 2C A schematic structural diagram of a pulse board provided in the second embodiment of the present invention;

[0024] Figure 3 A schematic structural diagram of a positioning device based on pulse radar data provided in a third embodiment of the present invention;

[0025] Figure 4 A schematic structural diagram of a device provided in Example 4 of the present invention. DETAILED DESCRIPTION

[0026] The following is a further detailed description of the embodiments of the present invention in conjunction with the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the embodiments of the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate structures relevant to the embodiments of the present invention, rather than all structures.

[0027] During the research and development process, the applicant discovered that existing road collapse monitoring methods typically use ground-penetrating radar to obtain radar data and determine whether a road collapse exists at the current location based on this radar data. This location information is often collected using GPS (Global Positioning System). However, in urban environments, GPS signals are highly unstable due to the influence of tall buildings, overpasses, treetops, and tunnels, which can easily cause coordinate drift. This makes it impossible to accurately correlate radar data with location information, making it impossible to accurately locate the location of the road collapse.

[0028] Example 1

[0029] Figure 1 This is a flowchart of a positioning method based on pulse radar data provided by the first embodiment of the present invention. This embodiment is applicable to the case of positioning based on radar data. The method can be executed by the positioning device based on pulse radar data provided by the embodiment of the present invention. The device can be implemented by software and / or hardware. Figure 1 As shown, the method may include:

[0030] S101. Determine a target pulse signal from candidate pulse signals according to a target data identifier of target radar data and an association between the data identifier and the pulse identifier; wherein the target radar data is acquired by triggering the target pulse signal.

[0031] Target radar data is collected by ground-penetrating radar (GPR), a geophysical method that uses an antenna to transmit and receive high-frequency electromagnetic waves to detect the properties and distribution of materials within a medium. In this embodiment, the GPR transmits probing electromagnetic waves underground and receives reflected electromagnetic waves as radar data. GPR detection methods include, but are not limited to, profiling, wide-angle, transmitted wave, and three-dimensional measurement. The GPR is installed in the vehicle, enabling high-speed vehicle-mounted radar data acquisition. GPR eliminates the need for laying electrodes and cables to acquire radar data, enabling direct detection, making it highly convenient.

[0032] The data identifier represents the identification information corresponding to the radar data. That is, each time a ground-penetrating radar acquires a piece of radar data, it assigns a data identifier to that piece of radar data as a unique identifier. In other words, each data identifier corresponds to a unique piece of radar data. The pulse identifier represents the identification information corresponding to the pulse signal. The pulse signal is generated based on the driving state of the vehicle used to collect radar data. When the vehicle is in motion, a pulse signal is generated periodically. The faster the vehicle's speed, the shorter the pulse signal generation period. Correspondingly, no pulse signal is generated when the vehicle is stationary. The pulse signal triggers the ground-penetrating radar to perform detection. Each pulse signal triggers the radar to collect radar data. If no pulse signal is currently generated, the radar ceases data collection. After the ground-penetrating radar collects radar data, the data identifier corresponding to the radar data is associated with the pulse identifier of the pulse signal that triggered the detection. For example, if pulse signal A triggers the ground-penetrating radar to detect and collect radar data B, pulse signal A is associated with radar data B.

[0033] In one embodiment, if any radar data is determined to be abnormal, indicating a road collapse problem, the radar data is used as target radar data. A data identifier of the target radar data is obtained as the target data identifier. Based on a pre-established association between data identifiers and pulse identifiers, a target pulse identifier associated with the target data identifier is determined. Furthermore, the target pulse signal is determined from the candidate pulse signals based on the target pulse identifier.

[0034] S102 : Determine target location information from each candidate location information according to the reception time of the target pulse signal and the acquisition time of each candidate location information.

[0035] The target pulse signal reception time represents the time corresponding to the target pulse signal's reception. Candidate location information is collected in real time by a location acquisition device, which is installed in the mobile device and collects the mobile device's location information in real time at a preset interval during its movement. The candidate location information collection time represents the time corresponding to the collection of each candidate location information. For each candidate location information collection, the time corresponding to that collection is recorded as the collection time for that candidate location information.

[0036] In one embodiment, the reception time of the target pulse signal is obtained, and matching is performed based on the reception time of the target pulse signal and the acquisition time of each candidate position information, and the target position information is determined from each candidate position information based on the matching result.

[0037] S103: Position the target radar data according to the target position information.

[0038] In one embodiment, the target position information is used as the position information of the target radar data.

[0039] In another embodiment, the target position information is used as a position reference point, and based on the position reference point and a preset position deviation value, the position information of the target radar data is calculated and determined.

[0040] The technical solution provided by the embodiment of the present invention determines the target pulse signal from the candidate pulse signals based on the target data identifier of the target radar data and the association between the data identifier and the pulse identifier, wherein the target radar data is acquired by triggering the target pulse signal, and the target position information is determined from each candidate position information based on the reception time of the target pulse signal and the acquisition time of each candidate position information, and the target radar data is located based on the target position information. Since the association between the data identifier and the pulse identifier is pre-established, the target pulse signal that triggers the acquisition of the radar data can be determined based on the target data identifier of the target radar data, and then the target position information is determined based on the simultaneity of the reception time of the target pulse signal and the acquisition time of the candidate position information to locate the target radar data, thereby avoiding the problem in the prior art that the position coordinate drift leads to the inability to associate with the radar data, and improving the accuracy of radar data positioning.

[0041] Example 2

[0042] Figure 2A This is a flowchart of a positioning method based on pulse radar data provided by the second embodiment of the present invention. This embodiment is optimized based on the above optional embodiments, such as Figure 2A As shown, the method may include:

[0043] S201 , determining a target pulse identifier from the pulse identifiers according to the target data identifier of the target radar data and the association between the data identifier and the pulse identifier, and using a candidate pulse signal corresponding to the target pulse identifier as the target pulse signal.

[0044] In one embodiment, based on the target data identifier, the pulse identifier, and the association between the data identifier and the pulse identifier, the pulse identifier associated with the target data identifier is used as the target pulse identifier, and the target pulse identifier is matched with the pulse identifier of each candidate pulse signal, and the candidate pulse signal corresponding to the target pulse identifier is used as the target pulse signal.

[0045] For example, assuming the target data identifier is "0001," and the association between data identifiers and pulse identifiers includes an association between data identifier "0001" and pulse identifier "1000," "1000" is used as the target pulse identifier. Assuming the pulse identifier of candidate pulse signal A is "1000," candidate pulse signal A is used as the target pulse signal.

[0046] In actual scenarios, the association between data identifiers and pulse identifiers can be determined in the following ways:

[0047] As the vehicle's tires rotate, the measuring wheels of the traveling device generate pulse signals and send them to the pulse board. The pulse board assigns a pulse identifier to the pulse signal and records the time the pulse signal is received. The pulse board then sends the pulse identifier and corresponding reception time to a host computer. Simultaneously, the pulse board also generates a drive signal and sends it to the host computer to trigger ground-penetrating radar (GPR). The GPR detects radar data in response to the drive signal and assigns a data identifier to the radar data. The radar data and the corresponding data identifier are then sent to the host computer, which associates the pulse identifier with the data identifier.

[0048] S202: Match the receiving time of the target pulse signal with the acquisition time of each candidate position information, determine the target acquisition time that matches the receiving time, and use the candidate position information corresponding to the target acquisition time as the target position information.

[0049] In one embodiment, the reception time of the target pulse signal is matched with the acquisition time of the candidate position information, and the acquisition time that is the same as the reception time is used as the target acquisition time. Based on the correlation between the acquisition time and the candidate position information, the candidate position information corresponding to the target acquisition time is used as the target position information.

[0050] For example, assuming that the target pulse signal is received at 10 minutes and 22 seconds, the acquisition time of 10 minutes and 22 seconds is used as the target acquisition time. assuming that the acquisition time associated with candidate location information A is 10 minutes and 22 seconds, candidate location information A is used as the target location information.

[0051] Optionally, each candidate position information is obtained through a global positioning system and / or an inertial measurement unit.

[0052] The Global Positioning System (GPS) can directly obtain the current position of the vehicle as candidate position information. The Inertial Measurement Unit (IMU) can calculate the current position of the vehicle as candidate position information by obtaining acceleration and angular velocity.

[0053] S203: Use the target position information as the data collection position of the target radar data.

[0054] In one embodiment, the target position information is used as the data collection position of the target radar data. If the target radar data shows an abnormality, indicating that there is a road collapse problem, an early warning is issued based on the target position information to prevent a threat to the safety and interests of the people.

[0055] The technical solution provided by the embodiment of the present invention determines the target pulse identifier from the pulse identifier based on the target data identifier and the association between the data identifier and the pulse identifier, and uses the candidate pulse signal corresponding to the target pulse identifier as the target pulse signal, thereby achieving the effect of determining the target pulse signal for triggering the acquisition of radar data based on the association between the data identifier and the pulse identifier; by matching the receiving time with the acquisition time of each candidate position information, determining the target acquisition time that matches the receiving time, and using the candidate position information corresponding to the target acquisition time as the target position information, thereby achieving the effect of determining the target position information based on the simultaneity of the receiving time of the target pulse signal and the acquisition time of each candidate position information, thereby ensuring the time consistency between the target position information and the target pulse signal; by using the target position information as the data acquisition position of the target radar data, the problem of position coordinate drift in the prior art that makes it impossible to associate with the radar data is avoided, thereby improving the accuracy of radar data positioning.

[0056] Based on the above embodiments, Figure 2B A schematic diagram of device interaction for radar data positioning provided in the second embodiment of the present invention is shown as follows: Figure 2B As shown, when the tires on the traveling device rotate, the distance measuring wheel 200 generates a pulse signal and sends it to the pulse board 201. The pulse board 201 assigns a pulse identifier to the pulse signal and records the time of receipt of the pulse signal. The pulse identifier and the corresponding reception time are then sent to the host computer 202. Simultaneously, the pulse board 201 also generates a drive signal and sends it to the host computer 202 to trigger the ground-penetrating radar 203 to perform detection. The ground-penetrating radar 203 detects radar data in response to the drive signal and assigns a data identifier to the radar data. The radar data and the corresponding data identifier are then sent to the host computer 202, which associates the pulse identifier with the data identifier. The position acquisition device 204, which can be a global positioning system and / or an inertial measurement unit, is used to collect the current position of the traveling device in real time as candidate position information, record the time when the candidate position information was collected, and send the candidate position information and the collection time to the host computer 202.

[0057] The host computer 202 can determine the target pulse signal from the candidate pulse signals based on the target data identifier of the target radar data and the association between the data identifier and the pulse identifier; determine the target position information from each candidate position information based on the reception time of the target pulse signal and the acquisition time of each candidate position information; and locate the target radar data based on the target position information. The specific implementation process of the method is described in the above method embodiment and is not repeated here.

[0058] Based on the above embodiments, Figure 2C A schematic diagram of the structure of a pulse board provided in the second embodiment of the present invention is shown in FIG. Figure 2C As shown, 201 represents a pulse board, and a complex programmable logic device 205 is used to output a drive signal based on the input pulse signal to trigger the ground-penetrating radar for detection. Power supply 206 is used to power the pulse board 201, and communication interface 207 is used to communicate with the host computer for data transmission. In this embodiment, the pulse board 201 can also output multiple synchronized drive signals, reserving a synchronization interface for subsequent driving of multiple radars or other sensors such as cameras, enriching the system's combination.

[0059] Example 3

[0060] Figure 3 This is a schematic diagram of the structure of a positioning device based on pulse radar data provided by the third embodiment of the present invention, which can execute a positioning method based on pulse radar data provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. Figure 3 As shown, the device may include:

[0061] a pulse signal determination module 31 for determining a target pulse signal from candidate pulse signals based on a target data identifier of target radar data and an association between the data identifier and the pulse identifier; wherein the target radar data is acquired by triggering the target pulse signal;

[0062] The position information determining module 32 is configured to determine the target position information from each candidate position information according to the reception time of the target pulse signal and the acquisition time of each candidate position information;

[0063] The positioning module 33 is used to locate the target radar data according to the target position information.

[0064] Based on the above embodiment, the pulse signal determination module 31 is specifically configured to:

[0065] determining a target pulse identifier from the pulse identifiers according to the target data identifier and the association between the data identifier and the pulse identifier;

[0066] The candidate pulse signal corresponding to the target pulse identifier is used as the target pulse signal.

[0067] Based on the above embodiment, the location information determination module 32 is specifically configured to:

[0068] Matching the receiving time with the collection time of each candidate location information to determine a target collection time that matches the receiving time;

[0069] The candidate position information corresponding to the target acquisition time is used as the target position information.

[0070] Based on the above embodiment, the positioning module 33 is specifically configured to:

[0071] The target position information is used as the data collection position of the target radar data.

[0072] Based on the above embodiment, each candidate position information is obtained through a global positioning system and / or an inertial measurement unit.

[0073] The pulse radar data-based positioning device provided in an embodiment of the present invention can execute the pulse radar data-based positioning method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of executing the method. For technical details not fully described in this embodiment, please refer to the pulse radar data-based positioning method provided in any embodiment of the present invention.

[0074] Example 4

[0075] Figure 4 A schematic structural diagram of a device provided in Example 4 of the present invention. Figure 4 A block diagram of an exemplary device 400 suitable for implementing embodiments of the present invention is shown. Figure 4 The device 400 shown is merely an example and should not limit the functionality and scope of use of the embodiments of the present invention.

[0076] like Figure 4 As shown, device 400 is a general-purpose computing device. Components of device 400 may include, but are not limited to, one or more processors or processing units 401, system memory 402, and a bus 403 connecting various system components (including system memory 402 and processing unit 401).

[0077] Bus 403 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. Examples of these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0078] Device 400 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by device 400, including volatile and non-volatile media, removable and non-removable media.

[0079] System memory 402 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 404 and / or cache memory 405. Device 400 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 406 may be used to read and write non-removable, non-volatile magnetic media ( Figure 4 Not shown, often called a "hard drive"). Although Figure 4 Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 403 via one or more data medium interfaces. Memory 402 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of various embodiments of the present invention.

[0080] A program / utility 408 having a set (at least one) of program modules 407 may be stored, for example, in memory 402. Such program modules 407 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may include an implementation of a network environment. Program modules 407 generally perform the functions and / or methods of the embodiments described herein.

[0081] Device 400 may also communicate with one or more external devices 409 (e.g., a keyboard, a pointing device, a display 410, etc.), one or more devices that enable a user to interact with device 400, and / or any device that enables device 400 to communicate with one or more other computing devices (e.g., a network card, a modem, etc.). Such communication may be performed via input / output (I / O) interface 411. Furthermore, device 400 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via network adapter 412. As shown, network adapter 412 communicates with other modules of device 400 via bus 403. It should be understood that, although not shown, other hardware and / or software modules may be used in conjunction with device 400, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0082] The processing unit 401 executes various functional applications and data processing by running programs stored in the system memory 402, such as implementing the pulse radar data-based positioning method provided in an embodiment of the present invention, including:

[0083] Determining a target pulse signal from candidate pulse signals based on a target data identifier of target radar data and an association between the data identifier and the pulse identifier; wherein the target radar data is acquired by triggering the target pulse signal;

[0084] Determining target position information from each candidate position information according to the reception time of the target pulse signal and the acquisition time of each candidate position information;

[0085] The target radar data is located according to the target position information.

[0086] Example 5

[0087] Embodiment 5 of the present invention further provides a computer-readable storage medium, wherein the computer-executable instructions, when executed by a computer processor, are used to perform a positioning method based on pulse radar data, the method comprising:

[0088] Determining a target pulse signal from candidate pulse signals based on a target data identifier of target radar data and an association between the data identifier and the pulse identifier; wherein the target radar data is acquired by triggering the target pulse signal;

[0089] Determining target position information from each candidate position information according to the reception time of the target pulse signal and the acquisition time of each candidate position information;

[0090] The target radar data is located according to the target position information.

[0091] Of course, the computer-executable instructions provided in the embodiments of the present invention are not limited to the operations of the method described above, but can also perform related operations in the pulse radar data-based positioning method provided in any embodiment of the present invention. The computer-readable storage medium of the embodiments of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device, or device.

[0092] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0093] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0094] Computer program code for performing the operations of the present invention may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0095] Note that the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection 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 and may include many other equivalent embodiments without departing from the concept of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A positioning method based on pulse radar data, characterized in that: include: Determining a target pulse signal from candidate pulse signals based on a target data identifier of target radar data and a pre-established association between a data identifier and a pulse identifier; wherein the target radar data is acquired by triggering the target pulse signal; Determining target position information from each candidate position information according to the reception time of the target pulse signal and the acquisition time of each candidate position information; The target radar data is located according to the target position information.

2. The method according to claim 1, characterized in that The step of determining the target pulse signal from the candidate pulse signals based on the target data identifier of the target radar data and the pre-established association between the data identifier and the pulse identifier includes: determining a target pulse identifier from the pulse identifiers according to the target data identifier and a pre-established association relationship between the data identifier and the pulse identifier; The candidate pulse signal corresponding to the target pulse identifier is used as the target pulse signal.

3. The method according to claim 1, characterized in that The determining the target position information from each candidate position information according to the reception time of the target pulse signal and the acquisition time of each candidate position information includes: Matching the receiving time with the collection time of each candidate location information to determine a target collection time that matches the receiving time; The candidate position information corresponding to the target acquisition time is used as the target position information.

4. The method according to claim 1, wherein Positioning the target radar data according to the target position information includes: The target position information is used as the data collection position of the target radar data.

5. The method according to claim 1, characterized in that The candidate position information is obtained through a global positioning system and / or an inertial measurement unit.

6. A positioning device based on pulse radar data, characterized in that: include: a pulse signal determination module, configured to determine a target pulse signal from candidate pulse signals based on a target data identifier of target radar data and a pre-established association between the data identifier and the pulse identifier; wherein the target radar data is acquired by triggering the target pulse signal; a position information determining module, configured to determine target position information from each candidate position information according to a reception time of the target pulse signal and an acquisition time of each candidate position information; A positioning module is used to locate the target radar data according to the target position information.

7. The device according to claim 6, characterized in that The pulse signal determination module is specifically used to: determining a target pulse identifier from the pulse identifiers according to the target data identifier and a pre-established association relationship between the data identifier and the pulse identifier; The candidate pulse signal corresponding to the target pulse identifier is used as the target pulse signal.

8. The device according to claim 6, characterized in that The location information determination module is specifically configured to: Matching the receiving time with the collection time of each candidate location information to determine a target collection time that matches the receiving time; The candidate position information corresponding to the target acquisition time is used as the target position information.

9. An electronic device, characterized in that: The electronic device further comprises: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the pulse radar data-based positioning method as described in any one of claims 1 to 5.

10. A computer-readable medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the pulse radar data-based positioning method as claimed in any one of claims 1 to 5 is implemented.

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