Signal processing method, device, storage medium and electronic terminal

Abstract

The present invention discloses a signal processing method, device, storage medium and electronic terminal. The signal processing method comprises: obtaining a scanned target set and multiple initial targets, and dividing them into multiple clusters; performing signal-to-noise ratio statistical analysis and false target statistical analysis on each first cluster in the multiple clusters, so as to remove initial targets with unqualified signal-to-noise ratio and false targets; the signal processing method can identify and eliminate initial targets with unqualified signal-to-noise ratio and false targets.

Description

Technical Field

[0001] The present invention relates to the field of radar technology, and in particular to a signal processing method, device, storage medium and electronic terminal. Background Art

[0002] Radar is an electronic device that uses electromagnetic waves to detect initial targets. It emits electromagnetic waves to illuminate the initial target and receives its echo, thereby obtaining information such as the distance, speed, and direction from the initial target to the electromagnetic wave emission point.

[0003] In modern radar countermeasure systems, according to the different sources of interference energy, it can be divided into active interference and passive interference; it can be understood that when the radar is interfered, the initial targets it identifies include both true initial targets and false initial targets.

[0004] Therefore, when the radar is interfered with, how to identify true and false initial targets becomes an urgent problem to be solved. Summary of the invention

[0005] In view of this, the main purpose of the present invention is to provide a signal processing method, device, storage medium and electronic terminal.

[0006] To achieve the above object, the technical solution of the present invention is implemented as follows: a signal processing method for a radar system, comprising the following steps:

[0007] Acquire a scanned target set, the scanned target set includes Num1 initial targets and one-to-one corresponding Num1 attribute values, control the radar system to perform a scanning operation, and obtain Num2 initial targets and one-to-one corresponding Num2 attribute values ​​based on the radar echo signal, wherein the attribute value at least includes: the azimuth AZ of the initial target, the appearance time of the initial target, the amplitude of the radar echo signal, and the signal-to-noise ratio value S_N of the radar echo signal, and Num1 and Num2 are both natural numbers;

[0008] The Num1 initial targets are copied into one-to-one corresponding Num1 targets to be processed, and the Num2 initial targets are copied into one-to-one corresponding Num2 targets to be processed; based on the clustering algorithm and the locations AZ of the Num1+Num2 targets to be processed, the Num1+Num2 targets to be processed are divided into multiple clusters;

[0009] The following processing is performed on each second cluster in the plurality of clusters: if the signal-to-noise ratio value S_N of the to-be-processed target in the second cluster does not meet a preset condition, the second cluster is deleted;

[0010] A first processing is performed on each first cluster among the multiple clusters: in the first cluster, the M targets to be processed whose absolute value of the difference between the appearance time and the current time is less than the first preset time threshold ΔTime1 are counted; when M> the first preset number threshold, the M targets to be processed are divided into N clusters, and in each cluster, the absolute value of the difference between the amplitudes of any two targets to be processed is less than the preset amplitude threshold; for any cluster, when the number of targets to be processed contained therein> the second preset number threshold, the cluster is deleted; and a second processing is performed on each of the remaining clusters: when | first target to be processed - second target to be processed When the target's orientation AZ|<the orientation difference threshold ΔAZ, the first and second targets to be processed are the same; when |the orientation AZ of the first target to be processed-the orientation AZ of any one of the Num1 initial targets|≥the orientation difference threshold ΔAZ, the first target to be processed is a new target; wherein, the first target to be processed is any one of the clusters, the second target to be processed is any one of the Num1 initial targets, M and N are both natural numbers, N≤M, and then, when there are still clusters that have not undergone the second processing, the next second processing is performed; then, when there are still first clusters that have not undergone the first processing, the next first processing is performed.

[0011] As an improvement of an embodiment of the present invention, the "dividing Num1+Num2 targets to be processed into multiple clusters based on a clustering algorithm and the orientations AZ of Num1+Num2 targets to be processed" specifically includes: performing the following processing on the Num1+Num2 targets to be processed until the Num1+Num2 targets to be processed are all processed, and the processing specifically includes: selecting an unprocessed third target to be processed from the Num1+Num2 targets to be processed, creating a cluster containing only the third target to be processed, and marking the third target to be processed as processed, and then performing the following judgment on each fourth target to be processed among the Num1+Num2 targets to be processed: when the fourth initial target is unprocessed and |the orientation AZ of the third target to be processed-the average orientation AZ of all targets to be processed in the cluster|<the orientation difference threshold ΔAZ, the fourth target to be processed is added to the cluster, and the fourth target to be processed is marked as processed.

[0012] As an improvement of an embodiment of the present invention, the “if the signal-to-noise ratio value S_N of the target to be processed in the second cluster does not meet the preset conditions, then delete the second cluster” specifically includes: obtaining the number of fifth targets to be processed Counter1 and the number of sixth targets to be processed Counter2 in the second cluster, wherein |the occurrence time of the fifth target to be processed - the current time| ≤ the first preset time threshold ΔTime1, |the signal-to-noise ratio value S_N of the sixth target to be processed - the preset signal-to-noise ratio value| ≤ the preset signal-to-noise ratio threshold ΔS_N, and if Counter2 / Ccounter1>the preset percentage value, then delete the second cluster.

[0013] As an improvement of the embodiment of the present invention, the preset percentage value = 0.9.

[0014] As an improvement of an embodiment of the present invention, the “if the signal-to-noise ratio value S_N of the target to be processed in the second cluster does not meet the preset condition, deleting the second cluster” specifically includes: if the signal-to-noise ratio value S_N of the target to be processed in the second cluster does not meet the preset condition, deleting the second cluster, and adjusting the rotation speed and transmission frequency of the radar system.

[0015] As an improvement of an embodiment of the present invention, the “when |the orientation AZ of the first target to be processed-the orientation AZ of the second target to be processed|<the orientation difference threshold ΔAZ, then the first and second targets to be processed are the same” specifically includes: when |the orientation AZ of the first target to be processed-the orientation AZ of the second target to be processed|<the orientation difference threshold ΔAZ, then the first and second targets to be processed are the same, and in the scanned target set, the attribute value of the first target to be processed and the attribute value of the seventh target to be processed are updated, wherein the content of the second target to be processed is the same as that of the seventh target to be processed;

[0016] The “when |the orientation AZ of the first target to be processed - the orientation AZ of any one of the Num1 initial targets|≥ the orientation difference threshold ΔAZ, the first target to be processed is a new target” specifically includes: when |the orientation AZ of the first target to be processed - the orientation AZ of any one of the Num1 initial targets|≥ the orientation difference threshold ΔAZ, the first target to be processed is a new target, and the first target to be processed is added to the scanned target set.

[0017] As an improvement of an embodiment of the present invention, the following steps are also included: the following processing is performed on each initial target in the scanned target set: when |the most recent appearance time of the initial target-the current time|<the second preset time threshold ΔTime2, the initial target is deleted from the scanned target set.

[0018] An embodiment of the present invention provides a signal processing device for a radar system, comprising the following modules:

[0019] A data acquisition module is used to acquire a scanned target set, wherein the scanned target set includes Num1 initial targets and Num1 corresponding attribute values, control the radar system to perform a scanning operation, and obtain Num2 initial targets and Num2 corresponding attribute values ​​based on the radar echo signal, wherein the attribute values ​​at least include: the azimuth AZ of the initial target, the appearance time of the initial target, the amplitude of the radar echo signal, and the signal-to-noise ratio value S_N of the radar echo signal, and Num1 and Num2 are both natural numbers;

[0020] A clustering module, used for copying the Num1 initial targets into one-to-one corresponding Num1 targets to be processed, and copying the Num2 initial targets into one-to-one corresponding Num2 targets to be processed; based on the clustering algorithm and the locations AZ of the Num1+Num2 targets to be processed, the Num1+Num2 targets to be processed are divided into a plurality of clusters;

[0021] a noise processing module, configured to perform the following processing on each second cluster in the plurality of clusters: if the signal-to-noise ratio value S_N of the target to be processed in the second cluster does not meet a preset condition, deleting the second cluster;

[0022] A processing module is used to perform a first processing on each first cluster in the multiple clusters: in the first cluster, count the M targets to be processed whose absolute value of the difference between the appearance time and the current time is less than a first preset time threshold ΔTime1; when M> the first preset number threshold, divide the M targets to be processed into N clusters, and in each cluster, the absolute value of the difference between the amplitudes of any two targets to be processed is less than the preset amplitude threshold; for any cluster, when the number of targets to be processed contained therein> the second preset number threshold, delete the cluster; perform a second processing on each of the remaining clusters: when |first target to be processed-first When the azimuth AZ of the second target to be processed|<azimuth difference threshold ΔAZ, the first and second targets to be processed are the same; when |azimuth AZ of the first target to be processed-azimuth AZ of any one of the Num1 initial targets|≥azimuth difference threshold ΔAZ, the first target to be processed is a new target; wherein, the first target to be processed is any one of the clusters, the second target to be processed is any one of the Num1 initial targets, M and N are both natural numbers, N≤M, and then, when there are still clusters that have not undergone the second processing, the next second processing is performed; then, when there are still first clusters that have not undergone the first processing, the next first processing is performed.

[0023] An embodiment of the present invention provides a storage medium storing program instructions, wherein the program instructions implement the above-mentioned signal processing method when executed.

[0024] An embodiment of the present invention provides an electronic terminal, including a processor and a memory, wherein the memory stores program instructions, and is characterized in that the processor executes the program instructions to implement the above-mentioned signal processing method.

[0025] The signal processing method, device, storage medium and electronic terminal provided by the embodiments of the present invention have the following advantages: The embodiments of the present invention disclose a signal processing method, device, storage medium and electronic terminal, the signal processing method comprising: obtaining a scanned target set and multiple initial targets, and dividing them into multiple clusters; performing signal-to-noise ratio statistical analysis and false target statistical analysis on each first cluster in the multiple clusters, so as to remove initial targets with unqualified signal-to-noise ratios and false targets; the signal processing method can identify and eliminate initial targets with unqualified signal-to-noise ratios and false targets. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A structural diagram of a radar provided by an embodiment of the present invention;

[0027] Figure 2 A structural diagram of a signal processing method provided by an embodiment of the present invention;

[0028] Figure 3 , Figure 4 and Figure 5 Schematic diagram of a signal processing method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0029] The present invention will be described in detail below in conjunction with the embodiments shown in the accompanying drawings. However, the embodiments do not limit the present invention, and any structural, methodological, or functional changes made by a person skilled in the art based on the embodiments are all within the protection scope of the present invention.

[0030] The following description and accompanying drawings fully illustrate the specific embodiments of this article so that those skilled in the art can practice them. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. The scope of the embodiments of this article includes the entire scope of the claims, as well as all available equivalents of the claims. Herein, the terms "first", "second", etc. are only used to distinguish one element from another, without requiring or implying any actual relationship or order between these elements. In fact, the first element can also be called the second element, and vice versa. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that the structure, device or equipment including a series of elements includes not only those elements, but also other elements that are not explicitly listed, or also include elements inherent to such structure, device or equipment. In the absence of more restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the structure, device or equipment including the elements. Each embodiment is described in a progressive manner herein, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the embodiments can be referred to each other.

[0031] The terms "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. in this document indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing this document and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In the description of this document, unless otherwise specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a mechanical connection or an electrical connection, it can also be the internal communication of two elements, it can be a direct connection, or it can be an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0032] like Figure 1 As shown in FIG. 1 , the radar system is mainly composed of a main processor unit, a signal generating unit, a signal amplifying unit, a transceiver control unit, an antenna and a servo control unit. The processing process of the radar system is as follows: Assuming that the radar transmitter transmission power is P t , the antenna gain is G, then the radar's unit solid angle transmission power is Assume that the target reflection area is σ and the center distance from the radar antenna is R, then the power received by the target (for example, an aircraft, etc.) is: After being received by the detected target, it is reflected to the entire space, and the radiation power per unit solid angle is Assume that the angle of the radar antenna is A, then the power received by the radar antenna is And G=2πA / λ 2 , then the power received by the radar is When the power is less than the sensitivity of the radar receiver (which varies from radar to radar), the radar cannot identify the target, and the signal-to-noise ratio of the signal received by the radar is When the signal-to-noise ratio value is lower than the radar's minimum acceptable signal-to-noise ratio value (different for each radar), the target cannot be identified either.

[0033] External interference to radar mainly consists of two types: noise and deception. Noise mainly acts on the radar's receiver unit, reducing the signal-to-noise ratio and making the radar unable to identify the target. Deception mainly acts on the radar signal processing unit, creating false targets so that the radar cannot distinguish which is the real target, thereby achieving the purpose of protecting itself.

[0034] Embodiment 1 of the present invention provides a signal processing method for a radar system, wherein the radar system may execute the signal processing method once every preset time period, and optionally, the signal processing method may be executed by a main processor of the radar system; Figure 2 As shown, the following steps are included:

[0035] Step 201: Obtain a scanned target set, the scanned target set includes Num1 initial targets and Num1 corresponding attribute values, control the radar system to perform a scanning operation, and obtain Num2 initial targets and Num2 corresponding attribute values ​​based on the radar echo signal, wherein the attribute values ​​at least include: the azimuth AZ of the initial target, the appearance time of the initial target, the amplitude of the radar echo signal and the signal-to-noise ratio value S_N of the radar echo signal, and Num1 and Num2 are both natural numbers; here, when performing the scanning operation, the point information of the initial target is first obtained based on the radar echo signal, and then the initial target and the corresponding attribute value are obtained. For each initial target, at least the following attribute values ​​are obtained: (1) the azimuth AZ of the initial target relative to the radar system during this scanning operation; (2) the current distance between the radar system and the initial target during this scanning operation; (3) the amplitude pa of the initial target echo during this scanning operation; (4) the velocity of the initial target during this scanning operation; (5) the appearance time of the initial target, appearTime. It is understandable that the same initial target may be scanned multiple times. Therefore, an array can be used to save appearTime, which stores all the appearance times of the initial target from the time it was discovered to the current scanning. rTime; (6) The time when the initial target disappears, disappearTime. It is understandable that the same initial target may be scanned multiple times and may also disappear multiple times. Therefore, an array can be used to save disappearTime, which stores all the disappearTime of the initial target from the time it was discovered to the current scan; (7) The signal-to-noise ratio value S_N. It is understandable that the same initial target may be scanned multiple times. Each time it is scanned, the signal-to-noise ratio value of the return signal of the initial target can be obtained. Therefore, an array can be used to save S_N. The array stores all the S_N of the initial target from the time it was discovered to the current scan.

[0036] Here, in actual programming, a structure can be used to store the attribute values ​​corresponding to the initial target.

[0037]

[0038] Here, after the signal processing method was executed last time, Num1 initial targets were obtained. During this scanning operation, a total of Num2 initial targets were found. Therefore: (1) Some of the initial targets Num1 and Num2 overlap. It is understandable that since the initial targets (e.g., airplanes, etc.) are usually moving, the attribute values ​​of the same initial target in the last scan and this scan are usually not exactly the same (e.g., the azimuth AZ, the current distance, etc. will be different). There is only a very small probability that they are exactly the same; (2) Some of the initial targets Num2 are new, that is, they are not in the Num1 initial targets. Some of these new initial targets are false initial targets.

[0039] Step 202: copy the Num1 initial targets into one-to-one corresponding Num1 targets to be processed, and copy the Num2 initial targets into one-to-one corresponding Num2 targets to be processed; based on the clustering algorithm and the locations AZ of the Num1+Num2 targets to be processed, divide the Num1+Num2 targets to be processed into multiple clusters; here, the initial targets and the targets to be processed are in a one-to-one correspondence, and the contents of the corresponding initial targets and targets to be processed are consistent, but are two independent values, that is, modifying the content of the initial target does not affect the content of the target to be processed; similarly, modifying the content of the target to be processed does not affect the content of the initial target.

[0040] Here, the Num1+Num2 pending targets are formed by merging the above Num1 pending targets and Num2 pending targets. Here, the clustering algorithm will classify pending targets with similar locations AZ into the same cluster. It is understandable that some of the multiple initial targets with similar locations AZ are false targets.

[0041] Step 203: Perform the following processing on each second cluster in the plurality of clusters: if the signal-to-noise ratio value S_N of the target to be processed in the second cluster does not meet the preset condition, the second cluster is deleted; if the signal-to-noise ratio value of a cluster does not meet the requirement, the cluster can be deleted. The preset condition can be: if the signal-to-noise ratio value S_N of any target to be processed in the second cluster does not meet the requirement, the preset condition is not met; or if the signal-to-noise ratio value S_N of all targets to be processed in the second cluster does not meet the requirement, the preset condition is not met. When the signal-to-noise ratio value S_N of the target to be processed in the second cluster does not meet the preset condition, it can be considered that the signal-to-noise ratio of the radar system has deteriorated and the collected signal has a large error.

[0042] Step 204: Perform the first processing on each first cluster in the plurality of clusters: in the first cluster, count the M targets to be processed whose absolute value of the difference between the appearance time and the current time is less than the first preset time threshold ΔTime1; when M> the first preset number threshold, divide the M targets to be processed into N clusters, and in each cluster, the absolute value of the difference between the amplitudes of any two targets to be processed is less than the preset amplitude threshold; for any cluster, when the number of targets to be processed contained therein> the second preset number threshold, delete the cluster; here, by counting the appearance time The number M of targets to be processed (it can be understood that the targets to be processed that meet this condition are newly added targets) whose absolute value of the difference with the current time is less than the first preset time threshold ΔTime1. It can be understood that when M>the first preset number threshold, these newly added targets may be false targets. Therefore, it is necessary to perform amplitude statistical analysis on the newly added targets. When the number of targets to be processed in a cluster>the second preset number threshold, it can be considered that the targets to be processed in the cluster are related in time domain, spatial domain and amplitude, and are sent by the same transmitter. They are false targets and need to be marked for deletion.

[0043] The second processing is performed on each of the remaining clusters: when |the first target to be processed-the azimuth AZ of the second target to be processed|<the azimuth difference threshold ΔAZ, the first and second targets to be processed are the same; when |the azimuth AZ of the first target to be processed-the azimuth AZ of any of the Num1 initial targets|≥the azimuth difference threshold ΔAZ, the first target to be processed is a new target; wherein the first target to be processed is any of the clusters, the second target to be processed is any of the Num1 initial targets, M and N are both natural numbers, N≤M, and then, when there are still clusters that have not been processed by the second processing, the next second processing is performed; and then, when there are still first clusters that have not been processed by the first processing, the next first processing is performed. Here, the first preset number threshold can be 10, and the second preset number threshold can be 10.

[0044] Here, deception interference is divided into active interference and passive interference. Active interference is to delay the radar signal and then forward it to the radar, thereby creating a large number of false targets, so that the radar can track the false targets, while the real targets are protected. In addition, by creating a large number of false targets, the radar's data processing system can be saturated until it cannot work normally; passive interference is to scatter metal foil strips and launch tracer bullets in front of the target, so that the radar cannot detect the real target, thus playing a protective role.

[0045] For active interference, let’s first analyze the effect model. Figure 3is a radar antenna pattern, where the direction of strong signal is the main lobe direction, and the direction of weak signal is the side lobe direction. The main lobe and side lobes receive signals at the same time. When the opponent implements interference, it is manifested as many target signals intercepted in a certain azimuth domain, such as Figure 4 As shown. From the statistical analysis in the time domain, it is shown that many new targets appear at the same time, new targets and old targets exist at the same time, and new targets appear at sensitive moments, such as confrontation exercises, confrontations, wartime states, etc. From the statistical analysis in the air domain, it is shown that new targets and old targets coexist in the same azimuth domain. Since the false targets are sent from the same transmitter, their amplitudes are almost the same, that is, the amplitudes are related. According to actual combat experience, if a large number of targets are suddenly added at the same azimuth and sensitive moment, and the amplitudes are related, it is obviously contrary to the actual situation on the battlefield. Based on this, we can judge that the appearance of a large number of new targets should be to cover the old targets, so they can be judged as false targets.

[0046] For passive jamming, the jammer throws metal foil strips or tracer bullets in front of the target, so that the radar can only detect the foil strips but not the target itself, thus protecting itself. The jamming effect is as follows: Figure 5 As shown in the figure, from the statistical analysis in the time domain, the new target appears and the old target disappears at the same time, which is correlated in the time domain; from the statistical analysis in the air domain, the new target and the old target are in the same position, the new target is closer to the radar, and the old target is farther away from the radar. We know that the real radar target should be continuous in the time domain and air domain, and this kind of jump and alternating appearance in the time domain is impossible. Moreover, in the air domain, they are in the same position and one before the other in terms of distance, which can only mean that the appearance of the new target is to cover the old target, and the new target should be a false target.

[0047] In this embodiment, “dividing Num1+Num2 to-be-processed targets into multiple clusters based on the clustering algorithm and the locations AZ of Num1+Num2 to-be-processed targets” specifically includes:

[0048] The following processing is performed on the Num1+Num2 pending targets until the Num1+Num2 pending targets are all processed; here, before all the processing is performed, the Num1+Num2 initial targets are defaulted to unprocessed, and after each processing, several initial targets are added to a new cluster, and all initial targets in the new cluster are marked as processed.

[0049] The processing specifically includes: selecting an unprocessed third target to be processed from Num1+Num2 targets to be processed, creating a cluster containing only the third target to be processed, marking the third target to be processed as processed, and then performing the following judgment on each fourth target to be processed in Num1+Num2 targets to be processed: when the fourth initial target is unprocessed and |the azimuth AZ of the third target to be processed-the average azimuth AZ of all targets to be processed in the cluster|<the azimuth difference threshold ΔAZ, adding the fourth target to be processed to the cluster, and marking the fourth target to be processed as processed.

[0050] Here, each time the processing is performed, a first initial target that has not been added to any existing cluster is selected from Num1+Num2 initial targets, and then a new cluster is created (the cluster only contains the first initial target). Then, a second initial target that has not been added to the existing cluster and the newly created cluster is selected from Num1+Num2 initial targets (that is, the second initial target is unprocessed). Then, the average value m_azAverage of the azimuths AZ of all the initial targets in the newly created cluster is calculated. If |azimuth AZ of the second initial target - m_azAverage| < the azimuth difference threshold ΔAZ, it indicates that the second initial target and all the initial targets in the cluster are located at the same azimuth threshold. Then, the second initial target is added to the cluster and marked as processed. If there is an identical initial target among the Num1 initial targets and the Num2 initial targets, they will also be divided into the same cluster.

[0051] It can be understood that, if the process is executed cyclically, all the initial targets in Num1+Num2 initial targets will be in a unique cluster. In addition, the positions of all the initial targets in the unique same cluster are similar.

[0052] Here, in actual programming, it is assumed that Num1 initial targets are specifically StatAnalyzeStruts[1, ..., Num1], and Num2 initial targets are specifically StatAnalyzeStruts[Num1+1, ..., Num1+Num2]. In StatAnalyzeStruts[Num2], the scan time is filled into appearTime[0], and the value of appearTimeCnt is assigned to 1.

[0053] After that, define an integer array m_arrayCluster[Num1+Num2], then define a counter m_iCounter with an initial value of 0, define an analysis flag array m_arraypAnaFlag[Num1+Num2] and set all of them to 0, i.e., unprocessed, and then define an integer variable m_azAverage.

[0054] After that, find the serial number of the flag array m_arraypAnaFlag value 0, and fill the serial number i into m_arrayCluster[m_iCounter], then m_iCounter++, set m_azAverage=StatAnalyzeStruts[i].AZ, m_arraypAnaFlag[i]=1.

[0055] Afterwards, based on m_azAverage, find the serial number j that meets the following conditions, |m_arraypAnaFlag[j].AZ-m_azAverage|<ΔAZ, and then fill the serial number j into m_arrayCluster[m_iCounter], and then m_iCounter++, m_azAverage=(m_azAverage*m_iCounter+m_arraypAnaFlag[j].AZ) / (m_iCounter+1), m_arraypAnaFlag[j]=1.

[0056] The above steps are repeated until m_arraypAnaFlag[1, ..., Num1+Num2] are all 1.

[0057] In this embodiment, the "if the signal-to-noise ratio value S_N of the target to be processed in the second cluster does not meet the preset condition, then delete the second cluster" specifically includes: obtaining the number of the fifth target to be processed Counter1 and the number of the sixth target to be processed Counter2 in the second cluster, wherein |the appearance time of the fifth target to be processed-the current time|≤the first preset time threshold ΔTime1, |the signal-to-noise ratio value S_N of the sixth target to be processed-the preset signal-to-noise ratio value|≤the preset signal-to-noise ratio threshold ΔS_N, and if Counter2 / Ccounter1>the preset percentage value, then delete the second cluster. Here, when Counter2 / Ccounter1>the preset percentage value, it can be considered that the signal-to-noise ratio of the radar system has deteriorated, and the collected signal has a large error.

[0058] In this embodiment, the preset percentage value=0.9.

[0059] In this embodiment, the “if the signal-to-noise ratio value S_N of the target to be processed in the second cluster does not meet the preset condition, then delete the second cluster” specifically includes: if the signal-to-noise ratio value S_N of the target to be processed in the second cluster does not meet the preset condition, then delete the second cluster, and adjust the rotation speed and transmission frequency of the radar system.

[0060] Here, adjusting the rotation speed and transmission frequency of the radar system may specifically include: obtaining the current rotation speed cycle size m_rotateVelocity of the radar system and the start time m_rotateTime of adjusting the rotation speed cycle; if |m_rotateTime-current time|<3*m_rotateVelocity, it means that the rotation speed has just been adjusted, and further observation is required, no action is taken, and the system returns; if 3*m_rotateVelocity≤|m_rotateTime-current time|<100*m_rotateVelocity, it means that the rotation speed has been adjusted, but the effect is not ideal, and the radar transmission frequency needs to be changed to the next frequency point; otherwise, the system adjusts to the next rotation speed in a loop and returns.

[0061] Here, the noise interference to the radar system can be divided into co-frequency noise interference, swept frequency noise interference, and frequency hopping noise interference. Sweep frequency interference and frequency modulation interference are also called intermittent interference. If the interference always exists, it can be determined whether it is co-frequency continuous interference or intermittent interference by changing the radar antenna rotation speed. If it is intermittent interference, when the radar rotation speed is co-frequency or multiple frequency with the interference cycle in this direction, it will be manifested as continuous interference. At this time, the antenna rotation speed can be adjusted to avoid co-frequency or multiple frequency without changing the radar transmission parameters. The radar can perform "hidden" work in this direction; if it is co-frequency continuous interference, it can be eliminated by changing the radar transmission frequency.

[0062] In the embodiment of the present invention, the “when |the first target to be processed-the azimuth AZ of the second target to be processed|<the azimuth difference threshold ΔAZ, then the first and second targets to be processed are the same” specifically includes: when |the first target to be processed-the azimuth AZ of the second target to be processed|<the azimuth difference threshold ΔAZ, then the first and second targets to be processed are the same, and in the scanned target set, the attribute value of the first target to be processed and the attribute value of the seventh target to be processed are updated, wherein the content of the second target to be processed is the same as that of the seventh target to be processed;

[0063] The “when |the orientation AZ of the first target to be processed - the orientation AZ of any one of the Num1 initial targets|≥ the orientation difference threshold ΔAZ, the first target to be processed is a new target” specifically includes: when |the orientation AZ of the first target to be processed - the orientation AZ of any one of the Num1 initial targets|≥ the orientation difference threshold ΔAZ, the first target to be processed is a new target, and the first target to be processed is added to the scanned target set.

[0064] In the embodiment of the present invention, the following steps are also included:

[0065] The following processing is performed on each initial target in the scanned target set: when |the latest appearance time of the initial target-the current time|<the second preset time threshold ΔTime2, the initial target is deleted from the scanned target set.

[0066] Embodiment 2 of the present invention provides a signal processing device for a radar system, comprising the following modules:

[0067] A data acquisition module is used to acquire a scanned target set, wherein the scanned target set includes Num1 initial targets and Num1 corresponding attribute values, control the radar system to perform a scanning operation, and obtain Num2 initial targets and Num2 corresponding attribute values ​​based on the radar echo signal, wherein the attribute values ​​at least include: the azimuth AZ of the initial target, the appearance time of the initial target, the amplitude of the radar echo signal, and the signal-to-noise ratio value S_N of the radar echo signal, and Num1 and Num2 are both natural numbers;

[0068] A clustering module, used for copying the Num1 initial targets into one-to-one corresponding Num1 targets to be processed, and copying the Num2 initial targets into one-to-one corresponding Num2 targets to be processed; based on the clustering algorithm and the locations AZ of the Num1+Num2 targets to be processed, the Num1+Num2 targets to be processed are divided into a plurality of clusters;

[0069] a noise processing module, configured to perform the following processing on each second cluster in the plurality of clusters: if the signal-to-noise ratio value S_N of the target to be processed in the second cluster does not meet a preset condition, deleting the second cluster;

[0070] A processing module is used to perform a first processing on each first cluster in the multiple clusters: in the first cluster, count the M targets to be processed whose absolute value of the difference between the appearance time and the current time is less than a first preset time threshold ΔTime1; when M> the first preset number threshold, divide the M targets to be processed into N clusters, and in each cluster, the absolute value of the difference between the amplitudes of any two targets to be processed is less than the preset amplitude threshold; for any cluster, when the number of targets to be processed contained therein> the second preset number threshold, delete the cluster; perform a second processing on each of the remaining clusters: when |first target to be processed-first When the azimuth AZ of the second target to be processed|<azimuth difference threshold ΔAZ, the first and second targets to be processed are the same; when |azimuth AZ of the first target to be processed-azimuth AZ of any one of the Num1 initial targets|≥azimuth difference threshold ΔAZ, the first target to be processed is a new target; wherein, the first target to be processed is any one of the clusters, the second target to be processed is any one of the Num1 initial targets, M and N are both natural numbers, N≤M, and then, when there are still clusters that have not undergone the second processing, the next second processing is performed; then, when there are still first clusters that have not undergone the first processing, the next first processing is performed.

[0071] Embodiment 3 of the present invention provides a storage medium storing program instructions, wherein the program instructions implement the signal processing method in embodiment 1 when executed.

[0072] A third embodiment of the present invention provides an electronic terminal, including a processor and a memory, wherein the memory stores program instructions, and is characterized in that the processor executes the program instructions to implement the signal processing method in the first embodiment.

[0073] It should be understood that although this specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each implementation mode may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

[0074] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the present invention. They are not intended to limit the scope of protection of the present invention. Any equivalent implementation methods or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A signal processing method for a radar system, characterized in that: The following steps are involved: Acquire a scanned target set, the scanned target set includes Num1 initial targets and one-to-one corresponding Num1 attribute values, control the radar system to perform a scanning operation, and obtain Num2 initial targets and one-to-one corresponding Num2 attribute values ​​based on the radar echo signal, wherein the attribute value at least includes: the azimuth AZ of the initial target, the appearance time of the initial target, the amplitude of the radar echo signal, and the signal-to-noise ratio value S_N of the radar echo signal, and Num1 and Num2 are both natural numbers; The Num1 initial targets are copied into one-to-one corresponding Num1 targets to be processed, and the Num2 initial targets are copied into one-to-one corresponding Num2 targets to be processed; based on the clustering algorithm and the locations AZ of the Num1+Num2 targets to be processed, the Num1+Num2 targets to be processed are divided into multiple clusters; The following processing is performed on each second cluster in the plurality of clusters: if the signal-to-noise ratio value S_N of the to-be-processed target in the second cluster does not meet a preset condition, the second cluster is deleted; A first processing is performed on each first cluster among the multiple clusters: in the first cluster, the M targets to be processed whose absolute value of the difference between the appearance time and the current time is less than the first preset time threshold ΔTime1 are counted; when M> the first preset number threshold, the M targets to be processed are divided into N clusters, and in each cluster, the absolute value of the difference between the amplitudes of any two targets to be processed is less than the preset amplitude threshold; for any cluster, when the number of targets to be processed contained therein> the second preset number threshold, the cluster is deleted; and a second processing is performed on each of the remaining clusters: when | first target to be processed - second target to be processed When the target's orientation AZ|<the orientation difference threshold ΔAZ, the first and second targets to be processed are the same; when |the orientation AZ of the first target to be processed-the orientation AZ of any one of the Num1 initial targets|≥the orientation difference threshold ΔAZ, the first target to be processed is a new target; wherein, the first target to be processed is any one of the clusters, the second target to be processed is any one of the Num1 initial targets, M and N are both natural numbers, N≤M, and then, when there are still clusters that have not undergone the second processing, the next second processing is performed; then, when there are still first clusters that have not undergone the first processing, the next first processing is performed.

2. The signal processing method according to claim 1, characterized in that: The “dividing Num1+Num2 to-be-processed targets into a plurality of clusters based on a clustering algorithm and the locations AZ of Num1+Num2 to-be-processed targets” specifically includes: The following processing is performed on the Num1+Num2 targets to be processed until the Num1+Num2 targets to be processed are all processed, and the processing specifically includes: selecting an unprocessed third target to be processed from the Num1+Num2 targets to be processed, creating a cluster containing only the third target to be processed, and marking the third target to be processed as processed. Thereafter, the following judgment is performed on each fourth target to be processed among the Num1+Num2 targets to be processed: when the fourth initial target is unprocessed and |the azimuth AZ of the third target to be processed-the average azimuth AZ of all targets to be processed in the cluster|<the azimuth difference threshold ΔAZ, the fourth target to be processed is added to the cluster, and the fourth target to be processed is marked as processed.

3. The signal processing method according to claim 1, characterized in that: The “if the signal-to-noise ratio value S_N of the target to be processed in the second cluster does not meet the preset condition, deleting the second cluster” specifically includes: Obtain the number of fifth targets to be processed Counter1 and the number of sixth targets to be processed Counter2 in the second cluster, where |the occurrence time of the fifth target to be processed - the current time| ≤ the first preset time threshold ΔTime1, |the signal-to-noise ratio value S_N of the sixth target to be processed - the preset signal-to-noise ratio value| ≤ the preset signal-to-noise ratio threshold ΔS_N, if Counter2 / Ccounter1>the preset percentage value, delete the second cluster.

4. The signal processing method according to claim 3, characterized in that: Default percentage value = 0.

9.

5. The signal processing method according to claim 3, characterized in that: The “if the signal-to-noise ratio value S_N of the target to be processed in the second cluster does not meet the preset condition, deleting the second cluster” specifically includes: If the signal-to-noise ratio value S_N of the target to be processed in the second cluster does not meet the preset condition, the second cluster is deleted, and the rotation speed and the transmission frequency of the radar system are adjusted.

6. The signal processing method according to claim 1, characterized in that: The “when |the first target to be processed-the orientation AZ of the second target to be processed|<the orientation difference threshold ΔAZ, then the first and second targets to be processed are the same” specifically includes: when |the first target to be processed-the orientation AZ of the second target to be processed|<the orientation difference threshold ΔAZ, then the first and second targets to be processed are the same, and in the scanned target set, the attribute value of the first target to be processed and the attribute value of the seventh target to be processed are updated, wherein the content of the second target to be processed is the same as that of the seventh target to be processed; The "when |the orientation AZ of the first target to be processed - the orientation AZ of any one of the Num1 initial targets|≥ the orientation difference threshold ΔAZ, the first target to be processed is a new target" specifically includes: when |the orientation AZ of the first target to be processed - the orientation AZ of any one of the Num1 initial targets|≥ the orientation difference threshold ΔAZ, the first target to be processed is a new target, and the first target to be processed is added to the scanned target set.

7. The signal processing method according to claim 6, characterized in that: The following steps are also included: The following processing is performed on each initial target in the scanned target set: when |the latest appearance time of the initial target-the current time|<the second preset time threshold ΔTime2, the initial target is deleted from the scanned target set.

8. A signal processing device for a radar system, characterized in that: Includes the following modules: A data acquisition module is used to acquire a scanned target set, wherein the scanned target set includes Num1 initial targets and Num1 corresponding attribute values, control the radar system to perform a scanning operation, and obtain Num2 initial targets and Num2 corresponding attribute values ​​based on the radar echo signal, wherein the attribute values ​​at least include: the azimuth AZ of the initial target, the appearance time of the initial target, the amplitude of the radar echo signal, and the signal-to-noise ratio value S_N of the radar echo signal, and Num1 and Num2 are both natural numbers; A clustering module, used for copying the Num1 initial targets into one-to-one corresponding Num1 targets to be processed, and copying the Num2 initial targets into one-to-one corresponding Num2 targets to be processed; based on the clustering algorithm and the locations AZ of the Num1+Num2 targets to be processed, the Num1+Num2 targets to be processed are divided into a plurality of clusters; a noise processing module, configured to perform the following processing on each second cluster in the plurality of clusters: if the signal-to-noise ratio value S_N of the target to be processed in the second cluster does not meet a preset condition, deleting the second cluster; A processing module is used to perform a first processing on each first cluster in the multiple clusters: in the first cluster, count the M targets to be processed whose absolute value of the difference between the appearance time and the current time is less than a first preset time threshold ΔTime1; when M> the first preset number threshold, divide the M targets to be processed into N clusters, and in each cluster, the absolute value of the difference between the amplitudes of any two targets to be processed is less than the preset amplitude threshold; for any cluster, when the number of targets to be processed contained therein> the second preset number threshold, delete the cluster; perform a second processing on each of the remaining clusters: when |first target to be processed-first When the azimuth AZ of the second target to be processed|<azimuth difference threshold ΔAZ, the first and second targets to be processed are the same; when |azimuth AZ of the first target to be processed-azimuth AZ of any one of the Num1 initial targets|≥azimuth difference threshold ΔAZ, the first target to be processed is a new target; wherein, the first target to be processed is any one of the clusters, the second target to be processed is any one of the Num1 initial targets, M and N are both natural numbers, N≤M, and then, when there are still clusters that have not undergone the second processing, the next second processing is performed; then, when there are still first clusters that have not undergone the first processing, the next first processing is performed.

9. A storage medium storing program instructions, characterized in that: When the program instructions are executed, the signal processing method according to any one of claims 1 to 7 is implemented.

10. An electronic terminal, comprising a processor and a memory, wherein the memory stores program instructions, characterized in that: The processor executes program instructions to implement the signal processing method according to any one of claims 1 to 7.

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