Method, device, electronic device and storage medium for detecting and processing static targets

Abstract

The present invention provides a detection and processing method, device, electronic device and storage medium for static targets. The method comprises: acquiring multiple groups of sampling data and collecting and extracting corresponding target sampling data multiple times or even in stages and steps based on the time redundancy of the detection sampling of the static target; determining whether the position point is the position point of the static target based on the difference in sampling data of the same position point within the detection range; and determining the detection information of the position point of the static target based on part or all of the sampling data of the position point of the static target.

Description

Technical Field

[0001] The present invention relates to the field of detection, and in particular to a method, device, electronic equipment and storage medium for detecting and processing a static target using a microwave sensor. Background Art

[0002] There are many detection applications of microwave radar, including detecting the distance and speed of objects, positioning, detecting cloud weather, detecting underground structures, and so on.

[0003] Currently, the more popular method in the industry is to use microwave frequency bands to achieve microwave target detection.

[0004] Microwave sensors have many advantages in target and environment perception. In addition to their expertise in detecting the distance and speed of moving objects, their target detection is not easily affected by external factors such as light and climate. They are currently an environmental and target detection sensor in the industry.

[0005] However, when using microwave sensors for detection, usually only dynamic objects need to be detected. There is a lack of detection methods for static objects, which cannot meet the needs of high-performance environmental perception. Summary of the invention

[0006] The present invention provides a detection and processing method, device, electronic device and storage medium for static targets, which are used to solve the problem of lack of detection means for static objects. Since we want to detect static targets, and the sensor itself is fixedly installed in one position, the system makes full use of the characteristics of stationary objects reflecting millimeter wave signals. When processing echo signals, it focuses on the reflection signals of static targets, and uses the insensitivity of static target detection on the time axis to repeatedly sample and perform signal iterative accumulation and other processing methods to obtain information, filter out interference signals (random noise, background noise, etc.) and signals brought by moving targets (non-corresponding static target signals), and finely adjust the transmission signal configuration to obtain more relevant and effective information through signal correlation data mining, which is equivalent to increasing the number of sampling points, the number and accuracy of sampling channels of the target, and improving the detection accuracy of the target (including the distance of the target). For the capture, access and processing of target reflection signals, we also take advantage of the time redundancy (insensitivity) of stationary targets, and divide each captured frame or each pulse signal (chirp) into parts (sub-units) for step-by-step capture, processing, storage and transmission, and then re-aggregate the processed signals of each part to restore them into a complete receiving signal unit for subsequent signal processing and target detection; the system improves the target detection accuracy by mining the correlation data of a large number of target reflection signals, filters out background noise and interference signals caused by moving targets, and thus overcomes the weakness of microwave radar in detecting static targets, and realizes high-precision detection of static targets in the target environment.

[0007] According to a first aspect of the present invention, a method for detecting and processing a static target using a microwave sensor is provided, comprising:

[0008] Obtain multiple sets of sampling data;

[0009] The multiple groups of sampling data are sampling data corresponding to the reflected signal when the microwave sensor transmits the signal multiple times, and the sampling data include: frequency information and phase information of the corresponding intermediate frequency signal; the corresponding intermediate frequency signal refers to: a signal obtained by mixing and sampling the corresponding reflected signal;

[0010] Based on the sampling data of the same position point at different times within the detection range, determining whether the position point is a position point of a static target;

[0011] Based on part or all of the sampling data of the position point of the static target, the detection information of the position point of the static target is determined, and the detection information includes the distance of the corresponding position point and / or the spatial angle of the position of the static target.

[0012] Optionally, when the microwave sensor transmits a signal, the signal is transmitted with corresponding transmission configuration parameters, and the transmission configuration parameters include: a starting frequency, a starting phase, a radar modulation slope of a frequency modulated continuous wave, and a signal bandwidth of the transmitted signal;

[0013] The multiple groups of sampling data include: sampling data corresponding to when signals are transmitted at the same location point with different transmission configuration parameters.

[0014] Optionally, the multiple groups of sampling data include: any first sampling data and second sampling data; wherein the first sampling data is sampling data corresponding to the reflected signal when the microwave sensor transmits the signal multiple times with the first transmission configuration parameter, and the second sampling data is sampling data corresponding to the reflected signal when the microwave sensor transmits the signal with the second transmission configuration parameter;

[0015] Correspondingly, based on the sampling data of the same position point at different times within the detection range, determining whether the position point is a position point of a static target includes:

[0016] For any first position point, the first sampling data and the second sampling data of the first position point are compared, and the cumulative probability information of the first position point being a static target position point is adjusted based on the comparison result, wherein the cumulative probability information represents the possibility that the corresponding position point is a static target position point.

[0017] The so-called any first position point here is a general term. The microwave sensor can detect one to multiple target position points at the same time each time the signal is transmitted and received. For the simultaneous detection of multiple target position points, we can mark them as "first position point", "second position point"... and handle them in the same way.

[0018] Optionally, the radar modulation slope in the first transmission configuration parameter is a first slope, and the corresponding transmission signal is a first transmission signal; the radar modulation slope in the second transmission configuration parameter is a second slope, and the corresponding transmission signal is a second transmission signal; the first slope and the second slope are different slopes;

[0019] Comparing the first sampling data and the second sampling data of the first position point, and adjusting the cumulative probability information that the first position point is a static target position point based on the comparison result, includes:

[0020] Based on the difference between the first slope and the second slope, the second sampling data is converted into equivalent sampling data, wherein the equivalent sampling data represents: if the second transmission signal is sent with the first slope, the corresponding sampling data;

[0021] If the equivalent sampling data is the same as or similar to the first sampling data, the cumulative probability information is increased.

[0022] Optionally, the starting phase in the first transmission configuration parameter is a first phase, and the starting phase in the second transmission configuration parameter is a second phase;

[0023] Comparing the first sampling data and the second sampling data of the first position point, and adjusting the cumulative probability information that the first position point is a static target position point based on the comparison result, includes:

[0024] If the first sampling data is identical or similar to the second sampling data, the cumulative probability information is increased.

[0025] Optionally, the multiple groups of sampling data include: any third sampling data and fourth sampling data;

[0026] The third sampling data is sampling data corresponding to the reflected signal when the microwave sensor transmits the signal multiple times with the third transmission configuration parameter, and the fourth sampling data is sampling data corresponding to the reflected signal when the microwave sensor transmits the signal with the fourth transmission configuration parameter;

[0027] The starting frequency in the third transmission configuration parameter is the first frequency, and the starting frequency in the fourth transmission configuration parameter is the second frequency;

[0028] Determining detection information of the position point of the static target based on part or all of the sampled data of the position point of the static target, including:

[0029] For any second position point of the static target, the distance of the second position point is determined based on the phase difference between the third sampling data and the fourth sampling data.

[0030] Optionally, the multiple groups of sampling data include: any fifth sampling data and multiple groups of sixth sampling data;

[0031] The fifth sampling data is the sampling data of the corresponding reflected signal when the microwave sensor transmits a signal to the third position point, and the sixth sampling data is the sampling data of the corresponding reflected signal when the microwave sensor transmits a signal to the fourth position point;

[0032] The detection method further comprises:

[0033] Based on the difference between the fifth sampling data and the sixth sampling data, it is determined whether the third position point and the fourth position point are in the same continuum of static targets.

[0034] Optionally, determining whether the location point is a location point of a static target based on sampling data at different times of the same location point within the detection range includes:

[0035] The preset filtering algorithm is used to filter the sampling data at the same location.

[0036] Optionally, when the microwave sensor receives and samples the signal, it receives and samples the signal with corresponding receiving sampling configuration parameters;

[0037] The multiple groups of sampling data include: sampling data corresponding to when a sampling signal is received and sampled at the same position point with different receiving sampling configuration parameters.

[0038] Optionally, when the microwave sensor transmits a signal, the signal is transmitted with corresponding transmission configuration parameters, and the transmission configuration parameters include: a starting frequency, a starting phase, a radar modulation slope of a frequency modulated continuous wave, and a signal bandwidth of the transmitted signal;

[0039] The multiple groups of sampling data include: seventh sampling data corresponding to when a signal is transmitted at the same location point with the same transmission configuration parameters;

[0040] Based on the sampling data of the same position point in the detection range at different sampling times, determining whether the position point is a position point of a static target includes:

[0041] For the same position point, the seventh sampling data at different times are compared, and the cumulative probability information of the position point is adjusted according to the comparison result, wherein the cumulative probability information represents the possibility that the corresponding position point is a static target position point.

[0042] Optionally, the microwave sensor utilizes the redundancy (insensitivity) of the stationary target to time, and divides each captured frame or each pulse signal (chirp) into parts (sub-units) one by one or even again for step-by-step transmission, reception, processing, and storage, and then re-aggregates the processed signals of each part to restore it into a complete receiving signal unit for subsequent signal processing and target detection, so that the system breaks through the hardware limitations of the edge side (sensor module side) (data storage capacity limitations, sensor data bandwidth limitations, sensor local data processing computing power limitations, etc.), and based on a small memory and small bandwidth system, it can also achieve the effective acquisition of a large amount of sampled data of the target signal;

[0043] Optionally, if the detection method is applied to a server (a scenario where a sensor is connected to a server and works together), then:

[0044] Get multiple sets of sampling data, including:

[0045] Receiving a plurality of data units uploaded sequentially by the microwave sensor according to an agreed order; the plurality of data units are formed after the microwave sensor divides the sampled data;

[0046] The multiple data units are reorganized to obtain the multiple groups of sampling data.

[0047] Optionally, the detection and processing method of a microwave sensor for a static target further includes a method for uploading data of the microwave sensor, including:

[0048] Divide the sampled data into multiple data units;

[0049] The multiple data units are uploaded to the server so that the server executes the detection processing method.

[0050] According to a second aspect of the present invention, there is provided a detection and processing device for a microwave sensor to detect a static target, comprising:

[0051] An acquisition module, used for acquiring multiple groups of sampling data;

[0052] The multiple groups of sampling data are sampling data corresponding to the reflected signal when the microwave sensor transmits the signal multiple times, and the sampling data include: frequency information and phase information of the corresponding intermediate frequency signal; the corresponding intermediate frequency signal refers to: a signal obtained by mixing and sampling the corresponding reflected signal;

[0053] A static target determination module, used to determine whether a position point is a position point of a static target based on sampling data of the same position point at different times within the detection range;

[0054] The detection information determination module is used to determine the detection information of the position point of the static target based on part or all of the sampling data of the position point of the static target, and the detection information includes the distance of the corresponding position point and / or the spatial angle of the position of the static target.

[0055] According to a third aspect of the present invention, there is provided an electronic device, comprising a memory and a processor:

[0056] The memory is used to store codes;

[0057] The processor is used to execute the code in the memory to implement the method involved in the first aspect and its optional solutions.

[0058] According to a fourth aspect of the present invention, there is provided a storage medium having a program stored thereon, wherein the program, when executed by a processor, implements the method involved in the first aspect and its optional solutions.

[0059] The present invention provides a detection and processing method, device, electronic device and storage medium for static targets, which detects the position points in the target environment multiple times. Since the phase and frequency of the intermediate frequency signal generated by the reflection signal of the static target through the continuous frequency modulation signal mixer are constant or conform to a certain rule, the position points of the static targets can be determined more accurately based on the sampling data at different times and by using processing methods such as repeated sampling and signal iterative accumulation to obtain information. On this basis, the present invention can determine the detection information of the position points of the static targets based on the sampling data of the static targets, realize the detection of the static targets, and help meet the needs of high-performance environmental perception. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0061] Figure 1 is a flow chart of a method for detecting and processing a static target in one embodiment of the present invention;

[0062] Figure 2 is a schematic diagram of a radar pulse signal in one embodiment of the present invention;

[0063] Figure 3 It is a schematic diagram of a radar ranging Range Bin combination method in one embodiment of the present invention;

[0064] Figure 4 is a schematic diagram of combining multiple pulse signals into a larger bandwidth pulse signal in one embodiment of the present invention;

[0065] Figure 5 is a schematic diagram of a detection and processing device for a static target in one embodiment of the present invention;

[0066] Figure 6 It is a schematic diagram of the structure of an electronic device in one embodiment of the present invention. DETAILED DESCRIPTION

[0067] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0068] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0069] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0070] Please refer to Figures 1 to 4 , a detection and processing method for a microwave sensor to a static target, comprising:

[0071] S11: Acquire multiple groups of sampling data;

[0072] The multiple groups of sampling data are sampling data corresponding to the reflected signal when the microwave sensor transmits the signal multiple times, and the sampling data include: frequency information and phase information of the corresponding intermediate frequency signal; the corresponding intermediate frequency signal refers to: a signal obtained by mixing and sampling the corresponding reflected signal;

[0073] S12: Determine whether the position point is a position point of a static target based on sampling data at different times of the same position point within the detection range;

[0074] S13: Determine detection information of the position point of the static target based on part or all of the sampling data of the position point of the static target.

[0075] The detection information includes the distance of the corresponding position point (i.e., the distance between the corresponding position point and the microwave sensor) and / or the spatial angle of the location of the static target. No matter what the detection information is, as long as it is obtained based on the data during sampling, it does not deviate from the scope of the embodiments of the present invention.

[0076] In step S11, the corresponding intermediate frequency signal is generated by sampling the reflected signal after being processed by a mixer. Therefore, if the intermediate frequency signal is obtained from the reflected signal of a static target, its phase, frequency, etc. are constant or regular.

[0077] Therefore, based on the sampling data at different times, the location of the static target can be determined more accurately and interference (such as interference caused by dynamic targets) can be filtered out. On this basis, the present invention can detect static targets and obtain corresponding detection information. Compared with the solution of only detecting dynamic targets, when the present invention is used, if dynamic targets are also sensed at the same time, the demand for high-performance environmental perception can be met through comprehensive perception.

[0078] When the microwave sensor transmits a signal, it transmits the signal with the corresponding transmission configuration parameters, which include: the starting frequency, starting phase, radar modulation slope of the frequency modulated continuous wave, and signal bandwidth of the transmitted signal; it may also include any other parameters related to the Chirp signal (i.e., pulse signal) waveform, such as frequency modulation rate, signal bandwidth, etc.; the pulse signal can refer to Figure 2 Shown understanding.

[0079] When the microwave sensor receives and samples the signal, it may also receive and sample the signal with the corresponding receiving sampling configuration parameters; the multiple groups of sampling data include: the corresponding sampling data when receiving and sampling the signal with different receiving sampling configuration parameters for the same position point.

[0080] It can be seen that by utilizing the time redundancy of the sensor's sampling of static targets, rich sampling data can be formed by adjusting the configuration of each signal transmission and reception sampling (i.e., transmission configuration parameters and reception sampling configuration parameters). For example, this can be achieved by setting different Chirp signal waveforms (adjusting the frequency modulation rate of FMCW Chirps, signal bandwidth, spectrum segmentation and combination, etc.) and the data sampling and processing settings of the received signal (such as adjusting the sampling start time of the received signal, the number of signal sampling points and the sampling frequency, etc.), and then accumulating and recording the data of each sampling for unified processing to increase the signal detection (ranging accuracy, distance resolution) capability of static targets.

[0081] In one embodiment, in step S12, a preset filtering algorithm may be used to filter the sampling data at the same location point.

[0082] It can be seen that for the collected sampling data, a large amount of sampling data can be obtained by accumulating the received data through multiple samplings. Then, mathematical methods can be used to filter out noise and moving objects. For example, the sampling data can be captured by repeated accumulation and recording for a period of time (for example, repeat the sampling 100 times or even more and accumulate and record the data of each sampling) and then perform data processing; precisely because of these effective accumulated data combinations, based on these sampling data, filtering thresholds, covariance matrix processing and other algorithms can be established to further filter out the sampling data of non-static targets and random interference noise.

[0083] In addition, for the definition and filtering of radar moving targets, a two-dimensional FFT operation can be performed on the target based on the traditional radar algorithm to obtain the speed dimension data of the potential target, and the target (reflection point) with speed movement characteristics can be defined as a moving target. When a moving target appears, the current (instant) sampled data is discarded, and the system repeats the sampling operation until no moving target (reflection point) is detected. The system then records and stores the sampled data as valid data.

[0084] Furthermore, the first sampling data, the second sampling data, the third sampling data, the fourth sampling data, the fifth sampling data, the sixth sampling data, the seventh sampling data, etc. mentioned below may be the sampling data remaining after being filtered through the above process.

[0085] In one embodiment, in order to provide a quantifiable basis for the determination of a static target location point, the cumulative probability information of a location point (which can also be understood as a confirmation probability value) can be used to reflect the possibility of whether the location point belongs to a static target, that is, the cumulative probability information represents the possibility that the corresponding location point is a static target location point. Since the amount of sampled data is large, the cumulative probability information is a cumulative amount, such as a cumulative amount, a weighted cumulative amount, etc. When using the cumulative probability information later, this accumulation method will be illustrated with specific examples. Furthermore, in step S12, the cumulative probability information can be adjusted by comparing the sampled data at different times of the same location point within the detection range, and then, based on the final adjusted cumulative probability information, it is determined whether the location point is a static target location point; for example, if the possibility represented by the cumulative probability information is higher than the first threshold, the location point is determined to be a static target location point.

[0086] Any mathematical and statistical methods in the art may be applied to process the cumulative probability information without departing from the scope of the embodiments of the present invention.

[0087] It can be seen that the insensitivity of static object detection on the time axis is utilized to repeatedly sample and perform signal iterative accumulation processing to obtain information, filter out interference (such as random noise, background noise, etc.) and sampling data brought by moving objects (i.e. sampling data brought by non-static objects), and thus ensure that the position points of static objects can be accurately identified, that is, the sampling data of static objects can be accurately extracted, which is used to determine detection information and ensure the accuracy of static target detection.

[0088] In one embodiment, the plurality of groups of sampling data include: sampling data corresponding to when signals are transmitted at the same location point with different transmission configuration parameters;

[0089] The different transmission configuration parameters refer to: each time a transmission signal is sent out, a corresponding set of transmission configuration parameters will be used. On this basis, between two sets of transmission configuration parameters of different transmission signals, one or more transmission configuration parameters are different.

[0090] Furthermore, by fine-tuning the transmission configuration parameters, the number and accuracy of the sampling points of the target (eg, static target) are equivalently increased, thereby improving the detection accuracy of the target (eg, static target), such as the distance detection accuracy of the static target, and the spatial angle positioning detection accuracy.

[0091] The multiple groups of sampling data include: any first sampling data and any second sampling data;

[0092] The first sampling data and the second sampling data are sampling data at any different time that meet the following description: the first sampling data is sampling data corresponding to the reflected signal when the microwave sensor transmits the signal with the first transmission configuration parameter for multiple times, and the second sampling data is sampling data corresponding to the reflected signal when the microwave sensor transmits the signal with the second transmission configuration parameter;

[0093] Correspondingly, step S12 may include:

[0094] For any first position point, the difference between the first sampling data and the second sampling data of the first position point is compared, and the cumulative probability information that the first position point is a static target position point is adjusted based on the comparison result.

[0095] In one example, when the first sampling data is identical or similar to the second sampling data (or the converted sampling data thereof), the cumulative probability information of the corresponding position points is superimposed with a number greater than 0 or multiplied by a number greater than 1 to increase the cumulative probability information of the corresponding position points. In a specific example, a preset weighting value may also be multiplied on the basis of this number;

[0096] In another example, when the first sampling data is not similar to the second sampling data (or the converted sampling data), the cumulative probability information of the corresponding position points is reduced, such as subtracting a number greater than 0 or dividing by a number greater than 1, so as to reduce the cumulative probability information of the corresponding position points. In the specific example, a preset weighting value can also be multiplied by this number.

[0097] The improvement when similar and the reduction when dissimilar can be achieved either alone or in combination.

[0098] In addition, the above is only an example of cumulative probability information processing. No matter how to implement such accumulation, it does not depart from the scope of the embodiments of the present invention.

[0099] The radar modulation slope in the first transmission configuration parameter is a first slope, and the corresponding transmission signal is a first transmission signal; the radar modulation slope in the second transmission configuration parameter is a second slope, and the corresponding transmission signal is a second transmission signal, and the first slope and the second slope are different slopes;

[0100] Adjusting the cumulative probability information that the first location point is a static target location point based on the difference between the first sampling data and the second sampling data of the first location point includes:

[0101] Based on the difference between the first slope and the second slope, the second sampling data is converted into equivalent sampling data, wherein the equivalent sampling data represents: if the second transmission signal is sent with the first slope, the corresponding sampling data;

[0102] If the equivalent sampling data is the same as or similar to the first sampling data, the cumulative probability information is increased.

[0103] The process of converting to equivalent sampling data can be, for example, to restore the equivalent intermediate frequency signal value (i.e., the equivalent sampling time protection, including frequency and phase information) after mixing corresponding to the radar modulation signal corresponding to the preset original slope parameter (i.e., the first slope) in the following two ways:

[0104] 1) Time axis conversion (convert according to the different slopes between chirps)

[0105] 2) Without changing the time axis, directly convert (map) the intermediate frequency sampling signal to the chirp with different slopes to be converted, and perform direct numerical transformation of the intermediate frequency signal.

[0106] Among them, adjusting the radar modulation slope can also improve the range resolution. The range resolution is equal to the propagation speed of the radar signal divided by twice the bandwidth of the radar pulse signal. The range resolution represents the radar's ability to distinguish two close targets, that is, by improving the range resolution, the ranging accuracy between two position points is also improved. When the radar modulation slope is adjusted, the effective sampling data of the corresponding position point is equivalently increased, that is, the effective sampling data of each pulse signal is increased, and more radar ranging Range Bins are effectively divided. In the detection area set by the radar, the range resolution between two position points is improved in units of Range Bin.

[0107] It can be seen that when adjusting the slope parameter of the transmitted signal to repeatedly capture the signal, the signal reflection information data can be repeatedly captured by adjusting the slope parameter of the transmitted signal (Chirp), and then the corresponding received signal data value is converted to the sampling data corresponding to the previous Chirp slope parameter, and then the signal analysis is performed: if there are two signals (or multiple signals) that are the same or similar, it means that the "confirmation probability value" of this signal being a valid reflection signal of the target is increased. Furthermore, this method can be used to confirm and extract the target signal and filter out interference and background noise (interference and background noise signals are random, and the probability of them repeatedly appearing in related values ​​is basically zero, so they can be filtered out in this way).

[0108] like Figure 3 and Figure 4 In one example, the range resolution can be improved by increasing the bandwidth of the radar signal. For example, the radar chip only supports a signal bandwidth of up to 2 GHz. By splicing 4 Chirps, we set Chirp 1 to 60 GHz–62 GHz (2 GHz bandwidth), Chirp 2 to 62 GHz–64 GHz (2 GHz bandwidth), Chirp 3 to 64 GHz–66 GHz (2 GHz bandwidth), and Chirp 4 to 66 GHz–68 GHz (2 GHz bandwidth). However, the radar chip only supports a signal bandwidth of up to 2 GHz. By adjusting the starting frequency of multiple groups of Chirps, the data sampled in multiple groups of different frequency bands are spliced ​​to synthesize a new large-bandwidth Chirp, which is a pulse signal of 60 GHz–68 GHz (8 GHz bandwidth). As the bandwidth of the pulse signal increases, the range resolution is also improved, and the system ranging accuracy is also improved.

[0109] In one embodiment, the starting phase in the first transmission configuration parameter is a first phase, and the starting phase in the second transmission configuration parameter is a second phase;

[0110] Adjusting the cumulative probability information that the first location point is a static target location point based on the difference between the first sampling data and the second sampling data of the first location point includes:

[0111] If the first sampling data is identical or similar to the second sampling data, the cumulative probability information is increased.

[0112] It can be seen that in addition to adjusting the slope parameters, based on the target detection time margin for detecting static targets, the initial phase of the transmitted signal can be adjusted between different signal transmission pulses (chirps), and then the intermediate frequency signal after the received signal passes through the continuous frequency modulation signal mixer (FMCW Signal Mixer) can be compared to determine the properties of the received signal: whether it is a static target reflection signal, random interference, or background noise.

[0113] For the static target reflection signal, after changing the phase of the transmission signal, the amplitude and phase of the intermediate frequency signal (IF Signal) generated by the static target reflection signal after passing through the continuous frequency modulation signal mixer remain unchanged. Based on this, we can detect the static target reflection signal through repeated comparison of multiple groups of signals; the more repeated comparisons of the signal, the higher the confidence of the detected static target reflection signal, which can be reflected in the cumulative probability information. In one embodiment, the multiple groups of sampling data include: any third sampling data and fourth sampling data;

[0114] The third sampling data is sampling data corresponding to the reflected signal when the microwave sensor transmits the signal with the third transmission configuration parameter, and the fourth sampling data is sampling data corresponding to the reflected signal when the microwave sensor transmits the signal with the fourth transmission configuration parameter;

[0115] The starting frequency in the third transmission configuration parameter is the first frequency, and the starting frequency in the fourth transmission configuration parameter is the second frequency;

[0116] Determining detection information of the position point of the static target based on part or all of the sampled data of the position point of the static target, including:

[0117] For any second position point of the static target, the distance of the second position point is determined based on the phase difference between the third sampling data and the fourth sampling data.

[0118] It can be seen that the phase correlation of the reflected signal is very valuable (the phase of the sampled data of the reflection point in continuous space is continuous). We use the phase correlation to improve the deficiencies and challenges of target space positioning caused by insufficient radar angular resolution.

[0119] Specifically, a static target is composed of one or more surfaces. For the radar, the detected surface is composed of many target reflection points. Many reflection points of the static target are detected by the microwave radar. The sampling data of these reflection points contains the continuity relationship of the phase between them. When the spatial distance of these detected reflection points is within half a wavelength, then the phase difference of their reflected signals after passing through the mixer is also continuously distributed within 360°. For the distance detection of these reflection points, the phase information of the reflected signal can be obtained based on the sampling data, and the phase information of the reflected signal (the phase difference of the received reflected signal) can be used for precise positioning, thereby improving the ranging accuracy to the order of magnitude of the microwave wavelength.

[0120] Specific practices include, for example, fine-tuning the transmission signal so that the difference between the received signals of the reflecting target at the same position point and the transmission signals of two or more groups with different settings is fixed within one or several wavelengths λ; at the same static target position point, the phase of the reflected echo of the transmission signal with a changing wavelength will change periodically (the phase Φ of the reflected echo has a functional relationship with the target distance d and the wavelength λ of the radar signal: Φ=F【4π*(d / λ)】). In this way, the data analysis of the correlation between the phase difference of the static target and the reflected signals of different frequencies is used to accurately locate the distance of the associated measured target, thereby further improving the ranging accuracy of the associated measured target to the wavelength level of microwaves (millimeter). The same method can be used in both the horizontal and vertical phases, so the system's detection distance accuracy for static targets can be improved to the millimeter level (one tenth or one hundredth of a millimeter).

[0121] In one embodiment, the plurality of groups of sampling data include: a plurality of groups of fifth sampling data and a plurality of groups of sixth sampling data;

[0122] The fifth sampling data is the sampling data of the corresponding reflected signal when the microwave sensor transmits a signal to the third position point, and the sixth sampling data is the sampling data of the corresponding reflected signal when the microwave sensor transmits a signal to the fourth position point;

[0123] The detection method further comprises:

[0124] Based on the difference between the fifth sampling data and the sixth sampling data, it is determined whether the third position point and the fourth position point are located at the same static target.

[0125] It can be seen that by fine-tuning the transmission configuration parameters of the transmitted signal, more relevant and effective information can be obtained by mining the correlation data of the signal, for example, it can be determined whether it is the same static target. Furthermore, since the static target has spatial continuity (composed of one or several surfaces), this situation (scene) can be used to associate the ownership of the reflected signal (these reflected signals come from the same object or from different objects).

[0126] In one embodiment, the plurality of groups of sampling data include: seventh sampling data corresponding to when a signal is transmitted at the same location point with the same transmission configuration parameters;

[0127] Based on the difference in sampling data of the same position point within the detection range, determining whether the position point is a position point of a static target includes:

[0128] For the same position point, the seventh sampling data at different times are compared, and the cumulative probability information of the position point is adjusted according to the comparison result, wherein the cumulative probability information represents the possibility that the corresponding position point is a static target position point.

[0129] The cumulative probability information of the location point is preset, and then the location point is repeatedly detected multiple times by adjusting the radar modulation slope, starting frequency, starting phase, radar signal bandwidth, etc., and the cumulative probability information after each detection is modified accordingly. It can accurately determine whether the detected location point is the location point of a static target.

[0130] Since we repeat the signal sampling process of target detection and make fine adjustments to the signal to iterate the sampling, there will be a large amount of signal original sampling data and intermediate processing data accumulated during the signal sampling and analysis process, which requires a relatively large data storage space. However, due to system cost control considerations, radar sensors often do not set up a large data memory on the edge side (radar sensor system side), and the data memory (RAM) capacity of the radar sensor will become a factor that hinders the implementation of the improved algorithm. In order to solve this problem, the data sampling redundancy mechanism (time insensitivity) of stationary target detection in the time dimension can be used to upload the signal sampling data to the server through the network in batches by first splitting and then reorganizing and aggregating the sampling information of the target detection to accumulate, and then reorganize and aggregate the data for data processing. The powerful processing power and abundant memory space of the server are used to process the data. The data transmission method of first splitting and then reorganizing and aggregating the sampling information of the target detection will not affect the detection of static targets.

[0131] Therefore, in one embodiment, if the detection method is applied to a server, then:

[0132] Get multiple sets of sampling data, including:

[0133] Receiving a plurality of data units uploaded sequentially by the microwave sensor according to an agreed order; the plurality of data units are formed after the microwave sensor divides the sampled data;

[0134] The multiple data units are reorganized to obtain the multiple groups of sampling data.

[0135] Correspondingly, an embodiment of the present invention provides a method for uploading data of a microwave sensor, comprising:

[0136] Divide the sampled data into multiple data units;

[0137] The multiple data units are uploaded to the server so that the server executes the above detection and processing method.

[0138] In one example, the acquired sampling data is segmented into frames and / or pulse signals, and then the segmented sampling data is uploaded to a server in batches through a network for accumulation, the processing power of the server is used to process the sampling data, and the abundant memory space of the server is used to store the data.

[0139] The sampled data will be uploaded to the server in a fixed sequence after being cut. When the cut data is still limited by the transmission bandwidth, the sampled data of each frame / or pulse signal will be further divided into small pieces.

[0140] In another example, an ADC sampling time window can be divided into several ADC sampling time sub-windows, and then the sampling data of the ADC sampling time sub-windows are uploaded to the server for sampling data accumulation. After receiving these divided signals, the server recombines them and restores them into valid sampling data of a complete ADC sampling time window.

[0141] Specifically, the ADC sampling time window of each frame / or pulse signal is divided into several ADC sampling time sub-windows inside the radar sensor module, and the radar sensor repeats the detection process of the static target with each sub-window (even based on the RangeBin of each ranging) as the basic unit, and analyzes and filters the sampling data after multiple samplings to extract the valid sampling data, wherein the analysis and filtering includes: filtering noise, random sampling errors and interference signals reflected by moving objects.

[0142] Similarly, since static targets need to be extracted, the redundancy in the time dimension can be fully utilized to effectively extract and accumulate signals in stages. For the static target extraction process, the system is dynamically configured to a mode that is conducive to static target detection without having to mind the signal configuration setting constraints on the capture quality of dynamic targets.

[0143] Microwave sensors use the redundancy (insensitivity) of stationary targets to time, and divide each captured frame or each pulse signal (chirp) into parts (sub-units) for step-by-step transmission, reception, processing, and storage, and then re-aggregate the processed signals of each part to restore them into a complete receiving signal unit for subsequent signal processing and target detection. The same can also be applied inside the microwave sensor unit, dividing the data acquisition, storage, and processing into parts (sub-units) for step-by-step time-sharing processing, so that the system breaks through the hardware limitations of the edge side (sensor module side) (the local data storage capacity limitation of the sensor, the sensor data bandwidth limitation, the sensor local data processing computing power limitation, etc.), and based on the small memory and small bandwidth microwave sensor system, it can also achieve the effective acquisition of a large amount of sampled data of the target signal;

[0144] In addition, the radar ranging Range Bin can also be refined. For example, due to the current limitations of system hardware (sampling chips, etc.) design technology and system cost in the industry, each signal pulse is often divided into 512 / 1024 Range Bins. It can be refined and increased to more times to refine the radar ranging processing (also based on the premise that the target and the radar are relatively stationary, we use the time margin, that is, the insensitive characteristics, to achieve the purpose). Furthermore, by fine-tuning the starting setting time of the signal ADC sampling between Chirps, the sampling time of each group of reflected signals is slightly staggered between different Chirps (staggered in the time domain). In this way, when the sampled signals collected by multiple Chirps are accumulated and processed and then recombined, it is equivalent to proportionally increasing the number of effective sampling points of each Chirp.

[0145] Among them, the method of combining multiple Chirps into a new Chirp with a larger bandwidth can be used, for example Figure 4 shown.

[0146] In addition, the slope parameter of the chirp of the transmitting signal can be dynamically adjusted to achieve repeated sampling of the target with radar waveforms of different transmitting signal (chirp) slopes (i.e., slope parameters), and then each group of received signals is transformed into the equivalent intermediate frequency signal value (including frequency and phase information) after mixing corresponding to the radar modulation signal of the preset original slope parameter by numerical conversion, that is, the formation of equivalent sampling data mentioned above. It can be seen that the equivalent sampling data can also be used as new sampling data for processing. In this way, we still refine the radar ranging based on the time insensitivity of static target detection, equivalently increase the effective sampling number of each radar pulse signal (Chirp), and break through the current limitation that the target distance resolution equals C / 2B (C: radar signal propagation speed; B: radar pulse signal bandwidth) obtained by our method of equally spaced sampling of radar signals, which is limited by the Nyquist sampling theorem.

[0147] Figure 3 It is a typical range bin combination method for radar at present (the radar sets the detection area, divides it into zones by distance, scans each zone one by one and transmits (uploads) the sampled raw data); the various methods mentioned above are used to increase the effective sampling number of each chirps, which is equivalent to improving the ranging accuracy of the system, and more range bins can be effectively divided to improve the ranging accuracy of the system.

[0148] The radar sets the detection area, divides it into zones based on distance, scans each zone and transmits (uploads) the sampled raw data. The advantage of using distance as the unit is to improve the radar's distance resolution, and then dynamically adjust parameters such as the chirp slope, signal ADC sampling start time, and sampling interval to meet the requirements for improving ranging accuracy.

[0149] Figure 5 It is a schematic diagram of a detection and processing device for a static target in one embodiment of the present invention.

[0150] Please refer to Figure 5 , a detection and processing device 200 for a static target, applied to a server or a microwave sensor, comprises:

[0151] An acquisition module 201 is used to acquire multiple groups of sampling data;

[0152] The multiple groups of sampling data are sampling data corresponding to the reflected signal when the microwave sensor transmits the signal multiple times, and the sampling data include: frequency information and phase information of the corresponding intermediate frequency signal; the corresponding intermediate frequency signal refers to: a signal obtained by mixing and sampling the corresponding reflected signal;

[0153] A static target determination module 202, configured to determine whether a position point is a position point of a static target based on the difference in sampling data at different times of the same position point within the detection range;

[0154] The detection information determination module 203 is used to determine the detection information of the position point of the static target based on part or all of the sampling data of the position point of the static target, and the detection information includes the distance of the corresponding position point.

[0155] Optionally, when the microwave sensor transmits a signal, the signal is transmitted with corresponding transmission configuration parameters, and the transmission configuration parameters include: a starting frequency, a starting phase, a radar modulation slope of a frequency modulated continuous wave, and a signal bandwidth of the transmitted signal;

[0156] The multiple groups of sampling data include: sampling data corresponding to when signals are transmitted at the same location point with different transmission configuration parameters.

[0157] Optionally, the multiple groups of sampling data include: any first sampling data and any second sampling data;

[0158] The first sampling data is the sampling data of the corresponding reflected signal when the microwave sensor transmits the signal with the first transmission configuration parameter for multiple times, and the second sampling data is the sampling data of the corresponding reflected signal when the microwave sensor transmits the signal with the second transmission configuration parameter;

[0159] Correspondingly, the static target determination module 202 is specifically configured to:

[0160] For any first position point, the first sampling data and the second sampling data of the first position point are compared, and the cumulative probability information of the first position point being a static target position point is adjusted based on the comparison result, wherein the cumulative probability information represents the possibility that the corresponding position point is a static target position point.

[0161] Optionally, the radar modulation slope in the first transmission configuration parameter is a first slope, and the corresponding transmission signal is a first transmission signal; the radar modulation slope in the second transmission configuration parameter is a second slope, and the corresponding transmission signal is a second transmission signal; the first slope and the second slope are different slopes;

[0162] The static target determination module 202 is specifically used for:

[0163] Based on the difference between the first slope and the second slope, the second sampling data is converted into equivalent sampling data, wherein the equivalent sampling data represents: if the second transmission signal is sent with the first slope, the corresponding sampling data;

[0164] If the equivalent sampling data is the same as or similar to the first sampling data, the cumulative probability information is increased.

[0165] Optionally, the starting phase in the first transmission configuration parameter is a first phase, and the starting phase in the second transmission configuration parameter is a second phase;

[0166] The static target determination module 202 is specifically used for:

[0167] If the first sampling data is identical or similar to the second sampling data, the cumulative probability information is increased.

[0168] Optionally, the multiple groups of sampling data include: any third sampling data and fourth sampling data;

[0169] The third sampling data is sampling data corresponding to the reflected signal when the microwave sensor transmits the signal with the third transmission configuration parameter, and the fourth sampling data is sampling data corresponding to the reflected signal when the microwave sensor transmits the signal with the fourth transmission configuration parameter;

[0170] The starting frequency in the third transmission configuration parameter is the first frequency, and the starting frequency in the fourth transmission configuration parameter is the second frequency;

[0171] Determining detection information of the position point of the static target based on part or all of the sampled data of the position point of the static target, including:

[0172] For any second position point of the static target, the distance of the second position point is determined based on the phase difference between the third sampling data and the fourth sampling data.

[0173] Optionally, the multiple groups of sampling data include: any fifth sampling data and sixth sampling data;

[0174] The fifth sampling data is the sampling data of the corresponding reflected signal when the microwave sensor transmits a signal to the third position point, and the sixth sampling data is the sampling data of the corresponding reflected signal when the microwave sensor transmits a signal to the fourth position point;

[0175] The detection device further comprises:

[0176] The same static target judging module is used to judge whether the third position point and the fourth position point are located at the same static target based on the difference between the fifth sampling data and the sixth sampling data.

[0177] Optionally, the static target determination module 202 is specifically configured to:

[0178] The preset filtering algorithm is used to filter the sampling data at the same location.

[0179] Optionally, when the microwave sensor receives and samples the signal, it receives and samples the signal with corresponding receiving sampling configuration parameters;

[0180] The plurality of groups of sampling data include: sampling data corresponding to the sampling signals received and sampled at the same location point with different receiving sampling configuration parameters.

[0181] When the microwave sensor transmits a signal, it transmits the signal with corresponding transmission configuration parameters, and the transmission configuration parameters include: the starting frequency, starting phase, radar modulation slope of the frequency modulated continuous wave, and signal bandwidth of the transmitted signal;

[0182] The multiple groups of sampling data include: seventh sampling data corresponding to when a signal is transmitted at the same location point with the same transmission configuration parameters;

[0183] Based on the sampling data of the same position point at different times within the detection range, determining whether the position point is a position point of a static target includes:

[0184] For the same position point, the seventh sampling data at different times are compared, and the cumulative probability information of the position point is adjusted according to the comparison result, wherein the cumulative probability information represents the possibility that the corresponding position point is a static target position point.

[0185] Optional,

[0186] If the detection method is applied to a server, then:

[0187] The acquisition module is specifically used for:

[0188] Receiving a plurality of data units uploaded sequentially by the microwave sensor according to an agreed order; the plurality of data units are formed after the microwave sensor divides the sampled data;

[0189] The multiple data units are reorganized to obtain the multiple groups of sampling data.

[0190] In summary, the present invention provides a detection and processing method, device, electronic device and storage medium for static targets. Through multiple detections of position points in the target environment, since the phase, frequency, etc. of the intermediate frequency signal generated by the reflection signal of the static target through the continuous frequency modulation signal mixer is constant or conforms to a certain rule, the position point of the static target can be determined more accurately based on the sampling data at different times. On this basis, the present invention can determine the detection information of the position point of the static target based on the sampling data of the static target, realize the detection of the static target, and help meet the needs of high-performance environmental perception. In addition, by cutting the signal, the cut signal is uploaded to the server or calculated at the edge of the module side, and the memory and computing power of the server and the edge of the module side are fully utilized to complete the data processing, achieving the configuration of the system's optimal cost.

[0191] Figure 6 It is a schematic diagram of the structure of an electronic device in one embodiment of the present invention.

[0192] Please refer to Figure 6 , an electronic device 30 is provided, comprising:

[0193] Processor 31; and

[0194] A memory 32, used to store executable commands of the processor;

[0195] The processor 31 is configured to execute the above-mentioned method by executing the executable instructions.

[0196] The processor 31 can communicate with the memory 32 via a bus 33 .

[0197] This embodiment further provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the above-mentioned method is implemented.

[0198] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0199] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A detection and processing method for a microwave sensor to a static target, applied to a server or a microwave sensor, characterized in that: include: Obtain multiple sets of sampling data; The multiple groups of sampling data are sampling data corresponding to the reflected signal when the microwave sensor transmits the signal multiple times, and the sampling data include: frequency information and phase information of the corresponding intermediate frequency signal; the corresponding intermediate frequency signal refers to: a signal obtained by mixing and sampling the corresponding reflected signal; Based on the sampling data of the same position point at different times within the detection range, determining whether the position point is a position point of a static target; Determine detection information of the position point of the static target based on part or all of the sampling data of the position point of the static target, wherein the detection information includes the distance of the corresponding position point and / or the spatial angle of the position of the static target; Wherein, when the microwave sensor transmits a signal, it transmits the signal with corresponding transmission configuration parameters, and the transmission configuration parameters include: the starting frequency, starting phase, radar modulation slope of the frequency modulated continuous wave, and signal bandwidth of the transmitted signal; The multiple groups of sampling data include: sampling data corresponding to when signals are transmitted at the same location point with different transmission configuration parameters; Wherein, the plurality of groups of sampling data include: any at least first sampling data and second sampling data; The first sampling data is the sampling data of the corresponding reflected signal when the microwave sensor transmits the signal with the first transmission configuration parameter for multiple times, and the second sampling data is the sampling data of the corresponding reflected signal when the microwave sensor transmits the signal with the second transmission configuration parameter; Correspondingly, based on the sampling data of the same position point at different times within the detection range, determining whether the position point is a position point of a static target includes: For any first position point, the first sampling data and the second sampling data of the first position point are compared, and the cumulative probability information of the first position point being a static target position point is adjusted based on the comparison result, wherein the cumulative probability information represents the possibility that the corresponding position point is a static target position point.

2. The detection processing method according to claim 1, characterized in that: The radar modulation slope in the first transmission configuration parameter is a first slope, and the corresponding transmission signal is a first transmission signal; the radar modulation slope in the second transmission configuration parameter is a second slope, and the corresponding transmission signal is a second transmission signal, and the first slope and the second slope are different slopes; Comparing the first sampling data and the second sampling data of the first position point, and adjusting the cumulative probability information that the first position point is a static target position point based on the comparison result, includes: Based on the difference between the first slope and the second slope, the second sampling data is converted into equivalent sampling data, wherein the equivalent sampling data represents: if the second transmission signal is sent with the first slope, the corresponding sampling data; If the equivalent sampling data is the same as or similar to the first sampling data, the cumulative probability information is increased.

3. The detection and processing method according to claim 1, characterized in that: The starting phase in the first transmission configuration parameter is the first phase, and the starting phase in the second transmission configuration parameter is the second phase; Comparing the first sampling data and the second sampling data of the first position point, and adjusting the cumulative probability information that the first position point is a static target position point based on the comparison result, includes: If the first sampling data is identical or similar to the second sampling data, the cumulative probability information is increased.

4. The detection and processing method according to claim 1, characterized in that: The plurality of groups of sampling data include: any at least third sampling data and fourth sampling data; The third sampling data is sampling data corresponding to the reflected signal when the microwave sensor transmits the signal with the third transmission configuration parameter, and the fourth sampling data is sampling data corresponding to the reflected signal when the microwave sensor transmits the signal with the fourth transmission configuration parameter; The starting frequency in the third transmission configuration parameter is the first frequency, and the starting frequency in the fourth transmission configuration parameter is the second frequency; Determining detection information of the position point of the static target based on part or all of the sampled data of the position point of the static target, including: For any second position point of the static target, the distance of the second position point is determined based on the phase difference between the third sampling data and the fourth sampling data.

5. The detection processing method according to claim 1, characterized in that: The plurality of groups of sampling data include: any at least fifth sampling data and sixth sampling data; The fifth sampling data is the sampling data of the corresponding reflected signal when the microwave sensor transmits a signal to the third position point, and the sixth sampling data is the sampling data of the corresponding reflected signal when the microwave sensor transmits a signal to the fourth position point; The detection method further comprises: Based on the difference between the fifth sampling data and the sixth sampling data, it is determined whether the third position point and the fourth position point are in the same continuum of static targets.

6. The processing method according to claim 1, characterized in that: Based on the sampling data of the same position point at different times within the detection range, determining whether the position point is a position point of a static target includes: The preset filtering algorithm is used to filter the sampling data at the same location.

7. The processing method according to claim 1, characterized in that: When the microwave sensor receives the sampling signal, the sampling signal is received with the corresponding receiving sampling configuration parameters; The multiple groups of sampling data include: sampling data corresponding to when a sampling signal is received and sampled at the same position point with different receiving sampling configuration parameters.

8. The processing method according to claim 1, characterized in that: When the microwave sensor transmits a signal, it transmits the signal with corresponding transmission configuration parameters; Microwave sensors divide each frame or each pulse signal into parts for step-by-step transmission, reception, processing, and storage, and then re-aggregate the processed signals of each part into a complete receiving signal unit for subsequent signal processing and target detection.

9. The detection processing method according to claim 1, characterized in that: If the detection method is applied to a server, then: Get multiple sets of sampling data, including: Receiving a plurality of data units uploaded sequentially by the microwave sensor according to an agreed order; the plurality of data units are formed after the microwave sensor divides the sampled data; The multiple data units are reorganized to obtain the multiple groups of sampling data.

10. A detection processing device, characterized in that: include: An acquisition module, used for acquiring multiple groups of sampling data; The multiple groups of sampling data are sampling data corresponding to the reflected signal when the microwave sensor transmits the signal multiple times, and the sampling data include: frequency information and phase information of the corresponding intermediate frequency signal; the corresponding intermediate frequency signal refers to: a signal obtained by mixing and sampling the corresponding reflected signal; A static target determination module, used to determine whether a position point is a position point of a static target based on sampling data of the same position point at different times within the detection range; A detection information determination module, configured to determine detection information of a position point of a static target based on part or all of the sampled data of the position point of the static target, wherein the detection information includes a distance to a corresponding position point and / or a spatial angle of a position of the static target; Wherein, when the microwave sensor transmits a signal, it transmits the signal with corresponding transmission configuration parameters, and the transmission configuration parameters include: the starting frequency, starting phase, radar modulation slope of the frequency modulated continuous wave, and signal bandwidth of the transmitted signal; The multiple groups of sampling data include: sampling data corresponding to when signals are transmitted at the same location point with different transmission configuration parameters; Wherein, the plurality of groups of sampling data include: any at least first sampling data and second sampling data; The first sampling data is the sampling data of the corresponding reflected signal when the microwave sensor transmits the signal with the first transmission configuration parameter for multiple times, and the second sampling data is the sampling data of the corresponding reflected signal when the microwave sensor transmits the signal with the second transmission configuration parameter; Correspondingly, based on the sampling data of the same position point at different times within the detection range, determining whether the position point is a position point of a static target includes: For any first position point, the first sampling data and the second sampling data of the first position point are compared, and the cumulative probability information of the first position point being a static target position point is adjusted based on the comparison result, and the cumulative probability information represents the possibility that the corresponding position point is a static target position point.

11. An electronic device comprising a memory, a processor, and a program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the method according to any one of claims 1 to 9 are implemented.

12. A storage medium having a program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

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