Compensation method for missing false pulses

Abstract

The present invention provides a method for compensating missing false pulses, which can solve the problem that the classic PRI sorting algorithm is not suitable for missing and high false electromagnetic environments. The method comprises: calculating the second-order difference sequence Δ of the arrival time series toa of a radar signal pulse 2 toa; to Δ 2 toa performs missing false compensation and obtains the compensated second-order difference sequence Δ 2 toa′; according to the compensated second-order difference sequence Δ 2 toa′ determines the PRI type of the radar signal; the compensated second-order difference sequence Δ 2 Based on toa′, the sequence is restored to obtain the compensated toa.

Description

Technical Field

[0001] The invention belongs to the technical field of radar signal sorting and relates to a compensation method for missing false pulses. Background Art

[0002] As electromagnetic environments become increasingly dense and complex, and new radar systems continue to emerge, radar signal sorting faces new technical challenges. This has exposed the shortcomings of the classic Pulse Repeat Interval (PRI) sorting algorithm, which is not well-suited to electromagnetic environments with high loss and false positives. This directly manifests in unreliable interval period estimation. While new algorithms based on different theoretical foundations can fundamentally address the shortcomings of the classic PRI sorting algorithm, translating theoretical implementation into engineering applications remains a challenge. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0004] To this end, the present invention provides a method for compensating for missing false pulses.

[0005] The technical solution of the present invention is as follows: a method for compensating for missing false pulses is provided, the method comprising:

[0006] Calculate the second-order difference sequence Δ of the arrival time series toa of a radar signal pulse 2 toa;

[0007] Δ 2 toa performs missing false compensation and obtains the compensated second-order difference sequence Δ 2 toa′;

[0008] According to the compensated second-order difference sequence Δ 2 toa′ determines the PRI type of the radar signal;

[0009] The compensated second-order difference sequence Δ 2 Based on toa′, the sequence is restored to obtain the compensated toa.

[0010] Furthermore, for Δ 2 toa performs missing false compensation and obtains the compensated second-order difference sequence Δ 2 toa′, including:

[0011] S1, according to Δtoa and Δ 2 The threshold λ is calculated based on the vector length L of toa, where Δtoa is the first-order difference sequence of the signal pulse arrival time series toa;

[0012] S5, for Δ 2The values in toa are iterated in turn, and the traversal index is i, i = 2, 3, 4..., L, completing the Δ 2 toa compensation, including:

[0013] S50, Δ 2 The i-th value Δ in toa 2 toa i Compare with the threshold λ and compare the threshold λ with s i Compare and determine whether to adjust Δ 2 toa is compensated, if so, then Δ 2 toa for compensation, where s i is the sum of m consecutive values in Δtoa starting from i;

[0014] S51, iterate through index i, i=i+1, and repeat the Δ 2 toa i Perform missing compensation or false compensation until i>L, and complete the Δ 2 The compensation of toa is recorded as Δ 2 toa′.

[0015] Furthermore, after completing step S1 and before entering step S5, the method further includes:

[0016] S2. Calculate Δ 2 The sum s1 of m values in toa starting from index 1;

[0017] S3, judging whether it is necessary to adjust Δ according to s1 and the threshold λ 2 toa performs initial compensation, if yes, go to step S4; if not, go directly to step S5;

[0018] S4, for Δ 2 Toa is initially compensated, and toa and Δtoa are updated accordingly. After the initial compensation, Δ 2 The parameter vector length L and the threshold λ are updated based on toa and the updated toa and Δtoa, and the process goes to step S5.

[0019] Furthermore, the following method is used to determine whether Δ 2 toa for initial compensation:

[0020] If s1>λ, is it necessary to 2 Toa is initially compensated, otherwise there is no need to compensate Δ 2 toa for initial compensation.

[0021] Furthermore, Δ 2Toa performs initial compensation and updates toa and Δtoa accordingly:

[0022] If s1>λ, then Δ 2 The first value of toa is a false value, delete Δ 2 toa first value, and delete the first value in toa and Δtoa respectively.

[0023] Furthermore, Δ is calculated by the following formula 2 The sum s1 of m values starting from index 1 in toa:

[0024]

[0025] min(L,m) means returning the minimum value of L and m.

[0026] Further, s is obtained by i :

[0027]

[0028] Furthermore, m is 5 or 6.

[0029] Furthermore, according to Δtoa and Δ 2 The vector length L of toa calculates the threshold λ:

[0030]

[0031] in, is the mean of the sequence Δtoa, L is the sequence Δ 2 The vector length of toa, Δtoa i is the i-th value of Δtoa.

[0032] Furthermore, the step S50 includes:

[0033] S501, determine whether |Δ 2 toa i |>λ, if not, then Δ is not needed 2 toa is compensated; if so, there is a false or missing situation near the i-th value of toa, and go to step S502;

[0034] S502, determine whether s is satisfied i <λ, if yes, then if Δ 2 toa i >λ, go to step S503, if Δ 2 toa i <-λ, go to step S504;

[0035] S503, determine toa i There are missing values, which are compensated in the following way:

[0036] 1) Calculate the number of missing values c that need to be compensated

[0037]

[0038] in, Indicates return The integer value of , rounded off;

[0039] 2) Use the following formula to calculate Δ 2 toa i and Δ 2 toa i+1 Make compensation

[0040] Δ 2 toa i ′=Δ 2 toa i -Δ 2 toa i =0 (1)

[0041] Δ 2 toa i+1 ′=Δ 2 toa i+1 +Δ 2 toa i (2)

[0042] Among them, the compensated Δ 2 toa i Note it as Δ 2 toa i ′, Δ after compensation 2 toa i+1 Note it as Δ 2 toa i+1 ′, Δ 2 toa i+1 is Δ 2 The i+1th value in toa;

[0043] 3) In Δ 2 toa i Insert c values 0 in front, and finally update the parameter vector length L and traversal index i to complete a missing compensation;

[0044] S504, determine toa i It is a false value and is compensated in the following way:

[0045] 1) Calculate Δ according to formulas (1) and (2) 2 toa i ′ and Δ2 toa i+1 ';

[0046] 2) Determine whether to delete elements to compensate for false pulses: If |Δ 2 toa i+1 ′|>λ, then Δ needs to be deleted 2 toa i ' as false compensation;

[0047] 3) Update the parameter vector length L and traversal index i to complete a false compensation.

[0048] Furthermore, according to the compensated second-order difference sequence Δ 2 toa′ determines the PRI type of the radar signal, including:

[0049] S11. Calculate threshold

[0050] in, L′ is Δ 2 The vector length of toa′, Δtoa i is the i-th value of Δtoa;

[0051] S12, according to the threshold τ 2 The values in toa′ are counted, where:

[0052] The number of values whose absolute value is less than the threshold τ is L0; the number of values greater than 0 is L1; the number of values less than 0 is L2; the number of values whose absolute value is less than 2τ times the threshold is L3; the number of values whose absolute value is less than 3τ times the threshold is L4; the number of values whose absolute value is greater than τ is L5;

[0053] S13. Determine the PRI type of the radar signal using the following judgment principles:

[0054] 1) Conventional and group-variable types: L0 / L ≥ 0.8;

[0055] 2) Unilateral sliding type: min(L1, L2) / max(L1, L2)≤0.3;

[0056] 3) Jitter type: min(L0, L3-L0, L4-L3) / max(L0, L3-L0, L4-L3) ≥ 0.6;

[0057] 4) Staggered and bilateral sliding type: L5 / L≥0.6.

[0058] Applying this technical solution, by obtaining a second-order difference sequence of a radar signal pulse arrival time series, compensating for missing or false signals in this second-order difference sequence, and then restoring the sequence based on the compensated second-order difference sequence, the compensated pulse arrival time (TOA) effectively reduces the missing and false signals rate of radar signals, effectively expanding the applicability of the classic PRI sorting algorithm. Furthermore, this method can also determine the PRI type in the radar signal based on the compensated second-order difference sequence, allowing for targeted selection of a PRI sorting algorithm based on the PRI. The principle of this method is simple and easy to implement. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] The accompanying drawings are included to provide a further understanding of the embodiments of the present invention, constitute a part of the specification, illustrate the embodiments of the present invention, and together with the description, explain the principles of the present invention. Obviously, the drawings described below are only some embodiments of the present invention, and those skilled in the art can derive other drawings based on these drawings without inventive effort.

[0060] Figure 1 A schematic flow chart of a method for compensating for missing false pulses according to a specific embodiment of the present invention is shown;

[0061] Figure 2 The second-order difference sequence diagram of the conventional PRI is shown (no missing or false);

[0062] Figure 3 The second-order difference sequence diagram of the group-varied PRI is shown (no missing or false);

[0063] Figure 4 The second-order difference sequence diagram of the jitter PRI is shown (no missing or false);

[0064] Figure 5 The second-order difference sequence diagram of the staggered PRI is shown (no missing, false);

[0065] Figure 6 The second-order difference sequence diagram of the one-sided sliding PRI is shown (no missing or false);

[0066] Figure 7 Shown is a second-difference sequence plot of the bilateral sliding PRI (no missing, false). DETAILED DESCRIPTION

[0067] It should be noted that, in the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present invention and its application or use. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0068] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0069] Unless otherwise specifically stated, the relative arrangement of the parts and steps, the numerical expressions and the numerical values set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The techniques, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be considered as part of the authorization specification. In all examples shown and discussed here, any specific values should be interpreted as being merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, and therefore, once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0070] like Figure 1 As shown, in one embodiment of the present invention, a method for compensating for missing false pulses is provided, which includes calculating a second-order difference sequence Δ of a radar signal pulse arrival time series toa. 2 toa; to Δ 2 toa performs missing false compensation and obtains the compensated second-order difference sequence Δ 2 toa′; according to the compensated second-order difference sequence Δ 2 toa′ determines the PRI type of the radar signal; the compensated second-order difference sequence Δ 2 Based on toa′, the sequence is restored to obtain the compensated toa.

[0071] Those skilled in the art should understand that for a given sequence, solving its first-order difference and second-order difference is a conventional technical means in this field. For example, Definition 1: For a given sequence A, A = {a1, a2, a3, ...}.

[0072] When the variable n becomes n+1, the element a n and a n+1 The difference a n+1 -a n It is called the first-order difference of the sequence A at point n, usually denoted as Δa n =a n+1 -a n .

[0073] When the variable n becomes n+1, the element Δa n and Δa n+1 The difference Δa n+1 -Δa n It is called the second-order difference of the sequence A at point n, usually denoted as Δ 2 a n =Δa n+1 -Δa n .

[0074] By analogy, we can get the p-order difference of sequence A as Δ p a n =Δ p-1 a n+1 -Δ p-1 a n .

[0075] That is, the second-order difference sequence Δ of the signal pulse arrival time series toa of a radar can be calculated by the following formula: 2 toa:

[0076] Δ 2 toa={Δ 2 a1,Δ 2 a2,Δ 2 a3,...,Δ 2 a n ...};

[0077] Δ 2 a n =Δa n+1 -Δa n ;

[0078] Δa n =a n+1 -a n ;

[0079] Among them, the signal pulse arrival time sequence toa={a1,a2,a3,...,a n ,an+1 ,...}.

[0080] The design principle of the embodiment of the present invention is that if the input radar signal is ideal data, that is, there is no missing or false pulse, according to the different PRI types of the radar signal, the second-order difference sequence Δ 2 toa has different characteristics and can be used to determine the PRI type. When the input radar signal has missing or false pulses, the second-order difference sequence Δ 2 toa will show obvious changes, and measures can be taken to compensate for the effects of missing and false pulses. After compensation, Δ 2 toa′ and Δ obtained under ideal input conditions 2 toa has the same characteristics and can be used to determine the PRI type.

[0081] Therefore, the present invention obtains a second-order difference sequence of a radar signal pulse arrival time series, compensates for missing or false arrivals in the second-order difference sequence, and then restores the sequence based on the compensated second-order difference sequence. This compensated pulse arrival time (TOA) effectively reduces the missing rate and false arrival rate of radar signals, effectively expanding the applicability of classic PRI sorting algorithms. Furthermore, this method can determine the PRI type in the radar signal based on the compensated second-order difference sequence, allowing for targeted selection of a PRI sorting algorithm based on the PRI. The principle of this method is simple and easy to implement.

[0082] In the above embodiment, in order to obtain the compensated second-order difference sequence, Δ 2 toa performs missing false compensation and obtains the compensated second-order difference sequence Δ 2 toa′, including:

[0083] S1, according to Δtoa and Δ 2 The threshold λ is calculated based on the vector length L of toa, where Δtoa is the first-order difference sequence of the signal pulse arrival time series toa;

[0084] S5, for Δ 2 The values in toa are iterated in turn, and the traversal index is i, i = 2, 3, 4..., L, completing Δ 2 toa compensation, including:

[0085] S50, Δ 2 The i-th value Δ in toa 2 toa i Compare with the threshold λ and compare the threshold λ with s i Compare and determine whether to adjust Δ 2 toa is compensated, if so, then Δ 2toa for compensation, where s i is the sum of m consecutive values in Δtoa starting from i;

[0086] S51, iterate through index i, i=i+1, and repeat the Δ 2 toa i Perform missing compensation or false compensation until i>L, and complete the Δ 2 The compensation of toa is recorded as Δ 2 toa′.

[0087] For example, according to step S50, first Δ 2 The second value in toa is compensated, and then based on this (that is, the data after the first compensation), Δ 2 The third value in toa is used for compensation, and the process is iterated continuously until i>L.

[0088] In this embodiment, s is obtained by i :

[0089]

[0090] In this embodiment, the following formula is used based on Δtoa and Δ 2 The vector length L of toa calculates the threshold λ:

[0091]

[0092] in, is the mean of the sequence Δtoa, L is the sequence Δ 2 The vector length of toa, Δtoa i is the i-th value of Δtoa.

[0093] In the above embodiment, in order to ensure accurate acquisition of the compensated second-order difference sequence, after completing step S1 and before entering step S5, the method further includes:

[0094] S2. Calculate Δ 2 The sum s1 of m values starting from 1 in toa;

[0095] S3, judging whether it is necessary to adjust Δ according to s1 and the threshold λ 2 toa performs initial compensation, if yes, go to step S4; if not, go directly to step S5;

[0096] S4, for Δ 2 Toa is initially compensated, and toa and Δtoa are updated accordingly. After the initial compensation, Δ 2The parameter vector length L and the threshold λ are updated based on toa and the updated toa and Δtoa, and the process goes to step S5.

[0097] It can be seen that the embodiment of the present invention needs to 2 The first value in toa is judged separately, and then the remaining values are iterated in turn according to the traversal index to complete the Δ 2 toa compensation, thereby further ensuring the obtained Δ 2 The accuracy of toa′.

[0098] Calculate Δ by the following formula 2 The sum s1 of m values starting from index 1 in toa:

[0099]

[0100] min(L,m) means returning the minimum value of L and m.

[0101] In this embodiment, whether to perform Δ 2 toa for initial compensation:

[0102] If s1>λ, is it necessary to 2 Toa is initially compensated, otherwise there is no need to compensate Δ 2 toa for initial compensation.

[0103] In this embodiment, Δ 2 Toa performs initial compensation and updates toa and Δtoa accordingly:

[0104] If s1>λ, then Δ 2 The first value of toa is a false value, delete Δ 2 toa first value, and delete the first value in toa and Δtoa respectively.

[0105] In the above embodiment, in order to achieve Δ 2 To accurately compensate for toa, step S50 includes:

[0106] S501, determine whether |Δ 2 toa i |>λ, if not, then Δ is not needed 2 toa is compensated; if so, then toa has false or missing conditions near the i-th value, where if Δ 2 toa i >λ, then go to step S502, if Δ 2 toa i <-λ, then go to step S503;

[0107] S502, determine toa i There are missing values, which are compensated in the following way:

[0108] 1) Calculate the number of missing values c that need to be compensated

[0109]

[0110] in, Indicates return The integer value of , rounded off;

[0111] 2) Use the following formula to calculate Δ 2 toa i and Δ 2 toa i+1 Make compensation

[0112] Δ 2 toa i ′=Δ 2 toa i -Δ 2 toa i =0 (1)

[0113] Δ 2 toa i+1 ′=Δ 2 toa i+1 +Δ 2 toa i (2)

[0114] Among them, the compensated Δ 2 toa i Note it as Δ 2 toa i ′, Δ after compensation 2 toa i+1 Note it as Δ 2 toa i+1 ′, Δ 2 toa i+1 is Δ 2 The i+1th value in toa;

[0115] 3) In Δ 2 toa i Insert c values 0 in front, and finally update the parameter vector length L and traversal index i to complete a missing compensation;

[0116] S503, determine toa i It is a false value and is compensated in the following way:

[0117] 1) Calculate Δ according to formulas (1) and (2)2 toa i ′ and Δ 2 toa i+1 ';

[0118] 2) Determine whether to delete elements to compensate for false pulses: If |Δ 2 toa i+1 ′|>λ, then Δ needs to be deleted 2 toa i ' as false compensation;

[0119] 3) Update the parameter vector length L and traversal index i to complete a false compensation.

[0120] That is, in this embodiment, multiple judgments are required, and if |Δ 2 toa i |>λ, then Δ is not needed 2 toa is compensated; if it is satisfied, then toa has false or missing conditions near the i-th value, and when |Δ 2 toa i |>λ, and then calculate s i If s i <λ, then compensation can be performed. Before compensation, the compensation type must be determined: missing compensation, false compensation (that is, Δ 2 toa i >λ or Δ 2 toa i <-λ). If it is missing compensation, the missing value needs to be compensated; if it is false compensation, the false value needs to be deleted. In this step, both missing and false compensation are reflected in the sequence Δ 2 toa, and finally restore the compensated toa. In this way, the compensated Δ 2 toa.

[0121] In the above embodiment, see Figure 2-7 , according to the compensated Δ 2 toa, the PRI type of the radar signal can be determined by the following methods:

[0122] S11. Calculate threshold

[0123] in, L′ is Δ 2 The vector length of toa′, Δtoa i is the i-th value of Δtoa;

[0124] S12, according to the threshold τ 2 The values in toa′ are counted, where:

[0125] The number of values whose absolute value is less than the threshold τ is L0; the number of values greater than 0 is L1; the number of values less than 0 is L2; the number of values whose absolute value is less than 2τ times the threshold is L3; the number of values whose absolute value is less than 3τ times the threshold is L4; the number of values whose absolute value is greater than τ is L5;

[0126] S13. Determine the PRI type of the radar signal using the following judgment principles:

[0127] 5) Conventional and group-variable types: L0 / L ≥ 0.8;

[0128] 6) Unilateral sliding type: min(L1, L2) / max(L1, L2)≤0.3;

[0129] 7) Jitter type: min(L0, L3-L0, L4-L3) / max(L0, L3-L0, L4-L3) ≥ 0.6;

[0130] 8) Staggered and bilateral sliding type: L5 / L≥0.6.

[0131] That is, if the input radar signal is ideal data, that is, there is no missing or false pulse, according to the different PRI types of the radar signal, the second-order difference sequence Δ of toa 2 toa has different characteristics, refer to Figures 2 to 6 .

[0132] The above embodiment has a significant impact on the 2 The purpose of toa compensation is to offset the impact of missing and false pulses. 2 toa′ has the same Δ as that obtained under ideal input conditions 2 toa, which has the same characteristics as the PRI, and can be used to determine the PRI type.

[0133] In addition, based on the compensated second-order difference sequence, the sequence is restored to obtain the TOA after missing false compensation. This step can adopt conventional technical means in this field. For example, according to Definition 1, the p-order difference sequence of the known sequence A and the first elements a1, Δa1, ..., Δ p a1 can be used to infer sequence A.

[0134] Δ p a n =Δ p a n ,n=1

[0135] Δ p a n =Δ p a n-1 +Δ p+1 a n-1 ,n>1

[0136] Δ 2 toa′ is Δ 2 Substituting the above equation into the second-order difference sequence after toa compensation, we can obtain Δtoa′ and toa′ after compensation.

[0137] Δtoa n ′=Δtoa n ,n=1

[0138] Δtoa n ′=Δtoa n-1 ′+Δ 2 toa n-1 ′,n>1

[0139] toa n ′=toa n ,n=1

[0140] toa n ′=toa n-1 ′+Δtoa n-1 ′,n>1

[0141] It can be seen that in order to solve the problem that the classic PRI sorting algorithm is not suitable for missing and high-false electromagnetic environments, the embodiments of the present invention propose a method for compensating for missing and false pulses, which restores missing pulses and eliminates false pulses as much as possible, indirectly reducing the missing rate and false rate in the radar signal, and at the same time determines the PRI type of the radar signal, thereby improving the applicability of the classic PRI sorting algorithm.

[0142] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0143] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0144] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A method for compensating for missing false pulses, characterized in that: The method comprises: Calculate the second-order difference sequence Δ of the arrival time series toa of a radar signal pulse 2 toa; Δ 2 toa performs missing false compensation and obtains the compensated second-order difference sequence Δ 2 toa′; According to the compensated second-order difference sequence Δ 2 toa′ determines the PRI type of the radar signal; The compensated second-order difference sequence Δ 2 Based on toa′, restore the sequence to obtain the compensated toa; Δ 2 toa performs missing false compensation and obtains the compensated second-order difference sequence Δ 2 toa′, including: S1, according to Δtoa and Δ 2 The threshold λ is calculated based on the vector length L of toa, where Δtoa is the first-order difference sequence of the signal pulse arrival time series toa; S5, for Δ 2 The values in toa are iterated in turn, and the traversal index is i, i = 2, 3, 4..., L, completing the Δ 2 toa compensation, including: S50, Δ 2 The i-th value Δ in toa 2 toa i Compare with the threshold λ and compare the threshold λ with s i Compare and determine whether to adjust Δ 2 toa is compensated, if so, then Δ 2 toa for compensation, where s i is the sum of m consecutive values in Δtoa starting from i; S51, iterate through index i, i=i+1, and repeat the Δ 2 toa i Perform missing compensation or false compensation until i>L, and complete the Δ 2 The compensation of toa is recorded as Δ 2 toa′; After completing step S1 and before entering step S5, the method further includes: S2. Calculate Δ 2 The sum s1 of m values in toa starting from index 1; S3, judging whether it is necessary to adjust Δ according to s1 and the threshold λ 2 toa performs initial compensation, if yes, go to step S4; if not, go directly to step S5; S4, for Δ 2 Toa is initially compensated, and toa and Δtoa are updated accordingly. After the initial compensation, Δ 2 Toa and the updated toa and Δtoa, update the parameter vector length L and the threshold λ, and go to step S5; According to the following formula, Δtoa and Δ 2 The vector length L of toa calculates the threshold λ: in, is the mean of the sequence Δtoa, L is the sequence Δ 2 The vector length of toa, Δtoa i is the i-th value of Δtoa; The step S50 includes: S501, determine whether |Δ 2 toa i |>λ, if not, then Δ is not needed 2 toa is compensated; if so, there is a false or missing situation near the i-th value of toa, and go to step S502; S502, determine whether s is satisfied i <λ, if yes, then if Δ 2 toa i >λ, go to step S503, if Δ 2 toa i <-λ, go to step S504; S503, determine toa i There are missing values, which are compensated in the following way: 1) Calculate the number of missing values c that need to be compensated in, Indicates return The integer value of , rounded off; 2) Use the following formula to calculate Δ 2 toa i and Δ 2 toa i+1 Make compensation Δ 2 loudspeaker i ′=Δ 2 loudspeaker i -Δ 2 loudspeaker i =0 (1) Δ 2 loudspeaker i+1 ′=Δ 2 loudspeaker i+1 +Δ 2 loudspeaker i (2) Among them, the compensated Δ 2 toa i Note it as Δ 2 toa i ′, Δ after compensation 2 toa i+1 Note it as Δ 2 toa i+1 ′, Δ 2 toa i+1 is Δ 2 The i+1th value in toa; 3) In Δ 2 toa i Insert c values 0 in front, and finally update the parameter vector length L and traversal index i to complete a missing compensation; S504, determine toa i It is a false value and is compensated in the following way: 1) Calculate Δ according to formulas (1) and (2) 2 toa i ′ and Δ 2 toa i+1 '; 2) Determine whether to delete elements to compensate for false pulses: If |Δ 2 toa i+1 ′|>λ, then Δ needs to be deleted 2 toa i ' as false compensation; 3) Update the parameter vector length L and traversal index i to complete a false compensation.

2. A method for compensating for missing false pulses according to claim 1, characterized in that: The following method is used to determine whether Δ 2 toa for initial compensation: If s1>λ, is it necessary to 2 Toa is initially compensated, otherwise there is no need to compensate Δ 2 toa for initial compensation.

3. The method for compensating for missing false pulses according to claim 1, wherein: By the following method, Δ 2 Toa performs initial compensation and updates toa and Δtoa accordingly: If s1>λ, then Δ 2 The first value of toa is a false value, delete Δ 2 toa first value, and delete the first value in toa and Δtoa respectively.

4. The method for compensating for missing false pulses according to claim 1, wherein: Calculate Δ by the following formula 2 The sum s1 of m values in toa starting from index 1: min(L,m) means returning the minimum value of L and m.

5. The method for compensating for missing false pulses according to claim 1, wherein: Obtain s by i :

6. The method for compensating for missing false pulses according to claim 1, wherein: According to the compensated second-order difference sequence Δ 2 toa′ determines the PRI type of the radar signal, including: S11. Calculate threshold in, L′ is Δ 2 The vector length of toa′, Δtoa i is the i-th value of Δtoa; S12, according to the threshold τ 2 The values in toa′ are counted, where: The number of values whose absolute value is less than the threshold τ is L0; the number of values greater than 0 is L1; the number of values less than 0 is L2; the number of values whose absolute value is less than 2τ times the threshold is L3; the number of values whose absolute value is less than 3τ times the threshold is L4; the number of values whose absolute value is greater than τ is L5; S13. Determine the PRI type of the radar signal using the following judgment principles: 1) Conventional and group-variable types: L0 / L ≥ 0.8; 2) Unilateral sliding type: min(L1, L2) / max(L1, L2)≤0.3; 3) Jitter type: min(L0, L3-L0, L4-L3) / max(L0, L3-L0, L4-L3) ≥ 0.6; 4) Staggered and bilateral sliding type: L5 / L≥0.6.

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