Radar detection performance evaluation method, device, computing equipment and storage medium

Abstract

The present invention provides a radar detection performance evaluation method, device, computing device and storage medium, wherein the method includes: determining the nominal detection distance of the radar and a number of evaluation items to be evaluated; determining the number of test targets required for evaluating each evaluation item; according to the nominal detection distance, controlling a corresponding number of test targets to navigate according to the setting method of the corresponding evaluation item, and determining the evaluation result of each evaluation item based on the detection data of the test target by the radar during the navigation process and the actual navigation data of the test target. This scheme can comprehensively and effectively evaluate the detection performance of the radar.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of radar technology, and in particular to a radar detection performance evaluation method, device, computing device and storage medium. Background Art

[0002] With the rapid promotion and application of drones and other low-speed, slow, and small targets in the military and civilian fields, it is urgent to accelerate the research and development of low-speed, slow, and small target detection technology. Detection technology can not only provide valuable intelligence support for the subsequent control and combat operations of low-speed, slow, and small targets, but also is the top priority for whether the control and countermeasure equipment can kill low-speed, slow, and small targets with one strike.

[0003] At present, radars have corresponding nominal detection distances, which are the maximum detection distances that can be detected by the radar marked by the manufacturer when the radar leaves the factory. However, the nominal detection distance cannot represent the overall radar detection performance, and there is currently no evaluation method for the overall radar detection performance. Therefore, it is urgent to provide an evaluation method for the overall radar detection performance. Summary of the invention

[0004] Based on the problem that there is currently no method for evaluating the comprehensive detection performance of radar, the embodiments of the present invention provide a method, apparatus, computing device and storage medium for evaluating a target detection radar, which can comprehensively and effectively evaluate the detection performance of the radar.

[0005] In a first aspect, an embodiment of the present invention provides a radar detection performance evaluation method, comprising:

[0006] Determine the nominal detection range of the radar and several evaluation items that need to be evaluated;

[0007] Determine the number of test objectives required to evaluate each evaluation item;

[0008] According to the nominal detection distance, a corresponding number of test targets are controlled to navigate in accordance with the setting method of the corresponding evaluation item, and the evaluation results of each evaluation item are determined based on the detection data of the test targets by the radar during the navigation process and the actual navigation data of the test targets.

[0009] Preferably, the evaluation items include: maximum detection distance, continuous detection capability, detection accuracy, tracking stability accuracy, minimum speed, multi-target detection capability or resolution;

[0010] The determination of the number of test objectives required for each evaluation item includes:

[0011] When the evaluation item is the longest detection distance, continuous detection capability, detection accuracy, tracking stability accuracy or minimum speed, the number of test targets required for the evaluation item is one;

[0012] When the evaluation item is multi-target detection capability or resolution, the number of test targets required for evaluating the evaluation item is at least two.

[0013] Preferably, the evaluation item is the longest detection distance;

[0014] According to the nominal detection distance, controlling a corresponding number of test targets to navigate in accordance with the setting method of the corresponding evaluation item, and determining the evaluation result of each evaluation item based on the detection data of the test targets by the radar during the navigation process and the actual navigation data of the test targets, including:

[0015] determining a first navigation position according to the nominal detection distance;

[0016] Control a single test target to navigate from the first navigation position to a set direction, and when it is determined that a state jump occurs to the test target in the first detection data of the test target by the radar, obtain a first distance between the radar and the test target when the state jump occurs according to the state jump time and the actual navigation data of the test target; the state includes that the test target can be detected and that the test target cannot be detected;

[0017] The maximum detection distance of the radar is determined according to the first distance.

[0018] Preferably, determining the maximum detection distance of the radar according to the first distance includes:

[0019] determining a second navigation position according to the first distance;

[0020] Control the test target to navigate from the second navigation position in a direction opposite to the set direction, and when it is determined that a state jump occurs to the test target in the second detection data of the test target by the radar, obtain a second distance between the radar and the test target when the state jump occurs according to the state jump time and the actual navigation data of the test target;

[0021] The maximum detection distance of the radar is determined according to the second distance.

[0022] Preferably, before determining the maximum detection distance of the radar, the method further includes:

[0023] Whether the first distance or the second distance is valid is determined according to the actual navigation data of the test target. If valid, the determination of the maximum detection distance of the radar is performed.

[0024] Preferably,

[0025] The evaluation item is continuous detection capability;

[0026] According to the nominal detection distance, controlling a corresponding number of test targets to navigate in accordance with the setting method of the corresponding evaluation item, and determining the evaluation result of each evaluation item based on the detection data of the test targets by the radar during the navigation process and the actual navigation data of the test targets, including:

[0027] According to the nominal detection distance, a single test target is controlled to sail at different speeds and / or along different lines within the area detectable by the radar, the number of navigations and the number of track segments in the detection data detected by the radar in each navigation are determined, and the ratio of the number of navigations to the total number of track segments corresponding to each number of navigations is determined as the continuous detection capability of the radar;

[0028] and / or,

[0029] The evaluation item is detection accuracy;

[0030] According to the nominal detection distance, controlling a corresponding number of test targets to navigate in accordance with the setting method of the corresponding evaluation item, and determining the evaluation result of each evaluation item based on the detection data of the test targets by the radar during the navigation process and the actual navigation data of the test targets, including:

[0031] According to the nominal detection distance, a single test target is controlled to navigate within an area detectable by the radar, and a corresponding variance is calculated based on at least one of the detection azimuth, detection pitch angle, detection distance, and detection position of the test target by the radar during the navigation process, and at least one of the actual azimuth, actual pitch angle, actual distance, and actual position of the test target, and the calculated variance is determined as the detection accuracy of the radar;

[0032] and / or,

[0033] The evaluation item is tracking stability accuracy;

[0034] According to the nominal detection distance, controlling a corresponding number of test targets to navigate in accordance with the setting method of the corresponding evaluation item, and determining the evaluation result of each evaluation item based on the detection data of the test targets by the radar during the navigation process and the actual navigation data of the test targets, including:

[0035] According to the nominal detection distance, a single test target is controlled to navigate along any initial direction within the area detectable by the radar, and then turns to navigate at a set angle, and it is determined whether the track points detected when the test target turns to navigate in the detection data detected by the radar are continuous with the track points before the turning to navigate, and the tracking stability accuracy of the radar is determined according to the determination result;

[0036] and / or,

[0037] The evaluation item is the minimum speed;

[0038] According to the nominal detection distance, controlling a corresponding number of test targets to navigate in accordance with the setting method of the corresponding evaluation item, and determining the evaluation result of each evaluation item based on the detection data of the test targets by the radar during the navigation process and the actual navigation data of the test targets, including:

[0039] According to the nominal detection distance, a single test target is controlled to sail at a constant speed at a set speed within the area detectable by the radar, the set speed is reduced arithmetic differences, and the minimum set speed detectable by the radar is determined based on the detection data of the radar on the test target sailing at each set speed and the actual navigation data of the test target, and the minimum set speed is determined as the minimum speed of the radar.

[0040] Preferably,

[0041] The evaluation item is multi-target detection capability;

[0042] According to the nominal detection distance, controlling a corresponding number of test targets to navigate in accordance with the setting method of the corresponding evaluation item, and determining the evaluation result of each evaluation item based on the detection data of the test targets by the radar during the navigation process and the actual navigation data of the test targets, including:

[0043] According to the nominal detection distance, at least two test targets are controlled to navigate respectively in the area detectable by the radar according to different setting parameters, determining whether the radar detects each test target at the same time, and determining the multi-target detection capability of the radar according to the number of continuous track points formed in the detection data of each test target; the setting parameters include navigation altitude, navigation direction, and navigation line type;

[0044] and / or,

[0045] The evaluation item is resolution;

[0046] According to the nominal detection distance, controlling a corresponding number of test targets to navigate in accordance with the setting method of the corresponding evaluation item, and determining the evaluation result of each evaluation item based on the detection data of the test targets by the radar during the navigation process and the actual navigation data of the test targets, including:

[0047] According to the nominal detection distance, at least two test targets are controlled to navigate simultaneously within the area detectable by the radar at a set parameter interval, and the parameter resolution corresponding to the radar is determined according to the ratio of the total number of track points of all test targets in the detection data detected by the radar to the total number of track points in the actual navigation data of all test targets; the parameter interval is a distance interval, an azimuth angle interval or a pitch angle interval; the parameter interval is set in an arithmetically reduced manner based on the nominal parameter resolution; the parameter resolution includes a distance resolution, an azimuth angle resolution or a pitch angle resolution.

[0048] In a second aspect, an embodiment of the present invention further provides a radar detection performance evaluation device, comprising:

[0049] An evaluation item determination unit determines the nominal detection distance of the radar and a number of evaluation items to be evaluated;

[0050] A target quantity determination unit determines the number of test targets required for evaluating each evaluation item;

[0051] The project evaluation unit controls a corresponding number of test targets to navigate in accordance with the setting method of the corresponding evaluation project according to the nominal detection distance, and determines the evaluation results of each evaluation project based on the detection data of the test targets by the radar during the navigation process and the actual navigation data of the test targets.

[0052] In a third aspect, an embodiment of the present invention further provides a computing device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method described in any embodiment of this specification is implemented.

[0053] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, enables the computer to execute the method described in any embodiment of this specification.

[0054] The embodiment of the present invention provides a radar detection performance evaluation method, device, computing device and storage medium. A plurality of evaluation items and corresponding navigation modes are set for the multiple radar detection performances to be evaluated, and then a corresponding number of test targets are controlled to navigate according to the setting mode of the corresponding evaluation items. In order to obtain effective evaluation results, the actual navigation data of the test target is used to verify and evaluate the radar detection data during the navigation of the test target, and the evaluation results of the evaluation items are determined. According to the evaluation results of multiple evaluation items, the detection performance of the radar can be comprehensively and effectively evaluated. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] 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 some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0056] Figure 1 It is a flow chart of a radar detection performance evaluation method provided by one embodiment of the present invention;

[0057] Figure 2 is a flow chart of another radar detection performance evaluation method provided by one embodiment of the present invention;

[0058] Figure 3 is a hardware architecture diagram of a computing device provided by an embodiment of the present invention;

[0059] Figure 4 It is a structural diagram of a radar detection performance evaluation device provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, 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 part of the embodiments of the present invention, rather than all the embodiments. 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.

[0061] As mentioned above, there is currently no evaluation method for the comprehensive detection performance of radars. Therefore, it is considered to set corresponding evaluation items that can characterize the performance and the navigation setting method during the test for the radar performance to be evaluated. By controlling the test target to navigate according to the setting method of the corresponding evaluation item, and using the radar to detect and track the test target at the same time, the evaluation results of the evaluation item are determined by the detection data obtained by the radar detection and the actual navigation data of the test target. Since there are several evaluation items, it can target multiple performances of the radar, and in each evaluation item, the actual navigation data is used to verify and evaluate the detection data of the radar, so the detection performance of the radar can be comprehensively and effectively evaluated.

[0062] The specific implementation of the above concept is described below.

[0063] Please refer to Figure 1 The embodiment of the present invention provides a radar detection performance evaluation method, the method comprising:

[0064] Step 100, determining the nominal detection distance of the radar and several evaluation items to be evaluated.

[0065] Step 102: Determine the number of test targets required to evaluate each evaluation item.

[0066] Step 104, according to the nominal detection distance, control a corresponding number of test targets to navigate in accordance with the setting method of the corresponding evaluation item, and determine the evaluation results of each evaluation item based on the detection data of the test targets by the radar during the navigation process and the actual navigation data of the test targets.

[0067] In the embodiment of the present invention, a number of evaluation items and corresponding navigation modes are set for various radar detection performances, and then a corresponding number of test targets are controlled to navigate according to the setting mode of the corresponding evaluation items. In order to obtain effective evaluation results, the actual navigation data of the test targets are used to verify and evaluate the radar detection data during the navigation of the test targets, and the evaluation results of the evaluation items are determined. The detection performance of the radar can be comprehensively and effectively evaluated according to the evaluation results of multiple evaluation items.

[0068] Described below Figure 1 How the various steps are performed.

[0069] First, step 100 "determine the nominal detection distance of the radar and a number of evaluation items to be evaluated" and step 102 "determine the number of test targets required to evaluate each evaluation item" are explained simultaneously.

[0070] In the embodiment of the present invention, the evaluation items include: maximum detection distance, continuous detection capability, detection accuracy, tracking stability accuracy, minimum speed, multi-target detection capability or resolution.

[0071] The determination of the number of test targets required for evaluating each evaluation item includes: when the evaluation item is the maximum detection distance, continuous detection capability, detection accuracy, tracking stability accuracy or minimum speed, the number of test targets required for evaluating the evaluation item is single; when the evaluation item is multi-target detection capability or resolution, the number of test targets required for evaluating the evaluation item is at least two.

[0072] In order to fully understand the detection performance of the radar to be evaluated, multiple evaluation items can be determined for the various radar performances to be evaluated. In an embodiment of the present invention, the evaluation items to be evaluated can be the farthest detection distance, continuous detection capability, detection accuracy, tracking stability accuracy, minimum speed, multi-target detection capability or resolution.

[0073] Moreover, when evaluating the maximum detection distance, continuous detection capability, detection accuracy, tracking stability accuracy and minimum speed, the test target for each batch of navigation is single, that is, the detection data of each radar detection is the detection data of a single test target. When the evaluation item is multi-target detection capability or resolution, the test target for each batch of navigation is at least two, that is, the detection data of each radar detection is the detection data of multiple test targets sailing at the same time.

[0074] In addition, when selecting a radar or building a radar system for detecting a certain type of test target, the type of test target can be determined according to actual needs. In the embodiment of the present invention, the performance of the radar in detecting a low, slow and small target such as a drone is evaluated, so the test target in the embodiment of the present invention is a drone.

[0075] Moreover, in order to avoid the impact of different types of drones on the evaluation results of radar detection performance and the universality of the evaluation results to drones, different types of drones can be randomly selected as test targets, or the type of drone used in the evaluation can be selected according to the actual detection situation of the application, or multiple types of drones can be used in the same evaluation project, and the average value is selected as the evaluation result. Among them, the types of drones include DJI Phantom series, DJI Mavic series, and Inspire series.

[0076] Then, for step 104, according to the nominal detection distance, a corresponding number of test targets are controlled to navigate in accordance with the setting method of the corresponding evaluation item, and the evaluation results of each evaluation item are determined based on the detection data of the test targets by the radar during the navigation process and the actual navigation data of the test targets.

[0077] In an embodiment of the present invention, in order to obtain effective evaluation results, the actual navigation data of the test target is collected simultaneously by installing a GPS system and an optoelectronic device on the test drone, which can support each other and determine the more accurate actual navigation data of the test target. The optoelectronic device can also provide screen recording of the test target during navigation.

[0078] It can be understood that in order to make the actual position collected by the GPS system, optoelectronic equipment and radar consistent with the time of the detected position, the three devices need to be timed uniformly, that is, the time carried by the three devices needs to be unified.

[0079] In the embodiment of the present invention, the evaluation items include the maximum detection distance, continuous detection capability, detection accuracy, tracking stability accuracy, minimum speed, multi-target detection capability and resolution. Next, the evaluation process of each evaluation item is described.

[0080] In these evaluation items, since the continuous detection capability, detection accuracy, tracking stability accuracy, minimum speed, multi-target detection capability and resolution need to be tested within the area detectable by the radar, it is necessary to first determine the maximum detection distance of the radar to the UAV.

[0081] Project 1, maximum detection distance

[0082] In the embodiment of the present invention, please refer to Figure 2 At least the following steps 200-204 can be used to evaluate the maximum detection distance of the radar to the UAV.

[0083] Step 200: determining a first navigation position according to the nominal detection distance.

[0084] In order to ensure that the radar's detection status of the test drone can jump, the drone needs to be launched at a position where the nominal detection distance decreases. If the drone is first launched at a position where the nominal detection distance increases, the increased value will require multiple tests to ensure that the detection status jumps when the drone flies in the direction close to the radar.

[0085] Therefore, in the embodiment of the present invention, firstly, any position on a circle with the radar as the center and a radius of 1.5 km less than the radar nominal detection distance is determined as the first navigation position.

[0086] Step 202, controlling a single test target to navigate from the first navigation position to a set direction, and when it is determined that a state jump occurs to the test target in the first detection data of the test target by the radar, obtaining a first distance between the radar and the test target when the state jump occurs according to the state jump time and the actual navigation data of the test target; the state includes whether the test target can be detected or not.

[0087] In the embodiment of the present invention, the detection modes of the radar are staring mode and scanning mode, and the detection refresh frequency of the staring mode is faster than that of the scanning mode. The staring mode is mostly used for the radar to track the trajectory of the current target only, and the scanning mode is mostly used for the radar to track multiple targets at multiple angles at the same time. In order to comprehensively evaluate the detection performance of the radar, it is necessary to use the two modes to perform detection tests on the drone respectively to obtain the farthest detection distance of each mode.

[0088] Specifically, a single UAV is controlled to take off from the first navigation position described in step 200 and fly in a straight line in a direction away from the radar. When three consecutive track points are lost in the first detection data detected by the radar, the time information of the last track point before the track point is lost is recorded, and the distance between the last track point before the track point is lost and the radar is determined from the actual navigation data collected by the GPS system and the optoelectronic device according to the time information, and the distance is recorded as the first distance.

[0089] In order to avoid the contingency of a single test data, multiple tests can be performed according to the actual test situation, and multiple detection tests can be performed using the staring mode and scanning mode of the radar to obtain several first distances of the corresponding mode.

[0090] Step 204: determine the maximum detection distance of the radar according to the first distance.

[0091] However, before determining the maximum detection distance of the radar, it is also necessary to determine whether the first distance is valid based on the actual navigation data of the test target. If valid, the determination of the maximum detection distance of the radar is executed.

[0092] In the embodiment of the present invention, the method for determining whether the first distance is valid is:

[0093] First, the validity of the track point detected by the radar at this moment is determined based on the three-dimensional spatial distance error between the detection position and the actual position in the first detection data detected by the radar at the same moment. When the distance error is less than or equal to 50 meters, the track point is valid. According to this method, the valid track point in each first detection data is determined.

[0094] Afterwards, when the number of consecutive valid track points is greater than or equal to 10, the track segment is a valid track segment. Whether the corresponding first distance is valid is determined according to the number of valid track segments in each first detection data, and when the number of valid track segments in the first detection data is less than or equal to 3, the first distance is a valid first distance.

[0095] In the embodiment of the present invention, the effective first distance in the gaze mode and the effective first distance in the scan mode are respectively averaged to be determined as the farthest outward gaze detection distance and the farthest outward scan detection distance.

[0096] In the embodiment of the present invention, there are two ways to determine the farthest detection distance:

[0097] Method 1: confirm the farthest outward gaze detection distance and the farthest outward scanning detection distance as the farthest detection distance;

[0098] Method 2: The UAV is tested to navigate in a direction close to the radar based on the farthest outward gaze detection distance and the farthest outward scanning detection distance, and the obtained farthest inward gaze detection distance and the farthest inward scanning detection distance are determined as the farthest detection distance.

[0099] Since the first method has been described, the second method will be described below.

[0100] In order to make the obtained maximum detection distance more accurate, based on the first distance, the navigation is carried out in the opposite direction to the navigation direction when testing the first distance.

[0101] In the first mode, the embodiment of the present invention may specifically include the following steps S1-S3:

[0102] S1. Determine a second navigation position according to the first distance.

[0103] For example, the farthest outward gaze detection distance and the farthest outward scanning detection distance are increased by 1 km as the take-off distance of the test drone in the corresponding radar mode. Any position on the circle line with the take-off distance as the radius and the radar as the center can be the second navigation position.

[0104] S2, controlling the test target to navigate from the second navigation position in the direction opposite to the set direction, when it is determined that the radar has a state jump of the test target in the second detection data of the test target, obtaining the second distance between the radar and the test target when the state jump occurs according to the state jump time and the actual navigation data of the test target.

[0105] In this step, the UAV with the same distance as the first distance tested is controlled to navigate in a straight line from the second navigation position in step S1 toward the direction close to the radar. When three consecutive track points are lost in the second detection data detected by the radar, the distance between the last track point before the track point is lost and the radar is determined, and this distance is recorded as the second distance.

[0106] Similarly, in order to avoid the randomness of a single test data, multiple detection tests are performed using the staring mode and scanning mode of the radar to obtain several second distances of the corresponding modes.

[0107] S3: Determine a maximum detection distance of the radar according to the second distance.

[0108] It can be understood that, similar to the method for determining whether the first distance is valid, the method for determining whether the second distance is valid is to respectively determine the mean of the effective second distances in the gaze mode and the mean of the effective second distances in the scan mode as the farthest inward gaze detection distance and the farthest inward scan detection distance. The farthest inward gaze detection distance and the farthest inward scan detection distance are determined as the farthest detection distance.

[0109] It should be noted that if both the inward maximum staring detection distance and the inward maximum scanning detection distance in the farthest detection distance are far, then the radar has better performance in terms of detection distance.

[0110] Project 2, continuous detection capability

[0111] According to the nominal detection distance, a single test target is controlled to navigate at different speeds and / or along different lines within the area detectable by the radar, the number of navigations and the number of track segments in the detection data detected by the radar for each navigation are determined, and the ratio of the number of navigations to the total number of track segments corresponding to each navigation number is determined as the continuous detection capability of the radar.

[0112] In this embodiment of the present invention, in order to ensure that the UAV has sufficient navigation detection data during the test, the inward maximum gaze detection distance and the inward maximum scanning detection distance determined in Project 1 are used as the take-off distances of the UAV in the two radar detection modes in this project.

[0113] For example, a single UAV can be controlled to take off at the farthest inward gaze detection distance and fly in a straight line at different speeds towards the radar until it reaches 500 meters from the radar or the limit of the UAV's navigation, and the detection data of the UAV flying in a straight line in the gaze mode can be obtained. Similarly, the UAV can be tested to take off at the farthest inward scanning detection distance and fly in a straight line at different speeds towards the radar until it reaches 500 meters from the radar or the limit of the UAV's navigation, and the detection data of the UAV flying in a straight line in the scanning mode can be obtained.

[0114] In order to make the evaluation results universal, the UAV's navigation line can be changed from a straight line to an S curve. The rest is the same as above. The detection data of the UAV's S curve flight in the staring mode and the detection data of the UAV's S curve flight in the scanning mode are measured.

[0115] According to actual needs, multiple tests can be performed. Finally, the total number of tests, i.e., the number of flights of the drone and the number of track segments in the detection data corresponding to each flight, is determined.

[0116] In the embodiment of the present invention, the effective track rate PR is used as one of the indicators for evaluating the continuous detection capability of the radar.

[0117] The calculation formula of effective track rate PR is:

[0118]

[0119] Among them, p uav is the number of real tracks of the UAV, that is, the number of flights of the UAV; p radar It is the total number of track segments corresponding to each flight number detected by radar.

[0120] Since the actual track of each UAV flight should be one complete track, while the radar may detect multiple track segments, the closer the effective track rate PR is to 1, the stronger the continuous detection capability of the radar is.

[0121] In the embodiment of the present invention, another index for evaluating the continuous detection capability of the radar is the detection rate and the missed alarm rate. The detection rate and the missed alarm rate are reciprocals of each other, so only the calculation formula of the detection rate is listed below.

[0122] Discovery rate P T The calculation formula is:

[0123]

[0124] Among them, T R is the number of UAV targets detected by the radar, that is, the number of detection data detected by the radar; T S is the number of drones actually flying, that is, the number of drone flights.

[0125] Project 3, Detection Accuracy

[0126] According to the nominal detection distance, a single test target is controlled to navigate within an area detectable by the radar, and based on at least one of the detection azimuth, detection pitch angle, detection distance and detection position of the test target by the radar during the navigation process, and at least one of the actual azimuth, actual pitch angle, actual distance and actual position of the test target, a corresponding variance is calculated, and the calculated variance is determined as the detection accuracy of the radar.

[0127] In the embodiment of the present invention, the area detectable by the radar is determined according to the farthest detection distance obtained in item 1, and 2 km is the area detectable by the radar in both detection modes. The two detection modes are used to navigate the UAV from 2 km away from the radar to the direction close to the radar, and the detection data in different radar modes and the corresponding actual navigation data are obtained.

[0128] According to the timestamp, the detection data in different modes of the radar and the corresponding actual navigation data are fitted and compared in accuracy. By calculating ATH (staring mode azimuth accuracy), ASH (scanning mode azimuth accuracy), ATV (staring mode pitch accuracy), ASV (scanning mode pitch accuracy), ATD (staring mode distance accuracy), ASD (scanning mode distance accuracy) and ATR (staring mode position accuracy), ASR (scanning mode position accuracy).

[0129] All the above accuracy indicators are variances, so the corresponding means need to be calculated first.

[0130] All detection data detected in the staring mode are fitted with the corresponding actual navigation data for timestamp accuracy. ATH (staring mode azimuth accuracy), ATV (staring mode pitch accuracy), ATD (staring mode distance accuracy) and ATR (staring mode position accuracy) are calculated by the following formulas.

[0131] The calculation formula of ATH (Azimuth Trace Accuracy) is:

[0132]

[0133]

[0134] Among them, ETH is the mean value of gaze mode orientation error, H i is the error between the azimuth of each track point in all detection data of the radar in the staring mode and the navigation azimuth of the UAV at the same time in the actual navigation data, and N is the total number of track points in all detection data of the radar in the staring mode.

[0135] The calculation formula of ATV (pitch accuracy in gaze mode) is:

[0136]

[0137]

[0138] Among them, ETV is the mean pitch error of the gaze mode, V i is the error between the pitch angle of each track point in all detection data of the radar in the staring mode and the navigation pitch angle of the UAV at the same time in the actual navigation data, and N is the total number of track points in all detection data of the radar in the staring mode.

[0139] The calculation formula of ATD (stare mode distance accuracy) is:

[0140]

[0141]

[0142] Among them, ETD is the mean pitch error of the gaze mode, D i is the error between the distance between each track point and the radar in all detection data of the radar in the staring mode and the distance between the UAV and the radar at the same time in the actual navigation data, and N is the total number of track points in all detection data of the radar in the staring mode.

[0143] The calculation formula of ATR (gaze pattern position accuracy) is:

[0144]

[0145]

[0146] Among them, ETR is the mean pitch error of the gaze mode, R iis the spatial position error between the longitude and latitude values ​​of each track point in all detection data of the radar in the staring mode and the longitude and latitude values ​​of the drone at the same time in the actual navigation data, and N is the total number of track points in all detection data of the radar in the staring mode.

[0147] Similarly, all the detection data detected in the scanning mode are fitted with the corresponding actual navigation data with time stamp accuracy. ASH (scanning mode azimuth accuracy), ASV (scanning mode pitch accuracy), ASD (scanning mode distance accuracy) and ASR (scanning mode position accuracy) can be calculated.

[0148] Project 4, tracking stability accuracy

[0149] According to the nominal detection distance, a single test target is controlled to navigate along any initial direction within the area detectable by the radar, and then turns to navigate at a set angle, and it is determined whether the track points detected when the test target turns to navigate in the detection data detected by the radar are continuous with the track points before turning to navigate, and the tracking stability accuracy of the radar is determined based on the judgment result.

[0150] For example, control the drone to fly in a straight line in the area detectable by the radar. When the radar detects more than three consecutive track points, control the drone to turn 180 degrees and fly in a straight line to determine whether the track points in the radar detection data are continuous during the turn. If they are continuous, it indicates that the radar has a high tracking stability accuracy.

[0151] Item 5, minimum speed

[0152] According to the nominal detection distance, a single test target is controlled to sail at a constant speed at a set speed within the area detectable by the radar, the set speed is reduced arithmetic differences, and the minimum set speed detectable by the radar is determined based on the detection data of the radar on the test target sailing at each set speed and the actual navigation data of the test target, and the minimum set speed is determined as the minimum speed of the radar.

[0153] For example, control the drone to fly in a straight line in the area detectable by the radar, first at a constant speed of 5m / s, and then reduce the speed by 1m / s each time. When the radar detection data forms 3 or more consecutive track points, it is considered that the radar can detect the drone. When the speed is reduced to a certain speed, the radar cannot detect the drone, then the previous set speed is determined to be the minimum speed of the drone that the radar can detect.

[0154] Project 6, Multi-target Detection Capability

[0155] According to the nominal detection distance, at least two test targets are controlled to navigate separately in the area detectable by the radar according to different setting parameters, it is determined whether the radar detects each test target at the same time, and the multi-target detection capability of the radar is determined according to the number of continuous track points formed in the detection data of each test target; the setting parameters include navigation altitude, navigation direction, and navigation line type.

[0156] This project and Project 7 are both multi-target detection, that is, at least two UAVs fly simultaneously in each flight, and radar, GPS system and optoelectronic equipment detect the navigation data of multiple UAVs simultaneously.

[0157] For example, two drones are controlled to fly at different altitudes along a straight line or S-shaped curve within the radar detectable area, with a height difference of no less than 50 meters, and the flight azimuth angles are no less than 30° apart. Determine whether the radar detects the two drones at the same time, that is, the two drones form three or more consecutive track points, which means that the two drones are detected at the same time. The multi-target detection capability of the radar can be judged based on the total number of continuous track points formed by the two drones, that is, the more the total number of continuous track points formed, the stronger the multi-target detection capability of the radar.

[0158] Item 7, Resolution

[0159] According to the nominal detection distance, at least two test targets are controlled to navigate simultaneously within the area detectable by the radar at a set parameter interval, and the parameter resolution corresponding to the radar is determined according to the ratio of the total number of track points of all test targets in the detection data detected by the radar to the total number of track points in the actual navigation data of all test targets; the parameter interval is a distance interval, an azimuth angle interval or a pitch angle interval; the parameter interval is set in an arithmetically reduced manner based on the nominal parameter resolution; the parameter resolution includes a distance resolution, an azimuth angle resolution or a pitch angle resolution.

[0160] For example, two UAVs are controlled to fly in the same direction at the same time within the radar detectable area, maintaining a flight distance interval of the nominal distance resolution plus 20%, and their distance resolution is determined.

[0161] Similarly, control the two UAVs to fly simultaneously in the area detectable by the radar, maintaining a flight azimuth angle interval of the nominal azimuth angle resolution plus 20%, and determine their azimuth angle resolution.

[0162] Similarly, two UAVs fly simultaneously within the radar detectable area, maintaining a pitch angle interval of the nominal pitch angle resolution plus 20%, and their pitch angle resolution is determined.

[0163] For each resolution test value of each resolution, the distance resolution of the radar can be determined based on the ratio of the total number of track points detected by the two UAVs in the radar detection data at this resolution test value to the total number of track points of the two UAVs in the actual navigation data obtained according to the radar detection refresh frequency.

[0164] The calculation formula of resolution index is:

[0165]

[0166] Among them, D k is the total number of track points of the two UAVs in the kth batch of detection data detected by the radar, S k is the total number of track points of the two UAVs in the kth batch of actual navigation data obtained according to the radar detection refresh frequency, and m is the number of batches of actual navigation of the UAVs.

[0167] For each resolution test value of each parameter resolution, if the calculated PD is ≤ 90%, then the corresponding test resolution is reduced until the obtained PD is ≥ 90%, and this test resolution is considered to be the resolution of the corresponding parameter of the radar.

[0168] For example, the method for determining the distance resolution is: if two drones are controlled to fly simultaneously with a flight distance interval of the nominal distance resolution plus 20%, the test resolution of the distance resolution is the nominal distance resolution plus 20%. If the PD corresponding to this test resolution is calculated to be ≤90%, then the test resolution is changed to the nominal distance resolution plus 15%, and the two drones are controlled to fly simultaneously with a flight distance interval of the nominal distance resolution plus 15%. If the PD corresponding to this test resolution is calculated to be ≥90%, then the nominal distance resolution plus 15% is determined to be the distance resolution of the radar; if the PD corresponding to this test resolution is calculated to be ≤90%, continue to reduce it by 5%, and change the test resolution to the nominal distance resolution plus 10%, until the calculated PD is ≥90%, the distance resolution of the radar can be determined.

[0169] Similarly, the azimuth angle resolution and the elevation angle resolution are determined in the same way as the range resolution. Therefore, the resolution of the radar can be obtained, that is, the range resolution, azimuth angle resolution or elevation angle resolution.

[0170] like Figure 3 , Figure 4 As shown, an embodiment of the present invention provides a radar detection performance evaluation device. The device embodiment can be implemented by software, or by hardware or a combination of software and hardware. From the hardware level, Figure 3As shown in FIG. 1 , a hardware architecture diagram of a computing device where a radar detection performance evaluation device provided in an embodiment of the present invention is located is shown in FIG. Figure 3 In addition to the processor, memory, network interface, and non-volatile memory shown in the figure, the computing device in which the device is located in the embodiment may also generally include other hardware, such as a forwarding chip responsible for processing messages, etc. Taking software implementation as an example, Figure 4 As shown, as a device in a logical sense, the CPU of the computing device in which it is located reads the corresponding computer program in the non-volatile memory into the memory and runs it. This embodiment provides a radar detection performance evaluation device, including:

[0171] The evaluation item determination unit 401 determines the nominal detection distance of the radar and a number of evaluation items to be evaluated;

[0172] A target quantity determination unit 402 determines the number of test targets required for evaluating each evaluation item;

[0173] The project evaluation unit 403 controls a corresponding number of test targets to navigate in accordance with the setting method of the corresponding evaluation project according to the nominal detection distance, and determines the evaluation results of each evaluation project based on the detection data of the test targets by the radar during the navigation process and the actual navigation data of the test targets.

[0174] In one embodiment of the present invention, the evaluation item determination unit 401 is specifically used to determine the evaluation items, including: maximum detection distance, continuous detection capability, detection accuracy, tracking stability accuracy, minimum speed, multi-target detection capability or resolution.

[0175] The target quantity determination unit 402, when executing the determination of the number of test targets required for evaluating each evaluation item, is specifically used to determine that when the evaluation item is the maximum detection distance, continuous detection capability, detection accuracy, tracking stability accuracy or minimum speed, the number of test targets required for evaluating the evaluation item is single; when the evaluation item is multi-target detection capability or resolution, the number of test targets required for evaluating the evaluation item is at least two.

[0176] In one embodiment of the present invention, the project evaluation unit 403, when the evaluation project is the farthest detection distance, controls a corresponding number of test targets to navigate in accordance with the setting method of the corresponding evaluation project when executing the nominal detection distance, and determines the evaluation result of each evaluation project based on the detection data of the test target by the radar during the navigation and the actual navigation data of the test target. It is specifically used to determine the first navigation position according to the nominal detection distance; control a single test target to navigate from the first navigation position to the set direction, and when it is determined that the radar has a state jump of the test target in the first detection data of the test target, obtain the first distance between the radar and the test target at the time of the state jump according to the state jump time and the actual navigation data of the test target; the state includes that the test target can be detected and the test target cannot be detected; the farthest detection distance of the radar is determined according to the first distance.

[0177] In one embodiment of the present invention, the project evaluation unit 403, when the evaluation project is the farthest detection distance, is specifically used to determine a second navigation position based on the first distance when executing the determination of the farthest detection distance of the radar based on the first distance; control the test target to navigate from the second navigation position in a direction opposite to the set direction, and when it is determined that the radar has a state jump of the test target in the second detection data of the test target, obtain the second distance between the radar and the test target at the time of the state jump according to the state jump time and the actual navigation data of the test target; determine the farthest detection distance of the radar based on the second distance.

[0178] In one embodiment of the present invention, when the evaluation item is the farthest detection distance, the item evaluation unit 403 is further used to determine whether the first distance or the second distance is valid based on the actual navigation data of the test target before determining the farthest detection distance of the radar; if so, the determination of the farthest detection distance of the radar is executed.

[0179] In one embodiment of the present invention, when the evaluation item is continuous detection capability, the item evaluation unit 403, when executing the control of a corresponding number of test targets to navigate in the setting mode of the corresponding evaluation item according to the nominal detection distance, determines the evaluation result of each evaluation item based on the detection data of the test targets by the radar during navigation and the actual navigation data of the test targets, is specifically used to control a single test target to navigate at different speeds and / or along different line types within the area detectable by the radar according to the nominal detection distance, determines the number of navigations and the number of track segments in the detection data detected by the radar in each navigation, and determines the ratio of the number of navigations to the total number of track segments corresponding to each navigation number as the continuous detection capability of the radar.

[0180] When the evaluation item is detection accuracy, when executing the control of a corresponding number of test targets to navigate in the setting method of the corresponding evaluation item according to the nominal detection distance, and determining the evaluation result of each evaluation item based on the detection data of the test target by the radar during the navigation and the actual navigation data of the test target, it is specifically used to control a single test target to navigate within an area detectable by the radar according to the nominal detection distance, and calculate the corresponding variance based on at least one of the detection azimuth, detection pitch angle, detection distance and detection position of the test target by the radar during the navigation, and at least one of the actual azimuth, actual pitch angle, actual distance and actual position of the test target, and determine the calculated variance as the detection accuracy of the radar.

[0181] When the evaluation item is tracking stability accuracy, when executing the control of a corresponding number of test targets to navigate in the setting method of the corresponding evaluation item according to the nominal detection distance, and determining the evaluation result of each evaluation item based on the detection data of the test targets by the radar during navigation and the actual navigation data of the test targets, it is specifically used to control a single test target to navigate along any initial direction within the area detectable by the radar according to the nominal detection distance, and then turn to navigate at a set angle, determine whether the track points detected in the detection data detected by the radar when the test target turns to navigate are continuous with the track points before turning to navigate, and determine the tracking stability accuracy of the radar according to the judgment result.

[0182] When the evaluation item is the minimum speed, when executing the control of a corresponding number of test targets to navigate in the setting mode of the corresponding evaluation item according to the nominal detection distance, and determining the evaluation result of each evaluation item based on the detection data of the test target by the radar during navigation and the actual navigation data of the test target, it is specifically used to control a single test target to navigate at a constant speed at a set speed within the area detectable by the radar according to the nominal detection distance, reduce the set speed arithmetically, determine the minimum set speed that the radar can detect according to the detection data of the test target sailing at each set speed by the radar and the actual navigation data of the test target, and determine the minimum set speed as the minimum speed of the radar.

[0183] In one embodiment of the present invention, the project evaluation unit 403, when the evaluation project is multi-target detection capability, is executing the control of a corresponding number of test targets to navigate in accordance with the setting method of the corresponding evaluation project according to the nominal detection distance, and determining the evaluation result of each evaluation project based on the detection data of the test targets by the radar during navigation and the actual navigation data of the test targets. It is specifically used to control at least two test targets to navigate separately according to different setting parameters within the area detectable by the radar according to the nominal detection distance, determine whether the radar detects each test target at the same time, and determine the multi-target detection capability of the radar according to the number of continuous track points formed in the detection data of each test target; the setting parameters include navigation altitude, navigation direction, and navigation line type.

[0184] When the evaluation item is resolution, when executing the control of a corresponding number of test targets to navigate in accordance with the setting method of the corresponding evaluation item according to the nominal detection distance, and determining the evaluation result of each evaluation item based on the detection data of the test target by the radar during the navigation and the actual navigation data of the test target, it is specifically used to control at least two test targets to navigate simultaneously at a set parameter interval within the area detectable by the radar according to the nominal detection distance, and determine the parameter resolution corresponding to the radar according to the ratio of the total number of track points of all test targets in the detection data detected by the radar to the total number of track points in the actual navigation data of all test targets; the parameter interval is a distance interval, an azimuth angle interval or a pitch angle interval; the parameter interval is set in an arithmetically reduced manner based on the nominal parameter resolution; the parameter resolution includes distance resolution, azimuth angle resolution or pitch angle resolution.

[0185] It is to be understood that the structure illustrated in the embodiment of the present invention does not constitute a specific limitation on a radar detection performance evaluation device. In other embodiments of the present invention, a radar detection performance evaluation device may include more or fewer components than shown in the figure, or combine certain components, or split certain components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0186] The information interaction, execution process and other contents between the modules in the above-mentioned device are based on the same concept as the embodiment of the method of the present invention. For the specific contents, please refer to the description in the embodiment of the method of the present invention, and no further description is given here.

[0187] An embodiment of the present invention further provides a computing device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, a radar detection performance evaluation method in any embodiment of the present invention is implemented.

[0188] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the processor executes a radar detection performance evaluation method in any embodiment of the present invention.

[0189] Specifically, a system or device equipped with a storage medium can be provided, on which software program code that implements the functions of any of the above-mentioned embodiments is stored, and a computer (or CPU or MPU) of the system or device can be enabled to read and execute the program code stored in the storage medium.

[0190] In this case, the program code itself read from the storage medium can realize the function of any one of the above-mentioned embodiments, and thus the program code and the storage medium storing the program code constitute a part of the present invention.

[0191] The storage medium embodiments for providing the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), a magnetic tape, a non-volatile memory card, and a ROM. Alternatively, the program code can be downloaded from a server computer by a communication network.

[0192] In addition, it should be clear that the functions of any of the above embodiments can be implemented not only by executing the program code read by the computer, but also by enabling an operating system operating on the computer to complete part or all of the actual operations based on instructions from the program code.

[0193] In addition, it can be understood that the program code read from the storage medium is written to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion module connected to the computer, and then based on the instructions of the program code, a CPU installed on the expansion board or expansion module is enabled to perform part or all of the actual operations, thereby realizing the functions of any of the above-mentioned embodiments.

[0194] It should be noted that, in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical factors in the process, method, article or device including the elements.

[0195] A person of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiments; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk, etc., various media that can store program codes.

[0196] 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 make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A radar detection performance evaluation method, characterized in that: include: Determine the nominal detection range of the radar and several evaluation items that need to be evaluated; Determine the number of test objectives required to evaluate each evaluation item; According to the nominal detection distance, a corresponding number of test targets are controlled to navigate in accordance with the setting method of the corresponding evaluation item, and the evaluation result of each evaluation item is determined based on the detection data of the test targets by the radar during the navigation process and the actual navigation data of the test targets; The evaluation items include: maximum detection distance, continuous detection capability, detection accuracy, tracking stability accuracy, minimum speed, multi-target detection capability or resolution; The determination of the number of test objectives required for each evaluation item includes: When the evaluation item is the longest detection distance, continuous detection capability, detection accuracy, tracking stability accuracy or minimum speed, the number of test targets required for the evaluation item is one; When the evaluation item is multi-target detection capability or resolution, the number of test targets required for evaluating the evaluation item is at least two; The evaluation item is the maximum detection distance; According to the nominal detection distance, controlling a corresponding number of test targets to navigate in accordance with the setting method of the corresponding evaluation item, and determining the evaluation result of each evaluation item based on the detection data of the test targets by the radar during the navigation process and the actual navigation data of the test targets, including: determining a first navigation position according to the nominal detection distance; Control a single test target to navigate from the first navigation position to a set direction, and when it is determined that a state jump occurs to the test target in the first detection data of the test target by the radar, obtain a first distance between the radar and the test target when the state jump occurs according to the state jump time and the actual navigation data of the test target; the state includes that the test target can be detected and that the test target cannot be detected; The maximum detection distance of the radar is determined according to the first distance.

2. The method according to claim 1, characterized in that The determining the maximum detection distance of the radar according to the first distance includes: determining a second navigation position according to the first distance; Control the test target to navigate from the second navigation position in a direction opposite to the set direction, and when it is determined that a state jump occurs to the test target in the second detection data of the test target by the radar, obtain a second distance between the radar and the test target when the state jump occurs according to the state jump time and the actual navigation data of the test target; The maximum detection distance of the radar is determined according to the second distance.

3. The method according to claim 2, characterized in that Before determining the maximum detection distance of the radar, it also includes: Whether the first distance or the second distance is valid is determined according to the actual navigation data of the test target. If valid, the determination of the maximum detection distance of the radar is performed.

4. The method according to claim 1, characterized in that The evaluation item is continuous detection capability; According to the nominal detection distance, controlling a corresponding number of test targets to navigate in accordance with the setting method of the corresponding evaluation item, and determining the evaluation result of each evaluation item based on the detection data of the test targets by the radar during the navigation process and the actual navigation data of the test targets, including: According to the nominal detection distance, a single test target is controlled to sail at different speeds and / or along different lines within the area detectable by the radar, the number of navigations and the number of track segments in the detection data detected by the radar in each navigation are determined, and the ratio of the number of navigations to the total number of track segments corresponding to each number of navigations is determined as the continuous detection capability of the radar; and / or, The evaluation item is detection accuracy; According to the nominal detection distance, controlling a corresponding number of test targets to navigate in accordance with the setting method of the corresponding evaluation item, and determining the evaluation result of each evaluation item based on the detection data of the test targets by the radar during the navigation process and the actual navigation data of the test targets, including: According to the nominal detection distance, a single test target is controlled to navigate within an area detectable by the radar, and a corresponding variance is calculated based on at least one of the detection azimuth, detection pitch angle, detection distance, and detection position of the test target by the radar during the navigation process, and at least one of the actual azimuth, actual pitch angle, actual distance, and actual position of the test target, and the calculated variance is determined as the detection accuracy of the radar; and / or, The evaluation item is tracking stability accuracy; According to the nominal detection distance, controlling a corresponding number of test targets to navigate in accordance with the setting method of the corresponding evaluation item, and determining the evaluation result of each evaluation item based on the detection data of the test targets by the radar during the navigation process and the actual navigation data of the test targets, including: According to the nominal detection distance, a single test target is controlled to navigate along any initial direction within the area detectable by the radar, and then turns to navigate at a set angle, and it is determined whether the track points detected when the test target turns to navigate in the detection data detected by the radar are continuous with the track points before the turning to navigate, and the tracking stability accuracy of the radar is determined according to the determination result; and / or, The evaluation item is the minimum speed; According to the nominal detection distance, controlling a corresponding number of test targets to navigate in accordance with the setting method of the corresponding evaluation item, and determining the evaluation result of each evaluation item based on the detection data of the test targets by the radar during the navigation process and the actual navigation data of the test targets, including: According to the nominal detection distance, a single test target is controlled to sail at a constant speed at a set speed within the area detectable by the radar, the set speed is reduced arithmetic differences, and the minimum set speed detectable by the radar is determined based on the detection data of the radar on the test target sailing at each set speed and the actual navigation data of the test target, and the minimum set speed is determined as the minimum speed of the radar.

5. The method according to claim 1, characterized in that The evaluation item is multi-target detection capability; According to the nominal detection distance, controlling a corresponding number of test targets to navigate in accordance with the setting method of the corresponding evaluation item, and determining the evaluation result of each evaluation item based on the detection data of the test targets by the radar during the navigation process and the actual navigation data of the test targets, including: According to the nominal detection distance, at least two test targets are controlled to navigate respectively in the area detectable by the radar according to different setting parameters, determining whether the radar detects each test target at the same time, and determining the multi-target detection capability of the radar according to the number of continuous track points formed in the detection data of each test target; the setting parameters include navigation altitude, navigation direction, and navigation line type; and / or, The evaluation item is resolution; According to the nominal detection distance, controlling a corresponding number of test targets to navigate in accordance with the setting method of the corresponding evaluation item, and determining the evaluation result of each evaluation item based on the detection data of the test targets by the radar during the navigation process and the actual navigation data of the test targets, including: According to the nominal detection distance, at least two test targets are controlled to navigate simultaneously within the area detectable by the radar at a set parameter interval, and the parameter resolution corresponding to the radar is determined according to the ratio of the total number of track points of all test targets in the detection data detected by the radar to the total number of track points in the actual navigation data of all test targets; the parameter interval is a distance interval, an azimuth angle interval or a pitch angle interval; the parameter interval is set in an arithmetically reduced manner based on the nominal parameter resolution; the parameter resolution includes a distance resolution, an azimuth angle resolution or a pitch angle resolution.

6. A radar detection performance evaluation device, used to implement the method according to any one of claims 1 to 5, characterized in that: include: An evaluation item determination unit determines the nominal detection distance of the radar and a number of evaluation items to be evaluated; A target quantity determination unit determines the number of test targets required for evaluating each evaluation item; The project evaluation unit controls a corresponding number of test targets to navigate in accordance with the setting method of the corresponding evaluation project according to the nominal detection distance, and determines the evaluation results of each evaluation project based on the detection data of the test targets by the radar during the navigation process and the actual navigation data of the test targets.

7. A computing device, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method according to any one of claims 1 to 5 is implemented.

8. A computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to execute the method according to any one of claims 1 to 5.

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