Radar simulation processing method and device

Abstract

The present application provides a radar simulation processing method and device, which is applied to a server, on which a Windows operating system and an RTX based on the Windows operating system are deployed, and the method includes: obtaining radar echo data through RTX and storing it in a shared memory; obtaining radar echo data in the shared memory through a signal processing program; storing the radar echo data in the video memory of a GPU through a CPU, calling the GPU to process the radar echo signal; processing the radar echo signal through the GPU, and storing the signal processing result of the GPU in the video memory; obtaining the signal processing result in the video memory through the CPU, determining the target information of the radar detection target based on the signal processing result, and storing the target information in the shared memory; obtaining the target information from the shared memory through the real-time extension system RTX, and performing radar resource scheduling based on the target information. The solution of the present application can reduce the complexity of the hardware required for radar simulation.

Description

Technical Field

[0001] The present application relates to the field of radar simulation technology, and in particular to a radar simulation processing method and device. Background Art

[0002] During the radar simulation process, it is necessary to perform signal processing on the simulated radar echo and perform radar resource scheduling and other processing.

[0003] At present, in order to meet the real-time requirements, the radar simulation system needs to use a combination of a lower computer and a digital signal processor (DSP) to process radar echo signals and control resource scheduling. Among them, the lower computer generally uses the hard real-time operating system VxWorks to complete the real-time control and resource scheduling in the radar echo processing process. The DSP completes the signal processing and data processing of the radar echo, and uploads the processing results to the lower computer.

[0004] However, in the above combined architecture, it is necessary to install the lower computer board of the VxWorks operating system and select a DSP board with performance that meets the requirements for the DSP, so as to meet the functional requirements of the lower computer and DSP in the radar echo processing and resource scheduling process, which makes the hardware architecture of radar simulation more complex; moreover, once the requirements of radar simulation change, it is necessary to redesign the corresponding boards required in the lower computer and DSP, which leads to high complexity and low efficiency of radar simulation processing. Summary of the invention

[0005] In view of this, the present application provides a radar simulation processing method and device to reduce the hardware complexity required for radar simulation.

[0006] To achieve the above-mentioned purpose, the present application provides a radar simulation processing method, which is applied to a server, wherein the server includes a central processing unit (CPU) and a graphics processing unit (GPU), and a Windows operating system and a real-time extension system (RTX) based on the Windows operating system are deployed on the server, and a signal processing program applicable to the Windows operating system is deployed on the server, and the method includes:

[0007] Acquire radar echo data through the real-time extension system RTX, and store the radar echo data in a shared memory between the real-time extension system RTX and the Windows operating system, wherein the radar echo data at least includes a radar echo signal;

[0008] Using the signal processing program to obtain the radar echo data in the shared memory through the central processing unit CPU;

[0009] The radar echo data is stored in the video memory of the graphics processing unit GPU by the central processing unit CPU, and the graphics processing unit GPU is called to process the radar echo signal;

[0010] Processing the radar echo signal by the graphics processing unit GPU, and storing the signal processing result obtained by the graphics processing unit GPU processing the radar echo signal in the video memory of the graphics processing unit GPU;

[0011] Obtaining the signal processing result in the video memory through the central processing unit CPU, determining the target information of the radar detection target based on the signal processing result, and storing the target information in the shared memory;

[0012] The target information is obtained from the shared memory through the real-time extension system RTX, and radar resource scheduling is performed based on the target information.

[0013] In a possible implementation, the server further includes: a preprocessing board;

[0014] Before obtaining radar echo data through the real-time extension system RTX, the method further includes:

[0015] Preprocessing the received radar echo data by the preprocessing board to obtain preprocessed radar echo data, wherein the preprocessing includes: performing one or more of unpacking, matched filtering pulse compression and de-slope pulse compression operations on the radar echo data;

[0016] The radar echo data is obtained by using the real-time extension system RTX, including:

[0017] The radar echo data preprocessed by the preprocessing board is obtained through the real-time extension system RTX.

[0018] In yet another possible implementation, the radar echo data further includes: a radar operating mode, the radar operating mode being one of a broadband mode and a narrowband mode;

[0019] The processing of the radar echo signal by the graphics processor GPU includes:

[0020] The radar echo signal is processed by the graphics processor GPU according to the radar working mode.

[0021] In another possible implementation, the processing of the radar echo signal by the graphics processor GPU according to the radar working mode includes:

[0022] When the radar working mode is a narrowband mode, the graphics processor GPU performs envelope detection and unit average constant false alarm rate detection on the radar echo signal to obtain an echo detection result;

[0023] The step of storing the signal processing result obtained by the graphics processor GPU processing the radar echo signal into the video memory of the graphics processor GPU includes:

[0024] Storing the echo detection result in the video memory of the graphics processing unit GPU;

[0025] The step of obtaining the signal processing result in the video memory through the central processing unit CPU and determining the target information of the radar detection target based on the signal processing result includes:

[0026] The echo detection result in the video memory is obtained by the central processing unit CPU, and the target point information of the radar detection target is determined based on the echo detection result.

[0027] In yet another possible implementation, determining target point information of the radar detection target based on the echo detection result includes:

[0028] If the echo detection result indicates that a radar detection target is detected, distance measurement, azimuth measurement and elevation angle measurement are performed on the radar detection target based on the radar echo signal to obtain target point trace information of the radar detection target;

[0029] If the echo detection result indicates that the radar detection target is not detected, target point trace information indicating that the target point trace is empty is generated.

[0030] In another possible implementation, the performing envelope detection and unit average constant false alarm rate detection on the radar echo signal by the graphics processor GPU includes:

[0031] Performing envelope detection and unit average constant false alarm rate detection on different distance units in the radar echo signal in parallel through different threads on the graphics processor GPU;

[0032] Wherein, the envelope detection is used to calculate the amplitude of all distance units of the radar echo signal;

[0033] The unit average constant virtual rate detection is to determine the reference unit data of any distance unit in the radar echo signal, use the reference unit data to estimate the background noise and clutter power of the distance unit to obtain a detection threshold, and judge whether there is a radar detection target in the distance unit based on the detection threshold.

[0034] In yet another possible implementation, performing radar resource scheduling based on the target information by the real-time extension system RTX includes:

[0035] Determine the target track based on the target point track information by the real-time extension system RTX;

[0036] Based on the target track, radar resource scheduling is performed, and the radar resource scheduling at least includes: scheduling control of signal parameters and beam pointing of radar transmit pulses.

[0037] In yet another possible implementation, the processing of the radar echo signal by the graphics processor GPU according to the radar working mode includes:

[0038] When the radar working mode is a broadband mode, the graphics processor GPU performs envelope alignment, phase correction and target imaging processing on the radar echo signal;

[0039] The step of storing the signal processing result obtained by the graphics processing unit (GPU) processing the radar echo signal into the video memory of the graphics processing unit (GPU) comprises:

[0040] The imaging result of the target obtained by the imaging process is stored in the video memory of the graphics processor GPU;

[0041] The step of obtaining the signal processing result in the video memory through the central processing unit CPU and determining the target information of the radar detection target based on the signal processing result includes:

[0042] The imaging result of the target stored in the video memory is obtained through the central processing unit CPU, and the imaging result of the target is determined as the target information of the radar detection target.

[0043] In yet another possible implementation, performing envelope alignment, phase correction, and target imaging processing on the radar echo signal by the graphics processor GPU includes:

[0044] In a case where the radar echo signal is the first radar echo signal in an imaging frame, performing modulus calculation on the radar echo signal by the graphics processor GPU, and using the radar echo signal after the modulus calculation as a reference signal;

[0045] In a case where the radar echo signal belongs to any one of the second to N-1 radar echo signals in the imaging frame, envelope alignment is performed on the radar echo signal based on the reference signal by the graphics processor GPU, phase correction is performed on a radar echo signal most recently before the radar echo signal by using the envelope-aligned radar echo signal, a correction result of the phase correction is cached, and the reference signal is updated to the envelope-aligned radar echo signal, where N is the total number of radar echo signals corresponding to the imaging frame, and N is a natural number greater than 1;

[0046] In the case that the radar echo signal is the Nth radar echo signal in the imaging frame, envelope alignment is performed on the radar echo signal based on the reference signal, phase correction is performed on the radar echo signal most recently before the radar echo signal using the envelope-aligned radar echo signal, and Fourier transform and modulus calculation are performed in azimuth on all distance units of each radar echo signal in the imaging frame to obtain target imaging corresponding to the imaging frame.

[0047] On the other hand, the present application further provides a radar simulation processing device, which is applied to a server, wherein the server includes a central processing unit (CPU) and a graphics processing unit (GPU), and a Windows operating system and a real-time extension system (RTX) based on the Windows operating system are deployed on the server, and a signal processing program applicable to the Windows operating system is deployed on the server, wherein the device includes:

[0048] A real-time control unit, used for obtaining radar echo data through a real-time extension system RTX, and storing the radar echo data in a shared memory between the real-time extension system RTX and a Windows operating system, wherein the radar echo data at least includes a radar echo signal;

[0049] A data acquisition unit, used for acquiring the radar echo data in the shared memory through the central processing unit CPU using the signal processing program;

[0050] A storage calling unit, used for storing the radar echo data in the video memory of the graphics processing unit GPU through the central processing unit CPU, and calling the graphics processing unit GPU to process the radar echo signal;

[0051] a signal processing unit, configured to process the radar echo signal through the graphics processing unit GPU, and store the signal processing result obtained by the graphics processing unit GPU processing the radar echo signal in the video memory of the graphics processing unit GPU;

[0052] A target determination unit, configured to obtain a signal processing result in the video memory through the central processing unit CPU, determine target information of a target detected by the radar based on the signal processing result, and store the target information in the shared memory;

[0053] A resource scheduling unit is used to obtain the target information from the shared memory through the real-time extension system RTX, and perform radar resource scheduling based on the target information.

[0054] As can be seen from the above, in the embodiment of the present application, the server has a CPU and a GPU, and a Windows operating system and an RTX based on the Windows operating system are deployed on the server. After RTX obtains the radar echo data, the radar echo data will be stored in the shared memory between RTX and the Windows operating system. On this basis, the radar echo data stored in RTX can be obtained from the shared memory by using the signal processing program under the Windows operating system, and the relevant processing of the radar echo data can be completed by calling the GPU in the server, so that the real-time control function of RTX and the efficient processing performance of the GPU can be used to ensure the real-time processing of radar echo and resource scheduling, and the processing process of radar echo data and real-time radar resource scheduling can be completed on one server, making the hardware architecture required for radar echo processing simple. Moreover, with the help of the CPU and GPU in the server, the signal processing process of the radar echo can complete data interaction and processing through the software program. When the radar simulation requirements change, it is only necessary to upgrade the software program without redesigning the hardware architecture. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0056] Figure 1 A schematic diagram showing the composition architecture of a radar simulation system in an embodiment of the present application is shown;

[0057] Figure 2 A schematic diagram of a flow chart of a radar simulation processing method provided in an embodiment of the present application is shown;

[0058] Figure 3 A schematic diagram showing multiple threads and their working contents of the real-time control software in RTX provided in an embodiment of the present application;

[0059] Figure 4A schematic diagram of an implementation flow of the radar simulation processing method provided by the present application in narrowband mode is shown;

[0060] Figure 5 A schematic diagram of a processing flow of a signal processing program in the present application for a radar echo signal in a narrowband mode is shown;

[0061] Figure 6 A schematic diagram of an implementation flow of the radar simulation processing method provided by the present application in a broadband mode is shown;

[0062] Figure 7 A schematic diagram of a processing flow of the signal processing program in the present application for radar echo signals in different orders within an imaging frame in a broadband mode is shown;

[0063] Figure 8 A schematic diagram of another composition structure of the radar simulation processing device provided in the present application is shown. DETAILED DESCRIPTION

[0064] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0065] The radar simulation processing method of the present application can be run on a server having a central processing unit (CPU) and a graphics processing unit (GPU).

[0066] The server is deployed with a Windows operating system and a real-time extension system (RTX) based on the Windows operating system. RTX is a real-time operating system. Considering the non-real-time nature of the Windows operating system, it cannot meet the real-time requirements in the radar simulation process. The present invention uses the RTX of the Windows platform to realize the real-time control of the radar simulation system. RTX can provide real-time control functions, which is stable and scalable.

[0067] At the same time, a signal processing program (or signal processing software) applicable to the Windows operating system is deployed on the server, wherein the signal processing program applicable to the Windows operating system is a program developed under the Windows operating system.

[0068] For example, the server may be equipped with a Compute Unified Device Architecture (CUDA), which is a general programming model and parallel computing platform. The signal processing program of the present application may be a set of codes developed based on CUDA and applicable to the Windows operating system.

[0069] In this application, data between the Windows operating system and RTX is exchanged through a shared memory, and data between CUDA and RTX is also exchanged through the shared memory, so that the signal processing program developed based on CUDA can exchange data with RTX through the shared memory.

[0070] In this application, considering the non-real-time nature of the Windows system, RTX is used to achieve real-time control of the radar simulation process. In this way, the control and processing are integrated into one server, the hardware architecture is simple, and both CUDA and RTX support the Microsoft Visual studio system development platform, which is easy to develop, open and maintain.

[0071] For ease of understanding, this article introduces a possible architecture of the server as the hardware architecture of radar echo and real-time control in the radar simulation process.

[0072] like Figure 1 As shown, it shows a schematic diagram of the composition architecture of the radar simulation system.

[0073] Depend on Figure 1 It can be seen that the radar simulation system may include a host computer 101 and a server 102 .

[0074] The server is deployed with a real-time extension subsystem (RTX) running on a Windows platform, and real-time control software can be run in the RTX, which can run in the CPU.

[0075] At the same time, the server is deployed with signal handlers (such as Figure 1 The signal processing program is a program developed under the Windows operating system, and the code in the signal processing program can run in the CPU and the graphics processor GPU.

[0076] Among them, the host computer 101 sends the system parameters configured by the main control interface and the operation instructions such as start, reset, self-check, stop, etc. to the real-time control software in the real-time extension subsystem RTX in the server 102 through Ethernet, and the real-time control software in RTX sends the control command word of the operation instruction to the signal processing program through the shared memory. At the same time, the real-time control software can also start resource scheduling after receiving the simulation start instruction, and send the resource scheduling result to the echo simulation unit (not shown in the figure) in the radar simulation system. This application mainly introduces the processing of the simulated radar echo and the real-time control of radar resource scheduling.

[0077] In the present application, the server also includes a preprocessing board, which can preprocess the radar echo signal.

[0078] Based on the above introduction, the radar echo processing method of the present application is introduced below using a flow chart.

[0079] like Figure 2 As shown, it shows a flow chart of an embodiment of the radar simulation processing method provided by the present application, and the method of this embodiment is applied to a server.

[0080] As described above, the server includes a CPU and a GPU, and a Windows operating system and RTX are deployed on the server. A signal processing program suitable for the Windows operating system is deployed on the server. For details, please refer to the relevant introduction above.

[0081] The method of this embodiment may include:

[0082] S201, obtaining radar echo data through the real-time extension system RTX, and storing the radar echo data in a shared memory between the real-time extension system RTX and the Windows operating system.

[0083] The radar echo data at least includes a radar echo signal.

[0084] For example, the RTX real-time operating system may have real-time control software, through which radar echo data may be obtained and stored in the shared memory.

[0085] In a possible implementation, the radar echo data obtained by the real-time expansion system may be pre-processed radar echo data. Figure 1 As shown, the server may further include a preprocessing board. Accordingly, the radar echo data received by the server may be preprocessed by the preprocessing board to obtain preprocessed radar echo data. On this basis, the radar echo data preprocessed by the preprocessing board is obtained through the real-time extension system RTX.

[0086] The preprocessing of the radar echo data by the preprocessing board may include one or more preprocessing operations such as unpacking, matching filter pulse compression, and de-slope pulse compression on the radar echo data.

[0087] In the present application, the preprocessing board may be a board based on the high-speed serial computer expansion bus standard (peripheral component interconnect express, PCIe). Therefore, the radar echo data preprocessed by the preprocessing board will be transmitted to the RTX via the PCIe bus.

[0088] S202, using a signal processing program to obtain radar echo data in a shared memory through a processor CPU.

[0089] For example, based on part of the code running on the CPU side in the signal processing program, when it is detected that there is radar echo data in the shared memory, the radar echo data will be obtained from the shared memory.

[0090] S203, storing the radar echo data in the display memory of the GPU through the CPU, and calling the GPU to process the radar echo signal.

[0091] In the present application, in order to perform signal processing on radar echo data with the help of the fast parallel computing capability of the GPU, based on the signal processing program, the radar echo data is stored in the video memory of the GPU through the CPU, and the GPU is called to run the GPU side code in the signal processing program to obtain the radar echo signal from the graphics card and perform corresponding processing.

[0092] S204, processing the radar echo signal by the GPU, and storing the signal processing result obtained by the GPU processing the radar echo signal in the video memory of the GPU.

[0093] S205, obtaining the signal processing result in the video memory through the processor CPU, determining the target information of the radar detection target based on the signal processing result, and storing the target information in the shared memory.

[0094] In the present application, the GPU can complete all signal processing operations required for the radar echo signal, or it can complete only some signal processing operations with more complex calculations, leaving only some processing operations that are not time-consuming and computationally complex to be completed by the CPU to ensure the real-time processing of the echo signal.

[0095] For example, if the GPU processes the radar echo signal and ultimately obtains the target information of the radar detection target, then the code based on the signal processing program on the CPU side can directly obtain the target information from the video memory without further processing the signal processing result after the GPU processing; if the GPU processing result of the radar echo signal is not the final target information, then the signal processing program needs to further process the signal processing result on the CPU.

[0096] In a possible implementation, the radar echo data (such as preprocessed radar echo data) may further include: an operating mode of the radar echo, the operating mode being one of a broadband mode and a narrowband mode. Accordingly, the signal processing program may process the radar echo signal through the GPU according to the operating mode. Specifically, when the operating modes are different, the specific processing content of the radar echo signal that needs to be processed by the GPU in the signal processing mode may also be different.

[0097] The target information may include whether there is a target in the radar echo signal, the target's point trace or imaging, and other information.

[0098] In this application, the signal processing program utilizes the fast parallel computing capability of the GPU to complete the signal processing of the radar echo within one pulse repetition period (PRI) to ensure the real-time processing of the radar echo signal.

[0099] S206, obtaining target information from the shared memory through the real-time extension system RTX, and performing radar resource scheduling based on the target information.

[0100] Among them, radar resource scheduling may include related scheduling and control such as radar beam direction and radar working mode. This application does not limit the specific scheduling content of radar resource scheduling that RTX needs to perform based on target information.

[0101] Since RTX is a real-time operating system, it can provide high-speed and accurate real-time response time. Its minimum clock resolution is 100ns and its minimum timer period is 100us. For radar systems with pulse repetition periods of ms, its timing accuracy can meet the real-time requirements of the system. Based on this, RTX can provide real-time control functions, which ensures the real-time nature of resource scheduling and control.

[0102] It can be understood that RTX performs adaptive resource scheduling based on the target information determined by the echo information obtained from the radar echo processing, thus realizing the real-time closed-loop simulation of the radar simulation system.

[0103] As can be seen from the above, in the embodiment of the present application, the server has a CPU and a GPU, and a Windows operating system and an RTX based on the Windows operating system are deployed on the server. After RTX obtains the radar echo data, the radar echo data will be stored in the shared memory between RTX and the Windows operating system. On this basis, based on the signal processing program under the Windows operating system, the radar echo data stored in RTX can be obtained from the shared memory through the CPU, and the relevant processing of the radar echo data can be completed by calling the GPU in the server, so that the real-time control function of RTX and the efficient processing performance of the GPU can be used to ensure the real-time processing of the radar echo, and the processing of the radar echo data and the radar resource scheduling process can be completed by only one server, making the hardware architecture required for radar simulation simple.

[0104] Moreover, with the help of the CPU and GPU in the server, the signal processing process of the radar echo can complete data interaction and processing through software programs. When the radar simulation requirements change, it is only necessary to upgrade the software program without redesigning the hardware architecture.

[0105] It can be understood that in the embodiment of the present application, after the target information is obtained through the CPU based on the signal processing program, the target information can also be transmitted to the real-time extension system RTX through the CPU based on the signal processing program. Accordingly, the real-time extension system RTX can perform resource scheduling related to radar echo simulation based on the target information. For example, RTX performs adaptive resource scheduling based on the track information and search parameters of the tracked target, thus realizing a closed-loop simulation from radar echo simulation to radar echo signal processing.

[0106] RTX provides high-speed and accurate real-time response time. Its minimum clock resolution is 100ns and its minimum timer period is 100us. For radar systems with a pulse repetition period of ms, its timing accuracy can meet the real-time requirements of the system.

[0107] In this application, the real-time control software in RTX serves as the core control software in the radar simulation process, and can use a multi-threaded architecture to process data interaction and resource scheduling.

[0108] In this application, the real-time control software in RTX is divided into four threads, including system control thread, direct memory access (DMA) data reading thread, adaptive resource scheduling thread and radar data processing thread.

[0109] like Figure 3As shown, the four branches under the real-time control software in RTX represent the above four threads and the operations they need to perform.

[0110] like Figure 3 As shown, the system control thread corresponds to Figure 3 The flow processing of the first branch from left to right.

[0111] Depend on Figure 3 It can be seen that the system control thread sequentially executes the following operation controls related to steps S311 to S314:

[0112] S311, receiving parameter download from the host computer;

[0113] S312, simulation starts;

[0114] S313, simulation stops;

[0115] S314, the system resets the command to perform self-test.

[0116] DMA data reading thread corresponds to Figure 3 The process processing of the second branch from left to right.

[0117] like Figure 3 , the DMA data reading thread performs the following operations from step S321 to step S323 in sequence:

[0118] S321, real-time reading of radar echo data uploaded by the pre-processing board;

[0119] S322, storing the radar echo data into a shared memory;

[0120] S323, sharing the radar echo data with the signal processing program through the shared memory.

[0121] Adaptive scheduling thread correspondence Figure 3 The process processing of the third branch from left to right.

[0122] like Figure 3 As shown, the adaptive scheduling thread can perform the operations of steps S331-S332:

[0123] S331, based on the search area and the information of the tracked target, the beam pointing of the next pulse repetition period and other resource scheduling are calculated according to the priority level;

[0124] S332, writing the resource scheduling result into a programmable logic device (Field Programmable Gate Array, FPGA).

[0125] Radar data processing thread corresponding Figure 3The process processing of the fourth branch from left to right.

[0126] like Figure 3 As shown, the radar data processing flow can perform the operation of step S341:

[0127] S341, through the shared event, real-time query whether the processing result of the signal processing software (i.e., the signal processing program) is valid. If the processing result is valid, coordinate transformation, point condensation, single target tracking and multi-target association processing are performed on the signal processing result to form a target track.

[0128] In an optional way, in order to avoid mutual influence between threads, the Windows system function SetThreadAffinityMask() can be called to make each thread run on a different CPU core, and the priority of the corresponding thread can be set according to the real-time processing requirements of each thread.

[0129] In this application, according to the different working modes of the current radar during the radar simulation process, the operations that the GPU needs to perform on the radar echo signal will also be different. For ease of understanding, the radar echo processing method of this application is introduced in a possible situation in combination with the different working modes of the radar.

[0130] First, a possible implementation method of radar echo processing is introduced when the radar working mode is narrowband mode.

[0131] like Figure 4 As shown, it shows a radar echo processing method suitable for narrowband mode provided in an embodiment of the present application, and the method is applied to the server mentioned above.

[0132] The method of this embodiment may include:

[0133] S401, preprocessing the received radar echo data by a preprocessing board in the server to obtain preprocessed radar echo data.

[0134] S402, obtaining the radar echo data preprocessed by the preprocessing board through the real-time extension system RTX, and storing the preprocessed radar echo data in a shared memory between the real-time extension system RTX and the Windows operating system.

[0135] The pre-processed radar echo data at least includes a radar echo signal and a radar working mode. The radar working mode includes a narrowband mode and a wideband mode. In this embodiment, the radar simulation in the narrowband mode is taken as an example.

[0136] Of course, the radar echo data may also include other data information, and there is no limitation to this.

[0137] S403, using a signal processing program to obtain the pre-processed radar echo data in the shared memory through the CPU.

[0138] The above steps can be referred to the related introduction of the previous embodiment, which will not be repeated here.

[0139] S404, storing the radar echo data in the display memory of the GPU through the CPU, and calling the GPU to process the radar echo signal.

[0140] For example, based on the signal processing program, the CPU calls a kernel function (a function in the GPU) of parallel computing to perform processing of the radar echo signal in the radar echo data through the kernel function in the GPU.

[0141] S405, if the radar working mode is the narrowband mode, perform envelope detection and unit average constant false alarm rate detection on the radar echo signal based on the GPU, and store the obtained echo detection result in the video memory of the GPU.

[0142] It can be understood that, based on the GPU identifying that the radar operating mode indicated in the radar echo data is the narrowband mode, then based on the signal processing program, the GPU can first perform processing of the radar echo signal in the narrowband mode.

[0143] In the present application, based on the signal processing program, envelope detection of the radar echo signal can be performed in sequence on the GPU, and the unit average constant false alarm rate (CA-CFAR) detection can be performed based on the envelope detection result, and finally the CA-CFAR detection result, that is, the echo detection result, is obtained.

[0144] The envelope detection is to calculate the amplitude of all distance units of the radar echo signal. The processing for each distance unit is independent and the operation is the same.

[0145] CA-CFAR detection is to determine the reference unit data of any distance unit in the radar echo signal, use the reference unit data to estimate the background noise and clutter power of the distance unit to obtain the detection threshold, and judge whether there is a radar detection target in the distance unit based on the detection threshold. Among them, when detecting the distance unit of the radar echo signal, the detection threshold of each distance unit is calculated by summing and averaging operations to judge whether there is a target in the distance unit, and each distance unit completes the same repeated operation.

[0146] Since the processing performed on each distance unit in envelope detection and CA-CFAR detection is independent, and for either envelope detection or CA-CFAR detection, the processing of different distance units is the same, based on this, in order to improve processing efficiency, envelope detection and unit average constant false alarm rate detection can be performed on different distance units in the radar echo signal in parallel through different threads on the GPU, thereby realizing the use of different threads to perform envelope detection and CA-CFAR detection on different distance units in parallel.

[0147] S406, obtaining the echo detection result in the video memory through the CPU, and determining the target point information of the radar detection target based on the echo detection result.

[0148] It can be understood that for the processing of radar echo signals in narrowband mode, after envelope detection and CA-CFAR detection are performed on the radar echo signals, it is possible to determine whether a target exists based on the obtained echo detection results, and then perform corresponding processing based on whether a target exists.

[0149] In this embodiment, if the echo detection result after CA-CFAR detection indicates that the radar detection target is detected, the distance measurement, azimuth measurement and pitch angle measurement of the radar detection target are performed based on the radar echo signal, and finally the target point trace information of the radar detection target is obtained. If the echo detection result after CA-CFAR detection indicates that the radar detection target is not detected, there is no need to perform distance measurement of the target, etc., and therefore, target point trace information with an empty target point trace can be generated.

[0150] Based on this, the target trace information in the present application can represent whether the target is detected; and the trace of the detected target (if the target is not detected, the trace information can be empty).

[0151] In this embodiment, considering the large complexity and computational complexity of envelope detection and CA-CFAR detection in narrowband mode, the GPU is used to complete this part of the processing, while the CPU is used to complete the relatively low complexity and small impact on the computational time such as distance measurement. Of course, the process of determining the target point trace information required after CA-CFAR detection is also executed on the GPU side, which is also applicable to this application.

[0152] In an optional manner, after the signal processing program obtains the echo detection result from the video memory, the echo detection result may be cached in a memory corresponding to the CPU, so as to perform further data processing based on the echo detection result in the memory.

[0153] S407, transmitting the target point trace information to the real-time extension system RTX through the CPU.

[0154] S408, determining the target track information based on the target point track information through the real-time extension system RTX, and executing radar resource scheduling based on the target track information.

[0155] For example, RTX can perform scheduling control related to the signal parameters and beam pointing of the radar transmit pulse according to the target track information. This application does not limit the content of the specific resource scheduling.

[0156] For real-time radar simulation systems, the processing time of radar echo signals must be less than the pulse repetition period. As the complexity of the signal processing algorithm increases, the radar echo processing system needs to have a very fast processing speed. In response to this requirement, this application adopts a radar echo processing architecture based on the CPU+GPU architecture, using the powerful floating-point computing power and parallel processing capabilities of the GPU to quickly implement signal processing and obtain target point traces.

[0157] At the same time, due to the real-time nature of RTX, in the narrowband model, real-time resource scheduling can be performed through RTX to ensure the real-time nature of radar simulation and echo signal processing.

[0158] For ease of understanding, the radar echo processing method of the present application performs the relevant processes of radar echo signal processing with the help of CPU and GPU based on the signal processing program in narrowband mode. Figure 5 For relevant introduction. Figure 5 As shown, it shows a schematic diagram of a process for processing radar echo signals in narrowband mode based on a signal processing program, and the process includes:

[0159] S501, first start CUDA to ensure the reliable operation of the signal processing program, and perform settings such as GPU initialization.

[0160] S502, confirm the memory corresponding to the CPU and the video memory of the GPU.

[0161] S503, based on the signal processing program, detect whether there is a radar echo signal to be processed in the memory, if yes, execute step S504; otherwise, continue waiting.

[0162] S504, based on the signal processing program, the radar echo signal is stored from the memory to the video memory of the GPU through the CPU.

[0163] S505, based on the signal processing program, the radar echo signal envelope is detected by the GPU.

[0164] S506, based on the signal processing program, CA-CFAR detection is performed on the radar echo signal after envelope detection by the GPU to obtain the echo detection result and store it in the video memory.

[0165] Depend on Figure 5It can be seen that in narrowband mode, the signal processing program will use the GPU to perform envelope detection and CA-CFAR detection of the radar echo signal. Since the complexity of envelope detection and CA-CFAR detection is relatively high, the high performance of the GPU can improve the efficiency of these two parts of processing.

[0166] S507, based on the signal processing program, the echo detection result of the radar echo signal is stored from the video memory to the internal memory through the CPU.

[0167] S508, based on the signal processing program, the CPU is used in combination with the echo detection result to confirm the target point trace information, and the target point trace information is stored in the shared memory.

[0168] Figure 5 This is to facilitate understanding of the radar echo signal processing part performed by the signal processing program with the help of the CPU and GPU. The specific execution process can refer to the relevant introduction of the previous embodiment and will not be repeated here.

[0169] The following describes a possible implementation method of radar echo processing when the radar working mode is broadband mode.

[0170] like Figure 6 As shown, it shows a radar echo processing method suitable for broadband mode provided in an embodiment of the present application, and the method is applied to the server mentioned above.

[0171] The method of this embodiment may include:

[0172] S601, preprocessing the received radar echo data by a preprocessing board in the server to obtain preprocessed radar echo data.

[0173] S602, obtaining radar echo data preprocessed by the preprocessing board through the real-time extension system RTX, and storing the preprocessed radar echo data in a shared memory between the real-time extension system RTX and the Windows operating system.

[0174] The pre-processed radar echo data at least includes a radar echo signal and a radar working mode. In this embodiment, the radar simulation in a broadband mode is taken as an example.

[0175] S603, using a signal processing program to obtain the pre-processed radar echo data in the shared memory through the CPU.

[0176] S604, storing the radar echo data in the display memory of the GPU through the CPU, and calling the GPU to process the radar echo signal.

[0177] Similar to the previous embodiment, the signal processing program may call a parallel computing kernel function (a function in the GPU) based on the CPU to implement the calling of the kernel function in the GPU to execute the processing of the radar echo signal in the radar echo data.

[0178] S605: If the working mode is the broadband mode, the GPU performs envelope alignment, phase correction and target imaging processing on the radar echo signal, and stores the imaging result of the target obtained by the imaging processing into the video memory of the GPU.

[0179] In this application, there are many possible specific implementations of performing envelope alignment, phase correction, and target imaging on radar echo signals, and this application does not impose any restrictions on this. For example, the imaging processing of the target can be performed using an inverse synthetic aperture radar (ISAR).

[0180] Among them, the imaging result of the target is also the imaging result of the radar detecting the target.

[0181] It is understandable that, in the broadband mode, multiple radar echo pulses are required to form an imaging frame of a target, that is, one imaging frame corresponds to multiple radar echo pulses. For example, one imaging frame may correspond to 128 or 256 radar echo pulses.

[0182] In broadband mode, each radar echo signal also carries the pulse sequence in its corresponding imaging frame. In order to shorten the processing time, different pulse echoes in one imaging frame can be processed differently.

[0183] like Figure 7 , which shows a schematic diagram of the operation flow of the signal processing program for radar echo signals in different orders within an imaging frame in broadband mode.

[0184] It is assumed that the number of radar echo signals (also called radar echo pulses) in one imaging frame is N, and N is a natural number greater than 1.

[0185] Figure 7 The following steps may be included:

[0186] S701, first start CUDA to ensure the reliable operation of the signal processing program, and perform settings such as GPU initialization.

[0187] S702, confirm the memory corresponding to the CPU and the video memory of the GPU.

[0188] S703, based on the signal processing program, detect whether there is a radar echo signal to be processed in the memory, if yes, execute step S704; otherwise, continue waiting.

[0189] S704, based on the signal processing program, the radar echo signal is stored from the memory to the video memory of the GPU through the CPU.

[0190] S705, based on the signal processing program, the pulse count value n of the radar echo signal in the imaging frame is determined by the GPU, wherein when the value of n is 1, step S706 is triggered to be executed; when the value of n is between 1 and N, steps S707 and S708 are executed; when the value of n is N, steps S709 to S711 are executed.

[0191] The pulse count value represents the number of radar echo signals in the imaging frame to which the radar echo signal belongs. For example, if n is 1, it means that the radar echo signal is the first radar echo signal in the imaging frame; if n is N, it means that the radar echo signal is the last radar echo signal in the imaging frame.

[0192] S706: When the radar echo signal is the first radar echo signal in the imaging frame, based on the signal processing program, the GPU performs modulus calculation on the radar echo signal, and uses the radar echo signal after the modulus calculation as a reference signal.

[0193] S707: When the radar echo signal belongs to any one of the second to N-1 radar echo signals in the imaging frame, based on the signal processing program, envelope alignment of the radar echo signal is performed by the GPU based on the reference signal.

[0194] S708, performing phase correction on the radar echo signal most recently before the radar echo signal by combining the radar echo signal with the envelope aligned radar echo signal through the GPU, caching the correction result of the phase correction, and updating the reference signal to the radar echo signal with the envelope aligned radar echo signal.

[0195] S709 , when the radar echo signal is the Nth radar echo signal in the imaging frame, perform envelope alignment on the radar echo signal based on the reference signal.

[0196] S710: Perform phase correction on a radar echo signal that is closest to the radar echo signal by using the GPU and the radar echo signal after envelope alignment.

[0197] S711, perform Fourier transform and modulus value calculation in azimuth for all distance units of each radar echo signal in the imaging frame through the GPU, obtain the target imaging corresponding to the imaging frame and cache it in the video memory.

[0198] It can be understood that, when the radar echo signal is the last radar echo signal in the imaging frame, after the phase correction processing is completed for the radar echo signal, the phase correction of all radar echo signals in the imaging frame is completed. On this basis, all radar echo signals after phase correction in the imaging frame can be combined to perform Fourier transform (FFT) and modulus value calculation of the directional position, so as to obtain the target imaging corresponding to the imaging frame.

[0199] Depend on Figure 7 It can be seen that in the broadband mode, the signal processing performed on the radar echo signal, ie, the operations from step S706 to step S711, are all completed by the GPU.

[0200] It can be understood that after obtaining the target imaging of the imaging frame, the target imaging in the video memory can be stored in the internal memory based on the signal processing program, that is, the operation of step S712 is executed; then, accordingly, the target imaging can be stored in the shared memory with the help of the CPU through step S713, which will not be repeated here.

[0201] S606, obtaining, through the CPU, an imaging result of the target stored in the display memory, and determining the imaging result of the target as target information of the radar detection target.

[0202] S607: The imaging result of the target is stored in the shared memory through the CPU, so that the real-time extension system RTX can obtain the imaging result of the target from the shared memory.

[0203] S608, executing radar resource scheduling based on the imaging result of the target through the real-time extension system RTX.

[0204] Similar to the previous embodiment, this embodiment, based on the high performance of GPU, can make the processing time of radar echo signal less than the pulse repetition period, meeting the real-time requirements; and with the help of the real-time performance of RTX, the real-time performance of resource scheduling control in the radar simulation process can be met, thereby ensuring the real-time performance of real-time radar simulation under a simple hardware architecture. Moreover, since the resource scheduling and echo signal processing of radar simulation in this application are completed by software based on CPU and GPU, portability means that when upgrading the equipment, there is no need to redesign the hardware system, but only to upgrade the software.

[0205] Corresponding to a radar echo processing method of the present application, the present application also provides a radar simulation processing device.

[0206] like Figure 8As shown, it shows a schematic diagram of the composition structure of the radar simulation processing device provided by the present application, which is applied to a server, and the server includes a central processing unit CPU and a graphics processing unit GPU, and the server is deployed with a Windows operating system and a real-time extension system RTX based on the Windows operating system, and a signal processing program suitable for the Windows operating system is deployed on the server.

[0207] The device includes:

[0208] A real-time control unit 801 is used to obtain radar echo data through a real-time extension system RTX, and store the radar echo data in a shared memory between the real-time extension system RTX and a Windows operating system, wherein the radar echo data at least includes a radar echo signal;

[0209] A data acquisition unit 802 is used to acquire the radar echo data in the shared memory through the CPU using a signal processing program;

[0210] A storage calling unit 803, configured to store the radar echo data in the video memory of the GPU through the CPU, and call the GPU to process the radar echo signal;

[0211] A signal processing unit 804 is used to process the radar echo signal through the GPU, and store the signal processing result obtained by the GPU processing the radar echo signal into the video memory of the GPU;

[0212] A target determination unit 805 is configured to obtain a signal processing result in the video memory through the CPU, determine target information of a target detected by the radar based on the signal processing result, and store the target information in the shared memory;

[0213] The resource scheduling unit 806 is used to obtain the target information from the shared memory through the real-time extension system RTX, and perform radar resource scheduling based on the target information.

[0214] In a possible implementation, the server further includes: a preprocessing board;

[0215] The device also includes:

[0216] A preprocessing unit, used for preprocessing the received radar echo data through the preprocessing board before obtaining the radar echo data through the real-time extension system RTX, so as to obtain the preprocessed radar echo data, wherein the preprocessing includes: performing one or more of unpacking, matched filtering pulse compression and de-slope pulse compression operations on the radar echo data;

[0217] When the real-time control unit obtains the radar echo data through the real-time extension system RTX, it is specifically used to obtain the radar echo data preprocessed by the preprocessing board through the real-time extension system RTX.

[0218] In yet another possible implementation, the radar echo data obtained by the real-time control unit further includes: a radar operating mode, the radar operating mode being one of a broadband mode and a narrowband mode;

[0219] When the signal processing unit processes the radar echo signal through the GPU, the signal processing unit is specifically configured to process the radar echo signal through the GPU according to the radar working mode.

[0220] In one possible case, the signal processing unit includes:

[0221] an echo detection unit, configured to perform envelope detection and unit average constant false alarm rate detection on the radar echo signal through the GPU when the radar working mode is a narrowband mode, so as to obtain an echo detection result;

[0222] A detection result storage unit, used for storing the echo detection result in the video memory of the GPU;

[0223] Target determination unit, including:

[0224] The first target determination unit is used to obtain the echo detection result in the video memory through the CPU, determine the target point trace information of the radar detection target based on the echo detection result, and store the target point trace information in the shared memory.

[0225] As an optional method, the echo detection unit includes:

[0226] The echo detection subunit is used for performing envelope detection and unit average constant false alarm rate detection on different distance units in the radar echo signal in parallel through different threads on the GPU when the radar working mode is a narrowband mode;

[0227] Wherein, the envelope detection is used to calculate the amplitude of all distance units of the radar echo signal;

[0228] The unit average constant virtual rate detection is to determine the reference unit data of any distance unit in the radar echo signal, use the reference unit data to estimate the background noise and clutter power of the distance unit to obtain a detection threshold, and judge whether there is a radar detection target in the distance unit based on the detection threshold.

[0229] As an optional method, the resource scheduling unit includes:

[0230] a track determination subunit, configured to determine a target track based on the target information through the real-time extension system RTX;

[0231] The resource scheduling subunit is used to perform radar resource scheduling based on the target track, and the radar resource scheduling at least includes: scheduling control of signal parameters and beam pointing of radar transmission pulses.

[0232] In yet another possible scenario, the signal processing unit includes:

[0233] An imaging processing unit, configured to perform envelope alignment, phase correction and target imaging processing on the radar echo signal through the GPU when the radar operating mode is a broadband mode;

[0234] An imaging storage unit, used for storing the imaging result of the target obtained by the imaging process into the video memory of the GPU;

[0235] Target determination unit, including:

[0236] The second target determination unit is used to obtain the imaging result of the target stored in the video memory through the CPU, determine the imaging result of the target as the target information of the radar detection target, and store the target information in the shared memory.

[0237] In an optional manner, the imaging processing unit includes:

[0238] a first imaging processing unit, configured to, if the radar echo signal is the first radar echo signal in an imaging frame, perform modulus calculation on the radar echo signal through the graphics processor GPU, and use the radar echo signal after the modulus calculation as a reference signal;

[0239] a second imaging processing unit, configured to, if the radar echo signal belongs to any one of the second to N-1 radar echo signals in the imaging frame, perform envelope alignment on the radar echo signal based on the reference signal through the graphics processor GPU, perform phase correction on a radar echo signal most recent before the radar echo signal using the envelope-aligned radar echo signal, cache a correction result of the phase correction, and update the reference signal to the envelope-aligned radar echo signal;

[0240] The third imaging processing unit is used to perform envelope alignment on the radar echo signal based on the reference unit if the radar echo signal is the Nth radar echo signal in the imaging frame, perform phase correction on the most recent radar echo signal before the radar echo signal using the envelope-aligned radar echo signal, and perform azimuth Fourier transform and modulus calculation on all distance units of each radar echo signal in the imaging frame to obtain target imaging corresponding to the imaging frame.

[0241] It should be noted that each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the embodiments can be referred to each other. At the same time, the features recorded in each embodiment in this specification can be replaced or combined with each other, so that professionals in the field can implement or use this application. For device embodiments, since they are basically similar to method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0242] Finally, it should be noted that, in this article, relational terms such as first and second, etc. 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 sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0243] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

[0244] The above are only preferred implementations of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A radar simulation processing method, characterized in that: Applied to a server, the server includes a central processing unit (CPU) and a graphics processing unit (GPU), and a Windows operating system and a real-time extension system (RTX) based on the Windows operating system are deployed on the server, and a signal processing program applicable to the Windows operating system is deployed on the server, the method includes: Acquire radar echo data through the real-time extension system RTX, and store the radar echo data in a shared memory between the real-time extension system RTX and the Windows operating system, wherein the radar echo data includes a radar echo signal and a radar operating mode, and the radar operating mode is one of a broadband mode and a narrowband mode; Using the signal processing program to obtain the radar echo data in the shared memory through the central processing unit CPU; The radar echo data is stored in the video memory of the graphics processing unit GPU by the central processing unit CPU, and the graphics processing unit GPU is called to process the radar echo signal; Processing the radar echo signal by the graphics processing unit GPU, and storing the signal processing result obtained by the graphics processing unit GPU processing the radar echo signal in the video memory of the graphics processing unit GPU; Obtaining the signal processing result in the video memory through the central processing unit CPU, determining the target information of the radar detection target based on the signal processing result, and storing the target information in the shared memory; Obtaining the target information from the shared memory through the real-time extension system RTX, and performing radar resource scheduling based on the target information; The processing of the radar echo signal by the graphics processor GPU and storing a signal processing result obtained by the graphics processor GPU processing the radar echo signal in a video memory of the graphics processor GPU include: When the radar working mode is a narrowband mode, the graphics processor GPU performs envelope detection and unit average constant false alarm rate detection on the radar echo signal to obtain an echo detection result; and the echo detection result is stored in the video memory of the graphics processor GPU; When the radar working mode is a broadband mode, envelope alignment, phase correction and target imaging processing are performed on the radar echo signal by the graphics processor GPU; and an imaging result of the target obtained by the imaging processing is stored in a video memory of the graphics processor GPU; The step of obtaining the signal processing result in the video memory through the central processing unit CPU and determining the target information of the radar detection target based on the signal processing result includes: When the radar working mode is a narrowband mode, the echo detection result in the video memory is obtained by the central processing unit CPU, and the target point information of the radar detection target is determined based on the echo detection result; When the radar working mode is the broadband mode, the imaging result of the target stored in the video memory is obtained by the central processing unit CPU, and the imaging result of the target is determined as the target information of the radar detection target.

2. The method according to claim 1, characterized in that: The server also includes: a pre-processing board; Before obtaining radar echo data through the real-time extension system RTX, the method further includes: Preprocessing the received radar echo data by the preprocessing board to obtain preprocessed radar echo data, wherein the preprocessing includes: performing one or more of unpacking, matched filtering pulse compression and de-slope pulse compression operations on the radar echo data; The radar echo data is obtained by using the real-time extension system RTX, including: The radar echo data preprocessed by the preprocessing board is obtained through the real-time extension system RTX.

3. The method according to claim 1, characterized in that The determining the target point information of the radar detection target based on the echo detection result includes: If the echo detection result indicates that a radar detection target is detected, distance measurement, azimuth measurement and elevation angle measurement are performed on the radar detection target based on the radar echo signal to obtain target point trace information of the radar detection target; If the echo detection result indicates that the radar detection target is not detected, target point trace information indicating that the target point trace is empty is generated.

4. The method according to claim 1, characterized in that The performing envelope detection and unit average constant false alarm rate detection on the radar echo signal by the graphics processor GPU includes: Performing envelope detection and unit average constant false alarm rate detection on different distance units in the radar echo signal in parallel through different threads on the graphics processor GPU; Wherein, the envelope detection is used to calculate the amplitude of all distance units of the radar echo signal; The unit average constant virtual rate detection is to determine the reference unit data of any distance unit in the radar echo signal, use the reference unit data to estimate the background noise and clutter power of the distance unit to obtain a detection threshold, and judge whether there is a radar detection target in the distance unit based on the detection threshold.

5. The method according to claim 1, characterized in that The radar resource scheduling is performed based on the target information by the real-time extension system RTX, including: Determine the target track based on the target point track information by the real-time extension system RTX; Based on the target track, radar resource scheduling is performed, and the radar resource scheduling at least includes: scheduling control of signal parameters and beam pointing of radar transmit pulses.

6. The method according to claim 1, characterized in that The performing envelope alignment, phase correction and target imaging processing on the radar echo signal by the graphics processor GPU includes: In a case where the radar echo signal is the first radar echo signal in an imaging frame, performing modulus calculation on the radar echo signal by the graphics processor GPU, and using the radar echo signal after the modulus calculation as a reference signal; In a case where the radar echo signal belongs to any one of the second to N-1 radar echo signals in the imaging frame, envelope alignment is performed on the radar echo signal based on the reference signal by the graphics processor GPU, phase correction is performed on a radar echo signal most recently before the radar echo signal by using the envelope-aligned radar echo signal, a correction result of the phase correction is cached, and the reference signal is updated to the envelope-aligned radar echo signal, where N is the total number of radar echo signals corresponding to the imaging frame, and N is a natural number greater than 1; In the case that the radar echo signal is the Nth radar echo signal in the imaging frame, envelope alignment is performed on the radar echo signal based on the reference signal, phase correction is performed on the radar echo signal most recently before the radar echo signal using the envelope-aligned radar echo signal, and Fourier transform and modulus calculation are performed in azimuth on all distance units of each radar echo signal in the imaging frame to obtain target imaging corresponding to the imaging frame.

7. A radar simulation processing device, characterized in that: Applied to a server, the server includes a central processing unit (CPU) and a graphics processing unit (GPU), and a Windows operating system and a real-time extension system (RTX) based on the Windows operating system are deployed on the server, and a signal processing program applicable to the Windows operating system is deployed on the server, and the device includes: A real-time control unit, used for obtaining radar echo data through a real-time extension system RTX, and storing the radar echo data in a shared memory between the real-time extension system RTX and a Windows operating system, wherein the radar echo data includes a radar echo signal and a radar operating mode, and the radar operating mode is one of a broadband mode and a narrowband mode; A data acquisition unit, used for acquiring the radar echo data in the shared memory through the central processing unit CPU using the signal processing program; A storage calling unit, used for storing the radar echo data in the video memory of the graphics processing unit GPU through the central processing unit CPU, and calling the graphics processing unit GPU to process the radar echo signal; a signal processing unit, configured to process the radar echo signal through the graphics processing unit GPU, and store the signal processing result obtained by the graphics processing unit GPU processing the radar echo signal in the video memory of the graphics processing unit GPU; A target determination unit, configured to obtain a signal processing result in the video memory through the central processing unit CPU, determine target information of a target detected by the radar based on the signal processing result, and store the target information in the shared memory; A resource scheduling unit, configured to obtain the target information from the shared memory through the real-time extension system RTX, and perform radar resource scheduling based on the target information; Wherein, the signal processing unit comprises: an echo detection unit, configured to perform envelope detection and unit average constant false alarm rate detection on the radar echo signal through the GPU when the radar working mode is a narrowband mode, so as to obtain an echo detection result; A detection result storage unit, used for storing the echo detection result in the video memory of the GPU; as well as, An imaging processing unit, configured to perform envelope alignment, phase correction and target imaging processing on the radar echo signal through the GPU when the radar operating mode is a broadband mode; An imaging storage unit, used for storing the imaging result of the target obtained by the imaging process into the video memory of the GPU; The target determination unit comprises: A first target determination unit, configured to obtain the echo detection result in the video memory through the CPU, determine the target point trace information of the radar detection target based on the echo detection result, and store the target point trace information in the shared memory; The second target determination unit is used to obtain the imaging result of the target stored in the video memory through the CPU, determine the imaging result of the target as the target information of the radar detection target, and store the target information in the shared memory.

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