Radar imaging method, apparatus, and computer-readable storage medium

Abstract

The application provides a radar imaging method, device and computer readable storage medium, and the method comprises the following steps: controlling a radar emission module to emit electromagnetic signals to a tracking target in time; after a radar receiving module receives a first echo signal at a first position, controlling the radar receiving module to move to a second position according to a preset motion path during an adjacent radar signal emission interval; after the radar receiving module receives a second echo signal at the second position, determining object architecture information of the tracking target according to the first echo signal, the second echo signal and the preset motion path; and constructing a geometric surface according to the object architecture information to construct a geometric image of the tracking target. The circuit volume of the radar device is reduced, and the manufacturing cost is lowered.

Description

Technical Field

[0001] This invention relates to the field of radar technology, and in particular to a radar imaging method, apparatus, and computer-readable storage medium. Background Technology

[0002] Radar is widely used in many fields such as military early warning, missile guidance, civil air traffic control, topographic surveying, meteorology, and navigation. Traditionally, radar is mainly used for overall tracking of long-range targets. However, in recent years, the application of radar in close-range scenarios such as indoor environments has been gradually increasing. Compared with long-range radar applications, close-range radar applications require the capture of details of the tracked target.

[0003] In related technologies, the principle of radar signal reflection is generally used to track targets. Through dense radar point clouds, many details of the tracked target can be obtained, such as its shape and the relative position of each area. Due to the limited size of radar device circuits and manufacturing costs, the amount of data received by radar antennas is also limited, which restricts the size of radar spatial resolution.

[0004] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The main objective of this invention is to provide a radar imaging method, apparatus, and computer-readable storage medium, which aims to improve the spatial resolution of radar.

[0006] To achieve the above objectives, the present invention provides a radar imaging method, which includes the following steps:

[0007] The radar transmitting module is controlled to transmit electromagnetic signals to the tracked target in a time-division manner.

[0008] After the radar receiving module receives the first echo signal at the first position, during the interval between adjacent radar signal transmissions, the radar receiving module is controlled to move to the second position according to a preset motion path.

[0009] When the radar receiving module receives the second echo signal at the second position, it determines the object structure information of the tracked target based on the first echo signal, the second echo signal and the preset motion path.

[0010] A geometric surface is constructed based on the object's structural information to create a geometric image of the tracked target.

[0011] Optionally, the step of controlling the radar receiving module to move to the second position according to a preset motion path includes:

[0012] Control the radar receiving module to move horizontally to the second position.

[0013] Optionally, the step of controlling the radar receiving module to move horizontally to the second position includes:

[0014] Control the electrically driven element connected to the radar receiving module to move the radar receiving module from the first position to the second position at a preset speed.

[0015] Optionally, the step of controlling the radar transmitting module to transmit electromagnetic signals to the tracked target includes:

[0016] The radar transmitting module is controlled to send the electromagnetic signal to the tracked target, so that the radar receiving module can receive the first echo signal at the first position;

[0017] The offset angle and interval time of the electromagnetic signal are determined based on the preset movement path and the movement speed;

[0018] The radar transmitting module is controlled to send the electromagnetic signal to the tracked target according to the offset angle and the interval time, so that the radar receiving module can receive the second echo signal at the second position.

[0019] Optionally, the step of constructing a geometric surface based on the object architecture information to construct a geometric image of the tracking target further includes:

[0020] The tracking target is acquired by a camera device in RGB video, and the color texture image corresponding to the geometric surface is obtained based on the RGB video.

[0021] The color texture image is filled into the geometric surface to form a geometric image of the tracked target with depth information and color texture.

[0022] Optionally, the step of controlling the radar receiving module to move to the second position according to a preset motion path includes:

[0023] Calculate the second position of the radar receiving module required to obtain the preset radar spatial angle resolution, and execute the step of controlling the radar receiving module to move to the second position according to the preset motion path.

[0024] Optionally, the radar receiving module includes an array antenna.

[0025] In addition, to achieve the above objectives, the present invention also provides a radar imaging device, which includes a memory, a processor, and a radar imaging program stored in the memory and executable on the processor. When the radar imaging program is executed by the processor, it implements the steps of the radar imaging method as described above.

[0026] Furthermore, to achieve the above objectives, the present invention also provides a radar imaging device, the radar imaging device comprising:

[0027] The transmitting module is used to control the radar transmitting module to transmit electromagnetic signals to the tracked target in a time-division manner;

[0028] The mobile module is used to control the radar receiving module to move to the second position according to a preset motion path during the interval between adjacent radar signal transmissions after the radar receiving module receives the first echo signal at the first position.

[0029] The confirmation module is used to determine the object structure information of the tracked target based on the first echo signal, the second echo signal and the preset motion path after the radar receiving module receives the second echo signal at the second position.

[0030] A construction module is used to construct a geometric surface based on the object's structural information to build a geometric image of the tracking target.

[0031] In addition, to achieve the above objectives, the present invention also provides a computer-readable storage medium storing a radar imaging program, which, when executed by a processor, implements the steps of the radar imaging method as described above.

[0032] This invention discloses a radar imaging method, apparatus, and computer-readable storage medium. First, a radar transmitting module is controlled to transmit electromagnetic signals to a tracked target in a time-division multiplexing manner. After the radar receiving module receives a first echo signal at a first position, during the interval between adjacent radar signal transmissions, the radar receiving module is controlled to move to a second position along a preset motion path. After the radar receiving module receives a second echo signal at the second position, the object structure information of the tracked target is determined based on the first echo signal, the second echo signal, and the preset motion path. A geometric surface is constructed based on the object structure information to build a geometric image of the tracked target. By displacing the radar receiving module, a virtual double radar receiving module can be created. Therefore, it is possible to improve spatial resolution without increasing the circuit size and manufacturing cost of the radar device. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the terminal structure of the hardware operating environment involved in the embodiments of the present invention;

[0034] Figure 2 This is a schematic flowchart of an embodiment of the radar imaging method of the present invention;

[0035] Figure 3 This is a schematic flowchart of another embodiment of the radar imaging method of the present invention;

[0036] Figure 4 This is a simplified diagram of the radar imaging device architecture according to an embodiment of the present invention.

[0037] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0038] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0039] In related technologies, target tracking is generally performed using radar point clouds. However, in short-range radar tracking applications, more precise capture of object details is required. Increasing the number of receiving antennas to improve the capture of object details would increase the size of the radar device circuitry and manufacturing costs. Without increasing the size of the radar device circuitry, spatial resolution cannot be improved.

[0040] To improve spatial resolution, embodiments of the present invention provide a radar imaging method, apparatus, and computer-readable storage medium, wherein the radar imaging method includes the following steps:

[0041] The radar transmitting module is controlled to transmit electromagnetic signals to the tracked target in a time-division manner.

[0042] After the radar receiving module receives the first echo signal at the first position, during the interval between adjacent radar signal transmissions, the radar receiving module is controlled to move to the second position according to a preset motion path.

[0043] When the radar receiving module receives the second echo signal at the second position, it determines the object structure information of the tracked target based on the first echo signal, the second echo signal and the preset motion path.

[0044] A geometric surface is constructed based on the object's structural information to create a geometric image of the tracked target.

[0045] The claims of this invention will be described in detail below with reference to the accompanying drawings.

[0046] like Figure 1 As shown, Figure 1 This is a schematic diagram of the terminal structure of the hardware operating environment involved in the embodiments of the present invention.

[0047] In this embodiment of the invention, the terminal can be a radar imaging device.

[0048] like Figure 1As shown, the terminal may include: a processor 1001, such as a CPU, a memory 1003, and a communication bus 1002. The communication bus 1002 is used to enable communication between these components. The memory 1003 may be a high-speed RAM or a stable, non-volatile memory, such as a disk drive. Optionally, the memory 1003 may also be a storage device independent of the aforementioned processor 1001.

[0049] Those skilled in the art will understand that Figure 1 The terminal structure shown does not constitute a limitation on the terminal and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0050] like Figure 1 As shown, the memory 1003, which serves as a computer storage medium, may include an operating system and a radar imaging program.

[0051] exist Figure 1 In the terminal shown, the processor 1001 can be used to call the radar imaging program stored in the memory 1003 and perform the following operations:

[0052] The radar transmitting module is controlled to transmit electromagnetic signals to the tracked target in a time-division manner.

[0053] After the radar receiving module receives the first echo signal at the first position, during the interval between adjacent radar signal transmissions, the radar receiving module is controlled to move to the second position according to a preset motion path.

[0054] When the radar receiving module receives the second echo signal at the second position, it determines the object structure information of the tracked target based on the first echo signal, the second echo signal and the preset motion path.

[0055] A geometric surface is constructed based on the object's structural information to create a geometric image of the tracked target.

[0056] Furthermore, the processor 1001 can call the radar imaging program stored in the memory 1003 and also perform the following operations:

[0057] Control the radar receiving module to move horizontally to the second position.

[0058] Furthermore, the processor 1001 can call the radar imaging program stored in the memory 1003 and also perform the following operations:

[0059] Control the electrically driven element connected to the radar receiving module to move the radar receiving module from the first position to the second position at a preset speed.

[0060] Furthermore, the processor 1001 can call the radar imaging program stored in the memory 1003 and also perform the following operations:

[0061] The radar transmitting module is controlled to send the electromagnetic signal to the tracked target, so that the radar receiving module can receive the first echo signal at the first position;

[0062] The offset angle and interval time of the electromagnetic signal are determined based on the preset movement path and the movement speed;

[0063] The radar transmitting module is controlled to send the electromagnetic signal to the tracked target according to the offset angle and the interval time, so that the radar receiving module can receive the second echo signal at the second position.

[0064] Furthermore, the processor 1001 can call the radar imaging program stored in the memory 1003 and also perform the following operations:

[0065] The tracking target is acquired by a camera device in RGB video, and the color texture image corresponding to the geometric surface is obtained based on the RGB video.

[0066] The color texture image is filled into the geometric surface to form a geometric image of the tracked target with depth information and color texture.

[0067] Furthermore, the processor 1001 can call the radar imaging program stored in the memory 1003 and also perform the following operations:

[0068] Calculate the second position of the radar receiving module required to obtain the preset radar spatial angle resolution, and execute the step of controlling the radar receiving module to move to the second position according to the preset motion path.

[0069] Radar is widely used in many fields such as military early warning, missile guidance, civil air traffic control, topographic surveying, meteorology, and navigation. Traditionally, radar is mainly used for overall tracking of long-range targets. However, in recent years, the application of radar in close-range scenarios such as indoor environments has been gradually increasing. Compared with long-range radar applications, close-range radar applications require the capture of details of the tracked target.

[0070] In related technologies, the principle of radar signal reflection is generally used to track targets, sequentially obtaining the spatial resolution of corresponding points on the target. A radar point cloud is constructed using dense points. Through this point cloud, various details of the tracked target can be obtained, such as its shape and the relative positions of different areas. This is suitable for radar applications in close-range scenarios, making it possible to perform human pose recognition and 3D scene reconstruction based on radar points. Methods to improve radar spatial resolution mainly include mechanical scanning, radar antenna cascading, and multiple transmitters and receivers (MPNs). The underlying principle is to increase the number of receiving antennas to improve resolution. However, these methods of improving radar spatial resolution by increasing the number of radar receiving antennas lead to an increase in the size of the radar device's circuitry and manufacturing cost. Without increasing the number of receiving antennas, it is impossible to improve spatial resolution.

[0071] Therefore, the aforementioned defects exist in relevant radar imaging methods. To address these defects, this invention proposes a radar imaging method that aims to improve the spatial resolution of the radar device by virtually adding more radar receiving modules within the radar receiving module of a mobile radar imaging device, thereby physically increasing the number of radar receiving modules.

[0072] The following explanation, through specific exemplary solutions, clarifies the scope of protection claimed in the claims of this invention, so that those skilled in the art can better understand the scope of protection of the claims. It is understood that the following exemplary solutions do not limit the scope of protection of this invention, but are only used to explain this invention.

[0073] For example, refer to Figure 2 In one embodiment of the radar imaging method of the present invention, the radar imaging method includes the following steps:

[0074] S10, Control the radar transmitting module to transmit electromagnetic signals to the tracked target in a time-division manner;

[0075] In this embodiment, the executing entity is a radar imaging device, which includes a radar transmitting module and a radar receiving module. Radar is an electronic device that uses electromagnetic waves to detect targets. The radar transmitting module emits electromagnetic signals to the tracked target, and the radar receiving module receives the echo signals. This allows the acquisition of information such as the distance from the target to the electromagnetic wave emission point, the rate of change of distance (radial velocity), azimuth, and altitude. The radar transmitting module can transmit electromagnetic signals to the tracked target in different time periods and directions according to preset rules, ensuring that the radar receiving module receives the signals transmitted by the radar transmitting module both before and after movement.

[0076] Optionally, the radar receiving module can be an array antenna, and the radar transmitting module can also be an array antenna. An antenna is a device used to transmit and receive electromagnetic energy. A single antenna can accomplish the task of transmitting and receiving electromagnetic energy, but once the antenna form is determined, its radiation characteristics are fixed, making it unsuitable for some applications, such as very narrow beamwidths and electronic beam scanning. In such cases, multiple antennas need to be combined to form an array antenna to achieve the predetermined specifications. An array antenna is a special type of antenna consisting of at least two antenna elements arranged regularly or randomly and obtaining predetermined radiation characteristics through appropriate excitation. It can be a linear array or a planar array. By changing the phase of the excitation current of each antenna element in the array, its radiation pattern can be scanned in space, thus broadening the application scenarios of radar imaging devices.

[0077] S20. After the radar receiving module receives the first echo signal at the first position, control the radar receiving module to move to the second position according to the preset motion path.

[0078] In this embodiment, the radar transmitting module transmits electromagnetic signals to the tracked target, and after the radar receiving module receives the first echo signal at the first position, it quickly moves to the second position according to a preset motion path.

[0079] Optionally, the preset motion path can be horizontal movement, controlling the radar receiving module to move horizontally to the second position. The radar receiving module can be a surface array antenna, and the edge line of the second position can coincide with the edge line of the first position to better acquire the echo signal.

[0080] Optionally, the electrically driven element connected to the radar receiving module is controlled to move the radar receiving module from the first position to the second position at a preset speed. The movement of the radar receiving module requires a relatively large preset speed to ensure rapid movement from the first position to the second position, thereby better realizing the construction of a virtual antenna. Similarly, the displacement of the radar transmitting module can also construct twice the number of transmitting antennas. By constructing a virtual antenna, the angular resolution of the radar imaging device can be improved, resulting in more accurate angular information.

[0081] Understandably, the movement of the receiving module will interfere with the calculation of the angle FFT (Fast Fourier Transform), so it is necessary to precisely control the movement of the antenna and perform Doppler correction based on the movement speed.

[0082] Optionally, the second position of the radar receiving module required to obtain the preset radar spatial angular resolution is calculated, and the step of controlling the radar receiving module to move to the second position according to the preset motion path is executed. Given a predetermined radar spatial angular resolution, the second position of the radar transmitting module can be calculated based on information such as the spatial angular resolution and radar wave wavelength.

[0083] Furthermore, the radar transmitting module on the radar imaging device can adjust the characteristics of the transmitted electromagnetic signal, including intensity, frequency, angle, and coverage, according to the preset radar spatial angle resolution. When the radar transmitting module detects that the radar receiving module has obtained the corresponding first radar signal, it can adjust the offset of the transmitted electromagnetic signal. The radar receiving module determines the second position based on the offset angle of the radar transmitted signal, and can better receive the second echo signal.

[0084] Understandably, the transmitting and receiving modules use multiple array antenna modules to form an antenna system with multiple channels between transmitting and receiving. Such an antenna system has extremely high spectrum utilization efficiency. It achieves both reliability and effectiveness gains by utilizing spatial resources while making full use of existing spectrum resources. The cost is increased processing complexity at the transmitting and receiving ends.

[0085] S30. When the radar receiving module receives the second echo signal at the second position, it determines the object structure information of the tracking target based on the first echo signal, the second echo signal and the preset motion path.

[0086] In this embodiment, the radar receiving module has already received the first echo signal of the electromagnetic signal emitted by the radar transmitting module at the first position. The echo signal is a reflected wave. The transmission of a wave is actually a process of energy transfer. When the receiving end cannot completely absorb the energy of the wave (such as when there is impedance mismatch), part of the wave energy will be reflected back, thus forming an echo. The essence of the echo signal is still an electromagnetic signal. Based on the first echo signal and the second echo signal, the relative positional relationship of each endpoint of the tracking target can be determined. Based on the relative positional relationship, the structural information of the tracking target can be determined.

[0087] S40. Construct a geometric surface based on the object structure information to build a geometric image of the tracking target.

[0088] In this embodiment, the architecture information can reflect the detailed information of the object's surface, that is, the endpoint information of the tracking target. By connecting the corresponding endpoints based on this endpoint information, a geometric surface can be constructed, and the geometric surfaces are combined to form a geometric image of the tracking target.

[0089] In the technical solution disclosed in this embodiment, the radar transmitting module is first controlled to transmit electromagnetic signals to the tracked target in a time-division manner. After the radar receiving module receives the first echo signal at a first position, during the interval between adjacent radar signal transmissions, the radar receiving module is controlled to move to a second position according to a preset motion path. After the radar receiving module receives the second echo signal at the second position, the object structure information of the tracked target is determined based on the first echo signal, the second echo signal, and the preset motion path. A geometric surface is constructed based on the object structure information to build a geometric image of the tracked target. By controlling the movement of the radar receiving module, more echo signals can be obtained. Without increasing the number of radar receiving modules, more detailed information about the tracked target can be obtained by utilizing space resources to achieve gains in both reliability and effectiveness. This reduces the circuit size of the radar device and lowers the manufacturing cost.

[0090] Optionally, refer to Figure 3 Based on any of the above embodiments, in another embodiment of the radar imaging method of the present invention, the radar imaging method includes:

[0091] S50. Acquire RGB video of the tracked target through a camera device, and obtain a color texture image corresponding to the geometric surface based on the RGB video;

[0092] S60. Fill the geometric surface with a color texture image to form a geometric image of the tracking target with depth information and color texture.

[0093] In this embodiment, the radar imaging device also includes a camera device, which acquires RGB video of the tracked target, parses the structure corresponding to the tracked target from the corresponding RGB video, selects the corresponding color texture image in the RGB video, and fills the geometric surface of the tracked target with the color texture image. Since the geometric image acquired by the radar has the position information of the tracked target, by filling with the color texture image, a tracked target image with high-precision depth information can be obtained.

[0094] It is understandable that images of the target being tracked, acquired solely through a camera device, do not contain location information, meaning that the structural information of the target cannot be determined.

[0095] In the technical solution disclosed in this embodiment, an RGB video of the tracked target is acquired by a camera device, a color texture image corresponding to the geometric surface is acquired, and the color texture image is filled onto the geometric surface of the tracked target. The resulting geometric image of the tracked target has depth information and color texture information, which improves the recognition of the geometric image of the tracked target.

[0096] Furthermore, this embodiment of the invention also proposes a radar imaging device, which includes a memory, a processor, and a radar imaging program stored in the memory and executable on the processor. When the radar imaging program is executed by the processor, it implements the steps of the radar imaging method described in the above embodiments.

[0097] Furthermore, embodiments of the present invention also provide a radar imaging device, exemplarily, referring to... Figure 4 The radar imaging device 100 includes:

[0098] The system comprises a transmitting module 101, a moving module 102, a confirming module 103, and a constructing module 104. The transmitting module 101 controls the radar transmitting module to transmit electromagnetic signals to the tracked target in a time-division multiplexing manner. The moving module 102, after the radar receiving module receives a first echo signal at a first position, controls the radar receiving module to move to a second position along a preset motion path during the interval between adjacent radar signal transmissions. The confirming module 103, after the radar receiving module receives a second echo signal at the second position, determines the object structure information of the tracked target based on the first echo signal, the second echo signal, and the preset motion path. The constructing module 104 constructs a geometric surface based on the object structure information to build a geometric image of the tracked target.

[0099] Furthermore, embodiments of the present invention also propose a computer-readable storage medium storing a radar imaging program, which, when executed by a processor, implements the steps of the radar imaging method described in the above embodiments.

[0100] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0101] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0102] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause the radar imaging device to execute the methods described in the various embodiments of the present invention.

[0103] The above are merely preferred embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A radar imaging method, characterized in that, The radar imaging method includes the following steps: The radar transmitting module is controlled to send electromagnetic signals to the tracked target so that the radar receiving module receives the first echo signal at the first position. The offset angle and interval time of the electromagnetic signal are determined according to a preset motion path and moving speed, wherein the preset motion path is horizontal movement; The radar transmitting module is controlled to send the electromagnetic signal to the tracking target according to the offset angle and the interval time, so that the radar receiving module receives the second echo signal at the second position, wherein the edge line of the second position coincides with the edge line of the first position, and the second position of the radar receiving module required for the preset radar spatial angle resolution is calculated. After the radar receiving module receives the first echo signal at the first position, during the interval between adjacent radar signal transmissions, the radar receiving module is controlled to move to the second position according to the preset motion path. When the radar receiving module receives the second echo signal at the second position, it determines the relative positional relationship of each endpoint of the tracking target based on the first echo signal and the second echo signal. Determine the architectural information of the tracking target based on relative positional relationships; The endpoints corresponding to the architecture information are connected to construct a geometric surface, and the geometric surface is combined to form a geometric image of the tracking target, wherein the architecture information is the endpoint information of the tracking target.

2. The radar imaging method as described in claim 1, characterized in that, The step of controlling the radar receiving module to move to the second position according to the preset motion path includes: Control the electrically driven element connected to the radar receiving module to move the radar receiving module from the first position to the second position at a preset speed.

3. The radar imaging method as described in claim 1, characterized in that, The step of connecting the endpoints corresponding to the architecture information to construct a geometric surface, and combining the geometric surfaces into a geometric image of the tracking target, further includes: The tracking target is acquired by a camera device in RGB video, and the color texture image corresponding to the geometric surface is obtained based on the RGB video. The color texture image is filled into the geometric surface to form a geometric image of the tracked target with depth information and color texture.

4. The radar imaging method as described in claim 1, wherein the radar receiving module includes an array antenna.

5. A radar imaging device, characterized in that, The radar imaging device includes: a memory, a processor, and a radar imaging program stored in the memory and executable on the processor, wherein the radar imaging program, when executed by the processor, implements the steps of the radar imaging method as described in any one of claims 1 to 4.

6. A radar imaging device, characterized in that, The radar imaging device includes: The transmitting module is used to control the radar transmitting module to send electromagnetic signals to the tracked target so that the radar receiving module receives a first echo signal at a first position; and to control the radar transmitting module to send the electromagnetic signals to the tracked target according to the offset angle and the interval time so that the radar receiving module receives a second echo signal at a second position, wherein the edge line of the second position coincides with the edge line of the first position, and to calculate the second position of the radar receiving module required for the preset radar spatial angle resolution. A movement module is used to determine the offset angle and interval time of the electromagnetic signal according to a preset movement path and movement speed, wherein the preset movement path is horizontal movement; after the radar receiving module receives the first echo signal at the first position, during the interval between adjacent radar signal transmissions, the radar receiving module is controlled to move to the second position according to the preset movement path. The confirmation module is used to determine the relative positional relationship of each endpoint of the tracking target based on the first echo signal and the second echo signal after the radar receiving module receives the second echo signal at the second position; and to determine the architecture information of the tracking target based on the relative positional relationship. A construction module is used to connect the endpoints corresponding to the architecture information to construct a geometric surface. The geometric surfaces are combined to form a geometric image of the tracking target, wherein the architecture information is the endpoint information of the tracking target.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a radar imaging program, which, when executed by a processor, implements the steps of the radar imaging method as described in any one of claims 1 to 4.

Images