Mars rover radar signal correction method, device, equipment and medium

Abstract

The present disclosure provides a method, apparatus, and device medium for correcting a Mars rover radar signal. The method comprises: interpolating each channel of raw radar data in the time domain and taking the absolute value of the interpolated signal to obtain multiple channels of high-time-resolution radar data; arbitrarily determining a channel of high-time-resolution radar data from the multiple channels of high-time-resolution radar data as first reference data; performing time-domain cross-correlation analysis on the other channels of high-time-resolution radar data and the first reference data to obtain a time-domain correlation curve corresponding to each channel of high-time-resolution radar data; correcting the time of each channel of high-time-resolution radar data using the time offset corresponding to the peak of the time-domain correlation curve of each channel of high-time-resolution radar data, and performing phase-domain analysis on the time-corrected signal to achieve phase correction. This method solves the problem of discontinuities such as jumps and faults in the downlink radar signal from the Mars rover.

Description

Technical Field

[0001] The present disclosure relates to the field of data processing technology, and in particular to a method, device, equipment, and medium for correcting a Mars rover radar signal. Background Art

[0002] The Rover Subsurface Penetrating Radar (RoSPR) is a high-resolution Martian subsurface geological structure detection radar based on the Mars rover platform. It has two channels, low-frequency and high-frequency. The low-frequency channel is mainly used to detect soil and water ice structures within about 100 meters below the Martian surface.

[0003] The Mars rover's subsurface radar uses a linear frequency modulation (LFM) signal as its transmission signal in its low-frequency channel. A matched filter-based pulse compression method converts the return signal into a recognizable pulse. After onboard processing, the radar return signal is converted to a zero intermediate frequency (ZIF) and transmitted to Earth as a complex time series. During actual operation on Mars, the signal exhibits time and phase jumps due to environmental and system conditions. These jumps and discontinuities in the transmitted radar signal matrix can affect subsequent processing and signal interpretation. Summary of the Invention

[0004] In view of the above technical problems, the first aspect of the present disclosure provides a correction method for a Mars rover radar signal, comprising: performing interpolation processing on each channel of original radar data in the time domain to obtain multi-channel high time resolution radar data; arbitrarily determining a channel of high time resolution radar data from the multi-channel high time resolution radar data as first reference data; performing time domain cross-correlation analysis on the other high time resolution radar data in the multi-channel high time resolution radar data except the first reference data and the first reference data to obtain a time domain correlation curve corresponding to each channel of high time resolution radar data; determining the time offset corresponding to the peak of the time domain correlation curve of each channel of high time resolution radar data as the time hop variable of the high time resolution radar data relative to the first reference data; and correcting the time of each channel of high time resolution radar data based on the time hop variable to obtain time-corrected radar data.

[0005] According to an embodiment of the present disclosure, the correction method also includes: arbitrarily determining a piece of time-corrected radar data from the multiple pieces of time-corrected radar data as second reference data; performing phase domain cross-correlation analysis on the other pieces of time-corrected radar data in the multiple pieces of time-corrected radar data except the second reference data and the second reference data to obtain a phase domain correlation curve corresponding to each piece of time-corrected radar data; determining a phase value corresponding to a real part maximum value of the phase domain correlation curve corresponding to each piece of time-corrected radar data as a phase jump of the time-corrected radar data relative to the second reference data; and performing phase correction on each piece of time-corrected radar data based on the phase jump to obtain phase-corrected radar data.

[0006] According to an embodiment of the present disclosure, interpolation processing is performed on each data track in the original radar data in the time domain, specifically including: using the Shannon interpolation method to interpolate each data track in the original radar data in the time domain.

[0007] According to an embodiment of the present disclosure, a time domain cross-correlation analysis is performed on the other high time resolution radar data except the first reference data in the multi-channel high time resolution radar data and the first reference data, specifically including:

[0008]

[0009] Perform time domain cross-correlation analysis on the high time resolution radar data and the first reference data, where R i [Δm] represents the time domain correlation curve of the i-th high time resolution radar data, S ref [m] is the first reference data, S i，hires [m] is the i-th high-time-resolution radar data, m is the number of points corresponding to the high-time-resolution radar data, Δm is the time offset corresponding to the peak of the time-domain correlation curve, and || represents the absolute value.

[0010] According to an embodiment of the present disclosure, the time of each high time resolution radar data is corrected based on the time hopping variable to obtain the time-corrected radar data, specifically including:

[0011] S′ i，hires [m] = S i，hires [m+Δm]

[0012] Correct the time of each high time resolution radar data, where S i，hires [m] is the i-th high time resolution radar data, S′ i，hires [m] is the radar data of the i-th high time resolution radar data after time correction.

[0013] According to an embodiment of the present disclosure, the other time-corrected radar data in the multi-channel time-corrected radar data except the second reference data are subjected to phase domain cross-correlation analysis with the second reference data, specifically comprising:

[0014]

[0015] Perform phase domain cross-correlation analysis on the time-corrected radar data and the second reference data, where f i [φ] is the phase domain correlation curve of the time-corrected radar data of the i-th channel, S′ i [n] is the time-corrected radar data of the i-th channel, S′ ref [n] is the second reference data, φ i To represent the phase jump of the time-corrected radar data of the i-th channel relative to the second reference data, the superscript * represents conjugation.

[0016] According to an embodiment of the present disclosure, phase correction is performed on each time-corrected radar data based on a phase jump to obtain phase-corrected radar data, specifically including:

[0017] S″ i [n] = S′ i [n].e iφ

[0018] Correct the phase of each time-corrected radar data, where S′ i [n] is the time-corrected radar data of the i-th channel, S i [n] is the radar data after time correction and phase correction.

[0019] The first aspect of the present disclosure provides a correction device for a Mars rover radar signal, comprising: an interpolation module for performing interpolation processing on each data in the time domain of the original radar data to obtain a plurality of high-time-resolution radar data; a first determination module for arbitrarily determining a piece of high-time-resolution radar data from the plurality of high-time-resolution radar data as the first reference data; a first correlation analysis module for performing time-domain cross-correlation analysis on the other high-time-resolution radar data in the plurality of high-time-resolution radar data except the first reference data and the first reference data to obtain a time-domain correlation curve corresponding to each piece of high-time-resolution radar data; a second determination module for determining the time offset corresponding to the peak value of the time-domain correlation curve of each piece of high-time-resolution radar data as the time hop variable of the high-time-resolution radar data relative to the first reference data; a first correction module for determining the time offset corresponding to the peak value of the time-domain correlation curve of the high-time-resolution radar data relative to the first reference data based on the time hop variable; The method comprises the following steps: a first determining module, which is used to perform a phase domain cross-correlation analysis on the time-corrected radar data of the multi-channel time-corrected radar data and the second reference data, and obtains a phase domain correlation curve corresponding to each channel of the time-corrected radar data; a fourth determining module, which is used to determine the phase value corresponding to the maximum value of the real part of the phase domain correlation curve corresponding to each channel of the time-corrected radar data as the phase jump of the time-corrected radar data relative to the second reference data; and a second correction module, which is used to perform phase correction on each channel of the time-corrected radar data based on the phase jump to obtain the phase-corrected radar data.

[0020] The third aspect of the present disclosure also provides an electronic device, comprising: one or more processors; and a memory for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the above-described method.

[0021] A fourth aspect of the present disclosure further provides a computer-readable storage medium, characterized in that executable instructions are stored thereon, and when the instructions are executed by a processor, the processor implements the method described above.

[0022] The Mars rover radar signal correction method, device, equipment, and medium provided by the embodiments of the present disclosure can achieve at least the following technical effects:

[0023] By directly determining reference data from the rover's radar data and performing cross-correlation analysis in the time and phase domains based on the reference data, the researchers compensated for the time phase jumps that can occur in the radar system due to environmental influences. After time phase correction, discontinuities in the radar signal along the travel path are corrected, which is crucial for subsequent radar signal processing and interpretation. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The above and other objects, features and advantages of the present disclosure will become more apparent through the following description of the embodiments of the present disclosure with reference to the accompanying drawings, in which:

[0025] Figure 1 The figure schematically shows a flow chart of a method for correcting a Mars rover radar signal according to an embodiment of the present disclosure.

[0026] Figure 2 Schematically shows a graph of the real and imaginary parts of the interpolated rover radar signal according to an embodiment of the present disclosure.

[0027] Figure 3 A flowchart of a method for correcting a Mars rover radar signal according to another embodiment of the present disclosure is schematically shown.

[0028] Figure 4 A schematic diagram shows a comparison of signal curves of a Mars rover radar signal before and after time correction according to an embodiment of the present disclosure.

[0029] Figure 5 A schematic diagram shows a comparison of signal curves of a Mars rover radar signal before and after time and phase correction according to an embodiment of the present disclosure.

[0030] Figure 6 A block diagram of a Mars rover radar signal correction device according to an embodiment of the present disclosure is schematically shown.

[0031] Figure 7 The block diagram schematically shows an electronic device suitable for implementing the method described above according to an embodiment of the present invention. DETAILED DESCRIPTION

[0032] To make the objectives, technical solutions, and advantages of the present disclosure more clearly understood, the present disclosure is further described below in conjunction with specific embodiments and with reference to the accompanying drawings. It is apparent that the embodiments described are only a portion of the embodiments of the present disclosure, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present disclosure without inventive effort are intended to fall within the scope of protection of the present disclosure.

[0033] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. The terms "comprise," "include," etc. used herein indicate the presence of the features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0034] In this disclosure, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections, electrical connections, or communication; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of these terms in this disclosure based on specific circumstances.

[0035] In the description of the present disclosure, it should be understood that the terms "longitudinal", "length", "circumferential", "front", "rear", "left", "right", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the subsystem or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present disclosure.

[0036] Throughout the drawings, identical elements are represented by identical or similar reference numerals. Conventional structures or configurations are omitted where they may cause confusion in understanding the present disclosure. Furthermore, the shapes, sizes, and positional relationships of the components in the drawings do not reflect actual size, proportion, or actual positional relationships. Furthermore, any reference symbols placed between parentheses in this disclosure should not be construed as limiting the present disclosure.

[0037] Similarly, in order to streamline the present disclosure and aid in understanding one or more of the various disclosed aspects, in the above description of exemplary embodiments of the present disclosure, the various features of the present disclosure are sometimes grouped together into a single embodiment, figure, or description thereof. Descriptions with reference to the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples" and the like mean that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in an appropriate manner.

[0038] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the present disclosure, "plurality" means at least two, such as two or three, unless otherwise specifically defined.

[0039] In response to the shortcomings of the existing technology, the embodiments of the present disclosure provide a method for correcting Mars rover radar signals, which can be used to estimate and correct the time jumps of the low-frequency channel data of the Mars rover's sub-surface detection radar, so as to perform subsequent radar signal processing and interpretation. It should be noted that the method provided by the embodiments of the present disclosure is not limited to the correction of Mars rover radar signals, but is also applicable to other radar signals that require time and phase correction. The specific method can be selected according to actual application requirements and is not limited by the present disclosure. The following is a detailed description with reference to specific embodiments.

[0040] Figure 1 The figure schematically shows a flow chart of a method for correcting a Mars rover radar signal according to an embodiment of the present disclosure.

[0041] like Figure 1 As shown, the Mars rover radar signal correction method may include, for example, operations S101 to S104.

[0042] In operation S101 , interpolation processing is performed on each channel of original radar data in the time domain to obtain multiple channels of high time resolution radar data.

[0043] Because the time jumps in the rover radar's low-frequency data rarely correspond to integer multiples of the low-frequency data's sampling interval, so-called "sub-sampling interval" time jumps occur, affecting the positioning accuracy of these time jumps. Interpolation can be used to improve the temporal resolution of the rover radar's low-frequency data, thereby improving positioning accuracy affected by these time jumps.

[0044] In one embodiment of the present disclosure, the Shannon interpolation method may be used to perform interpolation processing on each data channel in the original radar data in the time domain.

[0045] Specifically, in order to facilitate subsequent calculations, the original radar data can be converted into a matrix first, and Shannon interpolation is performed on the i-th channel data in the radar data matrix, and the original radar data of this channel is recorded as S i [n], n∈[1, N], then according to the following formula:

[0046]

[0047] Perform Shannon interpolation. Among them, S i(t) is the continuous signal that can be reconstructed by Shannon interpolation in theory, T is the sampling time interval of the original radar data, and sin c is the normalized Sinker function.

[0048] Figure 2 A graph schematically shows the real and imaginary parts of the interpolated low-frequency channel radar signal according to an embodiment of the present disclosure.

[0049] like Figure 2 As shown, during interpolation, the time series corresponding to the original signal is t = [0, T, ..., (N-1) T]. The signal is interpolated by a preset multiple, and the output new time series becomes one-half of the preset multiple of the original time series. For example, if the signal is interpolated 100 times, the new time series is t = [0, T / 100, ..., (NT-T) / 100]. After Shannon interpolation, the output data is recorded as S i，hires [m], m∈[1, 100N].

[0050] Since the rover data contains not only time jumps but also phase jumps, the influence of phase can be eliminated by taking the absolute value method, thereby accurately determining the time jump variable. For example, when taking the absolute value, for each element in the radar data matrix, take its absolute value, denoted as |S i，hires [m]|, the matrix form corresponding to the multi-channel high time resolution radar data can be obtained by combining them.

[0051] In operation S102 , a channel of high time resolution radar data is arbitrarily determined from a plurality of channels of high time resolution radar data as first reference data.

[0052] In the embodiment of the present disclosure, theoretically, a piece of data can be arbitrarily selected from the data as the first reference signal, which is denoted as |S ref [m]|. For example, the first high-time-resolution radar data in multiple high-time-resolution radar data can be selected as the reference signal, denoted as |S ref [m]|=|S 1，hires [m]|.

[0053] In operation S103 , time domain cross-correlation analysis is performed on the high time resolution radar data other than the first reference data in the multi-channel high time resolution radar data and the first reference data to obtain a time domain correlation curve corresponding to each channel of high time resolution radar data.

[0054] Can be based on

[0055]

[0056] Perform time domain cross-correlation analysis on the high time resolution radar data and the first reference data, where Ri [Δm] represents the time domain correlation curve of the i-th high time resolution radar data, S ref [m] is the reference signal, S i，hires [m] is the i-th high-time-resolution radar data, m is the number of points corresponding to the high-time-resolution radar data, Δm is the time offset corresponding to the peak of the time-domain correlation curve, and || represents the absolute value.

[0057] In operation S104 , a time offset corresponding to a peak of a time domain correlation curve of each high time resolution radar data is determined as a time hop variable of the high time resolution radar data relative to the first reference data.

[0058] In the embodiment of the present disclosure, the time offset Δm corresponding to the peak of the time domain correlation curve may be taken as the time jump variable of the time resolution radar data relative to the first reference data.

[0059] In operation S105 , the time of each high time resolution radar data is corrected based on the time hopping variable to obtain time-corrected radar data.

[0060] Can be based on

[0061] S′ i，hires [m] = S i，hire s[m+Δm]

[0062] Correct the time of each high time resolution radar data, where S i，hires [m] is the i-th high time resolution radar data, S′ i，hires [m] is the time-corrected radar data of the i-th high-time-resolution radar data. When m ≤ 0 or m > 100N, the signal value is 0.

[0063] Afterwards, for S′ i，hires [m] is downsampled to restore the original sampling interval and obtain the time-corrected radar data of the original sampling interval, which is recorded as S i [n], the downsampling method can be, for example, n-fold decimation. For example, take S′ i，hires The [100, 200, ..., 100N] points of [m] constitute the time-corrected signal S′ of the original sampling interval. i [n].

[0064] According to the correction method provided in the embodiment of the present disclosure, a time cross-correlation analysis is performed on the radar data based on the reference data to compensate for the time jump caused by the radar system being affected by the environment.

[0065] Figure 3A flowchart of a method for correcting a Mars rover radar signal according to another embodiment of the present disclosure is schematically shown.

[0066] like Figure 3 As shown, the correction method provided by this embodiment is the same as Figure 1 Compared with the correction method shown in FIG, after operation S105, operations S106 to S109 may be further included.

[0067] In operation S106 , one channel of time-corrected radar data is arbitrarily determined from the multiple channels of time-corrected radar data as second reference data.

[0068] In the embodiment of the present disclosure, theoretically, any data piece can be selected from the time-corrected radar data as the second reference signal S′. ref [n], recorded as, for example, still select the first data as the second reference data S' ref [n] = S1[n].

[0069] In operation S107 , a phase domain cross-correlation analysis is performed on the time-corrected radar data except the second reference data in the multi-channel time-corrected radar data and the second reference data to obtain a phase domain correlation curve corresponding to each channel of the time-corrected radar data.

[0070] In the embodiment of the present disclosure, the cross-correlation analysis of the bit domain may specifically include:

[0071]

[0072] Perform phase domain cross-correlation analysis on the time-corrected radar data and the second reference data, where f i [φ] is the phase domain correlation curve of the time-corrected radar data of the i-th channel, S′ i [n] is the time-corrected radar data of the i-th channel, S′ ref [n] is the second reference data, φ i To represent the phase jump of the time-corrected radar data of the i-th channel relative to the second reference data, the superscript * represents conjugation.

[0073] In operation S108 , a phase value corresponding to the maximum value of the real part of the phase domain correlation curve corresponding to each time-corrected radar data is determined as a phase jump of the time-corrected radar data relative to the second reference data.

[0074] In the embodiment of the present disclosure, the phase value φ corresponding to the maximum value of the real part of the time domain correlation curve can be taken as i As the phase jump of the i-th time-corrected radar data relative to the second reference data.

[0075] In operation S109 , phase correction is performed on each time-corrected radar data based on the phase jump to obtain phase-corrected radar data.

[0076] In the embodiment of the present disclosure, the specific process of phase correction may be:

[0077] according to

[0078] S″ i [n] = S′ i [n]·e iφ

[0079] Correct the phase of each time-corrected radar data, where S′ i [n] is the time-corrected radar data of the ith channel, S″ i [n] is the radar data after time correction and phase correction.

[0080] According to the correction method provided in the embodiment of the present disclosure, on the basis of time correction, cross-correlation analysis in the phase domain is performed on the radar data with reference data as a benchmark, so as to further compensate for the phase jump caused by the radar system being affected by the environment.

[0081] In order to verify the feasibility and accuracy of the correction method provided by the embodiment of the present disclosure, the present disclosure provides the time correction and phase correction results of the radar data.

[0082] Figure 4 The figure schematically shows a comparison diagram of signal curves of a low-frequency channel radar signal before and after time correction according to an embodiment of the present disclosure.

[0083] Figure 5 A schematic diagram shows a comparison of signal curves of a low-frequency channel radar signal before and after time and phase correction according to an embodiment of the present disclosure.

[0084] like Figure 4 and Figure 5 As shown, the correction method provided in the embodiment of the present disclosure is used to perform cross-correlation analysis of radar data in the time and phase domains based on reference data to compensate for the time phase jump caused by the radar system being affected by the environment. After the time phase correction, the discontinuity of the radar signal in the direction of the walking route is repaired, ensuring the accuracy of the radar signal, which is of great significance for subsequent radar signal processing and interpretation.

[0085] Figure 6 A block diagram of a low-frequency channel radar signal correction device according to an embodiment of the present disclosure is schematically shown.

[0086] like Figure 6As shown, the low-frequency channel radar signal correction device 600 may include an interpolation module 610, a first determination module 620, a first correlation analysis module 630, a second determination module 640, a first correction module 650, a third determination module 660, a first correlation analysis module 670, a fourth determination module 680 and a second correction module 690.

[0087] The interpolation module 610 is used to perform interpolation processing on each channel of the original radar data in the time domain to obtain multiple channels of high time resolution radar data.

[0088] The first determining module 620 is configured to randomly determine a channel of high time resolution radar data from multiple channels of high time resolution radar data as first reference data.

[0089] The first correlation analysis module 630 is configured to perform a time domain cross-correlation analysis on the high time resolution radar data other than the first reference data in the multi-channel high time resolution radar data and the first reference data to obtain a time domain correlation curve corresponding to each channel of the high time resolution radar data.

[0090] The second determining module 640 is configured to determine a time offset corresponding to a peak value of a time domain correlation curve of each high time resolution radar data as a time hop variable of the high time resolution radar data relative to the first reference data.

[0091] The first correction module 650 is configured to correct the time of each high time resolution radar data based on the time hop variable to obtain time-corrected radar data.

[0092] The third determining module 660 is configured to determine any one channel of time-corrected radar data from the multiple channels of time-corrected radar data as the second reference data.

[0093] The first correlation analysis module 670 is configured to perform phase domain cross-correlation analysis on the time-corrected radar data other than the second reference data in the multi-channel time-corrected radar data with the second reference data to obtain a phase domain correlation curve corresponding to each channel of the time-corrected radar data.

[0094] The fourth determining module 680 is configured to determine the phase value corresponding to the maximum value of the real part of the phase domain correlation curve corresponding to each time-corrected radar data as the phase jump of the time-corrected radar data relative to the second reference data.

[0095] The second correction module 690 is configured to perform phase correction on each time-corrected radar data based on the phase jump to obtain phase-corrected radar data.

[0096] According to the embodiments of the present invention, any number of modules, submodules, units, and subunits, or at least part of the functions of any number of them can be implemented in one module. According to the embodiments of the present invention, any one or more of the modules, submodules, units, and subunits can be split into multiple modules for implementation. According to the embodiments of the present invention, any one or more of the modules, submodules, units, and subunits can be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array (PLA), a system on a chip, a system on a substrate, a system on a package, an application specific integrated circuit (ASIC), or can be implemented by hardware or firmware of any other reasonable way of integrating or packaging the circuit, or implemented in any one of the three implementation modes of software, hardware, and firmware, or in an appropriate combination of any of them. Alternatively, according to the embodiments of the present invention, one or more of the modules, submodules, units, and subunits can be at least partially implemented as a computer program module, which can perform the corresponding function when the computer program module is run.

[0097] For example, any multiple of the interpolation module 610, the first determination module 620, the first correlation analysis module 630, the second determination module 640, the first correction module 650, the third determination module 660, the first correlation analysis module 670, the fourth determination module 680, and the second correction module 690 may be combined into one module / unit / sub-unit for implementation, or any one of these modules / units / sub-units may be split into multiple modules / units / sub-units. Alternatively, at least part of the functionality of one or more of these modules / units / sub-units may be combined with at least part of the functionality of other modules / units / sub-units and implemented in one module / unit / sub-unit. According to an embodiment of the present invention, at least one of the interpolation module 610, the first determination module 620, the first correlation analysis module 630, the second determination module 640, the first correction module 650, the third determination module 660, the first correlation analysis module 670, the fourth determination module 680 and the second correction module 690 can be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array (PLA), a system on a chip, a system on a substrate, a system on a package, an application-specific integrated circuit (ASIC), or can be implemented by hardware or firmware such as any other reasonable way of integrating or packaging the circuit, or implemented in any one of the three implementation methods of software, hardware and firmware, or in an appropriate combination of any of them. Alternatively, at least one of the interpolation module 610, the first determination module 620, the first correlation analysis module 630, the second determination module 640, the first correction module 650, the third determination module 660, the first correlation analysis module 670, the fourth determination module 680 and the second correction module 690 can be at least partially implemented as a computer program module, and when the computer program module is run, the corresponding function can be performed.

[0098] It should be noted that the low-frequency channel radar signal correction device part of the embodiment of the present invention corresponds to the low-frequency channel radar signal correction method part of the embodiment of the present invention, and their specific implementation details and the technical effects brought about are also the same, which will not be repeated here.

[0099] Figure 7 The block diagram schematically shows an electronic device suitable for implementing the method described above according to an embodiment of the present invention. Figure 7 The electronic device shown is only an example and should not limit the functions and scope of use of the embodiments of the present invention.

[0100] like Figure 7As shown, the electronic device 700 according to an embodiment of the present invention includes a processor 701, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 702 or a program loaded from a storage part 708 into a random access memory (RAM) 703. The processor 701 may, for example, include a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or a related chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 701 may also include an onboard memory for caching purposes. The processor 701 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present invention.

[0101] Various programs and data required for the operation of the electronic device 700 are stored in the RAM 703. The processor 701, ROM 702, and RAM 703 are connected to each other via a bus 704. The processor 701 executes the programs in the ROM 702 and / or RAM 703 to perform various operations according to the method flow of the embodiment of the present invention. It should be noted that the programs may also be stored in one or more memories other than the ROM 702 and RAM 703. The processor 701 may also execute the programs stored in the one or more memories to perform various operations according to the method flow of the embodiment of the present invention.

[0102] According to an embodiment of the present invention, electronic device 700 may further include an input / output (I / O) interface 705, which is also connected to bus 704. Electronic device 700 may further include one or more of the following components connected to I / O interface 705: an input section 706 including a keyboard, a mouse, etc.; an output section 707 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and speakers; a storage section 708 including a hard disk; and a communication section 709 including a network interface card such as a LAN card or a modem. Communication section 709 performs communication processing via a network such as the Internet. A drive 710 is also connected to I / O interface 705 as needed. Removable media 711, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed in drive 710 as needed, so that computer programs read from the removable media can be installed into storage section 708 as needed.

[0103] According to an embodiment of the present invention, the method flow according to an embodiment of the present invention can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product, which includes a computer program carried on a computer-readable storage medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 709, and / or installed from the removable medium 711. When the computer program is executed by the processor 701, the above-mentioned functions defined in the system of the embodiment of the present invention are executed. According to an embodiment of the present invention, the system, device, apparatus, module, unit, etc. described above can be implemented by a computer program module.

[0104] The present invention also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments, or may exist independently and not incorporated into the device / apparatus / system. The computer-readable storage medium carries one or more programs, which, when executed, implement the method according to the embodiments of the present invention.

[0105] According to an embodiment of the present invention, a computer-readable storage medium may be a non-volatile computer-readable storage medium. For example, it may include, but is not limited to: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0106] For example, according to an embodiment of the present invention, the computer-readable storage medium may include the ROM 702 and / or the RAM 703 described above and / or one or more memories other than the ROM 702 and the RAM 703 .

[0107] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of the systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each box in the flowchart or block diagram may represent a module, program segment, or portion of code, which contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the boxes may occur in an order different from that marked in the accompanying drawings. For example, two boxes shown in succession may actually be executed substantially in parallel, or they may sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, as well as the combination of boxes in the block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or may be implemented using a combination of dedicated hardware and computer instructions. It will be understood by those skilled in the art that the features described in the various embodiments of the present invention may be combined and / or combined in various ways, even if such combinations or combinations are not explicitly described in the present invention. In particular, the features described in the various embodiments of the present invention may be combined and / or combined in various ways without departing from the spirit and teachings of the present invention. All such combinations and / or combinations fall within the scope of the present invention.

Claims

1. A method for calibrating a Mars rover radar signal, characterized in that: include: Perform interpolation processing on each channel of the original radar data in the time domain to obtain multi-channel high time resolution radar data; arbitrarily determining one channel of high time resolution radar data from the multiple channels of high time resolution radar data as first reference data; performing a time domain cross-correlation analysis on the other high time resolution radar data except the first reference data in the multiple channels of high time resolution radar data and the first reference data to obtain a time domain correlation curve corresponding to each channel of high time resolution radar data; Determine the time offset corresponding to the peak of the time domain correlation curve of each high time resolution radar data as the time hop variable of the high time resolution radar data relative to the first reference data; The time of each high time resolution radar data is corrected based on the time hop variable to obtain time-corrected radar data.

2. The method for calibrating a Mars rover radar signal according to claim 1, wherein: The correction method further comprises: arbitrarily determining one channel of time-corrected radar data from the multiple channels of time-corrected radar data as second reference data; performing phase domain cross-correlation analysis on the time-corrected radar data other than the second reference data in the multiple channels of the time-corrected radar data and the second reference data to obtain a phase domain correlation curve corresponding to each channel of the time-corrected radar data; Determine the phase value corresponding to the maximum value of the real part of the phase domain correlation curve corresponding to each time-corrected radar data as the phase jump of the time-corrected radar data relative to the second reference data; Phase correction is performed on each time-corrected radar data based on the phase jump to obtain phase-corrected radar data.

3. The method for calibrating a Mars rover radar signal according to claim 1 or 2, wherein: The interpolation processing of each data in the original radar data in the time domain specifically includes: The Shannon interpolation method is used to interpolate each channel of the original radar data in the time domain.

4. The method for calibrating a Mars rover radar signal according to claim 1 or 2, wherein: The performing a time domain cross-correlation analysis on the other high time resolution radar data except the first reference data in the multi-channel high time resolution radar data and the first reference data specifically includes: according to A time domain cross-correlation analysis is performed on the high time resolution radar data and the first reference data, wherein: represents the time domain correlation curve of the i-th high time resolution radar data, is the first reference data, is the i-th high time resolution radar data, is the number of points corresponding to the high time resolution radar data, is the time jump variable corresponding to the peak value of the time domain correlation curve, and || represents the absolute value.

5. The method for calibrating a Mars rover radar signal according to claim 4, wherein: Correcting the time of each high time resolution radar data based on the time hop variable to obtain time-corrected radar data specifically includes: according to Correct the time of each high time resolution radar data, where: Indicates based on right The data obtained after correction of the number of points m in is the radar data of the i-th high time resolution radar data after time correction.

6. The method for calibrating a Mars rover radar signal according to claim 2, wherein: The performing phase domain cross-correlation analysis on the other time-corrected radar data except the second reference data in the multiple channels of the time-corrected radar data and the second reference data specifically includes: according to A phase domain cross-correlation analysis is performed on the time-corrected radar data and the second reference data, wherein: is the phase domain correlation curve of the time-corrected radar data of the i-th channel, is the time-corrected radar data of the i-th channel, is the second reference data, To represent the phase jump of the time-corrected radar data of the i-th channel relative to the second reference data, the superscript * represents conjugation.

7. The method for calibrating a Mars rover radar signal according to claim 6, wherein: The performing phase correction on each time-corrected radar data based on the phase jump to obtain phase-corrected radar data specifically includes: according to Correct the phase of each time-corrected radar data, where: is the time-corrected radar data of the i-th channel, The radar data after time correction and phase correction.

8. A calibration device for a Mars rover radar signal, characterized in that: include: The interpolation module is used to perform interpolation processing on each channel of the original radar data in the time domain to obtain multi-channel high-time resolution radar data; A first determining module, configured to randomly determine one channel of high time resolution radar data from the multiple channels of high time resolution radar data as first reference data; a first correlation analysis module, configured to perform a time domain cross-correlation analysis on the high time resolution radar data other than the first reference data in the multiple channels of high time resolution radar data and the first reference data, to obtain a time domain correlation curve corresponding to each channel of high time resolution radar data; a second determining module, configured to determine a time offset corresponding to a peak value of a time domain correlation curve of each high time resolution radar data as a time hop variable of the high time resolution radar data relative to the first reference data; A first correction module is configured to correct the time of each high time resolution radar data based on the time hop variable to obtain time-corrected radar data; a third determining module, configured to determine any one channel of time-corrected radar data from the plurality of channels of time-corrected radar data as second reference data; a first correlation analysis module, configured to perform a phase domain cross-correlation analysis on the time-corrected radar data other than the second reference data in the plurality of time-corrected radar data and the second reference data, to obtain a phase domain correlation curve corresponding to each channel of the time-corrected radar data; a fourth determining module, configured to determine a phase value corresponding to a maximum value of a real part of a phase domain correlation curve corresponding to each time-corrected radar data as a phase jump of the time-corrected radar data relative to the second reference data; The second correction module is used to perform phase correction on each time-corrected radar data based on the phase jump to obtain phase-corrected radar data.

9. An electronic device, characterized in that: include: one or more processors; a memory for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors are enabled to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that Executable instructions are stored thereon, which, when executed by a processor, enable the processor to implement the method according to any one of claims 1 to 7.

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