A millimeter wave radar speed de-biasing method, device, apparatus and storage medium

Abstract

The application is a millimeter wave radar speed de-fuzzing method, device, equipment and storage medium, and specifically relates to the meteorological monitoring technical field. The method comprises the following steps: obtaining a target millimeter wave scanning image obtained by a target millimeter wave radar scanning a target area; performing edge detection on the target millimeter wave scanning image, and dividing the target millimeter wave scanning image into each to-be-detected area; identifying a fuzzy area of each to-be-detected area based on a maximum non-fuzzy speed corresponding to the target millimeter wave radar and an average wind speed of the target area, and determining the fuzzy area and a non-fuzzy area in the target millimeter wave scanning image; and performing de-fuzzing processing on the fuzzy area based on the wind speed of the non-fuzzy area, and obtaining a corrected wind speed of the target area. Based on the above scheme, when the millimeter wave radar speed de-fuzzing function is implemented, the wind speed of the fuzzy area is more accurate after correction.

Description

Technical Field

[0001] This application relates to the technical field of meteorological monitoring, specifically to a method, apparatus, device, and storage medium for de-ambiguity of millimeter-wave radar velocity. Background Technology

[0002] Millimeter-wave cloud radar is a new type of cloud measurement equipment. It can not only detect the fine horizontal and vertical structure within clouds, but also acquire radial data with high spatiotemporal resolution. It is of great help in studying the physical characteristics of clouds and the development and evolution of clouds and precipitation, and is one of the important means of short-term nowcasting.

[0003] However, the radial velocity range that can be measured by Doppler radar is limited, meaning there exists a maximum unambiguous velocity V. m When the actual radial wind speed is within ±V m Within the specified range, the radar can measure the true radial velocity data, but when the actual radial wind speed exceeds ±V... m Subsequently, the radial data V measured by the radar o Still in ±V m Within this range, this is what is commonly referred to as velocity ambiguity, the true radial velocity data V t With the observed radial velocity data V o The relationship between them is: V t =V o ±2n×V m V m =λ×f / 4. Where n is an integer, V m The maximum unambiguous velocity is limited by the radar wavelength λ and the pulse repetition frequency f.

[0004] Therefore, the velocity data directly acquired by millimeter-wave radar using the Doppler system is inaccurate, which seriously affects the accuracy of applications such as weather process identification. Summary of the Invention

[0005] This application provides a method, apparatus, device, and storage medium for deblurring the velocity of millimeter-wave radar, and the technical solution is as follows.

[0006] On the one hand, a method for de-ambiguity of millimeter-wave radar velocity is provided, the method comprising:

[0007] Acquire millimeter-wave scan images of the target area obtained by the target millimeter-wave radar;

[0008] Edge detection is performed on the target millimeter-wave scan image to divide the target millimeter-wave scan image into various regions to be detected;

[0009] Based on the maximum unambiguous velocity corresponding to the target millimeter-wave radar and the average wind speed of the target area, the ambiguous region is identified for each area to be detected, and the ambiguous and unambiguous regions are determined in the target millimeter-wave scan image.

[0010] Based on the wind speed in the unambiguous region, the ambiguous region is deblurred to obtain the corrected wind speed in the target region.

[0011] In another aspect, a millimeter-wave radar velocity de-ambiguity device is provided, the device comprising:

[0012] The image acquisition module is used to acquire the millimeter-wave scan image of the target area obtained by the target millimeter-wave radar.

[0013] The edge detection module is used to perform edge detection on the target millimeter-wave scan image and divide the target millimeter-wave scan image into various regions to be detected.

[0014] The blurred region identification module is used to identify blurred regions in each region to be detected based on the maximum unambiguous velocity corresponding to the target millimeter-wave radar and the average wind speed of the target area, and to determine blurred regions and unambiguous regions in the target millimeter-wave scan image.

[0015] The deblurring module is used to deblur the blurred region based on the wind speed in the unblurred region, so as to obtain the corrected wind speed in the target region.

[0016] In one possible implementation, the step of identifying blurred regions in each detectable region based on the maximum unambiguous velocity corresponding to the target millimeter-wave radar and the average wind speed of the target area, and determining blurred and unambiguous regions in the target millimeter-wave scan image, includes:

[0017] For each area to be detected, the area index of the area to be detected is obtained based on the proportion of the area to be detected, the maximum unambiguous velocity, and the average wind speed of the target area.

[0018] The zero-velocity line index of the area to be detected is obtained based on the area of ​​the area to be detected, the area of ​​the zero-velocity line of the area to be detected, the maximum unambiguous velocity, and the average wind speed of the target area.

[0019] The region elevation angle index of the region to be detected is determined based on the average elevation angle of the region to be detected.

[0020] Based on the area index, zero velocity line index, and region elevation angle index of each region to be detected, the non-fuzzy index of each region to be detected is determined.

[0021] The regions to be detected that meet the specified conditions for non-fuzziness index are defined as non-fuzzy regions.

[0022] In one possible implementation, determining the non-ambiguity index of each region to be detected based on its area index, zero velocity line index, and region elevation angle index includes:

[0023] The sum of the area index, zero velocity line index, and region elevation angle index of each region to be detected is determined as the non-ambiguity index of each region to be detected.

[0024] The step of determining the detection region whose non-ambiguity index meets the specified conditions as the unambiguous region includes:

[0025] Among the various regions to be detected, the region with the largest non-ambiguity index is determined as the unambiguous region.

[0026] In one possible implementation, obtaining the area index of the area to be detected based on the proportion of the area to be detected, the maximum unambiguous velocity, and the average wind speed of the target area includes:

[0027] The proportion of the theoretical unambiguous region in the area to be detected is determined based on the ratio of the maximum unambiguous velocity to the average wind speed of the target area.

[0028] When the proportion of the theoretical non-fuzzy region of the region to be detected is less than or equal to the proportion of the area of ​​the region to be detected, the area index of the region to be detected is determined to be 1.

[0029] When the proportion of the theoretical unambiguous area of ​​the region to be detected is greater than the proportion of the area of ​​the region to be detected, the ratio of the proportion of the area of ​​the region to be detected to the proportion of the theoretical unambiguous area of ​​the region to be detected is obtained, and the ratio is determined as the area index of the region to be detected.

[0030] In one possible implementation, obtaining the zero-velocity line index of the region to be detected based on the area of ​​the region to be detected, the area of ​​the zero-velocity line of the region to be detected, the maximum unambiguous velocity, and the average wind speed of the target region includes:

[0031] Obtain the first arcsine value of the ratio of the maximum unambiguous velocity to the average wind speed of the target area;

[0032] The second arcsine value is obtained based on the ratio of the specified wind speed to the average wind speed;

[0033] The ratio of the second arcsine value to the first arcsine value is determined as the proportion of the theoretical zero velocity line;

[0034] The actual proportion of the zero-velocity line is determined based on the area of ​​the zero-velocity line in the region to be detected and the ratio of the area of ​​the region to be detected.

[0035] When the actual zero-speed line ratio is greater than or equal to the theoretical zero-speed line ratio, the zero-speed line index is set to 1.

[0036] When the actual zero-velocity line percentage is less than the theoretical zero-velocity line percentage, the ratio of the actual zero-velocity line percentage to the theoretical zero-velocity line percentage is determined as the zero-velocity line index.

[0037] In one possible implementation, determining the region elevation angle index of the region to be detected based on the average elevation angle of the region to be detected includes:

[0038] Determine the mode of the target millimeter-wave radar;

[0039] When the target millimeter-wave radar is in RHI mode, the elevation angle corresponding to each data point in the area to be detected is obtained;

[0040] Based on the elevation angle corresponding to each data point, the average elevation angle of the area to be detected is determined;

[0041] Obtain the ratio of the average elevation angle to 90 degrees;

[0042] Based on the distance between the angle ratio and 1, the elevation angle index of the area to be detected is determined.

[0043] In one possible implementation, the edge detection of the target millimeter-wave scan image, dividing the target millimeter-wave scan image into various regions to be detected, includes:

[0044] Edge detection is performed on the target millimeter-wave scan image to obtain the edge line region in the target millimeter-wave scan image;

[0045] The target millimeter-wave scan image is divided into various regions to be detected based on the edge line region.

[0046] In one possible implementation, the corrected wind speed in the target area includes the wind speed in the unblurred area, the wind speed in the deblurred area, and the wind speed in the deblurred edge area.

[0047] The step of deblurring the blurred region based on the wind speed in the unblurred region to obtain the corrected wind speed in the target region includes:

[0048] Based on the wind speed in the unambiguous region, the wind speed in the ambiguous region is deambigued to obtain the corrected wind speed in the ambiguous region.

[0049] Select at least two surrounding regions in the edge line region; the surrounding regions are either unblurred regions or blurred regions after deblurring.

[0050] Based on the average wind speed of the at least two surrounding areas, the edge line region is deblurred to obtain the corrected wind speed of the edge line region.

[0051] In one possible implementation, the step of deblurring the wind speed in the fuzzy region based on the wind speed in the unfuzzy region to obtain the corrected wind speed in the fuzzy region includes:

[0052] For each ambiguous region, select the target unambiguous region adjacent to the ambiguous region;

[0053] The wind speed in the blurred region is adjusted in units of 2n times the maximum unblurred speed until the difference between the wind speed in the blurred region and the wind speed in the target unblurred region is less than a first threshold, so as to obtain the corrected wind speed in the blurred region.

[0054] In one possible implementation, the mode of the target millimeter-wave radar is determined; when the mode of the target millimeter-wave radar is PPI mode, two radial wind speeds with an azimuth angle difference of 180° are selected from the corrected wind speeds in the target area.

[0055] If the sum of two radial wind speeds with an azimuth angle difference of 180° is less than the second threshold, then the corrected wind speed in the target area is determined to be unambiguous data.

[0056] If the sum of two radial wind speeds with an azimuth angle difference of 180° is less than the difference between 4n times the maximum unambiguous speed and the third threshold, then the wind speed in the target area is determined to be fuzzy data.

[0057] In another aspect, a computer device is provided, the computer device including a processor and a memory, the memory storing at least one instruction, the at least one instruction being loaded and executed by the processor to implement the above-described millimeter-wave radar velocity de-ambiguity method.

[0058] In another aspect, a computer-readable storage medium is provided, wherein at least one instruction is stored therein, the at least one instruction being loaded and executed by a processor to implement the above-described millimeter-wave radar velocity de-ambiguity method.

[0059] In another aspect, a computer program product or computer program is provided, the computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, causing the computer device to perform the aforementioned millimeter-wave radar velocity de-ambiguation method.

[0060] The technical solution provided in this application may include the following beneficial effects:

[0061] First, a millimeter-wave scan image of the target area is acquired by the target millimeter-wave radar. Then, edge detection is performed on the target millimeter-wave scan image to divide it into various detection regions. Next, based on the maximum unambiguous velocity corresponding to the target millimeter-wave radar and the average wind speed in the target area, blurred regions are identified in each detection region, determining blurred and unambiguous regions within the target millimeter-wave scan image. Finally, based on the wind speed in the unambiguous regions, deblurring is performed on the blurred regions to obtain the corrected wind speed for the target area. Therefore, when implementing the millimeter-wave radar velocity deblurring function, the above method corrects the wind speed in the blurred regions by using the wind speed in the unambiguous regions, ensuring the accuracy of the corrected wind speed data for the blurred regions. Attached Figure Description

[0062] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0063] Figure 1 This is a schematic diagram of the structure of a millimeter-wave radar velocity deambiguation system according to an exemplary embodiment.

[0064] Figure 2 This is a flowchart illustrating a millimeter-wave radar velocity deblurring method according to an exemplary embodiment.

[0065] Figure 3 This is a flowchart illustrating a millimeter-wave radar velocity deblurring method according to an exemplary embodiment.

[0066] Figure 4 An example diagram of a target millimeter-wave scan image related to an embodiment of this application is shown.

[0067] Figure 5 An example diagram of the edge line in a target millimeter-wave scan image according to an embodiment of this application is shown.

[0068] Figure 6 The flowchart illustrating the process of correcting data for each region within the fuzzy region list SList according to an embodiment of this application is shown.

[0069] Figure 7 An example image of a target millimeter-wave scanned image after deblurring is shown in an embodiment of this application.

[0070] Figure 8 This is a structural block diagram of a millimeter-wave radar velocity deblurring device according to an exemplary embodiment.

[0071] Figure 9 This is a structural block diagram of a computer device according to an exemplary embodiment. Detailed Implementation

[0072] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0073] It should be understood that the term "instruction" mentioned in the embodiments of this application can be a direct instruction, an indirect instruction, or an indication of a relationship. For example, A instructing B can mean that A directly instructs B, such as B being able to obtain information through A; it can also mean that A indirectly instructs B, such as A instructing C, so B can obtain information through C; or it can mean that there is a relationship between A and B.

[0074] In the description of the embodiments of this application, the term "correspondence" may indicate that there is a direct or indirect correspondence between two things, or that there is an association between two things, or that there is a relationship of instruction and being instructed, configuration and being configured, etc.

[0075] In the embodiments of this application, "predefined" can be achieved by pre-storing corresponding codes, tables or other means that can be used to indicate relevant information in the device (e.g., including terminal devices and network devices). This application does not limit the specific implementation method.

[0076] Figure 1 This is a schematic diagram illustrating the structure of a millimeter-wave radar velocity deblurring system according to an exemplary embodiment. The millimeter-wave radar velocity deblurring system includes a data processing device 110 and a millimeter-wave radar 120.

[0077] Optionally, the millimeter-wave radar 120 includes a data storage device. After the millimeter-wave radar acquires a target image and obtains a millimeter-wave scan image, the millimeter-wave scan image can be stored in the data storage device.

[0078] Optionally, the data processing device 110 can be a computer device with high computing power, which is used to analyze the acquired millimeter-wave scan images to obtain the characteristics of the millimeter-wave scan images.

[0079] Optionally, the data processing device 110 may be a terminal device with image analysis software installed. When the terminal device receives an instruction to analyze the millimeter-wave scan image, it can read the corresponding millimeter-wave scan image from the data storage in the image acquisition device 120 and analyze the millimeter-wave scan image to obtain the characteristics of the millimeter-wave scan image.

[0080] Optionally, the data processing device 110 can also be a server with image analysis software installed. The millimeter-wave radar can be connected to a terminal device. When the terminal device receives the millimeter-wave scan image, it can transmit the millimeter-wave scan image to the server to complete the characteristic analysis of the millimeter-wave scan image.

[0081] Optionally, the data processing device 110 and the millimeter-wave radar 120 can communicate via a wired or wireless network.

[0082] Optionally, the aforementioned server can be a server cluster or a distributed system consisting of multiple physical servers, or it can be a cloud server that provides cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms and other technology computing services.

[0083] Optionally, the system may also include a management device for managing the system (such as managing the connection status between each module and the server), and the management device is connected to the server via a communication network. Optionally, the communication network may be a wired network or a wireless network.

[0084] Optionally, the aforementioned wireless or wired networks use standard communication technologies and / or protocols. The network is typically the Internet, but can also be any other network, including but not limited to any combination of local area networks (LANs), metropolitan area networks (MANs), wide area networks (WANs), mobile, wired or wireless networks, private networks, or virtual private networks (VPNs). In some embodiments, technologies and / or formats including Hypertext Markup Language (HTML), Extensible Markup Language (XML), etc., are used to represent data exchanged over the network. Furthermore, conventional encryption technologies such as Secure Sockets Layer (SSL), Transport Layer Security (TLS), VPNs, and Internet Protocol (IP) security can be used to encrypt all or some links. In other embodiments, customized and / or dedicated data communication technologies can be used to replace or supplement the aforementioned data communication technologies.

[0085] Figure 2 This is a flowchart illustrating a millimeter-wave radar velocity deblurring method according to an exemplary embodiment. The method is executed by a computer device, which may be, for example... Figure 1 The data processing device 110 shown is an example. Figure 2 As shown, the millimeter-wave radar velocity de-ambiguity method may include the following steps:

[0086] Step 201: Obtain the target millimeter-wave scan image obtained by the target millimeter-wave radar scanning the target area.

[0087] Millimeter waves refer to electromagnetic waves with wavelengths between 1 and 10 mm, and millimeter-wave radar refers to radar operating in the millimeter-wave band. The electromagnetic wave signals emitted by a millimeter-wave radar system are reflected when blocked by objects in their transmission path. By scanning the target area with a target millimeter-wave radar to capture the reflected signals, a millimeter-wave scan image of the target is obtained. This image is then amplified and analyzed to determine the object's distance, velocity, and angle.

[0088] In this embodiment of the application, the target area is first scanned by the target millimeter-wave radar to obtain a two-dimensional image of the target area, namely the target millimeter-wave scan image. Then, the edge detection of the target millimeter-wave scan image is performed using the image processing approach to divide the target area into multiple areas to be detected.

[0089] Step 202: Perform edge detection on the millimeter-wave scan image of the target and divide the millimeter-wave scan image of the target into various regions to be detected.

[0090] Millimeter-wave cloud-measuring radar has a shorter wavelength λ and a maximum unambiguous velocity V. m The velocity is relatively small, making it prone to velocity ambiguity (velocity folding) during detection. When the velocity approaches the maximum unambiguous velocity ±V... m At this time, the previously continuous radial wind speed data will exhibit a significant abrupt change, that is, the radial wind speed data changes from V... m -ΔV1 jumps to -Vm +ΔV2 (where ΔV1 and ΔV2 are small positive values), or the change is reversed, forming a clear abrupt change line, i.e., a velocity ambiguity line. In other words, when the wind speed exceeds the velocity ambiguity line, the wind speed measured by the millimeter-wave scanning image is inaccurate.

[0091] In this embodiment, because the radial wind speed data exhibits significant abrupt changes, i.e., velocity blurring lines exist, the target millimeter-wave scan image will contain multiple regions where the radial wind speed data within each region changes continuously, and velocity folding occurs between regions. Therefore, edge detection can be performed on the target millimeter-wave scan image to extract the edges between each region, thereby dividing the target millimeter-wave scan image into various regions to be detected.

[0092] Step 203: Based on the maximum unambiguous velocity corresponding to the millimeter-wave radar of the target and the average wind speed of the target area, perform ambiguity region identification on each area to be detected, and determine the ambiguous and unambiguous regions in the millimeter-wave scan image of the target.

[0093] Based on the maximum unambiguous velocity corresponding to the target millimeter-wave radar and the average wind speed in the target area, the degree of ambiguity of each area to be detected is determined, i.e., ambiguity region identification. When an area to be detected meets the target conditions, it is determined as either an ambiguous region or an unambiguous region. In this embodiment, an unambiguous region can be defined as a region with a wind speed no greater than the velocity ambiguity line, meaning that the wind speed in an unambiguous region is theoretically more accurate; while an ambiguous region can be defined as a region with a wind speed greater than the velocity ambiguity line, where the wind speed collected through the Doppler effect is inaccurate.

[0094] The above target conditions can be set according to the actual application scenario, combined with the maximum unambiguous velocity corresponding to the target millimeter-wave radar and the average wind speed in the target area.

[0095] Step 204: Based on the wind speed in the unambiguous region, perform deambiguity processing on the ambiguous region to obtain the corrected wind speed in the target region.

[0096] After selecting the unambiguous region in step 203, since the unambiguous region and the ambiguous region are separated by fuzzy lines, and since the wind speed in a continuous region will not change drastically in the actual scenario, after determining the unambiguous region and the ambiguous region, it is optional to use the unambiguous region to correct the radial wind speed data of the ambiguous region, that is, to perform defuzzification processing, so as to correct the wind speed of the target region.

[0097] In summary, the method first acquires a millimeter-wave scan image of the target area obtained by the millimeter-wave radar scanning the target region; then, edge detection is performed on the target millimeter-wave scan image to divide it into various detection regions; next, based on the maximum unambiguous velocity corresponding to the target millimeter-wave radar and the average wind speed of the target region, blurred regions are identified in each detection region, determining blurred and unambiguous regions in the target millimeter-wave scan image; finally, based on the wind speed of the unambiguous regions, deblurring is performed on the blurred regions to obtain the corrected wind speed of the target region. Therefore, when implementing the millimeter-wave radar velocity deblurring function, the above method corrects the wind speed of the blurred regions by using the wind speed of the unambiguous regions, ensuring the accuracy of the corrected wind speed data for the blurred regions.

[0098] Figure 3 This is a flowchart illustrating a millimeter-wave radar velocity deblurring method according to an exemplary embodiment. The method is executed by a computer device, which may be, for example... Figure 1 The data processing device shown is part of a millimeter-wave radar velocity deambiguation system. (Example:) Figure 3 As shown, the millimeter-wave radar velocity de-ambiguity method may include the following steps:

[0099] Step 301: Obtain the target millimeter-wave scan image obtained by the target millimeter-wave radar scanning the target area.

[0100] The target area is scanned by millimeter-wave radar. Due to the different radial wind speed data between different areas, different areas are presented in the millimeter-wave scan image of the target.

[0101] For example, Figure 4 An example diagram of a target millimeter-wave scanned image related to an embodiment of this application is shown. Figure 4 As shown, the horizontal and vertical axes represent the target area size range in km. The shades of gray correspond to different ranges of radial wind speed data in m / s.

[0102] Step 302: Perform edge detection on the millimeter-wave scan image of the target and divide the millimeter-wave scan image of the target into various regions to be detected.

[0103] Optionally, edge detection is performed on the millimeter-wave scan image of the target to obtain the edge line region in the millimeter-wave scan image of the target; the millimeter-wave scan image of the target is divided into various regions to be detected based on the edge line region.

[0104] For example, edge detection of a target millimeter-wave scan image can be performed using the Sobel operator according to the following formula:

[0105]

[0106]

[0107]

[0108] Where x, y, i, and j are real numbers, V(x+i,y+j) is the millimeter-wave radial wind speed data, SobelX(i,j) is the X component (horizontal component) of the Sobel operator, SobelY(i,j) is the Y component (vertical component) of the Sobel operator, S(x,y) is the edge line index, SX(x,y) is the X component of the edge line index, and SY(x,y) is the Y component of the edge line index.

[0109] When the edge line index exceeds a threshold T, it is considered an edge line. The millimeter-wave radial wind speed data is divided into different regions, i.e., various detection areas, using the edge line as the boundary. This threshold T can be set according to the actual application scenario.

[0110] The original data table for V(x,y) (i.e., V(x+i,y+j) when i=0, j=0) is shown in Table 1, the data table for SobelX(i,j) is shown in Table 2, and the data table for SobelY(i,j) is shown in Table 3.

[0111] Table 1: Original data table for V(x,y).

[0112] V(-1,-1) V(0,-1) V(1,-1) V(-1,0) V(0,0) V(1,0) V(-1,1) V(0,1) V(1,1)

[0113] Table 2: Data table for SobelX(i,j).

[0114] -1 0 1 -2 0 2 -1 0 1

[0115] Table 3: Data table for SobelY(i,j).

[0116] -1 -2 -1 0 0 0 1 2 1

[0117] For example, Figure 5 An example diagram of the edge line in a target millimeter-wave scan image according to an embodiment of this application is shown. Figure 5 As shown in the figure, the shades of the edge lines correspond to different ranges of the edge line index S(x,y).

[0118] Step 303: Based on the maximum unambiguous velocity corresponding to the millimeter-wave radar of the target and the average wind speed of the target area, perform ambiguity region identification on each area to be detected, and determine the ambiguous and unambiguous regions in the millimeter-wave scan image of the target.

[0119] Optionally, for each region to be detected, based on the proportion R of the area of ​​that region to be detected. S Maximum unambiguous speed V m And the average wind speed V0 of the target area, to obtain the area index I of the area to be detected. S .

[0120] First, based on the maximum unambiguous speed V m The ratio of the average wind speed V0 in the target area to the theoretically unambiguous region n of the area to be detected is used to determine the proportion of the area to be detected. S ;

[0121] When the proportion of the theoretically unambiguous region in the area to be detected is n S The proportion R of the area to be detected is less than or equal to the area of ​​the region to be detected. S At that time, the area index I of the area to be detected is... S The value is set to 1;

[0122] When the proportion of the theoretically unambiguous region in the area to be detected is n S Greater than the proportion R of the area to be detected S At that time, obtain the proportion R of the area to be detected. S The proportion n of the theoretically unambiguous region of the region to be detected. S The ratio of the two values ​​is used to determine the area index I of the area to be detected. S .

[0123] The area index I can be calculated using the following formula. S :

[0124]

[0125] R S =S n / S

[0126]

[0127] Optionally, the zero-velocity line index of the area to be detected can be obtained based on the area of ​​the area to be detected, the area of ​​the zero-velocity line of the area to be detected, the maximum unambiguous velocity, and the average wind speed of the target area.

[0128] First, obtain the maximum unambiguous speed V. m The first arcsine value of the ratio of the average wind speed V0 in the target area;

[0129] The second arcsine value is obtained based on the ratio of the specified wind speed to the average wind speed V0.

[0130] The ratio of the second arcsine value to the first arcsine value is determined as the theoretical zero velocity line proportion n. V0 ;

[0131] Based on the area S of the zero velocity line of the region to be detected V0 and the area S of the region to be detected n The ratio of the actual zero-velocity line R is used to determine the proportion of the zero-velocity line. V0 ;

[0132] When the actual zero velocity line accounts for R V0 The proportion of the zero velocity line greater than or equal to that in theory n V0 At that time, the zero-speed line index I V0 The value is set to 1;

[0133] When the actual zero velocity line accounts for R V0 The proportion of n less than the theoretical zero velocity line V0 When the ratio of the actual zero-velocity line proportion to the theoretical zero-velocity line proportion is used, the zero-velocity line index I is determined. V0 .

[0134] It should be noted that the average wind speed V0 in the target area is the annual average wind speed of the area where the millimeter-wave radar is located, which is a fixed parameter.

[0135] For example, when the specified wind speed is 0.5, the zero-speed line index I can be calculated using the following formula. V0 :

[0136]

[0137] R v0 =S vo / S n

[0138]

[0139] Optionally, the elevation angle index of the area to be detected can be determined based on the average elevation angle of the area to be detected.

[0140] First, determine the mode of the target millimeter-wave radar; when the target millimeter-wave radar is in RHI mode (Range Height Indicator), acquire the elevation angle A corresponding to each data point in the area to be detected. n ;

[0141] Based on the elevation angle A corresponding to each data point n Determine the average elevation angle A of the area to be detected. mean ;

[0142] Obtain the average elevation angle A mean The ratio of the angle to 90 degrees;

[0143] Based on the distance between this angle ratio and 1, the elevation angle index I of the area to be detected is determined.A .

[0144] The elevation index I of the area can be calculated using the following formula. A :

[0145]

[0146]

[0147] Furthermore, based on the area index, zero velocity line index, and region elevation angle index of each region to be detected, the non-fuzzy index of each region to be detected is determined.

[0148] The area index I of each region to be detected. S Zero speed line index I V0 and the area elevation angle I A The sum of the indices determines the unambiguous index I for each region to be detected. The unambiguous index I of the region to be detected can be calculated using the following formula:

[0149] I = I S +I V0 +I A

[0150] The region to be detected that meets the specified condition for the non-fuzziness index is defined as the non-fuzzy region S0.

[0151] Optionally, the specified condition is to determine the unambiguous region S0 as the region with the largest non-ambiguity index among all regions to be detected, and to include other regions within the target region other than the unambiguous region into the ambiguity region list SList.

[0152] Step 304: Based on the wind speed in the unambiguous region, perform deambiguity processing on the ambiguous region to obtain the corrected wind speed in the target region.

[0153] Using the unambiguous region S0, correct the data of each region in the ambiguous region list SList. Figure 6 This document illustrates a flowchart illustrating the correction of data for each region within the fuzzy region list SList, as described in an embodiment of this application. Figure 6 As shown, through the fuzzy region S n Compare the unblurred region S0, and then compare the blurred region S0. n Correct the process by merging the results into the unblurred region S0 and deleting the blurred region S from the blurred region list SList. n Repeat this step until the fuzzy region list SList is empty.

[0154] Optionally, the corrected wind speed in the target area includes the wind speed in the unblurred area, the wind speed in the deblurred area, and the wind speed in the deblurred edge area.

[0155] Optionally, based on the wind speed in the unambiguous region, the wind speed in the ambiguous region is deambigued to obtain the corrected wind speed in the ambiguous region.

[0156] Optionally, for each blurred region, select the target unblurred region adjacent to that blurred region;

[0157] The wind speed in the blurred area is adjusted in units of 2n times the maximum unblurred speed until the difference between the wind speed in the blurred area and the wind speed in the target unblurred area is less than a first threshold, so as to obtain the corrected wind speed in the blurred area.

[0158] Furthermore, at least two surrounding regions are selected in the edge region; these surrounding regions are either unblurred regions or blurred regions after deblurring.

[0159] Based on the average wind speed of at least two surrounding areas, the edge line region is deblurred to obtain the corrected wind speed of the edge line region.

[0160] For example, using a 5×5 window, the mean value V(x,y) of the millimeter-wave radial wind speed data can be obtained using the following formula. mean The edge region is deblurred using the average wind speed of N surrounding areas.

[0161]

[0162] For example, Figure 7 An example image of a target millimeter-wave scanned image after deblurring is shown in an embodiment of this application.

[0163] Step 305: Determine the mode of the millimeter-wave radar of the target; when the mode of the millimeter-wave radar of the target is PPI (Plan Position Indicator) mode, select two radial wind speeds with an azimuth angle difference of 180° from the corrected wind speeds in the target area.

[0164] If the sum of two radial wind speeds with an azimuth angle difference of 180° is less than the second threshold, then the corrected wind speed in the target area is determined to be unambiguous data.

[0165] If the sum of two radial wind speeds with an azimuth angle difference of 180° is less than the difference between 4n times the maximum unambiguous speed and the third threshold, then the wind speed in the target area is determined to be fuzzy data.

[0166] For example, for the corrected radial wind speed V1, select the radial wind speeds V1(azi, rad) and V1(azi+180, rad) at specific distances on two radial sides with opposite angles, and calculate the sum of the two radial wind speeds n2:

[0167] n2=(V1(azi,rad)+V1(azi+180,rad)) / (4×V m )

[0168] If the corrected radial wind speed V1 matches the actual radial wind speed, then n2 should be close to 0, and the correction result is correct. If multiple ambiguities occur and the correction is incorrect, then n2 should be close to ±1 or ±2. Using n2 as a reference, a second ambiguity correction can be performed on the radial velocity data of the millimeter-wave cloud-measuring radar to obtain the final correction result V2.

[0169] In summary, the method first acquires a millimeter-wave scan image of the target area obtained by the millimeter-wave radar scanning the target region; then, edge detection is performed on the target millimeter-wave scan image to divide it into various detection regions; next, based on the maximum unambiguous velocity corresponding to the target millimeter-wave radar and the average wind speed of the target region, blurred regions are identified in each detection region, determining blurred and unambiguous regions in the target millimeter-wave scan image; finally, based on the wind speed of the unambiguous regions, deblurring is performed on the blurred regions to obtain the corrected wind speed of the target region. Therefore, when implementing the millimeter-wave radar velocity deblurring function, the above method corrects the wind speed of the blurred regions by using the wind speed of the unambiguous regions, ensuring the accuracy of the corrected wind speed data for the blurred regions.

[0170] Figure 8 This is a structural block diagram illustrating a millimeter-wave radar velocity de-ambiguity device according to an exemplary embodiment. The device includes:

[0171] Image acquisition module 801 is used to acquire the target millimeter-wave scan image obtained by the target millimeter-wave radar scanning the target area;

[0172] The edge detection module 802 is used to perform edge detection on the millimeter-wave scanned image of the target and divide the millimeter-wave scanned image of the target into various regions to be detected.

[0173] The blurred region identification module 803 is used to identify blurred regions in each region to be detected based on the maximum unambiguous velocity corresponding to the millimeter-wave radar of the target and the average wind speed of the target area, and to determine blurred and unambiguous regions in the millimeter-wave scan image of the target.

[0174] The deblurring module 804 is used to perform deblurring on the blurred area based on the wind speed in the unblurred area, so as to obtain the corrected wind speed in the target area.

[0175] In one possible implementation, based on the maximum unambiguous velocity corresponding to the target millimeter-wave radar and the average wind speed of the target area, ambiguity region identification is performed on each area to be detected, determining ambiguous and unambiguous regions in the target millimeter-wave scan image, including:

[0176] For each area to be detected, the area index of the area to be detected is obtained based on the proportion of the area occupied by the area to be detected, the maximum unambiguous velocity, and the average wind speed of the target area.

[0177] The zero-velocity line index of the area to be detected is obtained based on the area of ​​the area to be detected, the area of ​​the zero-velocity line of the area to be detected, the maximum unambiguous velocity, and the average wind speed of the target area.

[0178] Determine the area elevation angle index of the area to be detected based on the average elevation angle of the area to be detected;

[0179] Based on the area index, zero velocity line index, and region elevation angle index of each region to be detected, the non-fuzzy index of each region to be detected is determined.

[0180] The regions to be detected that meet the specified conditions for non-fuzziness index are defined as non-fuzzy regions.

[0181] In one possible implementation, the non-ambiguity index of each region to be detected is determined based on its area index, zero velocity line index, and region elevation angle index, including:

[0182] The sum of the area index, zero velocity line index, and region elevation angle index of each region to be detected is determined as the non-ambiguity index of each region to be detected.

[0183] The region to be detected that meets the specified conditions for non-ambiguity index is defined as the unambiguous region, including:

[0184] The region with the largest non-ambiguity index among all the regions to be detected is determined as the unambiguous region.

[0185] In one possible implementation, the area index of the area to be detected is obtained based on the proportion of the area to be detected, the maximum unambiguous velocity, and the average wind speed of the target area, including:

[0186] The proportion of the theoretical unambiguous zone in the area to be detected is determined based on the ratio of the maximum unambiguous velocity to the average wind speed of the target area.

[0187] When the proportion of the theoretical non-fuzzy region of the region to be detected is less than or equal to the proportion of the area of ​​the region to be detected, the area index of the region to be detected is determined to be 1.

[0188] When the proportion of the theoretical unfuzzy area of ​​the region to be detected is greater than the proportion of the area of ​​the region to be detected, the ratio of the proportion of the area of ​​the region to be detected to the proportion of the theoretical unfuzzy area of ​​the region to be detected is obtained, and this ratio is determined as the area index of the region to be detected.

[0189] In one possible implementation, the zero-velocity line index of the area to be detected is obtained based on the area of ​​the area to be detected, the area of ​​the zero-velocity line of the area to be detected, the maximum unambiguous velocity, and the average wind speed of the target area, including:

[0190] Obtain the first arcsine value of the ratio of the maximum unambiguous velocity to the average wind speed of the target area;

[0191] The second arcsine value is obtained based on the ratio of the specified wind speed to the average wind speed.

[0192] The ratio of the second arcsine value to the first arcsine value is determined as the proportion of the theoretical zero velocity line;

[0193] The actual proportion of the zero-velocity line is determined based on the area of ​​the zero-velocity line in the area to be tested and the ratio of the area of ​​the area to be tested.

[0194] When the actual zero-speed line ratio is greater than or equal to the theoretical zero-speed line ratio, the zero-speed line index is set to 1.

[0195] When the actual zero-speed line percentage is less than the theoretical zero-speed line percentage, the ratio of the actual zero-speed line percentage to the theoretical zero-speed line percentage is determined as the zero-speed line index.

[0196] In one possible implementation, the area elevation index of the area to be detected is determined based on the average elevation angle of the area to be detected, including:

[0197] Determine the mode of the millimeter-wave radar targeting the target;

[0198] When the target millimeter-wave radar is in RHI mode, acquire the elevation angle corresponding to each data point in the area to be detected;

[0199] Based on the elevation angle corresponding to each data point, determine the average elevation angle of the area to be detected;

[0200] Obtain the ratio of the average elevation angle to the angle of 90 degrees;

[0201] Based on the distance between this angle ratio and 1, the elevation index of the area to be detected is determined.

[0202] In one possible implementation, edge detection is performed on the target millimeter-wave scan image, dividing the target millimeter-wave scan image into various regions to be detected, including:

[0203] Edge detection is performed on the millimeter-wave scan image of the target to obtain the edge line region in the millimeter-wave scan image of the target;

[0204] The millimeter-wave scan image of the target is divided into various regions to be detected based on the edge line region.

[0205] In one possible implementation, the corrected wind speed in the target area includes the wind speed in the unblurred area, the wind speed in the deblurred area, and the wind speed in the deblurred edge area.

[0206] Based on the wind speed in the unambiguous region, the ambiguous region is deblurred to obtain the corrected wind speed in the target region, including:

[0207] Based on the wind speed in the unambiguous region, the wind speed in the ambiguous region is deambiguated to obtain the corrected wind speed in the ambiguous region.

[0208] Select at least two surrounding regions within the edge region; these surrounding regions are either unblurred regions or blurred regions after deblurring.

[0209] Based on the average wind speed of at least two surrounding areas, the edge line region is deblurred to obtain the corrected wind speed of the edge line region.

[0210] In one possible implementation, the wind speed in the unambiguous region is deblurred based on the wind speed in the unambiguous region to obtain the corrected wind speed in the unambiguous region, including:

[0211] For each blurred region, select the unblurred target region adjacent to that blurred region;

[0212] The wind speed in the blurred area is adjusted in units of 2n times the maximum unblurred speed until the difference between the wind speed in the blurred area and the wind speed in the target unblurred area is less than a first threshold, so as to obtain the corrected wind speed in the blurred area.

[0213] In one possible implementation, the mode of the target millimeter-wave radar is determined; when the mode of the target millimeter-wave radar is PPI mode, two radial wind speeds with an azimuth angle difference of 180° are selected from the corrected wind speeds in the target area.

[0214] If the sum of two radial wind speeds with an azimuth angle difference of 180° is less than the second threshold, then the corrected wind speed in the target area is determined to be unambiguous data.

[0215] If the sum of two radial wind speeds with an azimuth angle difference of 180° is less than the difference between 4n times the maximum unambiguous speed and the third threshold, then the wind speed in the target area is determined to be fuzzy data.

[0216] Figure 9A structural block diagram of a computer device 900 illustrated in an exemplary embodiment of this application is shown. This computer device can be implemented as a server as described above in this application. The computer device 900 includes a Central Processing Unit (CPU) 901, a system memory 904 including Random Access Memory (RAM) 902 and Read-Only Memory (ROM) 903, and a system bus 905 connecting the system memory 904 and the CPU 901. The computer device 900 also includes a mass storage device 906 for storing an operating system 909, application programs 910, and other program modules 911.

[0217] The mass storage device 906 is connected to the central processing unit 901 via a mass storage controller (not shown) connected to the system bus 905. The mass storage device 906 and its associated computer-readable media provide non-volatile storage for the computer device 900. That is, the mass storage device 906 may include computer-readable media (not shown) such as a hard disk or a compact disc read-only memory (CD-ROM) drive.

[0218] Without loss of generality, the computer-readable medium may include computer storage media and communication media. Computer storage media include volatile and non-volatile, removable and non-removable media implemented using any method or technology for storing information such as computer-readable instructions, data structures, program modules, or other data. Computer storage media include RAM, ROM, erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other solid-state storage technologies, CD-ROM, digital versatile disc (DVD) or other optical storage, magnetic tape cassettes, magnetic tape, disk storage, or other magnetic storage devices. Of course, those skilled in the art will recognize that the computer storage media are not limited to the above-mentioned types. The system memory 904 and mass storage device 906 described above can be collectively referred to as memory.

[0219] According to various embodiments of this disclosure, the computer device 900 can also be connected to a remote computer on a network, such as the Internet. That is, the computer device 900 can be connected to a network 908 via a network interface unit 907 connected to the system bus 905, or it can use the network interface unit 907 to connect to other types of networks or remote computer systems (not shown).

[0220] The memory also includes at least one computer program stored in the memory, and the central processing unit 901 executes the at least one computer program to implement all or part of the steps in the methods shown in the above embodiments.

[0221] In one exemplary embodiment, a computer-readable storage medium is also provided for storing at least one computer program, which is loaded and executed by a processor to implement all or part of the steps in the above-described method. For example, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), magnetic tape, floppy disk, or optical data storage device, etc.

[0222] In one exemplary embodiment, a computer program product or computer program is also provided, comprising computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the aforementioned actions. Figure 2 or Figure 3 All or part of the steps of the method shown in any embodiment.

[0223] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0224] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A method for de-ambiguity of millimeter-wave radar velocity, characterized in that, The method includes: Acquire millimeter-wave scan images of the target area obtained by the target millimeter-wave radar; Edge detection is performed on the target millimeter-wave scanned image to divide the target millimeter-wave scanned image into various regions to be detected; Based on the maximum unambiguous velocity corresponding to the target millimeter-wave radar and the average wind speed of the target area, the ambiguous region is identified for each area to be detected, and the ambiguous and unambiguous regions are determined in the target millimeter-wave scan image. Based on the wind speed in the unambiguous region, the ambiguous region is deblurred to obtain the corrected wind speed in the target region. The process of identifying blurred regions in each region to be detected based on the maximum unambiguous velocity corresponding to the target millimeter-wave radar and the average wind speed in the target area, and determining blurred and unambiguous regions in the target millimeter-wave scan image, includes: For each area to be detected, the area index of the area to be detected is obtained based on the proportion of the area to be detected, the maximum unambiguous velocity, and the average wind speed of the target area. The zero-velocity line index of the area to be detected is obtained based on the area of ​​the area to be detected, the area of ​​the zero-velocity line of the area to be detected, the maximum unambiguous velocity, and the average wind speed of the target area. The region elevation angle index of the region to be detected is determined based on the average elevation angle of the region to be detected. Based on the area index, zero velocity line index, and region elevation angle index of each region to be detected, the non-fuzzy index of each region to be detected is determined. The regions to be detected that meet the specified conditions for non-fuzziness index are defined as non-fuzzy regions.

2. The method according to claim 1, characterized in that, The determination of the non-ambiguity index for each region to be detected, based on the area index, zero velocity line index, and region elevation angle index, includes: The sum of the area index, zero velocity line index, and region elevation angle index of each region to be detected is determined as the non-ambiguity index of each region to be detected. The step of determining the region to be detected that meets the specified condition for the non-ambiguity index as the unambiguous region includes: Among the various regions to be detected, the region with the largest non-ambiguity index is determined as the unambiguous region.

3. The method according to claim 1, characterized in that, The step of obtaining the area index of the area to be detected based on the proportion of the area to be detected, the maximum unambiguous velocity, and the average wind speed of the target area includes: The proportion of the theoretical unambiguous region in the area to be detected is determined based on the ratio of the maximum unambiguous velocity to the average wind speed of the target area. When the proportion of the theoretical non-fuzzy region of the region to be detected is less than or equal to the proportion of the area of ​​the region to be detected, the area index of the region to be detected is determined to be 1. When the proportion of the theoretical unambiguous area of ​​the region to be detected is greater than the proportion of the area of ​​the region to be detected, the ratio of the proportion of the area of ​​the region to be detected to the proportion of the theoretical unambiguous area of ​​the region to be detected is obtained, and the ratio is determined as the area index of the region to be detected.

4. The method according to claim 1, characterized in that, The step of obtaining the zero-velocity line index of the area to be detected based on the area of ​​the area to be detected, the area of ​​the zero-velocity line of the area to be detected, the maximum unambiguous velocity, and the average wind speed of the target area includes: Obtain the first arcsine value of the ratio of the maximum unambiguous velocity to the average wind speed of the target area; The second arcsine value is obtained based on the ratio of the specified wind speed to the average wind speed; The ratio of the second arcsine value to the first arcsine value is determined as the proportion of the theoretical zero velocity line; The actual proportion of the zero-velocity line is determined based on the area of ​​the zero-velocity line in the region to be detected and the ratio of the area of ​​the region to be detected. When the actual zero-speed line ratio is greater than or equal to the theoretical zero-speed line ratio, the zero-speed line index is set to 1. When the actual zero-velocity line percentage is less than the theoretical zero-velocity line percentage, the ratio of the actual zero-velocity line percentage to the theoretical zero-velocity line percentage is determined as the zero-velocity line index.

5. The method according to claim 1, characterized in that, The step of determining the region elevation angle index of the region to be detected based on the average elevation angle of the region to be detected includes: Determine the mode of the target millimeter-wave radar; When the target millimeter-wave radar is in range and altitude display (RHI) mode, the elevation angle corresponding to each data point in the area to be detected is acquired. Based on the elevation angle corresponding to each data point, the average elevation angle of the area to be detected is determined; Obtain the ratio of the average elevation angle to 90 degrees; Based on the distance between the angle ratio and 1, the elevation angle index of the area to be detected is determined.

6. The method according to any one of claims 1 to 5, characterized in that, The step of performing edge detection on the target millimeter-wave scanned image, dividing the target millimeter-wave scanned image into various regions to be detected, includes: Edge detection is performed on the target millimeter-wave scan image to obtain the edge line region in the target millimeter-wave scan image; The target millimeter-wave scan image is divided into various regions to be detected based on the edge line region.

7. The method according to claim 6, characterized in that, The corrected wind speed in the target area includes the wind speed in the unblurred area, the wind speed in the blurred area after deblurring, and the wind speed in the edge line area after deblurring. The step of deblurring the blurred region based on the wind speed in the unblurred region to obtain the corrected wind speed in the target region includes: Based on the wind speed in the unambiguous region, the wind speed in the ambiguous region is deambigued to obtain the corrected wind speed in the ambiguous region. Select at least two surrounding regions in the edge line region; the surrounding regions are either unblurred regions or blurred regions after deblurring. Based on the average wind speed of the at least two surrounding areas, the edge line region is deblurred to obtain the corrected wind speed of the edge line region.

8. The method according to claim 7, characterized in that, The step of deblurring the wind speed in the fuzzy region based on the wind speed in the unfuzzy region to obtain the corrected wind speed in the fuzzy region includes: For each ambiguous region, select the target unambiguous region adjacent to the ambiguous region; The wind speed in the blurred region is adjusted in units of 2n times the maximum unblurred speed until the difference between the wind speed in the blurred region and the wind speed in the target unblurred region is less than a first threshold, so as to obtain the corrected wind speed in the blurred region.

9. The method according to any one of claims 1 to 5, characterized in that, The method further includes: Determine the mode of the target millimeter-wave radar; When the target millimeter-wave radar is in planar azimuth display PPI mode, two radial wind speeds with an azimuth angle difference of 180° are selected from the corrected wind speeds in the target area. If the sum of two radial wind speeds with an azimuth angle difference of 180° is less than the second threshold, then the corrected wind speed in the target area is determined to be unambiguous data. If the sum of two radial wind speeds with an azimuth angle difference of 180° is less than the difference between 4n times the maximum unambiguous speed and the third threshold, then the wind speed in the target area is determined to be fuzzy data.

10. A millimeter-wave radar velocity de-ambiguity device, characterized in that, The device includes: The image acquisition module is used to acquire the millimeter-wave scan image of the target area obtained by the target millimeter-wave radar. The edge detection module is used to perform edge detection on the target millimeter-wave scan image and divide the target millimeter-wave scan image into various regions to be detected. The blurred region identification module is used to identify blurred regions in each region to be detected based on the maximum unambiguous velocity corresponding to the target millimeter-wave radar and the average wind speed of the target area, and to determine blurred regions and unambiguous regions in the target millimeter-wave scan image. The deblurring module is used to perform deblurring on the blurred region based on the wind speed in the unblurred region, so as to obtain the corrected wind speed in the target region. The fuzzy region recognition module is also used for: For each area to be detected, the area index of the area to be detected is obtained based on the proportion of the area to be detected, the maximum unambiguous velocity, and the average wind speed of the target area. The zero-velocity line index of the area to be detected is obtained based on the area of ​​the area to be detected, the area of ​​the zero-velocity line of the area to be detected, the maximum unambiguous velocity, and the average wind speed of the target area. The region elevation angle index of the region to be detected is determined based on the average elevation angle of the region to be detected. Based on the area index, zero velocity line index, and region elevation angle index of each region to be detected, the non-fuzzy index of each region to be detected is determined. The regions to be detected that meet the specified conditions for non-fuzziness index are defined as non-fuzzy regions.

11. A computer device, characterized in that, The computer device includes a processor and a memory, the memory storing at least one instruction, which is loaded and executed by the processor to implement the millimeter-wave radar velocity deblurring method as described in any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that, The storage medium stores at least one instruction, which is loaded and executed by a processor to implement the millimeter-wave radar velocity deblurring method as described in any one of claims 1 to 9.

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