An adaptive ground clutter suppression method, apparatus and electronic device

Abstract

This invention relates to an adaptive ground clutter suppression method, apparatus, and electronic device. The method includes: setting radar system parameters and acquiring data; determining combined data containing background noise and ground clutter based on the amplitude of the radar filter; using data in the combined data that meets preset conditions as background noise data; removing the background noise data from the combined data to obtain ground clutter data; optimizing the ground clutter region corresponding to the ground clutter data to obtain an optimized ground clutter region; and adaptively adjusting the clutter map coefficients of the optimized ground clutter region to obtain a ground clutter region after clutter suppression. This invention can adaptively suppress ground clutter.

Description

Technical Field

[0001] This invention relates to the field of radar technology, and in particular to an adaptive ground clutter suppression method, apparatus, and electronic device. Background Technology

[0002] With the increasing instability of the international situation in recent years, strengthening my country's military defense capabilities over its territory, airspace, and territorial waters is imperative. Radar, as an important piece of equipment in the military system, was originally designed to play a role in air defense and early warning during wartime.

[0003] Ground-based early warning radar plays a crucial role in my country's national defense and air defense. It is frequently deployed in complex environments such as coastlines, urban fringe areas, deserts, and forests, facing a complex and ever-changing clutter environment. Clutter mapping technology is an effective means for ground-based early warning radar to suppress clutter and is now widely used in practical engineering.

[0004] The engineering implementation methods of clutter maps vary depending on the environment and type of clutter. For early warning radars deployed on the edge of cities, the clutter environment contains a rich variety of ground features, such as buildings, trees, lighthouses, vehicles, and hills. After the radar is powered on, conventional clutter map techniques cannot effectively detect such rich ground clutter information, which may lead to an increased false alarm rate and impose a high throughput load on the terminal processor, further affecting the system's detection performance. Therefore, a new adaptive ground clutter suppression method is needed. Summary of the Invention

[0005] In view of this, it is necessary to provide an adaptive clutter suppression method, apparatus and electronic device to achieve the purpose of adaptive clutter suppression in clutter map detection technology.

[0006] To achieve the above objectives, the present invention provides an adaptive ground clutter suppression method, comprising:

[0007] Set the radar system parameters and acquire data, and determine the combined data containing background noise and ground clutter based on the amplitude of the radar filter;

[0008] Data that meets preset conditions in the combined data are used as background noise data.

[0009] The background noise data is removed from the combined data to obtain ground clutter data;

[0010] The ground clutter region corresponding to the ground clutter data is optimized to obtain the optimized ground clutter region.

[0011] The clutter map coefficients of the optimized ground clutter region are adaptively adjusted to obtain the ground clutter region after clutter suppression.

[0012] In some possible implementations, determining the combined data containing background noise and ground clutter based on the amplitude of the radar filter includes:

[0013] The maximum amplitude value in the radar filter is used as the combined data containing background noise and ground clutter.

[0014] In some possible implementations, the step of using data that meets preset conditions in the combined data as background noise data includes:

[0015] The distance between the sampling start point and the end point in the combined data is represented as the first distance;

[0016] Data in the combined data whose first distance value is greater than a first preset value are filtered out as first background noise data;

[0017] Calculate the first background noise mean value of the first background noise data in each scanning cycle, obtain the first background undulation degree based on the first background noise mean value, and set the initial value of the effective flag of the background noise region to 0;

[0018] When the first background noise fluctuation meets the first preset condition, the value of the valid flag of the background noise region is incremented by 1;

[0019] If the ratio of the effective flag value of the background noise region to the number of scan cycles satisfies the second preset condition, it is determined to be background noise data.

[0020] In some possible implementations, the formula for calculating the mean of the first background noise is:

[0021]

[0022] The first background noise fluctuation is calculated based on the first background noise mean value, and the formula for calculating the first background noise fluctuation is as follows:

[0023]

[0024] In the formula, noise_avr represents the mean background noise, noise_fluct represents the background noise fluctuation, n∈(1:Anum), j∈(1,ScanNum), L0=Sample_End-Sample_Start, Sample_Start represents the starting point of the distance dimension sampling point, and Sample_End represents the ending point of the distance dimension sampling point.

[0025] In some possible implementations, optimizing the ground clutter region corresponding to the ground clutter data to obtain an optimized ground clutter region includes:

[0026] The ground clutter profile map was calculated using the N / M criterion for the aforementioned ground clutter region;

[0027] Remove burrs from the aforementioned ground clutter profile;

[0028] The small regions in the ground clutter profile map after removing burrs are merged to obtain the optimized ground clutter region.

[0029] In some possible implementations, the adaptively adjusted and optimized clutter map coefficients of the ground clutter region include: adaptively adjusted and optimized clutter map detection coefficients and clutter map iteration coefficients of the ground clutter region.

[0030] In some possible implementations, the ground clutter region clutter map detection coefficients include stable clutter region detection coefficients and unstable clutter region detection coefficients; the adjusted and optimized ground clutter region clutter map detection coefficients include:

[0031] Calculate the first fluctuation of the clutter signal in the adjusted and optimized ground clutter region over several scan cycles;

[0032] Based on the magnitude of the first fluctuation degree and the fourth preset value, the clutter region is divided into a stable clutter region and an unstable clutter region.

[0033] The detection coefficients for stable and unstable clutter regions are determined based on the fourth preset value.

[0034] In some possible implementations, the adaptively adjusted and optimized clutter map iteration coefficients include:

[0035] Determine whether the optimized ground clutter region contains radar monitoring targets. If it contains radar monitoring targets, determine the first value range of the clutter map iteration coefficients. If it does not contain targets, determine the value of the clutter map iteration coefficients.

[0036] Determining the second range of values ​​for the clutter map iteration coefficients includes:

[0037] Set the preset value range and iteration step size of the clutter map iteration coefficients and update the optimized ground clutter region to obtain multiple sets of updated ground clutter regions.

[0038] Calculate the standard deviation of the multiple sets of updated ground clutter regions, and determine the value of the clutter map iteration coefficient by taking the first clutter map iteration coefficient corresponding to the minimum standard deviation among the multiple sets of updated ground clutter regions.

[0039] On the other hand, the present invention also provides an adaptive ground clutter suppression device, comprising:

[0040] The background noise and ground clutter combined data acquisition unit sets radar system parameters and acquires data, and determines the combined data containing background noise and ground clutter based on the amplitude of the radar filter;

[0041] Background noise data acquisition unit is used to take data that meets preset conditions from the combined data as background noise data;

[0042] A ground clutter data acquisition unit is used to remove the background noise data from the combined data to obtain ground clutter data;

[0043] The ground clutter region optimization unit is used to optimize the ground clutter region corresponding to the ground clutter data to obtain the optimized ground clutter region.

[0044] Clutter map coefficient acquisition unit: used for adaptive adjustment and optimization of clutter map coefficients in the ground clutter region to obtain the ground clutter region after clutter suppression.

[0045] On the other hand, the present invention also provides an electronic device, characterized in that it includes a memory and a processor, wherein,

[0046] The memory is used to store programs;

[0047] The processor, coupled to the memory, is used to execute the program stored in the memory to implement the steps in the adaptive ground clutter suppression method described in any of the above embodiments.

[0048] The beneficial effects of the above embodiments are as follows: The adaptive ground clutter suppression method provided by the present invention first determines the combined data containing background noise and ground clutter based on the amplitude of the radar filter, then removes the background noise data from the combined data of background noise and ground clutter to obtain ground clutter data, and finally adjusts and optimizes the ground clutter region, adaptively adjusting the clutter map coefficient of the optimized ground clutter region to improve the power ratio of the target relative to the ground clutter, thereby achieving clutter suppression. Attached Figure Description

[0049] Figure 1 This is a schematic flowchart of an embodiment of the adaptive ground clutter suppression method provided by the present invention;

[0050] Figure 2 This is a schematic diagram of an embodiment of an adaptive ground clutter suppression device provided by the present invention;

[0051] Figure 3 A schematic diagram of an embodiment of the electronic device provided by the present invention. Detailed Implementation

[0052] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0053] Figure 1 This is a schematic flowchart of an embodiment of the adaptive ground clutter suppression method provided by the present invention, as shown below. Figure 1 As shown, an adaptive ground clutter suppression method includes:

[0054] S101. Set the radar system parameters and acquire data. Determine the combined data containing background noise and ground clutter based on the amplitude of the radar filter.

[0055] S102. The data in the combined data that meets the preset conditions is used as background noise data;

[0056] S103. Remove the background noise data from the combined data to obtain ground clutter data;

[0057] S104. Optimize the ground clutter region corresponding to the ground clutter data to obtain an optimized ground clutter region;

[0058] S105. Adaptively adjust the clutter map coefficients of the optimized ground clutter region to obtain the ground clutter region after clutter suppression.

[0059] Compared with the prior art, the adaptive ground clutter suppression method provided in this embodiment first determines the combined data containing background noise and ground clutter based on the amplitude of the radar filter. Then, the background noise data is removed from the combined data of background noise and ground clutter to obtain ground clutter data. Finally, the optimized ground clutter region is adjusted and the clutter map coefficient of the optimized ground clutter region is adaptively adjusted to improve the power ratio of the target to the ground clutter, thereby achieving clutter suppression.

[0060] In a specific embodiment of the present invention, step S101, setting radar system parameters and acquiring data includes the following steps:

[0061] The radar system is powered on and in detection mode. The system is configured with FilterNum filters, ScanNum scan cycles, and Rnum range sampling points. The radar system's azimuth detection range is covered by Anum beams. The formula for acquiring environmental data is as follows:

[0062]

[0063] In some embodiments of the present invention, determining the combined data containing background noise and ground clutter based on the amplitude of the radar filter includes:

[0064] The maximum amplitude value in the radar filter is used as the combined data containing background noise and ground clutter.

[0065] In a specific embodiment of the present invention, the expression for the combined data including background noise and ground clutter is as follows:

[0066] noise_clutter_data=max{environ_data(i)},i∈(1:FilterNum)

[0067] Here, noise_clutter_data represents combined data containing background noise and ground clutter, environment_data represents environmental data, and FilterNum represents the number of filters.

[0068] In some embodiments of the present invention, step S102, which involves using data from the combined data that meets preset conditions as background noise data, includes:

[0069] The distance between the sampling start point and the end point in the combined data is represented as the first distance;

[0070] The combined data with a first distance value greater than a first preset value are filtered out as the first background noise data;

[0071] Calculate the first background noise mean value of the first background noise data in each scanning cycle, obtain the first background undulation degree based on the first background noise mean value, and set the initial value of the effective flag of the background noise region to 0;

[0072] When the first background noise fluctuation meets the first preset condition, the value of the valid flag of the background noise region is incremented by 1;

[0073] If the ratio of the effective flag value of the background noise region to the number of scan cycles satisfies the second preset condition, it is determined to be background noise data.

[0074] In a specific embodiment of the present invention, the first background noise data is first filtered out from the combined data of background noise and ground clutter, and the filtering criteria are as follows:

[0075] Sample_Start≥R0

[0076] L0≥10000 / R_resolution

[0077] In the formula, R_resolution is the first distance between two adjacent sampling points, and the first preset value is 10000 / R_resolution. L0 = Sample_End - Sample_Start, the starting point of the distance dimension sampling point is represented by Sample_Start, and the ending point of the distance dimension sampling point is represented by Sample_End. R0 = 50000 / R_resolution, the first background noise region is specified to start taking values ​​after 50km. When the distance resolution is 100m, R0 is 500, indicating that the starting position of the sampling point in the first background noise region is not less than 500.

[0078] Based on the above filtering criteria, the data for the first background noise region is extracted. The expression for the first background noise data is:

[0079]

[0080] Where noise_data represents the first background noise data, Sample_Start represents the starting point of the distance dimension sampling point, and Sample_End represents the ending point of the distance dimension sampling point.

[0081] In some embodiments of the present invention, the formula for calculating the mean value of the first background noise is as follows:

[0082]

[0083] The first background noise fluctuation is calculated based on the first background noise mean value, and the formula for calculating the first background noise fluctuation is as follows:

[0084]

[0085] In the formula, noise_avr represents the mean background noise, noise_fluct represents the background noise fluctuation, n∈(1:Anum), j∈(1,ScanNum), L0=Sample_End-Sample_Start, Sample_Start represents the starting point of the distance dimension sampling point, and Sample_End represents the ending point of the distance dimension sampling point.

[0086] In a specific embodiment of the present invention, the first background noise mean value of the first background noise data for each scanning cycle is calculated, the first background undulation degree is obtained based on the first background noise mean value, and the initial value of the effective flag of the background noise region is set to 0.

[0087] When the first background noise fluctuation meets the first preset condition, the value of the valid flag of the background noise region is incremented by 1;

[0088] If the ratio of the effective flag value of the background noise region to the number of scan cycles satisfies a second preset condition, then the background noise data is determined. Specifically:

[0089] The standard deviation σ of the first background fluctuation of the first background noise data across all scan cycles is calculated, and the initial value of the background noise region validity flag noise_valid_flag is set to 0. If the proportion of noise_fluct ≤ 3σ of all noise cells in the current scan cycle is not less than 95%, the background noise region is considered valid, and noise_valid_flag = noise_valid_flag + 1. Then, if noise_valid_flag / ScanNum is not less than 80%, clean background noise data is extracted.

[0090] In a specific embodiment of the present invention, the standard deviation of the background noise data, noise_data_std, is calculated. When the combined data of background noise and ground clutter is processed by removing the background noise data, if the noise_data_std is greater than three times, it is considered to be ground clutter data. The extraction of ground clutter is as follows:

[0091]

[0092] In the formula, m'∈(1:Rnum). The regions in clutter_data that are greater than zero are ground clutter data.

[0093] In some embodiments of the present invention, in step S104, optimizing the ground clutter region corresponding to the ground clutter data to obtain an optimized ground clutter region includes:

[0094] The ground clutter profile map was calculated using the N / M criterion for the aforementioned ground clutter region;

[0095] Remove burrs from the aforementioned ground clutter profile;

[0096] The small regions in the ground clutter profile map after removing burrs are merged to obtain the optimized ground clutter region.

[0097] In a specific embodiment of the present invention, the ground clutter region is optimized as follows:

[0098] Obtaining the ground clutter contour map: Step 1: By setting the greater than zero portion of `clutter_data` to 1 and the remaining portion to 0, the ground clutter region `clutter_region` for all scan cycles can be obtained. The ground clutter region for the j-th scan cycle is extracted using the following formula:

[0099]

[0100] Step 2: Calculate the ground clutter profile map (clutter_map) using the N / M criterion: In this invention, N is set to 5 and M is set to 10. N / M criterion: For a certain sampling cell, if N times in M ​​scanning cycles are calculated as clutter data, then the cell is identified as a ground clutter region.

[0101]

[0102] Clutter glitch removal: For the same location, if there are one or two non-clutter units / clutter units between adjacent clutter units / non-clutter units, a glitch phenomenon is considered to exist. These one or two non-clutter units / clutter units are then classified as clutter units / non-clutter units. The process of removing non-clutter glitch between adjacent clutter units is the same as the process of removing clutter glitch between adjacent non-clutter units; only the process of removing non-clutter glitch between adjacent clutter units is described here. Using the concept of differentiation, the specific implementation process is as follows:

[0103] Step 1: For each azimuth, extract the location (clutter_local) of all clutter cells in the ground clutter profile map;

[0104] Step 2: Obtain the interval length clutter_gap between adjacent clutter units by calculating the difference through clutter_local decreasing;

[0105] Clutter gap(l-1，n) =clutter_local(p+1,n)-clutter_local(p,n)

[0106] In the formula, p∈(1, l-1), n∈(1:Anum), and l represents the length of each clutter_local.

[0107] Step 3: When clutter_gap = 2 or 3, it is determined that there is a glitch phenomenon between adjacent clutter units;

[0108] Step 4: Set the burr area as a clutter unit to complete the burr removal process;

[0109] Step 5: Repeat steps 1 to 4 until there are no burrs.

[0110] Step 6: Update the clutter_map data.

[0111] Small Region Merging: After spur removal, the clutter distribution in the azimuth direction exhibits segmentation. When the interval between two adjacent clutter segments is no greater than N0, they can be identified as small regions. In this invention, N0 is set to 10. At this point, the spur removal concept from b) is used to merge small regions, including the following process:

[0112] Step 1: First, extract the total number of clutter_partNum segments for each azimuth clutter region;

[0113] Step 2: Calculate the clutter_partGap between two adjacent clutter segments;

[0114] Step 3: When clutter_partGap≤10, set adjacent clutter regions as clutter regions to complete the small area merging process;

[0115] Step 4: Repeat steps 1 to 4 until no small areas remain;

[0116] Step 5: Update the clutter_map data to obtain the optimized ground clutter region.

[0117] In some embodiments of the present invention, the adaptively adjusted and optimized clutter map coefficients of the ground clutter region include: adaptively adjusted and optimized clutter map detection coefficients and clutter map iteration coefficients of the ground clutter region.

[0118] In some embodiments of the present invention, in step S105, the ground clutter region clutter map detection coefficients include stable clutter region detection coefficients and unstable clutter region detection coefficients; the adjusted and optimized ground clutter region clutter map detection coefficients include:

[0119] Calculate the first fluctuation of the clutter signal in the adjusted and optimized ground clutter region over several scan cycles;

[0120] Based on the magnitude of the first fluctuation degree and the fourth preset value, the clutter region is divided into a stable clutter region and an unstable clutter region.

[0121] The detection coefficients for stable and unstable clutter regions are determined based on the fourth preset value.

[0122] In some embodiments of the present invention, the adaptively adjusted and optimized clutter map iteration coefficients include:

[0123] Determine whether the optimized ground clutter region contains radar monitoring targets. If it contains radar monitoring targets, determine the first value range of the clutter map iteration coefficients. If it does not contain targets, determine the value of the clutter map iteration coefficients.

[0124] Determining the second range of values ​​for the clutter map iteration coefficients includes:

[0125] Set the preset value range and iteration step size of the clutter map iteration coefficients and update the optimized ground clutter region to obtain multiple sets of updated ground clutter regions.

[0126] Calculate the standard deviation of the multiple sets of updated ground clutter regions, and determine the value of the clutter map iteration coefficient by taking the first clutter map iteration coefficient corresponding to the minimum standard deviation among the multiple sets of updated ground clutter regions.

[0127] In a specific embodiment of the present invention, adaptive ground clutter suppression of the radar system includes the following process:

[0128] The adaptive adjustment of the clutter detection coefficient α based on clutter stability mainly includes the following process:

[0129] 1) Calculate the noise_clutter_fluct of the signal in the clutter region according to formulas (1) and (2). (m,n) Set a threshold β to distinguish between stable clutter regions and unstable clutter regions, as shown in formula (5);

[0130]

[0131] In the formula, the value of β ranges from (1.5, 2).

[0132] 2) The clutter detection coefficient is determined using formula (6).

[0133] α 稳定杂波区 = t1*β, t1∈(1.1,1.5)

[0134] α 非稳定杂波区 =t2*β t2∈(1.5,4) (6)

[0135] The clutter map iteration coefficient k is adaptively calculated based on the clutter signal amplitude, including the following solution process:

[0136] 1) To ensure the stability of the clutter diagram, the range of k values ​​is specified as (0.01, 0.5);

[0137] 2) Update the clutter plot using formula (7):

[0138] clutter_update (j') = k * clutter_data (j'+1) -(1-k)clutter_data (j') (7)

[0139] In the formula, j'∈(1,ScanNum-1).

[0140] 3) Calculate the standard deviation of clutter_update, clutter_update_std;

[0141] 4) k takes values ​​between (0.01, 0.5) according to the step length s, and repeat processes 2) and 3);

[0142] 5) Select the k value corresponding to the minimum value of clutter_update_std as the iteration coefficient of this clutter diagram.

[0143] 6) When a target appears in the clutter_map region, the iteration coefficient k is automatically adjusted to the range of (0, 0.01);

[0144] The system automatically sets the clutter_map area to manual batching mode, which does not affect the established tracks and reduces false alarms caused by ground clutter.

[0145] To better implement the adaptive ground clutter suppression method in the embodiments of the present invention, based on an adaptive ground clutter suppression method, correspondingly, as follows: Figure 2 As shown, this embodiment of the invention also provides an adaptive ground clutter suppression device. An adaptive ground clutter suppression device 200 includes:

[0146] The background noise and ground clutter combined data acquisition unit 201 sets the radar system parameters and acquires data, and determines the combined data of background noise and ground clutter according to the amplitude of the radar filter;

[0147] Background noise data acquisition unit 202 is used to take data that meets preset conditions from the combined data as background noise data;

[0148] Ground clutter data acquisition unit 203 is used to remove the background noise data from the combined data to obtain ground clutter data;

[0149] The ground clutter region optimization unit 204 is used to optimize the ground clutter region corresponding to the ground clutter data to obtain the optimized ground clutter region.

[0150] The clutter map coefficient acquisition unit 205 is used to adaptively adjust the clutter map coefficients of the optimized ground clutter region to obtain the ground clutter region after clutter suppression.

[0151] The adaptive ground clutter suppression device 200 provided in the above embodiments can realize the technical solution described in the above-described adaptive ground clutter suppression method embodiments. The specific implementation principles of each module or unit can be found in the corresponding content of the above-described adaptive ground clutter suppression method embodiments, which will not be repeated here.

[0152] like Figure 3 As shown, the present invention also provides an electronic device 300. The electronic device 300 includes a processor 301, a memory 302, and a display 303. Figure 3 Only some components of the electronic device 300 are shown, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0153] In some embodiments, processor 301 may be a central processing unit (CPU), microprocessor, or other data processing chip, used to run program code stored in memory 302 or process data, such as an adaptive ground clutter suppression method in this invention.

[0154] In some embodiments, processor 301 may be a single server or a group of servers. The server group may be centralized or distributed. In some embodiments, processor 301 may be local or remote. In some embodiments, processor 301 may be implemented on a cloud platform. In one embodiment, the cloud platform may include a private cloud, public cloud, hybrid cloud, community cloud, distributed cloud, intranet, multi-cloud, etc., or any combination thereof.

[0155] In some embodiments, memory 302 may be an internal storage unit of electronic device 300, such as a hard disk or memory of electronic device 300. In other embodiments, memory 302 may also be an external storage device of electronic device 300, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc. equipped on electronic device 300.

[0156] Furthermore, the memory 302 may include both internal storage units of the electronic device 300 and external storage devices. The memory 302 is used to store application software and various types of data installed on the electronic device 300.

[0157] In some embodiments, display 303 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. Display 303 is used to display information from electronic device 300 and to display a visual user interface. Components 301-303 of electronic device 300 communicate with each other via a system bus.

[0158] In one embodiment, when processor 301 executes an adaptive ground clutter suppression program in memory 302, the following steps can be implemented:

[0159] Set the radar system parameters and acquire data, and determine the combined data of background noise and ground clutter based on the amplitude of the radar filter;

[0160] Data that meets preset conditions in the combined data are used as background noise data.

[0161] The background noise data is removed from the combined data to obtain ground clutter data;

[0162] The ground clutter region corresponding to the ground clutter data is optimized to obtain the optimized ground clutter region.

[0163] The clutter map coefficients of the optimized ground clutter region are adaptively adjusted to obtain the ground clutter region after clutter suppression.

[0164] It should be understood that when the processor 301 executes the adaptive ground clutter suppression program in the memory 302, in addition to the functions mentioned above, it can also perform other functions, as detailed in the description of the corresponding method embodiments above.

[0165] Furthermore, this embodiment of the invention does not specifically limit the type of electronic device 300 mentioned. Electronic device 300 can be a mobile phone, tablet computer, personal digital assistant (PDA), wearable device, laptop computer, or other portable electronic device. Exemplary embodiments of portable electronic devices include, but are not limited to, portable electronic devices running iOS, Android, Microsoft, or other operating systems. The aforementioned portable electronic device can also be other portable electronic devices, such as a laptop computer with a touch-sensitive surface (e.g., a touch panel). It should also be understood that in some other embodiments of the invention, electronic device 300 may not be a portable electronic device, but rather a desktop computer with a touch-sensitive surface (e.g., a touch panel).

[0166] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware, and the program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0167] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A method of adaptively clutter suppression, characterized by, The method comprises the following steps: setting radar system parameters and recording data, determining combined data containing background noise and ground clutter according to the amplitude of the radar filter; regarding data meeting preset conditions in the combined data as background noise data; eliminating the background noise data from the combined data to obtain ground clutter data; optimizing the ground clutter region corresponding to the ground clutter data to obtain an optimized ground clutter region; adaptively adjusting the clutter map coefficient of the optimized ground clutter region to obtain a ground clutter region after clutter suppression.

2. The method of claim 1, wherein, The step of determining the combined data containing background noise and ground clutter according to the amplitude of the radar filter comprises the following steps: regarding the maximum value of the amplitude in the radar filter as the combined data containing background noise and ground clutter.

3. The method of claim 1, wherein, The step of regarding the data meeting preset conditions in the combined data as background noise data comprises the following steps: regarding the distance between the sampling start point and the sampling end point in the combined data as a first distance; screening out data with a first distance value greater than a first preset value in the combined data as first background noise data; calculating the first background noise average value of the first background noise data in each scanning period, obtaining the first background noise fluctuation degree according to the first background noise average value, and setting the initial value of the background noise region effective flag to 0; when the first background noise fluctuation degree meets a first preset condition, the value of the background noise region effective flag is increased by 1; if the ratio of the value of the background noise region effective flag to the number of scanning periods meets a second preset condition, the data is determined as background noise data.

4. The method of adaptive clutter suppression of claim 3, wherein, The calculation formula of the first background noise average value is: The first background noise fluctuation degree is calculated according to the first background noise average value, and the calculation formula of the first background noise fluctuation degree is: wherein, denotes the first background noise data, noise_avr denotes the background noise mean value, noise_ fluct denotes the background noise fluctuation, , , , Sample_Start denotes the start point of the range dimension sampling point, Sample_End denotes the end point of the range dimension sampling point, ScanNum is the number of scanning periods, and Anum is the number of beam coverages in the azimuth detection range.

5. The method of claim 1, wherein, The step of optimizing the ground clutter region corresponding to the ground clutter data to obtain an optimized ground clutter region comprises the following steps: calculating the ground clutter profile map of the ground clutter region by using the N / M criterion; eliminating burrs in the ground clutter profile map; merging small regions in the ground clutter profile map after burr elimination to obtain the optimized ground clutter region.

6. The method of claim 1, wherein, The step of adaptively adjusting the clutter map coefficient of the optimized ground clutter region comprises adaptively adjusting the clutter map detection coefficient and the clutter map iteration coefficient of the optimized ground clutter region.

7. The method of adaptive clutter suppression according to claim 6, wherein, The ground clutter region clutter map detection coefficient comprises a stable ground clutter region detection coefficient and a non-stable ground clutter region detection coefficient. The step of adjusting the clutter map detection coefficient of the optimized ground clutter region comprises the following steps: calculating the first fluctuation degree of the clutter signal of a plurality of scanning periods of the adjusted and optimized ground clutter region; dividing the ground clutter region into a stable ground clutter region and a non-stable ground clutter region according to the size of the first fluctuation degree and a fourth preset value; determining the stable ground clutter region detection coefficient and the non-stable ground clutter region detection coefficient according to the fourth preset value.

8. The method of adaptive clutter suppression of claim 6, wherein, The step of adaptively adjusting the clutter map iteration coefficient of the optimized ground clutter region comprises the following steps: determining whether the optimized ground clutter region contains a radar monitoring target, and determining a first value range of the clutter map iteration coefficient if the radar monitoring target is contained, or determining a value of the clutter map iteration coefficient if the radar monitoring target is not contained; wherein the second value range of the clutter map iteration coefficient is determined, comprising: setting a preset value range and an iteration step of the clutter map iteration coefficient, and updating the optimized ground clutter region to obtain a plurality of updated ground clutter regions; calculating standard deviations of the plurality of updated ground clutter regions, and determining a value of the clutter map iteration coefficient corresponding to a first clutter map iteration coefficient of a minimum standard deviation among the standard deviations of the plurality of updated ground clutter regions.

9. An adaptive clutter suppression device, characterized by comprising: a combined data acquisition unit of background noise and ground clutter, setting radar system parameters and recording data, and determining combined data of background noise and ground clutter according to an amplitude of a radar filter; a background noise data acquisition unit, configured to take data satisfying a preset condition in the combined data as background noise data; a ground clutter data acquisition unit, configured to remove the background noise data from the combined data to obtain ground clutter data; a ground clutter region optimization unit, configured to optimize a ground clutter region corresponding to the ground clutter data to obtain an optimized ground clutter region; a clutter map coefficient acquisition unit, configured to adaptively adjust a clutter map coefficient of the optimized ground clutter region to obtain a ground clutter region after clutter suppression.

10. An electronic device, comprising: comprising a memory and a processor, wherein the memory is configured to store a program; the processor is coupled with the memory and is configured to execute the program stored in the memory to implement steps of the adaptive ground clutter suppression method in any one of claims 1 to 8.

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