Abnormal echo identification method, device and equipment and storage medium

Abstract

The application discloses an abnormal echo identification method and device, equipment and storage medium. The application uses a first radar and a second radar to scan and obtain scanning data and radar scanning projection; when the first radar and the second radar coincide on the radar scanning projection, the first azimuth angle and the second azimuth angle are calculated, and the occlusion angle is removed to obtain the first removed azimuth angle and the second removed azimuth angle; the first scanning time of the first radar on the first removed azimuth angle and the second scanning time of the second radar on the second removed azimuth angle are obtained to perform time consistency matching; when the matching is successful, the first radar and the second radar are subjected to space consistency matching based on the scanning data; when the matching is successful, the first reflectivity factor value and the second reflectivity factor value are calculated; the abnormal echo is identified through the first reflectivity factor value and the second reflectivity factor value, the abnormal echo is quickly and accurately identified through the reflectivity factor value, and the accuracy of echo identification is improved.

Description

Technical Field

[0001] This invention relates to the field of echo recognition technology, and in particular to an abnormal echo recognition method, apparatus, device, and storage medium. Background Technology

[0002] LiDAR (Light Detection and Ranging) is a radar system that uses emitted laser beams to detect the position, velocity, and other characteristics of a target. In principle, LiDAR emits a detection signal towards the target, then compares the received echo signal reflected back from the target with the emitted signal. After appropriate processing, relevant information about the target, such as its distance, intensity, and azimuth, can be obtained. Therefore, in LiDAR technology, the accuracy of the echo signal fundamentally determines the performance of the LiDAR system.

[0003] Existing LiDAR echo recognition processes one or more frames of data through post-processing image processing algorithms, which lacks real-time capability and has poor adaptability to the environment, resulting in inaccurate detection. Summary of the Invention

[0004] The main objective of this invention is to provide an abnormal echo identification method, apparatus, device, and storage medium, aiming to solve the technical problem that the existing lidar echo identification is not accurate enough.

[0005] To achieve the above objectives, the present invention provides an abnormal echo identification method, the method comprising the following steps:

[0006] The first and second radars are used to perform a scan, and the scan data and radar scan projection are obtained.

[0007] When the first radar and the second radar overlap on the radar scanning projection, calculate the first azimuth angle and the second azimuth angle;

[0008] The first azimuth angle and the second azimuth angle are subjected to occlusion angle removal to obtain the first removed azimuth angle and the second removed azimuth angle;

[0009] The first scan time of the first radar at the first rejection azimuth angle and the second scan time of the second radar at the second rejection azimuth angle are obtained;

[0010] The time consistency matching of the first radar and the second radar is performed based on the first scan time and the second scan time;

[0011] When the time consistency matching of the first radar and the second radar is successful, spatial consistency matching of the first radar and the second radar is performed based on the scanning data;

[0012] When the spatial consistency matching between the first radar and the second radar is successful, the first reflectivity factor value of the first radar and the second reflectivity factor value of the second radar are calculated.

[0013] Abnormal echoes are identified using the first reflectivity factor value and the second reflectivity factor value.

[0014] Optionally, the step of performing time consistency matching between the first radar and the second radar based on the first scan time and the second scan time includes:

[0015] Calculate the time difference between the first scan time and the second scan time;

[0016] Get the time matching threshold;

[0017] Compare the time difference with the time matching threshold;

[0018] When the time difference is less than the time matching threshold, it is determined that the time consistency match between the first radar and the second radar is successful;

[0019] When the time difference is greater than or equal to the time matching threshold, it is determined that the time consistency matching between the first radar and the second radar is unsuccessful.

[0020] Optionally, when the temporal consistency matching between the first radar and the second radar is successful, performing spatial consistency matching between the first radar and the second radar based on the scanning data includes:

[0021] When the time consistency of the first radar and the second radar is successfully matched, the first elevation angle, the second elevation angle, the first slant range of the first radar and the second slant range of the second radar, the radius coefficient, the Earth radius, the longitude, latitude and altitude of the radar station of the first radar are obtained according to the scanning data.

[0022] The first polar coordinates are obtained by using the first elevation angle, the first slant distance, and the first azimuth angle to be eliminated, and the second polar coordinates are obtained by using the second elevation angle, the second slant distance, and the second azimuth angle to be eliminated;

[0023] The first polar coordinates are transformed using the radius coefficient, the Earth radius, the station longitude, the station latitude, and the station altitude to obtain the first longitude and latitude coordinates;

[0024] The first latitude and longitude coordinates are transformed into radar polar coordinates to obtain the transformed radar polar coordinates;

[0025] The first and second altitudes are calculated using the converted radar polar coordinates, the second polar coordinates, the Earth's radius, and the station's altitude.

[0026] Spatial consistency matching of the first radar and the second radar is performed using the first altitude and the second altitude.

[0027] Optionally, the step of performing coordinate transformation on the first polar coordinates using the radius coefficient, the Earth's radius, the station longitude, the station latitude, and the station altitude to obtain the first latitude and longitude coordinates includes:

[0028] The first angle between the radar point and the origin at the Earth's center is calculated using the radius coefficient, the Earth's radius, the station's altitude, the first elevation angle in the first polar coordinates, and the first slant range.

[0029] Calculate the cosine and sine of the first included angle, the sine and cosine of the station latitude, and the sine and cosine of the first excluded azimuth angle.

[0030] The first latitude point is calculated using the cosine of the first included angle, the sine of the station latitude, the sine of the first included angle, the cosine of the station latitude, and the cosine of the first eliminated azimuth angle.

[0031] Calculate the cosine value of the first latitude point;

[0032] The first latitude point is calculated using the sine of the first eliminated azimuth angle, the sine of the first included angle, the cosine of the first longitude point, and the longitude of the station.

[0033] The first longitude and latitude coordinates are obtained through the first longitude point and the first latitude point.

[0034] Optionally, the step of performing spatial consistency matching between the first radar and the second radar using the first altitude and the second altitude includes:

[0035] Calculate the altitude difference between the first altitude and the second altitude;

[0036] Obtain the height difference threshold;

[0037] Compare the altitude difference with the altitude difference threshold;

[0038] When the altitude difference is less than the altitude difference threshold, it is determined that the spatial consistency match between the first radar and the second radar is successful;

[0039] When the altitude difference is greater than or equal to the altitude difference threshold, it is determined that the spatial consistency matching between the first radar and the second radar is unsuccessful.

[0040] Optionally, when the spatial consistency matching between the first radar and the second radar is successful, calculating the first reflectivity factor value of the first radar and the second reflectivity factor value of the second radar includes:

[0041] When the first radar and the second radar successfully match spatially, the scanning data is used to obtain the first radar transmit power, the second radar transmit power, the antenna gain, the first radar wavelength, the second radar wavelength, the radar backscattering cross section, the first distance between the first radar and the target, the second distance between the second radar and the target, the number of scattered energy particles generated in the effective irradiation body of the beam, and the radar constant.

[0042] The first echo power is calculated using the first radar transmit power, the antenna gain, the first radar wavelength, the radar backscattering cross section, the first distance, and the number of scattered energy particles.

[0043] The second echo power is calculated using the second radar transmit power, the antenna gain, the second radar wavelength, the radar backscattering cross section, the second distance, and the number of scattered energy particles.

[0044] The first echo power and the second echo power are averaged respectively to obtain the first average echo power and the second average echo power;

[0045] The first reflectivity factor value of the first radar is calculated using the first average echo power, the radar constant, and the first distance.

[0046] The second reflectivity factor value of the second radar is calculated using the second average echo power, the radar constant, and the second distance.

[0047] Optionally, the step of occlusion angle culling of the first azimuth angle and the second azimuth angle to obtain the first culling azimuth angle and the second culling azimuth angle includes...

[0048] Obtain the preset obstruction angle of the overlapping area on the radar scan projection of the first radar and the second radar;

[0049] The first azimuth angle and the second azimuth angle are eliminated by the preset occlusion angle to obtain the first eliminated azimuth angle and the second eliminated azimuth angle.

[0050] Furthermore, to achieve the above objectives, the present invention also proposes an abnormal echo identification device, the abnormal echo identification device comprising:

[0051] The scanning module is used to perform scanning using the first and second radars to obtain scanning data and radar scan projection.

[0052] The calculation module is used to calculate the first azimuth angle and the second azimuth angle when the first radar and the second radar overlap on the radar scanning projection;

[0053] The elimination module is used to eliminate occlusion angles of the first azimuth angle and the second azimuth angle to obtain the first eliminated azimuth angle and the second eliminated azimuth angle;

[0054] The acquisition module is used to acquire the first scanning time of the first radar at the first rejection azimuth angle and the second scanning time of the second radar at the second rejection azimuth angle;

[0055] The matching module is used to perform time consistency matching between the first radar and the second radar based on the first scan time and the second scan time;

[0056] The matching module is further configured to perform spatial consistency matching on the first radar and the second radar based on the scanning data when the time consistency matching of the first radar and the second radar is successful;

[0057] The calculation module is also used to calculate the first reflectivity factor value of the first radar and the second reflectivity factor value of the second radar when the spatial consistency matching of the first radar and the second radar is successful.

[0058] The identification module is used to identify abnormal echoes using the first reflectivity factor value and the second reflectivity factor value.

[0059] Furthermore, to achieve the above objectives, the present invention also proposes an abnormal echo identification device, the abnormal echo identification device comprising: a memory, a processor, and an abnormal echo identification program stored in the memory and executable on the processor, the abnormal echo identification program being configured to implement the steps of the abnormal echo identification method as described above.

[0060] In addition, to achieve the above objectives, the present invention also proposes a storage medium storing an abnormal echo identification program, which, when executed by a processor, implements the steps of the abnormal echo identification method as described above.

[0061] This invention uses a first radar and a second radar to scan, obtaining scan data and radar scan projection; when the first radar and the second radar overlap on the radar scan projection, a first azimuth angle and a second azimuth angle are calculated; obstruction angles are removed from the first azimuth angle and the second azimuth angle to obtain a first removed azimuth angle and a second removed azimuth angle; a first scan time of the first radar at the first removed azimuth angle and a second scan time of the second radar at the second removed azimuth angle are obtained; time consistency matching is performed on the first radar and the second radar based on the first scan time and the second scan time; when the first radar and the second radar overlap, a first scan time of the second radar overlaps with the second radar overlap. When radar time consistency matching is successful, spatial consistency matching is performed on the first radar and the second radar based on the scan data; when spatial consistency matching of the first radar and the second radar is successful, the first reflectivity factor value of the first radar and the second reflectivity factor value of the second radar are calculated; abnormal echoes are identified by the first reflectivity factor value and the second reflectivity factor value. By calculating the first reflectivity factor value and the second reflectivity factor value, the presence of abnormal echoes can be identified by the first reflectivity factor value and the second reflectivity factor value. The abnormal echoes are quickly and accurately identified by the reflectivity factor value, thereby improving the accuracy of echo identification. Attached Figure Description

[0062] Figure 1 This is a schematic diagram of the structure of an abnormal echo identification device for the hardware operating environment involved in the embodiments of the present invention;

[0063] Figure 2 This is a flowchart illustrating the first embodiment of the abnormal echo identification method of the present invention;

[0064] Figure 3 This is a scatter plot of the echo difference between the first reflectivity factor value and the second reflectivity factor value in one embodiment of the abnormal echo identification method of the present invention.

[0065] Figure 4 This is a flowchart illustrating the second embodiment of the abnormal echo identification method of the present invention;

[0066] Figure 5 This is a flowchart illustrating the third embodiment of the abnormal echo identification method of the present invention;

[0067] Figure 6 This is a flowchart illustrating the fourth embodiment of the abnormal echo identification method of the present invention;

[0068] Figure 7 This is a structural block diagram of the first embodiment of the abnormal echo identification device of the present invention.

[0069] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0070] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0071] Reference Figure 1 , Figure 1 This is a schematic diagram of the abnormal echo identification device structure of the hardware operating environment involved in the embodiment of the present invention.

[0072] like Figure 1 As shown, the abnormal echo identification device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 may be high-speed random access memory (RAM) or stable non-volatile memory (NVM), such as a disk drive. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001.

[0073] Those skilled in the art will understand that Figure 1 The structure shown does not constitute a limitation on the abnormal echo identification device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0074] like Figure 1 As shown, the memory 1005, which serves as a storage medium, may include an operating system, a network communication module, a user interface module, and an abnormal echo identification program.

[0075] exist Figure 1 In the abnormal echo identification device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the abnormal echo identification device of the present invention can be set in the abnormal echo identification device, and the abnormal echo identification device calls the abnormal echo identification program stored in the memory 1005 through the processor 1001 and executes the abnormal echo identification method provided in the embodiment of the present invention.

[0076] This invention provides an abnormal echo identification method, referring to... Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of the abnormal echo identification method of the present invention.

[0077] In this embodiment, the abnormal echo identification method includes the following steps:

[0078] Step S10: Use the first radar and the second radar to perform a scan, and obtain scan data and radar scan projection.

[0079] It should be noted that the execution subject of this embodiment can be an abnormal echo identification device, or other devices that can achieve the same or similar functions. This embodiment does not limit this; this embodiment uses an abnormal echo identification device as an example for explanation.

[0080] In practice, the first and second radars are adjacent radars, used respectively to scan objects, thus performing radar stereoscopic observation. Scanning data is obtained when the first and second radars are close together. When the first and second radars are not far apart, there will be overlapping areas during scanning observation; therefore, the radar's projection on a planar position display can be obtained, i.e., the radar scan projection.

[0081] Step S20: When the first radar and the second radar overlap on the radar scanning projection, calculate the first azimuth angle and the second azimuth angle.

[0082] In practice, when the first and second radars begin scanning, the start time of the volume scan is matched. If the time difference between the start times of the first and second radar volume scans is greater than a preset time difference threshold (e.g., 3 minutes), the matching fails and needs to be re-matched. If the time difference between the start times of the first and second radar volume scans is less than or equal to the preset time difference threshold, the azimuth angle and distance when the first and second radars overlap on the radar scan projection can be calculated. The azimuth angle is the first azimuth angle and the second azimuth angle. The first azimuth angle refers to the azimuth angle of the second radar on the first radar, and the second azimuth angle refers to the azimuth angle of the first radar on the second radar. The distance is the actual distance between the first and second radars. By comparing the distance with the maximum detection range threshold of the radar (e.g., 300m), if the distance is greater than 300m, it is considered that the first and second radars are too far apart, and the distance between them needs to be readjusted.

[0083] In this embodiment, when the first radar and the second radar coincide on the radar scanning projection, the first azimuth angle θ1 of the second radar on the first radar and the second azimuth angle θ2 of the first radar on the second radar can be calculated.

[0084] Step S30: Perform occlusion angle removal on the first azimuth angle and the second azimuth angle to obtain the first removed azimuth angle and the second removed azimuth angle.

[0085] It should be noted that since the first and second radars have overlapping areas during observation, and the same sampling space exists in the overlapping area, the calculated azimuth angle will also contain obstruction angles. It is necessary to remove the observation data corresponding to the obstruction angles to improve the accuracy of the calculation.

[0086] Specifically, the step of removing obstruction angles from the first azimuth and the second azimuth includes: obtaining a preset obstruction angle of the overlapping area on the radar scanning projection of the first radar and the second radar; removing the first azimuth and the second azimuth using the preset obstruction angle to obtain a first removed azimuth angle and a second removed azimuth angle.

[0087] In practice, the preset obstruction angle is the obstruction angle of the first radar and the second radar in the overlapping area calculated in advance based on the terrain data. The angles in the first azimuth angle and the second azimuth angle are then eliminated by the preset obstruction angle to obtain the first eliminated azimuth angle and the second eliminated azimuth angle.

[0088] The first azimuth angle to be removed refers to the azimuth angle after removing the obstruction angle from the first azimuth angle, and the second azimuth angle to be removed refers to the azimuth angle after removing the obstruction angle from the second azimuth angle.

[0089] Step S40: Obtain the first scan time of the first radar at the first rejection azimuth angle and the second scan time of the second radar at the second rejection azimuth angle.

[0090] In practice, after the obstruction angle is removed, the observation data of the first radar and the observation data of the second radar can be matched for time consistency and spatial consistency. Therefore, the first scanning time of the first radar at the first removed azimuth angle and the second scanning time of the second radar at the second removed azimuth angle can be obtained.

[0091] Step S50: Perform time consistency matching between the first radar and the second radar based on the first scan time and the second scan time.

[0092] In practice, the difference between the first and second scan times can be calculated to determine if the difference meets a preset value, thus performing time consistency matching between the first and second radars. Matching is successful when the times are close, and fails when the times are far apart.

[0093] Step S60: When the time consistency matching of the first radar and the second radar is successful, spatial consistency matching is performed on the first radar and the second radar based on the scanning data.

[0094] It should be understood that when the time consistency of the first radar and the second radar is successfully matched, spatial consistency matching can continue to be performed on the first radar and the second radar. The latitude and longitude of the first radar and the second radar can be matched based on the acquired scanning data, so as to calculate the altitude of the polar coordinates of the first radar and the second radar. When the altitude is close, the matching is successful; when the altitude is far apart, the matching fails.

[0095] Step S70: When the spatial consistency matching of the first radar and the second radar is successful, calculate the first reflectivity factor value of the first radar and the second reflectivity factor value of the second radar.

[0096] It should be noted that once the spatial consistency of the first radar and the second radar is successfully matched, the reflectivity factor values ​​of the first radar and the second radar can continue to be calculated.

[0097] Step S80: Identify abnormal echoes using the first reflectivity factor value and the second reflectivity factor value.

[0098] After calculating the first and second reflectivity factor values, a scatter plot can be created based on these values ​​to observe the deviation between them. This allows for quantitative analysis of the echo difference, calculating the percentage of reflectivity factor values ​​differing by 10 dBz and the percentage differing by 5 dBz. The echo difference value is then calculated. When the echo difference value exceeds a set threshold, it indicates an abnormal echo from either the first or second radar, requiring calibration. This allows for timely identification of abnormal echoes and improves observation accuracy.

[0099] like Figure 3 As shown, Figure 3 The echo difference scatter plot is used to calculate the echo difference between the first radar and the second radar, based on the first radar and the second radar. This allows for calibration and improves the echo consistency between the first radar and the second radar.

[0100] This embodiment uses a first radar and a second radar to scan, obtaining scan data and radar scan projection; when the first radar and the second radar overlap on the radar scan projection, a first azimuth angle and a second azimuth angle are calculated; obstruction angles are removed from the first azimuth angle and the second azimuth angle to obtain a first removed azimuth angle and a second removed azimuth angle; a first scan time of the first radar at the first removed azimuth angle and a second scan time of the second radar at the second removed azimuth angle are obtained; time consistency matching is performed on the first radar and the second radar based on the first scan time and the second scan time; when the first radar and the second radar overlap on the radar scan projection, a first azimuth angle and a second azimuth angle are calculated ... azimuth angle overlap on the radar scan projection, a first azimuth angle and a second azimuth angle are calculated; when the first radar and the second azimuth angle overlap on the radar scan projection, a first azimuth angle and a second azimuth angle are calculated; when the first radar and the second azimuth angle overlap When the second radar time consistency matching is successful, spatial consistency matching is performed on the first radar and the second radar based on the scan data; when the spatial consistency matching of the first radar and the second radar is successful, the first reflectivity factor value of the first radar and the second reflectivity factor value of the second radar are calculated; abnormal echoes are identified by the first reflectivity factor value and the second reflectivity factor value. By calculating the first reflectivity factor value and the second reflectivity factor value, the presence of abnormal echoes can be identified by the first reflectivity factor value and the second reflectivity factor value. The abnormal echoes are quickly and accurately identified by the reflectivity factor value, thereby improving the accuracy of echo identification.

[0101] refer to Figure 4 , Figure 4 This is a flowchart illustrating the second embodiment of the abnormal echo identification method of the present invention.

[0102] Based on the first embodiment described above, step 50 of the abnormal echo identification method in this embodiment specifically includes:

[0103] Step S501: Calculate the time difference between the first scan time and the second scan time.

[0104] It should be noted that the time difference between the first scan time t1 and the second scan time t2 is calculated as follows: Equation 1:

[0105] Δt=|t1-t2| (Equation 1)

[0106] In Equation 1, Δt is the time difference between the first scan time and the second scan time. The time difference Δt is obtained by subtracting the first scan time and the second scan time and taking the absolute value of the difference.

[0107] Step S502: Obtain the time matching threshold.

[0108] It should be noted that the time matching threshold is a condition for measuring whether the time consistency between the first radar and the second radar is successfully matched. The time matching threshold is an adjustable threshold, and the time matching threshold can be 4s, 10s, etc., which is not limited in this embodiment.

[0109] Step S503: Compare the time difference with the time matching threshold.

[0110] In practice, the time difference is compared with a time matching threshold to determine whether the time consistency of the first radar and the second radar has been successfully matched.

[0111] Step S504: When the time difference is less than the time matching threshold, it is determined that the time consistency match between the first radar and the second radar is successful.

[0112] Step S505: When the time difference is greater than or equal to the time matching threshold, it is determined that the time consistency matching between the first radar and the second radar is unsuccessful.

[0113] When the time difference is less than the time matching threshold, the time consistency of the first and second radars is considered to be successfully matched. When the time difference is greater than or equal to the time matching threshold, the time consistency of the first and second radars is considered to be unsuccessful. For example, if the time difference between the first scan time t1 at 0.5° azimuth in the first radar and the second scan time t2 at 1.5° azimuth in the second radar is 5 seconds, and the time matching threshold is 6 seconds, then if the time difference is less than the time matching threshold, the time consistency of the first and second radars is considered to be successfully matched.

[0114] This embodiment calculates the time difference between the first scan time and the second scan time; obtains a time matching threshold; compares the time difference with the time matching threshold; when the time difference is less than the time matching threshold, it is determined that the time consistency matching of the first radar and the second radar is successful; when the time difference is greater than or equal to the time matching threshold, it is determined that the time consistency matching of the first radar and the second radar is unsuccessful. The time difference can be used to quickly perform time consistency matching of the first radar and the second radar, thereby improving the matching effect.

[0115] refer to Figure 5 , Figure 5 This is a flowchart illustrating the third embodiment of the abnormal echo identification method of the present invention.

[0116] Based on the first embodiment described above, step 60 of the abnormal echo identification method in this embodiment specifically includes:

[0117] Step S601: When the time consistency matching of the first radar and the second radar is successful, the first elevation angle, the second elevation angle, the first slant range of the first radar and the second slant range of the second radar, the radius coefficient, the Earth radius, the longitude, latitude and altitude of the radar station of the first radar are obtained according to the scanning data.

[0118] It should be noted that when the time consistency of the first radar and the second radar is successfully matched, the spatial consistency of the first radar and the second radar can be matched. The first elevation angle, the second elevation angle, the first slant range of the first radar, the second slant range of the second radar, the radius coefficient, the Earth radius, and the latitude, longitude and altitude of the radar station of the first radar can be obtained from the scanning data.

[0119] Since radar is distributed in polar coordinates on a conical surface centered on the antenna, if the Earth is regarded as a sphere with radius R1, then the equivalent Earth radius is the radius coefficient multiplied by the Earth radius Rm = Km * R1.

[0120] Step S602: Obtain the first polar coordinates using the first elevation angle, the first slant distance, and the first eliminated azimuth angle, and obtain the second polar coordinates using the second elevation angle, the second slant distance, and the second eliminated azimuth angle.

[0121] It is understandable that the first polar coordinates are (α1, θ1, L1) obtained by the first elevation angle, the first slant distance, and the first azimuth angle to be eliminated, and the second polar coordinates are (α2, θ2, L2) obtained by the second elevation angle, the second slant distance, and the second azimuth angle to be eliminated, where α1 and α2 are the first elevation angle and the second elevation angle, respectively, θ1 and θ2 are the first azimuth angle and the second azimuth angle to be eliminated, respectively, and L1 and L2 are the first slant distance and the second slant distance, respectively.

[0122] Step S603: Perform coordinate transformation on the first polar coordinates using the radius coefficient, the Earth radius, the station longitude, the station latitude, and the station altitude to obtain the first latitude and longitude coordinates.

[0123] It should be noted that the first longitude and latitude coordinates of the first radar can be obtained by transforming the first polar coordinates into latitude and longitude coordinates through the radius coefficient, the Earth radius, and the latitude and longitude of the station. The specific steps include: calculating the first angle between the radar point and the origin at the Earth's center using the radius coefficient, the Earth radius, the station altitude, the first elevation angle in the first polar coordinates, and the first slant range.

[0124] The first angle between the radar point and the origin at the Earth's center is calculated as follows: Equation 2:

[0125]

[0126] In Equation 2, β is the first angle between the radar point and the origin at the Earth's center, Km is the radius coefficient, Rm is the equivalent Earth radius, Rm=Km*R1, R1 is the Earth radius, L1 is the first slant range, α1 is the first elevation angle, and h r This refers to the altitude of the station.

[0127] Calculate the cosine and sine of the first included angle, the sine and cosine of the station latitude, and the sine and cosine of the first excluded azimuth angle; calculate a first latitude point using the cosine of the first included angle, the sine of the station latitude, the sine of the first included angle, the cosine of the station latitude, and the cosine of the first excluded azimuth angle; calculate the cosine of the first latitude point; calculate a first longitude point using the sine of the first excluded azimuth angle, the sine of the first included angle, the cosine of the first latitude point, and the station longitude; obtain the first latitude and longitude coordinates using the first longitude point and the first latitude point.

[0128] In practice, the sine of the first included angle is sinβ, the cosine of the first included angle is cosβ, and the sine of the station latitude is... The cosine value of the station latitude is The sine of the first eliminated azimuth angle is sinθ1, and the cosine of the first eliminated azimuth angle is cosθ1. The first latitude point is calculated as follows: Equation 3:

[0129]

[0130] The first latitude point is obtained by calculating using Equation 3 above. The cosine value of the first latitude point is Using the sine of the first eliminated azimuth angle sinθ1, the sine of the first included angle sinβ, and the cosine of the first latitude point... and the longitude λ of the station r The first longitude point is calculated using the following formula:

[0131]

[0132] In Equation 4 above, λ is the first longitude point, λ r The longitude of the station is given. Therefore, the first longitude and latitude coordinates (λ) can be obtained from the first longitude point and the first latitude point. ).

[0133] Step S604: Perform radar polar coordinate transformation on the first latitude and longitude coordinates to obtain transformed radar polar coordinates.

[0134] It should be noted that after obtaining the first latitude and longitude coordinates, a radar polar coordinate transformation is performed on the first latitude and longitude coordinates to obtain the transformed radar polar coordinates, as shown in Formula 5 below:

[0135]

[0136] In Equation 5, since the first latitude and longitude coordinates (λ, ) and station latitude and longitude coordinates (λ) r , Given that cosβ' is known, we can calculate cosβ', and thus deduce sinβ', which can be transformed as shown in Equation 6:

[0137]

[0138] If we let |sin -1 If θ' = M|, then the transformed azimuth angle is determined as follows: Equation 7:

[0139]

[0140] The converted azimuth angle can be calculated using Equation 7 above, and the process for calculating the converted slope distance is shown in Equation 8 below:

[0141]

[0142] In Equation 8, L' is the converted slant range. The converted slant range can be calculated using Equation 8, thereby obtaining the converted radar polar coordinates (α1, θ', L').

[0143] Step S605: Calculate the first altitude and the second altitude using the converted radar polar coordinates, the second polar coordinates, the Earth radius, and the station altitude.

[0144] It should be noted that the formula for calculating altitude is as follows: Equation 9:

[0145]

[0146] In Equation 9, h r Let R1 be the station altitude, L be the Earth radius, L be the converted slant distance or the second slant distance, and H be the altitude. Thus, the first altitude H1 and the second altitude H2 can be calculated using Equation 9 above.

[0147] Step S606: Perform spatial consistency matching between the first radar and the second radar using the first altitude and the second altitude.

[0148] Specifically, after calculating the first altitude and the second altitude, spatial consistency matching of the first radar and the second radar can be performed using the first altitude and the second altitude. The specific process is as follows: calculate the altitude difference between the first altitude and the second altitude; obtain the altitude difference threshold; compare the altitude difference with the altitude difference threshold; when the altitude difference is less than the altitude difference threshold, determine that the spatial consistency matching of the first radar and the second radar is successful; when the altitude difference is greater than or equal to the altitude difference threshold, determine that the spatial consistency matching of the first radar and the second radar is unsuccessful.

[0149] It should be understood that the absolute value of the difference between the first altitude and the second altitude, i.e., the altitude difference ΔH, can be calculated, and ΔH can be compared with the altitude difference threshold. The altitude difference threshold is an adjustable threshold, such as 20m, 40m, etc. This embodiment does not limit it. This embodiment uses 20m as an example for explanation. By comparing the altitude difference with the altitude difference threshold, when the altitude difference is less than 20m, it is determined that the spatial consistency matching of the first radar and the second radar is successful. When the altitude difference is greater than or equal to 20m, it is determined that the spatial consistency matching of the first radar and the second radar is unsuccessful.

[0150] This embodiment obtains the first elevation angle, second elevation angle, first slant range of the first radar, second slant range of the second radar, radius coefficient, Earth radius, longitude, latitude, and altitude of the radar station of the first radar based on the scan data when the time consistency matching of the first radar and the second radar is successful. It then obtains first polar coordinates using the first elevation angle, first slant range, and first eliminated azimuth angle, and second polar coordinates using the second elevation angle, second slant range, and second eliminated azimuth angle. Finally, it performs coordinate transformation on the first polar coordinates using the radius coefficient, Earth radius, station longitude, station latitude, and station altitude to obtain first latitude and longitude coordinates. The first latitude and longitude coordinates are then transformed into radar polar coordinates to obtain transformed radar polar coordinates. The first altitude and second altitude are calculated using the transformed radar polar coordinates, second polar coordinates, Earth radius, and station altitude. Finally, spatial consistency matching is performed on the first radar and the second radar using the first altitude and the second altitude. By accurately calculating the first altitude and the second altitude of the first radar and the second radar using the scan data, spatial consistency matching using the first altitude and the second altitude improves the accuracy of echo identification between the first radar and the second radar.

[0151] refer to Figure 6 , Figure 6 This is a flowchart illustrating the fourth embodiment of the abnormal echo identification method of the present invention.

[0152] Based on the first embodiment described above, step 70 of the abnormal echo identification method in this embodiment specifically includes:

[0153] Step S701: When the spatial consistency matching of the first radar and the second radar is successful, the transmitting power of the first radar, the transmitting power of the second radar, the antenna gain, the wavelength of the first radar, the wavelength of the second radar, the radar backscattering cross section, the first distance between the first radar and the target, the second distance between the second radar and the target, the number of scattered energy particles generated in the effective irradiation body of the beam, and the radar constant are obtained through the scanning data.

[0154] It should be noted that when the spatial consistency of the first radar and the second radar is successfully matched, the reflectivity factor values ​​of the first radar and the second radar can be calculated, thereby enabling abnormal echo identification. The transmitting power of the first radar, the transmitting power of the second radar, the antenna gain, the radar wavelength, the radar backscattering interface, the distance between the radar and the target, the number of scattered energy particles generated in the effective irradiation body of the beam, and the radar constant can be obtained through scanning data.

[0155] Step S702: Calculate the first echo power using the first radar transmit power, the antenna gain, the first radar wavelength, the radar backscattering cross section, the first distance, and the number of scattered energy particles.

[0156] In practical implementation, the process of calculating the first echo power using the first radar transmit power, antenna gain, first radar wavelength, radar backscattering cross section, first distance, and number of scattered energy particles is as follows: Equation 10:

[0157]

[0158] In Equation 10, P1 is the first echo power, P t1 Let G be the first radar transmit power, ω1 be the first radar wavelength, σ be the radar backscattering cross section, S1 be the first range, and N be the number of scattered energy particles. The first echo power is calculated using Equation 10 above.

[0159] Step S703: Calculate the second echo power using the second radar transmit power, the antenna gain, the second radar wavelength, the radar backscattering cross section, the second distance, and the number of scattered energy particles.

[0160] The process of calculating the second echo power is as follows: Equation 11:

[0161]

[0162] In Equation 11, P2 is the second echo power, P t2 Let G be the first radar transmit power, ω2 be the antenna gain, ω2 be the first radar wavelength, σ be the radar backscattering cross section, S2 be the second range, and N be the number of scattered energy particles. The second echo power is calculated using Equation 11 above.

[0163] Step S704: Average the first echo power and the second echo power respectively to obtain the first average echo power and the second average echo power.

[0164] In practical implementation, the process of averaging the first echo power P1 and the second echo power P2 is as follows: Equation 12 and Equation 13:

[0165]

[0166]

[0167] The first average echo power and the second average echo power can be calculated using Equations 12 and 13 above.

[0168] Step S705: Calculate the first reflectivity factor value of the first radar using the first average echo power, the radar constant, and the first distance.

[0169] It should be noted that after calculating the first average echo power, the first reflectivity factor value of the first radar can be calculated using the first average echo power, radar constant, and first distance, as shown in Equation 14:

[0170]

[0171] In Equation 14, Z1 is the first reflectivity factor value, S1 is the first range, and C is the radar constant.

[0172] Step S706: Calculate the second reflectivity factor value of the second radar using the second average echo power, the radar constant, and the second distance.

[0173] The process of calculating the second reflectivity factor value is as follows: Equation 15:

[0174]

[0175] In Equation 15, Z2 is the second reflectivity factor value, S2 is the second range, and C is the radar constant.

[0176] In this embodiment, when the spatial consistency matching of the first radar and the second radar is successful, the scanning data is used to obtain the first radar transmit power, the second radar transmit power, the antenna gain, the first radar wavelength, the second radar wavelength, the radar backscattering cross section, the first distance between the first radar and the target, the second distance between the second radar and the target, the number of scattered energy particles generated in the effective irradiation body of the beam, and the radar constant. The first echo power is calculated using the first radar transmit power, the antenna gain, the first radar wavelength, the radar backscattering cross section, the first distance, and the number of scattered energy particles. The second echo power is calculated using the second radar transmit power, the antenna gain, the second radar wavelength, and the radar backscattering cross section. The second echo power is calculated using the cross-section, the second distance, and the number of scattered energy particles. The first echo power and the second echo power are averaged to obtain the first average echo power and the second average echo power. The first reflectivity factor value of the first radar is calculated using the first average echo power, the radar constant, and the first distance. The second reflectivity factor value of the second radar is calculated using the second average echo power, the radar constant, and the second distance. By using the scan data, the first reflectivity factor value of the first radar and the second reflectivity factor value of the second radar can be accurately calculated. Therefore, abnormal echoes can be identified based on the first reflectivity factor value and the second reflectivity factor value, thereby improving the accuracy of identification.

[0177] Reference Figure 7 , Figure 7 This is a structural block diagram of the first embodiment of the abnormal echo identification device of the present invention.

[0178] like Figure 7 As shown, the abnormal echo identification device proposed in this embodiment of the invention includes:

[0179] The scanning module 10 is used to perform scanning using the first radar and the second radar to obtain scanning data and radar scan projection.

[0180] The calculation module 20 is used to calculate the first azimuth angle and the second azimuth angle when the first radar and the second radar overlap on the radar scanning projection.

[0181] The culling module 30 is used to culle the first azimuth angle and the second azimuth angle to obtain the first culling azimuth angle and the second culling azimuth angle.

[0182] The acquisition module 40 is used to acquire the first scan time of the first radar at the first rejection azimuth angle and the second scan time of the second radar at the second rejection azimuth angle.

[0183] The matching module 50 is used to perform time consistency matching between the first radar and the second radar based on the first scan time and the second scan time.

[0184] The matching module 50 is further configured to perform spatial consistency matching on the first radar and the second radar based on the scanning data when the time consistency matching of the first radar and the second radar is successful.

[0185] The calculation module 20 is further configured to calculate the first reflectivity factor value of the first radar and the second reflectivity factor value of the second radar when the spatial consistency matching of the first radar and the second radar is successful.

[0186] The identification module 60 is used to identify abnormal echoes using the first reflectivity factor value and the second reflectivity factor value.

[0187] This embodiment uses a first radar and a second radar to scan, obtaining scan data and radar scan projection; when the first radar and the second radar overlap on the radar scan projection, a first azimuth angle and a second azimuth angle are calculated; obstruction angles are removed from the first azimuth angle and the second azimuth angle to obtain a first removed azimuth angle and a second removed azimuth angle; a first scan time of the first radar at the first removed azimuth angle and a second scan time of the second radar at the second removed azimuth angle are obtained; time consistency matching is performed on the first radar and the second radar based on the first scan time and the second scan time; when the first radar and the second radar overlap on the radar scan projection, a first azimuth angle and a second azimuth angle are calculated ... azimuth angle overlap on the radar scan projection, a first azimuth angle and a second azimuth angle are calculated; when the first radar and the second azimuth angle overlap on the radar scan projection, a first azimuth angle and a second azimuth angle are calculated; when the first radar and the second azimuth angle overlap When the second radar time consistency matching is successful, spatial consistency matching is performed on the first radar and the second radar based on the scan data; when the spatial consistency matching of the first radar and the second radar is successful, the first reflectivity factor value of the first radar and the second reflectivity factor value of the second radar are calculated; abnormal echoes are identified by the first reflectivity factor value and the second reflectivity factor value. By calculating the first reflectivity factor value and the second reflectivity factor value, the presence of abnormal echoes can be identified by the first reflectivity factor value and the second reflectivity factor value. The abnormal echoes are quickly and accurately identified by the reflectivity factor value, thereby improving the accuracy of echo identification.

[0188] In one embodiment, the matching module 50 is further configured to calculate the time difference between the first scan time and the second scan time; obtain a time matching threshold; compare the time difference with the time matching threshold; determine that the time consistency matching of the first radar and the second radar is successful when the time difference is less than the time matching threshold; and determine that the time consistency matching of the first radar and the second radar is unsuccessful when the time difference is greater than or equal to the time matching threshold.

[0189] In one embodiment, the matching module 50 is further configured to, when the time consistency matching of the first radar and the second radar is successful, obtain a first elevation angle, a second elevation angle, a first slant range of the first radar and a second slant range of the second radar, a radius coefficient, the Earth's radius, the longitude, latitude, and altitude of the radar station of the first radar based on the scanning data; obtain a first polar coordinate using the first elevation angle, the first slant range, and the first eliminated azimuth angle, and obtain a second polar coordinate using the second elevation angle, the second slant range, and the second eliminated azimuth angle; perform coordinate transformation on the first polar coordinate using the radius coefficient, the Earth's radius, the station's longitude, the station's latitude, and the station's altitude to obtain a first latitude and longitude coordinate; perform radar polar coordinate transformation on the first latitude and longitude coordinate to obtain transformed radar polar coordinates; calculate a first altitude and a second altitude using the transformed radar polar coordinates, the second polar coordinates, the Earth's radius, and the station's altitude; and perform spatial consistency matching between the first radar and the second radar using the first altitude and the second altitude.

[0190] In one embodiment, the matching module 50 is further configured to: calculate the first angle between the radar point and the origin at the Earth's center using the radius coefficient, the Earth's radius, the station altitude, the first elevation angle in the first polar coordinates, and the first slant range; calculate the cosine and sine values ​​of the first angle, the sine and cosine values ​​of the station latitude, and the sine and cosine values ​​of the first eliminated azimuth angle; calculate a first latitude point using the cosine of the first angle, the sine of the station latitude, the sine of the first angle, the cosine of the station latitude, and the cosine of the first eliminated azimuth angle; calculate the cosine value of the first latitude point; calculate a first longitude point using the sine of the first eliminated azimuth angle, the sine of the first angle, the cosine of the first latitude point, and the station longitude; and obtain first latitude and longitude coordinates using the first longitude point and the first latitude point.

[0191] In one embodiment, the matching module 50 is further configured to calculate the altitude difference between the first altitude and the second altitude; obtain an altitude difference threshold; compare the altitude difference with the altitude difference threshold; determine that the spatial consistency matching of the first radar and the second radar is successful when the altitude difference is less than the altitude difference threshold; and determine that the spatial consistency matching of the first radar and the second radar is unsuccessful when the altitude difference is greater than or equal to the altitude difference threshold.

[0192] In one embodiment, the calculation module 20 is further configured to, when the spatial consistency matching of the first radar and the second radar is successful, obtain the first radar transmit power, the second radar transmit power, the antenna gain, the first radar wavelength, the second radar wavelength, the radar backscattering cross section, the first distance between the first radar and the target, the second distance between the second radar and the target, the number of scattered energy particles generated within the effective irradiation body of the beam, and the radar constant through the scanning data; calculate the first echo power through the first radar transmit power, the antenna gain, the first radar wavelength, the radar backscattering cross section, the first distance, and the number of scattered energy particles; calculate the second echo power through the second radar transmit power, the antenna gain, the second radar wavelength, the radar backscattering cross section, the second distance, and the number of scattered energy particles; average the first echo power and the second echo power respectively to obtain the first average echo power and the second average echo power; calculate the first reflectivity factor value of the first radar through the first average echo power, the radar constant, and the first distance; and calculate the second reflectivity factor value of the second radar through the second average echo power, the radar constant, and the second distance.

[0193] In one embodiment, the rejection module 30 is further configured to obtain a preset occlusion angle of the overlapping area on the radar scanning projection of the first radar and the second radar; and to reject the first azimuth angle and the second azimuth angle by means of the preset occlusion angle to obtain a first rejection azimuth angle and a second rejection azimuth angle.

[0194] Furthermore, to achieve the above objectives, the present invention also proposes an abnormal echo identification device, the abnormal echo identification device comprising: a memory, a processor, and an abnormal echo identification program stored in the memory and executable on the processor, the abnormal echo identification program being configured to implement the steps of the abnormal echo identification method as described above.

[0195] Since this abnormal echo identification device adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0196] Furthermore, this embodiment of the invention also proposes a storage medium storing an abnormal echo identification program, which, when executed by a processor, implements the steps of the abnormal echo identification method described above.

[0197] Since this storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be repeated here.

[0198] It should be understood that the above are merely illustrative examples and do not constitute any limitation on the technical solutions of the present invention. In specific applications, those skilled in the art can make settings as needed, and the present invention does not impose any restrictions on this.

[0199] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of this invention. In practical applications, those skilled in the art can select some or all of the workflow to achieve the purpose of this embodiment according to actual needs, and no restrictions are imposed here.

[0200] In addition, for technical details not described in detail in this embodiment, please refer to the abnormal echo identification method provided in any embodiment of the present invention, which will not be repeated here.

[0201] Furthermore, it should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0202] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0203] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as read-only memory (ROM) / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0204] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. An abnormal echo identification method, characterized in that, The abnormal echo identification method includes: The first and second radars are used to perform a scan, and the scan data and radar scan projection are obtained. When the first radar and the second radar overlap on the radar scanning projection, calculate the first azimuth angle and the second azimuth angle; The first azimuth angle and the second azimuth angle are subjected to occlusion angle removal to obtain the first removed azimuth angle and the second removed azimuth angle; The first scan time of the first radar at the first rejection azimuth angle and the second scan time of the second radar at the second rejection azimuth angle are obtained; The time consistency matching of the first radar and the second radar is performed based on the first scan time and the second scan time; When the time consistency matching of the first radar and the second radar is successful, spatial consistency matching of the first radar and the second radar is performed based on the scanning data; When the spatial consistency matching between the first radar and the second radar is successful, the first reflectivity factor value of the first radar and the second reflectivity factor value of the second radar are calculated. Abnormal echoes are identified using the first reflectivity factor value and the second reflectivity factor value.

2. The abnormal echo identification method as described in claim 1, characterized in that, The step of performing time consistency matching between the first radar and the second radar based on the first scan time and the second scan time includes: Calculate the time difference between the first scan time and the second scan time; Get the time matching threshold; Compare the time difference with the time matching threshold; When the time difference is less than the time matching threshold, it is determined that the time consistency match between the first radar and the second radar is successful; When the time difference is greater than or equal to the time matching threshold, it is determined that the time consistency matching between the first radar and the second radar is unsuccessful.

3. The abnormal echo identification method as described in claim 1, characterized in that, When the temporal consistency matching of the first radar and the second radar is successful, the spatial consistency matching of the first radar and the second radar based on the scanning data includes: When the time consistency of the first radar and the second radar is successfully matched, the first elevation angle, the second elevation angle, the first slant range of the first radar and the second slant range of the second radar, the radius coefficient, the Earth radius, the longitude, latitude and altitude of the radar station of the first radar are obtained according to the scanning data. The first polar coordinates are obtained by using the first elevation angle, the first slant distance, and the first azimuth angle to be eliminated, and the second polar coordinates are obtained by using the second elevation angle, the second slant distance, and the second azimuth angle to be eliminated; The first polar coordinates are transformed using the radius coefficient, the Earth radius, the station longitude, the station latitude, and the station altitude to obtain the first longitude and latitude coordinates; The first latitude and longitude coordinates are transformed into radar polar coordinates to obtain the transformed radar polar coordinates; The first and second altitudes are calculated using the converted radar polar coordinates, the second polar coordinates, the Earth's radius, and the station's altitude. Spatial consistency matching of the first radar and the second radar is performed using the first altitude and the second altitude.

4. The abnormal echo identification method as described in claim 3, characterized in that, The step of performing coordinate transformation on the first polar coordinates using the radius coefficient, the Earth's radius, the station longitude, the station latitude, and the station altitude to obtain the first latitude and longitude coordinates includes: The first angle between the radar point and the origin at the Earth's center is calculated using the radius coefficient, the Earth's radius, the station's altitude, the first elevation angle in the first polar coordinates, and the first slant range. Calculate the cosine and sine of the first included angle, the sine and cosine of the station latitude, and the sine and cosine of the first excluded azimuth angle. The first latitude point is calculated using the cosine of the first included angle, the sine of the station latitude, the sine of the first included angle, the cosine of the station latitude, and the cosine of the first eliminated azimuth angle. Calculate the cosine value of the first latitude point; The first longitude point is calculated using the sine of the first eliminated azimuth angle, the sine of the first included angle, the cosine of the first latitude point, and the longitude of the station. The first longitude and latitude coordinates are obtained through the first longitude point and the first latitude point.

5. The abnormal echo identification method as described in claim 3, characterized in that, The spatial consistency matching of the first radar and the second radar using the first altitude and the second altitude includes: Calculate the altitude difference between the first altitude and the second altitude; Obtain the height difference threshold; Compare the altitude difference with the altitude difference threshold; When the altitude difference is less than the altitude difference threshold, it is determined that the spatial consistency match between the first radar and the second radar is successful; When the altitude difference is greater than or equal to the altitude difference threshold, it is determined that the spatial consistency matching between the first radar and the second radar is unsuccessful.

6. The abnormal echo identification method as described in claim 1, characterized in that, When the spatial consistency matching between the first radar and the second radar is successful, the calculation of the first reflectivity factor value of the first radar and the second reflectivity factor value of the second radar includes: When the first radar and the second radar successfully match spatially, the scanning data is used to obtain the first radar transmit power, the second radar transmit power, the antenna gain, the first radar wavelength, the second radar wavelength, the radar backscattering cross section, the first distance between the first radar and the target, the second distance between the second radar and the target, the number of scattered energy particles generated in the effective irradiation body of the beam, and the radar constant. The first echo power is calculated using the first radar transmit power, the antenna gain, the first radar wavelength, the radar backscattering cross section, the first distance, and the number of scattered energy particles. The second echo power is calculated using the second radar transmit power, the antenna gain, the second radar wavelength, the radar backscattering cross section, the second distance, and the number of scattered energy particles. The first echo power and the second echo power are averaged respectively to obtain the first average echo power and the second average echo power; The first reflectivity factor value of the first radar is calculated using the first average echo power, the radar constant, and the first distance. The second reflectivity factor value of the second radar is calculated using the second average echo power, the radar constant, and the second distance.

7. The abnormal echo identification method according to any one of claims 1 to 6, characterized in that, The occlusion angle is removed from the first azimuth angle and the second azimuth angle to obtain the first removed azimuth angle and the second removed azimuth angle, including... Obtain the preset obstruction angle of the overlapping area on the radar scan projection of the first radar and the second radar; The first azimuth angle and the second azimuth angle are eliminated by the preset occlusion angle to obtain the first eliminated azimuth angle and the second eliminated azimuth angle.

8. An abnormal echo identification device, characterized in that, The abnormal echo identification device includes: The scanning module is used to perform scanning using the first and second radars to obtain scanning data and radar scan projection. The calculation module is used to calculate the first azimuth angle and the second azimuth angle when the first radar and the second radar overlap on the radar scanning projection; The occlusion module is used to perform occlusion angle occlusion on the first azimuth angle and the second azimuth angle to obtain the first occlusion azimuth angle and the second occlusion azimuth angle; The acquisition module is used to acquire the first scanning time of the first radar at the first rejection azimuth angle and the second scanning time of the second radar at the second rejection azimuth angle; The matching module is used to perform time consistency matching between the first radar and the second radar based on the first scan time and the second scan time; The matching module is further configured to perform spatial consistency matching on the first radar and the second radar based on the scanning data when the time consistency matching of the first radar and the second radar is successful; The calculation module is also used to calculate the first reflectivity factor value of the first radar and the second reflectivity factor value of the second radar when the spatial consistency matching of the first radar and the second radar is successful. The identification module is used to identify abnormal echoes using the first reflectivity factor value and the second reflectivity factor value.

9. An abnormal echo identification device, characterized in that, The abnormal echo identification device includes: a memory, a processor, and an abnormal echo identification program stored in the memory and executable on the processor, the abnormal echo identification program being configured to implement the abnormal echo identification method as described in any one of claims 1 to 7.

10. A storage medium, characterized in that, The storage medium stores an abnormal echo identification program, which, when executed by a processor, implements the abnormal echo identification method as described in any one of claims 1 to 7.

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