Radar data processing method, apparatus and device

Abstract

The embodiment of the application provides a radar data processing method, device and equipment, the method comprises the following steps: monitoring the control command and the control parameter issued by the host computer in real time; when the control command comprises a data recording command, the control parameter comprises a data recording parameter, and the received radar echo data is stored in the first storage space of the host computer in the form of a file according to the data recording parameter; when the control command comprises a data backfilling command, the control parameter comprises a data backfilling parameter, and the backfilling data stored in the second storage space of the host computer is backfilled according to the data backfilling parameter. When the control command comprises the data recording command and the data backfilling command, real-time data acquisition and data backfilling can be carried out simultaneously and in parallel.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of radar data processing technology, specifically to a radar data processing method, apparatus, and device. Background Technology

[0002] In low-altitude, small-scale, and slow-speed (anti-drone) radar systems, during radar function debugging, it is necessary not only to collect, record, and analyze radar echo data in real time to provide a basis for signal processing, but also to use characteristic data from various existing environments to perform data backfeeding and injection tests on the radar to verify the radar's various processing functions and parameters. This requires simultaneously meeting the needs of real-time data recording and analysis as well as data backfeeding.

[0003] Currently, real-time recording of radar echo data is mainly achieved through data loggers. However, data loggers do not have the function of real-time analysis and data re-feedback of the acquired data. Moreover, the operation of data loggers is cumbersome and costly, and they cannot meet the needs of simultaneous real-time data acquisition and data re-feedback. Summary of the Invention

[0004] This invention provides a radar data processing method, apparatus, and device to solve the problem that existing methods cannot simultaneously perform real-time data acquisition and data feedback.

[0005] In a first aspect, embodiments of the present invention provide a radar data processing method, comprising:

[0006] Real-time monitoring of control commands and parameters issued by the host computer;

[0007] When the control command includes a data logging command, the control parameters include data logging parameters. Based on the data logging parameters, the received radar echo data is stored in the first storage space of the host computer in the form of a file.

[0008] When the control command includes a data backfill command, the control parameters include data backfill parameters, and the backfill data stored in the second storage space of the host computer is backfilled according to the data backfill parameters.

[0009] In one embodiment, storing the received radar echo data as a file into the first storage space of the host computer according to the data recording parameters includes:

[0010] The received radar echo data is digitized by analog-to-digital sampling to obtain a digital signal;

[0011] The digital signal is processed in real time through a three-stage pipeline: quadrature downconversion, low-pass decimation filtering, digital multibeam synthesis, and pulse compression. The data obtained after each stage of processing is converted from fixed-point to floating-point to obtain data from three channels.

[0012] Determine the processing level corresponding to the recorded data based on the data recording parameters;

[0013] The data recording channel selection module obtains the data to be recorded from the corresponding channel according to the determined processing level, and stores the obtained data in the first storage space of the host computer in the form of a file.

[0014] In one embodiment, storing the acquired data in the form of a file into the first storage space of the host computer includes:

[0015] The acquired data is written into the front-end first-in-first-out buffer in units of one transmission cycle.

[0016] Using one coherent accumulation cycle as the frame unit, a storage pool of a preset number of frame data sizes is established in the DDR3 synchronous dynamic random access memory, and the data read and write in the DDR3 synchronous dynamic random access memory is controlled according to the empty and full state of the storage pool and the data writing and reading requirements of the front and back ends.

[0017] The data transmission rate and the number of data frames to be transmitted are determined based on the data recording parameters. Data is read from the backend first-in-first-out buffer in real time according to the determined data transmission rate and the number of data frames to be transmitted, and then sent to the host computer via USB 3.0.

[0018] The host computer receives, parses, and records data in real time via USB 3.0, and stores the data as a file in the first storage space.

[0019] In one embodiment, controlling data read / write in DDR3 synchronous dynamic random access memory based on the storage pool's empty / full state and the front-end and back-end data write / read requirements includes:

[0020] When the storage pool is not full and the front-end FIFO cache data meets the size of a burst write, the data in the front-end FIFO cache is written to the storage pool in real time.

[0021] When the storage pool is not empty and the backend FIFO cache data is empty, data in the storage pool is read out in real time and written to the backend FIFO cache.

[0022] In one embodiment, the method further includes:

[0023] Data is read in real time from the first storage space, one frame at a time.

[0024] Perform data analysis and display on the retrieved data.

[0025] In one embodiment, data analysis and display of the read data includes:

[0026] The read data is coherently accumulated using a fast Fourier transform and a finite-length unit impulse response filter;

[0027] After coherent accumulation, the data are sequentially subjected to constant false alarm rate detection in velocity dimension and constant false alarm rate detection in distance dimension.

[0028] Intra-frame 3-neighborhood aggregation is performed on the target information detected within a frame, and the analysis results are displayed.

[0029] In one embodiment, data re-feedback is performed on the re-feedback data stored in the second storage space of the host computer according to the data re-feedback parameters, including:

[0030] The data re-feedback receiving rate and the number of received data frames are determined based on the data re-feedback parameters, and the re-feedback data is obtained from the second storage space of the host computer according to the determined data re-feedback receiving rate and the number of received data frames.

[0031] After parsing and aligning the re-fed data, it is written to the first-in-first-out cache in real time.

[0032] Determine the processing level corresponding to the reinjected data based on the data reinjection parameters;

[0033] The feedback data channel selection module reads the feedback data in the first-in-first-out buffer in real time, based on the determined processing level, in units of data from one transmission cycle. The read feedback data is then converted from fixed-point to floating-point and injected into the corresponding signal processing level.

[0034] The feedback data, after being processed in real time by low-pass decimation filtering, digital multibeam synthesis, and pulse compression pipeline, is written into a first-in-first-out (FIFO) buffer so that the next-level signal processing module can read data from the FIFO buffer for signal processing.

[0035] In a second aspect, embodiments of the present invention provide a radar data processing apparatus, comprising:

[0036] The data monitoring module is used to monitor control commands and parameters issued by the host computer in real time.

[0037] The data logging module is used to store the received radar echo data in the first storage space of the host computer in the form of a file, according to the data logging parameters when the control command includes a data logging command and the control parameters include data logging parameters.

[0038] The data backfill module is used to backfill the backfilled data stored in the second storage space of the host computer according to the control parameters, when the control command includes a data backfill command and the control parameters include data backfill parameters.

[0039] Thirdly, embodiments of the present invention provide an electronic device, comprising:

[0040] At least one processor and memory;

[0041] The memory stores instructions that the computer executes;

[0042] At least one processor executes computer execution instructions stored in memory, causing the at least one processor to perform the radar data processing method as described in any of the first aspects.

[0043] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the radar data processing method as described in any of the first aspects.

[0044] The radar data processing method, apparatus, and device provided in this invention monitor control commands and parameters issued by a host computer in real time. When the control command includes a data recording command, the control parameters include data recording parameters. Based on the data recording parameters, the received radar echo data is stored in the first storage space of the host computer as a file. When the control command includes a data feedback command, the control parameters include data feedback parameters. Based on the data feedback parameters, the feedback data stored in the second storage space of the host computer is fed back into the host computer. When the control command includes both a data recording command and a data feedback command, real-time data acquisition and data feedback can be performed simultaneously and in parallel. Attached Figure Description

[0045] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0046] Figure 1 A flowchart of a radar data processing method provided in an embodiment of the present invention;

[0047] Figure 2 This is a block diagram illustrating the data recording architecture provided in an embodiment of the present invention;

[0048] Figure 3 This is a data backfeedback architecture block diagram provided in one embodiment of the present invention;

[0049] Figure 4 This is a schematic diagram of the structure of a radar data processing device provided in an embodiment of the present invention;

[0050] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0051] The accompanying drawings have illustrated specific embodiments of the invention, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the invention in any way, but rather to illustrate the concept of the invention to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0052] The present invention will now be described in further detail with reference to specific embodiments and accompanying drawings. Similar elements in different embodiments are referred to by associated similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of this application. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, certain operations related to this application are not shown or described in the specification. This is to avoid obscuring the core parts of this application with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0053] Furthermore, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments. At the same time, the steps or actions in the method description can be rearranged or adjusted in a manner obvious to those skilled in the art. Therefore, the various orders in the specification and drawings are only for the clear description of a particular embodiment and do not imply a necessary order, unless otherwise stated that a particular order must be followed.

[0054] The serial numbers assigned to components in this document, such as "first" and "second," are used only to distinguish the described objects and have no sequential or technical meaning. The terms "connection" and "linkage" used in this application, unless otherwise specified, include both direct and indirect connections (linkages).

[0055] Figure 1 This is a flowchart illustrating a radar data processing method according to an embodiment of the present invention. Figure 1 As shown, the radar data processing method provided in this embodiment may include:

[0056] S101. Real-time monitoring of control commands and parameters issued by the host computer.

[0057] After power-on, it receives control commands and parameters from the host computer via the USB 3.0 interface. Control commands can be used to indicate whether data recording and / or data re-implantation are enabled, and control parameters include the parameters required to execute the control commands.

[0058] S102. When the control command includes a data recording command, the control parameters include data recording parameters. Based on the data recording parameters, the received radar echo data is stored in the first storage space of the host computer in the form of a file.

[0059] When the control command includes a data logging command, it indicates that the data logging command is valid and the received radar echo data needs to be acquired and stored in real time. The control parameters at this time include data logging parameters, such as the processing level corresponding to the recorded data, the data transmission rate, and the size of the transmitted data frames. Based on the data logging parameters, the received radar echo data is stored as a file in the first storage space of the host computer. The first storage space is a dedicated space allocated in the host computer for storing radar echo data.

[0060] S103. When the control command includes a data backfill command, the control parameters include data backfill parameters. The backfill data stored in the second storage space of the host computer is backfilled according to the data backfill parameters.

[0061] When the control command includes a data backfeed command, it indicates that the data backfeed command is valid and the data to be backfeed needs to be processed. The control parameters at this time include data backfeed parameters, such as the data backfeed receiving rate, the number of received data frames, and the processing level corresponding to the backfeed data. Based on the data backfeed parameters, the backfeed data stored in the second storage space of the host computer is backfeeded. The second storage space is a dedicated space in the host computer used to store backfeed data.

[0062] It should be noted that if the data recording command is valid, the data recording task will be executed; if the data reflow command is valid, the data reflow task will be executed; if both the data recording and data reflow commands are valid, the data recording and data reflow will be performed in parallel.

[0063] The radar data processing method provided in this embodiment monitors control commands and parameters issued by a host computer in real time. When the control command includes a data recording command, the control parameters include data recording parameters. Based on the data recording parameters, the received radar echo data is stored in the first storage space of the host computer in the form of a file. When the control command includes a data feedback command, the control parameters include data feedback parameters. Based on the data feedback parameters, the feedback data stored in the second storage space of the host computer is fed back into the host computer. When the control command includes both a data recording command and a data feedback command, real-time data acquisition and data feedback can be performed simultaneously and in parallel.

[0064] The following specific examples will be used to describe the data recording task and the data backfeeding task in detail.

[0065] Based on the above embodiments, the radar data processing method provided in this embodiment, specifically storing the received radar echo data in the form of a file into the first storage space of the host computer according to the data recording parameters, may include: digitizing the received radar echo data through analog-to-digital sampling to obtain a digital signal; performing real-time processing on the digital signal in a three-stage pipeline of orthogonal down-conversion, low-pass decimation filtering, digital multi-beam synthesis, and pulse compression, and converting the data obtained after each stage of processing to fixed-point to floating-point to obtain data for three channels; determining the processing level corresponding to the recorded data according to the data recording parameters; and the data recording channel selection module obtaining the data to be recorded from the corresponding channel according to the determined processing level, and storing the obtained data in the form of a file into the first storage space of the host computer.

[0066] When the data recording command is valid, the radar echo data is first digitized through analog-to-digital (AD) sampling. Then, the digital signal undergoes real-time processing via a three-stage pipeline: quadrature down-conversion, low-pass decimation filtering, digital multibeamforming, and pulse compression. Finally, the data from each processing stage is converted from fixed-point to floating-point. The data recording channel selection module selects the data from the corresponding processing stage as the data for the current data recording function based on the parameters.

[0067] In one optional implementation, storing the acquired data in the first storage space of the host computer as a file may specifically include: writing the acquired data into the front-end First-In-First-Out (FIFO) cache in units of one transmission cycle; establishing a storage pool of a preset number of frame data sizes in DDR3 Synchronous Dynamic Random-Access Memory (SDRAM) in units of one coherent accumulation cycle, and controlling data read and write in DDR3 SDRAM according to the empty / full state of the storage pool and the data write and read requirements of the front-end and back-end; determining the data transmission rate and the number of data frames to be transmitted according to the data recording parameters, reading data from the back-end FIFO cache in real time according to the determined data transmission rate and the number of data frames to be transmitted, and sending the data to the host computer via USB 3.0; the host computer receiving and parsing the recorded data in real time via USB 3.0 and storing the data in the first storage space as a file. For example, a storage pool of 200 frames of data can be established in DDR3 SDRAM, with one coherent accumulation cycle as the frame unit. After the data recording command is valid, the USB 3.0 data transmission control determines the data transmission rate and the number of data frames to be transmitted based on the current parameters, and then reads the data in the FIFO buffer in real time and sends it to the host computer via USB 3.0. Depending on the empty / full state of the storage pool and the data write / read requirements of the front and back ends, controlling the data read / write in DDR3 synchronous dynamic random access memory can specifically include: when the storage pool is not full and the front-end FIFO buffer data meets the size of a burst write, writing the data in the front-end FIFO buffer to the storage pool in real time; when the storage pool is not empty and the back-end FIFO buffer data is empty, reading the data in the storage pool and writing it to the back-end FIFO buffer in real time.

[0068] Based on any of the above embodiments, in order to realize the analysis and display of recorded data, the radar data processing method provided in this embodiment may further include: reading recorded data from the first storage space in real time, using one frame of data as a unit; and performing data analysis and display on the read data. In an optional embodiment, the data analysis and display on the read data may specifically include: performing coherent accumulation on the read data using a Fast Fourier Transform (FFT) and a Finite-Length Unit Impulse Response (FIR) filter; sequentially performing constant false alarm rate detection in the velocity dimension and constant false alarm rate detection in the range dimension on the coherently accumulated data; performing intra-frame 3-neighborhood aggregation on the target information detected within one frame, and displaying the analysis results.

[0069] The host computer data analysis operates on a frame-by-frame basis, reading and analyzing recorded data in real time. The analysis first checks the data's correctness and coherence, then performs target characteristic-based detection and analysis, including coherent accumulation, two-dimensional constant false alarm rate (CFAR) detection, and target aggregation. Coherent accumulation is implemented using FFT and FIR filters; two-dimensional CFAR detection utilizes Doppler range gates; and target aggregation performs intra-frame 3-neighborhood aggregation on target information resolved within a frame. The analysis results and necessary data are then displayed, completing the data recording and analysis function. The specific target aggregation process includes: when the number of targets is greater than one and less than the maximum number of targets, determining if it is a target within a 3-neighborhood; if so, target aggregation is performed, and the target with the largest amplitude is taken as the current target point position.

[0070] The above embodiments detail the execution of data recording commands to achieve real-time data acquisition and analysis. For specific details, please refer to [the relevant documentation / reference]. Figure 2 , Figure 2 This is a block diagram illustrating the data recording architecture provided in an embodiment of the present invention.

[0071] Based on the above embodiments, the radar data processing method provided in this embodiment, specifically including the data backfeeding of backfeeding data stored in the second storage space of the host computer according to the data backfeeding parameters, may include: determining the data backfeeding receiving rate and the number of received data frames according to the data backfeeding parameters; obtaining backfeeding data from the second storage space of the host computer according to the determined data backfeeding receiving rate and the number of received data frames; writing the backfeeding data into a first-in-first-out (FIFO) buffer in real time after parsing and aligning the backfeeding data; determining the processing level corresponding to the backfeeding data according to the data backfeeding parameters; the backfeeding data channel selection module reading the backfeeding data in the FIFO buffer in real time in units of data from one transmission cycle according to the determined processing level; injecting the read backfeeding data into the corresponding signal processing level after fixed-point to floating-point conversion; writing the backfeeding data after real-time processing by low-pass decimation filtering, digital multi-beam synthesis, and pulse compression pipeline into the FIFO buffer so that the next-level signal processing module can read data from the FIFO buffer for signal processing.

[0072] When the data feedback command is valid, the host computer sends the prepared feedback data (second storage space) via USB 3.0. After the data feedback command is valid, the USB 3.0 data reception control determines the data feedback reception rate and the number of received data frames based on the current parameters, and then receives the feedback data sent by the host computer in real time. After parsing and alignment, the data is written to the FIFO for buffering in real time. The feedback data channel selection module determines the processing level for feedback data injection based on parameters, and then reads the buffered feedback data in the FIFO in real time, taking data from one transmission cycle as a unit. After fixed-point to floating-point conversion, the data is injected into the corresponding signal processing level. After low-pass decimation filtering, digital multi-beamforming, and pulse compression pipeline real-time processing, the feedback data is written to the FIFO for buffering. The next stage of signal processing reads data from the FIFO for subsequent signal processing, completing the data feedback function. For details, please refer to [reference needed]. Figure 3 , Figure 3 This is a data backfeeding architecture diagram provided in one embodiment of the present invention.

[0073] The implementation of the radar data processing method provided in this application involves the following modules: host computer data storage, host computer data analysis, USB 3.0 data transmission and reception control, FIFO data buffering, data channel selection, data fixed-to-floating-point conversion, DDR3 SDRAM data storage control, radar echo data acquisition, and radar echo data acquisition. The specific functions of each module are described below:

[0074] (1) Host computer data storage: Data for storage recording and data recovery functions;

[0075] (2) Host computer data analysis: Real-time analysis of radar echo data recorded and stored by the data recording function;

[0076] (3) USB 3.0 data transmission and reception control: controls the reception and transmission of data, and controls the rate and size of data transmission and reception;

[0077] (4) FIFO data caching: Real-time data caching for data recording and data reloading functions;

[0078] (5) Data channel selection: When recording data, select the level from which the data to be recorded comes from the signal processing stage; when feeding back data, select the level into which the data to be fed back into the signal processing stage.

[0079] (6) Data fixed-point to floating-point conversion: Data is converted from fixed-point to floating-point during data recording, and data is converted from floating-point to fixed-point during data re-injection;

[0080] (7) DDR3 SDRAM data storage control: A cache "pool" is established in the DDR3 SDRAM according to the valid commands recorded. The data read and write of the DDR3 SDRAM is controlled according to the empty and full state of the cache "pool" and the needs of front-end and back-end data writing and reading.

[0081] (8) Radar echo data acquisition: The radar echo data is digitized through AD sampling;

[0082] (9) Decimation filtering and beamforming: Low-pass decimation filtering and digital beamforming are performed on the data;

[0083] (10) Radar echo data acquisition: pulse compression processing of digital signals.

[0084] In summary, the radar data processing method provided in this application uses an FPGA as the controller, DDR3 SDRAM as the data cache controller, USB 3.0 as the data transmission interface, and a host computer as the data storage and analysis unit, realizing real-time acquisition, analysis, and data re-feedback of radar data at different data rates. It not only simultaneously achieves real-time data recording and re-feedback of radar data, but also allows for precise frame-level control of data size during recording and re-feedback (one coherent accumulation period is a frame unit). The DDR3 SDRAM-based data cache control prevents data overflow and loss. The USB 3.0 interface's transmit and receive speed control adapts to different data rates for recording and re-feedback. The host computer handles data storage and real-time analysis, and can display the analysis results and data. The method is simple to operate, feature-rich, and reduces hardware overhead.

[0085] Figure 4 This is a schematic diagram of the structure of a radar data processing device provided in an embodiment of the present invention. Figure 4 As shown, the radar data processing device 40 provided in this embodiment may include:

[0086] The data monitoring module 401 is used to monitor the control commands and control parameters issued by the host computer in real time.

[0087] The data recording module 402 is used to store the received radar echo data in the form of a file into the first storage space of the host computer when the control command includes a data recording command and the control parameters include data recording parameters.

[0088] The data backfill module 403 is used to backfill the backfilled data stored in the second storage space of the host computer according to the data backfill parameters when the control command includes a data backfill command and the control parameters include data backfill parameters.

[0089] The apparatus of this embodiment can be used to perform Figure 1The technical solutions of the method embodiments shown are similar in principle and in effect, and will not be described again here.

[0090] In one optional implementation, the data recording module 402 is used to store the received radar echo data in the form of a file into the first storage space of the host computer according to the data recording parameters. Specifically, it may include:

[0091] The received radar echo data is digitized by analog-to-digital sampling to obtain a digital signal;

[0092] The digital signal is processed in real time through a three-stage pipeline: quadrature downconversion, low-pass decimation filtering, digital multibeam synthesis, and pulse compression. The data obtained after each stage of processing is converted from fixed-point to floating-point to obtain data from three channels.

[0093] Determine the processing level corresponding to the recorded data based on the data recording parameters;

[0094] The data recording channel selection module obtains the data to be recorded from the corresponding channel according to the determined processing level, and stores the obtained data in the first storage space of the host computer in the form of a file.

[0095] In one optional implementation, the data recording module 402 is used to store the acquired data in the form of a file into the first storage space of the host computer, specifically including:

[0096] The acquired data is written into the front-end first-in-first-out buffer in units of one transmission cycle.

[0097] Using one coherent accumulation cycle as the frame unit, a storage pool of a preset number of frame data sizes is established in the DDR3 synchronous dynamic random access memory, and the data read and write in the DDR3 synchronous dynamic random access memory is controlled according to the empty and full state of the storage pool and the data writing and reading requirements of the front and back ends.

[0098] The data transmission rate and the number of data frames to be transmitted are determined based on the data recording parameters. Data is read from the backend first-in-first-out buffer in real time according to the determined data transmission rate and the number of data frames to be transmitted, and then sent to the host computer via USB 3.0.

[0099] The host computer receives, parses, and records data in real time via USB 3.0, and stores the data as a file in the first storage space.

[0100] In one optional implementation, the data recording module 402 is used to control data read / write operations in the DDR3 synchronous dynamic random access memory based on the empty / full state of the storage pool and the data write / read requirements of the front-end and back-end. Specifically, this may include:

[0101] When the storage pool is not full and the front-end FIFO cache data meets the size of a burst write, the data in the front-end FIFO cache is written to the storage pool in real time.

[0102] When the storage pool is not empty and the backend FIFO cache data is empty, data in the storage pool is read out in real time and written to the backend FIFO cache.

[0103] In one optional embodiment, the radar data processing device 40 further includes a data analysis module (not shown in the figure), which is used to read the recorded data from the first storage space in real time, in units of one frame of data; and to perform data analysis and display on the read data.

[0104] In one optional implementation, the data analysis module is used to perform data analysis and display on the read data, specifically including:

[0105] The read data is coherently accumulated using a fast Fourier transform and a finite-length unit impulse response filter;

[0106] After coherent accumulation, the data are sequentially subjected to constant false alarm rate detection in velocity dimension and constant false alarm rate detection in distance dimension.

[0107] Intra-frame 3-neighborhood aggregation is performed on the target information detected within a frame, and the analysis results are displayed.

[0108] In one optional implementation, the data reinjection module 403 is used to reinject the reinjection data stored in the second storage space of the host computer according to the data reinjection parameters, specifically including:

[0109] The data re-feedback receiving rate and the number of received data frames are determined based on the data re-feedback parameters, and the re-feedback data is obtained from the second storage space of the host computer according to the determined data re-feedback receiving rate and the number of received data frames.

[0110] After parsing and aligning the re-fed data, it is written to the first-in-first-out cache in real time.

[0111] Determine the processing level corresponding to the reinjected data based on the data reinjection parameters;

[0112] The feedback data channel selection module reads the feedback data in the first-in-first-out buffer in real time, based on the determined processing level, in units of data from one transmission cycle. The read feedback data is then converted from fixed-point to floating-point and injected into the corresponding signal processing level.

[0113] The feedback data, after being processed in real time by low-pass decimation filtering, digital multibeam synthesis, and pulse compression pipeline, is written into a first-in-first-out (FIFO) buffer so that the next-level signal processing module can read data from the FIFO buffer for signal processing.

[0114] This invention also provides an electronic device, please refer to [link to relevant documentation]. Figure 5 As shown, the embodiments of the present invention are only used as examples. Figure 5 The examples are provided for illustration only and do not imply that the invention is limited to these examples. Figure 5 This is a schematic diagram of the structure of an electronic device provided according to an embodiment of the present invention. Figure 5 As shown, the electronic device 50 provided in this embodiment may include: a memory 501, a processor 502, and a bus 503. The bus 503 is used to connect the various components.

[0115] The memory 501 stores a computer program, which, when executed by the processor 502, can implement the technical solutions of any of the above method embodiments.

[0116] The memory 501 and the processor 502 are electrically connected directly or indirectly to enable data transmission or interaction. For example, these components can be electrically connected to each other via one or more communication buses or signal lines, such as bus 503. The memory 501 stores a computer program for implementing radar data processing methods, including at least one software functional module that can be stored in the memory 501 in the form of software or firmware. The processor 502 executes various functional applications and data processing by running the software program and modules stored in the memory 501.

[0117] The memory 501 may be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), etc. The memory 501 stores programs, and the processor 502 executes the programs after receiving execution instructions. Furthermore, the software programs and modules within the memory 501 may also include an operating system, which may include various software components and / or drivers for managing system tasks (such as memory management, storage device control, power management, etc.) and can communicate with various hardware or software components to provide an operating environment for other software components.

[0118] Processor 502 can be an integrated circuit chip with signal processing capabilities. The aforementioned processor 502 can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this invention. The general-purpose processor can be a microprocessor or any conventional processor. It is understood that... Figure 5 The structure shown is for illustrative purposes only and may include more... Figure 5 The more or fewer components shown, or having the same Figure 5 The different configurations shown. Figure 5 The components shown can be implemented in hardware and / or software.

[0119] This invention also provides a computer-readable storage medium storing a computer program thereon, which is executed by a processor to implement the technical solutions of any of the above method embodiments.

[0120] The various embodiments in this disclosure are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0121] The scope of protection of this disclosure is not limited to the embodiments described above. Obviously, those skilled in the art can make various modifications and variations to this disclosure without departing from its scope and spirit. If such modifications and variations fall within the scope of the claims of this disclosure and their equivalents, then the intent of this disclosure also includes such modifications and variations.

Claims

1. A radar data processing method, characterized in that, include: Real-time monitoring of control commands and parameters issued by the host computer; When the control command includes a data logging command, the control parameters include data logging parameters. According to the data logging parameters, the received radar echo data is stored in the first storage space of the host computer in the form of a file. When the control command includes a data backfill command, the control parameters include data backfill parameters, and the backfill data stored in the second storage space of the host computer is backfilled according to the data backfill parameters; If the data recording command and the data re-upload command are both valid, then data recording and data re-upload will be performed simultaneously in parallel. The step of backloading data stored in the second storage space of the host computer according to the data backload parameters includes: The data refeed receiving rate and the number of received data frames are determined according to the data refeeding parameters, and the refeeding data is obtained from the second storage space of the host computer according to the determined data refeed receiving rate and the number of received data frames. The re-fed data is parsed, aligned, and then written to a first-in-first-out (FIFO) cache in real time. The processing level corresponding to the reinjected data is determined based on the data reinjection parameters; The feedback data channel selection module reads the feedback data in the first-in-first-out buffer in real time, based on the determined processing level, in units of data from one transmission cycle. The read feedback data is then converted from fixed-point to floating-point and injected into the corresponding signal processing level. The feedback data, after being processed in real time by low-pass decimation filtering, digital multibeam synthesis, and pulse compression pipeline, is written into a first-in-first-out (FIFO) buffer so that the next-level signal processing module can read data from the FIFO buffer for signal processing.

2. The method according to claim 1, characterized in that, The step of storing the received radar echo data in the form of a file into the first storage space of the host computer according to the data recording parameters includes: The received radar echo data is digitized by analog-to-digital sampling to obtain a digital signal; The digital signal is sequentially subjected to a three-stage pipeline real-time processing of quadrature downconversion, low-pass decimation filtering, digital multibeam synthesis, and pulse compression. The data obtained after each stage of processing is converted from fixed-point to floating-point to obtain data from three channels. The processing level corresponding to the recorded data is determined based on the data recording parameters; The data recording channel selection module obtains the data to be recorded from the corresponding channel according to the determined processing level, and stores the obtained data in the first storage space of the host computer in the form of a file.

3. The method according to claim 2, characterized in that, The step of storing the acquired data into the first storage space of the host computer in the form of a file includes: The acquired data is written into the front-end first-in-first-out buffer in units of one transmission cycle. Using one coherent accumulation cycle as the frame unit, a storage pool of a preset number of frame data sizes is established in the DDR3 synchronous dynamic random access memory, and the data read and write in the DDR3 synchronous dynamic random access memory is controlled according to the empty and full state of the storage pool and the data writing and reading requirements of the front and back ends. The data transmission rate and the number of data frames to be transmitted are determined according to the data recording parameters. Data is read from the backend first-in-first-out buffer in real time according to the determined data transmission rate and the number of data frames to be transmitted, and then sent to the host computer via USB 3.

0. The host computer receives, parses, and records data in real time via USB 3.0, and stores the data in the first storage space as a file.

4. The method according to claim 3, characterized in that, The step of controlling data read / write in DDR3 synchronous dynamic random access memory based on the empty / full state of the storage pool and the data write / read requirements of the front-end and back-end includes: When the storage pool is not full and the front-end FIFO cache data meets the size of a burst write, the data in the front-end FIFO cache is written to the storage pool in real time. When the storage pool is not empty and the backend FIFO cache data is empty, the data in the storage pool is read out in real time and written into the backend FIFO cache.

5. The method according to any one of claims 1-4, characterized in that, The method further includes: Data is read from the first storage space in real time, one frame at a time. Perform data analysis and display on the retrieved data.

6. The method according to claim 5, characterized in that, The data analysis and display of the read data includes: The read data is coherently accumulated using a fast Fourier transform and a finite-length unit impulse response filter; After coherent accumulation, the data are sequentially subjected to constant false alarm rate detection in velocity dimension and constant false alarm rate detection in distance dimension. Intra-frame 3-neighborhood aggregation is performed on the target information detected within a frame, and the analysis results are displayed.

7. A radar data processing device, characterized in that, include: The data monitoring module is used to monitor control commands and parameters issued by the host computer in real time. The data recording module is used to store the received radar echo data in the form of a file into the first storage space of the host computer when the control command includes a data recording command and the control parameters include data recording parameters. The data backfill module is used to backfill the backfilled data stored in the second storage space of the host computer according to the data backfill parameters when the control command includes a data backfill command and the control parameters include data backfill parameters. If the data recording command and the data re-upload command are both valid, then data recording and data re-upload will be performed simultaneously in parallel. The data reinjection module is used to reinject the reinjected data stored in the second storage space of the host computer according to the data reinjection parameters, specifically including: The data refeed receiving rate and the number of received data frames are determined according to the data refeeding parameters, and the refeeding data is obtained from the second storage space of the host computer according to the determined data refeed receiving rate and the number of received data frames. The re-fed data is parsed, aligned, and then written to a first-in-first-out (FIFO) cache in real time. The processing level corresponding to the reinjected data is determined based on the data reinjection parameters; The feedback data channel selection module reads the feedback data in the first-in-first-out buffer in real time, based on the determined processing level, in units of data from one transmission cycle. The read feedback data is then converted from fixed-point to floating-point and injected into the corresponding signal processing level. The feedback data, after being processed in real time by low-pass decimation filtering, digital multibeam synthesis, and pulse compression pipeline, is written into a first-in-first-out (FIFO) buffer so that the next-level signal processing module can read data from the FIFO buffer for signal processing.

8. An electronic device, characterized in that, include: At least one processor and memory; The memory stores computer-executed instructions; The at least one processor executes computer execution instructions stored in the memory, causing the at least one processor to perform the radar data processing method as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the radar data processing method as described in any one of claims 1-6.

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