Doppler angle acquisition method, system, device, computer device and storage medium

Abstract

The application relates to a Doppler angle acquisition method and device, computer equipment, a storage medium and a computer program product. The method comprises the following steps: acquiring an echo signal formed after a transmission signal is reflected by a target object; performing frequency domain processing on the echo signal to acquire a frequency domain feature of the echo signal; determining a Doppler angle between a transmission direction of the transmission signal and a motion direction of the target object according to the frequency domain feature and a pre-stored mapping relationship, wherein the mapping relationship is used for representing a corresponding relationship between a preset Doppler angle and a preset frequency domain feature of the echo signal. The method can improve the measurement accuracy of the Doppler angle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of data processing, and in particular to a Doppler angle acquisition method, system, device, computer equipment, storage medium and computer program product. BACKGROUND

[0002] The Doppler effect refers to a phenomenon that when the relative position between a wave source and an observer changes, the frequency of the wave received by the observer changes. The Doppler effect has been widely used in many fields such as medicine, transportation, aviation, and communication. For example, the Doppler ultrasound technology is to detect the blood flow rate by applying the Doppler effect of ultrasonic waves to assist in detecting organs. In this process, not only the frequency difference between the transmitted ultrasonic wave and the reflected ultrasonic wave needs to be measured, but also the Doppler angle between the ultrasonic wave transmission direction and the blood flow direction needs to be measured, so as to calculate the blood flow rate.

[0003] At present, in the case where the Doppler angle cannot be directly measured, for example, in the scene of measuring the blood vessel flow rate in the animal body, the Doppler angle can generally be measured by using the ultrasonic image technology. However, this way needs to observe the image with the naked eye to obtain the Doppler angle, and there is a large error due to the influence of human subjective factors, which cannot effectively guarantee the measurement accuracy of the Doppler angle, thereby affecting the measurement accuracy of the blood flow rate. SUMMARY

[0004] Therefore, it is necessary to provide a Doppler angle acquisition method, system, device, computer equipment, computer readable storage medium and computer program product to improve the measurement accuracy of the Doppler angle in view of the above technical problems.

[0005] In a first aspect, the present application provides a Doppler angle acquisition method. The Doppler angle acquisition method comprises:

[0006] obtaining an echo signal formed after a transmitted signal is reflected by a target object;

[0007] performing frequency domain processing on the echo signal to obtain a frequency domain feature of the echo signal;

[0008] determining a Doppler angle between a transmission direction of the transmitted signal and a motion direction of the target object according to the frequency domain feature and a pre-stored mapping relationship, wherein the mapping relationship is used to represent a corresponding relationship between a preset Doppler angle and a preset frequency domain feature of the echo signal.

[0009] In one embodiment, the frequency domain feature of the echo signal comprises a Doppler bandwidth and a maximum Doppler frequency; and the performing frequency domain processing on the echo signal to obtain the frequency domain feature of the echo signal comprises:

[0010] performing Fourier transform on the echo signal to obtain a spectrum of the echo signal;

[0011] determining the Doppler bandwidth and the maximum Doppler frequency of the echo signal according to the spectrum.

[0012] In one of the embodiments, the mapping relationship includes a corresponding relationship between the preset Doppler angle and a relationship feature in the preset frequency domain feature, the relationship feature is used to represent a change relationship between a ratio feature in the preset frequency domain feature and a preset maximum Doppler frequency, and the ratio feature is a ratio of a preset Doppler bandwidth to the preset maximum Doppler frequency.

[0013] The method further includes:

[0014] obtaining a target ratio of the Doppler bandwidth to the maximum Doppler frequency;

[0015] determining a candidate ratio of each of the preset Doppler angles to the maximum Doppler frequency according to the maximum Doppler frequency and a plurality of the relationship features;

[0016] determining the Doppler angle between the transmission direction of the transmission signal and the movement direction of the target object according to the target ratio and a plurality of the candidate ratios.

[0017] In one of the embodiments, the determining the Doppler angle between the transmission direction of the transmission signal and the movement direction of the target object according to the target ratio and a plurality of the candidate ratios includes:

[0018] determining the Doppler angle between the transmission direction of the target transmission signal and the movement direction of the target object by interpolation according to the target ratio and a plurality of the candidate ratios.

[0019] In one of the embodiments, the method further includes:

[0020] transmitting signals to a plurality of moving objects at a plurality of preset Doppler angles respectively to correspondingly receive candidate echo signals reflected by each of the moving objects, wherein the movement speeds of the moving objects are different.

[0021] performing frequency domain processing on each of the candidate echo signals to obtain a preset Doppler bandwidth and a preset maximum Doppler frequency corresponding to each of the candidate echo signals;

[0022] determining the relationship feature corresponding to each of the preset Doppler angles according to the preset Doppler bandwidth and the preset maximum Doppler frequency corresponding to each of the candidate echo signals.

[0023] Secondly, this application also provides a Doppler angle acquisition system. The Doppler angle acquisition system includes:

[0024] A receiving device is used to acquire the echo signal formed after the transmitted signal is reflected by the target object;

[0025] A processing device, connected to the signal receiving device, is used to perform frequency domain processing on the echo signal to obtain the frequency domain characteristics of the echo signal; and to determine the Doppler angle between the transmission direction of the transmitted signal and the motion direction of the target object based on the frequency domain characteristics and a pre-stored mapping relationship; wherein the mapping relationship is used to represent the correspondence between the preset Doppler angle and the preset frequency domain characteristics of the echo signal.

[0026] In one embodiment, the processing apparatus includes:

[0027] The first processing unit is used to demodulate, filter, and amplify the echo signal;

[0028] A signal conversion unit, connected to the first processing unit, is used to perform analog-to-digital conversion on the echo signal processed by the first processing unit and output a digital signal.

[0029] The second processing unit, connected to the signal conversion unit, is used to perform frequency domain processing on the digital signal, obtain the frequency domain characteristics of the digital signal, and determine the Doppler angle between the transmission direction of the transmitted signal and the motion direction of the target object based on the frequency domain characteristics and a pre-stored mapping relationship.

[0030] Thirdly, this application also provides a Doppler angle acquisition device. The Doppler angle acquisition device includes:

[0031] The receiving module is used to acquire the echo signal formed after the transmitted signal is reflected by the target object;

[0032] The acquisition module is used to perform frequency domain processing on the echo signal to acquire the frequency domain characteristics of the echo signal;

[0033] The determining module is used to determine the Doppler angle between the transmission direction of the transmitted signal and the motion direction of the target object based on the frequency domain characteristics and the pre-stored mapping relationship; wherein the mapping relationship is used to represent the correspondence between the preset Doppler angle and the preset frequency domain characteristics of the echo signal.

[0034] Fourthly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps of the Doppler angle acquisition method provided in the first aspect.

[0035] In a fifth aspect, the present application provides a computer readable storage medium. The computer readable storage medium has a computer program stored thereon, and the computer program, when executed by a processor, implements the steps of the Doppler angle obtaining method according to the first aspect.

[0036] In a sixth aspect, the present application provides a computer program product. The computer program product comprises a computer program, and the computer program, when executed by a processor, implements the steps of the Doppler angle obtaining method according to the first aspect.

[0037] The Doppler angle obtaining method, system, device, computer device, storage medium and computer program product have the mapping relationship between the preset Doppler angle and the preset frequency domain feature of the echo signal pre-stored, and the frequency domain feature of the echo signal reflected by the target object is obtained through frequency domain processing, so that the Doppler angle between the motion direction of the target object and the transmission direction of the transmission signal can be determined according to the frequency domain feature and the mapping relationship, without relying on image data, avoiding measurement errors caused by human subjective factors in the image measurement process, improving the measurement accuracy of the Doppler angle, reducing the Doppler angle measurement cost, and being widely used in various terminal devices such as Bluetooth portable electronic products and servers. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 A flowchart of the Doppler angle obtaining method provided for an embodiment is shown;

[0039] Figure 2 A flowchart of step S104 in the Doppler angle obtaining method provided for an embodiment is shown;

[0040] Figure 3 A spectrum diagram of the echo signal provided for an embodiment is shown;

[0041] Figure 4 A flowchart of step S106 in the Doppler angle obtaining method provided for an embodiment is shown;

[0042] Figure 5 A flowchart of the Doppler angle obtaining method provided for another embodiment is shown;

[0043] Figure 6 A flowchart of the Doppler angle obtaining method provided for another embodiment is shown;

[0044] Figure 7 A fitting curve diagram of the relationship feature E1 corresponding to the preset Doppler angle θ1 provided for an embodiment is shown;

[0045] Figure 8 A fitting curve diagram of the relationship characteristic E2 corresponding to the preset Doppler angle θ2 provided by an embodiment is shown in the figure;

[0046] Figure 9 A fitting curve diagram of the relationship characteristic E3 corresponding to the preset Doppler angle θ3 provided by an embodiment is shown in the figure;

[0047] Figure 10 A fitting curve diagram of the relationship characteristic E4 corresponding to the preset Doppler angle θ4 provided by an embodiment is shown in the figure;

[0048] Figure 11 A fitting curve diagram of the relationship characteristics E1, E2, E3 and E4 provided by an embodiment is shown in the figure;

[0049] Figure 12 A structure block diagram of a Doppler angle acquisition system provided by an embodiment is shown in the figure;

[0050] Figure 13 A structure block diagram of a Doppler angle acquisition system provided by another embodiment is shown in the figure;

[0051] Figure 14 A structure block diagram of a Doppler angle acquisition system provided by yet another embodiment is shown in the figure;

[0052] Figure 15 A structure block diagram of a Doppler angle acquisition device provided by an embodiment is shown in the figure;

[0053] Figure 16 An internal structure diagram of a computer device in an embodiment is shown in the figure.

[0054] Explanation of reference signs:

[0055] 710 - receiving device, 720 - processing device, 721 - first processing unit, 721a - demodulation unit, 721b - low-pass filter unit, 721c - amplification unit, 722 - signal conversion unit, 723 - second processing unit, 723a - Fourier transform unit, 723b - calculation unit, 1000 - Doppler angle acquisition device, 1001 - receiving module, 1002 - acquisition module, 1003 - determination module. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0057] As described in the background, if the Doppler angle cannot be obtained, the movement speed of the object to be measured cannot be accurately calculated. For example, in the scenario of measuring the flow speed of blood vessels in the human body by using Doppler ultrasonic waves, if the Doppler angle between the emission direction of the ultrasonic wave and the flow direction of the blood cannot be obtained, and only the frequency difference between the emitted ultrasonic wave and the reflected ultrasonic wave can be measured, the blood flow speed cannot be correctly calculated. In the related art, the Doppler angle measured by using the ultrasonic image technology has low accuracy, and the ultrasonic imager has high cost, so that the cost of measuring the Doppler angle is high, and the ultrasonic image data is large, which is not suitable for portable electronic products. To this end, the present application provides a Doppler angle obtaining method, system, device, computer equipment, storage medium and computer program product to improve the measurement accuracy of the Doppler angle.

[0058] In one embodiment, as shown in Figure 1 A Doppler angle obtaining method is provided. The embodiment takes the method applied to a terminal as an example. It can be understood that the method can also be applied to a server, and can also be applied to a system including a terminal and a server, and is implemented through the interaction of the terminal and the server. In the embodiment, the method includes the following S102 to S106.

[0059] S102: Obtain an echo signal formed after a transmitted signal is reflected by a target object.

[0060] In the embodiment of the present application, the target object refers to an object to be measured for movement speed. The frequency of the transmitted signal is a certain fixed value set in advance, and the type of the transmitted signal can be any suitable type, for example, the transmitted signal can be a mechanical wave such as an ultrasonic wave, an electromagnetic wave, a gravitational wave, etc., which is not limited herein. Since the moving object has a certain movement speed, the distance between the target object and the signal source changes, according to the Doppler effect, the frequency of the echo signal formed after the target object is reflected changes, and therefore, there is a frequency difference between the echo signal and the transmitted signal.

[0061] S104: Perform frequency domain processing on the echo signal to obtain a frequency domain feature of the echo signal. The frequency domain feature is used to represent the characteristics of the echo signal in the frequency domain.

[0062] S106: Determine a Doppler angle between the emission direction of the transmitted signal and the movement direction of the target object according to the frequency domain feature and a pre-stored mapping relationship.

[0063] In the embodiments of the present application, the mapping relationship is used to represent the corresponding relationship between the preset Doppler angle and the preset frequency domain feature of the echo signal, and the mapping relationship is pre-measured and stored in the terminal. In the process of obtaining the Doppler angle, the mapping relationship can be directly called. The preset Doppler angle is a known Doppler angle pre-set, which refers to the angle between the transmission direction of the transmission signal and the movement direction of the moving object. For example, the preset Doppler angles are θ1, θ2, …, θn, respectively. n wherein n is an integer greater than or equal to 2. The number and size of the preset Doppler angles can be set according to the Doppler angle measurement accuracy requirement, experimental conditions and other factors, and the preset Doppler angles are not limited herein. The preset frequency domain feature refers to the frequency domain feature of the echo signal formed after the transmission signal is reflected by the moving object, wherein the movement direction of the moving object and the transmission direction of the transmission signal are the preset Doppler angle.

[0064] According to the experiment of the inventor, when the movement speed of the target object is a certain fixed value, the Doppler angle is related to the frequency domain feature of the echo signal. Therefore, the Doppler angle obtaining method provided in the above embodiments pre-acquires and stores the mapping relationship between the preset Doppler angle and the preset frequency domain feature of the echo signal, and performs frequency domain processing on the echo signal formed after the reflection of the target object to obtain the corresponding frequency domain feature. Therefore, the Doppler angle between the movement direction of the target object and the transmission direction of the transmission signal can be determined according to the frequency domain feature and the mapping relationship, without relying on image data, avoiding the measurement error caused by human subjective factors in the image measurement process, improving the measurement accuracy of the Doppler angle, reducing the Doppler angle measurement cost, and can be widely used in various terminal devices and servers.

[0065] The inventor further knows through experiments that when the movement speed of the target object is fixed, the Doppler angle is inversely proportional to the Doppler bandwidth. Specifically, the larger the Doppler angle, the smaller the Doppler bandwidth. Moreover, the Doppler bandwidth is related to the maximum Doppler frequency. Based on this, in an embodiment, the frequency domain feature of the echo signal can include the Doppler bandwidth and the maximum Doppler frequency. In the embodiments of the present application, the Doppler bandwidth is denoted as F BW , and the maximum Doppler frequency is denoted as F max .

[0066] Based on the above, as shown in Figure 2 , the S104, the frequency domain processing of the echo signal to obtain the frequency domain feature of the echo signal can include the following S202 and S204.

[0067] S202: Fourier transform is performed on the echo signal to obtain the frequency spectrum of the echo signal.

[0068] Spectrum is the abbreviation of frequency spectrum density, which is the distribution curve of frequency. In order to better understand the spectrum of the echo signal, the spectrum diagram of the echo signal can be drawn. Figure 3 A spectrum diagram of the echo signal is provided. In Figure 3 , the horizontal axis represents frequency, and the vertical axis represents relative amplitude, wherein the frequency corresponding to the maximum amplitude is the Doppler shift frequency (denoted as F d ), and when the maximum relative amplitude is a preset threshold T, the frequency corresponding to the preset threshold T is the maximum Doppler frequency F max , then the Doppler bandwidth F BW = 2|F max -F d | is obtained. The preset threshold T is preset and can be set according to requirements.

[0069] S204: According to the spectrum, the Doppler bandwidth and the maximum Doppler frequency of the echo signal are determined.

[0070] The Doppler angle acquisition method provided in the above embodiment can obtain the spectrum of the echo signal by performing Fourier transform on the echo signal, and can determine the Doppler bandwidth and the maximum Doppler frequency of the echo signal according to the spectrum. Therefore, the Doppler angle between the motion direction of the target object and the emission direction of the emission signal can be determined according to the Doppler bandwidth and the maximum Doppler frequency, without the need to obtain an image. Thus, the error caused by measuring the Doppler angle according to the image is avoided, and the measurement accuracy of the Doppler angle is improved.

[0071] In one embodiment, the mapping relationship pre-stored in the terminal can include a corresponding relationship between a preset Doppler angle and a relationship feature in a preset frequency domain feature, and the relationship feature is used to represent the change relationship between a ratio feature in the preset frequency domain feature and a preset maximum Doppler frequency. The ratio feature is the ratio of a preset Doppler bandwidth to the preset maximum Doppler frequency.

[0072] In the embodiments of the present application, the preset Doppler angle is denoted as θ, the preset Doppler bandwidth is denoted as f BW , and the preset maximum Doppler frequency is denoted as f max . Then the ratio feature f BW / max is denoted as η, and the relationship feature is denoted as E. The relationship feature E is used to represent the change relationship of the ratio feature η with the preset maximum Doppler frequency f max . The mapping relationship is used to represent the corresponding relationship between the preset Doppler angle θ and the relationship feature E. If the preset Doppler angle includes θ1, θ2, …, θ n , then the mapping relationship of the preset Doppler angle θ1 and the corresponding relationship feature E1, the mapping relationship of the preset Doppler angle θ2 and the corresponding relationship feature E2, …, and the mapping relationship of the preset Doppler angle θ nThe corresponding relationship feature E n .

[0073] Based on the above, as Figure 4 shown, S106, determining the Doppler angle between the transmission direction of the transmission signal and the motion direction of the target object according to the frequency domain feature and the pre-stored mapping relationship can include the following S402 to S406.

[0074] S402: Obtain the target ratio of the Doppler bandwidth to the maximum Doppler frequency.

[0075] In this step, the Doppler bandwidth refers to the Doppler bandwidth F BW of the echo signal formed after the target object reflects, and the maximum Doppler frequency refers to the maximum Doppler frequency F max of the echo signal formed after the target object reflects, then the target ratio H of the Doppler bandwidth F BW to the maximum Doppler frequency F max is F BW / max .

[0076] S404: Determine the candidate ratio of each preset Doppler angle to the maximum Doppler frequency according to the maximum Doppler frequency and a plurality of relationship features.

[0077] Exemplarily, the relationship features include E1, E2, …, E n , and F max is substituted into each relationship feature E, then the corresponding candidate ratio η1, η2, …, η n can be obtained respectively.

[0078] S406: Determine the Doppler angle between the transmission direction of the transmission signal and the motion direction of the target object according to the target ratio and a plurality of candidate ratios.

[0079] Based on the target ratio H obtained in the above S402, and based on the plurality of candidate ratios η1, η2, …, η n obtained in the above S404, the Doppler angle Θ between the transmission direction of the transmission signal and the motion direction of the target object can be determined.

[0080] The Doppler angle acquisition method provided by the above embodiment can calculate a target ratio of a Doppler bandwidth corresponding to an echo signal and a maximum Doppler frequency, and then determine a candidate ratio of the maximum Doppler frequency corresponding to each preset Doppler angle according to the target ratio and a relationship characteristic in a pre-stored mapping relationship, so as to determine the Doppler angle between the transmission direction of the transmission signal and the motion direction of the target object according to the target ratio and the plurality of candidate ratios. The Doppler angle can be measured without relying on image data, errors caused by measuring the Doppler angle by using image are avoided, and the measurement accuracy of the Doppler angle is improved.

[0081] In one embodiment, the S406, determining the Doppler angle between the transmission direction of the transmission signal and the motion direction of the target object according to the target ratio and the plurality of candidate ratios, can include: determining the Doppler angle between the transmission direction of the target transmission signal and the motion direction of the target object by interpolation according to the target ratio and the plurality of candidate ratios. In the embodiment of the present application, the interpolation method can be any suitable interpolation method, for example, it can be linear interpolation, Newton interpolation, Lagrange interpolation, etc., which is not limited herein. Based on this, the measurement of the Doppler angle is realized without relying on image data, and the measurement accuracy of the Doppler angle is improved.

[0082] In one embodiment, another Doppler angle acquisition method is provided, which includes the above S102 to S106, and can further include S502 to S506, as shown in Figure 5 .

[0083] S502: transmitting signals to a plurality of moving objects at a plurality of preset Doppler angles respectively, and correspondingly receiving candidate echo signals reflected by each moving object.

[0084] In the embodiment of the present application, the motion speeds of the moving objects are different. For example, for a preset Doppler angle θ1, the frequency of the transmission signal is fixed, and the transmission signal is transmitted to a plurality of moving objects at a preset Doppler angle θ1, and the candidate echo signals formed after being reflected by each moving object are correspondingly received.

[0085] S504: performing frequency domain processing on each candidate echo signal to obtain a preset Doppler bandwidth and a preset maximum Doppler frequency corresponding to each candidate echo signal.

[0086] Specifically, for a plurality of candidate echo signals of each preset Doppler angle, frequency domain processing is performed respectively to obtain a preset Doppler bandwidth f BW and a preset maximum Doppler frequency f max corresponding to each candidate echo signal. For example, Fourier transform can be performed on each candidate echo signal to obtain a corresponding frequency spectrum, and the preset Doppler bandwidth f BW and the preset maximum Doppler frequency fmax Since the motion speeds of the motion objects are different, the frequencies of the candidate echo signals formed after being reflected by the motion objects are offset to different degrees, and thus the preset Doppler frequency widths f BW and the preset maximum Doppler frequencies f max are different for each preset Doppler angle.

[0087] S506: Determine the relationship features corresponding to each preset Doppler angle according to the preset Doppler frequency widths and the preset maximum Doppler frequencies of the candidate echo signals.

[0088] For example, for each preset Doppler angle θ, the relationship features corresponding to the preset Doppler angle θ can be determined according to the preset Doppler frequency widths f BW and the preset maximum Doppler frequencies f max of the candidate echo signals. The relationship features can be determined by a curve fitting method, which can be any suitable curve fitting method, such as a linear fitting method, a least square method, a polynomial fitting method, etc. The curve fitting method can be determined according to the fitting accuracy requirement, which is not limited herein.

[0089] The Doppler angle acquisition method provided in the above embodiment can pre-acquire the mapping relationship between the preset Doppler angles and the relationship features. Based on the mapping relationship, the measurement of the Doppler angle can be realized, thereby breaking the dependence on the image data, improving the measurement accuracy of the Doppler angle, reducing the measurement cost of the Doppler angle, and expanding the application range of the calculation of the Doppler angle.

[0090] In one embodiment, the Doppler angle acquisition method can further include calculating the motion speed of the target object according to the Doppler angle. For example, the motion speed of the target object can be calculated by the following formula:

[0091]

[0092] wherein v represents the motion speed of the target object, c represents the speed of light, F max represents the maximum Doppler frequency of the echo signal, F T represents the frequency of the transmitted signal, and Θ represents the Doppler angle. Based on this, the motion speed of the target object can be calculated according to the Doppler angle, thereby improving the accuracy of the Doppler effect measurement speed.

[0093] In order to better understand, another Doppler angle acquisition method is provided. As shown in FIG. 6, the method includes the following S602 to S616. Figure 6

[0094] ​S602: By emitting ultrasonic signals to multiple fluids at multiple preset Doppler angles θ, the ultrasonic signals formed after reflection by each fluid are received accordingly. The preset Doppler angles include θ1, θ2, θ3, and θ4, and the fluids have different velocities.

[0095] S604: Perform Fourier transform on each ultrasonic signal to obtain the corresponding spectrum, and determine the corresponding preset Doppler bandwidth f based on the spectrum. BW and preset maximum Doppler frequency f max .

[0096] S606: Based on the preset Doppler bandwidth f of each ultrasonic signal BW and preset maximum Doppler frequency f max The relationship feature E corresponding to each preset Doppler angle θ is obtained by fitting the data, and the mapping relationship between the preset Doppler angle θ and the relationship feature E is stored. Here, the relationship feature E represents the ratio feature η and the preset maximum Doppler frequency f. max The relationship between them, the ratio characteristic η = f BW / max Specifically, the predefined Doppler angles θ1, θ2, θ3, and θ4 correspond to the following relationship characteristics: E1, E2, E3, and E4, respectively. Their fitting curves can be found in [reference needed]. Figures 7 to 10 or Figure 11 .

[0097] S608: Acquire the ultrasonic signal formed after reflection from the target fluid.

[0098] S610: Perform a Fourier transform on the ultrasonic signal generated after emission from the target fluid to obtain the spectrum, and determine the corresponding Doppler bandwidth F based on the spectrum. BW and the maximum Doppler frequency F max .

[0099] S612: Based on the maximum Doppler frequency F max Based on the relationship characteristics with each preset Doppler angle, the maximum Doppler frequency F is determined. max The corresponding candidate ratio. Specifically, F max Substituting the relational features E1, E2, E3, and E4, the corresponding candidate ratios η1, η2, η3, and η4 can be calculated respectively.

[0100] S614: Based on Doppler bandwidth F BW With the maximum Doppler frequency F max The target ratio H (i.e., F) BW / max), and multiple candidate ratios η1, η2, η3 and η4, the Doppler angle Θ between the movement direction of the target fluid and the emission direction of the ultrasonic signal is determined by interpolation, which can be referred to as Figure 11 indicated.

[0101] S616: According to the Doppler angle Θ, the movement speed v of the target fluid is calculated.

[0102] It should be understood that, although each step in the flowchart involved in each of the above-described embodiments is displayed in sequence according to the arrow, these steps are not necessarily executed in the order indicated by the arrow. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other orders. Moreover, at least part of the steps in the flowchart involved in each of the above-described embodiments can include multiple steps or stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least part of other steps or steps or stages in other steps.

[0103] Based on the same inventive concept, the embodiments of the present application also provide a Doppler angle acquisition system for implementing the above-mentioned Doppler angle acquisition method. As Figure 12 indicated, the Doppler angle acquisition system includes a receiving device 710 and a processing device 720.

[0104] The receiving device 710 is used to acquire the echo signal formed after the emission signal is reflected by the target object. Illustratively, the receiving device 720 can be a signal receiver, and the type of signal receiver can be set according to the type of emission signal, for example, the emission signal is an ultrasonic signal, and the corresponding receiving device 710 can be an ultrasonic receiver, which is not limited here.

[0105] The processing device 720 is connected with the signal receiving device 710, and the processing device 720 is used to perform frequency domain processing on the echo signal, acquire the frequency domain features of the echo signal, and determine the Doppler angle between the emission direction of the emission signal and the movement direction of the target object according to the frequency domain features and the pre-stored mapping relationship. The mapping relationship is used to represent the corresponding relationship between the preset Doppler angle and the preset frequency domain features of the echo signal. The processing process can refer to the related content of the Doppler acquisition method provided by any of the above-described embodiments, which will not be described here. The processing device 720 can be any device with data processing capability, such as CPU (Central Processing Unit, Central Processing Unit), FPGA (Field Programmable Gate Array, Field Programmable Gate Array), etc., which is not limited here.

[0106] The Doppler angle acquisition system provided by the above embodiment comprises the receiving device 710 and the processing device 720. By pre-acquiring and storing the mapping relationship between a plurality of preset Doppler angles and preset frequency domain features of echo signals thereof, and performing frequency domain processing on the received echo signal formed after reflection of a target object, a corresponding frequency domain feature is acquired. Thus, the Doppler angle between the motion direction of the target object and the emission direction of the emission signal can be determined according to the frequency domain feature and the mapping relationship, without the need to collect image data, thereby avoiding measurement errors caused by human subjective factors in the image measurement process, improving the measurement accuracy of the Doppler angle, reducing the Doppler angle measurement cost, and being widely used in various terminal devices and servers.

[0107] In one embodiment, as shown in FIG. 7, the processing device 720 can comprise a first processing unit 721, a signal conversion unit 722 and a second processing unit 723. Figure 13

[0108] The first processing unit 721 is configured to perform demodulation, filtering and amplification processing on the echo signal. For example, the first processing unit 721 can sequentially perform demodulation, filtering and amplification processing on the echo signal. For example, the first processing unit 721 can perform low-pass filtering processing on the echo signal.

[0109] The signal conversion unit 722 is connected with the first processing unit 721. The signal conversion unit 722 is configured to perform analog-to-digital conversion on the echo signal processed by the first processing unit 721, and output a digital signal. For example, the signal conversion unit 722 can be an analog-to-digital converter (ADC).

[0110] The second processing unit 723 is connected with the signal conversion unit 722. The second processing unit 723 is configured to perform frequency domain processing on the digital signal, acquire a frequency domain feature of the digital signal, and determine the Doppler angle between the emission direction of the emission signal and the motion direction of the target object according to the frequency domain feature and the pre-stored mapping relationship.

[0111] ​The Doppler angle acquisition system provided by the above embodiments, wherein the processing device 720 comprises a first processing unit 721, a signal conversion unit 722 and a second processing unit 723, based on which, the received echo signal is demodulated, filtered and amplified by the first processing unit 721, so that the interference signal in the echo signal can be eliminated, which helps to further improve the accuracy of acquiring the Doppler angle based on the echo signal; the signal conversion unit 722 performs analog-to-digital conversion on the echo signal, so that the Doppler angle can be calculated based on the echo signal; in addition, the second processing unit 723 can perform frequency domain processing on the echo signal and determine the Doppler angle, which realizes the measurement of the Doppler angle without relying on image data, improves the measurement accuracy of the Doppler angle, and reduces the measurement cost.

[0112] Optionally, as shown in Figure 14 , the first processing unit 721 can comprise a demodulation unit 721a, a low-pass filter unit 721b and an amplification unit 721c connected in sequence. The demodulation unit 721a is connected with the receiving device 710 and the low-pass filter unit 721b, respectively, and is used for demodulating the echo signal. The demodulation unit 721a can be a demodulator, for example. The low-pass filter unit 721b is connected with the amplification unit 721c, and is used for low-pass filtering the demodulated echo signal. The low-pass filter unit 721b can be a low-pass filter, for example. The amplification unit 721c is used for amplifying the echo signal after low-pass filtering. The amplification unit 721c can be an amplifier, for example.

[0113] Optionally, please continue to refer to Figure 14 , the second processing unit 723 can comprise a Fourier transform unit 723a and a calculation unit 723b. The Fourier transform unit 723a is connected with the signal conversion unit 722 and the calculation unit 723b, respectively. The Fourier transform unit 723a is used for performing Fourier transform on the digital signal output by the signal conversion unit 722 to obtain the corresponding frequency spectrum. The calculation unit 723b is used for determining the Doppler bandwidth and the maximum Doppler frequency corresponding to the echo signal according to the frequency spectrum, and determining the Doppler angle between the movement direction of the target object and the emission direction of the echo signal according to the pre-stored mapping relationship. The processing process can refer to the related content of the Doppler angle acquisition method provided by the above embodiments, which will not be described here.

[0114] Optionally, the Doppler angle acquisition system can further comprise a display device, which is used for displaying the calculation results, including but not limited to the Doppler angle, the frequency spectrum of the echo signal, the movement speed of the target object, etc., which is not limited here.

[0115] Based on the same inventive concept, the embodiments of the present application further provide a Doppler angle obtaining device for implementing the Doppler angle obtaining method described above. The implementation scheme of the device for solving the problem is similar to the implementation scheme described in the method above, so the specific limitations in one or more Doppler angle obtaining device embodiments provided below can refer to the limitations of the Doppler angle obtaining method described above, which will not be repeated here.

[0116] In one embodiment, as shown in Figure 15 A Doppler angle obtaining device 1000 is provided, which includes a receiving module 1001, an obtaining module 1002, and a determining module 1003. The receiving module 1001 is configured to obtain an echo signal formed by a reflection of a transmitted signal on a target object. The obtaining module 1002 is configured to perform frequency domain processing on the echo signal to obtain a frequency domain feature of the echo signal. The determining module 1003 is configured to determine a Doppler angle between a transmission direction of the transmitted signal and a movement direction of the target object according to the frequency domain feature and a pre-stored mapping relationship. The mapping relationship is used to represent a correspondence between a preset Doppler angle and a preset frequency domain feature of an echo signal.

[0117] The Doppler angle obtaining device 1000 provided in the above embodiments includes the receiving module 1001, the obtaining module 1002, and the determining module 1003, pre-stores a mapping relationship between a plurality of preset Doppler angles and preset frequency domain features of their echo signals, and performs frequency domain processing on an echo signal formed by a reflection of a target object to obtain a corresponding frequency domain feature. Thus, the Doppler angle between the movement direction of the target object and the transmission direction of the transmitted signal can be determined according to the frequency domain feature and the mapping relationship, without the need to collect image data, thereby avoiding measurement errors caused by human subjective factors in the image measurement process, improving the measurement accuracy of the Doppler angle, reducing the Doppler angle measurement cost, and being widely used in various terminal devices and servers.

[0118] In one embodiment, the frequency domain feature of the echo signal includes a Doppler bandwidth and a maximum Doppler frequency. The obtaining module is further configured to perform Fourier transform on the echo signal to obtain a frequency spectrum of the echo signal, and determine the Doppler bandwidth and the maximum Doppler frequency of the echo signal according to the frequency spectrum.

[0119] In an embodiment, the mapping relationship includes a corresponding relationship between the preset Doppler angle and a relationship feature in the preset frequency domain feature, the relationship feature is used to represent a change relationship between a ratio feature in the preset frequency domain feature and a preset maximum Doppler frequency, and the ratio feature is a ratio of a preset Doppler frequency width to the preset maximum Doppler frequency. The determining module is further configured to obtain a target ratio of the Doppler frequency width to the maximum Doppler frequency, determine a candidate ratio of the maximum Doppler frequency corresponding to each of the preset Doppler angles according to the maximum Doppler frequency and a plurality of the relationship features, and determine the Doppler angle between the transmission direction of the transmission signal and the motion direction of the target object according to the target ratio and a plurality of the candidate ratios.

[0120] In an embodiment, the determining module is further configured to determine the Doppler angle between the transmission direction of the target transmission signal and the motion direction of the target object by an interpolation method according to the target ratio and a plurality of the candidate ratios.

[0121] In an embodiment, the receiving module is further configured to correspondingly receive candidate echo signals reflected by a plurality of motion objects by transmitting signals to the plurality of motion objects at a plurality of preset Doppler angles respectively, and the motion speeds of the plurality of motion objects are different. The obtaining module is further configured to perform frequency domain processing on each of the candidate echo signals to obtain a preset Doppler frequency width and a preset maximum Doppler frequency corresponding to each of the candidate echo signals. The determining module is further configured to determine the relationship feature corresponding to each of the preset Doppler angles according to the preset Doppler frequency width and the preset maximum Doppler frequency corresponding to each of the candidate echo signals.

[0122] In an embodiment, the Doppler obtaining apparatus can further include a display module configured to display a calculation result, which includes but is not limited to a Doppler angle, a spectrum diagram of an echo signal, a motion speed of a target object, and the like, without any limitation.

[0123] Each of the modules in the Doppler angle obtaining apparatus described above can be realized by software, hardware, and a combination thereof in whole or in part. Each of the modules described above can be embedded in or independent of a processor in a computer device in a hardware form, or stored in a memory in a computer device in a software form, so as to be called and executed by a processor to perform operations corresponding to each of the modules.

[0124] In an embodiment, a computer device is provided, which can be a terminal, and an internal structure diagram of the computer device can be as shown in Figure 16As shown in the figure. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The communication interface of the computer device is used for wired or wireless communication with external terminals. Wireless communication can be achieved through WIFI, mobile cellular network, NFC (Near Field Communication) or other technologies. The computer program is executed by the processor to implement a Doppler angle acquisition method. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer overlaid on the display screen, or a key, trackball or touchpad arranged on the shell of the computer device, or an external keyboard, touchpad or mouse, etc.

[0125] Those skilled in the art can understand that, Figure 16 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. A specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement.

[0126] In one embodiment, a computer device is provided, comprising a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the following steps:

[0127] Obtaining an echo signal formed after a target object reflects a transmitted signal;

[0128] Performing frequency domain processing on the echo signal to obtain a frequency domain feature of the echo signal;

[0129] Determining a Doppler angle between a transmission direction of the transmitted signal and a motion direction of the target object according to the frequency domain feature and a pre-stored mapping relationship, wherein the mapping relationship is used to represent a correspondence between a preset Doppler angle and a preset frequency domain feature of the echo signal.

[0130] In one embodiment, the frequency domain feature of the echo signal includes a Doppler bandwidth and a maximum Doppler frequency; and the processor executing the computer program further implements the following steps:

[0131] Performing Fourier transform on the echo signal to obtain a frequency spectrum of the echo signal;

[0132] Determining the Doppler bandwidth and the maximum Doppler frequency of the echo signal according to the frequency spectrum.

[0133] In one embodiment, the mapping relationship comprises a corresponding relationship between the preset Doppler angle and a relationship feature in the preset frequency domain feature, the relationship feature being used to represent a variation relationship between a ratio feature in the preset frequency domain feature and a preset maximum Doppler frequency, the ratio feature being a ratio of a preset Doppler bandwidth to the preset maximum Doppler frequency; the processor, when executing the computer program, further implements the following steps:

[0134] obtaining a target ratio of the Doppler bandwidth to the maximum Doppler frequency;

[0135] determining a candidate ratio of the maximum Doppler frequency corresponding to each of the preset Doppler angles according to the maximum Doppler frequency and a plurality of the relationship features;

[0136] determining a Doppler angle between a transmission direction of the transmission signal and a motion direction of the target object according to the target ratio and a plurality of the candidate ratios.

[0137] In one embodiment, the processor, when executing the computer program, further implements the step of: determining the Doppler angle between the transmission direction of the target transmission signal and the motion direction of the target object by interpolation according to the target ratio and a plurality of the candidate ratios.

[0138] In one embodiment, the processor, when executing the computer program, further implements the following steps:

[0139] transmitting signals to a plurality of motion objects at a plurality of preset Doppler angles respectively, and receiving candidate echo signals reflected by each of the motion objects correspondingly; wherein the motion speeds of the motion objects are different;

[0140] performing frequency domain processing on each of the candidate echo signals to obtain a preset Doppler bandwidth and a preset maximum Doppler frequency corresponding to each of the candidate echo signals;

[0141] determining the relationship feature corresponding to each of the preset Doppler angles according to the preset Doppler bandwidth and the preset maximum Doppler frequency corresponding to each of the candidate echo signals.

[0142] In one embodiment, a computer readable storage medium is provided, and the computer readable storage medium stores a computer program, and the computer program, when executed by a processor, implements the following steps:

[0143] obtaining an echo signal formed after a transmission signal is reflected by a target object;

[0144] performing frequency domain processing on the echo signal to obtain a frequency domain feature of the echo signal;

[0145] According to the frequency domain feature and a pre-stored mapping relationship, a Doppler angle between a transmission direction of the transmission signal and a movement direction of the target object is determined, wherein the mapping relationship is used to represent a corresponding relationship between a preset Doppler angle and a preset frequency domain feature of the echo signal.

[0146] In one embodiment, the frequency domain feature of the echo signal includes a Doppler bandwidth and a maximum Doppler frequency; and the computer program, when executed by the processor, further implements the following steps:

[0147] Performing Fourier transform on the echo signal to obtain a frequency spectrum of the echo signal;

[0148] According to the frequency spectrum, the Doppler bandwidth and the maximum Doppler frequency of the echo signal are determined.

[0149] In one embodiment, the mapping relationship includes a corresponding relationship between the preset Doppler angle and a relationship feature in the preset frequency domain feature, the relationship feature is used to represent a change relationship between a ratio feature in the preset frequency domain feature and a preset maximum Doppler frequency, and the ratio feature is a ratio of a preset Doppler bandwidth to the preset maximum Doppler frequency; and the computer program, when executed by the processor, further implements the following steps:

[0150] Obtaining a target ratio of the Doppler bandwidth to the maximum Doppler frequency;

[0151] According to the maximum Doppler frequency and a plurality of relationship features, a candidate ratio of each preset Doppler angle corresponding to the maximum Doppler frequency is determined;

[0152] According to the target ratio and a plurality of candidate ratios, a Doppler angle between a transmission direction of the transmission signal and a movement direction of the target object is determined.

[0153] In one embodiment, the computer program, when executed by the processor, further implements the step of: according to the target ratio and a plurality of candidate ratios, determining the Doppler angle between the transmission direction of the target transmission signal and the movement direction of the target object by an interpolation method.

[0154] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0155] By respectively transmitting signals to a plurality of moving objects at a plurality of preset Doppler angles, candidate echo signals reflected by each moving object are correspondingly received; wherein the movement speeds of each moving object are different;

[0156] Performing frequency domain processing on each candidate echo signal to obtain a preset Doppler bandwidth and a preset maximum Doppler frequency corresponding to each candidate echo signal;

[0157] The relationship features corresponding to the preset Doppler angles are determined according to the preset Doppler bandwidths and the preset maximum Doppler frequencies corresponding to each of the candidate echo signals.

[0158] In one embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the following steps:

[0159] An echo signal formed after a transmission signal is reflected by a target object is acquired;

[0160] A frequency domain feature of the echo signal is acquired by performing frequency domain processing on the echo signal;

[0161] A Doppler angle between a transmission direction of the transmission signal and a motion direction of the target object is determined according to the frequency domain feature and a pre-stored mapping relationship, wherein the mapping relationship is used to represent a corresponding relationship between preset Doppler angles and preset frequency domain features of an echo signal.

[0162] In one embodiment, the frequency domain feature of the echo signal comprises a Doppler bandwidth and a maximum Doppler frequency; and the computer program, when executed by the processor, further implements the following steps:

[0163] A frequency spectrum of the echo signal is acquired by performing Fourier transform on the echo signal;

[0164] The Doppler bandwidth and the maximum Doppler frequency of the echo signal are determined according to the frequency spectrum.

[0165] In one embodiment, the mapping relationship comprises a corresponding relationship between the preset Doppler angles and relationship features in the preset frequency domain features, the relationship features are used to represent a change relationship between a ratio feature in the preset frequency domain features and a preset maximum Doppler frequency, and the ratio feature is a ratio of a preset Doppler bandwidth to the preset maximum Doppler frequency; and the computer program, when executed by the processor, further implements the following steps:

[0166] A target ratio of the Doppler bandwidth to the maximum Doppler frequency is acquired;

[0167] Candidate ratios of each of the preset Doppler angles to the maximum Doppler frequency are determined according to the maximum Doppler frequency and a plurality of the relationship features;

[0168] A Doppler angle between a transmission direction of the transmission signal and a motion direction of the target object is determined according to the target ratio and a plurality of the candidate ratios.

[0169] In one embodiment, the computer program, when executed on the processor, further implements the step of: determining, according to the target ratio and the plurality of candidate ratios, a Doppler angle between the target emission signal emission direction and the target object motion direction by interpolation.

[0170] In one embodiment, the computer program, when executed on the processor, further implements the following steps:

[0171] corresponding to receive each of the motion objects reflected candidate echo signal; wherein each of the motion objects of different speed;

[0172] Each of the candidate echo signal is processed in frequency domain, obtain each of the candidate echo signal corresponding to the preset Doppler frequency width and the preset maximum Doppler frequency;

[0173] According to each of the candidate echo signal corresponding to the preset Doppler frequency width and the preset maximum Doppler frequency, determine each of the preset Doppler angle corresponding to the relationship characteristics.

[0174] It should be noted that the data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or fully authorized by all parties.

[0175] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiments of the methods can be included. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (Read-Only Memory, ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric memory (Ferroelectric Random Access Memory, FRAM), phase change memory (Phase Change Memory, PCM), graphene memory, etc. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, etc. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0176] Any combination of the technical features of the above embodiments can be made. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combination of the technical features does not exist contradictory, it should be considered as the scope of the present application.

[0177] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of protection of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A method of Doppler angle acquisition, characterized by, The method comprises: acquiring an echo signal formed after a target object reflects a transmitted signal; performing frequency domain processing on the echo signal to acquire a frequency domain feature of the echo signal; the frequency domain feature of the echo signal comprises a Doppler bandwidth and a maximum Doppler frequency; performing Fourier transform on the echo signal to acquire a frequency spectrum of the echo signal; and determining the Doppler bandwidth and the maximum Doppler frequency of the echo signal according to the frequency spectrum; determining a Doppler angle between a transmission direction of the transmitted signal and a motion direction of the target object according to the frequency domain feature and a pre-stored mapping relationship; the mapping relationship is used to represent a corresponding relationship between a preset Doppler angle and a preset frequency domain feature of an echo signal; the mapping relationship comprises a corresponding relationship between the preset Doppler angle and a relationship feature in the preset frequency domain feature, the relationship feature being used to represent a change relationship between a ratio feature in the preset frequency domain feature and a preset maximum Doppler frequency, the ratio feature being a ratio of a preset Doppler bandwidth to the preset maximum Doppler frequency; acquiring a target ratio of the Doppler bandwidth to the maximum Doppler frequency; determining a candidate ratio of each preset Doppler angle corresponding to the maximum Doppler frequency according to the maximum Doppler frequency and a plurality of relationship features; and determining the Doppler angle between the transmission direction of the transmitted signal and the motion direction of the target object according to the target ratio and a plurality of candidate ratios.

2. The Doppler angle acquisition method of claim 1, wherein, The determining of the Doppler angle between the transmission direction of the transmitted signal and the motion direction of the target object according to the target ratio and a plurality of candidate ratios comprises: determining the Doppler angle between the transmission direction of the transmitted signal and the motion direction of the target object by an interpolation method according to the target ratio and a plurality of candidate ratios.

3. The Doppler angle acquisition method of claim 1, wherein, The method further comprises: correspondingly receiving candidate echo signals reflected by a plurality of moving objects by respectively transmitting signals to the plurality of moving objects at a plurality of preset Doppler angles; wherein the moving speeds of the plurality of moving objects are different; performing frequency domain processing on each candidate echo signal to acquire a preset Doppler bandwidth and a preset maximum Doppler frequency corresponding to each candidate echo signal; determining the relationship feature corresponding to each preset Doppler angle according to the preset Doppler bandwidth and the preset maximum Doppler frequency corresponding to each candidate echo signal.

4. A Doppler angle acquisition system characterized by, The system comprises: a receiving device configured to acquire an echo signal formed after a target object reflects a transmitted signal; The processing device is connected with the receiving device, and is configured to perform frequency domain processing on the echo signal to obtain a frequency domain feature of the echo signal; and determine a Doppler angle between a transmission direction of the transmission signal and a movement direction of the target object according to the frequency domain feature and a pre-stored mapping relationship, wherein the mapping relationship is used to represent a corresponding relationship between a preset Doppler angle and a preset frequency domain feature of the echo signal; the frequency domain feature of the echo signal comprises a Doppler bandwidth and a maximum Doppler frequency; and the mapping relationship comprises a corresponding relationship between the preset Doppler angle and a relationship feature in the preset frequency domain feature, the relationship feature is used to represent a change relationship between a ratio feature in the preset frequency domain feature and a preset maximum Doppler frequency, and the ratio feature is a ratio of a preset Doppler bandwidth to the preset maximum Doppler frequency. The processing device is further configured to perform Fourier transform on the echo signal to obtain a frequency spectrum of the echo signal; determine the Doppler bandwidth and the maximum Doppler frequency of the echo signal according to the frequency spectrum; obtain a target ratio of the Doppler bandwidth to the maximum Doppler frequency; determine a candidate ratio of each preset Doppler angle corresponding to the maximum Doppler frequency according to the maximum Doppler frequency and a plurality of relationship features; and determine the Doppler angle between the transmission direction of the transmission signal and the movement direction of the target object according to the target ratio and a plurality of candidate ratios.

5. The Doppler angle acquisition system of claim 4, wherein, The processing device comprises: a first processing unit configured to perform demodulation, filtering and amplification processing on the echo signal; a signal conversion unit connected with the first processing unit and configured to perform analog-to-digital conversion on the echo signal processed by the first processing unit to output a digital signal; a second processing unit connected with the signal conversion unit and configured to perform frequency domain processing on the digital signal to obtain a frequency domain feature of the digital signal, and determine the Doppler angle between the transmission direction of the transmission signal and the movement direction of the target object according to the frequency domain feature and a pre-stored mapping relationship.

6. A Doppler angle acquisition apparatus characterized by comprising: The device comprises: a receiving module configured to obtain an echo signal formed after a transmission signal is reflected by a target object; an obtaining module configured to perform frequency domain processing on the echo signal to obtain a frequency domain feature of the echo signal; the frequency domain feature of the echo signal comprises a Doppler bandwidth and a maximum Doppler frequency; and the obtaining module is further configured to perform Fourier transform on the echo signal to obtain a frequency spectrum of the echo signal, and determine the Doppler bandwidth and the maximum Doppler frequency of the echo signal according to the frequency spectrum. The determining module is configured to determine a Doppler angle between a transmission direction of the transmission signal and a movement direction of the target object according to the frequency domain feature and a pre-stored mapping relationship, wherein the mapping relationship is used to represent a corresponding relationship between a preset Doppler angle and a preset frequency domain feature of an echo signal; the mapping relationship comprises a corresponding relationship between the preset Doppler angle and a relationship feature in the preset frequency domain feature, the relationship feature is used to represent a change relationship between a ratio feature in the preset frequency domain feature and a preset maximum Doppler frequency, and the ratio feature is a ratio of a preset Doppler bandwidth to the preset maximum Doppler frequency; the determining module is further configured to obtain a target ratio of the Doppler bandwidth to the maximum Doppler frequency, determine a candidate ratio of each of the preset Doppler angles corresponding to the maximum Doppler frequency according to the maximum Doppler frequency and a plurality of the relationship features, and determine the Doppler angle between the transmission direction of the transmission signal and the movement direction of the target object according to the target ratio and a plurality of the candidate ratios. 7.A computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the computer device is configured to perform the method according to any one of claims 1-6 when the computer program is executed by the processor. The computer program is executed by the processor to implement the steps of the Doppler angle obtaining method in any one of claims 1 to 3.

8. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the Doppler angle obtaining method in any one of claims 1 to 3.

Images