An entity-oriented radar imaging method and device, electronic equipment and storage medium

Abstract

The application relates to the field of synthetic aperture radar technology, in particular to an entity-oriented radar imaging method and device, an electronic equipment and a storage medium. The method comprises the following steps: based on a determined measurement area, determining a measurement point corresponding to the measurement area and first coordinate information corresponding to the measurement point; determining a target reference plane according to the measurement point and the first coordinate information corresponding to the measurement point; acquiring second coordinate information corresponding to an antenna, and determining a reference point and third coordinate information corresponding to the reference point based on the target reference plane; determining phase compensation information corresponding to the third coordinate information based on the second coordinate information and the third coordinate information; and determining target imaging information based on the phase compensation information, the third coordinate information and acquired target point coordinate information. The application has the effect of reducing imaging defocus and improving the accuracy of imaging.

Description

Technical Field

[0001] This application relates to the field of synthetic aperture radar technology, and in particular to a method, apparatus, electronic device and storage medium for physical radar imaging. Background Technology

[0002] Today, with the refinement of holographic imaging theory and the continuous development of broadband microwave technology and signal processing technology, radar imaging technology has been widely applied in various fields to image different entities, such as buildings, dams, and open slopes. Traditional radar technology generally uses radar to emit electromagnetic waves, the target entity to reflect these waves, and the radar image corresponding to the target entity is obtained based on the reflected echo. Synthetic Aperture Radar (SAR) uses the stationary target and the moving radar to image the target entity. SAR can be divided into linear SAR using a linear guide rail mode and circular SAR using a rotating robotic arm mode.

[0003] However, when using circular arc synthetic aperture radar for scanning imaging, if there is a large height difference between the target object and the two-dimensional imaging plane, a large distance migration history difference will occur between the target point and its projection point in the imaging plane, causing the imaging result to be out of focus in the azimuth direction, thus affecting the accuracy of the radar imaging result. Summary of the Invention

[0004] To improve the accuracy of radar imaging results, this application provides a method, apparatus, electronic device, and storage medium for physical radar imaging.

[0005] Firstly, this application provides a method for imaging physical radar systems, employing the following technical solution:

[0006] A method for entity-oriented radar imaging includes:

[0007] Based on the determined measurement area, the measurement points corresponding to the measurement area and the first coordinate information corresponding to the measurement points are determined;

[0008] The target reference plane is determined based on the measurement point and the first coordinate information corresponding to the measurement point;

[0009] Obtain the second coordinate information corresponding to the antenna, and determine the reference point and the third coordinate information corresponding to the reference point based on the target reference plane;

[0010] Based on the second coordinate information and the third coordinate information, determine the phase compensation information corresponding to the third coordinate information;

[0011] Based on the phase compensation information, the third coordinate information, and the acquired target point coordinate information, the target imaging information is determined.

[0012] By adopting the above technical solution, measurement points are determined from the defined measurement area, and simultaneously, the first coordinate information corresponding to the measurement points is determined, i.e., the position of the measurement points is determined. Subsequently, the target reference plane is determined using the first coordinate information of the measurement points, and this target reference plane is used as the reference plane corresponding to the measurement area. When the position information corresponding to the antenna, i.e., the second coordinate information, is obtained, a reference point is determined from the target reference plane, and simultaneously, the position corresponding to the reference point, i.e., the third coordinate information, is determined. Then, using the second and third coordinate information as calculation parameters, the phase compensation information corresponding to the third coordinate information is determined. The phase compensation information participates in the position compensation when the acquired target point is back-projected, thereby reducing defocus when determining the target information and improving the accuracy of imaging.

[0013] In one possible implementation, the measurement area comprises at least two sub-measurement areas, and the step of determining the measurement points corresponding to the measurement areas and the first coordinate information corresponding to the measurement points based on the determined measurement areas includes:

[0014] Determine multiple undetermined measurement points corresponding to each sub-measurement area;

[0015] Based on the first preset screening rule, the multiple undetermined measurement points are screened to determine multiple measurement points;

[0016] The first preset filtering rule is a filtering rule designed to select the intersection points of the edge lines of the sub-measurement area as measurement points;

[0017] Obtain the first position information corresponding to the total station and the second position information corresponding to the plurality of measurement points respectively;

[0018] Based on the first location information and the second location information, the first coordinate information corresponding to the plurality of measurement points is determined.

[0019] By adopting the above technical solution, at least two sub-measurement areas of the measurement area are treated as a whole area, and multiple undetermined measurement points are determined from each sub-measurement area. Then, based on a first preset screening rule aimed at selecting the intersections of the edge lines of the sub-measurement areas as measurement points, the multiple undetermined measurement points corresponding to each sub-measurement area are screened to determine multiple measurement points that meet the preset screening rule. In addition, the position of the total station, the first position information, and the second position information corresponding to the multiple measurement points are obtained. Based on the first position information and the second position information, the coordinates corresponding to the multiple measurement points are determined, i.e., the first coordinate information. Thus, while obtaining measurement points that meet the requirements of the solution, the coordinate information corresponding to the measurement points is accurately determined.

[0020] In one possible implementation, determining the target reference plane based on the measurement point and the first coordinate information corresponding to the measurement point includes:

[0021] Substitute the first coordinate information corresponding to multiple measurement points in each sub-measurement area into a preset equation for calculation to determine multiple plane parameters;

[0022] Based on the multiple plane parameters, a sub-reference plane corresponding to each sub-measurement area is determined;

[0023] The target reference plane is determined based on the sub-reference plane corresponding to each sub-measurement area and the plurality of first coordinate information.

[0024] By adopting the above technical solution, the first coordinate information corresponding to multiple measurement points in each sub-region is substituted into a preset equation for calculation to determine multiple plane parameters corresponding to each sub-measurement region. These multiple plane parameters reflect the reference plane corresponding to the sub-measurement region. That is, a sub-reference plane corresponding to each sub-measurement region is determined based on the multiple plane parameters. However, each sub-reference plane only reflects the corresponding sub-measurement region and cannot reflect the entity to be measured. Therefore, based on the sub-reference plane corresponding to each sub-measurement region and multiple first coordinate information, a target reference plane that can reflect the entity to be measured is further determined. Thus, a reference plane that matches the entity to be measured is accurately obtained, thereby improving the accuracy of subsequent radar imaging based on the target reference plane.

[0025] In one possible implementation, determining the target reference plane based on the sub-reference plane corresponding to each sub-measurement region and multiple first coordinate information includes:

[0026] Based on the second preset filtering rule, the multiple first coordinate information is filtered to determine multiple target coordinate information;

[0027] Based on the multiple target coordinate information, determine the range information corresponding to each sub-reference plane;

[0028] The target reference plane is determined based on the range information corresponding to each sub-reference plane.

[0029] By adopting the above technical solution, based on the second preset filtering rule aimed at filtering out the first coordinate information corresponding to the sub-measurement area in the sub-reference plane, the first coordinate information corresponding to multiple measurement points in the sub-measurement area is filtered to determine multiple target coordinate information that meets the preset filtering rule. Based on the multiple target coordinate information, the range information of each sub-reference plane is determined. The target reference plane is further determined by the sub-reference plane with a certain range. This can further reduce the error that may occur when determining the reference plane, making the determined target reference plane fit the measured entity better and reducing the probability of defocusing caused by terrain problems during radar imaging.

[0030] In one possible implementation, the phase compensation information corresponding to the third coordinate information includes:

[0031] Substitute the second coordinate information and the third coordinate information into the compensation phase formula for calculation to determine the phase compensation information corresponding to the third coordinate information;

[0032] The step of determining the phase compensation information corresponding to the third coordinate information includes:

[0033] The phase compensation information corresponding to the third coordinate information is calculated using the following formula: in, Indicates the third coordinate information. The coordinates of the radar antenna are represented by λ, the carrier wavelength is represented by j, the imaginary unit is represented by r, and the rotation radius of the system is represented by r.

[0034] By adopting the above technical solution, when determining the phase compensation information of the third coordinate information, the second coordinate information and the third coordinate information are calculated by the corresponding phase compensation calculation formula, and finally the phase compensation information of the third coordinate information is obtained, which corrects the coordinate information error of the target point corresponding to the third coordinate information due to the height difference in the final target imaging.

[0035] In one possible implementation, the phase compensation information is a plurality of phase compensation information, the third coordinate information is a plurality of third coordinate information, and the step of determining the target imaging information based on the phase compensation information, the third coordinate information, and the acquired target point coordinate information includes:

[0036] The multiple phase compensation information corresponds one-to-one with the multiple third coordinate information;

[0037] Based on the target point coordinate information, the multiple third coordinate information are filtered to determine the third coordinate information and phase compensation information corresponding to the target point coordinate information;

[0038] Based on the phase compensation information corresponding to the target point coordinate information, phase compensation is performed on the target point coordinate information, and the target imaging information is determined based on the phase-compensated target point coordinates.

[0039] By adopting the above technical solution, each phase compensation information has a corresponding third coordinate information. When the target point coordinate information is obtained, multiple third coordinate information are filtered based on the target point coordinate information to determine the third coordinate information corresponding to the target point coordinate information. The phase compensation information corresponding to the target point coordinate information is also determined. Phase compensation is then performed on the target point coordinate information based on the compensation information. When the phase compensation of all target coordinate information is completed, the image constructed from all target coordinate information is the target imaging information, thus ensuring the accuracy of the determined target imaging information.

[0040] In one possible implementation, the step of filtering the plurality of third coordinate information based on the target point coordinate information to determine the third coordinate information corresponding to the target point coordinate information includes:

[0041] Using the target point coordinate information as the origin, determine the distance information between each third coordinate information and the target point coordinate information;

[0042] The multiple distance information is compared to determine the shortest distance information, and the third coordinate information corresponding to the shortest distance information is matched with the target point coordinate information.

[0043] By adopting the above technical solution, the process of confirming the third coordinate information corresponding to the target point coordinate information is based on the distance between the two. That is, firstly, taking the target point coordinate information as the origin, the distance between each third coordinate information and the target point coordinate information is determined, and the distance information is calculated. Finally, the multiple distance information is compared, so as to accurately select the third coordinate information corresponding to the target point coordinate information from the multiple distance information, so as to ensure the accuracy of subsequent phase compensation.

[0044] Secondly, this application provides a physical radar imaging device, employing the following technical solution:

[0045] A radar imaging device for physical targets includes: a first information determination module, a target reference plane determination module, a second information determination module, a phase compensation determination module, and a target imaging determination module, wherein...

[0046] The first information determination module is used to determine the measurement point corresponding to the measurement area and the first coordinate information corresponding to the measurement point based on the determined measurement area.

[0047] The target reference plane determination module is used to determine the target reference plane based on the measurement point and the first coordinate information corresponding to the measurement point;

[0048] The second information determination module is used to acquire the second coordinate information corresponding to the antenna, and determine the reference point and the third coordinate information corresponding to the reference point based on the target reference plane;

[0049] A phase compensation determination module is used to determine phase compensation information corresponding to the third coordinate information based on the second coordinate information and the third coordinate information;

[0050] The target imaging determination module is used to determine target imaging information based on the phase compensation information, the third coordinate information, and the acquired target point coordinate information.

[0051] By adopting the above technical solution, the first information determination module determines the measurement point from the determined measurement area, and simultaneously determines the first coordinate information corresponding to the measurement point, i.e., the position of the measurement point. Subsequently, the target reference plane determination module determines the corresponding target reference plane through the first coordinate information of the measurement point, and uses this target reference plane as the reference plane corresponding to the measurement area. When the second information determination module obtains the position information corresponding to the antenna, i.e., the second coordinate information, the second information determination module determines the reference point from the target reference plane, and simultaneously determines the position and third coordinate information corresponding to the reference point. Then, the phase compensation determination module uses the second coordinate information and the third coordinate information as calculation parameters to determine the phase compensation information corresponding to the third coordinate information. The phase compensation information participates in the compensation of the position when the acquired target point is reverse-projected, thereby reducing the defocus when determining the target information and improving the accuracy of imaging.

[0052] In one possible implementation, the first information determining module further includes: a first measurement point determining unit, a second measurement point determining unit, a location information acquiring module, and a coordinate information determining unit, wherein...

[0053] The first measurement point determination unit is used to determine multiple undetermined measurement points corresponding to each sub-measurement area;

[0054] The second measurement point determination unit is used to filter the plurality of undetermined measurement points based on the first preset filtering rules, and determine the plurality of measurement points.

[0055] The first preset filtering rule is a filtering rule designed to select the intersection points of the edge lines of the sub-measurement area as measurement points;

[0056] The location information acquisition module is used to acquire the first location information corresponding to the total station and the second location information corresponding to the plurality of measurement points respectively;

[0057] The coordinate information determination unit is used to determine the first coordinate information corresponding to the plurality of measurement points based on the first position information and the second position information.

[0058] In one possible implementation, the entity-oriented radar imaging device further includes: a plane parameter determination module, a first plane determination module, and a second plane determination module, wherein...

[0059] The plane parameter determination module is used to input the first coordinate information corresponding to multiple measurement points in each sub-measurement area into a preset equation for calculation to determine multiple plane parameters.

[0060] The first plane determination module is used to determine the sub-reference plane corresponding to each sub-measurement area based on the multiple plane parameters;

[0061] The second plane determination module is used to determine the target reference plane based on the sub-reference plane corresponding to each sub-measurement area and the plurality of first coordinate information.

[0062] In one possible implementation, the second plane determination module further includes: a target coordinate determination unit, a plane range determination unit, and a target reference plane determination unit, wherein...

[0063] The target coordinate determination unit is used to filter the plurality of first coordinate information based on a second preset filtering rule to determine a plurality of target coordinate information;

[0064] A plane range determination unit is used to determine the range information corresponding to each sub-reference plane based on the multiple target coordinate information;

[0065] The target reference plane determination unit is used to determine the target reference plane based on the range information corresponding to each sub-reference plane.

[0066] In one possible implementation, the phase compensation determination module further includes: a phase compensation unit, wherein,

[0067] A phase compensation unit is used to input the second coordinate information and the third coordinate information into the compensation phase formula for calculation, and to determine the phase compensation information corresponding to the third coordinate information.

[0068] The phase compensation unit is specifically used for:

[0069] The phase compensation information corresponding to the third coordinate information is calculated using the following formula: in, Indicates the third coordinate information. The coordinates of the antenna are represented by λ, the carrier wavelength is represented by λ, the imaginary unit is represented by j, and the rotation radius of the system is represented by r.

[0070] In one possible implementation, the target imaging determination module further includes: an information determination unit and a target imaging determination unit, wherein,

[0071] The multiple phase compensation information corresponds one-to-one with the multiple third coordinate information;

[0072] The information determination unit filters the multiple third coordinate information based on the target point coordinate information to determine the third coordinate information and phase compensation information corresponding to the target point coordinate information.

[0073] The target imaging determination unit performs phase compensation on the target point coordinate information based on the phase compensation information corresponding to the target point coordinate information, and determines the target imaging information based on the phase-compensated target point coordinates.

[0074] In one possible implementation, the information determining unit is specifically used for:

[0075] Using the target point coordinate information as the origin, determine the distance information between each third coordinate information and the target point coordinate information;

[0076] The multiple distance information is compared to determine the shortest distance information, and the third coordinate information corresponding to the shortest distance information is matched with the target point coordinate information.

[0077] Thirdly, this application provides an electronic device that adopts the following technical solution:

[0078] An electronic device comprising:

[0079] At least one processor;

[0080] Memory;

[0081] At least one application, wherein the at least one application is stored in memory and configured to be executed by at least one processor, the at least one application being configured to: perform the above-described method for entity-oriented radar imaging.

[0082] Fourthly, this application provides a computer-readable storage medium, which adopts the following technical solution:

[0083] A computer-readable storage medium includes: a computer program stored thereon that can be loaded by a processor and executed by the above-described entity-oriented radar imaging method.

[0084] In summary, this application includes the following beneficial technical effects:

[0085] Measurement points are determined within the defined measurement area, and simultaneously, the first coordinate information corresponding to the measurement points is determined, i.e., the position of the measurement points. Then, using the first coordinate information of the measurement points, the corresponding target reference plane is determined, and this target reference plane is used as the reference plane for the measurement area. Upon acquiring the position information corresponding to the antenna, i.e., the second coordinate information, a reference point is determined from the target reference plane, and simultaneously, the position corresponding to this reference point, i.e., the third coordinate information, is determined. Then, using the second and third coordinate information as calculation parameters, the phase compensation information corresponding to the third coordinate information is determined. The phase compensation information participates in the position compensation during the reverse projection of the acquired target point, thereby reducing defocusing when determining target information and improving imaging accuracy. Attached Figure Description

[0086] Figure 1 This is a flowchart illustrating the entity radar imaging method according to an embodiment of this application;

[0087] Figure 2 This is a block diagram of a physical radar imaging device according to an embodiment of this application;

[0088] Figure 3 This is a schematic diagram of an electronic device according to an embodiment of this application. Detailed Implementation

[0089] The following is in conjunction with the appendix Figure 1-3 This application will be described in further detail.

[0090] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0091] This application provides a method for entity-oriented radar imaging, executed by an electronic device. This device can be a server or a terminal device. The server can be a standalone physical server, a server cluster consisting of multiple physical servers, a distributed device, or a cloud server providing cloud computing services. The terminal device can be a smartphone, tablet, laptop, desktop computer, etc., but is not limited to these. The terminal device and the server can be directly or indirectly connected via wired or wireless communication, and this application does not impose any limitations on this connection.

[0092] Reference Figure 1 The method includes steps S101, S102, S103, S104, and S105, wherein...

[0093] Step S101: Based on the determined measurement area, determine the measurement points corresponding to the measurement area and the first coordinate information corresponding to the measurement points.

[0094] In the embodiments of this application, the first coordinate information is the three-dimensional coordinate information of the selected measurement point.

[0095] Specifically, the electronic equipment uses the total station's installation position as the origin of the three-dimensional space, the horizontal plane as the xy plane of the three-dimensional space, and the height as the Z axis of the three-dimensional space to form a three-dimensional spatial model that can contain the entity to be measured.

[0096] Specifically, there are two ways to determine the measurement area and the corresponding measurement points and their first coordinate information: Method 1: The surveyor subjectively determines the measurement area corresponding to the entity to be measured and inputs the relevant parameters of the measurement area into the electronic device through a terminal device. The electronic device processes the relevant parameters to determine the measurement area. At the same time, the surveyor determines and fixes the position of the total station and, based on the total station, subjectively determines the measurement point parameters and their coordinate parameters corresponding to the measurement area. Subsequently, the surveyor inputs the measurement point parameters and their coordinate parameters into the electronic device. Then, the electronic device processes the measurement point parameters and their coordinate parameters to determine the measurement points and their first coordinate information.

[0097] Method 2: The surveyor inputs the dimensions, position, and other relevant parameters of the entity to be measured into the electronic device. The electronic device builds a model based on the parameters to determine the entity model corresponding to the entity to be measured. The image acquisition device, subjectively set by the surveyor, acquires image information containing the measurement area and sends the image information to the electronic device. The electronic device extracts features from the image information to determine the measurement area. Subsequently, the electronic device uses the measurement area as the main body and determines multiple feature points from the measurement area. The entity points corresponding to these feature points are used as measurement points. The electronic device then feeds back the relevant information of the multiple measurement points to the display device for display. The surveyor uses a total station to measure the distance to these multiple measurement points. The surveyor then inputs the distance information corresponding to each measurement point into the electronic device. Based on the constructed three-dimensional space, the electronic device determines the coordinates corresponding to the measurement point, i.e., the first coordinate information.

[0098] Step S102: Determine the target reference plane based on the measurement point and the first coordinate information corresponding to the measurement point.

[0099] In this embodiment of the application, the measurement points include at least three measurement points. In three-dimensional space, the positions of the at least three measurement points determined by the electronic device are uncertain due to changes in the installation position of the total station. Furthermore, there is no regularity between the measurement points under certain circumstances. For example, the at least three measurement points are not located in planes parallel to the XY plane, nor in planes parallel to the XZ plane, nor in planes parallel to the YZ plane. As a result, the determined measurement points cannot represent the corresponding measurement area. Therefore, after determining the measurement points and the first coordinate information corresponding to the measurement points, the electronic device performs parameter calculations on multiple first coordinate information and uses the at least three measurement points to determine the corresponding reference plane. This reference plane satisfies the condition that the sum of the distances from the at least three measurement points to the reference plane is the minimum, i.e., the target reference plane is determined. This target reference plane is used to represent the reference plane of the measurement area corresponding to the measurement point.

[0100] Step S103: Obtain the second coordinate information corresponding to the antenna, and determine the reference point and the third coordinate information corresponding to the reference point based on the target reference plane.

[0101] In the embodiments of this application, the second coordinate information is the coordinate information of the radar antenna, and the second coordinate information is used to determine the compensation phase corresponding to the point selected from the target reference plane; the third coordinate information is the three-dimensional coordinate information of the reference point determined from the target reference plane.

[0102] The electronic device acquires the second coordinate information corresponding to the radar antenna. The electronic device can acquire this information from the terminal device used by the surveyor, who has previously entered the antenna's coordinate-related parameters into the terminal device. Alternatively, the electronic device can acquire the antenna's position parameters from the positioning device. Simultaneously, the electronic device determines a reference point from the identified target reference plane for subsequent coordinate compensation phase determination, and combines this with the three-dimensional spatial model to determine the third coordinate information corresponding to the reference point.

[0103] Specifically, reference points can be selected by electronic devices using preset filtering rules to select reference points that meet the rules from a large number of reference points. There are multiple reference points to provide a sufficient number of reference points and their corresponding coordinate parameters for radar imaging. Alternatively, surveyors can subjectively select a certain number of points of the entity to be measured using a total station and input the relevant parameters of the points through a terminal device. The electronic devices obtain the certain number of points and their relevant parameters from the terminal device and define the points as reference points. At the same time, the electronic devices determine the third coordinate information corresponding to the reference points by performing coordinate processing on the relevant parameters of the points.

[0104] S104. Based on the second coordinate information and the third coordinate information, determine the phase compensation information corresponding to the third coordinate information.

[0105] In the embodiments of this application, the phase compensation information is the information that needs to be phase compensated for the relevant points determined during radar imaging at the current moment.

[0106] The radar imaging device has a rotating platform, and the radar imaging device is positioned at the same location as the total station. A cantilever extends from the center of the rotating platform, and a radar antenna is mounted at the end of the cantilever. The radar antenna rotates to perform radar imaging. When the radar antenna rotates to a certain angle and performs radar imaging at the current position, the electronic device acquires the second coordinate information of the radar antenna at the current moment. Subsequently, based on the second coordinate information and the third coordinate information, the electronic device performs calculations using a preset phase compensation formula to determine the phase compensation information corresponding to the third coordinate information. The electronic device then uses the determined phase compensation information to perform compensation work on the target points included in the radar imaging.

[0107] S105. Based on phase compensation information, third coordinate information, and the acquired target point coordinate information, determine the target imaging information.

[0108] In the embodiments of this application, the target point coordinate information is the coordinate information corresponding to the target point collected during the radar imaging process.

[0109] When the electronic device determines the phase compensation information corresponding to the third coordinate information, the radar antenna performs radar imaging at the current moment. The electronic device obtains the target point used for radar imaging from the radar antenna and, based on the constructed three-dimensional spatial model, obtains the target point coordinate information corresponding to the target point. The target point coordinate information corresponds to the third coordinate information. Subsequently, the electronic device uses the phase compensation information corresponding to the determined third coordinate information to perform phase compensation on the target point coordinate information corresponding to the target point reflected onto the target reference plane, in order to compensate for the position deviation caused by time delay during the radar antenna transmission and reception process. There can be multiple target points. After performing phase compensation on the target point coordinate information of all target points, the electronic device uses all the phase-compensated target points to determine the final target imaging information, thereby reducing defocus when determining target information and improving imaging accuracy.

[0110] This application provides a method for object-oriented imaging. An electronic device determines measurement points within a defined measurement area and simultaneously determines the first coordinate information corresponding to the measurement point, i.e., the position of the measurement point. Subsequently, the electronic device uses the first coordinate information of the measurement point to determine the corresponding target reference plane, which is then used as the reference plane for the measurement area. When the electronic device acquires the position information corresponding to the antenna, i.e., the second coordinate information, it determines a reference point from the target reference plane. Simultaneously, the electronic device determines the position of this reference point and its third coordinate information. Then, using the second and third coordinate information as calculation parameters, the electronic device determines the phase compensation information corresponding to the third coordinate information. The phase compensation information participates in compensating for the position of the acquired target point during reverse projection, thereby reducing defocusing when determining the target information and improving imaging accuracy.

[0111] In step S101, based on the determined measurement area, the measurement points corresponding to the measurement area and the first coordinate information corresponding to the measurement points are determined. Specifically, this includes: determining multiple undetermined measurement points corresponding to each sub-measurement area; filtering the multiple undetermined measurement points based on a first preset filtering rule to determine multiple measurement points; the first preset filtering rule is a filtering rule aimed at selecting the intersection points of the edge lines of the sub-measurement areas as measurement points; obtaining the first position information corresponding to the total station and the second position information corresponding to the multiple measurement points respectively; and determining the first coordinate information corresponding to the multiple measurement points respectively based on the first position information and the second position information.

[0112] In this embodiment of the application, the measurement area consists of at least two sub-measurement areas. The surveyor subjectively defines the area of ​​the object to be measured as observed by the total station's plotting direction. When the total station's plotting direction is not perpendicular to any of the elevations of the object, it indicates that the measurement area contains at least two sub-measurement areas. Subsequently, when determining the measurement area, the electronic device treats each of the at least two sub-measurement areas as a whole and determines multiple undetermined measurement points corresponding to each sub-measurement area. Then, based on a pre-set filtering rule aimed at selecting the intersections of the sub-measurement area's edge lines as measurement points, the electronic device filters the multiple undetermined measurement points to determine multiple measurement points corresponding to each sub-measurement area. These multiple measurement points are used by the electronic device to calculate the reference plane corresponding to the sub-measurement area. In addition, the positioning device inputs the position parameters corresponding to the total station into the electronic device, and the electronic device obtains the first position information corresponding to the total station. At the same time, the surveyor inputs the position parameters corresponding to each measurement point plotted by the total station into the electronic device through a terminal device. After obtaining the first position information corresponding to the total station and the second position information corresponding to the multiple measurement points, the electronic device calculates the first coordinate information corresponding to each measurement point based on a preset three-dimensional space model.

[0113] Specifically, the determination of multiple measurement points corresponding to the sub-measurement area can also be done by the surveyor's subjective setting. After the surveyor has completed the distance mapping of the multiple measurement points set, the surveyor will input the parameters of the measurement points and the distance parameters of the measurement points into the electronic device through the terminal device. Based on the obtained parameters of the measurement points and the distance parameters of the measurement points, the electronic device will determine the first coordinate information corresponding to the multiple measurement points respectively.

[0114] Furthermore, in determining the target reference plane based on the measurement points and the corresponding first coordinate information, the process further includes: substituting the first coordinate information corresponding to multiple measurement points in each sub-measurement area into a preset equation for calculation to determine multiple plane parameters; determining the sub-reference plane corresponding to each sub-measurement area based on the multiple plane parameters; and determining the target reference plane based on the sub-reference plane corresponding to each sub-measurement area and the multiple first coordinate information.

[0115] In this embodiment of the application, the first coordinate information corresponding to multiple measurement points in each sub-measurement area is substituted into a preset equation to determine a set of equations for solving the plane parameters. That is, the electronic device determines multiple plane parameters for constructing the reference plane by solving the set of equations. For example, when there are four measurement points, the coordinates of the first measurement point are (x1, y1, z1), the coordinates of the second measurement point are (x2, y2, z2), the coordinates of the third measurement point are (x3, y3, z3), and the coordinates of the fourth measurement point are (x4, y4, z4). The coordinates corresponding to the four measurement points are substituted into the plane equation. Thus, the following system of equations is constructed:

[0116] (1)

[0117] (2)

[0118] (3)

[0119] (4)

[0120] By solving the system of equations, specifically by using the least squares method to fit and determine four plane parameters A, B, C, and D, the electronic device determines the plane equations based on the determined plane parameters and constructs a sub-reference plane corresponding to each sub-measurement area in the three-dimensional space based on a pre-built three-dimensional spatial model.

[0121] Furthermore, each sub-reference plane can only reflect its corresponding sub-measurement area. Therefore, it is necessary to further determine a reference plane that can reflect the entity to be measured. That is, the electronic device determines a further reference plane based on the sub-reference planes corresponding to at least two sub-measurement areas, i.e., determines the target reference plane. At the same time, the electronic device uses multiple determined first coordinate information as parameters to limit the range of the target reference plane, so as to determine a target reference plane with a certain range.

[0122] Furthermore, the electronic device determines a sub-reference plane corresponding to each sub-measurement area based on the first coordinate information corresponding to multiple measurement points. Since the determined sub-reference plane has no range limitation (i.e., it extends infinitely), in order to determine a sub-reference plane that truly reflects the corresponding sub-measurement area, and subsequently, based on this reference plane, determine a target reference plane that truly reflects the entity under test, it is necessary to determine the range of each sub-reference plane. Specifically, determining the target reference plane based on the sub-reference plane corresponding to each sub-measurement area and multiple first coordinate information further includes: filtering the multiple first coordinate information based on a second preset filtering rule to determine multiple target coordinate information; determining the range information corresponding to each sub-reference plane based on the multiple target coordinate information; and determining the target reference plane based on the range information corresponding to each sub-reference plane.

[0123] In the embodiments of this application, the second preset filtering rule aims to filter out the first coordinate information that can limit the range of the subsequently determined sub-reference plane from a plurality of first coordinate information, and the target coordinate information is the first coordinate information that can determine the range of the sub-reference plane.

[0124] The electronic device pre-sets a second preset filtering rule. When the electronic device determines the sub-reference plane corresponding to each sub-measurement area, it filters the determined first coordinate information based on the second preset filtering criterion and selects multiple target coordinate information from the multiple first coordinate information. Since the sub-reference plane is the least squares fitting plane of the corresponding multiple measurement points, the range corresponding to the sub-reference plane can be determined by using the first coordinate information corresponding to some of the multiple measurement points. The sub-reference plane with a limited range can better reflect its corresponding sub-measurement area. Subsequently, after determining the sub-reference plane that can better reflect the sub-measurement area, the electronic device further determines the target reference plane based on the sub-reference plane with a limited range.

[0125] Furthermore, when the measurement area contains at least two sub-measurement areas, since radar imaging is performed on a single entity to be measured, these at least two sub-measurement areas are connected. For example, if the entity to be measured is a building, and the defense line drawn by the total station is not perpendicular to any side of the building, it is determined that there is a connection between the two sub-measurement areas. At this time, the sub-reference planes corresponding to each sub-measurement area are intersected, and each sub-reference plane extends infinitely. In order to truly reflect the corresponding sub-measurement areas, measurement points other than the measurement points connecting the two sub-measurement areas can be selected as measurement points to limit the reference plane, and the range of the reference plane is limited by the first coordinate information corresponding to these measurement points.

[0126] It is worth noting that when there is only one sub-measurement area, it means that the measurement area is perpendicular to the total station's mapping direction. In this case, it is meaningless to determine the measurement point from the sub-measurement area and to determine the sub-reference plane by calculating the measurement point using the least squares method. Furthermore, there is no way to further determine the target reference plane through the sub-reference plane. That is, the electronic equipment directly uses the plane corresponding to the current sub-measurement area as the target reference plane and participates in the subsequent phase compensation calculation of radar imaging.

[0127] The electronic device pre-sets a second preset screening criterion. When the electronic device determines the sub-reference plane corresponding to each sub-measurement area, it filters the confirmed first coordinate information based on the second preset screening criterion, and selects multiple target coordinate information from multiple first coordinate information. Since the sub-reference plane is the least squares fitting plane of multiple measurement points determined in the corresponding sub-measurement area, the electronic device further determines the range information corresponding to each sub-reference plane through the determined multiple target coordinate information. Subsequently, based on the range information corresponding to each sub-reference plane, it further determines the target reference plane.

[0128] Furthermore, based on the second and third coordinate information, the phase compensation information corresponding to the third coordinate information is determined, including: substituting the second and third coordinate information into the compensation phase formula for calculation to determine the phase compensation information corresponding to the third coordinate information; determining the phase compensation information corresponding to the third coordinate information includes: calculating the phase compensation information corresponding to the third coordinate information according to the following formula: (5), where, Indicates the third coordinate information. The coordinates of the antenna are represented by λ, the carrier wavelength is represented by λ, the imaginary unit is represented by j, and the rotation radius of the system is represented by r.

[0129] In the embodiments of this application, the rectangular coordinates of the antenna are converted into polar coordinate information through mathematical calculations. By calculating the radar's period or frequency, the azimuth direction is determined using the radar's carrier wavelength and the platform's rotation direction, and the range direction is determined using the radial direction of the platform's rotation. The radar echo is pulse-compressed along the range direction, and a rotating arm extending from the rotating platform carries a radar antenna to perform a 360° rotational scan of the surrounding scene. Based on the target reference plane, the third coordinate information is determined. The radar carrier wavelength λ, the rotation radius r of the radar system, and the antenna polar coordinate information are used to... Third coordinate information Substitute the values ​​into the formula to calculate the phase compensation information corresponding to the third coordinate information.

[0130] In step S105, target imaging information is determined based on phase compensation information, third coordinate information, and acquired target point coordinate information. This includes: multiple phase compensation information pieces correspond one-to-one with multiple third coordinate information pieces; based on the target point coordinate information, multiple third coordinate information pieces are filtered to determine the third coordinate information and phase compensation information corresponding to the target point coordinate information; based on the phase compensation information corresponding to the target point coordinate information, phase compensation is performed on the target point coordinate information, and the target imaging information is determined based on the phase-compensated target point coordinates.

[0131] In the embodiments of this application, the phase compensation information is multiple phase compensation information, the third coordinate information is multiple third coordinate information, and the target point coordinate information is the target point coordinate information obtained by the electronic device during the radar imaging process of the measurement area of ​​the entity to be measured.

[0132] The electronic device determines multiple phase compensation information, each corresponding to a third coordinate. Before radar imaging the target entity, the target reference plane of the measurement area corresponding to the target entity is confirmed, and the target reference plane is composed of multiple reference points. During the subsequent imaging process of the measurement area corresponding to the target entity, the electronic device needs to determine the phase compensation information corresponding to the target point coordinate information each time it acquires a radar-imagined target point and its coordinate information. Since the third coordinate information is one-to-one, the electronic device needs to filter the third coordinate information corresponding to the acquired target point coordinate information from multiple third coordinate information to determine the phase compensation information corresponding to the target point coordinate information. Then, the electronic device performs phase compensation on the target point coordinate information based on this phase compensation information. After the electronic device has completed phase compensation for all acquired target point coordinate information, the target imaging information is determined from all the phase-compensated target point coordinate information.

[0133] Furthermore, based on the target point coordinate information, multiple third coordinate information are filtered to determine the third coordinate information corresponding to the target point coordinate information. This includes: taking the target point coordinate information as the origin, determining the distance information between each third coordinate information and the target point coordinate information; comparing multiple distance information to determine the shortest distance information, and matching the third coordinate information corresponding to the shortest distance information with the target point coordinate information.

[0134] In the embodiments of this application, the process of radar imaging the entity under test is to project the target point acquired by the radar antenna onto the target reference plane. This means that for each target point coordinate information acquired by the electronic device, its corresponding third coordinate information can be determined on the target reference plane. Therefore, in order to ensure the accuracy of phase compensation for the acquired target point coordinate information, the electronic device needs to determine the third coordinate information with the strongest correspondence to the target point coordinate information from multiple third coordinate information, that is, the third coordinate information that is closest to the target point coordinate information. Specifically, the electronic device uses the target point coordinate information as the origin and determines the distance between each third coordinate information and the target point coordinate information, that is, the distance information. Then, the electronic device compares the determined multiple distance information to determine the third coordinate information that is closest to the target point.

[0135] The above embodiments describe a method for physical radar imaging from the perspective of process flow. The following embodiments describe a device for physical radar imaging from the perspective of virtual modules or virtual units. For details, please refer to the following embodiments.

[0136] The entity-oriented radar imaging device 20 may specifically include: a first information determination module 201, a target reference plane determination module 202, a second information determination module 203, a phase compensation determination module 204, and a target imaging determination module 205, wherein,

[0137] The first information determination module 201 is used to determine the measurement points corresponding to the measurement area and the first coordinate information corresponding to the measurement points based on the determined measurement area.

[0138] The target reference plane determination module 202 is used to determine the target reference plane based on the measurement point and the first coordinate information corresponding to the measurement point;

[0139] The second information determination module 203 is used to obtain the second coordinate information corresponding to the antenna, and determine the reference point and the third coordinate information corresponding to the reference point based on the target reference plane.

[0140] The phase compensation determination module 204 is used to determine the phase compensation information corresponding to the third coordinate information based on the second coordinate information and the third coordinate information.

[0141] The target imaging determination module 205 is used to determine the target imaging information based on phase compensation information, third coordinate information, and the acquired target point coordinate information.

[0142] In one possible implementation of this application embodiment, the first information determination module 201 further includes:

[0143] The first measurement point determination unit is used to determine multiple undetermined measurement points corresponding to each sub-measurement area;

[0144] The second measurement point determination unit is used to filter multiple undetermined measurement points based on the first preset filtering rules, and determine multiple measurement points.

[0145] The first preset filtering rule is designed to select the intersection points of the edge lines of the sub-measurement area as measurement points.

[0146] The location information acquisition module is used to acquire the first location information corresponding to the total station and the second location information corresponding to multiple measurement points respectively.

[0147] The coordinate information determination unit is used to determine the first coordinate information corresponding to multiple measurement points based on the first position information and the second position information.

[0148] One possible implementation of this application embodiment relates to a physical radar imaging device 20, and further includes: a plane parameter determination module, a first plane determination module, and a second plane determination module, wherein...

[0149] The plane parameter determination module is used to input the first coordinate information corresponding to multiple measurement points in each sub-measurement area into a preset equation for calculation to determine multiple plane parameters.

[0150] The first plane determination module is used to determine the sub-reference plane corresponding to each sub-measurement area based on multiple plane parameters;

[0151] The second plane determination module is used to determine the target reference plane based on the sub-reference plane corresponding to each sub-measurement area and multiple first coordinate information.

[0152] In one possible implementation of this application embodiment, the second plane determination module further includes: a target coordinate determination unit, a plane range determination unit, and a target reference plane determination unit, wherein...

[0153] The target coordinate determination unit is used to filter multiple first coordinate information based on a second preset filtering rule to determine multiple target coordinate information;

[0154] The planar range determination unit is used to determine the range information corresponding to each sub-reference plane based on the coordinate information of multiple targets;

[0155] The target reference plane determination unit is used to determine the target reference plane based on the range information corresponding to each sub-reference plane.

[0156] In one possible implementation of this application embodiment, the phase compensation determination module 204 further includes: a phase compensation unit, wherein...

[0157] The phase compensation unit is used to input the second coordinate information and the third coordinate information into the compensation phase formula for calculation, and to determine the phase compensation information corresponding to the third coordinate information.

[0158] Phase compensation unit, specifically used for:

[0159] Calculate the phase compensation information corresponding to the third coordinate information using the following formula:

[0160] in, Indicates the third coordinate information. The coordinates of the antenna are represented by λ, the carrier wavelength is represented by λ, the imaginary unit is represented by j, and the rotation radius of the system is represented by r.

[0161] In one possible implementation of this application embodiment, the target imaging determination module 205 further includes: an information determination unit and a target imaging determination unit, wherein...

[0162] Multiple phase compensation information pieces correspond one-to-one with multiple third coordinate information pieces;

[0163] The information determination unit filters multiple third coordinate information based on the target point coordinate information to determine the third coordinate information and phase compensation information corresponding to the target point coordinate information.

[0164] The target imaging determination unit performs phase compensation on the target point coordinate information based on the phase compensation information corresponding to the target point coordinate information, and determines the target imaging information based on the phase-compensated target point coordinates.

[0165] One possible implementation of this application embodiment includes an information determination unit specifically used for:

[0166] Using the target point coordinates as the origin, determine the distance between each third coordinate and the target point coordinates.

[0167] Multiple distance information is compared to determine the shortest distance, and the third coordinate information corresponding to the shortest distance is matched with the target point coordinate information.

[0168] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0169] This application also describes an electronic device from the perspective of a physical device, such as... Figure 3 As shown, Figure 3The illustrated electronic device 30 includes a processor 301 and a memory 303. The processor 301 and the memory 303 are connected, for example, via a bus 302. Optionally, the electronic device 30 may also include a transceiver 304. It should be noted that in practical applications, the transceiver 304 is not limited to one type, and the structure of this electronic device 30 does not constitute a limitation on the embodiments of this application.

[0170] Processor 301 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 301 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0171] Bus 302 may include a pathway for transmitting information between the aforementioned components. Bus 302 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 302 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 3 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0172] The memory 303 may be a ROM (Read Only Memory) or other type of static storage device capable of storing static information and instructions, RAM (Random Access Memory) or other type of dynamic storage device capable of storing information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto.

[0173] The memory 303 is used to store application code that executes the solution of this application, and its execution is controlled by the processor 301. The processor 301 is used to execute the application code stored in the memory 303 to implement the content shown in the foregoing method embodiments.

[0174] Electronic devices include, but are not limited to: mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), and in-vehicle terminals (such as in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. Servers can also be included. Figure 3 The electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0175] It should be understood that although the steps in the flowcharts of the accompanying figures are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the accompanying figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0176] The above are only some embodiments of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A radar imaging method for entities, characterized in that, include: Based on the determined measurement area, the measurement points corresponding to the measurement area and the first coordinate information corresponding to the measurement points are determined; The target reference plane is determined based on the measurement point and the first coordinate information corresponding to the measurement point; Obtain the second coordinate information corresponding to the antenna, and determine the reference point and the third coordinate information corresponding to the reference point based on the target reference plane; Based on the second coordinate information and the third coordinate information, determine the phase compensation information corresponding to the third coordinate information; Based on the phase compensation information, the third coordinate information, and the acquired target point coordinate information, the target imaging information is determined. The measurement area comprises at least two sub-measurement areas. The process of determining the measurement points corresponding to the measurement areas and the first coordinate information corresponding to the measurement points, based on the determined measurement areas, includes: Determine multiple undetermined measurement points corresponding to each sub-measurement area; Based on the first preset screening rule, the multiple undetermined measurement points are screened to determine multiple measurement points; The first preset filtering rule is a filtering rule designed to select the intersection points of the edge lines of the sub-measurement area as measurement points; Obtain the first position information corresponding to the total station and the second position information corresponding to the plurality of measurement points respectively; Based on the first location information and the second location information, the first coordinate information corresponding to the plurality of measurement points is determined respectively; Based on the measurement points and the corresponding first coordinate information, the target reference plane is determined, including: Substitute the first coordinate information corresponding to multiple measurement points in each sub-measurement area into a preset equation for calculation to determine multiple plane parameters; Based on the multiple plane parameters, a sub-reference plane corresponding to each sub-measurement area is determined; The target reference plane is determined based on the sub-reference plane corresponding to each sub-measurement area and multiple first coordinate information. The step of determining the phase compensation information corresponding to the third coordinate information based on the second coordinate information and the third coordinate information includes: Substitute the second coordinate information and the third coordinate information into the compensation phase formula for calculation to determine the phase compensation information corresponding to the third coordinate information; The step of determining the phase compensation information corresponding to the third coordinate information includes: The phase compensation information corresponding to the third coordinate information is calculated using the following formula: in, Indicates the third coordinate information. The coordinates of the antenna are represented by λ, the carrier wavelength is represented by j, the imaginary unit is represented by r, and the rotation radius of the system is represented by r. The phase compensation information comprises multiple phase compensation information, and the third coordinate information comprises multiple third coordinate information. The step of determining the target imaging information based on the phase compensation information, the third coordinate information, and the acquired target point coordinate information includes: The multiple phase compensation information corresponds one-to-one with the multiple third coordinate information; Based on the target point coordinate information, the multiple third coordinate information are filtered to determine the third coordinate information and phase compensation information corresponding to the target point coordinate information; Based on the phase compensation information corresponding to the target point coordinate information, phase compensation is performed on the target point coordinate information, and the target imaging information is determined based on the phase-compensated target point coordinates.

2. The method according to claim 1, characterized in that, The step of determining the target reference plane based on the sub-reference plane corresponding to each sub-measurement region and multiple first coordinate information includes: Based on the second preset filtering rule, the multiple first coordinate information is filtered to determine multiple target coordinate information; Based on the coordinate information of the multiple targets, determine the range information corresponding to each sub-reference plane; The target reference plane is determined based on the range information corresponding to each sub-reference plane.

3. The method according to claim 1, characterized in that, The step of filtering the plurality of third coordinate information based on the target point coordinate information to determine the third coordinate information corresponding to the target point coordinate information includes: Using the target point coordinate information as the origin, determine the distance information between each third coordinate information and the target point coordinate information; Multiple distance information is compared to determine the shortest distance, and the third coordinate information corresponding to the shortest distance is matched with the target point coordinate information.

4. A radar imaging device for physical objects, characterized in that, include: The first information determination module is used to determine the measurement point corresponding to the measurement area and the first coordinate information corresponding to the measurement point based on the determined measurement area. The target reference plane determination module is used to determine the target reference plane based on the measurement point and the first coordinate information corresponding to the measurement point; The second information determination module is used to acquire the second coordinate information corresponding to the antenna, and determine the reference point and the third coordinate information corresponding to the reference point based on the target reference plane. A phase compensation determination module is used to determine phase compensation information corresponding to the third coordinate information based on the second coordinate information and the third coordinate information; The target imaging determination module is used to determine target imaging information based on the phase compensation information, the third coordinate information, and the acquired target point coordinate information; The measurement area comprises at least two sub-measurement areas. The process of determining the measurement points corresponding to the measurement areas and the first coordinate information corresponding to the measurement points, based on the determined measurement areas, includes: Determine multiple undetermined measurement points corresponding to each sub-measurement area; Based on the first preset screening rule, the multiple undetermined measurement points are screened to determine multiple measurement points; The first preset filtering rule is a filtering rule designed to select the intersection points of the edge lines of the sub-measurement area as measurement points; Obtain the first position information corresponding to the total station and the second position information corresponding to the plurality of measurement points respectively; Based on the first location information and the second location information, the first coordinate information corresponding to the plurality of measurement points is determined respectively; Based on the measurement points and the corresponding first coordinate information, the target reference plane is determined, including: Substitute the first coordinate information corresponding to multiple measurement points in each sub-measurement area into a preset equation for calculation to determine multiple plane parameters; Based on the multiple plane parameters, a sub-reference plane corresponding to each sub-measurement area is determined; The target reference plane is determined based on the sub-reference plane corresponding to each sub-measurement area and multiple first coordinate information. The step of determining the phase compensation information corresponding to the third coordinate information based on the second coordinate information and the third coordinate information includes: Substitute the second coordinate information and the third coordinate information into the compensation phase formula for calculation to determine the phase compensation information corresponding to the third coordinate information; The step of determining the phase compensation information corresponding to the third coordinate information includes: The phase compensation information corresponding to the third coordinate information is calculated using the following formula: in, Indicates the third coordinate information. The coordinates of the antenna are represented by λ, the carrier wavelength is represented by j, the imaginary unit is represented by r, and the rotation radius of the system is represented by r. The phase compensation information comprises multiple phase compensation information, and the third coordinate information comprises multiple third coordinate information. The step of determining the target imaging information based on the phase compensation information, the third coordinate information, and the acquired target point coordinate information includes: The multiple phase compensation information corresponds one-to-one with the multiple third coordinate information; Based on the target point coordinate information, the multiple third coordinate information are filtered to determine the third coordinate information and phase compensation information corresponding to the target point coordinate information; Based on the phase compensation information corresponding to the target point coordinate information, phase compensation is performed on the target point coordinate information, and the target imaging information is determined based on the phase-compensated target point coordinates.

5. An electronic device, characterized in that, The electronic device includes: At least one processor; Memory; At least one application, wherein the at least one application is stored in memory and configured to be executed by at least one processor, said at least one application being configured to: perform the entity-oriented radar imaging method according to any one of claims 1 to 3.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed in the computer, the computer is instructed to perform the entity-oriented radar imaging method according to any one of claims 1 to 3.

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