Radar signal processing method, device, system, electronic equipment and storage medium

Abstract

The radar signal processing method, device, system, electronic device, and storage medium disclosed in this application relate to the field of communication technology. By storing the sampled values ​​of the radar signal in a first buffer, and comparing the sampled values ​​with a signal threshold, a corresponding operation is performed on the count value. The sampled values ​​are then read from the first buffer. When the first count value is not zero, a first flag is added before the sampled value, forming a pulse signal data that is transmitted to a second buffer. When the second count value reaches a second valid value or the first count value is set to the first valid value and the second count value is not zero, a second flag is added before the second count value, forming a noise signal time parameter that is transmitted to the second buffer. Thus, by setting a signal threshold, a counter, and a buffer, valid radar signals with sampled values ​​greater than the signal threshold are fully retained and transmitted. For invalid radar signals with sampled values ​​less than the signal threshold, only their time parameters are transmitted, effectively improving the transmission capability of radar signals.

Description

Technical Field

[0001] The present application relates to the field of communication technology, and in particular to a radar signal processing method, device, system, electronic device and storage medium. Background Art

[0002] Radar is widely used in military, civilian, and scientific research fields due to its advantages such as long-range detection, weather resistance, high detection efficiency, and automated control. As the demand for remote object monitoring continues to increase, radar monitoring has become the primary monitoring method. However, the amount of data generated by radar signals is enormous, and as radar sampling rates and sampling accuracy continue to improve, the amount of data generated by radar signals is also growing.

[0003] To improve the transmission capability of radar signals and effectively transmit the large amount of data generated by radar signals, related technologies usually achieve this by increasing the transmission bandwidth, improving processor performance, or compressing the data. However, before a large number of existing devices are upgraded, it is still difficult to completely and quickly improve the transmission capability of radar signals. In addition, the cost of increasing the transmission bandwidth and improving processor performance is high, and data compression will cause distortion of the effective radar signal, making it impossible to retain the complete radar signal. Summary of the Invention

[0004] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the embodiments of the present application provide a radar signal processing method, apparatus, system, electronic device, and storage medium that can process different radar signals separately, ensuring the integrity of effective radar signals while improving the transmission capability of radar signals.

[0005] In a first aspect, an embodiment of the present application provides a radar signal processing method, including:

[0006] In response to the radar signal, storing a sample value of the radar signal in a first buffer, wherein the first buffer stores a plurality of the sample values;

[0007] Comparing the sampled value with a signal threshold; if the sampled value is less than the signal threshold and the first count value is not zero, decrementing the first count value by one; if the sampled value is less than the signal threshold and the first count value is zero, incrementing the second count value by one; if the sampled value is greater than the signal threshold, setting the first count value to a first valid value;

[0008] Reading the sampled values ​​from the first buffer in a storage order, and when the first count value is not zero, adding a first flag bit before the sampled value to obtain pulse signal data, and transmitting the pulse signal data to the second buffer;

[0009] The sampling values ​​are read from the first buffer in a storage order, and when the second count value reaches a second valid value, a second flag bit is added before the second count value to obtain a noise signal time parameter, and the noise signal time parameter is transmitted to the second buffer; or the sampling values ​​are read from the first buffer in a storage order, and when the first count value is set to a first valid value and the second count value is not zero, a second flag bit is added before the second count value to obtain a noise signal time parameter, and the noise signal time parameter is transmitted to the second buffer.

[0010] In some embodiments of the present application, the radar signal includes a noise signal and a pulse signal, and before comparing the sampled value with the signal threshold, the method further includes:

[0011] Setting the signal threshold; wherein, when the sampling value is greater than the signal threshold, the radar signal is determined to be the pulse signal; when the sampling value is less than or equal to the signal threshold, the radar signal is determined to be the noise signal;

[0012] Setting the effective number of bits of the pulse signal; wherein the binary value corresponding to the effective number of bits is the second effective value, and the first effective value is twice the second effective value;

[0013] A first counter is set, and a first count value in the first counter is initialized to the second valid value.

[0014] In some embodiments of the present application, before comparing the sampled value with the signal threshold, the method further includes:

[0015] Setting a second counter and initializing a second count value in the second counter to zero;

[0016] Setting the maximum number of the sample values ​​stored in the first buffer to the second valid value;

[0017] The read control signal of the first buffer is set to be low invalid, and the low invalid is used to close the read permission of the first buffer.

[0018] In some embodiments of the present application, before reading the sampling values ​​from the first buffer in the storage order, it also includes: when the first count value is zero for the first time, setting the read control signal of the first buffer to high validity, and the high validity is used to enable the first buffer read permission.

[0019] In some embodiments of the present application, after reading the sample values ​​from the first buffer in storage order, adding a second flag bit before the second count value when the second count value reaches a second valid value to obtain a noise signal time parameter, and transmitting the noise signal time parameter to the second buffer, the method further includes:

[0020] discarding the sampled value;

[0021] The second count value is set to zero.

[0022] In some embodiments of the present application, the first buffer and the second buffer are both first-in-first-out queues; and reading the sample values ​​from the first buffer in a storage order includes:

[0023] The sampled value first stored in the first buffer is read first;

[0024] The sampled values ​​stored in the first buffer are then read.

[0025] In a second aspect, an embodiment of the present application further provides a radar signal processing device, applying the radar signal processing method described in the embodiment of the first aspect of the present application, including:

[0026] a sampling value storage module, configured to store the sampling value of the radar signal in a first buffer in response to the radar signal, wherein the first buffer stores a plurality of the sampling values;

[0027] a sampling value comparison module, configured to compare the sampling value with a signal threshold; if the sampling value is less than the signal threshold and the first count value is not zero, decrement the first count value by one; if the sampling value is less than the signal threshold and the first count value is zero, increment the second count value by one; if the sampling value is greater than the signal threshold, set the first count value to a first valid value;

[0028] a pulse signal processing module, configured to read the sampled values ​​from the first buffer in a storage order, add a first flag bit before the sampled values ​​when the first count value is not zero, obtain pulse signal data, and transmit the pulse signal data to a second buffer;

[0029] The noise signal processing module is configured to read the sampling values ​​from the first buffer in a storage order, and when the second count value reaches a second valid value, add a second flag bit before the second count value to obtain a noise signal time parameter, and transmit the noise signal time parameter to the second buffer; or read the sampling values ​​from the first buffer, and when the first counter is set to a first valid value and the second count value is not zero, add a second flag bit before the second count value to obtain a noise signal time parameter, and transmit the noise signal time parameter to the second buffer.

[0030] In a third aspect, an embodiment of the present application further provides a radar signal processing system, applying the radar signal processing method described in the embodiment of the first aspect of the present application, including:

[0031] A first buffer unit, configured to store a plurality of sampling values ​​corresponding to the radar signals;

[0032] a first counter unit connected to the first buffer unit, the first counter unit being used to set a first count value in a first counter;

[0033] a second counter unit connected to the first counter unit, the second counter unit being used to set a second count value in the second counter;

[0034] The second buffer unit is connected to the second counter unit, and the second buffer unit is used to store pulse signal data and noise signal time parameters.

[0035] In a fourth aspect, an embodiment of the present application further provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, it implements the radar signal processing method as described in the embodiment of the first aspect of the present application.

[0036] In a fifth aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the storage medium stores a program, and the program is executed by a processor to implement the radar signal processing method as described in the embodiment of the first aspect of the present application.

[0037] The embodiments of the present application include at least the following beneficial effects:

[0038] The present invention provides a radar signal processing method, apparatus, system, electronic device, and storage medium. In the radar signal processing method, after responding to a radar signal, a sample value of the radar signal is stored in a first buffer, and the sample value is compared with a signal threshold. If the sample value is less than the signal threshold and the first count value is not zero, the first count value is decremented by one; if the sample value is less than the signal threshold and the first count value is zero, the first count value is maintained unchanged and the second count value is incremented; if the sample value is greater than the signal threshold, the first count value is set to a first valid value; then, the sample values ​​are read from the first buffer in a storage order, and when the first count value is not zero, a first flag bit is added before the read sample value to form pulse signal data, and the pulse signal data is transmitted to a second buffer; the sample values ​​are continued to be read from the first buffer in a storage order, and when the second count value reaches a second valid value, a second flag bit is added before the second count value to form a noise signal time parameter, and the noise signal time parameter is transmitted to the second buffer; or when the first count value is set to the first valid value and the second count value is not zero, a second flag bit is added before the second count value to form a noise signal time parameter, and the noise signal time parameter is transmitted to the second buffer. Therefore, by setting the signal threshold, counter and buffer, the valid radar signals with sampling values ​​greater than the signal threshold, that is, the pulse signal data, are completely retained and transmitted. For the invalid radar signals with sampling values ​​less than the signal threshold, only their time parameters, that is, the noise signal time parameters, are transmitted, thereby effectively improving the transmission capacity of the radar signal.

[0039] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0041] Figure 1 This is a flowchart of a radar signal processing method provided by an embodiment of the present application;

[0042] Figure 2 yes Figure 1 Flowchart before step S102;

[0043] Figure 3 This is a schematic diagram of signal thresholds provided by an embodiment of the present application;

[0044] Figure 4 This is a schematic diagram of the effective number of bits of a radar signal provided by an embodiment of the present application;

[0045] Figure 5 yes Figure 1Another flow chart before step S102;

[0046] Figure 6 yes Figure 1 Flowchart after step S104;

[0047] Figure 7 This is a schematic diagram of a radar signal provided by an embodiment of the present application;

[0048] Figure 8 This is a schematic diagram of a radar signal processing device module provided by an embodiment of the present application;

[0049] Figure 9 This is a schematic diagram of a radar signal processing system unit provided by an embodiment of the present application;

[0050] Figure 10 This is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application.

[0051] Figure 1: sampling value storage module 101, sampling value comparison module 102, pulse signal processing module 103, noise signal processing module 104, first buffer unit 201, first counter unit 202, second counter unit 203, second buffer unit 204, electronic device 1000, processor 1001, memory 1002. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0053] The following describes in detail embodiments of the present application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application.

[0054] In the description of this application, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on this application.

[0055] In the description of this application, "several" means one or more, "many" means more than two, "greater than," "less than," and "exceed" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. The terms "first" and "second" are used solely to distinguish technical features and are not to be construed as indicating or implying relative importance, or as implicitly specifying the number or order of the technical features indicated.

[0056] In the description of this application, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in this application based on the specific content of the technical solution.

[0057] Due to its advantages such as long-range detection, weather resistance, high detection efficiency, and automated control, radar is widely used in military, civilian, and scientific research fields. As the demand for remote object monitoring continues to increase, radar monitoring has become the primary monitoring method. However, the amount of data generated by radar signals is enormous. In some military fields, the sampling rate of feedback signals has reached 10G / s. If the sampling accuracy is 16 bits, up to 160G of data will be generated per second. Moreover, the sampling rate and sampling accuracy of radar are constantly improving, so the amount of data generated by radar signals is also growing. If it is a multi-phased array radar or radar matrix, the amount of data generated is staggering.

[0058] To improve the transmission capability of radar signals and effectively transmit the large amount of data generated by radar signals, related technologies usually achieve this by increasing the transmission bandwidth, improving processor performance, or compressing the data. However, before a large number of existing devices are upgraded, it is still difficult to completely and quickly improve the transmission capability of radar signals. In addition, the cost of increasing the transmission bandwidth and improving processor performance is high, and data compression will cause distortion of the effective radar signal, making it impossible to retain the complete radar signal.

[0059] Based on this, embodiments of the present application provide a radar signal processing method, apparatus, system, electronic device, and storage medium. Specifically, by setting a signal threshold, a counter, and a buffer, valid radar signals (i.e., pulse signal data) with sampling values ​​greater than the signal threshold are fully retained and transmitted. For invalid radar signals (i.e., noise signal time parameters) with sampling values ​​less than the signal threshold, only their time parameters are transmitted, thereby effectively improving the transmission capability of radar signals.

[0060] Reference Figure 1 As shown, an embodiment of the present application provides a radar signal processing method, including but not limited to the following steps S101 to S104.

[0061] Step S101 : In response to a radar signal, a sample value of the radar signal is stored in a first buffer.

[0062] It can be understood that the sampling value can be obtained by sampling the radar signal. Radar signal sampling is to obtain discrete sample points from the continuous radar signal. Specifically, it converts the continuous analog signal into a digital signal so that it can be processed and stored in a digital system to digitally process and analyze the signal.

[0063] In some embodiments, the sampling value of the radar signal is an ADC sampling value, where ADC is the abbreviation of analog-to-digital converter, which is an electronic device or module that can convert an analog signal into a digital signal. The ADC (analog-to-digital converter) sampling value refers to the result of converting an analog signal into a digital signal by the ADC within a certain time interval. In response to receiving a radar signal, ADC sampling is performed on it to obtain a sampling value, and then the sampling value of the radar signal is stored in a first buffer. It should be understood that the sampling value is a numerical value, and its value range is determined by the sampling accuracy of the ADC. For example, if the sampling accuracy of the ADC is 10 bits, the sampling value range is 0 to 1023; for example, if the sampling accuracy of the ADC is 12 bits, the sampling value range is 0 to 4095. This embodiment does not limit this.

[0064] In some embodiments, the first buffer is a cache area for storing received data. It can temporarily store incoming data pending processing. The first buffer stores sample values ​​corresponding to multiple radar signals, providing buffering and regulation during data transmission. This ensures that data transmission speeds are matched, thereby preventing data loss and errors. It can also optimize system performance and improve data transmission efficiency and reliability.

[0065] Step S102, compare the sampling value with the signal threshold; if the sampling value is less than the signal threshold and the first count value is not zero, decrement the first count value by one; if the sampling value is less than the signal threshold and the first count value is zero, increment the second count value by one; if the sampling value is greater than the signal threshold, set the first count value to the first valid value.

[0066] In some embodiments, after sampling a radar signal to obtain a sampled value, the sampled value is compared with a signal threshold value. The signal threshold value is used to determine whether the radar signal corresponding to the sampled value is a valid radar signal or an invalid radar signal, thereby facilitating separate processing of different radar signals.

[0067] In some embodiments, if the sampled value is less than the signal threshold and the first count value is not zero, the first count value is decremented by one. Specifically, the sampled value is stored in the first buffer and compared with the signal threshold. If the sampled value is less than the signal threshold, indicating that the radar signal is an invalid radar signal, and the first count value is not zero, the first count value is decremented by one.

[0068] In some embodiments, if the sampled value is less than the signal threshold and the first count value is zero, the second count value is incremented by one. Specifically, if the sampled value is less than the signal threshold and the first count value is already zero, the first count value cannot be decremented; in this case, the first count value remains at zero and the second count value is incremented by one. It is understood that the second count value is used to count invalid radar signals. When the number of invalid radar signals reaches a certain number, that is, the first count value has been continuously decremented from the value corresponding to the certain number to zero, and the subsequent radar signal is still an invalid radar signal, its sampled value will be less than the signal threshold. In this case, the second count value is incremented by one to count the number of invalid radar signals.

[0069] In some embodiments, if the sampled value is greater than the signal threshold, the first count value is set to the first valid value. Specifically, if the sampled value is greater than the signal threshold, it indicates that the radar signal is a valid radar signal, and the first count value is set to the first valid value. It is understood that most radar signals are invalid radar signals, such as noise signals, while valid radar signals are typically pulse signals. Pulse signals are sudden, short-lived signals that appear at a high amplitude for a very short period of time and then quickly return to a baseline level. Therefore, the number of sampled values ​​greater than the signal threshold is generally small. Once a sampled value exceeds the signal threshold, subsequent sampled values ​​are generally less than the signal threshold. At this time, the first count value continues to decrease by one starting from the first valid value. Since the first buffer stores multiple sampled values, it is possible to count the number of invalid radar signals before and after the valid radar signal, totaling the first valid value.

[0070] For example, if the first buffer caches 128 sample values ​​and the sample value corresponding to the received radar signal is greater than the signal threshold, the first count value is set to 257. After the sample value is stored in the first buffer, if the sample values ​​of subsequent radar signals are all less than the signal threshold, the first count value is correspondingly decremented from 257, and the sample values ​​are stored in the first buffer. If the sample values ​​are continuously read from the first buffer while the first count value decreases from 257 to zero, 257 reads can be performed. In this case, after reading the 128 sample values ​​stored before the valid radar signal, the sample values ​​of the valid radar signal and the 128 sample values ​​stored after the valid radar signal can also be read, thereby retaining a total of 256 invalid radar signals before and after the valid radar signal. This is not limited in this embodiment.

[0071] Step S103, reading the sampling values ​​from the first buffer in the storage order, and when the first count value is not zero, adding the first flag bit before the sampling value to obtain the pulse signal data, and transmitting the pulse signal data to the second buffer.

[0072] In some embodiments, the sample values ​​are read from the first buffer in the order in which they are stored. Specifically, the sample values ​​are read in the order in which they are stored. For example, if sample value a is stored in the first buffer before sample value b, then when reading the sample values, sample value a is read first and then sample value b. For another example, if sample values ​​a, b, and c are stored in the first buffer in that order, then when reading the sample values, the corresponding sample values ​​are read in the order in which they are stored.

[0073] In some embodiments, when the first count value is not zero, that is, during the process of decrementing the first count value by one or setting the first count value to a valid value and then decrementing by one, the first count value has not yet decremented to zero, the sample value read from the first buffer corresponds to a valid radar signal or an invalid radar signal within its range. To preserve the integrity of the valid radar signal, the invalid radar signals within its range are also treated as valid radar signals for transmission. Specifically, a first flag bit is added before the read sample value to form pulse signal data, and the pulse signal data is transmitted to the second buffer for transmission to the next processing module.

[0074] In some embodiments, the first flag bit is a high-order bit of 1, indicating a pulse signal, i.e., a valid radar signal. The high-order bit of 1 is appended to the sampled value to form pulse signal data. For example, if the ADC precision is 10 bits, the ADC sampled value ranges from 0 to 1023, i.e., 0 to 1111111111B. If the sampled value read is 0011101011, appending the high-order bit of 1 will result in the 11-bit value 10011101011, corresponding to pulse signal data. This embodiment does not impose any limitation on this.

[0075] Step S104, reading the sampling values ​​from the first buffer in the storage order, when the second count value reaches the second valid value, adding a second flag bit before the second count value to obtain the noise signal time parameter, and transmitting the noise signal time parameter to the second buffer; or, reading the sampling values ​​from the first buffer in the storage order, when the first count value is set to the first valid value and the second count value is not zero, adding a second flag bit before the second count value to obtain the noise signal time parameter, and transmitting the noise signal time parameter to the second buffer.

[0076] In some embodiments, sample values ​​are read from the first buffer in the order in which they are stored. When the second count value reaches a second valid value, i.e., the first count value has been continuously decremented from a certain number of values ​​to zero, for example, if the first count value is continuously decremented from the first valid value to zero and subsequent radar signals are still invalid radar signals, the second count value is incremented by one to count the number of invalid radar signals, and the increment operation is continued until the second count value reaches the second valid value. At this time, a second flag bit is added before the second count value, i.e., the second flag bit is added before the second valid value to form a noise signal time parameter, and the noise signal time parameter is transmitted to the second buffer for transmission to the next processing module.

[0077] In some embodiments, the second flag bit is a high-order zero. For example, the second valid value is set to 511, i.e., 9-bit 1111111111B. When the second count value continuously increases from zero, i.e., the sample values ​​received starting from 0 are all less than the signal threshold, then it increases from 0 to 111111111B. At this time, a high-order zero is added before the second count value, i.e., it becomes 10-bit 0111111111B, which corresponds to the noise signal time parameter. It can be understood that the value of this binary number corresponds to the number of noise signals. The time of one sample value can be calculated by the sampling frequency, which refers to the time of one noise signal, thereby obtaining the noise signal time parameter of the second count value number. This embodiment does not limit this.

[0078] In some embodiments, sample values ​​are read from the first buffer in storage order. When the first count value is set to the first valid value and the second count value is non-zero, i.e., the sample value at this time is greater than the signal threshold, the first count value is set to the first valid value to preserve the integrity of the valid radar signal. However, since the second count value has already been incremented, i.e., the second count value is non-zero, a second flag bit is added before the second count value to form a noise signal time parameter. The noise signal time parameter is then transferred to the second buffer to await transmission to the next processing module. For example, when the first count value is set to the first valid value, the second count value is 17, which is represented by 9 bits in binary, i.e., 000010001B. The high-order bit is added with zeros, i.e., 0000010001B, corresponding to the 10-bit noise signal time parameter. This is not limited in this embodiment.

[0079] Reference Figure 2 As shown, in some embodiments of the present application, before the above step S102, the following steps S201 to S203 may also be included but not limited to.

[0080] Step S201: setting a signal threshold.

[0081] In some embodiments, radar signals include noise signals and pulse signals. Noise signals are invalid radar signals caused by factors such as the radar system's own electronic noise, atmospheric noise, and ground reflection noise. These noise signals interfere with radar signal detection and processing, reducing the performance of the radar system. Pulse signals are electromagnetic pulse signals emitted by the radar system and are used to detect targets and extract target information. Pulse signals typically have a short pulse width and high peak power, and can generate a high energy density in a very short period of time, thereby enabling accurate measurement of parameters such as distance, speed, and azimuth. It is understood that radar signals also include clutter signals, interference signals, multipath signals, and the like, which are not limited in this embodiment.

[0082] In some embodiments, the signal threshold is first set, referring to Figure 3 As shown in the signal threshold diagram, when the sampling value is greater than the signal threshold, the radar signal is determined to be a pulse signal; when the sampling value is less than or equal to the signal threshold, the radar signal is determined to be a noise signal.

[0083] It is understood that a larger signal threshold means more noise signals are filtered. This means that by retaining the noise signal's time parameters instead of the noise signal, the data compression rate is higher. However, this also increases the probability that valid short-duration pulse signals will be filtered. Therefore, the signal threshold can be set based on the actual application and the ADC's sampling accuracy. For example, if the ADC's sampling accuracy is 10 bits, meaning the ADC sampling value ranges from 0 to 1023, based on statistical experience, if the sampling value is less than 20, or 2%, the corresponding radar signal is a noise signal. In this case, the signal threshold is correspondingly set to 20. This embodiment does not impose any restrictions on this.

[0084] Step S202: Set the effective number of bits of the pulse signal.

[0085] In some embodiments, the binary value corresponding to the effective number of bits is a second effective value. For example, if the effective number of bits of the pulse signal is set to 9, the corresponding maximum binary value is 111111111B, i.e., 511, which is also used as the second effective value. When the second count value reaches 511, the second flag bit is supplemented to form the corresponding noise signal time parameter and transmitted to the second buffer. For another example, if the effective number of bits of the pulse signal is set to 15, the corresponding maximum binary value is 111111111111111B. This embodiment is not limited to this.

[0086] In some embodiments, the first effective value is one more than twice the second effective value, that is, the number of bits corresponding to the first effective value is one more than the number of bits corresponding to the second effective value. For example, if the second effective value is 9 bits, 111111111B, then the first effective value corresponds to 10 bits, 1111111111B; for another example, if the second effective value is 15 bits, then the first effective value corresponds to 16 bits. Figure 4 The diagram shows the effective number of bits of a radar signal. The larger the effective number of bits, the larger the range of the pulse signal retained, that is, the better the integrity. By setting a buffer and a counter, the integrity of the pulse signal and the number of data corresponding to the effective number of bits before and after it can be effectively guaranteed.

[0087] Step S203: Set a first counter and initialize the first count value in the first counter to a second valid value.

[0088] In some embodiments, the first counter is a minus-one counter, and the first counter is set and initialized to a second effective value. Specifically, starting from the second effective value, when the sampled value is less than the signal threshold, a minus-one operation is performed to count the number of noise signals.

[0089] Reference Figure 5 As shown, in some embodiments of the present application, before the above step S102, the following steps S301 to S303 may also be included but not limited to.

[0090] Step S301: Set a second counter and initialize a second count value in the second counter to zero.

[0091] In some embodiments, the second counter is an incrementing counter. The second counter is set and the second count value in the second counter is initialized to zero. It is understood that at the beginning of operation, the second count value remains unchanged because it decreases by one from the second valid value. When the first count value reaches zero, if the subsequent radar signal is still a noise signal, the corresponding second count value is incremented from zero.

[0092] Step S302: Setting the maximum number of sample values ​​stored in the first buffer to a second valid value.

[0093] In some embodiments, the maximum number of sample values ​​stored in the first buffer is set to a second valid value. It is understood that the first buffer can only cache a preset number of sample values. When the sample values ​​stored in the first buffer reach the preset maximum number, the stored sample values ​​need to be read out before the next sample value can be stored. This embodiment does not impose any limitation on this.

[0094] Step S303: Set the read control signal of the first buffer to be low and invalid.

[0095] It is understood that when the read control signal of the buffer is low and inactive, it means that the current buffer does not accept any read operations. When the read control signal is low and inactive, any read request will be ignored, thereby protecting the data in the buffer from illegal access or corruption. In some embodiments, the read control signal of the first buffer is initially set to low and inactive, thereby disabling read permission for the first buffer.

[0096] In some embodiments, when the first count value is initialized to the second valid value and is reduced to zero for the first time through a subtraction operation, the corresponding read control signal of the first buffer is set to high valid. Since the read operation of the buffer needs to be performed by setting the read control signal to high valid, the read permission of the first buffer is enabled. At this time, the first buffer stores the second valid value number of sampling values.

[0097] Reference Figure 6 As shown, in some embodiments of the present application, after the above step S104, the following steps S401 to S402 may also be included but not limited to.

[0098] Step S401: discard the sample value.

[0099] In some embodiments, the sampling values ​​are read from the first buffer in the order in which they are stored. When the second count value reaches the second effective value, that is, the number of noise signals has reached the maximum representation range of the effective number of bits of the pulse signal. For example, the effective number of bits of the pulse signal is 9 bits, that is, the corresponding second effective value is 1111111111B, which is 9 bits. This indicates that the sampling values ​​read from the first buffer correspond to 111111111B noise signals, while the first buffer still stores 1111111111B sampling values. Therefore, these already read sampling values ​​correspond to invalid radar signals and are not within the effective number of bits of the pulse signal, and do not affect the integrity of the pulse signal. Therefore, when the corresponding noise signal time parameters are obtained, the sampling values ​​are discarded. Thus, only the time parameters corresponding to the number of transmitted noise signals are retained, and data corresponding to a large amount of noise signals are discarded, which can improve the transmission capability of the radar signal.

[0100] Step S402: Set the second count value to zero.

[0101] In some embodiments, when the second count value reaches a second valid value, a second flag is added before the second count value to obtain a noise signal time parameter, and after the noise signal time parameter is transmitted to a second buffer, the second count value in the second counter is reset to zero, thereby re-counting the number of noise signals.

[0102] In some embodiments, both the first buffer and the second buffer are first-in, first-out queues. Samples stored in the first buffer are read first, and samples stored in the second buffer are read last. Specifically, the first buffer is a receive FIFO (First In, First Out) buffer, which is used to store received data and can temporarily store incoming data pending processing. In digital communication systems, receive FIFOs are typically used to store data received from analog-to-digital converters or demodulators. Receive FIFOs store data in the order it is received, ensuring the first-in, first-out principle, thereby making the processing of received data more efficient and accurate. The second buffer is a transmit FIFO, which is used to store data to be transmitted. In digital communication systems, transmit FIFOs are typically used to store data after processing by a digital signal processor or other processing unit. Transmit FIFOs store data in the order it is sent, ensuring the first-in, first-out principle, thereby ensuring the order and accuracy of transmitted data. It will be understood that both receive FIFOs and transmit FIFOs function as buffers and regulators during data transmission, aligning data transmission speeds and preventing data loss and errors. They can also optimize system performance and improve the efficiency and reliability of data transmission. This embodiment is not limited to this.

[0103] The following is a complete example to illustrate. Figure 7 In the radar signal schematic diagram shown, label 1 corresponds to the pulse signal to be retained and transmitted and the corresponding noise signal within the range of valid bits before and after it. Labels 2 and 3 correspond to noise signals that can be directly discarded and do not need to be retained and transmitted.

[0104] Before starting work or receiving a system reset signal, the system is reset and initialized. Specifically, the signal threshold is set to H, the effective number of bits of the pulse signal is set to A, and the first count value in the first counter is set to the second effective value B. That is, the effective number of bits A corresponds to the maximum binary value B, then the first effective value is set to 2B+1, and the second count value in the second counter is set to 0, and the maximum number of sampling values ​​stored in the first buffer is also the second effective value B, and the read control signal is low and invalid at this time, assuming that no sampling values ​​are stored in the first buffer at this time.

[0105] The pulse signal is received only after a large number of noise signals are continuously received. Specifically, in response to the radar signal, the radar signal is sampled by ADC to obtain a sample value, which is stored in the first buffer. At the same time, the sample value is compared with the signal threshold H. If the sample value is less than the signal threshold H, since the first count value is the second valid value B at this time, the first count value is decremented by one, that is, it becomes B-1.

[0106] Since there is a large amount of noise signal in the early stage, that is, each received sample value is less than the signal threshold, the first count value is continuously decremented by one. When the first count value decreases from the second effective value B to zero, the first buffer also stores the corresponding second effective value B sample values, and all of them are noise signals. At this time, the read control signal of the first buffer is set to high. If subsequent noise signals continue to be received, it is necessary to read the first stored sample value from the first buffer in the storage order, and the second count value in the second counter is incremented by one from zero. Each time a noise signal sample value is read, the second count value is incremented by one. At the same time, a new noise signal sample value is stored in the first buffer, but the first count value remains unchanged at zero.

[0107] When the second count value continuously increases by one and reaches the second valid value B, B sampling values ​​have been read from the first buffer, and at this time B sampling values ​​are still stored in the first buffer. Therefore, the read sampling values ​​are all invalid radar signals and are not within the range of the valid number of bits A of the pulse signal. Even if the next received sampling value is greater than the signal threshold H, B sampling values ​​corresponding to the valid number of bits A can be retained from the first buffer, thereby ensuring the integrity of the pulse signal.

[0108] For the sampled values ​​that have been read, only the corresponding time parameters need to be retained through the second count value; all other data can be discarded. Specifically, when the second count value reaches the second valid value B, the B sampled values ​​read can be directly discarded, thereby discarding the corresponding noise signal data. By appending a second flag bit before the second count value to obtain the noise signal time parameters, retaining and transmitting them, subsequent processing modules can determine the interval between different pulse signals—that is, the number of noise signal times separating two adjacent pulse signals, facilitating radar signal recovery. The time parameters of radar signals play a crucial role in radar applications. For example, in distance measurement, radar calculates the distance to a target by measuring the time between signal transmission and reception. Therefore, time parameters are crucial for distance measurement. For another example, in target velocity measurement, radar can calculate the target's velocity by detecting the Doppler shift of the signal, and the Doppler effect is related to the signal's time parameters. For target recognition, radar can identify different types of targets by analyzing the signal's time parameters. Specifically, radar can identify the size and shape of a target by analyzing the signal's echo delay time and attenuation rate. Therefore, retaining and transmitting the noise signal's time parameters is crucial.

[0109] For example, when there is a large amount of noise signal between two adjacent pulse signals, in this embodiment, only the second flag bit and the second count value in the second counter need to be used to obtain the noise signal time parameter, and the sampling value does not need to be retained and transmitted, thereby reducing a large amount of data transmission and effectively improving the transmission capability of the radar signal.

[0110] When the sampled value is greater than the signal threshold H, the sampled value is stored in the first buffer, and the first count value in the first counter is set to the first valid value, i.e., 2B+1. At this point, the sampled value read from the first buffer is within the range of the effective number of bits of the pulse signal. Therefore, the first flag bit is added before the sampled value to obtain the pulse signal data and transmit it to the second buffer. It can be understood that because the first count value is decremented from the first effective value 2B+1, during this process, the sampled values ​​read from the first buffer are the B sampled values ​​stored before receiving the pulse signal and the B sampled values ​​stored after the pulse signal, i.e., the sampled values ​​within the range of the effective number of bits A before and after the pulse signal, thereby ensuring the integrity of the pulse signal.

[0111] It is understood that when a pulse signal with a sampling value greater than the signal threshold H is received again before the first count value is decremented to zero, the first count value is reset to the first effective value. It is also understood that when the first count value is initialized to the second effective value and a pulse signal with a sampling value greater than the signal threshold H is received before the first count value is decremented to zero, the first count value is also set to the first effective value, and the read control signal of the first buffer is set to active high. Those skilled in the art may set this according to actual needs, and this embodiment does not impose any limitation on this.

[0112] The embodiment of the present invention further provides a radar signal processing device, which can implement the above radar signal processing method, referring to Figure 8 As shown, in some embodiments of the present application, the radar signal processing device includes:

[0113] The sampling value storage module 101 is used to store the sampling value of the radar signal in a first buffer in response to the radar signal, wherein the first buffer stores a plurality of sampling values;

[0114] The sampling value comparison module 102 is configured to compare the sampling value with the signal threshold; if the sampling value is less than the signal threshold and the first count value is not zero, the first count value is decremented by one; if the sampling value is less than the signal threshold and the first count value is zero, the second count value is incremented by one; if the sampling value is greater than the signal threshold, the first count value is set to a first valid value;

[0115] The pulse signal processing module 103 is configured to read the sampled values ​​from the first buffer in a storage order, add a first flag bit before the sampled value when the first count value is not zero, obtain pulse signal data, and transmit the pulse signal data to the second buffer;

[0116] The noise signal processing module 104 is used to read the sampling values ​​from the first buffer in the storage order, and when the second count value reaches the second valid value, add the second flag bit before the second count value to obtain the noise signal time parameter, and transmit the noise signal time parameter to the second buffer; or read the sampling values ​​from the first buffer, and when the first counter is set to the first valid value and the second count value is not zero, add the second flag bit before the second count value to obtain the noise signal time parameter, and transmit the noise signal time parameter to the second buffer.

[0117] The specific implementation of the radar signal processing device of this embodiment is basically the same as the specific implementation of the above-mentioned radar signal processing method, and will not be described in detail here.

[0118] The embodiment of the present invention further provides a radar signal processing system, which can implement the above radar signal processing method. Figure 9 As shown, in some embodiments of the present application, the radar signal processing system includes:

[0119] The first buffer unit 201 is used to store sampling values ​​corresponding to multiple radar signals;

[0120] A first counter unit 202 is connected to the first buffer unit, and the first counter unit is used to set a first count value in the first counter;

[0121] A second counter unit 203 is connected to the first counter unit, and the second counter unit is used to set a second count value in the second counter;

[0122] The second buffer unit 204 is connected to the second counter unit and is used to store pulse signal data and noise signal time parameters.

[0123] The specific implementation of the radar signal processing system of this embodiment is basically the same as the specific implementation of the above-mentioned radar signal processing method, and will not be described in detail here.

[0124] Figure 10 The electronic device 1000 provided in an embodiment of the present application is shown. The electronic device 1000 includes: a processor 1001, a memory 1002, and a computer program stored in the memory 1002 and executable on the processor 1001. When the computer program is executed, it is used to execute the above-mentioned radar signal processing method.

[0125] The processor 1001 and the memory 1002 may be connected via a bus or other means.

[0126] Memory 1002, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs, such as the radar signal processing method described in the embodiments of this application. Processor 1001 implements the radar signal processing method described above by executing the non-transitory software programs and instructions stored in memory 1002.

[0127] The memory 1002 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data for executing the above-mentioned radar signal processing method. In addition, the memory 1002 may include a high-speed random access memory 1002 and may also include a non-volatile memory 1002, such as at least one storage device memory device, flash memory device, or other non-volatile solid-state memory device. In some embodiments, the memory 1002 may optionally include a memory 1002 remotely located relative to the processor 1001, and these remote memories 1002 may be connected to the electronic device 1000 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0128] The non-transient software program and instructions required to implement the above radar signal processing method are stored in the memory 1002. When executed by one or more processors 1001, the above radar signal processing method is executed, for example, steps S101 to S104 of the method in step 1 are executed. Figure 2 Steps S201 to S203 of the method, Figure 5 Steps S301 to S303 of the method, Figure 6 Method steps S401 to S402.

[0129] An embodiment of the present application also provides a storage medium, which is a computer-readable storage medium. The storage medium stores a computer program, and when the computer program is executed by the processor, the above-mentioned radar signal processing method is implemented. The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely located relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0130] The radar signal processing method, device, system, electronic device, and storage medium provided by the embodiments of the present application are as follows: The radar signal sampling values ​​are stored in a first buffer, the sampling values ​​are compared with a signal threshold, and then the sampling values ​​are read from the first buffer in the order of storage. When the first count value is not zero, a first flag is added before the read sampling value to form pulse signal data and transmit the pulse signal data to a second buffer; when the second count value reaches a second valid value or the first count value is set to the first valid value and the second count value is not zero, a second flag is added before the second count value to form a noise signal time parameter and transmit it to the second buffer. Thus, by setting a signal threshold and a counter, the sampling value is compared with the signal threshold, and the count value in the counter is operated accordingly. Valid radar signals, i.e., pulse signal data, whose sampling values ​​are greater than the signal threshold are completely retained and transmitted. For invalid radar signals, whose sampling values ​​are less than the signal threshold, only their time parameters, i.e., noise signal time parameters, are transmitted, thereby effectively improving the transmission capability of the radar signal. Setting a buffer effectively ensures the integrity of the valid radar signal.

[0131] The embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, i.e., they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment.

[0132] Those skilled in the art will appreciate that all or some of the steps and systems in the method disclosed above can be implemented as software, firmware, hardware, and appropriate combinations thereof. Some physical components or all physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, and the computer-readable medium can include computer storage media (or non-transitory media) and communication media (or temporary media). As known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory, or other memory technology, CD-ROM, digital versatile disks (DVD), or other optical disk storage, magnetic cassettes, magnetic tapes, storage device storage, or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, as is well known to those skilled in the art, communication media typically includes computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0133] It should also be understood that the various implementations provided in the embodiments of this application can be arbitrarily combined to achieve different technical effects. The above is a specific description of the preferred implementation of this application, but this application is not limited to the above implementation. Those skilled in the art can also make various equivalent modifications or substitutions under the conditions that do not violate the spirit of this application.

Claims

1. A radar signal processing method, characterized in that: include: In response to the radar signal, storing a sample value of the radar signal in a first buffer, wherein the first buffer stores a plurality of the sample values; comparing the sampled value with a signal threshold; If the sampling value is less than the signal threshold and the first count value is not zero, the first count value is reduced by one; if the sampling value is less than the signal threshold and the first count value is zero, the second count value is increased by one; if the sampling value is greater than the signal threshold, the first count value is set to a first valid value; Reading the sampled values ​​from the first buffer in a storage order, and when the first count value is not zero, adding a first flag bit before the sampled value to obtain pulse signal data, and transmitting the pulse signal data to the second buffer; The sampling values ​​are read from the first buffer in a storage order, and when the second count value reaches a second valid value, a second flag bit is added before the second count value to obtain a noise signal time parameter, and the noise signal time parameter is transmitted to the second buffer; or the sampling values ​​are read from the first buffer in a storage order, and when the first count value is set to a first valid value and the second count value is not zero, a second flag bit is added before the second count value to obtain a noise signal time parameter, and the noise signal time parameter is transmitted to the second buffer.

2. The radar signal processing method according to claim 1, wherein: The radar signal includes a noise signal and a pulse signal. Before comparing the sampling value with the signal threshold, the method further includes: Setting the signal threshold; wherein, when the sampling value is greater than the signal threshold, the radar signal is determined to be the pulse signal; when the sampling value is less than or equal to the signal threshold, the radar signal is determined to be the noise signal; Setting the number of significant digits of the pulse signal; wherein the maximum binary value corresponding to the significant digit is the second significant value, and the first significant value is one more than twice the second significant value; A first counter is set, and a first count value in the first counter is initialized to the second valid value.

3. The radar signal processing method according to claim 2, wherein: Before comparing the sampling value with the signal threshold, the method further includes: Setting a second counter, initializing a second count value in the second counter to zero; Setting the maximum number of sample values ​​stored in the first buffer to the second valid value; The read control signal of the first buffer is set to be low invalid, and the low invalid is used to close the read permission of the first buffer.

4. The radar signal processing method according to claim 3, wherein: Before reading the sampling values ​​from the first buffer in the storage order, the method further includes: when the first count value is zero for the first time, setting the read control signal of the first buffer to be high valid, and the high valid is used to enable the first buffer read permission.

5. The radar signal processing method according to claim 1, wherein: After the sampling values ​​are read from the first buffer in a storage order, a second flag is added before the second count value when the second count value reaches a second valid value to obtain a noise signal time parameter, and the noise signal time parameter is transferred to the second buffer, the method further includes: discarding the sampled value; The second count value is set to zero.

6. The radar signal processing method according to any one of claims 1 to 5, characterized in that: The first buffer and the second buffer are both first-in-first-out queues; and the step of reading the sample values ​​from the first buffer in a storage order includes: The sampled value first stored in the first buffer is read first; The sampled values ​​stored in the first buffer are then read.

7. A radar signal processing device, characterized in that: The radar signal processing method according to any one of claims 1 to 6 comprises: a sampling value storage module, configured to store the sampling value of the radar signal in a first buffer in response to the radar signal, wherein the first buffer stores a plurality of the sampling values; a sampling value comparison module, configured to compare the sampling value with a signal threshold; if the sampling value is less than the signal threshold and the first count value is not zero, decrement the first count value by one; if the sampling value is less than the signal threshold and the first count value is zero, increment the second count value by one; if the sampling value is greater than the signal threshold, set the first count value to a first valid value; a pulse signal processing module, configured to read the sampled values ​​from the first buffer in a storage order, add a first flag bit before the sampled values ​​when the first count value is not zero, obtain pulse signal data, and transmit the pulse signal data to a second buffer; The noise signal processing module is configured to read the sampling values ​​from the first buffer in a storage order, and when the second count value reaches a second valid value, add a second flag bit before the second count value to obtain a noise signal time parameter, and transmit the noise signal time parameter to the second buffer; or read the sampling values ​​from the first buffer, and when the first count value is set to a first valid value and the second count value is not zero, add a second flag bit before the second count value to obtain a noise signal time parameter, and transmit the noise signal time parameter to the second buffer.

8. A radar signal processing system, characterized in that: The radar signal processing method according to any one of claims 1 to 6 comprises: A first buffer unit, configured to store a plurality of sampling values ​​corresponding to the radar signals; a first counter unit connected to the first buffer unit, the first counter unit being used to set a first count value in a first counter; a second counter unit connected to the first counter unit, the second counter unit being used to set a second count value in the second counter; The second buffer unit is connected to the second counter unit, and the second buffer unit is used to store pulse signal data and noise signal time parameters.

9. An electronic device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the radar signal processing method according to any one of claims 1 to 6 is implemented.

10. A computer-readable storage medium, characterized in that The storage medium stores a program, and the program is executed by a processor to implement the radar signal processing method according to any one of claims 1 to 6.

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