Compensation speed obtaining method and device, electronic equipment and readable storage medium

Abstract

Embodiments of the present application provide a compensation speed obtaining method and device, electronic equipment and readable storage medium, relating to the technical field of radar. The method comprises: when obtaining current frame echo data, judging whether the total number of currently received echo data is greater than a preset value; if greater, obtaining a first speed compensation value calculated according to historical speed estimation values in a speed set, the historical speed estimation values in the speed set being speed estimation values corresponding to multiple historical frame echo data respectively, the number of historical speed estimation values in the speed set not being less than the preset value when the total number is greater than the preset value, the first speed compensation value being used for compensating the current frame echo data. In this way, a speed value with small error for compensation can be obtained, thereby improving the ranging accuracy.

Description

Technical Field

[0001] This application relates to the field of radar technology, and more specifically, to a method, apparatus, electronic device, and readable storage medium for obtaining compensated velocity. Background Technology

[0002] The impact of motion on frequency-stepped signals primarily results in primary and secondary phase errors. Primary phase error causes a time shift in the output, while secondary phase error leads to waveform divergence and peak value reduction in the synthesized result. Primary phase error affects radar ranging accuracy, while secondary phase error, in addition to affecting range resolution, distorts the synthesized one-dimensional range image. Therefore, when the radar system design and target motion cause waveform divergence in the synthesized output, this problem must be addressed to obtain a meaningful synthesized output. Currently, velocity estimation is generally performed, and the estimated velocity is then used for compensation to mitigate the aforementioned issues. However, the final one-dimensional range image output from the frequency-stepped signal only contains range information, and the imaging effect is closely related to the accuracy of velocity compensation. Therefore, how to estimate the velocity affecting ranging accuracy without velocity measurement information has become a pressing technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0003] This application provides a method, apparatus, electronic device, and readable storage medium for obtaining compensated speed, which can obtain speed values ​​with small errors for compensation and improve ranging accuracy.

[0004] The embodiments of this application can be implemented as follows:

[0005] In a first aspect, embodiments of this application provide a method for obtaining compensation speed, the method comprising:

[0006] When obtaining the echo data of the current frame, determine whether the total number of echo data received is greater than a preset value;

[0007] If the value is greater than the preset value, a first velocity compensation value is obtained based on the historical velocity estimates in the velocity set. The historical velocity estimates in the velocity set are the velocity estimates corresponding to each of the multiple historical frame echo data. When the total number of times is greater than the preset value, the number of historical velocity estimates in the velocity set is not less than the preset value. The first velocity compensation value is used to compensate the current frame echo data.

[0008] Secondly, embodiments of this application provide a compensation speed obtaining device, the device comprising:

[0009] The judgment module is used to determine whether the total number of echo data received in the current frame is greater than a preset value when the current frame echo data is obtained.

[0010] The compensation speed acquisition module is used to obtain a first speed compensation value calculated based on historical speed estimates in the speed set when the total number of times is greater than the preset value. The historical speed estimates in the speed set are speed estimates corresponding to each of multiple historical frame echo data. When the total number of times is greater than the preset value, the number of historical speed estimates in the speed set is not less than the preset value. The first speed compensation value is used to compensate the current frame echo data.

[0011] Thirdly, embodiments of this application provide an electronic device, including a processor and a memory, wherein the memory stores machine-executable instructions that can be executed by the processor, and the processor can execute the machine-executable instructions to implement the speed compensation method described in the foregoing embodiments.

[0012] Fourthly, embodiments of this application provide a readable storage medium storing a computer program thereon, which, when executed by a processor, implements the compensation speed acquisition method as described in the foregoing embodiments.

[0013] The compensation velocity acquisition method, apparatus, electronic device, and readable storage medium provided in this application, when obtaining current frame echo data, determine whether the total number of times the echo data is received is greater than a preset value. If it is, a first velocity compensation value is obtained, calculated based on historical velocity estimates in a velocity set, for compensating the current frame echo data. The historical velocity estimates in this velocity set are velocity estimates corresponding to multiple historical frame echo data. When the total number of times is greater than the preset value, the number of historical velocity estimates in the velocity set is not less than the preset value. In this way, a velocity value with small error for compensation can be obtained, thereby improving ranging accuracy. Attached Figure Description

[0014] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 A block diagram illustrating an electronic device provided in an embodiment of this application;

[0016] Figure 2 One of the flowcharts illustrating the compensation speed acquisition method provided in this application embodiment;

[0017] Figure 3A second schematic flowchart illustrating the compensation speed acquisition method provided in this application embodiment;

[0018] Figure 4 The third schematic flowchart of the compensation speed acquisition method provided in the embodiments of this application;

[0019] Figure 5 This is a schematic diagram of velocity compensation using the traditional time-domain correlation method;

[0020] Figure 6 A schematic diagram showing the comparison between the compensation speed obtained using the compensation speed acquisition method provided in this application and the true value;

[0021] Figure 7 One of the block diagrams of the compensation speed obtaining device provided in the embodiments of this application;

[0022] Figure 8 This is a second block diagram of the compensation speed acquisition device provided in the embodiments of this application.

[0023] Icons: 100 - Electronic device; 110 - Memory; 120 - Processor; 130 - Communication unit; 200 - Compensation speed acquisition device; 210 - Judgment module; 220 - Compensation speed acquisition module; 230 - Processing module. Detailed Implementation

[0024] 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, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0025] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0026] It should be noted that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0027] Since the accuracy of the velocity used for compensation directly affects the accuracy of the final imaging result of the frequency stepping signal, and the velocity information of the target cannot be directly obtained from the one-dimensional range image, the difficulty lies in accurately estimating the velocity. Currently, the velocity value used for compensation is generally estimated using the following methods.

[0028] Method one is the pulse Doppler velocimetry method. Since different motion speeds produce different Doppler frequencies, a set of comb filters with different center frequencies can be designed to measure the speed of targets at different speeds. When using frequency stepping signals, the equivalent pulse repetition period of a set of frequency stepping pulse groups is very long, resulting in a very small unambiguous range for the measured speed, making it difficult to measure the accurate speed.

[0029] Method two is the frequency domain correlation method. This method calculates the target velocity using the cross-correlation measure of the baseband phases of the echo signals from two consecutive imaging pulse groups of the same target. Since the phase range is [-π, +π], the unambiguous velocity range is... With pulse number N=50 and pulse repetition period T r Taking a frequency of 40µs, a carrier frequency of f0 = 35GHz, and a frequency step of Δf = 5MHz as an example, the unambiguous speed range is ±2.1m / s, so the unambiguous speed measurement range is very small.

[0030] Method three is the time-domain correlation method, which calculates the target velocity by using the change in range resolution cells after the echo signals of two adjacent imaging pulse groups are processed by IFFT (Inverse Fast Fourier Transform). Because this method estimates velocity based on the change in range resolution cells, its accuracy is limited by the precision of the range cell measurements.

[0031] Method four is the minimum entropy method, which is based on the principle that the entropy value is minimized when the image is best focused. Entropy is a measure of disorder; the higher the entropy value, the worse the image's focus. When the radial velocity is estimated and used to compensate for the phase, the entropy value begins to decrease. Ideally, the minimum entropy value is obtained when the estimated value matches the actual value. Since the entropy of the minimum entropy method is defined as the time-domain normalized range image, its velocity measurement accuracy is not high, similar to the time-domain correlation method.

[0032] To address the above issues, embodiments of this application provide a method, apparatus, electronic device, and readable storage medium for obtaining compensated velocity. This method obtains a compensated velocity estimate based on the velocity estimates corresponding to each of multiple historical frame echo data, thereby reducing velocity estimation errors and improving ranging accuracy. It is worth noting that the shortcomings of the above solutions are the result of the inventors' practical experience and careful research. Therefore, the discovery process of the above problems and the solutions proposed in the embodiments of this application below should be considered contributions made by the inventors to this application.

[0033] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0034] Please refer to Figure 1 , Figure 1 This is a block diagram of an electronic device 100 provided in an embodiment of this application. The electronic device 100 may be, but is not limited to, a computer, a server, etc. The electronic device 100 may include a memory 110, a processor 120, and a communication unit 130. The memory 110, processor 120, and communication unit 130 are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines.

[0035] The memory 110 is used to store programs or data. The memory 110 may be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc.

[0036] The processor 120 is used to read / write data or programs stored in the memory 110 and execute corresponding functions. For example, the memory 110 stores a compensation speed acquisition device 200, which includes at least one software function module that can be stored in the memory 110 in the form of software or firmware. The processor 120 executes various functional applications and data processing by running the software programs and modules stored in the memory 110, such as the compensation speed acquisition device 200 in this embodiment, thereby implementing the compensation speed acquisition method in this embodiment.

[0037] The communication unit 130 is used to establish a communication connection between the electronic device 100 and other communication terminals through the network, and to send and receive data through the network.

[0038] It should be understood that, Figure 1 The structure shown is only a schematic diagram of the electronic device 100. The electronic device 100 may also include components that are larger than... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown. Figure 1 The components shown can be implemented using hardware, software, or a combination thereof.

[0039] Please refer to Figure 2 , Figure 2 This is one of the flowcharts illustrating a method for obtaining compensation speed according to an embodiment of this application. The method can be applied to an electronic device 100. The specific flow of the compensation speed obtaining method is described in detail below. In this embodiment, the method may include steps S110 and S140.

[0040] Step S110: When obtaining the echo data of the current frame, determine whether the total number of echo data received is greater than a preset value.

[0041] If it is greater than, then proceed to step S140.

[0042] Step S140: Obtain the first speed compensation value calculated based on the historical speed estimates in the speed set.

[0043] In this embodiment, the current frame echo data is the latest frame echo data acquired so far. The total number of echo data received indicates the total number of echo data frames received up to now. The speed set of the electronic device 100 includes historical speed estimates, which are the speed estimates corresponding to multiple historical frame echo data frames. A historical frame echo data frame is an echo data frame received before the current frame echo data frame whose corresponding speed estimate can be determined. When the total number of times exceeds the preset value, the number of historical speed estimates in the speed set is not less than the preset value. The preset value can be set according to actual needs, for example, 5 or 100.

[0044] If, after determination, the total number of occurrences exceeds the preset value, a speed value calculated based on historical speed estimates included in the speed set can be obtained as the first speed compensation value. The first speed compensation value is used to compensate for the current frame echo data.

[0045] Optionally, if the total number of received echo data of the current frame is greater than a preset value, the velocity set can be read, and the first velocity compensation value can be calculated based on the historical velocity estimates included in the velocity set. Alternatively, after obtaining a one-dimensional range profile based on the received echo data, when it is determined that the velocity compensation value needs to be calculated based on the velocity set next time, a velocity value can be calculated based on the velocity estimates in the velocity set obtained after processing the echo data last time. This velocity compensation value can then be used for the next received echo data compensation processing. In this way, if the total number of received echo data is greater than the preset value, the velocity value used as the first velocity compensation value can be directly read. That is, the first velocity compensation value can be calculated after step S110, or it can be calculated before step S110, depending on the actual needs.

[0046] Optionally, the average of a preset number of historical speed estimates closest to the current speed in the speed set can be used as the first speed compensation value, or the calculated average can be multiplied by a preset number of times and the result can be used as the first speed compensation value, etc.

[0047] This application embodiment smooths the speed information that may have accuracy errors in the current measurement by setting a speed set, thereby reducing speed estimation errors and improving ranging accuracy.

[0048] Please refer to Figure 3 , Figure 3 This is a second schematic flowchart illustrating the compensation speed acquisition method provided in this application embodiment. In this embodiment, step S120 can be executed when the total number of times is not greater than the preset value.

[0049] Step S120: Use the preset speed as the second speed compensation value.

[0050] In this embodiment, if the total number of iterations exceeds the preset value, instead of obtaining a velocity compensation value for compensating the current frame echo data based on the velocity set, a preset velocity is directly used as the velocity compensation value for compensating the current frame echo data. This preset velocity can be set according to actual needs and is not specifically limited here. Optionally, this preset velocity can also be saved as a velocity estimate corresponding to the current frame echo data to the velocity set.

[0051] Please refer to this again. Figure 3 In this embodiment, after step S120, the method may further include step S130.

[0052] Step S130: Process the current frame echo data according to the second velocity compensation value, and save the preset velocity as the velocity estimate value corresponding to the current frame echo data into the velocity set.

[0053] In this embodiment, when the total number of times is not greater than the preset value, the preset speed is used as the second speed compensation value. Then, the second speed compensation value is used to compensate the current frame echo data, thereby obtaining a one-dimensional range profile corresponding to the current frame echo data. The specific compensation method and the means of obtaining the one-dimensional range profile can be determined according to actual needs and are not specifically limited here. After determining the second speed compensation value or obtaining the one-dimensional range profile, the preset speed can be saved as a speed estimate corresponding to the current frame echo data to the speed set; that is, the preset speed can be saved as a historical speed estimate to the speed set.

[0054] If the total number of measurements exceeds a preset value, one possible implementation is to calculate the average value of historical speed estimates in the speed set and use this average value as the first speed compensation value. In this way, the speed set can be used to smooth and average the currently measured speed information, which may have accuracy errors, reducing speed estimation errors and thus improving distance measurement accuracy.

[0055] Please refer to Figure 4 , Figure 4 This is a third schematic flowchart illustrating the method for obtaining compensated speed according to an embodiment of this application. In this embodiment, when the first speed compensation value is obtained based on the speed set, the method may further include step S150.

[0056] Step S150: Compensate the current frame echo data according to the first velocity compensation value to obtain a first one-dimensional range image.

[0057] In this embodiment, during the process of obtaining a one-dimensional range image based on the current frame echo data, the first velocity compensation value can be used to compensate the current frame echo data to obtain a first one-dimensional range image. The specific methods used for compensation in steps S130 and S150 to obtain the one-dimensional range image can be the same and are not specifically limited here.

[0058] Please refer to this again. Figure 4 In this embodiment, after step S150, the method may further include steps S160 and S170.

[0059] Step S160: Calculate the velocity estimate corresponding to the current frame echo data based on the second one-dimensional range profile obtained from the previous frame echo data and the first one-dimensional range profile.

[0060] In this embodiment, when a first one-dimensional range profile is obtained based on the first velocity compensation value, the velocity estimate corresponding to the current frame echo data can be obtained by analyzing adjacent first and second one-dimensional range profiles. The second one-dimensional range profile is a one-dimensional range profile obtained based on the echo data of the previous frame.

[0061] Optionally, the first distance-resolved cell containing the peak value in the first one-dimensional distance image and the second distance-resolved cell containing the peak value in the second one-dimensional distance image can be determined first by analyzing and identifying them. Then, based on the first position information of the first distance-resolved cell in the first one-dimensional distance image and the second position information of the second distance-resolved cell in the second one-dimensional distance image, the number of cell changes can be obtained. For example, if the index of the first distance-resolved cell in the first one-dimensional distance image is 10 and the index of the second distance-resolved cell in the second one-dimensional distance image is 12, then the number of cell changes can be determined to be 2.

[0062] Then, based on the time difference between the previous frame echo data and the current frame echo data, the distance resolution unit, and the number of changes in the unit, the velocity estimate corresponding to the current frame echo data can be calculated. The time difference can be described as the difference between the time when the previous frame echo data was acquired and the time when the current frame echo data was acquired, or other time descriptions can be used, as long as they reflect the change time corresponding to the number of changes in the unit. The velocity estimate corresponding to the current frame echo data can be calculated using the following method:

[0063]

[0064] Among them, V e Represents the velocity estimate, ΔL represents the number of element changes, and R... S The distance resolution unit is represented by Δt, which represents the time difference between two adjacent frames of echo data.

[0065] Step S170: Save the velocity estimate corresponding to the current frame echo data as a historical velocity estimate into the velocity set.

[0066] Optionally, as a possible implementation, once the velocity estimate corresponding to the current frame echo data is calculated, this velocity estimate can be directly saved as a historical velocity estimate into the velocity set. When new echo data is received, the velocity compensation value required for the new echo data can be calculated based on all velocity estimates in the updated velocity set, and then processed to obtain a one-dimensional range profile.

[0067] Alternatively, as another possible implementation, the number of historical velocity estimates in the velocity set is equal to the preset value. In this method, when the velocity estimate corresponding to the current frame echo data is calculated, the historical velocity estimate corresponding to the oldest echo data is deleted, and the velocity estimate corresponding to the current frame echo data is saved to the velocity set. That is, the velocity set is updated as follows: buf[N] = V e buf[N-1] = buf[N], ..., buf[1] = buf[2], where N represents the preset value. This facilitates reducing the space occupied by the velocity set and allows for rapid calculation of the first velocity compensation value. Upon receiving new echo data, the velocity compensation value required for the new echo data can be calculated based on the N velocity estimates in the updated velocity set, thereby processing to obtain a one-dimensional range image.

[0068] Thus, on a moving platform, the impact of velocity estimation errors caused by the measurement accuracy of the range resolution unit can be reduced by combining the time-domain correlation method with tracking filtering.

[0069] The following example illustrates the method for obtaining the compensation speed.

[0070] Create a buffer `buf[N]` of length N to store the velocity estimates for each frame of echo data. Assume N = 5, meaning the velocity set can store a maximum of 5 velocity estimates. The initial motion velocity cannot be measured; a preset velocity `V` can be used instead. d To perform speed compensation.

[0071] Upon receiving the echo data for the first time, since 1 is less than N, the preset speed V is directly set. dThe velocity compensation value V to be used in the current frame echo data c V c =V d This allows us to obtain a one-dimensional distance image P1. However, the preset velocity may have a significant error at this point. (The last part, "V," appears to be a typo and can be omitted.) d Save it to the buffer, i.e., buf[1] = V d That is, after the first compensation process, the velocity set is [V]. d ].

[0072] Similarly, when the echo data is received for the second time, since 2 is less than N, the preset speed V is directly set. d The velocity compensation value V to be used in the current frame echo data c V c =V d This allows us to obtain a one-dimensional distance image P2. And V d Save it to the buffer, i.e., buf[2] = V d That is, after the second compensation process, the velocity set is [V]. d V d ].

[0073] When the echo data is received for the 3rd, 4th, and 5th time, since the number of times is no greater than N, the preset speed V is still directly applied. d The velocity compensation value V to be used in the current frame echo data c V c =V d This allows us to obtain a one-dimensional distance image P. And V... d Saved to the buffer, at which point buf[n] = V d ,n=1,2,…,N. That is, after the 5th compensation process, the velocity set is [V d V d V d V d V d Among them, the one-dimensional distance image P5 was obtained by processing the echo data received from the 5th time.

[0074] When the echo data is received for the 6th time, since 6 is greater than 5, the current velocity set [V] is calculated at this time. d V d V d V d V d The average value of [] is used as the velocity compensation value in the 6th compensation process, and a one-dimensional range profile P6 is obtained based on the echo data of the current frame. Based on the one-dimensional range profiles P5 and P6, the velocity estimate V corresponding to the 6th received echo data is calculated. e1 The speed estimate V can be obtained.e1 Saved to the velocity set, the updated velocity set is [V d V d V d V d V e1 ].

[0075] When the echo data is received for the 7th time, since 7 is greater than 5, the current velocity set [V] is calculated at this time. d V d V d V d V e1 The average value of [] is used as the velocity compensation value in the 7th compensation process, and a one-dimensional range profile P7 is obtained based on the echo data of the current frame. Based on the one-dimensional range profiles P6 and P7, the velocity estimate V corresponding to the 7th received echo data is calculated. e2 The speed estimate V can be obtained. e1 Saved to the velocity set, the updated velocity set is [V d V d V d V e1 V e2 ].

[0076] Then, this process continues until echo data is no longer received.

[0077] In the example above, the preset speed V was used in the first 6 processes. d Compensation is performed, and although the distance measurement is inaccurate at this point, the change in the range resolution unit between adjacent processing intervals (i.e., adjacent frame echo data) will be a fixed value. The smaller the change in the value used for velocity compensation between adjacent intervals, the higher the accuracy of the velocity measurement. Therefore, V is only used in the velocity set after the 6th processing stage. e This is to reduce the change in speed compensation after averaging. Where V e This represents the speed estimate obtained based on the average value calculated from the buffer. Additionally, a V value only appears in the speed set after the 6th processing iteration. e Instead of several V e This is also to avoid a sudden increase in the change of the distance resolution unit between adjacent processing intervals (i.e., adjacent frame echo data).

[0078] The following is combined with Figure 5 and Figure 6 The effects of the traditional time-domain correlation method and the compensation speed acquisition method provided in this application are compared and explained.

[0079] In the traditional time-domain correlation method, due to the limitation of the range resolution cell size, velocity measurement errors will occur when estimating the velocity based on the cell change between coherent frames (i.e. echo data frames). Using the velocity estimate for compensation will amplify the range resolution cell movement caused by the existing velocity compensation error, thereby further deteriorating the next velocity measurement.

[0080] The method provided in this application embodiment, by averaging the estimated speed information in the buffer area, can reduce the speed measurement error by a factor of two, thereby reducing the distance travel caused by the speed estimation error and ensuring the accuracy of the speed measurement.

[0081] The size of the range-resolved cell in the synthesized one-dimensional range image is:

[0082] ΔR=c / (2ΔfN)

[0083] Where c represents the speed of light, Δf represents the frequency hopping interval, and N represents the number of points for IFFT.

[0084] Therefore, the speed measurement accuracy is:

[0085]

[0086] Where T represents the total time of a frequency step pulse train.

[0087] When there is an error in velocity compensation, the position of the target peak after IFFT processing will shift relative to the true position. Substituting the velocity measurement error value, the number of shifted distance units can be calculated as follows:

[0088]

[0089] Among them, T r f represents the pulse repetition period. c The carrier frequency is represented by M, and the number of pulses in the pulse group is represented by M.

[0090] Assuming the range resolution cell size is 0.4688m, the initial target distance is 3300m, and it approaches at a speed of 300m / s. In traditional temporal correlation methods, the range delay cell number where the peak value is located in each frame, the measured distance, and the velocity information are as follows: Figure 5 As shown. Among them Figure 5 In velocity measurements, the sign indicates the direction of the velocity. For example, -304.6875 m / s indicates movement towards the target at a speed of 304.6875 m / s. Figure 5 It can be seen that due to the existence of speed measurement accuracy error, the subsequent distance measurement has a large error, and the speed estimation results diverge rapidly, failing to meet the system's usage requirements.

[0091] Using the compensation speed acquisition method provided in this application embodiment, taking a buffer length of 100 as an example, for the same scenario, the following can be obtained: Figure 6 A schematic diagram showing the actual speed and the compensated speed. (From...) Figure 6 It can be seen that the impact of speed measurement accuracy error is reduced after smoothing, and the speed measurement accuracy is greatly improved.

[0092] To perform the corresponding steps in the above embodiments and various possible methods, an implementation of the compensation speed obtaining device 200 is given below. Optionally, the compensation speed obtaining device 200 can adopt the above-described... Figure 1 The device structure of the electronic device 100 shown. Further, please refer to... Figure 7 , Figure 7 This is one of the block diagrams of the compensation speed obtaining device 200 provided in this application embodiment. It should be noted that the compensation speed obtaining device 200 provided in this embodiment has the same basic principle and technical effects as the above embodiments. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the corresponding content in the above embodiments. In this embodiment, the compensation speed obtaining device 200 may include: a judgment module 210 and a compensation speed obtaining module 220.

[0093] The judgment module 210 is used to determine whether the total number of times the echo data is received is greater than a preset value when the current frame echo data is obtained.

[0094] The compensation speed acquisition module 220 is used to obtain a first speed compensation value calculated based on historical speed estimates in the speed set when the total number of times is greater than the preset value. The historical speed estimates in the speed set are speed estimates corresponding to each of multiple historical frame echo data. When the total number of times is greater than the preset value, the number of historical speed estimates in the speed set is not less than the preset value. The first speed compensation value is used to compensate the current frame echo data.

[0095] Optionally, in this embodiment, the compensation speed acquisition module 220 is specifically used to: calculate the average value of the historical speed estimates in the speed set, and use the obtained average value as the first speed compensation value.

[0096] Please refer to Figure 8 , Figure 8 This is a second block diagram of the compensated velocity obtaining device 200 provided in an embodiment of this application. In this embodiment, the compensated velocity obtaining device 200 may further include a processing module 230, which is specifically used to: compensate the current frame echo data according to the first velocity compensation value to obtain a first one-dimensional range image.

[0097] Optionally, in this embodiment, the processing module 230 is further configured to: calculate the velocity estimate corresponding to the current frame echo data based on the second one-dimensional range image obtained based on the previous frame echo data and the first one-dimensional range image; and save the velocity estimate corresponding to the current frame echo data as a historical velocity estimate in the velocity set.

[0098] Optionally, in this embodiment, the number of historical velocity estimates in the velocity set is equal to the preset value, and the processing module 230 is specifically used to: delete the historical velocity estimate corresponding to the oldest echo data from the present, and save the velocity estimate corresponding to the current frame echo data into the velocity set.

[0099] Optionally, in this embodiment, the processing module 230 is specifically used to: determine the first distance resolution unit where the peak value in the first one-dimensional distance image is located and the second distance resolution unit where the peak value in the second one-dimensional distance image is located; obtain the number of unit changes based on the first position information of the first distance resolution unit in the first one-dimensional distance image and the second position information of the second distance resolution unit in the second one-dimensional distance image; and calculate the velocity estimate corresponding to the current frame echo data based on the time difference between the previous frame echo data and the current frame echo data, the distance resolution unit, and the number of unit changes.

[0100] Optionally, in this embodiment, the compensation speed acquisition module 220 is further configured to: when the total number of times is not greater than the preset value, use the preset speed as the second speed compensation value. The processing module 230 is further configured to: process the current frame echo data according to the second speed compensation value, and save the preset speed as the speed estimate corresponding to the current frame echo data to the speed set.

[0101] Optionally, the above modules can be stored in the form of software or firmware. Figure 1 The memory 110 shown is either stored in or embedded in the operating system (OS) of the electronic device 100, and can be used by... Figure 1 The processor 120 executes the program. Meanwhile, the data and program code required to execute the above modules can be stored in the memory 110.

[0102] This application also provides a readable storage medium storing a computer program thereon, which, when executed by a processor, implements the aforementioned compensation speed acquisition method.

[0103] In summary, this application provides a method, apparatus, electronic device, and readable storage medium for obtaining compensated velocity. When obtaining echo data of the current frame, it determines whether the total number of times the echo data is received is greater than a preset value. If it is, it obtains a first velocity compensation value calculated based on historical velocity estimates in a velocity set for compensating the echo data of the current frame. The historical velocity estimates in this velocity set are velocity estimates corresponding to multiple historical echo data frames. When the total number of times is greater than the preset value, the number of historical velocity estimates in the velocity set is not less than the preset value. In this way, a velocity value with small error can be obtained for compensation, thereby improving ranging accuracy.

[0104] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0105] In addition, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0106] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0107] The above description is merely an optional embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for obtaining compensated speed, characterized in that, The method includes: When obtaining the echo data of the current frame, determine whether the total number of echo data received is greater than a preset value; If the value is greater than the set, a first velocity compensation value is obtained based on the historical velocity estimates in the velocity set. The historical velocity estimates in the velocity set are the velocity estimates corresponding to each of the multiple historical frame echo data. When the total number of times is greater than the preset value, the number of historical velocity estimates in the velocity set is not less than the preset value. The first velocity compensation value is used to compensate the current frame echo data to obtain the one-dimensional range image corresponding to the current frame echo data.

2. The method according to claim 1, characterized in that, The process of obtaining the first speed compensation value calculated based on historical speed estimates from the speed set includes: The average value of the historical speed estimates in the speed set is calculated, and the average value is used as the first speed compensation value.

3. The method according to claim 1, characterized in that, The method further includes: The current frame echo data is compensated based on the first velocity compensation value to obtain a first one-dimensional range image.

4. The method according to claim 3, characterized in that, The method further includes: Based on the second one-dimensional range profile obtained from the previous frame echo data and the first one-dimensional range profile, the velocity estimate corresponding to the current frame echo data is calculated. The velocity estimate corresponding to the current frame echo data is saved as a historical velocity estimate to the velocity set.

5. The method according to claim 4, characterized in that, The number of historical velocity estimates in the velocity set is equal to the preset value. Saving the velocity estimate corresponding to the current frame echo data as a historical velocity estimate to the velocity set includes: Delete the historical velocity estimate corresponding to the oldest echo data from the present, and save the velocity estimate corresponding to the current frame echo data to the velocity set.

6. The method according to claim 4, characterized in that, The step of calculating the velocity estimate corresponding to the current frame echo data based on the second one-dimensional range profile obtained from the previous frame echo data and the first one-dimensional range profile includes: Determine the first distance resolution unit where the peak value in the first one-dimensional distance image is located and the second distance resolution unit where the peak value in the second one-dimensional distance image is located; The number of unit changes is obtained based on the first position information of the first distance resolution unit in the first one-dimensional distance image and the second position information of the second distance resolution unit in the second one-dimensional distance image. Based on the time difference between the previous frame echo data and the current frame echo data, the distance resolution unit, and the number of changes in the unit, the velocity estimate corresponding to the current frame echo data is calculated.

7. The method according to any one of claims 1-6, characterized in that, The method further includes: If it is not greater than, the preset speed will be used as the second speed compensation value; The current frame echo data is processed according to the second velocity compensation value, and the preset velocity is saved as the velocity estimate corresponding to the current frame echo data into the velocity set.

8. A device for obtaining compensated speed, characterized in that, The device includes: The judgment module is used to determine whether the total number of echo data received in the current frame is greater than a preset value when the current frame echo data is obtained. The compensation velocity acquisition module is used to obtain a first velocity compensation value calculated based on historical velocity estimates in a velocity set when the total number of times exceeds the preset value. The historical velocity estimates in the velocity set are velocity estimates corresponding to each of multiple historical frame echo data. When the total number of times exceeds the preset value, the number of historical velocity estimates in the velocity set is not less than the preset value. The first velocity compensation value is used to compensate the current frame echo data to obtain a one-dimensional range image corresponding to the current frame echo data.

9. An electronic device, characterized in that, It includes a processor and a memory, the memory storing machine-executable instructions that can be executed by the processor, the processor executing the machine-executable instructions to implement the compensation speed acquisition method according to any one of claims 1-7.

10. A readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the compensation speed acquisition method as described in any one of claims 1-7.

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