A method and system for generating a multi-dimensional clutter map

Abstract

The embodiment of the application discloses a multi-dimensional clutter map generation method and system. The method comprises the following steps: establishing a clutter map node and a plurality of signal processing nodes, and establishing a clutter map numbering mechanism; using the plurality of signal processing nodes to respectively receive echo data and control words, sending an application package to the clutter map node after completing control word analysis, and respectively performing pulse compression and accumulation processing on the echo data by the signal processing nodes to obtain signal amplitudes; using the clutter map node to buffer and analyze the application package one by one, searching for corresponding clutter maps according to the clutter map number, and sending the clutter maps meeting the conditions to the signal processing nodes through a distribution package; respectively completing target detection according to the clutter map threshold of the distribution package by the plurality of signal processing nodes, and sending the signal amplitudes to the clutter map node as an update package; searching for corresponding clutter maps according to the update package by the clutter map node, and completing clutter map updating; and repeatedly interacting the application package, the distribution package and the update package to generate a multi-dimensional clutter map in real time.

Description

Technical Field

[0001] This invention relates to the field of radar technology. More specifically, it relates to a method and system for generating multidimensional clutter maps. Background Technology

[0002] The existing clutter maps generated by fixed weighting coefficients are greatly affected by environmental factors and moving targets, resulting in inaccurate clutter map formation and affecting the accuracy of target detection. Summary of the Invention

[0003] The purpose of this invention is to provide a method and system for generating multidimensional clutter maps, so as to solve at least one of the problems existing in the prior art.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] The first aspect of this invention provides a method for generating a multidimensional clutter map, the method comprising:

[0006] Establish clutter map nodes and multiple signal processing nodes, and number the clutter maps to obtain clutter map numbers;

[0007] The multiple signal processing nodes receive echo data and control words respectively, parse the control words respectively and send application packets to the clutter graph node, and process the echo data respectively to obtain the signal amplitude.

[0008] The clutter graph nodes are used to cache and parse the application packets one by one to find the corresponding clutter graphs and send the clutter graphs that meet the conditions to each signal processing node through the distribution packets;

[0009] The multiple signal processing nodes perform target detection based on the clutter map threshold of the sent packets, and send the signal amplitude as an update packet to the clutter map node.

[0010] The clutter map node is used to find the corresponding clutter map according to the update packet, and the updated clutter map is obtained according to the clutter map and the clutter map in the update packet;

[0011] A multidimensional clutter diagram is generated in real time after repeated interactions with the application package, the distribution package, and the update package.

[0012] Optionally, the clutter map number includes an elevation number, an azimuth number, and a Doppler channel number; wherein the elevation number, the azimuth number, and the Doppler channel number correspond to the elevation wave position, the azimuth wave position, and the repeat pulse sequence number of the radar antenna, respectively.

[0013] Optionally, the step of parsing the control word and sending the request packet to the clutter graph node includes...

[0014] The elevation number, azimuth number, and Doppler channel number are determined respectively based on the control word; wherein

[0015] The Doppler channel number includes at least one Doppler channel;

[0016] Based on the Doppler channel number, the clutter map required for target detection is requested from the clutter map node by the multiple signal processing nodes.

[0017] Optionally, the step of finding the corresponding clutter map and sending the clutter map that meets the conditions to each signal processing node via a packet includes:

[0018] If the clutter map completes multiple updates and iterations, it is sent to each signal processing node via a packet.

[0019] Optionally, the step of finding the corresponding clutter map and sending the clutter map that meets the conditions to each signal processing node via a packet also includes...

[0020] If the clutter map has not been updated and iterated multiple times, then the clutter map will not be sent.

[0021] Optionally, the step of using the multiple signal processing nodes to perform target detection based on the sent packet or detection threshold includes...

[0022] If the multiple signal processing nodes receive the packet, they will each perform target detection in the specified Doppler channel according to the clutter map threshold in the packet.

[0023] Optionally, the step of using the multiple signal processing nodes to perform target detection based on the clutter map threshold of the sent packets further includes...

[0024] If the multiple signal processing nodes fail to receive the transmitted packet, the designated Doppler channel and the remaining channels will both complete the moving target detection based on the detection threshold generated by the constant false alarm rate probability detection principle.

[0025] Optionally, obtaining the updated clutter map based on the clutter map and the clutter map in the update packet includes...

[0026] The updated clutter map is obtained by weighted summation of the clutter map data and the amplitude information in the update packet; wherein the weighting coefficients are determined based on the energy ratio of the signal amplitude and the clutter map data.

[0027] Optionally, the method also includes

[0028] After the signal amplitude is sent as an update packet to the clutter graph node, the target information is output.

[0029] A second aspect of the present invention provides a system for generating multidimensional clutter maps, the system comprising:

[0030] The node creation and clutter map numbering module is used to create clutter map nodes and multiple signal processing nodes, and to number the clutter maps to obtain clutter map numbers.

[0031] The request packet processing module is used to receive echo data and control words from the multiple signal processing nodes respectively, and to send request packets to the clutter diagram node after parsing the control words respectively, and to process the echo data respectively to obtain the signal amplitude.

[0032] The packet processing module is used to cache and parse the application packets one by one using the clutter graph node, find the corresponding clutter graph, and send the clutter graph that meets the conditions to each signal processing node through the packet processing module.

[0033] The update packet processing module is used to utilize the multiple signal processing nodes to complete target detection according to the sent packet or detection threshold, and send the signal amplitude as an update packet to the clutter map node.

[0034] The update module is used to use the clutter map node to find the corresponding clutter map according to the update package, and to obtain the updated clutter map according to the clutter map and the clutter map in the update package;

[0035] The repetitive execution module is used to generate a multidimensional clutter diagram in real time after repeatedly interacting with the application package, the distribution package, and the update package.

[0036] The beneficial effects of this invention are as follows:

[0037] This invention provides a method for generating multidimensional clutter maps, which separates clutter map generation and maintenance from signal processing, reducing engineering implementation difficulty and improving program stability; by introducing a Doppler dimension, it solves the problem of detecting low-speed targets; by using adaptive update coefficients, the update coefficients are reasonably set according to the ratio of the update packet clutter map amplitude to the original clutter map amplitude, reducing the influence of environmental factors and moving targets on the clutter map and improving the accuracy of the clutter map. Attached Figure Description

[0038] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0039] Figure 1 A flowchart illustrating the method for generating multidimensional clutter maps provided in an embodiment of the present invention is shown.

[0040] Figure 2 This illustrates a data flow diagram in the method for generating multidimensional clutter diagrams provided in an embodiment of the present invention.

[0041] Figure 3 This diagram illustrates the signal amplitude information for both zero-velocity and moving targets.

[0042] Figure 4 The clutter plot for frame 50 is shown based on a fixed update coefficient.

[0043] Figure 5 The image shows the 50th frame clutter map based on adaptive update coefficients, generated by the multidimensional clutter map generation method provided in this embodiment of the invention. Detailed Implementation

[0044] To more clearly illustrate the present invention, the following description, in conjunction with embodiments and accompanying drawings, further explains the invention. Similar components in the drawings are indicated by the same reference numerals. Those skilled in the art should understand that the specific description below is illustrative rather than restrictive and should not be construed as limiting the scope of protection of the present invention.

[0045] When radar signal processing systems perform target detection, they are affected by various types of clutter, such as ground clutter and weather clutter, which increases the false alarm rate and weakens the moving target detection capability. Moving Target Indication (MTI) and Moving Target Detection (MTD) mainly improve the detection probability by reducing the clutter power competing with moving targets. However, for targets with very low speeds or tangential flight targets, their Doppler frequencies almost coincide with ground clutter, and MTI and MTD detection methods will discard these targets. Clutter maps, on the other hand, reflect the intensity distribution of clutter background within the radar's effective range. Their sampling interval is in frames, resulting in a lower data rate, which can solve the moving target detection problem in low-speed filtering channels.

[0046] However, radar signal data is large and the processing is complex, while clutter map technology requires a large amount of memory to store clutter information in various dimensions. Therefore, rationally allocating DSP processing resources to efficiently and stably complete clutter map detection during signal processing is a challenge in engineering implementation. At the same time, three-dimensional clutter maps only reflect clutter information in the range, azimuth, and elevation dimensions, and cannot detect low-speed targets with non-zero velocity, and have low sensitivity to Doppler clutter.

[0047] Furthermore, existing clutter maps formed by fixed weighting coefficients are greatly affected by environmental factors and moving targets, resulting in inaccurate clutter map formation and affecting the accuracy of target detection.

[0048] In view of this, one embodiment of the present invention provides a method for generating a multidimensional clutter map. The method includes establishing a clutter map node and multiple signal processing nodes, and numbering the clutter maps to obtain clutter map numbers; using the multiple signal processing nodes to receive echo data and control words respectively, and parsing the control words and sending request packets to the clutter map node, and processing the echo data to obtain signal amplitudes; using the clutter map node to cache and parse the request packets one by one, finding the corresponding clutter map, and sending the clutter maps that meet the conditions to each signal processing node via a distribution packet; using the multiple signal processing nodes to perform target detection according to the distribution packet or detection threshold, and sending the signal amplitudes as update packets to the clutter map node; using the clutter map node to find the corresponding clutter map according to the update packet, and obtaining an updated clutter map based on the clutter map and the clutter map in the update packet; and repeatedly interacting with the request packet, the distribution packet, and the update packet to generate a multidimensional clutter map in real time.

[0049] Specifically, this embodiment addresses the problems of low Doppler sensitivity of 3D clutter maps, significant susceptibility of detection accuracy to environmental factors and moving targets, and increased complexity in signal processing due to the large memory requirements in engineering applications. Since clutter map updating is an iterative process, new clutter map information is obtained by weighted summation of the current frame's scan results and existing clutter results, allowing for real-time acquisition of clutter characteristics for each element. Therefore, this embodiment improves clutter map accuracy by introducing Doppler dimension clutter information and an adaptive coefficient update algorithm. A clutter map management mechanism is established, designating one DSP processor as the clutter map management node (clutter map node), responsible for updating, distributing, and managing all clutter maps across four dimensions, efficiently generating clutter maps. The remaining processors act as signal processing nodes, performing pulse compression, MTI, and MTD processing of the radar echo signal. Communication between the DSPs facilitates clutter map application, updating, and distribution, generating clutter maps in real-time and performing moving target detection, reducing the complexity of the signal processing program. Furthermore, separating clutter map generation from the signal processing flow reduces engineering implementation difficulty and improves program robustness.

[0050] Furthermore, this embodiment introduces a four-dimensional clutter map formation method based on the three-dimensional clutter map of range-azimuth-elevation, and a Doppler dimension and adaptive coefficient update algorithm. For example... Figure 1As shown, this embodiment includes a mechanism for determining clutter map numbers; after the signal processing node completes the reception of radar echo data, it sends a clutter map request packet to the clutter map node; the clutter map node finds the corresponding clutter map data according to the clutter map number in the request packet and sends it to the signal processing node; the signal processing node completes radar echo pulse compression, MTI and MTD processing, and obtains the signal amplitude; it sends the signal amplitude of the current frame as an update packet to the clutter map node; after receiving the update packet, the clutter map node finds the corresponding data according to the clutter map number, performs weighted summation, and completes the clutter map update; by continuously requesting, updating, and sending clutter maps, clutter maps are generated in real time, and moving target detection is completed.

[0051] This embodiment establishes a clutter map management mechanism to separate clutter map generation and maintenance from the rest of the signal processing process, reducing the difficulty of engineering implementation. By introducing the Doppler dimension, it solves the problem of detecting low-speed targets with non-zero velocity. At the same time, it adopts an adaptive update coefficient, which is reasonably set according to the ratio of the update packet clutter map amplitude to the original clutter map amplitude, reducing the impact of environmental factors and moving targets on the clutter map, so as to ensure the accuracy of the clutter map.

[0052] In one possible implementation, the clutter map number includes an elevation number, an azimuth number, and a Doppler channel number; wherein the elevation number, the azimuth number, and the Doppler channel number correspond to the elevation wave position, the azimuth wave position, and the repeating pulse sequence number of the radar antenna, respectively.

[0053] Specifically, a clutter map numbering mechanism is established, and clutter maps are numbered according to the radar antenna elevation position, azimuth position, and Doppler channel number, so that each clutter map is uniquely identified.

[0054] In a specific example, six DSPs are used to complete clutter pattern generation and radar target detection. The radar system parameters are set as follows: elevation detection range of 25° to 40°, elevation beamwidth of 1.5°, azimuth detection range of 0° to 360°, azimuth beamwidth of 1°, FM signal pulse width of 200µs, bandwidth of 20MHz, sampling rate of 40MHz, pulse repetition count of 1024, average CFAR protection unit of 20, sliding window length of 10, scaling factor of 5, DC bias of 200, and moving target velocity of 5 range units / frame.

[0055] Furthermore, the clutter diagram numbering mechanism is determined. The clutter diagram number includes pitchId, aziId, and Doppler channel number fdId. In this example, the pitchId corresponds to the system pitch position {0,1,…,9}, the aziId corresponds to the system aziId {0,1,…,359}, and the Doppler channel number corresponds to the repeating pulse sequence number {0,1,…,1023}.

[0056] In one possible implementation, the step of parsing the control word and sending the request packet to the clutter map node includes determining the elevation number, the azimuth number, and the Doppler channel number based on the control word; determining the Doppler channel number based on the Doppler channel range of clutter map detection in the control word, wherein the Doppler channel number includes at least one Doppler channel; and requesting the clutter map required for target detection from the clutter map node based on the Doppler channel number and using the multiple signal processing nodes.

[0057] Specifically, after each signal processing node completes the reception of radar echo data and control words, it parses the elevation position, azimuth position and Doppler channel number, and sends a clutter map request packet to the clutter map management node, which can request clutter maps for one or more Doppler channels.

[0058] In a specific example, six DSPs are used, where DSP0 is the clutter map management node (clutter map node), and the remaining five DSPs (DSP1 to DSP5) are signal processing nodes. The data flow between the DSPs based on the clutter map management mechanism is as follows: Figure 2 As shown. After DSP1 to DSP5 receive radar echo data E and control word CW, they determine the pitchId and aziId of the clutter map based on the elevation and azim positions in the CW, and determine the fdId based on the Doppler channel range of the clutter map detection. PitchId and aziId are unique values, and fdId can represent one or several channels. After determining the required clutter map channel number, DSP1 to DSP5 each send a clutter map request packet to DSP0, requesting the clutter map required for target detection.

[0059] In one possible implementation, the step of finding the corresponding clutter map and sending the clutter map that meets the conditions to each signal processing node via a packet includes sending the clutter map to each signal processing node via a packet if the clutter map has undergone multiple update iterations.

[0060] In one possible implementation, the step of finding the corresponding clutter map and sending the clutter map that meets the conditions to each signal processing node via a packet also includes not sending the clutter map if the clutter map has not been updated and iterated multiple times.

[0061] Specifically, the clutter graph node searches for the corresponding clutter graph data in memory based on the clutter graph number in the application packet and sends it to the signal processing node. The clutter graph must be updated and iterated 10 times before it can be sent; otherwise, it will not be sent.

[0062] In a specific example, DSP0 uses a queue to cache request packets from DSP1 to DSP5. Based on the first-in-first-out principle, it parses the clutter map number one by one, finds the corresponding storage address of the clutter map, and if the clutter map has completed 10 updates, it is sent to the signal processing DSP; otherwise, it is not sent.

[0063] In one possible implementation, the step of using the plurality of signal processing nodes to perform target detection according to the sent packet or detection threshold includes, if the plurality of signal processing nodes receive the sent packet, performing target detection of a specified Doppler channel according to the clutter map threshold in the sent packet.

[0064] In one possible implementation, the step of using the multiple signal processing nodes to complete target detection according to the sent packet or detection threshold also includes, if the multiple signal processing nodes do not receive the sent packet, then the designated Doppler channel and the remaining channels both complete the moving target detection based on the detection threshold generated by the constant false alarm probability detection principle.

[0065] Specifically, the signal processing node performs pulse compression, MTI and MTD processing on the radar echo and obtains the signal amplitude. If the management node normally issues the clutter map threshold, the target detection of the specified Doppler channel is completed based on the threshold. Otherwise, the specified Doppler channel and the other channels are all based on the detection threshold generated by the cell average CFAR to complete the moving target detection. Finally, the signal amplitude of this frame is sent to the clutter map node as an update packet.

[0066] In a specific example, DSP1 to DSP5 perform pulse compression, MTI and MTD processing on the echo data E and obtain the signal amplitude. If DSP0 normally sends the clutter map threshold, the target detection of the specified Doppler channel is completed based on the threshold. Otherwise, the specified Doppler channel and the other channels are all based on the detection threshold generated by the cell average CFAR to complete the moving target detection. Finally, the signal amplitude of this frame is sent to DSP0 as an update packet.

[0067] Furthermore, pulse compression includes adjusting the pulse width T of the frequency-modulated signal in the CW. r Bandwidth B and sampling rate F s The frequency domain matching coefficients M are generated according to the following formula. coeff .

[0068]

[0069] In the formula, fft is the Fast Fourier Transform; fftN is the number of points in the Fast Fourier Transform; conj is the conjugate of the complex number; j is the imaginary factor; and t is the fast time.

[0070] In the echo data E[N,M], N is the number of pulse repetitions and M is the number of distance dimension points. Each pulse is processed by matched filtering according to the following formula to generate the pulse compression matrix D[N,fftN].

[0071] D[n,:]=ifft{fft{E[n,:]}×M coeff}, n=1:1024

[0072] In the formula, n is the pulse number; E[n,:] is the single pulse echo data; D[n,:] is the single pulse compression result; and ifft is the inverse fast Fourier transform.

[0073] MTI processing involves performing K-pulse cancellation processing on the pulse compression matrix D[N,fftN] along the slow-time direction based on the number K of pulse cancellations in the CW, where the cancellation coefficient h N The formula for calculating [K] is:

[0074]

[0075] In the formula, x is the filter number.

[0076] MTD processing includes performing FFT processing on the canceled matrix along the slow time direction to generate matrix Q, and calculating the magnitude information P of matrix Q;

[0077] Moving target detection involves using the clutter maps sent by DSP0 as detection thresholds to complete moving target detection in designated Doppler channels. Moving target detection in the remaining channels is performed based on the average CFAR principle. The calculation formula for each pulse detection threshold is as follows:

[0078]

[0079] In the formula, w is the sliding window length; g is the protection unit; coeff is the proportional coefficient; offset is the DC bias; p is the vector in the amplitude information P; r is the distance index of p; p[r] is the value of the r-th number in the p vector; and m is the distance index of the detection threshold.

[0080] Sending the update packet to DSP0 includes sending amplitude information P to DSP0 after completing moving target detection.

[0081] In one possible implementation, obtaining the updated clutter map based on the clutter map and the clutter map in the update packet includes weighting and summing the clutter map data and the amplitude information in the update packet to obtain the updated clutter map; wherein the weighting coefficients are determined based on the energy ratio of the signal amplitude and the clutter map data.

[0082] Specifically, after receiving the update packet, the clutter node finds the corresponding clutter data according to the clutter number in the update packet, performs a weighted sum of the clutter in the update packet and the original clutter, and then stores it back into the memory space corresponding to the clutter, thus completing the clutter update.

[0083] This embodiment employs an adaptive coefficient update algorithm, which reasonably sets the update coefficient based on the ratio of the updated clutter map amplitude to the original clutter map amplitude, thereby reducing the impact of environmental factors and moving targets on the clutter map and ensuring the accuracy of the clutter map.

[0084] In a specific example, after receiving the update packet, DSP0 finds the storage address corresponding to the clutter map based on the clutter map number in the update packet, performs a weighted sum of the amplitude information P in the update packet and the original clutter map data A, and then stores it back at that address, completing the clutter map update, i.e., A = αP + (1-α)A. The update coefficient α is determined based on the energy ratio of P to A.

[0085] Furthermore, the update coefficient α takes the value of

[0086]

[0087] In the formula, ∑P represents the energy of the amplitude information P; ∑A represents the energy of the original clutter map data A.

[0088] like Figure 3 The image shows the signal amplitude information for both zero-velocity and moving targets. Figure 4 The image shown is the clutter map of frame 50 based on a fixed update coefficient. Due to the influence of moving targets, there is a significant spike in the middle of the clutter map, affecting the accuracy of subsequent target detection. Figure 5 The image shown is the clutter map of frame 50 based on adaptive update coefficients. After the moving target leaves, the clutter data can quickly converge to the background amplitude, ensuring the accuracy of subsequent target detection.

[0089] In a specific example, after the next frame of radar echo data arrives, the above steps are repeated to generate a multi-dimensional clutter map in real time and complete moving target detection.

[0090] In one possible implementation, the method further includes outputting target information after the signal amplitude is sent as an update packet to the clutter graph node.

[0091] This embodiment separates clutter map generation and maintenance from signal processing, reducing engineering implementation difficulty and improving program stability; by introducing the Doppler dimension, it solves the problem of low-speed target detection; by adopting adaptive update coefficients, the update coefficients are reasonably set according to the ratio of the update packet clutter map amplitude to the original clutter map amplitude, reducing the influence of environmental factors and moving targets on the clutter map and improving the accuracy of the clutter map.

[0092] Another embodiment of the present invention provides a multidimensional clutter map generation system. The system includes a node establishment and clutter map numbering module, used to establish clutter map nodes and multiple signal processing nodes, and to number the clutter maps to obtain clutter map numbers; a request packet processing module, used to receive echo data and control words respectively using the multiple signal processing nodes, and to send request packets to the clutter map nodes after parsing the control words respectively, and to process the echo data respectively to obtain signal amplitude; and a packet delivery processing module, used to cache and parse the request packets one by one using the clutter map nodes, and to find the corresponding... The system generates a clutter map and sends clutter maps that meet the conditions to each signal processing node via a download packet; an update packet processing module is used to use the multiple signal processing nodes to complete target detection according to the download packet or detection threshold, and send the signal amplitude as an update packet to the clutter map node; an update module is used to use the clutter map node to find the corresponding clutter map according to the update packet, and obtain the updated clutter map according to the clutter map and the clutter map in the update packet; a repetition execution module is used to generate a multi-dimensional clutter map in real time after repeatedly interacting with the request packet, the download packet and the update packet.

[0093] This embodiment separates clutter map generation and maintenance from signal processing, reducing engineering implementation difficulty and improving program stability; by introducing the Doppler dimension, it solves the problem of low-speed target detection; by adopting adaptive update coefficients, the update coefficients are reasonably set according to the ratio of the update packet clutter map amplitude to the original clutter map amplitude, reducing the influence of environmental factors and moving targets on the clutter map and improving the accuracy of the clutter map.

[0094] In the description of this invention, it should be noted that the terms "upper," "lower," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances.

[0095] It should also be noted that in the description of this invention, relational terms such as "first" and "second" are used only 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 limitation, 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.

[0096] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. For those skilled in the art, other variations or modifications can be made based on the above description. It is impossible to exhaustively list all the implementation methods here. All obvious variations or modifications derived from the technical solutions of the present invention are still within the protection scope of the present invention.

Claims

1. A method for generating a multidimensional clutter map, characterized in that, The method includes Establish clutter map nodes and multiple signal processing nodes, and number the clutter maps to obtain clutter map numbers; The multiple signal processing nodes respectively receive echo data and control words, and after parsing the control words, send application packets to the clutter graph node, and perform pulse compression and accumulation processing on the echo data to obtain the signal amplitude. The clutter graph nodes are used to cache and parse the application packets one by one to find the corresponding clutter graphs and send the clutter graphs that meet the conditions to each signal processing node through the distribution packets; The multiple signal processing nodes perform target detection based on the clutter map threshold of the sent packets, and send the signal amplitude as an update packet to the clutter map node. The clutter map node is used to find the corresponding clutter map according to the update packet, and the updated clutter map is obtained according to the clutter map and the clutter map in the update packet; After repeatedly interacting with the application package, the distribution package, and the update package, a multidimensional clutter diagram is generated in real time. The step of obtaining the updated clutter map based on the clutter map and the clutter map in the update packet includes... The updated clutter map is obtained by weighted summation of the clutter map data and the amplitude information in the update packet; wherein the weighting coefficients are determined based on the energy ratio of the signal amplitude and the clutter map data. Update coefficients in weighted coefficients The value is In the formula, Signal amplitude Energy; clutter map data Energy.

2. The method for generating multidimensional clutter maps according to claim 1, characterized in that, The clutter map number includes an elevation number, an azimuth number, and a Doppler channel number; wherein the elevation number, the azimuth number, and the Doppler channel number correspond to the elevation wave position, the azimuth wave position, and the repeat pulse sequence number of the radar antenna, respectively.

3. The method for generating multidimensional clutter maps according to claim 2, characterized in that, The step of parsing the control word and then sending the request packet to the clutter graph node includes... The elevation number, the azimuth number, and the Doppler channel number are determined respectively based on the control word; in The Doppler channel number includes at least one Doppler channel; Based on the Doppler channel number, the clutter map required for target detection is requested from the clutter map node by the multiple signal processing nodes.

4. The method for generating multidimensional clutter maps according to claim 3, characterized in that, The process of finding the corresponding clutter map and sending the clutter map that meets the criteria to each signal processing node via a packet includes... If the clutter map completes multiple updates and iterations, it is sent to each signal processing node via a packet.

5. The method for generating a multidimensional clutter map according to claim 4, characterized in that, The process of finding the corresponding clutter map and sending the clutter map that meets the criteria to each signal processing node via a packet also includes... If the clutter map has not been updated and iterated multiple times, then the clutter map will not be sent.

6. The method for generating a multidimensional clutter map according to claim 5, characterized in that, The step of utilizing the multiple signal processing nodes to perform target detection based on the sent packet or detection threshold includes: If the multiple signal processing nodes receive the packet, they will each perform target detection in the specified Doppler channel according to the clutter map threshold in the packet.

7. The method for generating a multidimensional clutter map according to claim 6, characterized in that, The step of using the multiple signal processing nodes to perform target detection based on the sent packet or detection threshold also includes... If the multiple signal processing nodes fail to receive the transmitted packet, the designated Doppler channel and the remaining channels will both complete the moving target detection based on the detection threshold generated by the constant false alarm rate probability detection principle.

8. The method for generating a multidimensional clutter map according to claim 1, characterized in that, The method also includes After the signal amplitude is sent as an update packet to the clutter graph node, the target information is output.

9. A system for generating multidimensional clutter maps using the generation method according to any one of claims 1 to 8, characterized in that, The system includes The node creation and clutter map numbering module is used to create clutter map nodes and multiple signal processing nodes, and to number the clutter maps to obtain clutter map numbers. The request packet processing module is used to receive echo data and control words from the multiple signal processing nodes respectively, and to send request packets to the clutter diagram node after parsing the control words respectively, and to process the echo data respectively to obtain the signal amplitude. The packet processing module is used to cache and parse the application packets one by one using the clutter graph node, find the corresponding clutter graph, and send the clutter graph that meets the conditions to each signal processing node through the packet processing module. The update packet processing module is used to utilize the multiple signal processing nodes to complete target detection according to the sent packet or detection threshold, and send the signal amplitude as an update packet to the clutter map node. The update module is used to use the clutter map node to find the corresponding clutter map according to the update package, and to obtain the updated clutter map according to the clutter map and the clutter map in the update package; The repetitive execution module is used to generate a multidimensional clutter diagram in real time after repeatedly interacting with the application package, the distribution package, and the update package.

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