Target detection apparatus and method

Abstract

This application discloses a target detection device and method, relating to the field of radar detection technology. The device includes: a first generation unit, configured to acquire multiple sets of echo signals corresponding to a receiver and generate a total range Doppler matrix corresponding to the receiver based on the multiple sets of echo signals; a first processing unit, configured to perform matrix summation processing on the total range Doppler matrix based on the Doppler dimension to obtain an energy vector corresponding to the total range Doppler matrix; a second generation unit, configured to generate a signal-to-noise ratio (SNR) estimation map corresponding to the total range Doppler matrix based on the energy vector; a selection unit, configured to select a target two-dimensional constant false alarm rate (CFAR) algorithm and a target parameter set corresponding to the CFAR algorithm based on the energy vector; and a second processing unit, configured to perform two-dimensional constant false alarm rate (CFAR) processing on the SNR estimation map based on the CFAR algorithm and the target parameter set corresponding to the CFAR algorithm to obtain a target detection result.

Description

Technical Field

[0001] This application relates to the field of radar detection technology, and in particular to a target detection device and method. Background Technology

[0002] Target detection is a very important topic in the field of radar signal processing technology. The ability to accurately detect targets is an important criterion for evaluating the performance of a radar.

[0003] Currently, radar typically transmits electromagnetic signals to the target area via a transmitter, then receives the reflected echo signals via a receiver, and determines the target detection result based on a two-dimensional constant false alarm rate (CFAR) detection algorithm and the received echo signals. However, the accuracy of target detection results varies depending on the radar's environment and the specific CFAR algorithm used. Therefore, selecting a suitable CFAR detection algorithm based on the radar's current environment is crucial. Summary of the Invention

[0004] This application provides a target detection device and method, the main purpose of which is to select a suitable two-dimensional constant false alarm rate (CFAR) detection algorithm based on the current environment of the radar, thereby improving the accuracy of radar target detection.

[0005] To address the aforementioned technical problems, this application provides the following technical solutions:

[0006] In a first aspect, this application provides a target detection device, the device comprising:

[0007] The first generation unit is used to acquire multiple sets of echo signals corresponding to the receiver, and generate the total range Doppler matrix corresponding to the receiver based on the multiple sets of echo signals corresponding to the receiver.

[0008] The first processing unit is used to perform matrix summation on the total distance Doppler matrix based on the Doppler dimension to obtain the energy vector corresponding to the total distance Doppler matrix.

[0009] The second generation unit is used to generate a signal-to-noise ratio estimation map corresponding to the total distance Doppler matrix based on the energy vector;

[0010] The selection unit is used to select the target two-dimensional constant false alarm algorithm and the target parameter group corresponding to the target two-dimensional constant false alarm algorithm according to the energy vector.

[0011] The second processing unit is used to perform two-dimensional constant false alarm rate (CFAR) processing on the signal-to-noise ratio (SNR) estimation map according to the target two-dimensional constant false alarm rate algorithm and the target parameter set corresponding to the target two-dimensional constant false alarm rate algorithm, so as to obtain the target detection result.

[0012] Optionally, the receiver includes multiple antennas;

[0013] The first generation unit is specifically configured to: acquire multiple sets of echo signals corresponding to each antenna; perform two-dimensional Fourier transform processing on the multiple sets of echo signals corresponding to each antenna to obtain the range Doppler matrix corresponding to each antenna; perform modulus calculation on the range Doppler matrix corresponding to each antenna to obtain the modulus matrix corresponding to each antenna; and perform matrix addition calculation on the multiple modulus matrices to obtain the total range Doppler matrix corresponding to the receiver.

[0014] Optionally, the second generation unit is specifically used to: generate a signal-to-noise ratio estimation matrix corresponding to the total distance Doppler matrix based on the energy vector; and generate a signal-to-noise ratio estimation map based on the signal-to-noise ratio estimation matrix.

[0015] Optionally, the second generation unit is specifically configured to: extract multiple echo signals corresponding to each range gate from the total range-Doppler matrix; smooth the multiple echo signals corresponding to each range gate according to the preset algorithm, and calculate the noise floor estimate value corresponding to each range gate based on the smoothed multiple echo signals corresponding to each range gate; calculate the corrected noise floor compensation value corresponding to each range gate based on the energy vector, the preset noise floor compensation value, and the multiple echo signals corresponding to each range gate; calculate multiple signal-to-noise ratio estimates corresponding to each range gate based on the multiple echo signals, the noise floor estimate value, and the corrected noise floor compensation value; and generate the signal-to-noise ratio estimation matrix corresponding to the total range-Doppler matrix based on the multiple signal-to-noise ratio estimates corresponding to each range gate.

[0016] Optionally, the selection unit is specifically used for: calculating the first-order and second-order statistics corresponding to the energy vector; selecting the target two-dimensional constant false alarm rate algorithm from a plurality of preset two-dimensional constant false alarm rate algorithms based on the first-order and second-order statistics corresponding to the energy vector; and determining the target parameter set corresponding to the target two-dimensional constant false alarm rate algorithm based on the first-order and second-order statistics corresponding to the energy vector.

[0017] Secondly, this application also provides a target detection method, the method comprising:

[0018] Acquire multiple sets of echo signals corresponding to the receiver, and generate the total range Doppler matrix corresponding to the receiver based on the multiple sets of echo signals corresponding to the receiver;

[0019] The total distance Doppler matrix is ​​summed based on the Doppler dimension to obtain the energy vector corresponding to the total distance Doppler matrix.

[0020] Generate a signal-to-noise ratio estimation map corresponding to the total distance Doppler matrix based on the energy vector;

[0021] Select the target two-dimensional constant false alarm rate algorithm and the target parameter group corresponding to the target two-dimensional constant false alarm rate algorithm based on the energy vector;

[0022] The signal-to-noise ratio estimation map is processed using the target two-dimensional constant false alarm rate (CFAR) algorithm and the target parameter set corresponding to the target two-dimensional CFAR algorithm to obtain the target detection result.

[0023] Optionally, the receiver includes multiple antennas; the step of acquiring multiple sets of echo signals corresponding to the receiver and generating the total range Doppler matrix corresponding to the receiver based on the multiple sets of echo signals includes:

[0024] Acquire multiple sets of echo signals corresponding to each antenna;

[0025] Two-dimensional Fourier transform processing is performed on multiple sets of echo signals corresponding to each antenna to obtain the range Doppler matrix corresponding to each antenna;

[0026] The modulus of the range Doppler matrix corresponding to each antenna is calculated to obtain the modulus matrix corresponding to each antenna.

[0027] Matrix addition is performed on multiple modulo matrices to obtain the total range Doppler matrix corresponding to the receiver.

[0028] Optionally, generating the signal-to-noise ratio estimation map corresponding to the total distance Doppler matrix based on the energy vector includes:

[0029] Generate the signal-to-noise ratio estimation matrix corresponding to the total distance Doppler matrix based on the energy vector;

[0030] The signal-to-noise ratio (SNR) estimation map is generated based on the SNR estimation matrix.

[0031] Optionally, generating the signal-to-noise ratio estimation matrix corresponding to the total distance Doppler matrix based on the energy vector includes:

[0032] Extract multiple echo signals corresponding to each range gate from the total range Doppler matrix;

[0033] The preset algorithm is used to smooth the multiple echo signals corresponding to each distance gate, and the noise floor estimate corresponding to each distance gate is calculated based on the multiple smoothed echo signals corresponding to each distance gate.

[0034] Based on the energy vector, the preset noise floor compensation value, and the multiple echo signals corresponding to each distance gate, calculate the corrected noise floor compensation value corresponding to each distance gate;

[0035] Based on the multiple echo signals, noise floor estimates, and corrected noise floor compensation values ​​corresponding to each distance gate, multiple signal-to-noise ratio estimates are calculated for each distance gate.

[0036] The signal-to-noise ratio (SNR) estimation matrix corresponding to the total distance Doppler matrix is ​​generated based on the multiple SNR estimates corresponding to each of the distance gates.

[0037] Optionally, the step of selecting the target two-dimensional constant false alarm rate (CFAR) algorithm and the target parameter set corresponding to the target two-dimensional CFAR algorithm based on the energy vector includes:

[0038] Calculate the first-order and second-order statistics corresponding to the energy vector;

[0039] The target two-dimensional constant false alarm rate (CFAR) algorithm is selected from among several preset two-dimensional CFAR algorithms based on the first-order and second-order statistics corresponding to the energy vector.

[0040] The target parameter set corresponding to the target two-dimensional constant false alarm rate algorithm is determined based on the first-order and second-order statistics corresponding to the energy vector.

[0041] Thirdly, embodiments of this application provide a storage medium including a stored program, wherein the program, when running, controls the device where the storage medium is located to execute the target detection method described in the second aspect.

[0042] Fourthly, embodiments of this application provide a target detection apparatus, the apparatus including a storage medium; and one or more processors, the storage medium being coupled to the processors, the processors being configured to execute program instructions stored in the storage medium; the program instructions, when executed, perform the target detection method described in the second aspect.

[0043] By employing the above-described technical solution, the technical solution provided in this application has at least the following advantages:

[0044] This application provides a target detection apparatus and method. The target detection apparatus includes a first generation unit, a first processing unit, a second generation unit, a selection unit, and a second processing unit. First, the first generation unit acquires multiple sets of echo signals corresponding to a receiver and generates a total range Doppler matrix corresponding to the receiver based on these signals. Second, the first processing unit performs matrix summation on the total range Doppler matrix based on the Doppler dimension to obtain an energy vector corresponding to the matrix. Third, the second generation unit generates a signal-to-noise ratio (SNR) estimation map corresponding to the SNR matrix based on the energy vector. Then, the selection unit selects a two-dimensional constant false alarm rate (CFAR) algorithm and a set of target parameters corresponding to the CFAR algorithm based on the energy vector. Finally, the second processing unit performs two-dimensional CFAR processing on the SNR estimation map based on the CFAR algorithm and the set of target parameters, thereby obtaining the target detection result. Since the energy vector corresponding to the total range Doppler matrix can indicate the current environment of the target radar, in this application, a suitable target two-dimensional constant false alarm rate (CFAR) algorithm is selected from multiple preset two-dimensional CFAR algorithms based on the energy vector corresponding to the total range Doppler matrix. This enables the selection of a suitable two-dimensional CFAR detection algorithm based on the current environment of the target radar, thereby improving the accuracy of target detection by the target radar.

[0045] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0046] The above and other objects, features, and advantages of exemplary embodiments of this application will become readily understood by reading the following detailed description with reference to the accompanying drawings. In the drawings, several embodiments of this application are illustrated by way of example and not limitation, with the same or corresponding reference numerals denoteing the same or corresponding parts, wherein:

[0047] Figure 1 This illustration shows a block diagram of a target detection device provided in an embodiment of this application;

[0048] Figure 2 A flowchart of a target detection method provided in an embodiment of this application is shown;

[0049] Figure 3 A flowchart of another target detection method provided in an embodiment of this application is shown. Detailed Implementation

[0050] Exemplary embodiments of this application will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of this application are shown in the drawings, it should be understood that this application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of this application and to fully convey the scope of this application to those skilled in the art.

[0051] It should be noted that, unless otherwise stated, the technical or scientific terms used in this application shall have the ordinary meaning as understood by one of ordinary skill in the art to which this application pertains.

[0052] This application provides a target detection device applied to a target radar. The target radar includes a transmitter and a receiver. The receiver includes multiple antennas. The target radar transmits electromagnetic wave signals to a target area through the transmitter, and receives the reflected echo signals through the multiple antennas of the receiver. Figure 1 As shown, the device specifically includes: a first generation unit 11, used to acquire multiple sets of echo signals corresponding to the receiver, and generate a total range Doppler matrix corresponding to the receiver based on the multiple sets of echo signals corresponding to the receiver; a first processing unit 12, used to perform matrix summation processing on the total range Doppler matrix based on the Doppler dimension to obtain the energy vector corresponding to the total range Doppler matrix; a second generation unit 13, used to generate a signal-to-noise ratio estimation map corresponding to the total range Doppler matrix based on the energy vector; a selection unit 14, used to select the target two-dimensional constant false alarm rate algorithm and the target parameter set corresponding to the target two-dimensional constant false alarm rate algorithm based on the energy vector; and a second processing unit 15, used to perform two-dimensional constant false alarm rate processing on the signal-to-noise ratio estimation map based on the target two-dimensional constant false alarm rate algorithm and the target parameter set corresponding to the target two-dimensional constant false alarm rate algorithm to obtain the target detection result.

[0053] The following combination Figure 1 The target detection device shown is explained in detail in the process of target detection:

[0054] The receiver includes multiple sets of echo signals received by each antenna of the receiver. For any set of echo signals received by any antenna, the set of echo signals contains one echo signal corresponding to each range gate. The target radar's local storage space stores multiple preset two-dimensional constant false alarm rate (CFAR) algorithms and target parameter sets corresponding to each preset two-dimensional CFAR algorithm. The multiple preset two-dimensional CFAR algorithms may include, but are not limited to, cross-shaped CFAR algorithms, cell-average CFAR algorithms, etc. The target parameter set corresponding to the target two-dimensional CFAR algorithm contains the parameter values ​​corresponding to each target parameter in the target two-dimensional CFAR algorithm.

[0055] In this embodiment, when the target detection device needs to perform target detection, the first generation unit 11 in the target detection device acquires multiple sets of echo signals corresponding to the receiver and generates a total range Doppler matrix corresponding to the receiver based on the multiple sets of echo signals, that is, it generates a total range Doppler matrix corresponding to the receiver based on the multiple sets of echo signals received by each antenna of the receiver; after the first generation unit 11 generates the total range Doppler matrix corresponding to the receiver, the first processing unit 12 can perform matrix summation processing on the total range Doppler matrix based on the Doppler dimension to obtain the energy vector corresponding to the total range Doppler matrix, that is, it performs longitudinal summation processing on the total range Doppler matrix to obtain the energy vector corresponding to the total range Doppler matrix; after the first processing unit 12 obtains the energy vector corresponding to the total range Doppler matrix, the second The generation unit 13 can generate a signal-to-noise ratio (SNR) estimation map corresponding to the total range Doppler matrix based on the energy vector corresponding to the total range Doppler matrix. After the second generation unit 13 generates the SNR estimation map corresponding to the total range Doppler matrix, the selection unit 14 can select the target two-dimensional constant false alarm rate (CFAR) algorithm and the target parameter set corresponding to the target two-dimensional CFAR algorithm based on the energy vector corresponding to the total range Doppler matrix. That is, it selects a suitable target two-dimensional CFAR algorithm from multiple preset two-dimensional CFAR algorithms based on the energy vector corresponding to the total range Doppler matrix. After the selection unit 14 selects the target two-dimensional CFAR algorithm and the target parameter set corresponding to the target two-dimensional CFAR algorithm, the second processing unit 15 can perform two-dimensional CFAR processing on the SNR estimation map based on the target two-dimensional CFAR algorithm and the target parameter set corresponding to the target two-dimensional CFAR algorithm, thereby obtaining the target detection result.

[0056] This application provides a target detection device, which includes a first generation unit, a first processing unit, a second generation unit, a selection unit, and a second processing unit. First, the first generation unit acquires multiple sets of echo signals corresponding to a receiver and generates a total range Doppler matrix (TMD) corresponding to the receiver based on these echo signals. Second, the first processing unit performs matrix summation on the TMD based on the Doppler dimension to obtain an energy vector corresponding to the TMD. Third, the second generation unit generates a signal-to-noise ratio (SNR) estimation map corresponding to the TMD based on the energy vector. Then, the selection unit selects a two-dimensional constant false alarm rate (CFAR) algorithm and a set of target parameters corresponding to the CFAR algorithm based on the energy vector. Finally, the second processing unit performs two-dimensional CFAR processing on the SNR estimation map based on the CFAR algorithm and the set of target parameters, thereby obtaining a target detection result. Since the energy vector corresponding to the total range Doppler matrix can indicate the current environment of the target radar, in this embodiment, a suitable target two-dimensional constant false alarm rate (CFAR) algorithm is selected from multiple preset two-dimensional CFAR algorithms based on the energy vector corresponding to the total range Doppler matrix. This enables the selection of a suitable two-dimensional CFAR detection algorithm based on the current environment of the target radar, thereby improving the accuracy of target detection by the target radar.

[0057] Furthermore, such as Figure 1 As shown, the first generation unit 11 is specifically used for: acquiring multiple sets of echo signals corresponding to each antenna; performing two-dimensional Fourier transform processing on the multiple sets of echo signals corresponding to each antenna to obtain the range Doppler matrix corresponding to each antenna; performing modulus calculation on the range Doppler matrix corresponding to each antenna to obtain the modulus matrix corresponding to each antenna; and performing matrix addition calculation on multiple modulus matrices to obtain the total range Doppler matrix corresponding to the receiver.

[0058] In this embodiment of the application, the specific process by which the first generating unit 11 acquires multiple sets of echo signals corresponding to the receiver and generates the total range Doppler matrix corresponding to the receiver based on the multiple sets of echo signals is as follows:

[0059] First, multiple sets of echo signals corresponding to each antenna are acquired. Second, two-dimensional Fourier transforms are performed on the multiple sets of echo signals corresponding to each antenna to obtain the range-Doppler matrix corresponding to each antenna. Third, modulus calculations are performed on the range-Doppler matrix corresponding to each antenna to obtain the modulus matrix corresponding to each antenna. Finally, matrix addition is performed on the multiple modulus matrices to obtain the total range-Doppler matrix corresponding to the receiver.

[0060] Furthermore, such as Figure 1 As shown, the second generation unit 13 is specifically used for: generating a signal-to-noise ratio estimation matrix corresponding to the total distance Doppler matrix based on the energy vector; and generating a signal-to-noise ratio estimation map based on the signal-to-noise ratio estimation matrix.

[0061] In this embodiment of the application, the specific process of the second generation unit 13 generating the signal-to-noise ratio estimation map corresponding to the total distance Doppler matrix based on the energy vector corresponding to the total distance Doppler matrix is ​​as follows: First, the signal-to-noise ratio estimation matrix corresponding to the total distance Doppler matrix is ​​generated based on the energy vector corresponding to the total distance Doppler matrix; then, the signal-to-noise ratio estimation map is generated based on the signal-to-noise ratio estimation matrix corresponding to the total distance Doppler matrix.

[0062] Furthermore, such as Figure 1 As shown, the second generation unit 13 is specifically used for: extracting multiple echo signals corresponding to each range gate from the total range-Doppler matrix; smoothing the multiple echo signals corresponding to each range gate according to a preset algorithm, and calculating the noise floor estimate corresponding to each range gate based on the smoothed multiple echo signals corresponding to each range gate; calculating the corrected noise floor compensation value corresponding to each range gate based on the energy vector, the preset noise floor compensation value, and the multiple echo signals corresponding to each range gate; calculating multiple signal-to-noise ratio estimates corresponding to each range gate based on the multiple echo signals, the noise floor estimate, and the corrected noise floor compensation value; and generating the signal-to-noise ratio estimation matrix corresponding to the total range-Doppler matrix based on the multiple signal-to-noise ratio estimates corresponding to each range gate.

[0063] In this embodiment, the first element of the first column of the total range Doppler matrix is ​​the first echo signal corresponding to the first range gate, the second element of the first column of the total range Doppler matrix is ​​the second echo signal corresponding to the first range gate, and so on. The first element of the second column of the total range Doppler matrix is ​​the first echo signal corresponding to the second range gate, and so on. That is, multiple elements in the first column of the total range Doppler matrix are multiple echo signals corresponding to the first range gate, and multiple elements in the second column of the total range Doppler matrix are multiple echo signals corresponding to the second range gate. The preset algorithm can be a mean smoothing algorithm or a k-maximum smoothing algorithm. This embodiment does not specifically limit the algorithm.

[0064] In this embodiment, the specific process by which the second generation unit 13 generates the signal-to-noise ratio (SNR) estimation matrix corresponding to the total range-Doppler matrix based on the energy vector corresponding to the total range-Doppler matrix is ​​as follows: First, multiple echo signals corresponding to each range gate are extracted from the total range-Doppler matrix; second, the multiple echo signals corresponding to each range gate are smoothed according to a preset algorithm, and the noise floor estimation value corresponding to each range gate is calculated based on the smoothed multiple echo signals corresponding to each range gate, that is, the k-th largest value corresponding to each range gate is calculated based on the smoothed multiple echo signals corresponding to each range gate, and the k-th largest value corresponding to each range gate is determined as the noise floor estimation value corresponding to each range gate; third, the signal-to-noise ratio (SNR) estimation matrix corresponding to each range gate is generated based on the energy vector corresponding to the total range-Doppler matrix, the preset noise floor compensation value, and the signal-to-noise ratio (SNR) estimation value corresponding to each range gate. For each range gate, a corrected noise floor compensation value is calculated based on multiple echo signals. Specifically, for any range gate, the corrected value is first calculated based on the energy vector corresponding to the total range-Doppler matrix and the multiple echo signals corresponding to that range gate. Then, the sum of the preset noise floor compensation value and the corrected value corresponding to that range gate is calculated, and the result is determined as the corrected noise floor compensation value for that range gate. The specific process for calculating the corrected value for the i-th range gate based on the energy vector corresponding to the total range-Doppler matrix and the multiple echo signals corresponding to the i-th range gate is as follows: The i-th element of the energy vector corresponding to the total range-Doppler matrix and the multiple echo signals corresponding to the i-th range gate are substituted into the first preset formula to calculate the corrected value for the i-th range gate. The first preset formula is as follows:

[0065] Error i =k1*energy i -k2*∑(energy i -doppler j ) 2

[0066] Among them, Error i The correction value corresponding to the i-th distance gate, k1 and k2 are preset values, and energy i The i-th element in the energy vector corresponding to the total distance Doppler matrix is ​​the doppler. jLet j be the echo signal corresponding to the i-th range gate. Then, based on the multiple echo signals, noise floor estimate, and corrected noise floor compensation value corresponding to each range gate, calculate multiple signal-to-noise ratio (SNR) estimates for each range gate. That is, for any range gate, subtract the noise floor estimate corresponding to the range gate from the first echo signal corresponding to the range gate, then subtract the corrected noise floor compensation value corresponding to the range gate, and determine the result as the first SNR estimate corresponding to the range gate; subtract the noise floor estimate corresponding to the range gate from the second echo signal corresponding to the range gate, then subtract the corrected noise floor compensation value corresponding to the range gate, and determine the result as the second SNR estimate corresponding to the range gate...; finally, based on the multiple echo signals, noise floor estimate, and corrected noise floor compensation value corresponding to each range gate... The signal-to-noise ratio (SNR) estimate is used to generate the SNR estimation matrix corresponding to the total range Doppler matrix. The first element of the first column of the SNR estimation matrix is ​​the first SNR estimate corresponding to the first range gate; the second element of the first column is the second SNR estimate corresponding to the first range gate; and so on. In other words, multiple elements in the first column of the SNR estimation matrix represent multiple SNR estimates corresponding to the first range gate; multiple elements in the second column represent multiple SNR estimates corresponding to the second range gate; and so on.

[0067] It should be noted that in practical applications, the noise floor estimate corresponding to each distance gate can be corrected according to preset rules. Specifically, the preset rules are as follows: based on the noise floor estimates corresponding to the Nth and N+1th distance gates, calculate the corrected noise floor estimate corresponding to the N+2th distance gate. If the noise floor estimate corresponding to the N+2th distance gate is the same as its corresponding corrected noise floor estimate, no processing is required; otherwise, if the noise floor estimate corresponding to the N+2th distance gate is different from its corresponding corrected noise floor estimate, then... The noise floor estimate corresponding to the (N+2)th distance gate is changed to its corresponding corrected noise floor estimate. The specific process for calculating the corrected noise floor estimate of the (N+2)th distance gate based on the noise floor estimates of the Nth and (N+1)th distance gates is as follows: First, calculate the difference between the noise floor estimates of the (N+1)th and Nth distance gates; then calculate the sum of the noise floor estimates of the (N+1)th and (N+2)th distance gates and this difference; and finally, determine the result as the corrected noise floor estimate of the (N+2)th distance gate. It should be noted that in practical applications, the noise floor estimates of the first and second distance gates are always accurate. Therefore, the noise floor estimate of the third distance gate can be corrected based on the noise floor estimates of the first and second distance gates, and so on.

[0068] Furthermore, such as Figure 1 As shown, selection unit 14 is specifically used for: calculating the first-order and second-order statistics corresponding to the energy vector; selecting the target two-dimensional constant false alarm rate algorithm from multiple preset two-dimensional constant false alarm rate algorithms based on the first-order and second-order statistics corresponding to the energy vector; and determining the target parameter set corresponding to the target two-dimensional constant false alarm rate algorithm based on the first-order and second-order statistics corresponding to the energy vector.

[0069] Among them, the first-order statistic of the energy vector corresponding to the total distance Doppler matrix is ​​the energy intensity of multiple echo signals, and the second-order statistic of the energy vector corresponding to the total distance Doppler matrix is ​​the energy dispersion degree of each Doppler dimension; there are multiple preset scenarios, the first and second statistic ranges corresponding to each preset scenario, and the mapping relationship between each preset scenario and its corresponding preset two-dimensional constant false alarm rate algorithm.

[0070] In this embodiment, the specific process by which the selection unit 14 selects the target two-dimensional constant false alarm rate (CFAR) algorithm and the target parameter set corresponding to the target two-dimensional CFAR algorithm based on the energy vector corresponding to the total range Doppler matrix is ​​as follows: First, the first-order and second-order statistics of the energy vector corresponding to the total range Doppler matrix are calculated; second, the target two-dimensional CFAR algorithm is selected from multiple preset two-dimensional CFAR algorithms based on the first-order and second-order statistics corresponding to the energy vector, and the target parameter set corresponding to the target two-dimensional CFAR algorithm is determined based on the first-order and second-order statistics corresponding to the energy vector, that is, the first-order statistics corresponding to the energy vector are used to determine the target parameter set corresponding to the target two-dimensional CFAR algorithm. The second-order statistics are matched with the first and second statistical ranges corresponding to each preset scenario, respectively. The preset two-dimensional constant false alarm rate algorithm corresponding to the successfully matched preset scenario is determined as the target two-dimensional constant false alarm rate algorithm, and the target parameter set corresponding to the preset two-dimensional constant false alarm rate algorithm is determined as the target parameter set corresponding to the target two-dimensional constant false alarm rate algorithm. Specifically, when the first-order statistics corresponding to the energy vector are within the first statistical range corresponding to a preset scenario, and the second-order statistics corresponding to the energy vector are within the second statistical range corresponding to the preset scenario, the preset scenario is determined to be a successfully matched preset scenario.

[0071] Furthermore, as a response to the above Figure 1 In addition to the implementation of the illustrated device, another embodiment of this application also provides a target detection method applied to a target radar. This method embodiment corresponds to the foregoing device embodiment. For ease of reading, this method embodiment will not repeat the details of the foregoing device embodiment, but it should be understood that the method in this embodiment can implement all the contents of the foregoing device embodiment. This method is applied to select a suitable two-dimensional constant false alarm rate (CFAR) detection algorithm based on the current environment of the target radar, thereby improving the accuracy of target detection by the radar. Specifically, as shown... Figure 2 As shown, the method includes:

[0072] 201. Acquire multiple sets of echo signals corresponding to the receiver, and generate the total range Doppler matrix corresponding to the receiver based on the multiple sets of echo signals corresponding to the receiver.

[0073] 202. Perform matrix summation on the total distance Doppler matrix based on the Doppler dimension to obtain the energy vector corresponding to the total distance Doppler matrix.

[0074] 203. Generate the signal-to-noise ratio estimation map corresponding to the total distance Doppler matrix based on the energy vector.

[0075] 204. Select the target parameter set corresponding to the target two-dimensional constant false alarm rate algorithm and the target two-dimensional constant false alarm rate algorithm based on the energy vector.

[0076] 205. Based on the target two-dimensional constant false alarm rate (CFAR) algorithm and the target parameter set corresponding to the target two-dimensional CFAR algorithm, perform two-dimensional CFAR processing on the signal-to-noise ratio estimation map to obtain the target detection result.

[0077] Furthermore, the receiver includes multiple antennas; step 201: acquire multiple sets of echo signals corresponding to the receiver, and generate the total range Doppler matrix corresponding to the receiver based on the multiple sets of echo signals, including:

[0078] Acquire multiple sets of echo signals corresponding to each antenna;

[0079] Two-dimensional Fourier transform processing is performed on multiple sets of echo signals corresponding to each antenna to obtain the range Doppler matrix corresponding to each antenna;

[0080] The modulus of the range-Doppler matrix corresponding to each antenna is calculated to obtain the modulus matrix for each antenna.

[0081] Matrix addition is performed on multiple modulo matrices to obtain the total range Doppler matrix corresponding to the receiver.

[0082] Furthermore, such as Figure 3 As shown, step 203, generating the signal-to-noise ratio estimation map corresponding to the total distance Doppler matrix based on the energy vector, includes:

[0083] 2031. Generate the signal-to-noise ratio estimation matrix corresponding to the total distance Doppler matrix based on the energy vector.

[0084] 2032. Generate a signal-to-noise ratio (SNR) estimation map based on the SNR estimation matrix.

[0085] Further, step 2031, generating the signal-to-noise ratio estimation matrix corresponding to the total distance Doppler matrix based on the energy vector, includes:

[0086] Extract multiple echo signals corresponding to each range gate from the total range Doppler matrix;

[0087] The multiple echo signals corresponding to each distance gate are smoothed according to the preset algorithm, and the noise floor estimate corresponding to each distance gate is calculated based on the multiple smoothed echo signals corresponding to each distance gate.

[0088] Based on the energy vector, the preset noise floor compensation value, and the multiple echo signals corresponding to each distance gate, calculate the corrected noise floor compensation value for each distance gate;

[0089] Based on the multiple echo signals, noise floor estimates, and corrected noise floor compensation values ​​corresponding to each distance gate, calculate multiple signal-to-noise ratio estimates corresponding to each distance gate.

[0090] The signal-to-noise ratio (SNR) estimation matrix corresponding to the total range Doppler matrix is ​​generated based on the multiple SNR estimates corresponding to each range gate.

[0091] Further, step 204, selecting the target two-dimensional constant false alarm rate (CFAR) algorithm and the corresponding target parameter set based on the energy vector, includes:

[0092] Calculate the first-order and second-order statistics corresponding to the energy vector;

[0093] The target two-dimensional constant false alarm rate (CFAR) algorithm is selected from multiple preset two-dimensional CFAR algorithms based on the first-order and second-order statistics corresponding to the energy vector.

[0094] The target parameter set corresponding to the two-dimensional constant false alarm rate algorithm is determined based on the first-order and second-order statistics corresponding to the energy vector.

[0095] This application provides a target detection device and method. The target detection device includes a first generation unit, a first processing unit, a second generation unit, a selection unit, and a second processing unit. First, the first generation unit acquires multiple sets of echo signals corresponding to a receiver and generates a total range Doppler matrix (TMD) corresponding to the receiver based on these echo signals. Second, the first processing unit performs matrix summation on the TMD based on the Doppler dimension to obtain an energy vector corresponding to the TMD. Third, the second generation unit generates a signal-to-noise ratio (SNR) estimation map corresponding to the TMD based on the energy vector. Then, the selection unit selects a two-dimensional constant false alarm rate (CFAR) algorithm and a target parameter set corresponding to the CFAR algorithm based on the energy vector. Finally, the second processing unit performs two-dimensional CFAR processing on the SNR estimation map based on the CFAR algorithm and the target parameter set, thereby obtaining the target detection result. Since the energy vector corresponding to the total range Doppler matrix can indicate the current environment of the target radar, in this embodiment, a suitable target two-dimensional constant false alarm rate (CFAR) algorithm is selected from multiple preset two-dimensional CFAR algorithms based on the energy vector corresponding to the total range Doppler matrix. This enables the selection of a suitable two-dimensional CFAR detection algorithm based on the current environment of the target radar, thereby improving the accuracy of target detection by the target radar.

[0096] This application provides a storage medium that includes a stored program, wherein the program controls the device where the storage medium is located to execute the target detection method described above when it is running.

[0097] Storage media may include non-permanent memory in the form of computer-readable media, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0098] This application also provides a target detection device, the device including a storage medium; and one or more processors, the storage medium being coupled to the processors, the processors being configured to execute program instructions stored in the storage medium; the program instructions executing the target detection method described above.

[0099] This application provides a device, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs the following steps:

[0100] Acquire multiple sets of echo signals corresponding to the receiver, and generate the total range Doppler matrix corresponding to the receiver based on the multiple sets of echo signals corresponding to the receiver;

[0101] The total distance Doppler matrix is ​​summed based on the Doppler dimension to obtain the energy vector corresponding to the total distance Doppler matrix.

[0102] Generate a signal-to-noise ratio estimation map corresponding to the total distance Doppler matrix based on the energy vector;

[0103] Select the target two-dimensional constant false alarm rate algorithm and the target parameter group corresponding to the target two-dimensional constant false alarm rate algorithm based on the energy vector;

[0104] The signal-to-noise ratio estimation map is processed using the target two-dimensional constant false alarm rate (CFAR) algorithm and the target parameter set corresponding to the target two-dimensional CFAR algorithm to obtain the target detection result.

[0105] Furthermore, the receiver includes multiple antennas; the step of acquiring multiple sets of echo signals corresponding to the receiver and generating the total range Doppler matrix corresponding to the receiver based on the multiple sets of echo signals includes:

[0106] Acquire multiple sets of echo signals corresponding to each antenna;

[0107] Two-dimensional Fourier transform processing is performed on multiple sets of echo signals corresponding to each antenna to obtain the range Doppler matrix corresponding to each antenna;

[0108] The modulus of the range Doppler matrix corresponding to each antenna is calculated to obtain the modulus matrix corresponding to each antenna.

[0109] Matrix addition is performed on multiple modulo matrices to obtain the total range Doppler matrix corresponding to the receiver.

[0110] Furthermore, generating the signal-to-noise ratio estimation map corresponding to the total distance Doppler matrix based on the energy vector includes:

[0111] Generate the signal-to-noise ratio estimation matrix corresponding to the total distance Doppler matrix based on the energy vector;

[0112] The signal-to-noise ratio (SNR) estimation map is generated based on the SNR estimation matrix.

[0113] Furthermore, generating the signal-to-noise ratio estimation matrix corresponding to the total distance Doppler matrix based on the energy vector includes:

[0114] Extract multiple echo signals corresponding to each range gate from the total range Doppler matrix;

[0115] The preset algorithm is used to smooth the multiple echo signals corresponding to each distance gate, and the noise floor estimate corresponding to each distance gate is calculated based on the multiple smoothed echo signals corresponding to each distance gate.

[0116] Based on the energy vector, the preset noise floor compensation value, and the multiple echo signals corresponding to each distance gate, calculate the corrected noise floor compensation value corresponding to each distance gate;

[0117] Based on the multiple echo signals, noise floor estimates, and corrected noise floor compensation values ​​corresponding to each distance gate, multiple signal-to-noise ratio estimates are calculated for each distance gate.

[0118] The signal-to-noise ratio (SNR) estimation matrix corresponding to the total distance Doppler matrix is ​​generated based on the multiple SNR estimates corresponding to each of the distance gates.

[0119] Furthermore, the step of selecting the target two-dimensional constant false alarm rate (CFAR) algorithm and the target parameter set corresponding to the target two-dimensional CFAR algorithm based on the energy vector includes:

[0120] Calculate the first-order and second-order statistics corresponding to the energy vector;

[0121] The target two-dimensional constant false alarm rate (CFAR) algorithm is selected from among several preset two-dimensional CFAR algorithms based on the first-order and second-order statistics corresponding to the energy vector.

[0122] The target parameter set corresponding to the target two-dimensional constant false alarm rate algorithm is determined based on the first-order and second-order statistics corresponding to the energy vector.

[0123] This application also provides a computer program product, which, when executed on a data processing device, is suitable for executing program code that initializes the following steps: acquiring multiple sets of echo signals corresponding to a receiver, and generating a total range Doppler matrix corresponding to the receiver based on the multiple sets of echo signals; performing matrix summation processing on the total range Doppler matrix based on the Doppler dimension to obtain an energy vector corresponding to the total range Doppler matrix; generating a signal-to-noise ratio (SNR) estimation map corresponding to the total range Doppler matrix based on the energy vector; selecting a target two-dimensional constant false alarm rate (CFAR) algorithm and a target parameter set corresponding to the target two-dimensional CFAR algorithm based on the energy vector; and performing two-dimensional CFAR processing on the SNR estimation map based on the target two-dimensional CFAR algorithm and the target parameter set corresponding to the target two-dimensional CFAR algorithm to obtain a target detection result.

[0124] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0125] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0126] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0127] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0128] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0129] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0130] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0131] It should also be noted that 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 process, method, article, or apparatus. Unless otherwise specified, 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 that element.

[0132] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0133] The above are merely embodiments of this application and are not intended to limit the scope of 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 scope of the claims of this application.

Claims

1. A target detection device, characterized in that, The device includes: The first generation unit is used to acquire multiple sets of echo signals corresponding to the receiver, and generate the total range Doppler matrix corresponding to the receiver based on the multiple sets of echo signals corresponding to the receiver. The first processing unit is used to perform matrix summation on the total distance Doppler matrix based on the Doppler dimension to obtain the energy vector corresponding to the total distance Doppler matrix. The second generation unit is used to generate a signal-to-noise ratio estimation map corresponding to the total distance Doppler matrix based on the energy vector; The selection unit is used to select the target two-dimensional constant false alarm algorithm and the target parameter group corresponding to the target two-dimensional constant false alarm algorithm according to the energy vector. The second processing unit is used to perform two-dimensional constant false alarm rate (CFAR) processing on the signal-to-noise ratio (SNR) estimation map according to the target two-dimensional constant false alarm rate (CFAR) algorithm and the target parameter set corresponding to the target two-dimensional constant false alarm rate (CFAR) algorithm, so as to obtain the target detection result. The selection unit is specifically used for: calculating the first-order and second-order statistics corresponding to the energy vector; selecting the target two-dimensional constant false alarm rate algorithm from multiple preset two-dimensional constant false alarm rate algorithms based on the first-order and second-order statistics corresponding to the energy vector; and determining the target parameter set corresponding to the target two-dimensional constant false alarm rate algorithm based on the first-order and second-order statistics corresponding to the energy vector.

2. The apparatus according to claim 1, characterized in that, The receiver includes multiple antennas; The first generation unit is specifically used for: acquiring multiple sets of echo signals corresponding to each antenna; and performing two-dimensional Fourier transform processing on the multiple sets of echo signals corresponding to each antenna to obtain the range Doppler matrix corresponding to each antenna. The range-Doppler matrix corresponding to each antenna is calculated by modulus calculation to obtain the modulus matrix corresponding to each antenna; the multiple modulus matrices are added together to obtain the total range-Doppler matrix corresponding to the receiver.

3. The apparatus according to claim 1, characterized in that, The second generation unit is specifically used to: generate a signal-to-noise ratio (SNR) estimation matrix corresponding to the total distance Doppler matrix based on the energy vector; and generate the SNR estimation map based on the SNR estimation matrix.

4. The apparatus according to claim 3, characterized in that, The second generation unit is specifically used for: extracting multiple echo signals corresponding to each range gate from the total range Doppler matrix; smoothing the multiple echo signals corresponding to each range gate according to a preset algorithm; and calculating the noise floor estimate corresponding to each range gate based on the smoothed multiple echo signals corresponding to each range gate. Based on the energy vector, the preset noise floor compensation value, and the multiple echo signals corresponding to each range gate, calculate the corrected noise floor compensation value corresponding to each range gate; based on the multiple echo signals corresponding to each range gate, the noise floor estimate, and the corrected noise floor compensation value, calculate the multiple signal-to-noise ratio estimates corresponding to each range gate. The signal-to-noise ratio (SNR) estimation matrix corresponding to the total distance Doppler matrix is ​​generated based on the multiple SNR estimates corresponding to each of the distance gates.

5. A target detection method, characterized in that, The method includes: Acquire multiple sets of echo signals corresponding to the receiver, and generate the total range Doppler matrix corresponding to the receiver based on the multiple sets of echo signals corresponding to the receiver; The total distance Doppler matrix is ​​summed based on the Doppler dimension to obtain the energy vector corresponding to the total distance Doppler matrix. Generate a signal-to-noise ratio estimation map corresponding to the total distance Doppler matrix based on the energy vector; Select the target two-dimensional constant false alarm rate algorithm and the target parameter group corresponding to the target two-dimensional constant false alarm rate algorithm based on the energy vector; The signal-to-noise ratio estimation map is processed using the target two-dimensional constant false alarm rate (CFAR) algorithm and the target parameter set corresponding to the target two-dimensional CFAR algorithm to obtain the target detection result. The step of selecting the target two-dimensional constant false alarm rate (CFAR) algorithm and the target parameter group corresponding to the target two-dimensional CFAR algorithm based on the energy vector includes: Calculate the first-order and second-order statistics corresponding to the energy vector; The target two-dimensional constant false alarm rate (CFAR) algorithm is selected from among several preset two-dimensional CFAR algorithms based on the first-order and second-order statistics corresponding to the energy vector. The target parameter set corresponding to the target two-dimensional constant false alarm rate algorithm is determined based on the first-order and second-order statistics corresponding to the energy vector.

6. The method according to claim 5, characterized in that, The receiver includes multiple antennas; the step of acquiring multiple sets of echo signals corresponding to the receiver and generating the total range Doppler matrix corresponding to the receiver based on the multiple sets of echo signals includes: Acquire multiple sets of echo signals corresponding to each antenna; Two-dimensional Fourier transform processing is performed on multiple sets of echo signals corresponding to each antenna to obtain the range Doppler matrix corresponding to each antenna; The modulus of the range Doppler matrix corresponding to each antenna is calculated to obtain the modulus matrix corresponding to each antenna. Matrix addition is performed on multiple modulo matrices to obtain the total range Doppler matrix corresponding to the receiver.

7. The method according to claim 5, characterized in that, The step of generating the signal-to-noise ratio estimation map corresponding to the total distance Doppler matrix based on the energy vector includes: Generate the signal-to-noise ratio estimation matrix corresponding to the total distance Doppler matrix based on the energy vector; The signal-to-noise ratio (SNR) estimation map is generated based on the SNR estimation matrix.

8. The method according to claim 7, characterized in that, The step of generating the signal-to-noise ratio estimation matrix corresponding to the total distance Doppler matrix based on the energy vector includes: Extract multiple echo signals corresponding to each range gate from the total range Doppler matrix; According to a preset algorithm, the multiple echo signals corresponding to each distance gate are smoothed, and the noise floor estimate corresponding to each distance gate is calculated based on the multiple smoothed echo signals corresponding to each distance gate. Based on the energy vector, the preset noise floor compensation value, and the multiple echo signals corresponding to each distance gate, calculate the corrected noise floor compensation value corresponding to each distance gate; Based on the multiple echo signals, noise floor estimates, and corrected noise floor compensation values ​​corresponding to each distance gate, multiple signal-to-noise ratio estimates are calculated for each distance gate. The signal-to-noise ratio (SNR) estimation matrix corresponding to the total distance Doppler matrix is ​​generated based on the multiple SNR estimates corresponding to each of the distance gates.

9. A storage medium, characterized in that, The storage medium includes a stored program, wherein, when the program is executed, it controls the device containing the storage medium to perform the target detection method according to any one of claims 5 to 8.

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