Target position estimation method, radar detection system, terminal device and storage medium

Abstract

The application discloses a target position estimation method, a radar detection system, a terminal device and a storage medium. The method comprises the following steps: performing pulse compression processing on an obtained original echo signal to obtain a one-dimensional range image matrix of a radar target; performing environment background estimation on the one-dimensional range image matrix to obtain an estimated environment background signal of each channel; performing primary evaluation on the quality of each channel according to the environment background signal; performing target echo estimation on the one-dimensional range image matrix to obtain a target echo signal; performing secondary evaluation on the quality of each channel according to the primary evaluation result of the quality of each channel and the target echo signal; and performing target position estimation according to the secondary evaluation result of the quality of each channel to obtain target position information. The application improves the signal quality for target position estimation, improves the accuracy of target position estimation, and improves the effectiveness of target position detection.

Description

Technical Field

[0001] This invention belongs to the field of through-wall radar technology, and particularly relates to a method for estimating the target position of through-wall radar, a radar detection system, a terminal device, and a storage medium. Background Technology

[0002] Through-wall radar is a device that emits electromagnetic waves of a specific frequency, enabling it to penetrate opaque obstacles such as walls and ruins to detect, locate, and track hidden life targets behind obstacles. It is mainly used in emergency rescue, life detection, security and other fields.

[0003] However, through-wall radar cannot penetrate obstacles containing metal or with high humidity, and therefore cannot perceive environmental information behind them. In practical applications, obstacles in front of the detection device often contain partial or large areas of metal, such as metal wiring or rebar within walls, or metal cabinets, sockets, or light fixtures pressed against the wall behind it. This can cause partial or complete failure of the radar antenna array elements. Furthermore, high humidity in the walls can also cause partial or complete failure of the radar antenna array. All of these factors severely affect the effectiveness, accuracy, and reliability of the detection results from through-wall radar equipment. Summary of the Invention

[0004] The purpose of this invention is to provide a method for estimating the target position of a penetrating radar, a radar detection system, a terminal device, and a storage medium, in order to solve the problem that the presence of a medium (such as metal or a high-humidity medium) in front of the radar detection front causes a mismatch between the actual effective antenna array of the radar and the template antenna array model in radar signal processing, which in turn seriously affects the effectiveness of radar detection.

[0005] This invention solves the above-mentioned technical problems through the following technical solution: a method for estimating the position of a target using through-wall radar, comprising the following steps:

[0006] Acquire the raw echo signals from each radar channel;

[0007] The original echo signal is subjected to pulse compression processing to obtain a one-dimensional range image matrix of the radar target;

[0008] Environmental background estimation is performed on the one-dimensional distance image matrix to obtain the estimated environmental background signal for each channel; the quality of each channel is then evaluated based on the environmental background signal.

[0009] Target echo estimation is performed on the one-dimensional range image matrix to obtain the target echo signal;

[0010] A second evaluation of the quality of each channel is performed based on the initial evaluation results of the quality of each channel and the target echo signal.

[0011] The target location is estimated based on the secondary evaluation results of the quality of each channel, thus obtaining the target location information.

[0012] Furthermore, the original echo signal is subjected to pulse compression processing using a windowed Fourier transform, specifically including:

[0013] The original echo signal is windowed along the fast time dimension;

[0014] Perform a Discrete Fourier Transform on each segment of the windowed signal to form a one-dimensional range image matrix of the radar target. The specific formula is as follows:

[0015]

[0016] Where R(k,m,l) is a one-dimensional range image matrix, k is the range cell index, m is the channel number, l is the sampling point in the slow time dimension, j is the imaginary part, N is the number of sampling points in the fast time dimension, n is the number of sampling points in the fast time dimension, and h w s(n,m,l) is a sequence of window functions, and s(n,m,l) is the original echo signal.

[0017] Furthermore, the quality of each channel is evaluated based on the environmental background signal, specifically including:

[0018] The average power of each distance unit in the channel is calculated based on the environmental background signal, and the specific calculation formula is as follows:

[0019]

[0020] Among them, P m Let be the average power of each distance cell in the m-th channel, and diag[·] be the operator that takes all elements on the diagonal of the matrix. H It is the conjugate transpose. This is the estimated environmental background signal for the m-th channel;

[0021] The quality of each channel is evaluated based on the average power of each distance unit in the channel. The evaluation formula is as follows:

[0022]

[0023] Where, N front For the cutoff distance cell index location used in near-range environmental echo average power estimation, N ss The starting range cell index is used to estimate the average power of the environmental echo behind the radar, which is flush with the wall. N is the number of sampling points in the fast time dimension, and P is the starting range cell index. m (k) represents the average power of the k-th distance cell in the m-th channel, and α is the empirical threshold. m =0 indicates that the m-th channel is a low-quality channel after one evaluation, Im =1 indicates that the m-th channel is a normal channel after one evaluation.

[0024] Furthermore, based on the initial evaluation results of each channel's quality and the target echo signal, a secondary evaluation of each channel's quality is performed, specifically including:

[0025] The specific formula for calculating the target distance distribution in a normal channel is as follows:

[0026]

[0027] Among them, R refer_tar (k) represents the target distance distribution of the normal channel, M represents the number of channels, and T(k,m) represents the target echo signal of the k-th distance unit of the m-th channel;

[0028] A secondary evaluation of the quality of each channel is performed based on the target distance distribution of the normal channel and the target echo signal of the low-quality channel. The secondary evaluation formula is as follows:

[0029]

[0030] Where, N ss The starting range cell index is used to estimate the average power of the environmental echo behind the radar, which is flush with the wall. N is the number of sampling points in the fast time dimension, and I... m =0 indicates that the m-th channel is a low-quality channel after one evaluation, I m =1 indicates that the m-th channel is a normal channel after one evaluation, I′ m =0 indicates that the m-th channel is a low-quality channel after the second evaluation, I′ m =1 indicates that the m-th channel is a normal channel after the second evaluation.

[0031] Furthermore, the target location is estimated based on the secondary evaluation results of the quality of each channel, specifically including:

[0032] Based on the secondary evaluation results of the quality of each channel, the occupancy rate of the normal channels is calculated using the following formula:

[0033]

[0034] Where β is the occupancy rate of the normal channel, M is the number of channels, and I′ m =0 indicates that the m-th channel is a low-quality channel after the second evaluation, I′ m =1 indicates that the m-th channel is a normal channel after the second evaluation;

[0035] If condition one is met: the occupancy rate β of the normal channel is greater than or equal to the empirical value β0, then the target echo signal is back-projected to obtain the target position information.

[0036] If condition two is met: the occupancy rate β of the normal channel is less than the empirical value β0 and satisfies 0==∑I⊙T[I], then it indicates that the current radar detection point is not suitable for radar detection and needs to be changed for detection; where T[·] represents the operation of shifting the vector one bit to the right, ⊙ represents the multiplication of corresponding elements in the vector group, and I=[I'0 I′1 … I' M-1 ];

[0037] If neither condition one nor condition two is satisfied, then determine whether the antenna array composed of the currently effective antenna array elements satisfies the basic conditions for sparse reconstruction:

[0038]

[0039] Where c1 is an empirical constant, and K is the maximum number of targets at different angles that the radar can distinguish within the same distance unit;

[0040] If the aforementioned basic conditions are met, sparse imaging is performed on the target echo signal to obtain the target location information;

[0041] If the aforementioned basic conditions are not met, the target position is estimated using the phase angle measurement method to obtain the target position information.

[0042] Based on the same concept, the present invention also provides a radar detection system, the radar detection system comprising:

[0043] The transmitting module is used to generate transmitted wave signals;

[0044] The receiving module is used to receive the original echo signal, which is the signal that is scattered back after the transmitted wave signal is sent to the target;

[0045] Signal processor, used for:

[0046] The original echo signal is subjected to pulse compression processing to obtain a one-dimensional range image matrix of the radar target;

[0047] Environmental background estimation is performed on the one-dimensional distance image matrix to obtain the estimated environmental background signal for each channel; the quality of each channel is then evaluated based on the environmental background signal.

[0048] Target echo estimation is performed on the one-dimensional range image matrix to obtain the target echo signal;

[0049] A second evaluation of the quality of each channel is performed based on the initial evaluation results of the quality of each channel and the target echo signal.

[0050] The target location is estimated based on the secondary evaluation results of the quality of each channel, thus obtaining the target location information.

[0051] Based on the same concept, the present invention also provides a terminal device, the terminal device comprising:

[0052] Memory, used to store computer programs;

[0053] A processor is used to implement the through-wall radar target location estimation method as described above when executing the computer program.

[0054] Based on the same concept, the present invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the through-wall radar target position estimation method as described above.

[0055] Beneficial effects

[0056] Compared with the prior art, the advantages of the present invention are as follows:

[0057] This invention utilizes environmental background signals to perform a primary evaluation of the quality of each channel. Based on this primary evaluation, it combines the target echo signal to perform a secondary evaluation of the quality of each channel, thereby achieving online evaluation of the target echo signal quality of each channel and improving the accuracy of the evaluation. Based on the results of the secondary evaluation, the target position is estimated, reducing the participation of low-quality or invalid channel echo signals in target position estimation, improving the signal quality used for target position estimation, increasing the accuracy of target position estimation, and enhancing the effectiveness of target position detection.

[0058] This invention adaptively adjusts the target position estimation method when estimating the target position based on the secondary evaluation results, further improving the accuracy of target position estimation and solving the problem of low detection accuracy and effectiveness caused by the presence of metal, high humidity, or extremely non-uniform media in the adjacent medium directly in front of the radar detection point. Attached Figure Description

[0059] To more clearly illustrate the technical solution of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only one embodiment of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0060] Figure 1 This is a flowchart of the through-wall radar target position estimation method in an embodiment of the present invention;

[0061] Figure 2 This is a flowchart of the target location estimation process in an embodiment of the present invention. Detailed Implementation

[0062] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0063] The technical solutions of this application will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0064] Example 1

[0065] like Figure 1 As shown in the figure, the through-wall radar target position estimation method provided by the embodiment of the present invention includes the following steps:

[0066] Step 1: Acquire the raw echo signals of each radar channel;

[0067] Step 2: Perform pulse compression processing on the original echo signal to obtain the one-dimensional range image matrix of the radar target;

[0068] Step 3: Estimate the environmental background of the one-dimensional distance image matrix to obtain the estimated environmental background signal for each channel; evaluate the quality of each channel based on the environmental background signal.

[0069] Step 4: Estimate the target echo from the one-dimensional range image matrix to obtain the target echo signal;

[0070] Step 5: Perform a secondary evaluation of the quality of each channel based on the initial evaluation results and the target echo signal;

[0071] Step 6: Estimate the target location based on the secondary evaluation results of the quality of each channel to obtain the target location information.

[0072] Let the acquired raw echo signal be s(n,m,l), where n is the sampling point in the fast time dimension, m is the channel number or antenna element number, and l is the sampling point in the slow time dimension. In step 2, the raw echo signal s(n,m,l) is subjected to pulse compression processing using a windowed Fourier transform, specifically including:

[0073] Step 2.1: Window the original echo signal s(n,m,l) along the fast time dimension;

[0074] Step 2.2: Perform Discrete Fourier Transform on each segment of the windowed signal to form a one-dimensional range image matrix of the radar target. The specific formula is as follows:

[0075]

[0076] Where R(k,m,l) is a one-dimensional range image matrix, k is the range cell index, j is the imaginary part, N is the number of sampling points in the fast time dimension, and h w It is a sequence of window functions.

[0077] To obtain the environmental background signal for each channel, a filter h for estimating the environmental background is designed based on the characteristics of the environmental echo. b Convolution processing is used to estimate the environmental background signal for each channel.

[0078] B(k,m,l′)=h b *R(k,m,:) (2)

[0079] Where B(k,m,l′) is the environmental background signal, and l′ is the signal passed through filter h. b The output is the slow-time dimension sampling points, where * represents the convolution operation, and R(k,m,:) is the set of all data along the slow-time dimension of the m-th channel and k-th range cell of the radar.

[0080] Based on the fact that radar emitting low-frequency signals can penetrate wood, brick, and cement walls of a certain thickness, but cannot penetrate metal or high-humidity, wide-thickness media, this invention designs a channel quality assessment method based on environmental background signals (i.e., a primary assessment of the quality of each channel). In typical applications of through-wall radar, there are often other strong reflective structures behind the wall against which the radar is attached. When the electromagnetic waves emitted by the radar antenna elements can penetrate the wall, the location distribution of other strong reflective structures behind the wall can usually be identified. However, when penetration is impossible, the location distribution of other strong reflective structures behind the wall cannot usually be identified. Based on this situation, this invention records the channels corresponding to antenna elements that cannot be penetrated as low-quality channels. Step 3, the channel quality assessment method based on environmental background signals includes:

[0081] Step 3.1: Calculate the average power of each distance unit in the channel based on the environmental background signal. The specific calculation formula is as follows:

[0082]

[0083] Among them, P m Let be the average power of each distance cell in the m-th channel, and diag[·] be the operator that takes all elements on the diagonal of the matrix. H It is the conjugate transpose. Let B(:,m,:) be the estimated environmental background signal for the m-th channel, and let B(:,m,:) be the estimated environmental background signal for all distance cells and all slow-time dimension sampling points of the m-th channel.

[0084] Step 3.2: Based on the average power P of each distance unit in the channel m The quality of each channel is assessed once, and the assessment formula is as follows:

[0085]

[0086] Where, N front The cutoff range cell index location (the cutoff range cell is the terminating location used to estimate the average power of near-field environmental echoes) is N, used for participating in the estimation of near-field environmental echo average power. ss The starting range cell index is used to estimate the average power of the environmental echo behind the radar, which is flush with the wall. N is the number of sampling points in the fast time dimension, and P is the starting range cell index. m (k) represents the average power of the k-th distance cell in the m-th channel, and α is the empirical threshold. m =0 indicates that the m-th channel is a low-quality channel after one evaluation, I m =1 indicates that the m-th channel is a normal channel after one evaluation. Taking a certain radar as an example, the number of sampling points N in the fast time dimension is 100, N front The value range is 10 to 20, N ss The value ranges from 40 to 70, and the value range of α is from 0.7 to 0.9.

[0087] In step 4, the target echo is estimated using filter h along the slow time dimension. t Target echo estimation is performed on the one-dimensional range image matrix R(k,m,l) to obtain the target echo signal:

[0088] T(k,m)=h t *R(k,m,:) (5)

[0089] Where T(k,m) is the target echo signal of the k-th distance cell in the m-th channel, and * represents the convolution operation.

[0090] To improve the accuracy of the quality assessment for each channel, a secondary assessment of the channel quality is performed based on the primary assessment results using the target echo signal. Step 5 includes the following specific steps for the secondary assessment:

[0091] Step 5.1: Calculate the target distance distribution in the normal channel. The specific calculation formula is as follows:

[0092]

[0093] Among them, R refer_tar (k) represents the target distance distribution of the normal channel, M represents the number of channels, and T(k,m) represents the target echo signal of the m-th channel.

[0094] Step 5.2: Perform a secondary evaluation of the quality of each channel based on the target distance distribution of the normal channel and the target echo signal of the low-quality channel. The secondary evaluation formula is as follows:

[0095]

[0096] Where | represents the OR operation, I m |0 in I m Indicates the result of an evaluation, I′ m Indicates the result of the secondary evaluation, I m =0 indicates that the m-th channel is a low-quality channel after one evaluation, I m =1 indicates that the m-th channel is a normal channel after one evaluation, I′ m =0 indicates that the m-th channel is a low-quality channel after the second evaluation, I′ m =1 indicates that the m-th channel is a normal channel after the second evaluation.

[0097] After completing the quality assessment of each channel, an adaptive estimation of the target location is performed based on the results of the secondary assessment. For example... Figure 2 As shown, in step 6, the target location is estimated based on the secondary evaluation results of the quality of each channel, specifically including:

[0098] Step 6.1: Based on the secondary evaluation results of the quality of each channel, calculate the occupancy rate of the normal channels. The specific formula is as follows:

[0099]

[0100] Where β is the occupancy rate of the normal channel, M is the number of channels, and I′ m =0 indicates that the m-th channel is a low-quality channel after the second evaluation, I′ m =1 indicates that the m-th channel is a normal channel after the second evaluation.

[0101] Step 6.2: Determine the target location estimation method based on the occupancy rate β of the normal channel:

[0102] If condition one is met: the occupancy rate β of the normal channel is greater than or equal to the empirical value β0, then the target echo signal is directly back-projected to obtain the target position information.

[0103] If condition two is met: the occupancy rate β of the normal channel is less than the empirical value β0 and satisfies 0==∑I⊙T[I], then it indicates that the current radar detection point is not suitable for radar detection, prompting the user to change the detection point; where T[·] represents the operation of shifting the vector one bit to the right, ⊙ represents the multiplication of corresponding elements in the vector group, and I is the set of secondary evaluation results of the quality of M channels, I=[I'0 I′1… I' M-1 ].

[0104] The empirical value β0 is set based on experience, and the empirical value β0 varies for different radar models. In this embodiment, the empirical value β0 ranges from 0.8 to 0.9.

[0105] Step 6.3: If neither condition 1 nor condition 2 in step 6.2 is satisfied, then further determine whether the antenna array composed of the currently effective antenna array elements satisfies the basic conditions for sparse reconstruction:

[0106]

[0107] Where c1 is an empirical constant, and the value of c1 ranges from 0.5 to 2; K is the maximum number of targets at different angles that the radar can distinguish within the same distance unit.

[0108] Step 6.4: If the basic condition (9) is met, perform sparse imaging on the target echo signal to obtain the target location information;

[0109] If the basic condition (9) is not met, the target position is estimated by using the phase angle measurement method to obtain the target position information.

[0110] Steps 6.2 to 6.4 adaptively select different target position estimation methods according to different conditions, and finally output target position information, thereby improving the accuracy of target position estimation.

[0111] Example 2

[0112] An embodiment of the present invention also provides a radar detection system comprising: a transmitting module, a receiving module, and a signal processing module.

[0113] The transmitting module is used to generate the transmitted wave signal; the receiving module is used to receive the original echo signal, which is the signal that is scattered back after the transmitted wave signal is sent to the target. The signal processor is used to: perform pulse compression processing on the original echo signal to obtain the one-dimensional range image matrix of the radar target (as shown in formula (1)); perform environmental background estimation on the one-dimensional range image matrix to obtain the estimated environmental background signal of each channel (as shown in formula (2)); perform a first evaluation of the quality of each channel based on the environmental background signal (as shown in formulas (3) and (4)); perform target echo estimation on the one-dimensional range image matrix to obtain the target echo signal (as shown in formula (5)); perform a second evaluation of the quality of each channel based on the first evaluation result of the quality of each channel and the target echo signal (as shown in formulas (6) and (7)); and estimate the target position based on the second evaluation result of the quality of each channel to obtain the target position information.

[0114] Example 3

[0115] This invention also provides a terminal device, which includes a processor and a memory storing a computer program, wherein the processor is configured to implement the through-wall radar target location estimation method as described above when executing the computer program.

[0116] Although not shown, the terminal device includes a processor that can perform various appropriate operations and processes based on programs and / or data stored in read-only memory (ROM) or loaded from a storage portion into random access memory (RAM). The processor can be a multi-core processor or may contain multiple processors. In some embodiments, the processor may include a general-purpose main processor and one or more specialized coprocessors, such as a central processing unit, graphics processing unit (GPU), neural network processor (NPU), digital signal processor (DSP), etc. Various programs and data required for the operation of the terminal device are also stored in the RAM. The processor, ROM, and RAM are interconnected via a bus. Input / output (I / O) interfaces are also connected to the bus.

[0117] The processor and memory described above are used together to execute programs stored in the memory. When the program is executed by a computer, it can implement the methods, steps, or functions described in the above embodiments.

[0118] Although not shown, embodiments of the present invention also provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the through-wall radar target position estimation method as described above.

[0119] Storage media in embodiments of the present invention include articles that are permanent or non-permanent, removable or non-removable, and can store information by any method or technology. Examples of 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 disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information that can be accessed by a computing device.

[0120] The above description only discloses specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or modifications that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for estimating the position of a target using through-wall radar, characterized in that, The estimation method includes the following steps: Acquire the raw echo signals from each radar channel; The original echo signal is subjected to pulse compression processing to obtain a one-dimensional range image matrix of the radar target; Environmental background estimation is performed on the one-dimensional distance image matrix to obtain the estimated environmental background signal for each channel; the quality of each channel is then evaluated based on the environmental background signal. Target echo estimation is performed on the one-dimensional range image matrix to obtain the target echo signal; A second evaluation of the quality of each channel is performed based on the initial evaluation results of the quality of each channel and the target echo signal. The target location is estimated based on the secondary evaluation results of the quality of each channel, and the target location information is obtained. A secondary evaluation of the quality of each channel is performed based on the initial evaluation results of each channel and the target echo signal, specifically including: The specific formula for calculating the target distance distribution in a normal channel is as follows: ； in, This represents the target distance distribution for normal channels, where M is the number of channels. For the first The first channel Target echo signal of each distance unit; A secondary evaluation of the quality of each channel is performed based on the target distance distribution of the normal channel and the target echo signal of the low-quality channel. The secondary evaluation formula is as follows: ； in, The starting range cell index position for estimating the average power of the environmental echo behind the radar when it is flush with the wall. The number of sampling points in the fast time dimension. Indicates the first evaluation after the first evaluation One channel is a low-quality channel. Indicates the first evaluation after the first evaluation These are normal channels. Indicates the second evaluation One channel is a low-quality channel. Indicates the second evaluation These are normal channels.

2. The through-wall radar target position estimation method according to claim 1, characterized in that, The original echo signal is subjected to pulse compression processing using a windowed Fourier transform, specifically including: The original echo signal is windowed along the fast time dimension; Perform a Discrete Fourier Transform on each segment of the windowed signal to form a one-dimensional range image matrix of the radar target. The specific formula is as follows: ； in, It is a one-dimensional distance image matrix. For distance cell index, Channel number, For sampling points in the slow time dimension, The virtual part, The number of sampling points in the fast time dimension. For sampling points in the fast time dimension, For a sequence of window functions, This is the original echo signal.

3. The through-wall radar target position estimation method according to claim 1, characterized in that, The quality of each channel is evaluated based on the aforementioned environmental background signal, specifically including: The average power of each distance unit in the channel is calculated based on the environmental background signal, and the specific calculation formula is as follows: ； in, For the first Average power of each distance unit in each channel This is an operator that retrieves all elements on the diagonal of a matrix. This is the conjugate transpose. For the estimated first The environmental background signal of each channel; The quality of each channel is evaluated based on the average power of each distance unit in the channel. The evaluation formula is as follows: ； in, The cutoff distance cell index location is used for estimating the average power of near-field environmental echoes. The starting range cell index position for estimating the average power of the environmental echo behind the radar when it is flush with the wall. The number of sampling points in the fast time dimension. For the first The first channel Average power of each distance unit As an empirical threshold, Indicates the first evaluation after the first evaluation One channel is a low-quality channel. Indicates the first evaluation after the first evaluation These are normal channels.

4. The method for estimating the position of a through-wall radar target according to any one of claims 1 to 3, characterized in that, The target location is estimated based on the secondary evaluation results of the quality of each channel, specifically including: Based on the secondary evaluation results of the quality of each channel, the occupancy rate of the normal channels is calculated using the following formula: ； in, M represents the occupancy rate of normal channels, and M represents the number of channels. Indicates the second evaluation One channel is a low-quality channel. Indicates the second evaluation Each channel is a normal channel; If condition one is met: occupancy rate of the normal channel Greater than or equal to the empirical value Then, the target echo signal is back-projected and imaged to obtain the target position information; If condition two is met: occupancy rate of normal channels Less than the experience value And satisfy This indicates that the current radar detection point is unsuitable for radar detection and a new detection point needs to be chosen; among them, This represents a right shift operation of a vector by one bit. This indicates that corresponding elements in a vector group are multiplied together. ; If neither condition one nor condition two is satisfied, then determine whether the antenna array composed of the currently effective antenna elements satisfies the basic conditions for sparse reconstruction: ； in, It is an empirical constant. This represents the maximum number of targets at different angles that a radar can distinguish within the same distance unit; If the aforementioned basic conditions are met, sparse imaging is performed on the target echo signal to obtain the target location information; If the aforementioned basic conditions are not met, the target position is estimated using the phase angle measurement method to obtain the target position information.

5. A radar detection system, characterized in that, For implementing the through-wall radar target location estimation method as described in any one of claims 1 to 4, the radar detection system comprises: The transmitting module is used to generate transmitted wave signals; The receiving module is used to receive the original echo signal, which is the signal that is scattered back after the transmitted wave signal is sent to the target; Signal processor, used for: The original echo signal is subjected to pulse compression processing to obtain a one-dimensional range image matrix of the radar target; Environmental background estimation is performed on the one-dimensional distance image matrix to obtain the estimated environmental background signal for each channel; the quality of each channel is then evaluated based on the environmental background signal. Target echo estimation is performed on the one-dimensional range image matrix to obtain the target echo signal; A second evaluation of the quality of each channel is performed based on the initial evaluation results of the quality of each channel and the target echo signal. The target location is estimated based on the secondary evaluation results of the quality of each channel, thus obtaining the target location information.

6. A terminal device, characterized in that, The terminal device includes: Memory, used to store computer programs; A processor is configured to implement the through-wall radar target position estimation method as described in any one of claims 1 to 4 when executing the computer program.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the through-wall radar target position estimation method as described in any one of claims 1 to 4.

Images