Radar echo data processing method, radar system and storage medium

Abstract

The application discloses a radar echo data processing method, a radar system and a storage medium. The method is applied to a programmable logic device, and the method comprises the following steps: acquiring echo data to be processed; performing suppression processing on secondary echoes in the echo data to be processed, so as to acquire first echo data; suppressing narrow pulses in the first echo data, so as to obtain second echo data; performing fine processing on the second echo data, so as to obtain third echo data; selecting beam data to be displayed from the third echo data and performing extraction; and sending the echo data to be displayed to a radar display control terminal through a data transmission interface, so as to display the echo data to be displayed. The method provided in the application realizes secondary echo suppression, narrow pulse signal elimination and fine processing on radar echo data through the programmable logic device, improves the display effect of the echo data, and realizes digital processing on the echo data.

Description

Technical Field

[0001] The present invention relates to the field of radar data processing technology, and in particular to a radar echo data processing method, radar system and storage medium. Background Technology

[0002] In low-altitude, small-scale, and slow-speed radar systems, in addition to the P-type display function for planar position, radars often need to have A / R type display functions for transmitted pulses, near-field clutter, and target echoes. The A / R type display function can assist the radar in realizing the authenticity of targets, classifying and identifying batches, monitoring key targets, and confirming the radar's operational status. Therefore, the display effect of the A / R type display function is particularly important.

[0003] In existing technologies, the processing of radar A / R type display echo data is mainly achieved through scanning echo circuits, video amplification circuits, etc. These methods are not digital processing and cannot achieve relatively fine data processing, resulting in poor display effect of A / R type display echo data. Summary of the Invention

[0004] To address the technical problem of poor display quality of existing A / R type display echo data, embodiments of the present invention provide a radar echo data processing method, a radar system, and a storage medium.

[0005] The technical solution of this invention is implemented as follows:

[0006] This invention provides a radar echo data processing method applied to a programmable logic device. The programmable logic device is connected to a radar display and control terminal via a data transmission interface. The method includes: acquiring echo data to be processed; suppressing secondary echoes in the echo data to obtain first echo data; suppressing narrow pulses in the first echo data to obtain second echo data; refining the second echo data to obtain third echo data; selecting and extracting beam data to be displayed from the third echo data; and sending the echo data to be displayed to the radar display and control terminal for display via the data transmission interface.

[0007] In one embodiment, the step of suppressing secondary echoes in the echo data to be processed to obtain first echo data includes: obtaining analytical parameters; matching a corresponding first control curve from a preset control curve library according to the analytical parameters; and performing real-time gain attenuation on the display echo data to be processed according to the gain control value and control distance parameter in the first control curve to complete the secondary echo suppression of the echo data to be processed.

[0008] In one embodiment, suppressing narrow pulses in the first echo data to obtain second echo data includes: performing real-time narrow pulse removal processing on the first echo data using a sliding window method; and filling the first echo data after narrow pulse removal with noise.

[0009] In one embodiment, the real-time narrow pulse rejection process for the first echo data using the sliding window method includes: obtaining analytical parameters; determining the sliding window size based on the analytical parameters; moving the window according to the window size in a direction from near to far from the gate, and sequentially performing real-time narrow pulse detection on the data within the window; and rejecting narrow pulses from the first echo data based on the real-time narrow pulse detection results.

[0010] In one embodiment, the refinement of the second echo data to obtain the third echo data includes: filtering and beamforming the second echo data; pulse compression of the beamformed echo data; statistical analysis of the DC values ​​of the pulse group I and Q components of the pulse-compressed echo data; DC component cancellation processing of the echo data based on the DC values ​​of the pulse group I and Q components; and modulus calculation and non-coherent accumulation of the echo data after DC component cancellation to complete the refinement of the second echo data.

[0011] In one embodiment, the modulus calculation and non-coherent accumulation of the echo data after DC component cancellation includes: obtaining the absolute values ​​of I and Q data for each distance gate; performing modulus calculation after calculating the sum of squares and square roots of the absolute values; storing the modulus data of each distance gate according to the distance dimension; reading out the distance dimension data in real time and performing modulus calculation of the velocity dimension; averaging the accumulated modulus results of the velocity dimension for each distance gate to complete the modulus calculation and non-coherent accumulation of the echo data after DC component cancellation.

[0012] In one embodiment, the step of selecting and extracting beam data to be displayed from the third echo data includes: obtaining analytical parameters; determining a data extraction method based on the analytical parameters; extracting data from the third echo data according to the data extraction method; and selecting extracted data within the corresponding sector from the extracted data in units of pulse groups based on the analytical parameters to obtain the beam data to be displayed.

[0013] In one embodiment, before suppressing the secondary echo in the echo data to be processed, the method further includes performing orthogonal downconversion processing on the echo data to be processed.

[0014] This invention also provides a radar system, including: a programmable logic device, a data transmission interface, and a radar display and control terminal; the programmable logic device is connected to the radar display and control terminal through the data transmission interface; wherein, the programmable logic device is used to perform the following operations: acquiring echo data to be processed; suppressing secondary echoes in the echo data to be processed to acquire first echo data; suppressing narrow pulses in the first echo data to acquire second echo data; refining the second echo data to acquire third echo data; selecting beam data to be displayed from the third echo data and extracting it; and sending the echo data to be displayed to the radar display and control terminal for display through the data transmission interface.

[0015] This invention also provides a storage medium storing a computer program, which, when executed by a processor, implements the steps of any of the above methods.

[0016] The radar echo data processing method, radar system, and storage medium provided in this invention are applied to a programmable logic device. The programmable logic device is connected to a radar display and control terminal via a data transmission interface. The method includes: acquiring echo data to be processed; suppressing secondary echoes in the echo data to obtain first echo data; suppressing narrow pulses in the first echo data to obtain second echo data; refining the second echo data to obtain third echo data; selecting and extracting beam data to be displayed from the third echo data; and sending the echo data to be displayed to the radar display and control terminal for display via the data transmission interface. The solution provided by this invention achieves secondary echo suppression, narrow pulse signal removal, and refining processing of radar echo data using a programmable logic device, improving the display effect of the echo data and realizing the digital processing of the echo data. Attached Figure Description

[0017] Figure 1 This is a flowchart illustrating the radar echo data processing method according to an embodiment of the present invention;

[0018] Figure 2 This is a block diagram of the A / R type display echo data processing function architecture according to an embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram of the A / R type display echo data processing flow according to an embodiment of the present invention;

[0020] Figure 4 This is a schematic diagram of the narrow pulse rejection process according to an embodiment of the present invention;

[0021] Figure 5This is a schematic diagram illustrating the sliding window method for determining the start and end of a pulse according to an embodiment of the present invention;

[0022] Figure 6 This is a schematic diagram of the time-domain pulse compression process according to an embodiment of the present invention;

[0023] Figure 7 This is a schematic diagram of the modulus calculation and non-coherent accumulation process according to an embodiment of the present invention;

[0024] Figure 8 This is an internal structural diagram of a computer device according to an embodiment of the present invention. Detailed Implementation

[0025] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0026] This invention provides a radar echo data processing method applied to a programmable logic device, wherein the programmable logic device is connected to a radar display and control terminal via a data transmission interface, such as... Figure 1 As shown, the method includes:

[0027] Step 101: Acquire the echo data to be processed;

[0028] Step 102: Suppress the secondary echo in the echo data to be processed to obtain the first echo data;

[0029] Step 103: Suppress narrow pulses in the first echo data to obtain the second echo data;

[0030] Step 104: Refine the second echo data to obtain the third echo data;

[0031] Step 105: Select the beam data to be displayed from the third echo data and extract it. Send the echo data to be displayed to the radar display and control terminal through the data transmission interface for display.

[0032] This embodiment can use a programmable logic device as the controller, a gigabit network port as the data transmission interface, and a radar display terminal as the data storage display to realize real-time processing of radar A / R type display echo data at different data rates.

[0033] Programmable logic devices, with their high programmability and reconfigurability, can achieve different functions through programming. In this embodiment, programmable logic devices are used to achieve secondary echo suppression, narrow pulse signal removal, and refined processing of radar echo data. Compared with methods such as scanning echo circuits and video amplification circuits, this achieves digital processing of echo data, improves the display effect of echo data, and reduces equipment costs.

[0034] Specifically, in this embodiment, the echo data to be processed can be obtained through an AD sampling method. After obtaining the echo data to be processed, orthogonal down-conversion processing can be performed before performing other processing operations. Orthogonal down-conversion processing can remove the intermediate frequency carrier in the received signal and extract the in-phase and quadrature components of the signal without loss.

[0035] By completing the orthogonal downconversion process, the secondary echo in the echo data can be suppressed to obtain the first echo data.

[0036] In one embodiment, the step of suppressing the secondary echo in the echo data to obtain the first echo data includes:

[0037] Get the parsed parameters;

[0038] The corresponding first control curve is matched from the preset control curve library according to the analytical parameters;

[0039] The gain of the display echo data to be processed is attenuated in real time according to the gain control value and control distance parameter in the first control curve, so as to complete the secondary echo suppression of the echo data to be processed.

[0040] In this embodiment, the parsing parameters can be obtained by parsing commands issued by the host computer through the network interface. Specifically, the parsing parameters may include timing pulse width control parameters, STC control parameters, various switch enable parameters, sector orientation control parameters, extraction parameters, network port data control, and packetization parameters. The first control curve is specifically the STC control curve.

[0041] In this embodiment, the corresponding STC control curve is matched based on the transmit pulse synchronization signal in the analytical parameters. The receiver is then controlled in real time to attenuate the gain of the echo signal according to the gain control value and control distance parameter in the STC control curve, thereby suppressing the impact of the secondary echo on the A / R type display effect.

[0042] In one embodiment, suppressing narrow pulses in the first echo data to obtain the second echo data includes:

[0043] The first echo data is processed by real-time narrow pulse rejection using the sliding window method;

[0044] The first echo data after narrow pulses are removed is filled with noise.

[0045] Specifically, the real-time narrow pulse removal process for the first echo data using the sliding window method includes: obtaining analytical parameters; determining the sliding window size based on the analytical parameters; moving the window according to the window size in the direction from near to far from the gate, and sequentially performing real-time narrow pulse detection on the data within the window; and removing narrow pulses from the first echo data based on the real-time narrow pulse detection results.

[0046] The parsing parameters here are the same as above, and can be obtained by parsing commands issued by the host computer through the network interface. Specifically, these parsing parameters may include timing pulse width control parameters, STC control parameters, various switch enable parameters, sector orientation control parameters, extraction parameters, network port data control, and packetization parameters. The first control curve is specifically the STC control curve.

[0047] In the sliding window method, the window moves in a certain direction; in this embodiment, it moves from near to far according to the radar data range threshold. The window size in this embodiment is not fixed; it can be continuously expanded until certain conditions are met; it can also be continuously shrunk until a minimum window that meets the conditions is found; or it can be a fixed size. In this embodiment, the sliding window size and detection threshold can be determined based on the provided analytical parameters. For example, the window size can be fixed at 4 based on the analytical parameters.

[0048] In this embodiment, after determining the window size, the window slides continuously to the right according to the distance from the gate, from near to far. During the sliding process, detection results are continuously detected and extracted according to the determined detection threshold. By continuously moving the window until the last distance gate data is reached, the detection results during the window movement are extracted, and the detected narrow pulses are replaced with noise, thereby completing the real-time narrow pulse removal process.

[0049] By using narrow pulse signal filtering, the residual signal generated after the out-of-band pulse signal is filtered out by the receiver, as well as ground clutter and external active interference.

[0050] In one embodiment, refining the second echo data to obtain the third echo data includes:

[0051] The second echo data is filtered and beamformed.

[0052] The echo data after beamforming is pulse-compressed.

[0053] The DC values ​​of the pulse group I and Q components of the echo data after pulse compression are statistically analyzed.

[0054] The echo data is subjected to DC component cancellation processing based on the DC values ​​of the I and Q components of the pulse group;

[0055] The echo data after the DC component cancels out is subjected to modulus calculation and non-coherent accumulation to complete the fine processing of the second echo data.

[0056] The step of performing modulus calculation and non-coherent accumulation on the echo data after DC component cancellation includes: obtaining the absolute values ​​of I and Q data for each distance gate; performing modulus calculation after squaring and taking the square root of the absolute values; storing the modulus data of each distance gate according to the distance dimension; reading out the distance dimension data in real time and performing modulus calculation on the velocity dimension; and averaging the accumulated modulus results of the velocity dimension for each distance gate to complete the modulus calculation and non-coherent accumulation on the echo data after DC component cancellation.

[0057] Modulo and non-coherent accumulation is essentially processing the data in two dimensions: storing it according to the distance dimension and accumulating and averaging it according to the velocity dimension.

[0058] In this embodiment, filtering can suppress interference signals. Digital beamforming can effectively extract useful signals and suppress noise and interference, enhance the target direction signal to improve the signal-to-noise ratio, and simultaneously reflect the direction of the useful signal. Pulse compression can reflect the spikes in the signal, making the target signal more clearly visible. Modulus calculation and non-coherent accumulation can improve the signal-to-noise ratio.

[0059] After completing the above fine-tuning process, the beam data to be displayed can be selected and extracted.

[0060] Specifically, in one embodiment, the step of selecting and extracting beam data to be displayed from the third echo data includes: obtaining analytical parameters; determining a data extraction method based on the analytical parameters; extracting data from the third echo data according to the data extraction method; and selecting extracted data from the extracted data in the corresponding sector based on the analytical parameters, using pulse groups as units, to obtain the beam data to be displayed.

[0061] The parsing parameters here are the same as above, and can be obtained by parsing commands issued by the host computer through the network interface. Specifically, these parsing parameters may include timing pulse width control parameters, STC control parameters, various switch enable parameters, sector orientation control parameters, extraction parameters, network port data control, and packetization parameters. The first control curve is specifically the STC control curve.

[0062] This embodiment determines the data extraction method based on the parsing parameters. Specifically, it determines the number of data points to extract each time based on the extraction parameters in the parsing parameters, and obtains the maximum value from each extracted data point to complete the data extraction. For example, when the extraction parameter in the parsing parameters is 2, the maximum value from two data points is obtained sequentially, the distance gate is halved, and the data volume is reduced to half. When the extraction parameter in the parsing parameters is 3, the maximum value from three data points is obtained sequentially, the distance gate is one-third of the original, and the data volume is reduced to one-third. The method is the same when the extraction value is other values.

[0063] This embodiment features refined processing of echo signals, removal of interference signals such as narrow pulses, near-range secondary echo suppression, display data bandwidth control, and azimuth sector selection. It enables real-time processing and transmission of radar A / R type display echo data; detection and removal of narrow pulse interference signals in radar A / R type display echo data; refined processing functions such as filtering and non-coherent accumulation of radar A / R type display echo data; near-range secondary echo suppression by selecting a matching STC control curve based on echo signal characteristics; display data bandwidth control through selective extraction; and azimuth sector selection through azimuth code parameters. It offers rich functionality, flexible content processing, and reduced hardware overhead.

[0064] The radar echo data processing method provided in this invention is applied to a programmable logic device. The programmable logic device is connected to a radar display and control terminal via a data transmission interface. The method includes: acquiring echo data to be processed; suppressing secondary echoes in the echo data to obtain first echo data; suppressing narrow pulses in the first echo data to obtain second echo data; refining the second echo data to obtain third echo data; selecting and extracting beam data to be displayed from the third echo data; and sending the echo data to be displayed to the radar display and control terminal for display via the data transmission interface. The solution provided by this invention achieves secondary echo suppression, narrow pulse signal removal, and refining processing of radar echo data using a programmable logic device, improving the display effect of the echo data and realizing digital processing of the echo data.

[0065] The present invention will now be described in detail with reference to application examples.

[0066] This embodiment provides a method for processing radar A / R type display echo data based on a programmable logic device FPGA.

[0067] See Figure 2 , Figure 2 This is a block diagram of the A / R type display echo data processing function architecture.

[0068] The A / R type display echo data processing function in this embodiment specifically includes:

[0069] (1) Radar echo data AD sampling: The radar echo data is digitized by AD sampling;

[0070] (2) Quadrature downconversion: Perform quadrature downconversion processing on the echo data;

[0071] (3) Real-time parameter update: Receive and parse the parameters sent, and manage and control the distribution of the parameters;

[0072] (4) Select a matching STC control curve: Select a matching STC control curve based on the pulse width flag and timing pulse mode number;

[0073] (5) Narrow pulse detection and removal: Real-time detection and removal of narrow pulses in radar echoes;

[0074] (6) Filtering and beamforming: Low-pass decimation filtering and digital beamforming are performed on the data;

[0075] (7) Real-time DC component statistics of pulse groups: The DC summation and average of the I and Q components of the pulse compression data are statistically analyzed.

[0076] (8) Pulse compression: Perform time-domain pulse compression processing on each distance gate data:

[0077] (9) DC component cancellation: Perform DC component cancellation processing on each data point:

[0078] (10) Data modulus calculation: Perform modulus calculation on the data after DC component cancellation processing;

[0079] (11) Non-coherent accumulation of pulse groups: Non-coherent accumulation of pulse groups is performed on the modulus data;

[0080] (12) Beam selection: Select the beam to be displayed according to the parameters;

[0081] (13) Data extraction control: Extraction control of display beam data after non-coherent accumulation according to parameters;

[0082] (14) FIFO data cache: Real-time cache of pulse compression and extracted A / R display data;

[0083] (15) Real-time control and transmission of network port data: Protocol packaging control and transmission control of cached data.

[0084] Based on the above functions, see Figure 3 , Figure 3 This is a schematic diagram of the A / R type display echo data processing flow.

[0085] The specific process for processing the display echo data in this embodiment is as follows:

[0086] (1) After power-on, the radar echo data is first digitized by AD sampling, and then the echo digital signal is orthogonally down-converted;

[0087] Quadrature downconversion can remove the intermediate frequency carrier from the echo signal and extract the in-phase and quadrature components of the signal without loss.

[0088] (2) Receive commands and parameters from the host computer via the network interface, determine whether the A / R type display command is valid based on the command, and execute subsequent data processing tasks if the A / R type display command is valid; at the same time, parse and update parameters such as STC control, beam selection, decimation coefficient, and network port packet control in real time, and send the parameters to each processing task in real time.

[0089] The parameters here can be understood as the parsing parameters in the above embodiments. These parsing parameters include timing pulse width control parameters, STC control parameters, various switch enable parameters, sector orientation control parameters, extraction parameters, network port data control, and packetization parameters. All functional modules can share these parameters.

[0090] (3) The STC selection control module selects the STC control curve that has been numbered and stored in the ROM according to the pulse width flag signal, timing pulse mode number and attenuation intensity requirements. Then, it reads the corresponding curve according to the transmit pulse synchronization signal and controls the receiver to perform real-time gain attenuation on the echo signal according to the gain control value and control distance parameter in the curve, so as to suppress the influence of secondary echo on the A / R type display effect.

[0091] (4) During radar operation, after the out-of-band pulse signal is filtered by the receiver, the remaining signal is generated and mainly concentrated at the pulse edge in the form of narrow pulse, which forms interference. At the same time, ground clutter and external active interference can also easily form narrow pulse interference. The narrow pulse suppression module detects whether there is narrow pulse interference in real time according to the narrow pulse judgment parameter, and decides whether to perform narrow pulse suppression based on the detection result. If narrow pulse suppression is performed, the narrow pulse is removed in real time by the "sliding window method", and the removed narrow pulse is filled with noise signal.

[0092] See here. Figure 4 and Figure 5In the sliding window method, the window moves in a certain direction; in this embodiment, it moves from near to far according to the distance threshold of the radar data. The window size in this embodiment is not fixed; it can be continuously expanded until certain conditions are met; it can also be continuously shrunk until a minimum window that meets the conditions is found; or it can be a fixed size. In this embodiment, the sliding window size and detection threshold can be determined based on the issued analytical parameters. For example, in... Figure 5 In the middle, the window is fixed at a size of 4, and the window slides to the right continuously at the distance from the gate. During the sliding process, the detection results are continuously detected and extracted according to the detection threshold. Figure 5 The window displays the start and end results of the detected pulses within the window period. By continuously moving the window until the last distance gate data, the detection results during the window movement are extracted, and the detected narrow pulses are replaced with noise, thus completing the real-time narrow pulse removal process.

[0093] (5) Filter and digital beamforming of the echo signal;

[0094] Filtering can suppress interference signals, while digital beamforming can effectively extract useful signals and suppress noise and interference, enhance the target direction signal to improve the signal-to-noise ratio, and reflect the direction of the useful signal.

[0095] (6) Select the corresponding matched filter for the echo signal of different transmitted pulses according to the parameters issued in step (2) to perform pulse compression processing in the time domain to enhance the peak characteristics of the target signal of the A / R type display.

[0096] Pulse compression can highlight the spikes in a signal, making the target signal more prominent.

[0097] Specifically, the time-domain pulse compression formula can be simplified to:

[0098] PC_data=s*match=(s_i+is_j)*(match_i+imatch_j)

[0099] =s_i×match_i-s_j×match_j+i(s_j×match_i+s_i×match_j)

[0100] Where PC-data represents the data after pulse compression, s represents the data before pulse compression, match represents the coefficients of the matched filter, s_i represents the real part coefficients of the matched filter, and s_j represents the imaginary part coefficients of the matched filter.

[0101] In addition, the algorithm flow for time-domain pulse compression can be found in [link to relevant documentation]. Figure 6 .

[0102] (7) Statistical analysis of DC values ​​of I and Q components of pulse group after pulse compression processing, and FIFO data buffering in pulse group unit;

[0103] (8) Perform DC component cancellation calculation on the cached pulse group data based on the DC component statistical results of the pulse group.

[0104] (9) Perform modulus calculation and non-coherent accumulation on the basis of beams for the data of DC component cancellation.

[0105] Specifically, see Figure 7 First, the absolute values ​​of the I and Q data for each distance gate are calculated, and then the square root of the sum of the squares is taken to obtain the modulus. Second, the modulus data for each distance gate is stored according to the distance dimension. Finally, the distance dimension data is read in real time, and the modulus values ​​for the velocity dimension are added together. The accumulated velocity dimension modulus values ​​for each distance gate are then averaged. In other words, the data is processed in two dimensions: stored according to the distance dimension, and accumulated and averaged according to the velocity dimension.

[0106] (10) Select the beam data to be displayed after non-coherent accumulation according to the parameters issued in step (2).

[0107] Here, the data extraction method is determined based on the parsing parameters. This can be achieved by determining the number of data points to be extracted each time based on the extraction parameters in the parsing parameters, and obtaining the maximum value from each extracted data point to complete the data extraction. For example, when the extraction parameter in the parsing parameters is 2, the maximum value from two data points is obtained sequentially, the distance gate is halved, and the data volume is reduced to half. When the extraction parameter in the parsing parameters is 3, the maximum value from three data points is obtained sequentially, the distance gate is reduced to one-third, and the data volume is reduced to one-third. The method is the same when the extraction value is other values.

[0108] (11) Select the extracted data in the corresponding sector based on the sector selection parameters and the servo real-time encoder value, using pulse groups as units;

[0109] (12) Buffer the beam data of the effective sector in a FIFO;

[0110] (13) The network port control module first determines its own IP address and physical address based on the parameters; then it determines the data size and parameter packet content to be sent based on parameters such as waveform, beam, and extraction, and determines the size and number of beam data packets to be sent based on the UDP protocol; finally, the data is sent to the display and control terminal in real time through the network port control.

[0111] (14) The display and control terminal receives and parses the A / R display data and parameters in real time, and then performs A / R type display processing.

[0112] The radar A / R type display echo data processing method proposed in this embodiment has the following beneficial effects:

[0113] 1. Implement real-time digital processing of radar A / R type display echo data using FPGA;

[0114] 2. It can improve the A / R display effect through filtering, secondary echo suppression, narrow pulse elimination, pulse compression, DC component cancellation, and non-coherent accumulation of echo energy;

[0115] 3. It can flexibly perform A / R display beam selection, data size control, and sector control;

[0116] 4. Digital processing is implemented, offering rich functionality, flexible content processing, and reduced hardware overhead.

[0117] This invention also provides a radar system, including: a programmable logic device, a data transmission interface, and a radar display and control terminal; the programmable logic device is connected to the radar display and control terminal through the data transmission interface; wherein,

[0118] The programmable logic device is used to perform the following actions: acquiring echo data to be processed; suppressing secondary echoes in the echo data to be processed to acquire first echo data; suppressing narrow pulses in the first echo data to acquire second echo data; refining the second echo data to acquire third echo data; selecting beam data to be displayed from the third echo data and extracting it; and sending the echo data to be displayed to the radar display and control terminal for display through the data transmission interface.

[0119] The radar system provided in this embodiment belongs to the same concept as the method embodiment described above. Its specific implementation process can also be found in the method embodiment, and will not be repeated here.

[0120] To implement the method of the embodiments of the present invention, the present invention also provides a computer program product, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the steps of the above-described method.

[0121] Based on the hardware implementation of the above-described program modules, and in order to implement the method of this embodiment of the invention, this embodiment also provides an electronic device (computer device). Specifically, in one embodiment, the computer device may be a terminal, and its internal structure diagram may be as follows. Figure 8As shown. The computer device includes a processor A01, a network interface A02, a display screen A04, an input device A05, and a memory (not shown) connected via a system bus. Additionally, the computer device includes sensors. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A06. The non-volatile storage medium A06 stores an operating system B01 and a computer program B02. The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 stored in the non-volatile storage medium A06. The network interface A02 is used for communication with external terminals via a network connection. When the computer program is executed by the processor A01, it implements the method of any of the above embodiments. The display screen A04 can be a liquid crystal display or an electronic ink display. The input device A05 can be a touch layer covering the display screen, or buttons, a trackball, or a touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse, etc.

[0122] Those skilled in the art will understand that Figure 8 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0123] The device provided in the embodiments of the present invention includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it implements the method of any of the above embodiments.

[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, like read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0130] Computer-readable media include both permanent and non-permanent, removable and non-removable media that can store information by 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 is understood that the memory in the embodiments of the present invention can be volatile memory or non-volatile memory, or both. Specifically, non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferromagnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM); magnetic surface memory can be disk storage or magnetic tape storage. Volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), SyncLink Dynamic Random Access Memory (SLDRAM), and Direct Rambus Random Access Memory (DRRAM).The memories described in the embodiments of this invention are intended to include, but are not limited to, these and any other suitable types of memories.

[0132] 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.

[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 radar echo data processing method, characterized in that, The method, applied to a programmable logic device, wherein the programmable logic device is connected to a radar display and control terminal via a data transmission interface, includes: Acquire the echo data to be processed; Suppressing the secondary echo in the echo data to obtain the first echo data includes: Get the parsed parameters; The corresponding first control curve is matched from the preset control curve library according to the analytical parameters; The gain of the display echo data to be processed is attenuated in real time according to the gain control value and control distance parameter in the first control curve, so as to complete the secondary echo suppression of the echo data to be processed. Suppress narrow pulses in the first echo data to obtain the second echo data; The second echo data is refined to obtain the third echo data, including: The second echo data is filtered and beamformed. The echo data after beamforming is pulse-compressed. The DC values ​​of the pulse group I and Q components of the echo data after pulse compression are statistically analyzed. The echo data is subjected to DC component cancellation processing based on the DC values ​​of the I and Q components of the pulse group; The echo data after the DC component cancellation is subjected to modulus calculation and non-coherent accumulation in order to complete the fine processing of the second echo data; Select the beam data to be displayed from the third echo data and extract it. Then, send the echo data to be displayed to the radar display and control terminal through the data transmission interface for display.

2. The method according to claim 1, characterized in that, The process of suppressing narrow pulses in the first echo data to obtain the second echo data includes: The first echo data is processed by real-time narrow pulse rejection using the sliding window method; The first echo data after narrow pulses are removed is filled with noise.

3. The method according to claim 2, characterized in that, The process of real-time narrow pulse rejection of the first echo data using the sliding window method includes: Get the parsed parameters; The size of the sliding window is determined based on the parsed parameters; Based on the window size, the window is moved from near to far from the door, and the data within the window is sequentially detected in real time using narrow pulses. Based on the real-time detection results of narrow pulses, narrow pulses in the first echo data are removed.

4. The method according to claim 1, characterized in that, The modulus calculation and non-coherent accumulation of the echo data after the DC component cancellation includes: Obtain the absolute value of each distance gate I and Q data, and then perform a modulus calculation after calculating the sum of squares and square roots of the absolute values; The modulus data for each distance gate is stored according to the distance dimension; The distance dimension data is read out in real time, and the magnitude of the velocity dimension is added together. The accumulated magnitude of the velocity dimension for each distance gate is averaged to complete the magnitude calculation and non-coherent accumulation of the echo data after the DC component is canceled.

5. The method according to claim 1, characterized in that, The step of selecting and extracting beam data to be displayed from the third echo data includes: Get the parsed parameters; The data extraction method is determined according to the analytical parameters, and data is extracted from the third echo data according to the data extraction method. Based on the analytical parameters, extract data from the extracted data is selected in units of pulse groups within the corresponding sectors to obtain the beam data to be displayed.

6. The method according to claim 1, characterized in that, Before suppressing the secondary echoes in the echo data to be processed, the method further includes: The echo data to be processed is subjected to orthogonal downconversion processing.

7. A radar system, characterized in that, include: The system includes a programmable logic device, a data transmission interface, and a radar display and control terminal; the programmable logic device is connected to the radar display and control terminal via the data transmission interface; wherein, The programmable logic device is used to perform the following operations: acquiring echo data to be processed; suppressing secondary echoes in the echo data to be processed to acquire first echo data, including: acquiring analytical parameters; matching a corresponding first control curve from a preset control curve library according to the analytical parameters; performing real-time gain attenuation on the display echo data to be processed according to the gain control value and control distance parameter in the first control curve to complete the secondary echo suppression of the echo data to be processed; suppressing narrow pulses in the first echo data to obtain second echo data; and performing fine processing on the second echo data to obtain third echo data. The echo data includes: filtering and beamforming the second echo data; pulse compression of the beamformed echo data; statistical analysis of the DC values ​​of the pulse group I and Q components of the pulse-compressed echo data; DC component cancellation processing of the echo data based on the DC values ​​of the pulse group I and Q components; modulus calculation and non-coherent accumulation of the echo data after DC component cancellation to complete the refinement processing of the second echo data; selecting and extracting beam data to be displayed from the third echo data; and sending the echo data to be displayed to the radar display and control terminal for display through the data transmission interface.

8. A storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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