A pulse signal extraction method, device, equipment and medium

Abstract

This invention discloses a method, apparatus, device, and medium for extracting pulse signals. The method involves acquiring radar echo signals of a target area; dividing the target area into range-angle grids based on the radar echo signals to obtain multiple resolution cells; performing phase estimation processing on the radar echo signals of each resolution cell to obtain a phase sequence signal for each resolution cell; determining the spatiotemporal correlation data of each resolution cell based on the phase sequence signals; determining potential pulse location regions based on the spatiotemporal correlation data of the resolution cells; determining the potential pulse signal for each potential pulse location region; and extracting the pulse signal of the target area from the potential pulse signal. This invention, based on the strong spatiotemporal correlation of pulse signals, can determine potential pulse location regions, solving the problem of difficult localization caused by the lack of obvious energy information characteristics of pulse signals, and improving the accuracy of pulse signal extraction.

Description

Technical Field

[0001] This invention relates to the field of vital sign detection technology, and in particular to a method, apparatus, device and medium for extracting pulse signals. Background Technology

[0002] The pulse is the palpable pulsation of arteries on the surface of the human body. It directly reflects a person's heartbeat and provides information about their physical condition and health. Collecting pulse signals is of great significance for the detection of vital signs.

[0003] Currently, existing technologies typically rely on radar sensors for pulse signal detection. During measurement, the radar sensor actively emits electromagnetic waves towards the arm at close range without direct contact, and receives and analyzes the radar echo signals reflected from the arm. Based on energy characteristics, the location of the radial artery is spatially determined, and the pulse signal is extracted based on this location.

[0004] However, the radial artery does not have obvious energy characteristics, and existing technologies cannot accurately determine its location, resulting in a high signal-to-noise ratio for the extracted pulse signal. Summary of the Invention

[0005] This invention provides a method, apparatus, device, and medium for extracting pulse signals, which solves the problem of difficulty in localization caused by the lack of obvious energy information characteristics of pulse signals, and helps to improve the accuracy of pulse signal extraction.

[0006] According to one aspect of the present invention, a method for extracting pulse signals is provided, comprising:

[0007] Acquire radar echo signals from the target area;

[0008] The target area is divided into range-angle grids based on radar echo signals to obtain multiple resolution cells; the radar echo signals of each resolution cell are phase estimated to obtain the phase sequence signal of each resolution cell.

[0009] The spatiotemporal correlation data of each resolution unit is determined based on the phase sequence signal of each resolution unit, and the potential pulse location region is determined based on the spatiotemporal correlation data of the resolution unit.

[0010] Identify the potential pulse signal for each potential pulse location region, and extract the pulse signal for the target region from the potential pulse signal.

[0011] According to another aspect of the present invention, a pulse signal extraction device is provided, comprising:

[0012] Radar echo signal acquisition module, used to acquire radar echo signals of the target area;

[0013] The phase estimation processing module is used to perform range-angle grid division processing on the target area based on the radar echo signal to obtain multiple resolution cells; and to perform phase estimation processing on the radar echo signal of each resolution cell to obtain the phase sequence signal of each resolution cell.

[0014] The potential pulse location region determination module is used to determine the spatiotemporal correlation data of the resolution unit based on the phase sequence signal of each resolution unit, and to determine the potential pulse location region based on the spatiotemporal correlation data of the resolution unit.

[0015] The pulse signal extraction module is used to determine the potential pulse signal of each potential pulse location region and extract the pulse signal of the target region from the potential pulse signal.

[0016] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0017] At least one processor; and

[0018] A memory that is communicatively connected to at least one processor; wherein,

[0019] The memory stores a computer program that can be executed by at least one processor, such that the at least one processor is able to perform the pulse signal extraction method of any embodiment of the present invention.

[0020] According to another aspect of the present invention, a computer-readable storage medium is provided, which stores computer instructions for causing a processor to execute and implement the pulse signal extraction method of any embodiment of the present invention.

[0021] The technical solution of this invention involves acquiring radar echo signals of a target area; dividing the target area into range-angle grids based on the radar echo signals to obtain multiple resolution units; performing phase estimation processing on the radar echo signals of each resolution unit to obtain a phase sequence signal for each resolution unit; determining the spatiotemporal correlation data of each resolution unit based on the phase sequence signals of each resolution unit; determining the potential pulse location region based on the spatiotemporal correlation data of the resolution units; determining the potential pulse signal for each potential pulse location region; and extracting the pulse signal of the target area from the potential pulse signal. This method, based on the strong spatiotemporal correlation of pulse signals, can determine the potential pulse location region, solving the problem of difficult positioning due to the unclear energy information characteristics of pulse signals and improving the accuracy of pulse signal extraction.

[0022] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a flowchart of a pulse signal extraction method provided in Embodiment 1 of the present invention;

[0025] Figure 2 This is a flowchart of a pulse signal extraction method provided in Embodiment 2 of the present invention;

[0026] Figure 3 This is a schematic diagram of the structure of a pulse signal extraction device provided in Embodiment 3 of the present invention;

[0027] Figure 4 This is a schematic diagram of the structure of an electronic device that implements the pulse signal extraction method of this invention. Detailed Implementation

[0028] To enable those skilled in the art to better understand the present invention, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are merely 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 should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0030] Example 1

[0031] Figure 1This is a flowchart of a pulse signal extraction method provided in Embodiment 1 of the present invention. This embodiment is applicable to situations where pulse signals are detected based on radar sensors. The method can be executed by a pulse signal extraction device, which can be implemented in hardware and / or software. This pulse signal extraction device can be configured in electronic devices such as computers and servers. Figure 1 As shown, the method includes:

[0032] S110: Acquire radar echo signals from the target area.

[0033] In this embodiment, the target area is the spatial region containing the area to be scanned, including the target object (e.g., a human or animal body). The area to be scanned is a region where a pulse signal can be detected based on radar scanning, such as the target object's arm. It should be noted that at least a partial target area is the area to be scanned of the target object; that is, the target area is greater than or equal to the area to be scanned.

[0034] Specifically, the radar scanning device performs real-time radar scanning of the target area to collect source radar echo signals. These source radar echo signals are radar signals reflected from objects within the target area. The radar scanning device is a multi-channel millimeter-wave radar scanning device. Millimeter-wave radar is a type of radar that scans using electromagnetic waves in the millimeter-wave band (wavelength range of 1 mm-10 mm, frequency range of 30 GHz-300 GHz). It enables non-contact detection of targets, reducing discomfort for the target, and can penetrate the target's body tissue to capture subtle signals of minute changes within the target area, as well as minute phase changes in the source radar echo signals. The multi-channel millimeter-wave radar scanning device includes multiple channels for receiving source radar echo signals. It can be a single-transmitter-multiple-receiver radar or a multi-transmitter-multiple-receiver radar; this embodiment does not impose any limitations on this. The multi-channel millimeter-wave radar scanning device can achieve real-time, high-precision radar scanning of the target area. By simultaneously detecting pulse signals from multiple channels, a large amount of pulse information can be acquired, which helps improve the accuracy of pulse signal analysis.

[0035] Radar echo signals are obtained by preprocessing the source radar echo signals. This preprocessing includes, but is not limited to, amplification, mixing, analog-to-digital conversion, fast Fourier transform (FFT), and coherent accumulation of the source radar echo signals. After amplification, mixing, and FFT, discrete echo signals are obtained, which include range, velocity, and angle dimensions. The discrete echo signal is represented as y(m,n,k), where m is the velocity dimension (i.e., slow time dimension) parameter, representing the m-th linear frequency modulated continuous wave signal; n is the range dimension (i.e., fast time dimension) parameter, representing the n-th sampling point; and k is the antenna dimension parameter, representing the k-th receiving channel. By performing a fast Fourier transform on y(m,n,k) in the range dimension, the range-slow time-antenna dimension signal y′(m,r,k) is obtained, where r∈[1,N] represents the sampleable range cell. Based on the coherent accumulation algorithm, coherent accumulation processing is performed on y′(m,r,k) in the range dimension to obtain the radar echo signal of the target area. The coherent accumulation algorithm can be any of the moving average algorithm and the time-domain accumulation algorithm, etc., and this embodiment does not limit it.

[0036] S120. Based on the radar echo signal, the target area is divided into range-angle grids to obtain multiple resolution cells.

[0037] In this embodiment, the resolution unit is the smallest unit used to distinguish radar echo signals. It can be understood that the smaller the resolution unit, the higher the resolution of the radar echo signal and the accuracy of artery location.

[0038] Specifically, based on the sampleable range unit r∈[1,N], the radar echo signal... The target region is divided into range grids to obtain multiple range cells. Each range cell is then divided into angle grids to obtain multiple resolution cells. In some embodiments, the area to be scanned occupies a small proportion of the target region, and dividing the entire target region into resolution cells would result in redundant computation. Optionally, target detection processing is performed on the radar echo signal in the range dimension to obtain the region of interest; the region of interest is divided into range grids to obtain multiple range grid cells; and the radar echo signal of each range grid cell is processed using antenna-dimensional beamforming to obtain multiple resolution cells.

[0039] In this embodiment, the region of interest is the spatial region corresponding to the area to be scanned of the target object within the target region. Based on the target detection algorithm, the radar echo signal is... Target detection processing is performed, and the spatial region corresponding to the area to be scanned of the target object is determined as the region of interest. For example, the target detection algorithm can be a signal processing-based target detection algorithm, such as a target detection algorithm based on Hough transform and a target detection algorithm based on wavelet transform; the target detection algorithm can also be a deep learning-based target detection algorithm, such as the Single Shot MultiBox Detector-Radar (SSD-Radar) algorithm and the Constant False Alarm Rate Detector (CFAR) algorithm.

[0040] Specifically, based on range cell sampling r∈[1,N], the radar echo signal... The corresponding region of interest is divided into range grids to obtain multiple range cells. For example, assuming the region of interest is half the target area, the radar echo signal of the region of interest... The number of range cells is the radar echo signal in the region of interest. Half the number of range cells. By using the antenna dimension, the radar echo signal of each range cell in the region of interest... Beamforming is performed in different directions to divide each range cell into angular grids, resulting in multiple resolution cells for each range cell, thus achieving the goal of resolving radar echo signals from the region of interest. The radar echo signal Y(m,r′,θ) for each resolution cell is obtained through separation and enhancement. Here, Y(m,r′,θ) represents the radar echo signal. In the separation and enhancement signal of the resolution unit (r,θ), θ∈[1,Θ] represents the azimuth angle value corresponding to the resolution unit, and Θ is the maximum azimuth angle value in the selectable range of azimuth angle values.

[0041] The technical solution of this embodiment obtains multiple resolution cells by performing range-angle grid division processing on the radar echo signal of the region of interest. This avoids wasting computing resources on radar echo signals of non-regions of interest, reduces the number of resolution cells, and improves the efficiency of subsequent signal processing.

[0042] S130. Perform phase estimation processing on the radar echo signal of each resolution unit to obtain the phase sequence signal of each resolution unit.

[0043] Specifically, based on the phase information extraction algorithm, phase estimation processing is performed on the velocity dimension sequence of the radar echo signal Y(m,r,θ) of each resolution unit to obtain the phase sequence signal R[m,r,θ] of each resolution unit. For example, the phase information extraction algorithm can be any of the arctangent method and differential cross multiplication method, etc., and this embodiment does not limit it.

[0044] S140. Determine the spatiotemporal correlation data of the resolution unit based on the phase sequence signal of each resolution unit.

[0045] In this embodiment, the spatiotemporal correlation data characterizes the spatial correlation between a resolution unit and its surrounding resolution units, and the temporal phase correlation between the corresponding phase sequence signals. It should be noted that the phase sequence signals of each resolution unit, including the pulse signal, exhibit strong spatiotemporal correlation; therefore, the resolution unit containing the pulse signal can be determined based on the spatiotemporal correlation data.

[0046] Specifically, the spatial correlation between any two resolving units (r1, θ1) and (r2, θ2) is determined based on the distance and angle between them. Spatial correlation includes distance correlation and angle correlation; if any two resolving units are both distance-dependent and angle-dependent, then the two resolving units are determined to be spatially correlated. The phase sequence signal of the resolving unit and the phase sequence signal of any spatially correlated resolving unit are substituted into the phase correlation calculation formula. The phase correlation data ρ[r] of the two resolution cells were calculated. 12 ,θ 12 Based on the phase correlation data of multiple spatially correlated resolution units, the spatiotemporal correlation data of the resolution unit is determined. For example, the spatiotemporal correlation data of the resolution unit can be any one of the average, maximum, and minimum values ​​of multiple phase correlation data corresponding to the resolution unit. This embodiment does not limit this.

[0047] S150. Determine the potential pulse location region based on the spatiotemporal correlation data of the resolution unit.

[0048] In this embodiment, the potential pulse location region is at least a local region of the pulse signal that may exist in the target region, wherein the potential pulse location region includes at least one resolution unit.

[0049] Specifically, by setting corresponding spatiotemporal correlation data conditions for potential pulse location regions, the spatiotemporal correlation data of the resolution units is compared with the spatiotemporal correlation data conditions. The resolution units corresponding to the spatiotemporal correlation data that meet the spatiotemporal correlation data conditions are determined as resolution units belonging to the potential pulse location regions. Optionally, the spatiotemporal correlation data of multiple resolution units are compared with a preset correlation intensity threshold, and the resolution units corresponding to the spatiotemporal correlation data that are greater than the preset correlation intensity threshold are determined as potential pulse resolution units.

[0050] In this embodiment, the preset correlation intensity threshold is a pre-set threshold for spatiotemporal correlation data, which is used to determine whether the spatiotemporal correlation data of the discrimination unit meets the spatiotemporal correlation data conditions and whether the discrimination unit belongs to the potential pulse location region.

[0051] Specifically, by traversing multiple resolution units and comparing the spatiotemporal correlation data of each resolution unit with a preset correlation strength threshold, if the spatiotemporal correlation data is greater than the preset correlation strength threshold, the phase sequence signal of that resolution unit can be considered to be a pulse signal, and thus the resolution unit is determined to be a potential pulse resolution unit. A potential pulse resolution unit is a resolution unit that may contain a pulse signal. For example, suppose there are 20 resolution units in the target area, and the spatiotemporal correlation data of 6 resolution units is greater than the preset correlation strength threshold T. ρ These 6 resolving units are then identified as potential pulse resolving units.

[0052] The technical solution of this embodiment identifies potential pulse resolving units by determining the resolving units whose spatiotemporal correlation data is greater than a preset correlation strength threshold. This can quickly and accurately identify potential pulse resolving units and improve the efficiency and accuracy of pulse signal extraction.

[0053] One or more potential pulse location regions are constructed based on one or more resolvable units belonging to a potential pulse location region, wherein the resolvable units in each potential pulse location region are spatially correlated. In some embodiments, if only one potential pulse resolvable unit exists in the target region, then that potential pulse resolvable unit is defined as a potential pulse location region, and there is only one potential pulse location region in the target region. In some embodiments, if multiple potential pulse resolvable units exist in the target region, optionally, the multiple potential pulse resolvable units are connected to obtain at least one potential pulse location region; wherein each potential pulse location region includes at least one potential pulse resolvable unit.

[0054] Specifically, by performing connectivity processing on multiple potential pulse resolution units in the target area, multiple spatially related potential pulse resolution units are connected to obtain one or more connected domains, wherein each connected domain includes one or more potential pulse resolution units, and each connected domain is set as a potential pulse location region.

[0055] For example, suppose there are 6 potential pulse resolution units {(r i ,θ i Let |i=1,2,…,6}, where the potential pulse resolution units (r1,θ1), (r2,θ2) and (r3,θ3) are interconnected, the potential pulse resolution units (r4,θ4) and (r5,θ5) are interconnected, and the potential pulse resolution unit (r6,θ6) is not connected to other potential pulse resolution units. Then, by performing connectivity processing on the above 6 potential pulse resolution units, 3 potential pulse location regions {l} are obtained. j |j=1,2,3}, where, l1={(r1,θ1),(r2,θ2),(r3,θ3)}, l2={(r4,θ4),(r5,θ5)}, l3={(r6,θ6)}.

[0056] The technical solution of this embodiment constructs a potential pulse location region based on interconnected potential pulse resolution units, which can quickly and accurately construct the potential pulse location region and improve the efficiency and accuracy of pulse signal extraction.

[0057] S160, Determine the potential pulse signal for each potential pulse location region.

[0058] In this embodiment, the potential pulse signal is a phase sequence signal that may be a pulse signal in the potential pulse location region.

[0059] Specifically, by traversing one or more potential pulse location regions, the phase sequence signal of any resolvable unit in each traversed potential pulse location region is determined as the potential pulse signal of that potential pulse location region, thus obtaining the potential pulse signal of each potential pulse location region. Optionally, for any potential pulse location region, the spatiotemporal correlation data of at least one resolvable unit corresponding to the potential pulse location region are compared to determine the target resolvable unit corresponding to the largest spatiotemporal correlation data; based on the phase sequence signal of the target resolvable unit, the potential pulse signal of the potential pulse location region is determined.

[0060] Specifically, the traversed potential pulse location regions are determined as the current potential pulse location regions. By comparing the spatiotemporal correlation data of one or more resolution units in the current potential pulse location region, the largest spatiotemporal correlation data is determined, and the resolution unit corresponding to the largest spatiotemporal correlation data is determined as the target resolution unit. The target resolution unit is the resolution unit corresponding to the location of the potential pulse signal, and the phase sequence signal of the target resolution unit is set as the potential pulse signal of the potential pulse location region.

[0061] For example, assuming that in the potential pulse location region l1 = {(r1,θ1),(r2,θ2),(r3,θ3)}, the spatiotemporal correlation data of the resolution unit (r1,θ1) is greater than that of the resolution unit (r2,θ2) and also greater than that of the resolution unit (r3,θ3), then the phase sequence signal R[m,r1,θ1] of the resolution unit (r1,θ1) is set as the potential pulse signal R of the potential pulse location region l1. candi [m,l1].

[0062] In this embodiment, the greater the spatiotemporal correlation data of the resolving unit within the potential pulse location region, the greater the likelihood that the phase sequence signal of that resolving unit is a pulse signal. By identifying the phase sequence signal of the resolving unit corresponding to the largest spatiotemporal correlation data as the potential pulse signal within the potential pulse location region, the phase sequence signal most likely to be a pulse signal within the potential pulse location region can be set as the potential pulse signal, increasing the probability that the potential pulse signal is indeed a pulse signal and helping to improve the accuracy of pulse signal extraction.

[0063] S170. Extract the pulse signal of the target region from the potential pulse signal.

[0064] Specifically, the pulse signal of the target region is obtained by extracting the most likely pulse signal from one or more potential pulse signals. Optionally, autocorrelation calculation is performed on each potential pulse signal to obtain an autocorrelation sequence corresponding to each potential pulse signal; the periodic intensity of the potential pulse signal corresponding to each autocorrelation sequence is determined; the periodic intensities of multiple potential pulse signals are compared, and the potential pulse signal with the largest periodic intensity is determined as the pulse signal of the target region.

[0065] In this embodiment, the autocorrelation sequence is a sequence that characterizes the periodicity of the potential pulse signal at different frequencies, and is used to measure the similarity between the potential pulse signal and the potential pulse signal under the condition of velocity dimension delay.

[0066] Specifically, by using each potential pulse signal R candiSubstituting [m,l] into the autocorrelation calculation formula: The autocorrelation sequence ACC[t,l] of the potential pulse signal is calculated, where t represents the delay in the velocity dimension of the autocorrelation calculation. By searching for effective peaks in the autocorrelation sequence, if a significant peak exists, the corresponding potential pulse signal exhibits strong periodicity with high periodicity intensity. Periodicity intensity refers to the strength of the periodicity of the potential pulse signal over time, describing its repeatability. Based on the effective peaks in the autocorrelation sequence, the frequency corresponding to the effective peaks is determined as the dominant frequency of the potential pulse signal, and the intensity corresponding to the dominant frequency is determined as the periodicity intensity of the potential pulse signal. It should be noted that since the pulse signal is a periodically repeating signal, the greater the periodicity intensity of the potential pulse signal, the greater the probability that the potential pulse signal is from the target region. By comparing the periodicities of one or more potential pulse signals, the maximum periodicity intensity is determined, and the potential pulse signal corresponding to the maximum periodicity intensity is identified as the pulse signal from the target region.

[0067] For example, suppose there are 3 potential pulse signals R candi [m,l1]、R candi [m,l1] and R candi [m,l1], by performing autocorrelation calculations on these three potential pulse signals respectively, autocorrelation sequences ACC[t,l1], ACC[t,l2] and ACC[t,l3] are obtained. Based on each autocorrelation sequence, an effective peak is searched to obtain the potential pulse signal R. candi [m,l1]、R candi [m,l1] and R candi The periodic intensity of [m,l1], where the underlying pulse signal R determined based on ACC[t,l1] candi If the periodic intensity of [m,l1] is the greatest, then the potential pulse signal R candi The probability that [m,l1] represents a pulse signal is the highest, so R... candi [m,l1] is determined to be the pulse signal.

[0068] The technical solution of this embodiment determines the periodic intensity of the potential pulse signal through the autocorrelation sequence of the potential pulse signal, and identifies the potential pulse signal with the maximum periodic intensity as the pulse signal. This enables rapid determination of the pulse signal and ensures the rationality of the determined pulse signal.

[0069] The technical solution of this embodiment acquires radar echo signals of the target area; performs range-angle grid division processing on the target area based on the radar echo signals to obtain multiple resolution units; performs phase estimation processing on the radar echo signals of each resolution unit to obtain the phase sequence signal of each resolution unit; determines the spatiotemporal correlation data of the resolution units based on the phase sequence signals of each resolution unit; determines the potential pulse location region based on the spatiotemporal correlation data of the resolution units; determines the potential pulse signal of each potential pulse location region; and extracts the pulse signal of the target area from the potential pulse signal. This solution, based on the strong spatiotemporal correlation of pulse signals, can determine the potential pulse location region, solving the problem of difficult positioning caused by the unclear energy information characteristics of pulse signals and improving the accuracy of pulse signal extraction.

[0070] Example 2

[0071] Figure 2 This is a flowchart of a pulse signal extraction method provided in Embodiment 2 of the present invention. The technical solution of the present invention is further optimized based on any of the above embodiments. Figure 2 As shown, the method includes:

[0072] S210: Acquire radar echo signals from the target area.

[0073] S220: Based on the radar echo signal, the target area is divided into range-angle grids to obtain multiple resolution cells.

[0074] S230. Perform phase estimation processing on the radar echo signal of each resolution unit to obtain the phase sequence signal of each resolution unit.

[0075] It should be noted that human respiration and other limb movements easily cause micro-movements in the tested arm, and the amplitude of these micro-movements can easily exceed the amplitude of the radial artery pulsation. Therefore, the signal R[m,r,θ] typically includes not only the desired pulse signal but also interference signals caused by respiration and limb movements. These interference signals are those with frequencies lower than the dominant frequency of the pulse signal. In some embodiments, after obtaining the phase sequence signal of each resolution unit, optionally, the phase sequence signal of the resolution unit is filtered based on a preset filter.

[0076] In this embodiment, the preset filter is a pre-set filter used to filter out micro-motion interference signals in the phase sequence signal of the resolution unit. For example, the preset filter can be any of the filters capable of filtering out low-frequency signals, such as a high-pass filter, Wiener filter, and adaptive filter; this embodiment does not limit this.

[0077] Specifically, by inputting the phase sequence signal of the resolution unit into a preset filter, the preset filter outputs a phase sequence signal that filters out micro-motion interference signals.

[0078] The technical solution of this embodiment, by filtering the phase sequence signal of the resolution unit, can filter out the micro-motion interference signal in the phase sequence signal of the resolution unit, improve the quality of the phase sequence signal, and help improve the accuracy of pulse signal extraction.

[0079] S240, Determine multiple adjacent resolution units corresponding to the resolution unit.

[0080] In this embodiment, the adjacent resolution unit is the resolution unit that is adjacent to the resolution unit. The resolution unit and the corresponding adjacent resolution unit can be at the same angle, at the same angle, or at adjacent angles. This embodiment does not impose any restrictions on this.

[0081] Specifically, by traversing multiple resolution units, a nearest neighbor search is performed on the traversed resolution units to obtain multiple adjacent resolution units. Each adjacent resolution unit is determined as an adjacent resolution unit of the traversed resolution unit. For example, the adjacent resolution units of resolution unit (r1, θ1) include resolution units (r1+1, θ1), (r1-1, θ1), (r1, θ1+1), and (r1, θ1-1).

[0082] S250. Perform spatiotemporal correlation calculation on the phase sequence signal of the resolution unit and the phase sequence signal of each adjacent resolution unit corresponding to the resolution unit to obtain multiple candidate spatiotemporal correlation data.

[0083] Specifically, by substituting the phase sequence signal R[m,r1,θ1] of the resolution unit (r1,θ1) and the phase sequence signal R[m,r2,θ2] of each adjacent resolution unit (r2,θ2) into the phase correlation calculation formula: The phase correlation data of the two resolution units are calculated, and this phase correlation data is set as candidate spatiotemporal correlation data corresponding to adjacent resolution units. Here, candidate spatiotemporal correlation data are candidate data for the spatiotemporal correlation data of the resolution units. For example, when resolution unit (r1, θ1) has 4 adjacent resolution units, the number of candidate spatiotemporal correlation data is 4.

[0084] S260. Compare the candidate spatiotemporal correlation data of the resolution unit with those of multiple adjacent resolution units, and set the smallest candidate spatiotemporal correlation data as the spatiotemporal correlation data of the resolution unit.

[0085] Specifically, based on the candidate spatiotemporal correlation data of the resolution unit and multiple adjacent resolution units, the size of multiple candidate spatiotemporal correlation data is compared to determine the smallest candidate spatiotemporal correlation data, and the smallest candidate spatiotemporal correlation data is set as the spatiotemporal correlation data of the resolution unit.

[0086] For example, assuming that among the candidate spatiotemporal correlation data of four adjacent resolution units, the candidate spatiotemporal correlation data between resolution unit (r1,θ1) and the adjacent resolution unit (r1+1,θ1) is the smallest, then the candidate spatiotemporal correlation data corresponding to the adjacent resolution unit (r1+1,θ1) is set as the spatiotemporal correlation data of resolution unit (r1,θ1).

[0087] S270. Determine the potential pulse location region based on the spatiotemporal correlation data of the resolution unit.

[0088] S280, Determine the potential pulse signal for each potential pulse location region.

[0089] S290. Extract the pulse signal of the target region from the potential pulse signal.

[0090] The technical solution of this embodiment acquires radar echo signals of the target area; performs range-angle grid division processing on the target area based on the radar echo signals to obtain multiple resolution units; performs phase estimation processing on the radar echo signals of each resolution unit to obtain the phase sequence signal of each resolution unit; determines multiple adjacent resolution units corresponding to the resolution unit; performs spatiotemporal correlation calculation processing on the phase sequence signals of the resolution unit and the phase sequence signals of each adjacent resolution unit to obtain multiple candidate spatiotemporal correlation data; compares the candidate spatiotemporal correlation data of the resolution unit with the candidate spatiotemporal correlation data of the multiple adjacent resolution units, and sets the smallest candidate spatiotemporal correlation data as the spatiotemporal correlation data of the resolution unit; determines the potential pulse location region based on the spatiotemporal correlation data of the resolution unit; determines the potential pulse signal of each potential pulse location region; and extracts the pulse signal of the target area from the potential pulse signal. This method can determine the spatiotemporal correlation data of the resolution unit based on the candidate spatiotemporal correlation data of the resolution unit and the multiple adjacent resolution units, without needing to determine the spatial correlation of the resolution unit with every other resolution unit, thus reducing the computational load and improving the efficiency of pulse signal extraction.

[0091] Example 3

[0092] Figure 3 This is a schematic diagram of a pulse signal extraction device provided in Embodiment 3 of the present invention.

[0093] like Figure 3 As shown, the device includes:

[0094] Radar echo signal acquisition module 310 is used to acquire radar echo signals of the target area;

[0095] The phase estimation processing module 320 is used to perform range-angle grid division processing on the target area based on the radar echo signal to obtain multiple resolution cells; and to perform phase estimation processing on the radar echo signal of each resolution cell to obtain the phase sequence signal of each resolution cell.

[0096] The potential pulse location region determination module 330 is used to determine the spatiotemporal correlation data of the resolution unit based on the phase sequence signal of each resolution unit, and to determine the potential pulse location region based on the spatiotemporal correlation data of the resolution unit.

[0097] The pulse signal extraction module 340 is used to determine the potential pulse signal of each potential pulse location region and extract the pulse signal of the target region from the potential pulse signal.

[0098] The technical solution of this embodiment acquires radar echo signals of the target area; performs range-angle grid division processing on the target area based on the radar echo signals to obtain multiple resolution units; performs phase estimation processing on the radar echo signals of each resolution unit to obtain the phase sequence signal of each resolution unit; determines the spatiotemporal correlation data of the resolution units based on the phase sequence signals of each resolution unit; determines the potential pulse location region based on the spatiotemporal correlation data of the resolution units; determines the potential pulse signal of each potential pulse location region; and extracts the pulse signal of the target area from the potential pulse signal. This solution, based on the strong spatiotemporal correlation of pulse signals, can determine the potential pulse location region, solving the problem of difficult positioning caused by the unclear energy information characteristics of pulse signals and improving the accuracy of pulse signal extraction.

[0099] Based on the above embodiments, optionally, the phase estimation processing module 320 is specifically used for: performing target detection processing on the radar echo signal in the range dimension to obtain the region of interest; performing range grid division processing on the region of interest to obtain multiple range grid cells; and performing beamforming processing on the radar echo signal of each range grid cell in the antenna dimension to obtain multiple resolution cells.

[0100] Based on the above embodiments, optionally, the potential pulse location region determination module 330 is specifically used for: determining multiple adjacent resolution units corresponding to the resolution unit; performing spatiotemporal correlation calculation processing on the phase sequence signal of the resolution unit and the phase sequence signal of each adjacent resolution unit corresponding to the resolution unit to obtain multiple candidate spatiotemporal correlation data; comparing the candidate spatiotemporal correlation data of the resolution unit with the multiple adjacent resolution units, and setting the smallest candidate spatiotemporal correlation data as the spatiotemporal correlation data of the resolution unit.

[0101] Based on the above embodiments, optionally, the potential pulse location region determination module 330 is further configured to: filter the phase sequence signal of the resolution unit based on a preset filter before determining the multiple adjacent resolution units corresponding to the resolution unit.

[0102] Based on the above embodiments, optionally, the potential pulse location region determination module 330 is further configured to: compare the spatiotemporal correlation data of multiple resolution units with a preset correlation intensity threshold, and determine the resolution units corresponding to the spatiotemporal correlation data that are greater than the preset correlation intensity threshold as potential pulse resolution units; perform connectivity processing on multiple potential pulse resolution units to obtain at least one potential pulse location region; wherein, each potential pulse location region includes at least one potential pulse resolution unit.

[0103] Based on the above embodiments, optionally, the pulse signal extraction module 340 is specifically used to: for any potential pulse location region, compare the spatiotemporal correlation data of at least one resolution unit corresponding to the potential pulse location region, and determine the target resolution unit corresponding to the largest spatiotemporal correlation data; and determine the potential pulse signal of the potential pulse location region based on the phase sequence signal of the target resolution unit.

[0104] Based on the above embodiments, optionally, the pulse signal extraction module 340 is further configured to: perform autocorrelation calculation processing on each potential pulse signal to obtain an autocorrelation sequence corresponding to each potential pulse signal; determine the periodic intensity of the potential pulse signal corresponding to each autocorrelation sequence based on each autocorrelation sequence; compare the periodic intensities of multiple potential pulse signals, and determine the potential pulse signal corresponding to the maximum periodic intensity as the pulse signal of the target region.

[0105] The pulse signal extraction device provided in this embodiment of the invention can execute the pulse signal extraction method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0106] Example 4

[0107] Figure 4 This is a schematic diagram of the structure of an electronic device implementing the pulse signal extraction method of this invention. The electronic device 10 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0108] like Figure 4 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0109] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0110] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as pulse signal extraction methods.

[0111] In some embodiments, the pulse signal extraction method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the pulse signal extraction method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the pulse signal extraction method by any other suitable means (e.g., by means of firmware).

[0112] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0113] Computer programs for implementing the pulse signal extraction method of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to the processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer programs can be executed entirely on the machine, partially on the machine, as a standalone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0114] Example 5

[0115] Embodiment 5 of the present invention also provides a computer-readable storage medium storing computer instructions for causing a processor to execute a pulse signal extraction method, the method comprising:

[0116] The radar echo signal of the target area is acquired; the target area is divided into range-angle grids based on the radar echo signal to obtain multiple resolution cells; the radar echo signal of each resolution cell is phase estimated to obtain the phase sequence signal of each resolution cell; the spatiotemporal correlation data of each resolution cell is determined based on the phase sequence signal of each resolution cell, and the potential pulse location region is determined based on the spatiotemporal correlation data of the resolution cell; the potential pulse signal of each potential pulse location region is determined, and the pulse signal of the target area is extracted from the potential pulse signal.

[0117] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0118] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0119] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication (e.g., communication networks) of any form or medium. Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0120] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0121] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and no limitation is imposed herein.

[0122] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A pulse signal extraction method characterized by, include: Acquire radar echo signals from the target area; Based on the radar echo signal, the target area is divided into range-angle grids to obtain multiple resolution cells; Phase estimation processing is performed on the radar echo signal of each resolution unit to obtain the phase sequence signal of each resolution unit; Based on the phase sequence signal of each of the resolution units, the spatiotemporal correlation data of the resolution units are determined, and the potential pulse location region is determined based on the spatiotemporal correlation data of the resolution units. Determine the potential pulse signal for each potential pulse location region, and extract the pulse signal for the target region from the potential pulse signal.

2. The method of claim 1, wherein, The target area is divided into range-angle grids based on the radar echo signal to obtain multiple resolution cells, including: The radar echo signal is processed for target detection in the range dimension to obtain the region of interest; The region of interest is divided into multiple distance grid cells by performing distance grid division. The radar echo signal of each range grid cell is subjected to antenna-dimensional beamforming processing to obtain multiple resolution cells.

3. The method of claim 1, wherein, The determination of the spatiotemporal correlation data of the resolution units based on the phase sequence signals of each resolution unit includes: Determine multiple adjacent resolution units corresponding to the resolution unit; Spatiotemporal correlation calculation is performed on the phase sequence signal of the resolution unit and the phase sequence signal of each adjacent resolution unit corresponding to the resolution unit to obtain multiple candidate spatiotemporal correlation data. The candidate spatiotemporal correlation data of the resolution unit and the multiple adjacent resolution units are compared, and the candidate spatiotemporal correlation data with the smallest value is set as the spatiotemporal correlation data of the resolution unit.

4. The method according to claim 3, characterized in that, Before determining the plurality of adjacent resolving units corresponding to each of the resolving units, the method further includes: The phase sequence signal of the resolution unit is filtered based on a preset filter.

5. The method according to claim 1, characterized in that, The determination of the potential pulse location region based on the spatiotemporal correlation data of the resolution unit includes: The spatiotemporal correlation data of multiple resolution units are compared with a preset correlation intensity threshold, and the resolution units corresponding to the spatiotemporal correlation data that are greater than the preset correlation intensity threshold are determined as potential pulse resolution units. The potential pulse resolution units are connected to obtain at least one potential pulse location region; wherein each potential pulse location region includes at least one potential pulse resolution unit.

6. The method according to claim 5, characterized in that, The determination of the potential pulse signal for each of the potential pulse location regions includes: For any of the potential pulse location regions, the spatiotemporal correlation data of at least one resolution unit corresponding to the potential pulse location region are compared, and the target resolution unit corresponding to the largest spatiotemporal correlation data is determined. Based on the phase sequence signal of the target resolution unit, the potential pulse signal of the potential pulse location region is determined.

7. The method according to claim 1, characterized in that, Extracting the pulse signal of the target region from the potential pulse signal includes: Autocorrelation calculation is performed on each of the potential pulse signals to obtain the autocorrelation sequence corresponding to each potential pulse signal; The periodic intensity of the potential pulse signal corresponding to each autocorrelation sequence is determined based on each autocorrelation sequence. The periodic intensities of multiple potential pulse signals are compared, and the potential pulse signal corresponding to the largest periodic intensity is determined as the pulse signal of the target region.

8. A pulse signal extraction device, characterized in that, include: Radar echo signal acquisition module, used to acquire radar echo signals of the target area; The phase estimation processing module is used to perform range-angle grid division processing on the target area based on the radar echo signal to obtain multiple resolution cells; and to perform phase estimation processing on the radar echo signal of each resolution cell to obtain the phase sequence signal of each resolution cell. A potential pulse location region determination module is used to determine the spatiotemporal correlation data of the resolution unit based on the phase sequence signal of each resolution unit, and to determine the potential pulse location region based on the spatiotemporal correlation data of the resolution unit. A pulse signal extraction module is used to determine the potential pulse signal of each potential pulse location region and extract the pulse signal of the target region from the potential pulse signal.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the pulse signal extraction method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the pulse signal extraction method according to any one of claims 1-7.

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