Drag point identification method and device, computer device and storage medium

Abstract

The application relates to a method and device for identifying a trailing point, computer equipment, a storage medium and a computer program product. The method comprises the following steps: acquiring an intermediate frequency signal obtained by mixing a radar wave emission signal and a corresponding echo signal; performing frequency spectrum analysis on the intermediate frequency signal to obtain corresponding frequency spectrum data; for a reference frequency spectrum point at a wave peak position in the frequency spectrum data, selecting a first frequency spectrum point with a frequency value smaller than that of the reference frequency spectrum point on the frequency spectrum data according to a first selection range, and selecting a second frequency spectrum point with a frequency value greater than that of the reference frequency spectrum point on the frequency spectrum data according to a second selection range, the first selection range and the second selection range having a preset consistency degree in frequency distribution; and determining whether the wave peak position corresponds to a trailing point according to the first frequency spectrum point and the second frequency spectrum point. The trailing point is identified through the frequency spectrum characteristics corresponding to the trailing point phenomenon, and the efficiency of the trailing point identification process and the accuracy of the result are improved.

Description

Technical Field

[0001] This application relates to the field of radar measurement technology, and in particular to a drag point identification method, apparatus, computer equipment, and storage medium. Background Technology

[0002] Frequency Modulated Continuous Wave (FMCW) radar is a continuous wave radar whose transmission frequency is modulated by a specific signal, such as weather radar. FMCW radar obtains an intermediate frequency (IF) signal by comparing the echo signal at any given time with the corresponding transmitted signal. Signal processing of the IF signal yields its spectrum, and target localization is achieved based on the relationship between its frequency and information such as the distance or velocity of the target object.

[0003] When FMCW lidar detects targets, the following two situations may result in the same type of spectrum: (1) If two stationary targets that are close to each other are hit by the same spot, a dragging point will be formed, and two adjacent peaks will appear in the Fourier transform spectrum of the intermediate frequency signal; (2) If a single target has a certain speed, two adjacent peaks will also appear in the Fourier transform spectrum of the intermediate frequency signal. In related technologies, target detection is performed directly based on the spectrum of the intermediate frequency signal, and it is impossible to identify whether a dragging point occurs. Summary of the Invention

[0004] Therefore, it is necessary to provide a method, apparatus, computer device, computer-readable storage medium, and computer program product that can quickly and accurately identify drag points in order to address the above-mentioned technical problems.

[0005] Firstly, this application provides a drag point recognition method. The method includes:

[0006] The intermediate frequency signal is obtained by mixing the transmitted radar signal and the corresponding echo signal.

[0007] Perform spectral analysis on the intermediate frequency signal to obtain the corresponding spectral data;

[0008] For a reference spectral point at the peak position in the spectral data, according to the first selection range, a first spectral point with a frequency value less than that of the reference spectral point is selected in the spectral data, and according to the second selection range, a second spectral point with a frequency value greater than that of the reference spectral point is selected in the spectral data. The first selection range and the second selection range have a preset degree of consistency in frequency distribution.

[0009] Based on the first and second spectral points, determine whether the peak position corresponds to the drag point.

[0010] In one embodiment, acquiring the intermediate frequency signal obtained by mixing the transmitted radar wave signal and the corresponding echo signal includes:

[0011] The transmitted signal is divided into a first transmitted signal and a second transmitted signal, with the first transmitted signal having higher signal energy than the second transmitted signal.

[0012] The echo signal of the first transmitted signal is acquired, and the echo signal is mixed with the second transmitted signal to obtain the intermediate frequency signal.

[0013] In one embodiment, selecting a first spectral point in the spectral data whose frequency value is less than that of a reference spectral point according to a first selection range, and selecting a second spectral point in the spectral data whose frequency value is greater than that of the reference spectral point according to a second selection range, includes:

[0014] Starting from the reference spectrum point, select a first preset number of first spectrum points in the spectrum data in descending order of frequency value;

[0015] Starting from the reference spectrum point, a second preset number of second spectrum points are selected sequentially on the spectrum data in order of increasing frequency value. The difference between the first preset number and the second preset number is within a preset range.

[0016] In one embodiment, determining whether the peak position corresponds to a drag point based on the first and second spectral points includes:

[0017] The energy values ​​of each first spectral point are integrated to obtain the first energy intensity;

[0018] The energy values ​​of each second spectral point are integrated to obtain the second energy intensity;

[0019] If the overall similarity between the first energy intensity and the second energy intensity reaches a first preset level, the peak position is determined to correspond to the moving target object; otherwise, the peak position is determined to correspond to the drag point.

[0020] In one embodiment, determining whether the peak position corresponds to a drag point based on the first and second spectral points includes:

[0021] Within the first and second selection ranges, determine the first and second spectral points whose frequency values ​​are compatible with each other to form a corresponding spectral point group.

[0022] Determine the individual similarity of amplitude values ​​between the first and second spectral points in each spectral point group, integrate the individual similarities corresponding to each spectral point group, and obtain the integration result.

[0023] If the integration result reaches the second preset level, the peak position is determined to correspond to the moving target object; otherwise, the peak position is determined to correspond to the drag point.

[0024] In one embodiment, the total number of first and second spectrum points is the same; within a first and second selection range, first and second spectrum points with mutually compatible frequency values ​​are determined to form a corresponding spectrum point group, including:

[0025] All first spectrum points are arranged in descending order of frequency value, and all second spectrum points are arranged in ascending order of frequency value.

[0026] Select the first and second spectrum points with the same sequence number to form the corresponding spectrum point group.

[0027] In one embodiment, determining whether the peak position corresponds to a drag point based on the first and second spectral points includes:

[0028] The energy values ​​of each first spectral point are integrated to obtain the first energy intensity, and the energy values ​​of each second spectral point are integrated to obtain the second energy intensity. The overall similarity between the first energy intensity and the second energy intensity is determined.

[0029] Within the first and second selection ranges, first and second spectrum points with mutually compatible frequency values ​​are determined to form corresponding spectrum point groups. The individual similarity of amplitude values ​​between the first and second spectrum points in each spectrum point group is determined. The individual similarities corresponding to each spectrum point group are integrated to obtain the integration result.

[0030] If the overall similarity reaches the first preset level and the integration result reaches the second preset level, the peak position is determined to correspond to the moving target object; otherwise, the peak position is determined to correspond to the drag point.

[0031] Secondly, this application also provides a drag point recognition device. The device includes:

[0032] The signal acquisition module is used to acquire the intermediate frequency signal obtained by mixing the transmitted radar signal and the corresponding echo signal.

[0033] The spectrum analysis module is used to perform spectrum analysis on intermediate frequency signals and obtain the corresponding spectrum data.

[0034] The frequency selection module is used to select a first frequency point in the spectrum data whose frequency value is less than that of the reference frequency point according to a first selection range, and select a second frequency point in the spectrum data whose frequency value is greater than that of the reference frequency point according to a second selection range, for a reference frequency point at the peak position in the spectrum data. The first selection range and the second selection range have a preset degree of consistency in frequency distribution.

[0035] The drag point determination module is used to determine whether the peak position corresponds to a drag point based on the first and second spectrum points.

[0036] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to perform the following steps:

[0037] The intermediate frequency signal is obtained by mixing the transmitted radar signal and the corresponding echo signal.

[0038] Perform spectral analysis on the intermediate frequency signal to obtain the corresponding spectral data;

[0039] For a reference spectral point at the peak position in the spectral data, according to the first selection range, a first spectral point with a frequency value less than that of the reference spectral point is selected in the spectral data, and according to the second selection range, a second spectral point with a frequency value greater than that of the reference spectral point is selected in the spectral data. The first selection range and the second selection range have a preset degree of consistency in frequency distribution.

[0040] Based on the first and second spectral points, determine whether the peak position corresponds to the drag point.

[0041] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, performs the following steps:

[0042] The intermediate frequency signal is obtained by mixing the transmitted radar signal and the corresponding echo signal.

[0043] Perform spectral analysis on the intermediate frequency signal to obtain the corresponding spectral data;

[0044] For a reference spectral point at the peak position in the spectral data, according to the first selection range, a first spectral point with a frequency value less than that of the reference spectral point is selected in the spectral data, and according to the second selection range, a second spectral point with a frequency value greater than that of the reference spectral point is selected in the spectral data. The first selection range and the second selection range have a preset degree of consistency in frequency distribution.

[0045] Based on the first and second spectral points, determine whether the peak position corresponds to the drag point.

[0046] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, performs the following steps:

[0047] The intermediate frequency signal is obtained by mixing the transmitted radar signal and the corresponding echo signal.

[0048] Perform spectral analysis on the intermediate frequency signal to obtain the corresponding spectral data;

[0049] For a reference spectral point at the peak position in the spectral data, according to the first selection range, a first spectral point with a frequency value less than that of the reference spectral point is selected in the spectral data, and according to the second selection range, a second spectral point with a frequency value greater than that of the reference spectral point is selected in the spectral data. The first selection range and the second selection range have a preset degree of consistency in frequency distribution.

[0050] Based on the first and second spectral points, determine whether the peak position corresponds to the drag point.

[0051] The aforementioned drag point identification method, apparatus, computer equipment, storage medium, and computer program product acquire an intermediate frequency (IF) signal obtained by mixing the transmitted radar wave signal and the corresponding echo signal; perform spectral analysis on the IF signal to obtain corresponding spectral data; for a reference spectral point at the peak position in the spectral data, select a first spectral point with a frequency value lower than the reference spectral point according to a first selection range, and select a second spectral point with a frequency value higher than the reference spectral point according to a second selection range, wherein the first and second selection ranges have a preset degree of consistency in frequency distribution; determine whether the peak position corresponds to a drag point based on the first and second spectral points. By identifying the spectral characteristics corresponding to the drag point phenomenon, drag points are identified, improving the efficiency of the drag point identification process and the accuracy of the results. Attached Figure Description

[0052] Figure 1 This is an application environment diagram of the drag point recognition method in one embodiment;

[0053] Figure 2 This is a flowchart illustrating a drag point recognition method in one embodiment;

[0054] Figure 3 This is a partial spectrum diagram from one embodiment;

[0055] Figure 4 This is a schematic diagram illustrating the frequency variation of the intermediate frequency signal corresponding to the moving target in one embodiment;

[0056] Figure 5 This is a schematic diagram illustrating the formation of drag points in one embodiment;

[0057] Figure 6 This is a schematic diagram of the frequency change of the intermediate frequency signal corresponding to the drag point in one embodiment;

[0058] Figure 7 This is a schematic diagram of a signal decomposition device in one embodiment;

[0059] Figure 8 This is a flowchart illustrating the drag point recognition method in another embodiment;

[0060] Figure 9 This is a flowchart illustrating the drag point recognition method in yet another embodiment;

[0061] Figure 10 This is a structural block diagram of a drag-and-drop identification device in one embodiment;

[0062] Figure 11 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0063] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0064] The drag point identification method provided in this application can be applied to real-time radar detection scenarios to identify drag points in real time, or it can be used to identify drag points after radar detection; this application does not specifically limit this. For ease of understanding, this application example uses a real-time radar detection scenario to identify drag points during the detection process of a frequency-modulated continuous wave radar. The method provided in this application can be applied to scenarios such as... Figure 1 In the application environment shown, terminal 102 communicates with server 104 via a network, specifically transmitting the acquired intermediate frequency (IF) signal data to server 104. Server 104 processes and analyzes the IF signal to complete the drag point identification. The data storage system can store the data that server 104 needs to process. The data storage system can be integrated on server 104 or placed in the cloud or on other network servers.

[0065] The terminal 102 can be, but is not limited to, various personal computers, laptops, smartphones, tablets, IoT devices, and portable wearable devices. IoT devices can include smart speakers, smart TVs, smart air conditioners, and smart in-vehicle systems. Portable wearable devices can include smartwatches, smart bracelets, and head-mounted devices. The server 104 can be implemented using a standalone server or a server cluster consisting of multiple servers.

[0066] In one embodiment, such as Figure 2 As shown, a drag point recognition method is provided. This method is applied to... Figure 1 Taking server 104 as an example, the following steps are included:

[0067] Step 202: Obtain the intermediate frequency signal obtained by mixing the transmitted radar wave signal and the corresponding echo signal;

[0068] First, it should be noted that the radar wave mentioned in the embodiments of this application is a frequency-modulated continuous wave (FMCW), specifically a high-frequency continuous wave. It emits a wave whose frequency changes linearly and periodically with time, such as triangular wave modulation and sawtooth wave modulation. In FMCW radar, sawtooth wave modulation is generally used to measure the distance to an object, while triangular wave modulation can simultaneously obtain the object's distance and velocity information. Based on the above, it is known that the drag point formation occurs in the detection of stationary objects. However, moving objects, due to Doppler frequency shift, will also cause two adjacent peaks in the intermediate frequency spectrum. Therefore, the drag point identification method provided in the embodiments of this application does not specifically limit the modulation method of the radar wave.

[0069] It's understandable that the frequency of a radar signal doesn't change when an object reflects it; therefore, the echo signal and the transmitted signal have the same frequency and trend. The intermediate frequency (IF) signal is obtained by mixing the transmitted and echo signals; it's a time-domain signal. Specifically, the transmitted and echo signals can be input into a mixer. The "intermediate frequency" in IF signal refers to the frequency relative to the radar's transmitted wave.

[0070] Step 204: Perform spectrum analysis on the intermediate frequency signal to obtain the corresponding spectrum data;

[0071] Spectrum analysis enables the conversion between time-domain and frequency-domain signals. By acquiring the spectral data of intermediate frequency (IF) signals through spectrum analysis, the target frequency value can be determined, which can then be used to calculate information such as the distance or velocity of the probe. It should be noted that the acquired IF signal is a continuous signal in the time domain. To facilitate subsequent data processing, the signal is sampled. This can be done by first sampling the IF signal at equal intervals to obtain a discrete sequence, and then performing a Discrete Fourier Transform (DFT) on the discrete sequence to obtain the corresponding spectrum data. Alternatively, a DFT can be directly performed on the continuous IF signal to obtain its spectrum, and then the spectrum can be sampled at equal intervals to obtain the corresponding spectrum data. Therefore, in one embodiment, the spectrum data includes several discrete spectral points and their corresponding amplitude values.

[0072] Step 206: For the reference spectrum point at the peak position in the spectrum data, according to the first selection range, select a first spectrum point in the spectrum data whose frequency value is less than that of the reference spectrum point, and according to the second selection range, select a second spectrum point in the spectrum data whose frequency value is greater than that of the reference spectrum point. The first selection range and the second selection range have a preset degree of consistency in frequency distribution.

[0073] In this context, the spectral data refers to the corresponding amplitude spectrum. The peak positions can be visually identified in the spectral image. During computer program execution, the amplitude values ​​in the spectral data can be filtered, and the spectral points at the peak positions of the amplitude values ​​are used as reference spectral points. In one embodiment, the spectral point corresponding to the maximum amplitude value among the spectral points within a preset range can be used as the reference spectral point at the peak position. It should be noted that the peak positions in the spectral data in this embodiment are not limited to one. Theoretically, only one peak will appear when detecting a stationary object; if a drag point is detected or a moving object is detected, two peak positions will appear, resulting in two reference spectral points. Therefore, the spectral points with the largest and second largest amplitude values ​​in the entire spectral data can be selected as the reference spectral points at the peak positions.

[0074] The drag point identification method provided in this application describes a method for analyzing a reference spectrum point at any peak position in the spectrum data to determine whether this peak position corresponds to a drag point. When multiple peaks exist, the drag point identification results can be comprehensively judged based on the multiple peaks. Therefore, the peak position in this step is an randomly selected peak position in the spectrum data of the intermediate frequency signal.

[0075] The first and second selection ranges are used to select spectral points near the reference spectral point. Specifically, when displaying spectral data in the form of a spectrum, the first and second selection ranges can be understood as being used to select spectral points on the left and right sides of the reference spectral point. It should be noted that the number of selected first and second spectral points is not limited to one, but the number of both should be consistent. Theoretically, an appropriate number of first and second spectral points can achieve the ideal dragging point recognition effect.

[0076] The preset consistency level refers to the symmetry between the first spectral point determined according to the first selection range and the second spectral point determined according to the second selection range in the spectrum diagram with respect to the reference spectral point. Furthermore, the first and second selection ranges are set based on the same criteria, only differing in specific content. For example, when the selection range is set as the number of spectral points, the first selection range could be m spectral points with frequency values ​​less than the reference spectral point selected from the spectrum data, and the second selection range could be m spectral points with frequency values ​​greater than the reference spectral point selected from the spectrum data.

[0077] As described above regarding the spectral data, the spectral points are obtained through equally spaced sampling; therefore, the frequency values ​​corresponding to each spectral point are equally spaced. For details, see [link to relevant documentation]. Figure 3 The amplitude value at the peak position is X(k), where k is the reference spectrum point. The first and second selection ranges both select m spectrum points. Then the first spectrum point is X(k-1), X(k-2), ..., X(km); the second spectrum point is X(k+1), X(k+2), ..., X(k+).

[0078] Step 208: Determine whether the peak position corresponds to the drag point based on the first and second spectrum points.

[0079] It should be noted that when a radar wave strikes a target with a certain velocity, a Doppler frequency shift will occur between the transmitted and echo signals due to the velocity. The frequency change of the intermediate frequency signal in this case can be found in [reference needed]. Figure 4 It has two stable values ​​f bu and f bd , combined Figure 4 It can be seen that the spectrum of this intermediate frequency signal will have two adjacent peaks, and the spectrum is theoretically symmetrical within the waveform range of each peak. When the radar wave's transmitted signal spot hits two nearby stationary objects, i.e., when a dragging point occurs, see [reference needed]. Figure 5 The echo signal is actually composed of echo signals reflected from two stationary objects. According to the mixing principle, after mixing and filtering the echo signal with the transmitted signal, two difference frequencies will also be obtained. See [link to relevant documentation]. Figure 6However, after the intermediate frequency signal is transformed to obtain the spectrum, the amplitude values ​​of the spectral points on the left and right sides of the peak position are not symmetrical.

[0080] By considering the symmetry between the first and second spectral points—that is, when the corresponding spectral data is displayed as a spectrum diagram, the distribution of the first and second spectral points exhibits a certain symmetry with respect to the reference spectral point—we can analyze the spectrum characteristics corresponding to the peak position and utilize the similarity between the first and second spectral points to determine whether a peak position corresponds to a peak position with a peak position. For example, we can calculate the sum of the energy of all first spectral points and the sum of the energy of all second spectral points. If the error between the two is within a preset range, it is considered to have high similarity, thus determining that this peak position does not correspond to a peak position with a peak position. If the error between the two exceeds the preset range, it is considered to have low similarity, thus determining that this peak position corresponds to a peak position with a peak position with a peak position.

[0081] In the method provided in the above embodiments, an intermediate frequency (IF) signal is obtained by mixing the transmitted radar signal and the corresponding echo signal; spectral analysis is performed on the IF signal to obtain corresponding spectral data; for a reference spectral point at the peak position in the spectral data, a first spectral point with a frequency value less than the reference spectral point is selected from the spectral data according to a first selection range, and a second spectral point with a frequency value greater than the reference spectral point is selected from the spectral data according to a second selection range, wherein the first and second selection ranges have a preset degree of consistency in frequency distribution; based on the first and second spectral points, it is determined whether the peak position corresponds to a dragging point. By using the spectral characteristics corresponding to the dragging point phenomenon, dragging points are identified, improving the efficiency of the dragging point identification process and the accuracy of the results.

[0082] In one embodiment, acquiring the intermediate frequency signal obtained by mixing the transmitted radar wave signal and the corresponding echo signal includes:

[0083] The transmitted signal is divided into a first transmitted signal and a second transmitted signal, with the first transmitted signal having higher signal energy than the second transmitted signal.

[0084] The echo signal of the first transmitted signal is acquired, and the echo signal is mixed with the second transmitted signal to obtain the intermediate frequency signal.

[0085] In this configuration, the first transmitted signal is primarily used for target detection, while the second transmitted signal is mainly used for mixing with the echo signal of the first transmitted signal. By directly segmenting the transmitted signals, the accuracy of the transmitted signal mixed with the echo signal can be ensured, thus improving detection precision. In one embodiment, see... Figure 7The signal-driven signal generator produces an optical signal (transmit signal), which is then input into a 1x2 coupler to split into two beams. The higher-energy (90%) beam (first transmit signal) is used to detect and receive the echo signal, while the lower-energy (10%) beam (second transmit signal) is used for mixing.

[0086] In the method provided in the above embodiments, by dividing the transmitted signal into two beams of signals with different energy levels, the correspondence between the transmitted signal and the echo signal mixed with the echo signal is ensured, which can obtain a more accurate intermediate frequency signal, thereby improving the accuracy of target detection and the accuracy of drag point identification.

[0087] In one embodiment, see Figure 8 According to the first selection range, a first spectral point with a frequency value less than that of a reference spectral point is selected from the spectral data; according to the second selection range, a second spectral point with a frequency value greater than that of the reference spectral point is selected from the spectral data, including:

[0088] Step 802: Starting from the reference spectrum point, select a first preset number of first spectrum points on the spectrum data in descending order of frequency value;

[0089] Step 804: Starting from the reference spectrum point, select a second preset number of second spectrum points on the spectrum data in order of increasing frequency value. The difference between the first preset number and the second preset number is within a preset range.

[0090] Each spectral point in the spectrum data includes a frequency value and a corresponding amplitude value. All spectral points are sorted according to their frequency values, i.e., the frequency distribution pattern in the spectrum, to select the first and second spectral points. For example, in one embodiment, the frequency values ​​of all spectral points, arranged in ascending order, are f1, f2, f3, ..., f... 11 ,f 12 Wherein, the frequency value corresponding to the reference spectrum point is f8, and when the first preset quantity and the second preset quantity are 3, then the first spectrum point is the spectrum point corresponding to f5, f6, and f7, and the second spectrum point is f9, f 10 ,f 11 The corresponding spectral points.

[0091] The first and second preset quantities are used to determine the number of first and second spectrum points, respectively. It should be noted that the values ​​of the first and second preset quantities can be equal or different, but if they are unequal, the difference cannot be too large; otherwise, the drag point cannot be identified based on the first and second spectrum points. It should be noted that an appropriate identification method is selected based on whether the two quantities (the number of first and second spectrum points) are the same. For example, when the two quantities are the same, the drag point can be identified based on the similarity between each first spectrum point and its corresponding second spectrum point. When the two quantities are different but the difference is small, the drag point can be identified based on the overall energy value of the first and second spectrum points.

[0092] In the method provided in the above embodiments, selecting the first and second spectrum points in order of frequency value can yield more accurate results, thereby enabling more precise identification of the drag points.

[0093] In one embodiment, determining whether the peak position corresponds to a drag point based on the first and second spectral points includes:

[0094] The energy values ​​of each first spectral point are integrated to obtain the first energy intensity;

[0095] The energy values ​​of each second spectral point are integrated to obtain the second energy intensity;

[0096] If the overall similarity between the first energy intensity and the second energy intensity reaches a first preset level, the peak position is determined to correspond to the moving target object; otherwise, the peak position is determined to correspond to the drag point.

[0097] The overall similarity refers to the similarity between the values ​​of the first energy intensity and the second energy intensity. It can be determined by the ratio of the two values ​​or by their difference; this application does not specifically limit this method. The first preset degree is used to determine the relationship between the drag point and the overall similarity. It is understood that different methods of determining the overall similarity will result in different first preset degrees. For example, when the overall similarity is the absolute value of the ratio of the first energy intensity to the second energy intensity, the first preset degree can be an overall similarity not exceeding 1.2; when the overall similarity is the absolute value of the difference between the first energy intensity and the second energy intensity, the first preset degree can be an overall similarity not exceeding 5.

[0098] See Figure 3In this embodiment, the amplitude value at the peak position is X(k), where k is a reference spectral point. Both the first and second selection ranges select m spectral points. Therefore, the first spectral points are X(k-1), X(k-2), ..., X(-m); and the second spectral points are Xk+1, Xk+2, ..., X(+m). The first energy intensity to the left of the peak is: The second energy intensity to the right of the peak is: At this point, the overall similarity can be defined as:

[0099] In the method provided in the above embodiments, the symmetry of the amplitude values ​​on both sides of the peak position is judged directly by the energy corresponding to the first and second spectral points, thereby obtaining the identification result of the drag point. Since energy can most directly reflect the spectral characteristics, the method provided in this embodiment can improve the accuracy of the drag point identification result.

[0100] In one embodiment, see Figure 9 Based on the first and second spectral points, determine whether the peak position corresponds to the drag point, including:

[0101] Step 902: Within the first selection range and the second selection range, determine the first and second spectrum points whose frequency values ​​are compatible with each other, and form a corresponding spectrum point group.

[0102] Step 904: Determine the individual similarity of amplitude values ​​between the first and second spectrum points in each spectrum point group, integrate the individual similarities corresponding to each spectrum point group, and obtain the integration result;

[0103] Step 906: If the integration result reaches the second preset level, determine that the peak position corresponds to the moving target object; otherwise, determine that the peak position corresponds to the drag point.

[0104] In this method, a spectral point group includes a first spectral point and a second spectral point. Therefore, the number of first spectral points and second spectral points must be equal. Frequency value matching means that the relationship between the frequency value of the first spectral point and the frequency value of the reference spectral point, and the relationship between the frequency value of the second spectral point and the frequency value of the reference spectral point, are equal. That is, the frequency values ​​corresponding to two spectral points in the spectral point group are symmetrical about the frequency value of the reference spectral point in the spectrum. For example, if the frequency value of the first spectral point differs from the frequency value of the reference spectral point by 5, then the frequency value of the second spectral point forming the spectral point group with it also differs from the frequency value of the reference spectral point by 5.

[0105] See Figure 3In this embodiment, the amplitude value at the peak position is X(k), where k is a reference spectral point. Both the first and second selection ranges select m spectral points. Therefore, the first spectral points are X(k-1), X(k-2), ..., X(-m); the second spectral points are Xk+1, Xk+2, ..., X(+m). Then Xk-1 and Xk+1 form one spectral point group, Xk-2 and Xk+2 form another, ..., Xk-m and Xk+ form yet another. Taking X(k-1) and X(k+1) as an example, the individual similarity of their amplitude values ​​is:

[0106] The integration result is based on the individual similarity of all first-spectrum points and all second-spectrum points, determined by the individual similarity of all spectral point groups. It should be noted that the method for determining the individual similarity of each spectral point group should be the same. For example, the individual similarity between X(k-1) and X(k+1) is: Therefore, the individual similarity of any group of spectral points should be the ratio of the amplitude value of the second spectral point to the amplitude value of the first spectral point. Thus, the integration result...

[0107] It is understandable that when the first and second spectral points have high "symmetry", the individual similarity of each group of spectral points will be close to 1. Therefore, the setting of the second preset degree can be set according to the number m of the first or second spectral points. For example, the second preset degree is that the integration result is in [m-2, m+2].

[0108] In the method provided in the above embodiments, the similarity of the amplitude values ​​of the spectrum points on the left and right sides of the reference spectrum point is used to determine whether the peak position corresponds to the drag point. The amplitude value can be obtained directly without the need for calculating the energy value and other processes. Moreover, the process of directly calculating the ratio and then adding them has a small amount of computation, which simplifies the identification process and improves the efficiency of drag point identification.

[0109] In one embodiment, the total number of first and second spectrum points is the same; within a first and second selection range, first and second spectrum points with mutually compatible frequency values ​​are determined to form a corresponding spectrum point group, including:

[0110] All first spectrum points are arranged in descending order of frequency value, and all second spectrum points are arranged in ascending order of frequency value.

[0111] Select the first and second spectrum points with the same sequence number to form the corresponding spectrum point group.

[0112] For example, in one embodiment, the frequency values ​​of all spectral points are arranged in ascending order as f1, f2, f3, ..., f 11 ,f 12Wherein, the frequency value corresponding to the reference spectrum point is f8, and when the first preset quantity and the second preset quantity are 3, then the first spectrum point is the spectrum point corresponding to f5, f6, and f7, with the frequency values ​​arranged in descending order of number 3, 2, and 1 respectively, and the second spectrum point is f9, f... 10 ,f 11 The corresponding spectral points, with their frequency values ​​arranged from smallest to largest, are numbered 1, 2, and 3 respectively. Therefore, f7 and f9 form a spectral point group, and f6 and f 10 Forming a set of spectral points, f5 and f 11 This forms a set of spectral points.

[0113] In one embodiment, determining whether the peak position corresponds to a drag point based on the first and second spectral points includes:

[0114] The energy values ​​of each first spectral point are integrated to obtain the first energy intensity, and the energy values ​​of each second spectral point are integrated to obtain the second energy intensity. The overall similarity between the first energy intensity and the second energy intensity is determined.

[0115] Within the first and second selection ranges, first and second spectrum points with mutually compatible frequency values ​​are determined to form corresponding spectrum point groups. The individual similarity of amplitude values ​​between the first and second spectrum points in each spectrum point group is determined. The individual similarities corresponding to each spectrum point group are integrated to obtain the integration result.

[0116] If the overall similarity reaches the first preset level and the integration result reaches the second preset level, the peak position is determined to correspond to the moving target object; otherwise, the peak position is determined to correspond to the drag point.

[0117] It is understandable that overall similarity is one condition for determining drag points, and the integrated result of individual similarity is another condition for determining drag points. In one embodiment, the two conditions can be combined to improve the accuracy of drag point identification. When both conditions are met simultaneously, it indicates that the spectrum corresponding to the spectrum data has high symmetry, and the peak position is determined to correspond to the moving target object; otherwise, the peak position is determined to correspond to the drag point.

[0118] In the method provided in the above embodiments, drag points are identified by combining two judgment conditions, thereby improving the accuracy of drag point identification.

[0119] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0120] Based on the same inventive concept, this application also provides a drag-point identification device for implementing the drag-point identification method described above. The solution provided by this device is similar to the implementation described in the above method; therefore, the specific limitations in one or more drag-point identification device embodiments provided below can be found in the limitations of the drag-point identification method described above, and will not be repeated here.

[0121] In one embodiment, such as Figure 10 As shown, a drag point identification device is provided, including: a signal acquisition module 1001, a spectrum analysis module 1002, a frequency point selection module 1003, and a drag point determination module 1004, wherein:

[0122] The signal acquisition module 1001 is used to acquire the intermediate frequency signal obtained by mixing the transmitted radar signal and the corresponding echo signal.

[0123] The spectrum analysis module 1002 is used to perform spectrum analysis on intermediate frequency signals and obtain corresponding spectrum data.

[0124] The frequency selection module 1003 is used to select a first frequency point in the spectrum data whose frequency value is less than that of the reference frequency point according to a first selection range, and select a second frequency point in the spectrum data whose frequency value is greater than that of the reference frequency point according to a second selection range, wherein the first selection range and the second selection range have a preset degree of consistency in frequency distribution.

[0125] The drag point determination module 1004 is used to determine whether the peak position corresponds to a drag point based on the first spectrum point and the second spectrum point.

[0126] In one embodiment, the signal acquisition module 1001 is further configured to:

[0127] The transmitted signal is divided into a first transmitted signal and a second transmitted signal, with the first transmitted signal having higher signal energy than the second transmitted signal.

[0128] The echo signal of the first transmitted signal is acquired, and the echo signal is mixed with the second transmitted signal to obtain the intermediate frequency signal.

[0129] In one embodiment, the frequency selection module 1003 is further configured to:

[0130] Starting from the reference spectrum point, select a first preset number of first spectrum points in the spectrum data in descending order of frequency value;

[0131] Starting from the reference spectrum point, a second preset number of second spectrum points are selected sequentially on the spectrum data in order of increasing frequency value. The difference between the first preset number and the second preset number is within a preset range.

[0132] In one embodiment, the drag point determination module 1004 is further configured to:

[0133] The energy values ​​of each first spectral point are integrated to obtain the first energy intensity;

[0134] The energy values ​​of each second spectral point are integrated to obtain the second energy intensity;

[0135] If the overall similarity between the first energy intensity and the second energy intensity reaches a first preset level, the peak position is determined to correspond to the moving target object; otherwise, the peak position is determined to correspond to the drag point.

[0136] In one embodiment, the drag point determination module 1004 is further configured to:

[0137] Within the first and second selection ranges, determine the first and second spectral points whose frequency values ​​are compatible with each other to form a corresponding spectral point group.

[0138] Determine the individual similarity of amplitude values ​​between the first and second spectral points in each spectral point group, integrate the individual similarities corresponding to each spectral point group, and obtain the integration result.

[0139] If the integration result reaches the second preset level, the peak position is determined to correspond to the moving target object; otherwise, the peak position is determined to correspond to the drag point.

[0140] In one embodiment, the drag point determination module 1004 is further configured to:

[0141] All first spectrum points are arranged in descending order of frequency value, and all second spectrum points are arranged in ascending order of frequency value.

[0142] Select the first and second spectrum points with the same sequence number to form the corresponding spectrum point group.

[0143] In one embodiment, the drag point determination module 1004 is further configured to:

[0144] The energy values ​​of each first spectral point are integrated to obtain the first energy intensity, and the energy values ​​of each second spectral point are integrated to obtain the second energy intensity. The overall similarity between the first energy intensity and the second energy intensity is determined.

[0145] Within the first and second selection ranges, first and second spectrum points with mutually compatible frequency values ​​are determined to form corresponding spectrum point groups. The individual similarity of amplitude values ​​between the first and second spectrum points in each spectrum point group is determined. The individual similarities corresponding to each spectrum point group are integrated to obtain the integration result.

[0146] If the overall similarity reaches the first preset level and the integration result reaches the second preset level, the peak position is determined to correspond to the moving target object; otherwise, the peak position is determined to correspond to the drag point.

[0147] Each module in the aforementioned drag-and-drop identification device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0148] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 11 As shown, the computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database stores spectrum data. The network interface communicates with external terminals via a network connection. When executed by the processor, the computer program implements a drag-and-drop identification method.

[0149] Those skilled in the art will understand that Figure 11 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.

[0150] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0151] The intermediate frequency signal is obtained by mixing the transmitted radar signal and the corresponding echo signal.

[0152] Perform spectral analysis on the intermediate frequency signal to obtain the corresponding spectral data;

[0153] For a reference spectral point at the peak position in the spectral data, according to the first selection range, a first spectral point with a frequency value less than that of the reference spectral point is selected in the spectral data, and according to the second selection range, a second spectral point with a frequency value greater than that of the reference spectral point is selected in the spectral data. The first selection range and the second selection range have a preset degree of consistency in frequency distribution.

[0154] Based on the first and second spectral points, determine whether the peak position corresponds to the drag point.

[0155] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0156] The transmitted signal is divided into a first transmitted signal and a second transmitted signal, with the first transmitted signal having higher signal energy than the second transmitted signal.

[0157] The echo signal of the first transmitted signal is acquired, and the echo signal is mixed with the second transmitted signal to obtain the intermediate frequency signal.

[0158] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0159] Starting from the reference spectrum point, select a first preset number of first spectrum points in the spectrum data in descending order of frequency value;

[0160] Starting from the reference spectrum point, a second preset number of second spectrum points are selected sequentially on the spectrum data in order of increasing frequency value. The difference between the first preset number and the second preset number is within a preset range.

[0161] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0162] The energy values ​​of each first spectral point are integrated to obtain the first energy intensity;

[0163] The energy values ​​of each second spectral point are integrated to obtain the second energy intensity;

[0164] If the overall similarity between the first energy intensity and the second energy intensity reaches a first preset level, the peak position is determined to correspond to the moving target object; otherwise, the peak position is determined to correspond to the drag point.

[0165] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0166] Within the first and second selection ranges, determine the first and second spectral points whose frequency values ​​are compatible with each other to form a corresponding spectral point group.

[0167] Determine the individual similarity of amplitude values ​​between the first and second spectral points in each spectral point group, integrate the individual similarities corresponding to each spectral point group, and obtain the integration result.

[0168] If the integration result reaches the second preset level, the peak position is determined to correspond to the moving target object; otherwise, the peak position is determined to correspond to the drag point.

[0169] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0170] All first spectrum points are arranged in descending order of frequency value, and all second spectrum points are arranged in ascending order of frequency value.

[0171] Select the first and second spectrum points with the same sequence number to form the corresponding spectrum point group.

[0172] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0173] The energy values ​​of each first spectral point are integrated to obtain the first energy intensity, and the energy values ​​of each second spectral point are integrated to obtain the second energy intensity. The overall similarity between the first energy intensity and the second energy intensity is determined.

[0174] Within the first and second selection ranges, first and second spectrum points with mutually compatible frequency values ​​are determined to form corresponding spectrum point groups. The individual similarity of amplitude values ​​between the first and second spectrum points in each spectrum point group is determined. The individual similarities corresponding to each spectrum point group are integrated to obtain the integration result.

[0175] If the overall similarity reaches the first preset level and the integration result reaches the second preset level, the peak position is determined to correspond to the moving target object; otherwise, the peak position is determined to correspond to the drag point.

[0176] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0177] The intermediate frequency signal is obtained by mixing the transmitted radar signal and the corresponding echo signal.

[0178] Perform spectral analysis on the intermediate frequency signal to obtain the corresponding spectral data;

[0179] For a reference spectral point at the peak position in the spectral data, according to the first selection range, a first spectral point with a frequency value less than that of the reference spectral point is selected in the spectral data, and according to the second selection range, a second spectral point with a frequency value greater than that of the reference spectral point is selected in the spectral data. The first selection range and the second selection range have a preset degree of consistency in frequency distribution.

[0180] Based on the first and second spectral points, determine whether the peak position corresponds to the drag point.

[0181] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0182] The transmitted signal is divided into a first transmitted signal and a second transmitted signal, with the first transmitted signal having higher signal energy than the second transmitted signal.

[0183] The echo signal of the first transmitted signal is acquired, and the echo signal is mixed with the second transmitted signal to obtain the intermediate frequency signal.

[0184] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0185] Starting from the reference spectrum point, select a first preset number of first spectrum points in the spectrum data in descending order of frequency value;

[0186] Starting from the reference spectrum point, a second preset number of second spectrum points are selected sequentially on the spectrum data in order of increasing frequency value. The difference between the first preset number and the second preset number is within a preset range.

[0187] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0188] The energy values ​​of each first spectral point are integrated to obtain the first energy intensity;

[0189] The energy values ​​of each second spectral point are integrated to obtain the second energy intensity;

[0190] If the overall similarity between the first energy intensity and the second energy intensity reaches a first preset level, the peak position is determined to correspond to the moving target object; otherwise, the peak position is determined to correspond to the drag point.

[0191] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0192] Within the first and second selection ranges, determine the first and second spectral points whose frequency values ​​are compatible with each other to form a corresponding spectral point group.

[0193] Determine the individual similarity of amplitude values ​​between the first and second spectral points in each spectral point group, integrate the individual similarities corresponding to each spectral point group, and obtain the integration result.

[0194] If the integration result reaches the second preset level, the peak position is determined to correspond to the moving target object; otherwise, the peak position is determined to correspond to the drag point.

[0195] In one embodiment, the total number of the first spectrum points and the second spectrum points is the same; when the computer program is executed by the processor, it also performs the following steps:

[0196] All first spectrum points are arranged in descending order of frequency value, and all second spectrum points are arranged in ascending order of frequency value.

[0197] Select the first and second spectrum points with the same sequence number to form the corresponding spectrum point group.

[0198] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0199] The energy values ​​of each first spectral point are integrated to obtain the first energy intensity, and the energy values ​​of each second spectral point are integrated to obtain the second energy intensity. The overall similarity between the first energy intensity and the second energy intensity is determined.

[0200] Within the first and second selection ranges, first and second spectrum points with mutually compatible frequency values ​​are determined to form corresponding spectrum point groups. The individual similarity of amplitude values ​​between the first and second spectrum points in each spectrum point group is determined. The individual similarities corresponding to each spectrum point group are integrated to obtain the integration result.

[0201] If the overall similarity reaches the first preset level and the integration result reaches the second preset level, the peak position is determined to correspond to the moving target object; otherwise, the peak position is determined to correspond to the drag point.

[0202] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

[0203] The intermediate frequency signal is obtained by mixing the transmitted radar signal and the corresponding echo signal.

[0204] Perform spectral analysis on the intermediate frequency signal to obtain the corresponding spectral data;

[0205] For a reference spectral point at the peak position in the spectral data, according to the first selection range, a first spectral point with a frequency value less than that of the reference spectral point is selected in the spectral data, and according to the second selection range, a second spectral point with a frequency value greater than that of the reference spectral point is selected in the spectral data. The first selection range and the second selection range have a preset degree of consistency in frequency distribution.

[0206] Based on the first and second spectral points, determine whether the peak position corresponds to the drag point.

[0207] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0208] The transmitted signal is divided into a first transmitted signal and a second transmitted signal, with the first transmitted signal having higher signal energy than the second transmitted signal.

[0209] The echo signal of the first transmitted signal is acquired, and the echo signal is mixed with the second transmitted signal to obtain the intermediate frequency signal.

[0210] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0211] Starting from the reference spectrum point, select a first preset number of first spectrum points in the spectrum data in descending order of frequency value;

[0212] Starting from the reference spectrum point, a second preset number of second spectrum points are selected sequentially on the spectrum data in order of increasing frequency value. The difference between the first preset number and the second preset number is within a preset range.

[0213] In one embodiment, when the computer program is executed by the processor, it further performs the following steps:

[0214] The energy values ​​of each first spectral point are integrated to obtain the first energy intensity;

[0215] The energy values ​​of each second spectral point are integrated to obtain the second energy intensity;

[0216] If the overall similarity between the first energy intensity and the second energy intensity reaches a first preset level, the peak position is determined to correspond to the moving target object; otherwise, the peak position is determined to correspond to the drag point.

[0217] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0218] Within the first and second selection ranges, determine the first and second spectral points whose frequency values ​​are compatible with each other to form a corresponding spectral point group.

[0219] Determine the individual similarity of amplitude values ​​between the first and second spectral points in each spectral point group, integrate the individual similarities corresponding to each spectral point group, and obtain the integration result.

[0220] If the integration result reaches the second preset level, the peak position is determined to correspond to the moving target object; otherwise, the peak position is determined to correspond to the drag point.

[0221] In one embodiment, the total number of the first spectrum points and the second spectrum points is the same; when the computer program is executed by the processor, it also performs the following steps:

[0222] All first spectrum points are arranged in descending order of frequency value, and all second spectrum points are arranged in ascending order of frequency value.

[0223] Select the first and second spectrum points with the same sequence number to form the corresponding spectrum point group.

[0224] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0225] The energy values ​​of each first spectral point are integrated to obtain the first energy intensity, and the energy values ​​of each second spectral point are integrated to obtain the second energy intensity. The overall similarity between the first energy intensity and the second energy intensity is determined.

[0226] Within the first and second selection ranges, first and second spectrum points with mutually compatible frequency values ​​are determined to form corresponding spectrum point groups. The individual similarity of amplitude values ​​between the first and second spectrum points in each spectrum point group is determined. The individual similarities corresponding to each spectrum point group are integrated to obtain the integration result.

[0227] If the overall similarity reaches the first preset level and the integration result reaches the second preset level, the peak position is determined to correspond to the moving target object; otherwise, the peak position is determined to correspond to the drag point.

[0228] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0229] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0230] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A drag point recognition method, characterized in that, The method includes: The intermediate frequency signal is obtained by mixing the transmitted radar signal and the corresponding echo signal. Perform spectral analysis on the intermediate frequency signal to obtain the corresponding spectral data; For a reference spectrum point at the peak position in the spectrum data, a first spectrum point with a frequency value less than that of the reference spectrum point is selected in the spectrum data according to a first selection range, and a second spectrum point with a frequency value greater than that of the reference spectrum point is selected in the spectrum data according to a second selection range. The first selection range and the second selection range have a preset degree of consistency in frequency distribution. Determining whether the peak position corresponds to a drag point based on the first spectral point and the second spectral point specifically includes: determining the similarity between the first spectral point and the second spectral point based on the energy value and / or amplitude value of the first spectral point and the second spectral point, and determining whether the peak position corresponds to a drag point based on the similarity.

2. The method according to claim 1, characterized in that, The acquisition of the intermediate frequency signal obtained by mixing the transmitted radar signal and the corresponding echo signal includes: The transmitted signal is divided into a first transmitted signal and a second transmitted signal, wherein the signal energy of the first transmitted signal is higher than that of the second transmitted signal; The echo signal of the first transmitted signal is acquired, and the echo signal is mixed with the second transmitted signal to obtain an intermediate frequency signal.

3. The method according to claim 1, characterized in that, The step of selecting a first spectrum point with a frequency value less than the reference spectrum point from the spectrum data according to a first selection range, and selecting a second spectrum point with a frequency value greater than the reference spectrum point from the spectrum data according to a second selection range, includes: Starting from the reference spectrum point, a first preset number of first spectrum points are selected sequentially on the spectrum data in descending order of frequency value; Starting from the reference spectrum point, a second preset number of second spectrum points are selected sequentially on the spectrum data in order of increasing frequency value, wherein the difference between the first preset number and the second preset number is within a preset range.

4. The method according to any one of claims 1 to 3, characterized in that, The step of determining whether the peak position corresponds to a drag point based on the first spectral point and the second spectral point includes: The energy values ​​of each first spectral point are integrated to obtain the first energy intensity; The energy values ​​of each second spectral point are integrated to obtain the second energy intensity; If the overall similarity between the first energy intensity and the second energy intensity reaches a first preset level, the peak position is determined to correspond to the moving target object; otherwise, the peak position is determined to correspond to the drag point.

5. The method according to any one of claims 1 to 3, characterized in that, The step of determining whether the peak position corresponds to a drag point based on the first spectral point and the second spectral point includes: Within the first selection range and the second selection range, a first spectral point and a second spectral point whose frequency values ​​are mutually compatible are determined to form a corresponding spectral point group. Determine the individual similarity of amplitude values ​​between the first and second spectral points in each spectral point group, integrate the individual similarities corresponding to each spectral point group, and obtain the integration result. If the integration result reaches the second preset level, the peak position is determined to correspond to the moving target object; otherwise, the peak position is determined to correspond to the drag point.

6. The method according to claim 5, characterized in that, The total number of the first spectral points and the second spectral points is the same; the step of determining first and second spectral points with mutually compatible frequency values ​​within the first and second selection ranges to form corresponding spectral point groups includes: All first spectrum points are arranged in descending order of frequency value, and all second spectrum points are arranged in ascending order of frequency value. Select the first and second spectrum points with the same sequence number to form the corresponding spectrum point group.

7. The method according to any one of claims 1 to 3, characterized in that, The step of determining whether the peak position corresponds to a drag point based on the first spectral point and the second spectral point includes: The energy values ​​of each first spectral point are integrated to obtain a first energy intensity, and the energy values ​​of each second spectral point are integrated to obtain a second energy intensity. The overall similarity between the first energy intensity and the second energy intensity is determined. Within the first selection range and the second selection range, a first spectrum point and a second spectrum point whose frequency values ​​are compatible with each other are determined to form a corresponding spectrum point group. The individual similarity of the amplitude values ​​between the first spectrum point and the second spectrum point in each spectrum point group is determined. The individual similarities corresponding to each spectrum point group are integrated to obtain the integration result. If the overall similarity reaches a first preset level and the integration result reaches a second preset level, the peak position is determined to correspond to the moving target object; otherwise, the peak position is determined to correspond to the drag point.

8. A drag-and-drop identification device, characterized in that, The device includes: The signal acquisition module is used to acquire the intermediate frequency signal obtained by mixing the transmitted radar signal and the corresponding echo signal. The spectrum analysis module is used to perform spectrum analysis on the intermediate frequency signal to obtain the corresponding spectrum data; The frequency point selection module is used to select a first frequency point in the spectrum data whose frequency value is less than that of the reference spectrum point according to a first selection range, and to select a second frequency point in the spectrum data whose frequency value is greater than that of the reference spectrum point according to a second selection range, wherein the first selection range and the second selection range have a preset degree of consistency in frequency distribution. The drag point determination module is used to determine whether the peak position corresponds to a drag point based on the first spectrum point and the second spectrum point. Specifically, it includes: determining the similarity between the first spectrum point and the second spectrum point based on the energy value and / or amplitude value of the first spectrum point and the second spectrum point, and determining whether the peak position corresponds to a drag point based on the similarity.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, 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 7.

11. A computer program product, comprising 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 7.

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