A method and system for measuring radar pulse repetition period

Abstract

The present invention relates to the field of radar astronomy technology, and specifically discloses a radar pulse repetition period measurement method and system, the method comprising: using a radar astronomy data acquisition device to obtain the original radar echo data of the pulse signal emitted by the target radar, and reading the key parameters of the radar astronomy data acquisition device and the phase of the real radar echo data from the original radar echo data; determining the marked pulse counting points of multiple pulse periods according to the phase of the real radar echo data, and calculating the interval between each adjacent two pulse periods according to the key parameters and the marked pulse counting points of each pulse period; eliminating the abnormal interval time length, and determining the average value of each remaining interval time length as the pulse repetition period of the target radar. The present invention realizes the accurate measurement of the radar pulse repetition period, thereby improving the detection performance and accuracy of the radar.

Description

Technical Field

[0001] The present invention relates to the field of radar astronomy technology, and in particular to a method and system for measuring a radar pulse repetition period. Background Art

[0002] As a key sensing tool, radar plays an indispensable role in military, aviation, meteorology, geological exploration, and other fields. Its core operating principle is to detect and track targets by emitting short pulses and receiving the reflected echoes. In this process, the pulse repetition period, the time interval between two adjacent pulses, directly determines the performance and accuracy of the radar system. However, in actual use, due to factors such as equipment manufacturing and environmental factors, the pulse repetition period of a radar system may deviate, which can seriously affect the accuracy, stability, and reliability of the radar system. The accuracy of the pulse repetition period is particularly important in scenarios requiring high-precision target detection and tracking. Any slight deviation can lead to target identification errors or loss, or a decrease in tracking accuracy, thus affecting radar detection effectiveness.

[0003] Traditionally, radar systems rely on theoretical parameters provided by the equipment manufacturer or require synchronization using an external clock source. However, these methods often have time limitations and are unable to fully monitor pulse repetition period deviations in real time during radar operation.

[0004] Therefore, a more timely, accurate and reliable monitoring method is urgently needed to ensure that the performance and accuracy level of the radar system can reach the optimal level in real time. Summary of the Invention

[0005] In order to solve the above technical problems, the present invention provides a method and system for measuring the radar pulse repetition period.

[0006] In a first aspect, the present invention provides a method for measuring a radar pulse repetition period, the technical solution of the method is as follows:

[0007] Using a radar astronomy data acquisition device, obtaining raw radar echo data of a pulse signal transmitted by a target radar, and reading from the raw radar echo data the phase between key parameters of the radar astronomy data acquisition device and the actual radar echo data;

[0008] Determining the marked pulse counting points of a plurality of pulse periods according to the phase of the real radar echo data, and calculating the interval between each two adjacent pulse periods according to the key parameters and the marked pulse counting points of each pulse period;

[0009] Abnormal interval durations are eliminated, and the average value of the remaining interval durations is determined as the pulse repetition period of the target radar.

[0010] The beneficial effects of the radar pulse repetition period measurement method of the present invention are as follows:

[0011] The method of the present invention realizes accurate measurement of the radar pulse repetition period, thereby being able to improve the detection performance and accuracy of the radar.

[0012] Based on the above solution, the radar pulse repetition period measurement method of the present invention can be further improved as follows.

[0013] In an optional manner, the key parameter includes: a data type; and the step of reading the key parameter of the radar astronomy data acquisition device and the phase of the actual radar echo data from the original radar echo data includes:

[0014] Reading the data type from the common header segment of the original radar echo data, and reading the two-channel interleaved data from the echo field of the original radar echo data;

[0015] The two-channel interleaved data is processed according to the data type to obtain the real radar echo data, and the phase of the real radar echo data is acquired.

[0016] In an optional manner, the step of determining the marking pulse counting points of a plurality of pulse periods according to the phase of the real radar echo data includes:

[0017] According to the phase of the real radar echo data, the left boundary zero point of the phase continuous zero point between any noise floor and the effective echo signal is determined as the marker pulse counting point of one pulse cycle, until the marker pulse counting points of multiple pulse cycles are determined.

[0018] In an optional manner, the key parameter further includes: a sampling frequency; and the step of calculating the interval between each two adjacent pulse periods based on the key parameter and the marked pulse counting point of each pulse period includes:

[0019] According to the sampling frequency, the sampling point interval duration is determined, and the interval duration between any two adjacent pulse periods is obtained based on the product of the number of sampling points between the mark pulse counting points of any two adjacent pulse periods and the sampling point interval duration, until the interval duration between every two adjacent pulse periods is obtained.

[0020] In an optional manner, the step of eliminating abnormal interval durations includes:

[0021] Calculate the average value of the interval duration between each two adjacent pulse periods, and calculate the deviation value between each interval duration and the average value. When the number of interval durations with deviation values ​​greater than a first threshold is greater than a second threshold, eliminate the interval durations with deviation values ​​greater than the first threshold.

[0022] In an optional manner, the first threshold is 50%, and the second threshold is 5%.

[0023] In an optional manner, the radar astronomy data acquisition device includes: an intermediate frequency interface, an ADC board, an FPGA board and an ARM board; the intermediate frequency interface is used to receive the original radar echo data and transmit and store it through the ADC board, the FPGA board and the ARM board.

[0024] In an optional manner, the method further includes:

[0025] Based on the pulse repetition period of the target radar, the system performance and signal processing efficiency of the target radar are evaluated.

[0026] In a second aspect, the present invention provides a radar pulse repetition period measurement system, the technical solution of which is as follows:

[0027] Includes: reading module, calculation module and measurement module;

[0028] The reading module is used to: use the radar astronomy data acquisition device to obtain the original radar echo data of the pulse signal transmitted by the target radar, and read the key parameters of the radar astronomy data acquisition device and the phase of the real radar echo data from the original radar echo data;

[0029] The calculation module is used to: determine the marked pulse counting points of multiple pulse cycles according to the phase of the real radar echo data, and calculate the interval length between each two adjacent pulse cycles according to the key parameters and the marked pulse counting points of each pulse cycle;

[0030] The measurement module is used to eliminate abnormal interval durations and determine the average value of each remaining interval duration as the pulse repetition period of the target radar.

[0031] The beneficial effects of the radar pulse repetition period measurement system of the present invention are as follows:

[0032] The system of the present invention realizes accurate measurement of the radar pulse repetition period, thereby being able to improve the detection performance and accuracy of the radar.

[0033] Based on the above solution, the radar pulse repetition period measurement system of the present invention can be further improved as follows.

[0034] In an optional manner, the key parameter includes: a data type; and the step of reading the key parameter of the radar astronomy data acquisition device and the phase of the actual radar echo data from the original radar echo data in the reading module includes:

[0035] Reading the data type from the common header segment of the original radar echo data, and reading the two-channel interleaved data from the echo field of the original radar echo data;

[0036] The two-channel interleaved data is processed according to the data type to obtain the real radar echo data, and the phase of the real radar echo data is acquired.

[0037] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are specifically listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present invention. In addition, the same reference symbols are used to represent the same components throughout the drawings. In the drawings:

[0039] Figure 1 1 is a flow chart of an embodiment of a method for measuring a radar pulse repetition period of the present invention;

[0040] Figure 2 is a schematic diagram of the phase portion of the pulse cycle;

[0041] Figure 3 A schematic diagram of the points for marking pulse counting points;

[0042] Figure 4 is the initial pulse repetition period scatter plot;

[0043] Figure 5 This is the pulse repetition period scatter plot after removing the anomaly;

[0044] Figure 6 This is a schematic diagram of the structure of radar astronomy data acquisition equipment;

[0045] Figure 7 This is the functional block diagram of the radar astronomy data acquisition equipment and the pulse repetition period measurement system;

[0046] Figure 8 To obtain a comparison chart of the accumulated gain before and after the repetition period of the precise radar;

[0047] Figure 9The figure is a schematic structural diagram of an embodiment of a radar pulse repetition period measurement system of the present invention. DETAILED DESCRIPTION

[0048] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0049] Figure 1 The flowchart of an embodiment of a radar pulse repetition period measurement method provided by the present invention is shown. The radar pulse repetition period measurement method can be executed by an electronic device such as a terminal device or a server. The terminal device can be any fixed or mobile terminal such as a user equipment (UE), a mobile device, a user terminal, a terminal, a cellular phone, a cordless phone, a personal digital assistant (PDA), a handheld device, a computing device, a vehicle-mounted device, a wearable device, etc. The server can be a single server or a server cluster composed of multiple servers. Any electronic device can implement the radar pulse repetition period measurement method by calling computer-readable instructions stored in a memory through a processor. As Figure 1 As shown, the following steps are included:

[0050] S1. Using a radar astronomy data acquisition device, obtain original radar echo data of a pulse signal transmitted by a target radar, and read the phase of key parameters of the radar astronomy data acquisition device and the actual radar echo data from the original radar echo data.

[0051] The target radar is any radar station. The radar astronomy data acquisition equipment is installed at the rear end of the radar station and records all pulse signals emitted by the target radar. Raw radar echo data is radar echo data within a preset time period. Key parameters of the radar astronomy data acquisition equipment include the number of channels, polarization mode, center frequency, channel bandwidth, sampling frequency, quantization bit, gain mode, trigger mode, and data type. For example, taking the target radar at the Qujing station as an example, the raw radar echo signal acquired is an uplink signal transmitted by the Qujing station radar in tracking mode, aiming at the center of the moon. The signal format is a single pulse, single frequency, unmodulated signal, and the transmission duration is approximately 15 minutes. The radar astronomy data acquisition equipment has vertical polarization, a center frequency of 29 MHz, a channel bandwidth of 20 MHz, a sampling frequency of 1120 MHz, a manual gain mode, an external trigger mode, an 8-bit quantization bit, and the first channel contains I / Q baseband data, while the second channel has no input.

[0052] S2. Determine the marked pulse counting points of multiple pulse periods according to the phase of the real radar echo data, and calculate the interval between each two adjacent pulse periods according to the key parameters and the marked pulse counting points of each pulse period.

[0053] Among them, one pulse cycle corresponds to one marking pulse counting point, and the interval length between two adjacent pulse cycles is determined according to the interval length between two adjacent marking pulse counting points.

[0054] S3. Eliminate abnormal interval durations, and determine the average value of each remaining interval duration as the pulse repetition period of the target radar.

[0055] Among them, the effective echo signal portion of the period corresponding to the abnormal interval duration is unstable and needs to be eliminated before calculating the average value of the interval duration.

[0056] In an optional manner, the step of reading the phase between the key parameters of the radar astronomy data acquisition device and the real radar echo data from the original radar echo data includes:

[0057] The data type is read from the common header segment of the original radar echo data, and the two-channel interleaved data is read from the echo field of the original radar echo data.

[0058] The two-channel interleaved data is two interleaved channel data, that is, the low byte is the first channel data, and the high byte is the second channel data.

[0059] The two-channel interleaved data is processed according to the data type to obtain the real radar echo data, and the phase of the real radar echo data is acquired.

[0060] Different data types are processed differently. For example, if the first channel contains I / Q baseband data and the second channel contains no input, the first byte of the I / Q baseband data is the real portion, and the second byte is the imaginary portion. By removing the second channel portion from each frame of data and combining the real and imaginary portions of the I / Q baseband data from the first channel, the true radar echo data can be obtained.

[0061] It should be noted that Figure 2 The process of obtaining the phase of radar echo data is a prior art and will not be described in detail here.

[0062] In an optional manner, the step of determining the marking pulse counting points of a plurality of pulse periods according to the phase of the real radar echo data includes:

[0063] According to the phase of the real radar echo data, the left boundary zero point of the phase continuous zero point between any noise floor and the effective echo signal is determined as the marker pulse counting point of one pulse cycle, until the marker pulse counting points of multiple pulse cycles are determined.

[0064] It should be noted that if Figure 3 As shown in the figure, after transmitting a pulse signal, the target radar takes some time to switch to receive mode. During this switching process, the target radar's receive channel will experience a brief period of no signal input, resulting in a period of continuous zero points. Therefore, within each pulse, the signal between the noise floor and the effective echo signal has a continuous zero point. In this embodiment, this portion of signal is used to determine the marker pulse counting point: the zero point on the left boundary of the continuous phase zero points between the noise floor and the effective echo signal is determined as the marker pulse counting point. The marker pulse counting point is the starting point for the target radar to switch to receive mode after transmitting a pulse signal.

[0065] In an optional manner, the step of calculating the interval between each two adjacent pulse periods based on the key parameter and the marked pulse counting point of each pulse period includes:

[0066] According to the sampling frequency, the sampling point interval duration is determined, and the interval duration between any two adjacent pulse periods is obtained based on the product of the number of sampling points between the mark pulse counting points of any two adjacent pulse periods and the sampling point interval duration, until the interval duration between every two adjacent pulse periods is obtained.

[0067] The sampling point interval can be calculated using the sampling frequency. The interval between two adjacent pulse periods is calculated in the same way.

[0068] In an optional manner, the step of eliminating abnormal interval durations includes:

[0069] Calculate the average value of the interval duration between each two adjacent pulse periods, and calculate the deviation value between each interval duration and the average value. When the number of interval durations with deviation values ​​greater than a first threshold is greater than a second threshold, eliminate the interval durations with deviation values ​​greater than the first threshold.

[0070] The first threshold is 50% and the second threshold is 5%. They can also be adjusted according to actual conditions and are not limited here. For example, the sampling point interval is 0.05μs. After calculating all the data, there are 135 abnormal intervals among the 74053 pulse interval time results. The calculation results are as follows: Figure 4 As shown. Figure 4It can be seen that the abnormal results are mainly concentrated between the 25000th and 32000th points, that is, between the 5th and 6.5th minutes of the echo data. When detecting the abnormal period, it was found that the effective echo signal between the 5th and 6.5th minutes of the echo data was very unstable, so these abnormal result points were removed. After removing the abnormal result points, the pulse repetition period scatter plot is as follows Figure 5 As shown in the figure, after removing the outliers, the results show some deviation only when the echo signal is unstable; otherwise, the results are very stable. Finally, after removing the outliers, the average pulse repetition period of the target radar is calculated to be 11.96908ms. Therefore, the actual pulse repetition period of the Qujing incoherent scatter radar is 11.96908ms.

[0071] In an optional manner, the radar astronomy data acquisition device includes: an intermediate frequency interface, an ADC board, an FPGA board and an ARM board; the intermediate frequency interface is used to receive the original radar echo data and transmit and store it through the ADC board, the FPGA board and the ARM board.

[0072] in, Figure 6 It shows the structure of radar astronomy data acquisition equipment. Figure 7 This figure shows the functional block diagram of the radar astronomy data acquisition equipment and the pulse repetition period measurement system. The 10 MHz reference frequency signal and 1 PPS pulse-per-second synchronization signal are provided by the station's high-precision clock system (e.g., a hydrogen clock source). The intermediate frequency interface is used to input the station's raw radar echo data. The radar astronomy data acquisition equipment converts the collected raw radar echo data to baseband and transmits it via optical fiber to a computer for storage.

[0073] In an optional manner, the method further includes:

[0074] Based on the pulse repetition period of the target radar, the system performance and signal processing efficiency of the target radar are evaluated.

[0075] Taking the Qujing station radar as an example, the pulse repetition period of the target radar is applied to the radar system data processing to evaluate its effect on the radar system performance and signal processing efficiency. Figure 8 As shown in the figure, the lower solid line shows the coherent integration gain variation over an integration time of 0-2 hours using an uncalibrated radar pulse repetition period (i.e., 12ms), while the upper solid line shows the integration gain variation using a calibrated radar pulse repetition period (i.e., 11.96908ms). Therefore, after calibrating the pulse repetition period of the Qujing incoherent scattering radar, the long-term energy integration performance of the radar signal has been significantly enhanced.

[0076] The technical solution of this embodiment realizes the accurate measurement of the radar pulse repetition period, thereby improving the detection performance and accuracy of the radar.

[0077] Figure 9 FIG. 2 shows a schematic structural diagram of an embodiment of a radar pulse repetition period measurement system 200 provided by the present invention. Figure 9 As shown, the system 200 includes: a reading module 210, a calculation module 220 and a measurement module 230;

[0078] The reading module 210 is used to: use a radar astronomy data acquisition device to obtain the original radar echo data of the pulse signal transmitted by the target radar, and read the key parameters of the radar astronomy data acquisition device and the phase of the actual radar echo data from the original radar echo data;

[0079] The calculation module 220 is used to: determine the marked pulse counting points of multiple pulse periods according to the phase of the real radar echo data, and calculate the interval between each two adjacent pulse periods according to the key parameters and the marked pulse counting points of each pulse period;

[0080] The measurement module 230 is configured to eliminate abnormal interval durations and determine an average value of the remaining interval durations as the pulse repetition period of the target radar.

[0081] In an optional manner, the key parameter includes: a data type; and the step of reading the key parameter of the radar astronomy data acquisition device and the phase of the actual radar echo data from the original radar echo data in the reading module 210 includes:

[0082] Reading the data type from the common header segment of the original radar echo data, and reading the two-channel interleaved data from the echo field of the original radar echo data;

[0083] The two-channel interleaved data is processed according to the data type to obtain the real radar echo data, and the phase of the real radar echo data is acquired.

[0084] In an optional manner, the step of determining the marked pulse counting points of a plurality of pulse periods according to the phase of the real radar echo data in the calculation module 220 includes:

[0085] According to the phase of the real radar echo data, the left boundary zero point of the phase continuous zero point between any noise floor and the effective echo signal is determined as the marker pulse counting point of one pulse cycle, until the marker pulse counting points of multiple pulse cycles are determined.

[0086] In an optional manner, the key parameter further includes a sampling frequency; and the step of calculating the interval between each two adjacent pulse cycles based on the key parameter and the marked pulse counting point of each pulse cycle in the calculation module 220 includes:

[0087] According to the sampling frequency, the sampling point interval duration is determined, and the interval duration between any two adjacent pulse periods is obtained based on the product of the number of sampling points between the mark pulse counting points of any two adjacent pulse periods and the sampling point interval duration, until the interval duration between every two adjacent pulse periods is obtained.

[0088] In an optional manner, the step of eliminating abnormal interval durations in the measurement module 230 includes:

[0089] Calculate the average value of the interval duration between each two adjacent pulse periods, and calculate the deviation value between each interval duration and the average value. When the number of interval durations with deviation values ​​greater than a first threshold is greater than a second threshold, eliminate the interval durations with deviation values ​​greater than the first threshold.

[0090] In an optional manner, the first threshold is 50%, and the second threshold is 5%.

[0091] In an optional manner, the radar astronomy data acquisition device includes: an intermediate frequency interface, an ADC board, an FPGA board and an ARM board; the intermediate frequency interface is used to receive the original radar echo data and transmit and store it through the ADC board, the FPGA board and the ARM board.

[0092] In an optional manner, the system further includes an evaluation module; the evaluation module is configured to:

[0093] Based on the pulse repetition period of the target radar, the system performance and signal processing efficiency of the target radar are evaluated.

[0094] The technical solution of this embodiment realizes the accurate measurement of the radar pulse repetition period, thereby improving the detection performance and accuracy of the radar.

[0095] The above-mentioned parameters and steps for each module to implement corresponding functions in the radar pulse repetition period measurement system 200 of this embodiment can refer to the parameters and steps in the embodiment of the radar pulse repetition period measurement method above, and will not be repeated here.

[0096] In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the present invention may be practiced without these specific details. Similarly, in order to streamline the present invention and aid in understanding one or more of the various inventive aspects, in the above description of exemplary embodiments of the present invention, various features of embodiments of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. The claims that follow the detailed description are hereby expressly incorporated into that detailed description, with each claim itself serving as a separate embodiment of the present invention.

[0097] It should be noted that the above embodiments illustrate rather than limit the invention, and that alternative embodiments may be devised by a person skilled in the art without departing from the scope of the appended claims. In the claims, any reference signs placed between brackets should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention may be implemented by means of hardware comprising several different elements and by means of appropriately programmed computers. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third etc. does not indicate any order. These words may be interpreted as names. The steps in the above embodiments should not be understood as limiting the order of execution unless otherwise specified.

Claims

1. A method for measuring a radar pulse repetition period, characterized in that: include: Using a radar astronomy data acquisition device, the original radar echo data of the pulse signal emitted by the target radar is acquired, and from the original radar echo data, the key parameters of the radar astronomy data acquisition device and the phase of the real radar echo data are read; Determine the marked pulse counting points of a plurality of pulse cycles according to the phase of the real radar echo data, and calculate the interval duration between each two adjacent pulse cycles according to the key parameters and the marked pulse counting points of each pulse cycle; Abnormal interval durations are eliminated, and the average value of each remaining interval duration is determined as the pulse repetition period of the target radar; The key parameters include: data type; the step of reading the key parameters of the radar astronomy data acquisition device and the phase of the real radar echo data from the original radar echo data includes: Reading the data type from the common header segment of the original radar echo data, and reading two-channel interleaved data from the echo field of the original radar echo data; According to the data type, the two-channel interleaved data is processed to obtain the real radar echo data, and the phase of the real radar echo data is acquired; The key parameters also include: sampling frequency; the step of calculating the interval between each two adjacent pulse cycles according to the key parameters and the marking pulse counting point of each pulse cycle includes: According to the sampling frequency, the sampling point interval duration is determined, and the interval duration between any two adjacent pulse cycles is obtained based on the product of the number of sampling points between the mark pulse counting points of any two adjacent pulse cycles and the sampling point interval duration, until the interval duration between every two adjacent pulse cycles is obtained.

2. The method for measuring the radar pulse repetition period according to claim 1, characterized in that: The step of determining the marking pulse counting points of a plurality of pulse cycles according to the phase of the real radar echo data comprises: According to the phase of the real radar echo data, the left boundary zero point of the phase continuous zero point between any noise floor and the effective echo signal is determined as the marking pulse counting point of one pulse cycle, until the marking pulse counting points of multiple pulse cycles are determined.

3. The method for measuring the radar pulse repetition period according to claim 1, characterized in that: The steps for eliminating abnormal interval durations include: The average value of the interval duration between each two adjacent pulse periods is calculated, and the deviation value between each interval duration and the average value is calculated. When the number of interval durations whose deviation value is greater than a first threshold is greater than a second threshold, the interval durations whose deviation value is greater than the first threshold are eliminated.

4. The method for measuring the radar pulse repetition period according to claim 3, characterized in that: The first threshold is 50%, and the second threshold is 5%.

5. The method for measuring the radar pulse repetition period according to any one of claims 1 to 4, characterized in that: The radar astronomy data acquisition device includes: an intermediate frequency interface, an ADC board, an FPGA board and an ARM board; the intermediate frequency interface is used to receive the original radar echo data, and transmit and store it through the ADC board, the FPGA board and the ARM board.

6. The method for measuring the radar pulse repetition period according to any one of claims 1 to 4, characterized in that: Also includes: Based on the pulse repetition period of the target radar, the system performance and signal processing efficiency of the target radar are evaluated.

7. A radar pulse repetition period measurement system, characterized in that: include: Reading module, calculation module and measurement module; The reading module is used to: use the radar astronomy data acquisition device to obtain the original radar echo data of the pulse signal emitted by the target radar, and read the key parameters of the radar astronomy data acquisition device and the phase of the real radar echo data from the original radar echo data; The calculation module is used to: determine the marked pulse counting points of multiple pulse cycles according to the phase of the real radar echo data, and calculate the interval length between each two adjacent pulse cycles according to the key parameters and the marked pulse counting points of each pulse cycle; The measuring module is used to: remove abnormal interval durations, and determine the average value of each remaining interval duration as the pulse repetition period of the target radar; The key parameters include: data type; the step of reading the key parameters of the radar astronomy data acquisition device and the phase of the real radar echo data from the original radar echo data in the reading module includes: Reading the data type from the common header segment of the original radar echo data, and reading two-channel interleaved data from the echo field of the original radar echo data; According to the data type, the two-channel interleaved data is processed to obtain the real radar echo data, and the phase of the real radar echo data is acquired; The key parameters also include: sampling frequency; the step of calculating the interval between each two adjacent pulse cycles in the calculation module according to the key parameters and the marking pulse counting points of each pulse cycle includes: According to the sampling frequency, the sampling point interval duration is determined, and the interval duration between any two adjacent pulse cycles is obtained based on the product of the number of sampling points between the mark pulse counting points of any two adjacent pulse cycles and the sampling point interval duration, until the interval duration between every two adjacent pulse cycles is obtained.

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