A radar echo signal processing method, device and equipment

Abstract

The present invention provides a method, device and equipment for processing radar echo signals, the method comprising: obtaining a first detection curve, performing clutter filtering and judgment processing on radar echo data to obtain a suspicious detection echo; determining a sampling point corresponding to a false tail wave echo according to the suspicious detection echo; correcting the first detection curve according to the sampling point to obtain a second detection curve; and obtaining a target radar image containing false tail wave echo information according to the second detection curve. The scheme of the present invention can realize the effective identification of false tail wave echoes during the ship's travel.

Description

Technical Field

[0001] The present invention relates to the technical field of radar data processing, and in particular to a method, device and equipment for processing radar echo signals. Background Art

[0002] False echoes caused by wake waves during ship movement are a common interference phenomenon in radar systems, usually referred to as "wake wave echoes" or "wake current echoes". This phenomenon is caused by the fact that when a ship moves on the water, the stern of the ship stirs the water surface, forming relatively obvious waves. When the radar signal encounters these waves, it is reflected back, resulting in false echoes on the radar screen. These false echoes may cause radar operators to misunderstand the location of the target or generate false targets. In order to reduce this effect, radar systems usually adjust radar settings to suppress or filter out false echoes caused by wake waves. The overall adjustment of the sea clutter suppression parameter sea, the gain parameter gain, and the rain clutter suppression parameter rain of the interface can be used to control the rise of the detection curve, thereby reducing the impact of wake wave interference.

[0003] However, this method of adjusting parameters to raise the detection curve will bring many problems. For example, the overall increase in the detection curve may cause the loss of small targets. Secondly, in automatic mode, it is impossible to manually adjust parameters to solve the problem of false echoes caused by tail waves. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a method, device and equipment for processing radar echo signals, so as to realize effective identification of false echoes of wake waves during the ship's travel.

[0005] In order to solve the above technical problems, the technical solution of the present invention is as follows:

[0006] A method for processing a radar echo signal, comprising:

[0007] Obtain a first detection curve, perform clutter filtering and judgment processing on radar echo data, and obtain a suspicious detection echo;

[0008] According to the suspicious detection echo, determining a sampling point corresponding to a false tail wave echo;

[0009] According to the sampling points, the first detection curve is corrected to obtain a second detection curve;

[0010] According to the second detection curve, a target radar image containing tail wave false echo information is obtained.

[0011] Optionally, obtaining a first detection curve, performing clutter filtering and judgment processing on radar echo data, and obtaining a suspicious detection echo, includes:

[0012] Compare the radar echo data and the first detection curve sampling point by sampling point, take the first point where the radar signal strength value is greater than the first detection curve value as the detection echo start sampling point, and take the first point where the radar signal strength value is less than the first detection curve value minus the first threshold value as the detection echo end sampling point;

[0013] A detection echo whose point number difference between the detection echo start sampling point and the detection echo end sampling point is greater than a second threshold is determined as a suspicious detection echo.

[0014] Optionally, determining a sampling point corresponding to a false tail wave echo according to the suspicious detection echo includes:

[0015] According to the average value and the maximum value of the radar signal strength of the suspicious detection echo, the sampling point corresponding to the tail wave false echo is determined.

[0016] Optionally, determining the sampling point corresponding to the tail wave false echo according to the average value and the maximum value of the radar signal strength of the suspicious detection echo includes:

[0017] According to the average and maximum value of the radar signal strength of the suspicious detection echo, the sampling points between the sampling point corresponding to the maximum value of the radar signal strength in the suspicious detection echo and the end sampling point of the suspicious detection echo are judged point by point, and the sampling points where there is no large echo mark in the suspicious detection echo and the radar signal strength value of the sampling point is less than the average value of the radar signal strength are determined as the sampling points corresponding to the false tail wave echo.

[0018] Optionally, the large echo marker is determined by the following process:

[0019] Acquire a current radar echo image, perform connected domain detection on the radar echo image, and obtain at least one connected domain;

[0020] Obtaining the azimuth width of the connected domain according to the starting azimuth and the ending azimuth of the connected domain;

[0021] Comparing the azimuth width with a third threshold to obtain a large echo block;

[0022] A large echo mark is obtained according to the distance unit where the large echo block is located.

[0023] Optionally, the first detection curve is corrected according to the sampling point to obtain a second detection curve, including:

[0024] Performing a first amplitude adjustment on a first detection curve value of a sampling point corresponding to a tail wave false echo on the first detection curve to obtain a second detection curve value;

[0025] A second detection curve is obtained according to the second detection curve value; the first amplitude is equal to the radar signal strength value of the sampling point corresponding to the tail wave false echo plus a fourth threshold, and the fourth threshold is greater than 0.

[0026] Optionally, obtaining a target radar image containing tail wave false echo information according to the second detection curve includes:

[0027] The radar echo data is compared with the first detection curve value of the first detection curve and the second detection curve value of the second detection curve, and the sampling points below the first detection curve value, the sampling points above the first detection curve value but below the second detection curve value, and the sampling points above the second detection curve value are marked in the radar image to obtain a target radar image.

[0028] The present invention also provides a radar echo signal processing device, comprising:

[0029] A first processing module is used to obtain a first detection curve, perform clutter filtering and judgment processing on radar echo data, and obtain a suspicious detection echo;

[0030] The second processing module is used to determine the sampling point corresponding to the false tail wave echo according to the suspicious detection echo; according to the sampling point, correct the first detection curve to obtain the second detection curve; according to the second detection curve, obtain the target radar image containing the false tail wave echo information.

[0031] The present invention also provides a computing device, comprising: a processor and a memory storing a computer program, wherein when the computer program is run by the processor, the method as described above is executed.

[0032] The present invention also provides a computer-readable storage medium storing instructions, which, when executed on a computer, causes the computer to execute the method as described above.

[0033] The above solution of the present invention includes at least the following beneficial effects:

[0034] The above scheme of the present invention obtains a first detection curve, performs clutter filtering and judgment processing on radar echo data, and obtains a suspicious detection echo; determines the sampling point corresponding to the false echo of the wake wave according to the suspicious detection echo; corrects the first detection curve according to the sampling point to obtain a second detection curve; and obtains a target radar image containing the false echo of the wake wave according to the second detection curve. It can realize the effective identification of the false echo of the wake wave during the ship's travel. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is a schematic flow chart of a radar echo signal processing method according to an embodiment of the present invention;

[0036] Figure 2 is a first detection curve and a radar echo data diagram of the radar echo signal processing method according to an embodiment of the present invention;

[0037] Figure 3 is a second detection curve and a radar echo data diagram of the radar echo signal processing method according to an embodiment of the present invention;

[0038] Figure 4 It is a structural diagram of a radar echo signal processing device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0039] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present invention and to enable the scope of the present invention to be fully communicated to those skilled in the art.

[0040] like Figure 1 As shown, an embodiment of the present invention provides a method for processing a radar echo signal, comprising:

[0041] Step 11, obtaining a first detection curve, performing clutter filtering and judgment processing on radar echo data, and obtaining a suspicious detection echo;

[0042] Step 12, determining a sampling point corresponding to a false tail wave echo according to the suspicious detection echo;

[0043] Step 13, correcting the first detection curve according to the sampling point to obtain a second detection curve;

[0044] Step 14: obtaining a target radar image containing tail wave false echo information according to the second detection curve.

[0045] In this embodiment, in view of the problem that the overall lifting of the detection curve in the prior art removes the false echo of the tail wave while also removing the small target, a method is proposed to obtain a second detection curve by post-processing the first detection curve, thereby identifying the false echo of the tail wave through the second detection curve. The processing performs conditional judgment on the radar echo detected by the first detection curve, and then locally adaptively modifies the first detection curve to obtain the second detection curve. The second detection curve can perform special processing on the false echo of the tail wave while detecting the target echo.

[0046] Specifically, the method for obtaining the first detection curve is as follows:

[0047] First, you need to run the radar system in manual mode or automatic mode and collect radar echo data. According to the radar echo image of the current scene, manually or automatically adjust the sea clutter (sea), gain (gain) and rain clutter (rain) parameters. Use the sea value to generate the STC curve, use the rain value to generate the FTC curve, and use the gain value to generate a fixed value detection curve. Take the maximum value of these three curves at each sampling point to get the first detection curve. The purpose of the first detection curve is to filter out useless echo images such as sea clutter echoes, rain clutter echoes, and noise echoes in the radar image, and retain useful echo images such as target echoes and land echoes. Figure 2 As shown, the dashed line curve is the radar echo data corresponding to the azimuth of 315 degrees, and the solid line curve is the first detection curve corresponding to the azimuth of 315 degrees.

[0048] In an optional embodiment of the present invention, step 11, obtaining a first detection curve, performing clutter filtering and judgment processing on radar echo data, and obtaining a suspicious detection echo, includes:

[0049] Step 111, comparing the radar echo data with the first detection curve sampling point by sampling point, taking the first point where the radar signal strength value is greater than the first detection curve value as the detection echo start sampling point, and taking the first point where the radar signal strength value is less than the first detection curve value minus the first threshold as the detection echo end sampling point;

[0050] Step 112: Determine a detection echo whose point difference between the detection echo start sampling point and the detection echo end sampling point is greater than a second threshold as a suspicious detection echo.

[0051] In this embodiment, in order to identify the sampling points corresponding to the false tail wave echoes, the radar echo data is first filtered out through the first detection curve to obtain multiple radar echoes. In addition, in order not to affect the small target echo, the radar echo width is counted, and the echo with an echo width greater than a certain threshold is determined as a suspicious detection echo. Specifically, the method for determining the suspicious detection echo is as follows:

[0052] First, the radar echo signal strength and the first detection curve value are compared point by point, and the first point where the radar echo signal strength is greater than the first detection curve value is found as the starting sampling point of the suspicious detection echo. After the starting sampling point, statistics are made point by point, and the first point where the radar echo signal strength is less than the first detection curve value minus the first threshold is found as the ending sampling point of the suspicious detection echo. The first threshold a is a manually configurable parameter, and the preferred value of a in this application is 20.

[0053] In order not to affect the echo of small targets, the echo width of the detection echo is counted in this application, and subsequent processing is performed only when the difference in the number of points between the end sampling point and the start sampling point is greater than the second threshold b, where the second threshold b is a manually configurable parameter, and the preferred value of b in this application is 30. That is, the echo with an echo width greater than 30 between the start sampling point and the end sampling point is a suspicious detection echo.

[0054] In an optional embodiment of the present invention, step 12, determining the sampling point corresponding to the false tail wave echo according to the suspicious detection echo, includes:

[0055] Step 121, determining the sampling point corresponding to the false tail wave echo according to the average value and maximum value of the radar signal strength of the suspicious detection echo.

[0056] In specific implementation, step 121 may include:

[0057] Step 1211, based on the average and maximum value of the radar signal strength of the suspicious detection echo, the sampling points between the sampling point corresponding to the maximum value of the radar signal strength in the suspicious detection echo and the end sampling point of the suspicious detection echo are judged point by point, and the sampling points where there is no large echo mark in the suspicious detection echo and the radar signal strength value of the sampling point is less than the average value of the radar signal strength are determined as the sampling points corresponding to the false tail wave echo.

[0058] Here, after determining multiple suspicious detection echoes, the radar signal strength of the sampling points is identified one by one, the average radar signal strength of the sampling points in the suspicious detection echo is calculated, and the maximum value of the radar signal strength is counted, and the sampling point corresponding to the maximum value of the radar signal strength is recorded.

[0059] The radar signal strength within the range from the sampling point corresponding to the maximum radar signal strength to the end point of the suspicious detection echo is judged point by point. If the signal strength of the sampling point is less than the average value and there is no sign of a large echo in the distance unit, the sampling point is determined to be the sampling point corresponding to the false tail wave echo.

[0060] In an optional embodiment of the present invention, the large echo marker is determined by the following process:

[0061] Acquire a current radar echo image, perform connected domain detection on the radar echo image, and obtain at least one connected domain;

[0062] Obtaining the azimuth width of the connected domain according to the starting azimuth and the ending azimuth of the connected domain;

[0063] Comparing the azimuth width with a third threshold to obtain a large echo block;

[0064] A large echo mark is obtained according to the distance unit where the large echo block is located.

[0065] The reason why the false tail echo identification is not performed for large echoes in this application is that the false tail echoes caused by ships are all small echoes, while large echoes such as land do not need to be identified as false tail echoes. The process of large echo judgment is as follows:

[0066] The echo image processed in the previous cycle is stored, and the connected domain detection is performed on the processed echo image; the starting azimuth and the ending azimuth of each connected domain are recorded; if the azimuth width of the connected domain (i.e., the ending azimuth minus the starting azimuth) is greater than the third threshold d, it is regarded as a large echo block. The large echo flag is assigned to several distance units where the large echo block is located, wherein the third threshold d is a manually configurable parameter, and the value used in the present invention is 20.

[0067] In an optional embodiment of the present invention, step 13, correcting the first detection curve according to the sampling point to obtain a second detection curve, includes:

[0068] Step 131, performing a first amplitude adjustment on a first detection curve value of a sampling point corresponding to a tail wave false echo on a first detection curve to obtain a second detection curve value;

[0069] Step 132, obtaining a second detection curve according to the second detection curve value; the first amplitude is equal to the radar signal strength value of the sampling point corresponding to the tail wave false echo plus a fourth threshold, and the fourth threshold is greater than 0.

[0070] Here Figure 3 As shown, the correction method for the first detection curve is to increase the detection curve value of the sampling point of the tail wave false echo by a first amplitude, and the increase amplitude is the echo amplitude value (i.e., radar signal strength value) of the sampling point of the tail wave false echo plus the fourth threshold. The fourth threshold is greater than 0 to ensure that the sampling point of the tail wave false echo does not pass the detection of the second detection curve. The preferred fourth threshold value in this application is 5. Figure 3 The dashed line is the radar echo data, and the solid line is the second detection curve.

[0071] In an optional embodiment of the present invention, step 14, obtaining a target radar image containing tail wave false echo information according to the second detection curve, includes:

[0072] Step 141, compare the radar echo data with the first detection curve value of the first detection curve and the second detection curve value of the second detection curve, mark the sampling points below the first detection curve value, the sampling points above the first detection curve value but below the second detection curve value, and the sampling points above the second detection curve value in the radar image, respectively, to obtain a target radar image.

[0073] In this embodiment, the radar echo signal is re-detected using the second detection curve, and the echo signal strength received by the radar system is compared with the second detection curve for each sampling point. If the signal strength is lower than the first detection value curve value, the echo signal strength is reset to 0, that is, black; if the signal strength is higher than the first detection curve value but lower than the second detection curve value, it is considered to be a false echo of the tail wave, and the signal strength of the echo is reset to a dark color; if the signal strength is higher than the second detection curve value, it is considered to be a target echo, and the signal strength of the echo is reset to a light color. The detection echo is displayed on the display and control platform, and the false echo of the tail wave can be distinguished by color.

[0074] The above-mentioned embodiments of the present invention can identify the trailing false echo in the navigation radar by post-processing the detection result of the first detection curve to obtain the second detection curve, and perform real-time processing on the current scanning line of the radar without causing delayed display of the echo; and are not affected by the manual mode or the automatic mode, and only perform special processing on the trailing false echo, without affecting other echoes; the identified trailing false echo is given a dark color, and other target echoes are bright colors, providing a clear method for identifying tail wave false echoes.

[0075] like Figure 4 As shown, the present invention also provides a radar echo signal processing device 40, comprising:

[0076] The first processing module 41 is used to obtain a first detection curve, perform clutter filtering and judgment processing on radar echo data, and obtain a suspicious detection echo;

[0077] The second processing module 42 is used to determine the sampling point corresponding to the false tail wave echo according to the suspicious detection echo; according to the sampling point, correct the first detection curve to obtain the second detection curve; according to the second detection curve, obtain the target radar image containing the false tail wave echo information.

[0078] Optionally, obtaining a first detection curve, performing clutter filtering and judgment processing on radar echo data, and obtaining a suspicious detection echo, includes:

[0079] Compare the radar echo data and the first detection curve sampling point by sampling point, take the first point where the radar signal strength value is greater than the first detection curve value as the detection echo start sampling point, and take the first point where the radar signal strength value is less than the first detection curve value minus the first threshold value as the detection echo end sampling point;

[0080] A detection echo whose point number difference between the detection echo start sampling point and the detection echo end sampling point is greater than a second threshold is determined as a suspicious detection echo.

[0081] Optionally, determining a sampling point corresponding to a false tail wave echo according to the suspicious detection echo includes:

[0082] According to the average value and the maximum value of the radar signal strength of the suspicious detection echo, the sampling point corresponding to the tail wave false echo is determined.

[0083] Optionally, determining the sampling point corresponding to the tail wave false echo according to the average value and the maximum value of the radar signal strength of the suspicious detection echo includes:

[0084] According to the average and maximum value of the radar signal strength of the suspicious detection echo, the sampling points between the sampling point corresponding to the maximum value of the radar signal strength in the suspicious detection echo and the end sampling point of the suspicious detection echo are judged point by point, and the sampling points where there is no large echo mark in the suspicious detection echo and the radar signal strength value of the sampling point is less than the average value of the radar signal strength are determined as the sampling points corresponding to the false tail wave echo.

[0085] Optionally, the large echo marker is determined by the following process:

[0086] Acquire a current radar echo image, perform connected domain detection on the radar echo image, and obtain at least one connected domain;

[0087] Obtaining the azimuth width of the connected domain according to the starting azimuth and the ending azimuth of the connected domain;

[0088] Comparing the azimuth width with a third threshold to obtain a large echo block;

[0089] A large echo mark is obtained according to the distance unit where the large echo block is located.

[0090] Optionally, the first detection curve is corrected according to the sampling point to obtain a second detection curve, including:

[0091] Performing a first amplitude adjustment on a first detection curve value of a sampling point corresponding to a tail wave false echo on the first detection curve to obtain a second detection curve value;

[0092] A second detection curve is obtained according to the second detection curve value; the first amplitude is equal to the radar signal strength value of the sampling point corresponding to the tail wave false echo plus a fourth threshold, and the fourth threshold is greater than 0.

[0093] Optionally, obtaining a target radar image containing tail wave false echo information according to the second detection curve includes:

[0094] The radar echo data is compared with the first detection curve value of the first detection curve and the second detection curve value of the second detection curve, and the sampling points below the first detection curve value, the sampling points above the first detection curve value but below the second detection curve value, and the sampling points above the second detection curve value are marked in the radar image to obtain a target radar image.

[0095] It should be noted that the device is a device corresponding to the above method, and all implementation methods in the above method embodiments are applicable to the embodiments of the device and can achieve the same technical effects.

[0096] An embodiment of the present invention provides a computing device, comprising: a processor and a memory storing a computer program, wherein when the computer program is executed by the processor, the method described above is executed. All implementations in the above method embodiment are applicable to this embodiment and can achieve the same technical effect.

[0097] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0098] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0099] In the embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0100] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0101] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0102] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, ROM, RAM, magnetic disks, or optical disks.

[0103] In addition, it should be noted that in the apparatus and method of the present invention, it is obvious that each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent schemes of the present invention. Moreover, the steps of performing the above-mentioned series of processing can naturally be performed in chronological order according to the order of description, but it is not necessary to perform them in chronological order, and some steps can be performed in parallel or independently of each other. For those of ordinary skill in the art, it is understood that all or any steps or components of the method and apparatus of the present invention can be implemented in any computing device (including processors, storage media, etc.) or a network of computing devices in hardware, firmware, software or a combination thereof, which can be achieved by those of ordinary skill in the art using their basic programming skills after reading the description of the present invention.

[0104] Therefore, the purpose of the present invention can also be achieved by running a program or a group of programs on any computing device. The computing device can be a well-known general device. Therefore, the purpose of the present invention can also be achieved by simply providing a program product containing a program code that implements the method or device. That is to say, such a program product also constitutes the present invention, and the storage medium storing such a program product also constitutes the present invention. Obviously, the storage medium can be any well-known storage medium or any storage medium developed in the future. It should also be pointed out that in the device and method of the present invention, it is obvious that each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent schemes of the present invention. In addition, the steps of performing the above-mentioned series of processing can naturally be performed in chronological order according to the order of description, but it is not necessary to perform them in chronological order. Some steps can be performed in parallel or independently of each other.

[0105] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for processing radar echo signals, characterized in that: include: Obtain a first detection curve, perform clutter filtering and judgment processing on radar echo data, and obtain a suspicious detection echo; According to the suspicious detection echo, determining a sampling point corresponding to a false tail wave echo; According to the sampling points, the first detection curve is corrected to obtain a second detection curve; According to the second detection curve, a target radar image containing tail wave false echo information is obtained; Wherein, according to the suspicious detection echo, determining the sampling point corresponding to the false echo of the tail wave includes: Determine the sampling point corresponding to the false tail wave echo according to the average value and maximum value of the radar signal strength of the suspicious detection echo; Wherein, according to the average value and maximum value of the radar signal strength of the suspicious detection echo, the sampling point corresponding to the tail wave false echo is determined, including: According to the average and maximum values ​​of the radar signal strength of the suspicious detection echo, the sampling points between the sampling point corresponding to the maximum value of the radar signal strength in the suspicious detection echo and the end sampling point of the suspicious detection echo are judged point by point, and the sampling points where there is no large echo mark in the suspicious detection echo and the radar signal strength value of the sampling point is less than the average value of the radar signal strength are determined as the sampling points corresponding to the tail wave false echo; The large echo marker is determined by the following process: Acquire a current radar echo image, perform connected domain detection on the radar echo image, and obtain at least one connected domain; Obtaining the azimuth width of the connected domain according to the starting azimuth and the ending azimuth of the connected domain; Comparing the azimuth width with a third threshold to obtain a large echo block; A large echo mark is obtained according to the distance unit where the large echo block is located.

2. The radar echo signal processing method according to claim 1, characterized in that: Obtain the first detection curve, perform clutter filtering and judgment processing on the radar echo data, and obtain the suspicious detection echo, including: Compare the radar echo data and the first detection curve sampling point by sampling point, take the first point where the radar signal strength value is greater than the first detection curve value as the detection echo start sampling point, and take the first point where the radar signal strength value is less than the first detection curve value minus the first threshold value as the detection echo end sampling point; A detection echo whose point number difference between the detection echo start sampling point and the detection echo end sampling point is greater than a second threshold is determined as a suspicious detection echo.

3. The method for processing radar echo signals according to claim 1, characterized in that: According to the sampling point, the first detection curve is corrected to obtain a second detection curve, including: Performing a first amplitude adjustment on a first detection curve value of a sampling point corresponding to a tail wave false echo on the first detection curve to obtain a second detection curve value; A second detection curve is obtained according to the second detection curve value; the first amplitude is equal to the radar signal strength value of the sampling point corresponding to the tail wave false echo plus a fourth threshold, and the fourth threshold is greater than 0.

4. The method for processing radar echo signals according to claim 1, characterized in that: According to the second detection curve, a target radar image containing tail wave false echo information is obtained, including: The radar echo data is compared with the first detection curve value of the first detection curve and the second detection curve value of the second detection curve, and the sampling points below the first detection curve value, the sampling points above the first detection curve value but below the second detection curve value, and the sampling points above the second detection curve value are marked in the radar image to obtain a target radar image.

5. A radar echo signal processing device, characterized in that: include: A first processing module is used to obtain a first detection curve, perform clutter filtering and judgment processing on radar echo data, and obtain a suspicious detection echo; A second processing module is used to determine, according to the suspicious detection echo, a sampling point corresponding to the false tail wave echo; according to the sampling point, correct the first detection curve to obtain a second detection curve; according to the second detection curve, obtain a target radar image containing false tail wave echo information; Wherein, according to the suspicious detection echo, determining the sampling point corresponding to the false echo of the tail wave includes: Determine the sampling point corresponding to the false tail wave echo according to the average value and maximum value of the radar signal strength of the suspicious detection echo; Wherein, according to the average value and maximum value of the radar signal strength of the suspicious detection echo, the sampling point corresponding to the tail wave false echo is determined, including: According to the average and maximum values ​​of the radar signal strength of the suspicious detection echo, the sampling points between the sampling point corresponding to the maximum value of the radar signal strength in the suspicious detection echo and the end sampling point of the suspicious detection echo are judged point by point, and the sampling points where there is no large echo mark in the suspicious detection echo and the radar signal strength value of the sampling point is less than the average value of the radar signal strength are determined as the sampling points corresponding to the tail wave false echo; The large echo marker is determined by the following process: Acquire a current radar echo image, perform connected domain detection on the radar echo image, and obtain at least one connected domain; Obtaining the azimuth width of the connected domain according to the starting azimuth and the ending azimuth of the connected domain; Comparing the azimuth width with a third threshold to obtain a large echo block; A large echo mark is obtained according to the distance unit where the large echo block is located.

6. A computing device, characterized in that include: A processor and a memory storing a computer program, wherein when the computer program is executed by the processor, the method according to any one of claims 1 to 4 is performed.

7. A computer-readable storage medium, characterized in that: Instructions are stored, and when the instructions are executed on a computer, the computer is caused to execute the method according to any one of claims 1 to 4.

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