A mixed frequency modulation signal processing method and detection device

Abstract

A method for processing and a detection device for hybrid frequency modulated signals are disclosed. First, the hybrid frequency modulated signal is pre-modulated by phase. By observing the changes in the spectral peaks of the pre-modulated signal with the phase pre-modulation coefficient, the radial acceleration of the target under test is estimated. Next, using the obtained radial acceleration of the target under test, the original hybrid frequency modulated signal is de-skewed. The de-skewed signal is then pre-modulated by phase again. By locating the positions of adjacent spectral peaks in the pre-modulated signal, the rotational speed, amplitude, initial phase, and radial velocity of the target under test are estimated. Finally, using the previously obtained parameter estimates, the original hybrid frequency modulated signal is de-skewed again, and its phase is estimated to obtain the distance from the target under test to the detection device. Based on the estimation of all parameters in the hybrid frequency modulated signal, the detection, location, measurement, or imaging of the target under test is achieved.

Description

Technical Field

[0001] The present invention relates to the field of detection technology, and in particular to a mixed frequency modulation signal processing method and detection equipment. Background Art

[0002] At present, drones are being used more and more. For safety reasons, drones need to be detected. Now, radar and other detection equipment are mostly used to detect drones. In the radar echo signal, due to the rotation, tumbling and other movements of the drone itself or its components, the target echo received by the radar can generally be expressed as a mixed frequency-modulated signal composed of a sine function and a quadratic function. Estimating the parameters of such a mixed frequency-modulated signal can accurately obtain the position and state of the drone, which is conducive to the subsequent detection and identification of the drone. Therefore, parameter estimation of the mixed frequency-modulated signal composed of a sine function and a quadratic function has very important practical application value. Summary of the invention

[0003] In view of the above problems, the present application provides a method for processing and a detection device for a mixed frequency modulation signal, which are described in detail below.

[0004] According to the first aspect, an embodiment provides a method for processing a mixed frequency modulation signal, including:

[0005] Controlling the detection device to transmit a first signal to the target to be measured, and receiving an echo of the first signal reflected by the target to be measured, to obtain a second signal, wherein the second signal is a mixed frequency modulation signal composed of a sine function and a quadratic function; the second signal includes the amplitude of the rotational motion of the target to be measured, the speed of the rotational motion of the target to be measured, the initial phase of the rotational motion of the target to be measured, the radial acceleration of the target to be measured, the radial velocity of the target to be measured, and the distance from the target to be measured to the detection device;

[0006] Performing phase premodulation on the second signal using a phase premodulation coefficient to obtain a third signal;

[0007] Acquire the amplitude spectrum function of the third signal, determine a function of how the peak value of the amplitude spectrum of the third signal changes with the phase premodulation coefficient based on the amplitude spectrum function of the third signal, and then obtain an estimation result of the radial acceleration of the target to be measured based on the function of how the peak value of the amplitude spectrum of the third signal changes with the phase premodulation coefficient;

[0008] Using the estimated result of the radial acceleration of the target to be measured, performing de-skewing processing on the second signal to obtain a fourth signal, and performing phase pre-modulation processing on the fourth signal to obtain a fifth signal;

[0009] Acquire the amplitude spectrum function of the fifth signal, and obtain an estimation result of the rate of the rotational motion of the target to be measured, an estimation result of the amplitude of the rotational motion of the target to be measured, an estimation result of the initial phase of the rotational motion of the target to be measured, and an estimation result of the radial velocity of the target to be measured based on the positions of adjacent spectrum peaks of the amplitude spectrum function of the fifth signal;

[0010] De-skewing the second signal using the estimated result of the radial acceleration of the target to be measured, the estimated result of the amplitude of the rotational motion of the target to be measured, the estimated result of the initial phase of the rotational motion of the target to be measured, and the estimated result of the radial velocity of the target to be measured to obtain a sixth signal;

[0011] Based on the sixth signal, obtaining an estimation result of the distance from the target to be detected to the detection device;

[0012] The target to be measured is detected based on the estimated results of the amplitude of the rotational motion of the target to be measured, the estimated results of the rate of the rotational motion of the target to be measured, the estimated results of the initial phase of the rotational motion of the target to be measured, the estimated results of the radial acceleration of the target to be measured, the estimated results of the radial velocity of the target to be measured and the estimated results of the distance from the target to be measured to the detection device.

[0013] In one embodiment, the second signal is determined according to the following expression:

[0014] ;

[0015] in, 0 ≤ t ≤ T , t is the sampling time, s ( t ) is the second signal, T is the sampling duration, a 0 represents the distance from the target to be detected to the detection device. a 1 represents the radial velocity of the target to be measured, a 2 represents the radial acceleration of the target to be measured, a 3 represents the amplitude of the rotational motion of the target to be measured, b Indicates the rotational speed of the target to be measured. c Indicates the initial phase of the rotational motion of the target to be measured;

[0016] The adopting the phase premodulation coefficient to perform phase premodulation on the second signal to obtain the third signal comprises:

[0017] The third signal is determined according to the following expression:

[0018] ;

[0019] in, 0 ≤ t ≤ T , t is the sampling time, S m ( t ) is the second signal, T is the sampling duration, a 0 represents the distance from the target to be detected to the detection device. a 1 represents the radial velocity of the target to be measured, a 2 represents the radial acceleration of the target to be measured, a 3 represents the amplitude of the rotational motion of the target to be measured, b Indicates the rotational speed of the target to be measured. c Indicates the initial phase of the rotational motion of the target to be measured, d Represents the phase premodulation coefficient.

[0020] In one embodiment, the amplitude spectrum function of the third signal is determined according to the following expression:

[0021] ;

[0022] in, is the amplitude spectrum function of the third signal, is the frequency, t 0 is the time corresponding to the stationary phase point, , 0 ≤ t 0≤ T , t 0 Satisfied , express The second derivative of .

[0023] In one embodiment, determining, based on the amplitude spectrum function of the third signal, a function in which the peak value of the amplitude spectrum of the third signal varies with the phase premodulation coefficient comprises:

[0024] The function of the peak value of the amplitude spectrum of the third signal changing with the phase premodulation coefficient is determined according to the following expression:

[0025] ;

[0026] in, a 2 represents the radial acceleration of the target to be measured, a 3 represents the amplitude of the rotational motion of the target to be measured, b Indicates the rotational speed of the target to be measured. d represents the phase premodulation coefficient, S M ( d) represents a function in which the peak value of the amplitude spectrum of the third signal changes with the phase premodulation coefficient.

[0027] In one embodiment, obtaining the estimation result of the radial acceleration of the target to be measured based on the function of the peak value of the amplitude spectrum of the third signal changing with the phase premodulation coefficient includes:

[0028] The estimated result of the radial acceleration of the target to be measured is determined according to the following expression:

[0029] ;

[0030] in, D 1 and D 1 is a function S M ( d ) takes two maximum values ​​when the phase premodulation coefficient d The respective values ​​of Represents the estimated result of the radial acceleration of the target to be measured.

[0031] In one embodiment, using the estimation result of the radial acceleration of the target to be measured, performing de-skewing processing on the second signal to obtain a fourth signal, and performing phase premodulation processing on the fourth signal to obtain a fifth signal includes:

[0032] The fourth signal is determined according to the following expression:

[0033] ;

[0034] in, S d ( t ) is the fourth signal, 0 ≤ t ≤ T , t is the sampling time, T is the sampling duration, a 0 represents the distance from the target to be detected to the detection device. a 1 represents the radial velocity of the target to be measured, a 3 represents the amplitude of the rotational motion of the target to be measured, b Indicates the rotational speed of the target to be measured. c Indicates the initial phase of the rotational motion of the target to be measured;

[0035] The fifth signal is determined according to the following expression:

[0036] ;

[0037] in, D 3 is the value of the phase premodulation coefficient,D 3= a 3 b 2 , S dm ( t ) is the fifth signal, 0 ≤ t ≤ T , t is the sampling time, T is the sampling duration, a 0 represents the distance from the target to be detected to the detection device. a 1 represents the radial velocity of the target to be measured, a 3 represents the amplitude of the rotational motion of the target to be measured.

[0038] In one embodiment, the estimated result of the rate of the rotational motion of the target to be measured, the estimated result of the amplitude of the rotational motion of the target to be measured, the estimated result of the initial phase of the rotational motion of the target to be measured, and the estimated result of the radial velocity of the target to be measured are determined according to the following expressions:

[0039] ;

[0040] ;

[0041] ;

[0042] ;

[0043] in, Indicates that the phase premodulation coefficient is D 3, the amplitude spectrum function of the fifth signal i The position of the peaks, Indicates that the phase premodulation coefficient is D 3, the amplitude spectrum function of the fifth signal i +1 peak position, Indicates that the phase premodulation coefficient is D 4, the amplitude spectrum function of the fifth signal i The position of the peaks, D 3 and D 4 is the value of the phase premodulation coefficient, express The time of appearance, Represents the estimated result of the rotational motion rate of the target to be measured, Represents the estimated result of the amplitude of the rotational motion of the target to be measured, represents the estimated result of the radial velocity of the target to be measured, It represents the estimated result of the initial phase of the rotational motion of the target to be measured.

[0044] In one embodiment, obtaining an estimation result of the distance from the target to be detected to the detection device based on the sixth signal includes:

[0045] The estimated result of the distance from the target to be detected to the detection device is determined according to the following expression:

[0046] ;

[0047] in, represents the estimated result of the distance from the target to be detected to the detection device, S da ( t ) represents the sixth signal.

[0048] According to the second aspect, an embodiment provides a detection device, including:

[0049] A transmitting and receiving device, used for transmitting a first signal to a target to be measured, and receiving an echo of the first signal reflected by the target to be measured, to obtain a second signal, wherein the second signal is a mixed frequency modulation signal composed of a sine function and a quadratic function;

[0050] A processor is used to execute the method described in any of the above embodiments.

[0051] According to the second aspect, an embodiment provides a computer-readable storage medium, on which a computer program is stored. The computer program can be executed by a processor to implement the method described in any one of the above embodiments.

[0052] According to the processing method and detection device of the mixed frequency modulation signal of the above embodiment, the mixed frequency modulation signal is first phase premodulated, and the radial acceleration of the target to be measured is estimated by finding the change of the spectrum peak of the signal after the phase premodulation with the phase premodulation coefficient. Secondly, the radial acceleration of the target to be measured is obtained, and the original mixed frequency modulation signal is first de-skewed, and the de-skewed signal is phase premodulated again. By locating the positions of adjacent spectrum peaks of the signal after the phase premodulation, the rate of rotational motion of the target to be measured, the amplitude of rotational motion of the target to be measured, the initial phase of rotational motion of the target to be measured and the radial velocity of the target to be measured are estimated; finally, the original mixed frequency modulation signal is de-skewed using the parameter estimation obtained above, and then the distance from the target to be measured to the detection device is estimated by estimating its phase, and based on the estimation of all parameters in the mixed frequency modulation signal, detection, positioning, measurement or imaging of the target to be measured is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 A flowchart of a method for processing a mixed frequency modulation signal provided by an embodiment of the present invention;

[0054] Figure 2 A structural block diagram of a detection device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0055] The present invention is further described in detail below by specific embodiments in conjunction with the accompanying drawings. Wherein similar elements in different embodiments adopt associated similar element numbers. In the following embodiments, many detailed descriptions are for making the present application better understood. However, those skilled in the art can easily recognize that some features can be omitted in different situations, or can be replaced by other elements, materials, methods. In some cases, some operations related to the present application are not shown or described in the specification, this is to avoid the core part of the present application being overwhelmed by too much description, and for those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations according to the description in the specification and the general technical knowledge in the art.

[0056] In addition, the features, operations or characteristics described in the specification can be combined in any appropriate manner to form various implementations. At the same time, the steps or actions in the method description can also be interchanged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the various sequences in the specification and the drawings are only for the purpose of clearly describing a certain embodiment and are not meant to be a required sequence, unless otherwise specified that a certain sequence must be followed.

[0057] The serial numbers assigned to the components herein, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in this application, unless otherwise specified, include direct and indirect connections (couplings).

[0058] Please refer to Figure 1 The embodiment of the present invention provides a method for processing a mixed frequency modulation signal, which is applied to a detection device such as a radar or sonar detection device to detect a target to be detected. The method for processing a mixed frequency modulation signal comprises the following steps:

[0059] Step 101: Control the detection device to transmit a first signal to the target to be detected, and receive the echo of the first signal reflected by the target to be detected to obtain a second signal. The target to be detected may be a target such as a drone that moves in rotation or tumbling, and the second signal is a mixed frequency modulation signal composed of a sine function and a quadratic function.

[0060] In some embodiments, the second signal is determined according to the following expression:

[0061] ;

[0062] in, 0 ≤ t ≤ T , t is the sampling time, s ( t ) is the second signal, T is the sampling duration, a 0 represents the distance from the target to be detected to the detection device. a 1 represents the radial velocity of the target to be measured, a 2 represents the radial acceleration of the target to be measured, a 3 represents the amplitude of the rotational motion of the target to be measured, b Indicates the rotational speed of the target to be measured. c Indicates the initial phase of the rotational motion of the target to be measured.

[0063] Therefore, by estimating the parameters in the above-mentioned second signal, it is possible to obtain the distance from the target to be measured to the detection device, the radial velocity of the target to be measured, the radial acceleration of the target to be measured, the amplitude of the rotational motion of the target to be measured, the rate of the rotational motion of the target to be measured and the initial phase of the rotational motion of the target to be measured.

[0064] Step 102: Use a phase premodulation coefficient to perform phase premodulation on the second signal to obtain a third signal.

[0065] In some embodiments, it is assumed that the phase premodulation coefficient d Known, using , the second signal is phase premodulated to obtain the third signal, as shown in the following expression:

[0066] ;

[0067] in, 0 ≤ t ≤ T , t is the sampling time, S m ( t ) is the second signal, T is the sampling duration, a 0 represents the distance from the target to be detected to the detection device. a 1 represents the radial velocity of the target to be measured, a 2 represents the radial acceleration of the target to be measured, a 3 represents the amplitude of the rotational motion of the target to be measured, b Indicates the rotational speed of the target to be measured. c Indicates the initial phase of the rotational motion of the target to be measured, d Represents the phase premodulation coefficient.

[0068] Step 103: Obtain the amplitude spectrum function of the third signal, determine the function of how the peak value of the amplitude spectrum of the third signal changes with the phase premodulation coefficient based on the amplitude spectrum function of the third signal, and then obtain the estimated result of the radial acceleration of the target to be measured based on the function of how the peak value of the amplitude spectrum of the third signal changes with the phase premodulation coefficient.

[0069] In some embodiments, after phase premodulation, Fourier transform is performed on the third signal to obtain the following expression:

[0070] ;

[0071] in, .when ,Right now

[0072] ;

[0073] The approximate formula is:

[0074] ;

[0075] In the formula, is the amplitude spectrum function of the third signal, t 0 is the stationary phase point, satisfying:

[0076] .

[0077] In some embodiments, the function of the peak value of the amplitude spectrum of the third signal changing with the phase premodulation coefficient is determined according to the following expression:

[0078] ;

[0079] in, a 2 represents the radial acceleration of the target to be measured, a 3 represents the amplitude of the rotational motion of the target to be measured, b Indicates the rotational speed of the target to be measured. d represents the phase premodulation coefficient, S M ( d ) represents the function in which the peak value of the amplitude spectrum of the third signal changes with the phase premodulation coefficient.

[0080] For the above S M ( d ), when ± a 3 b 2 +2 a 2+ d =0, SM ( d ) to get the maximum value, by searching S M ( d ) to obtain the phase premodulation coefficients corresponding to its two maximum values, which are recorded as d = D 1 and d = D 2, we can get:

[0081] ;

[0082] From the above formula we can get:

[0083] ;

[0084] in, Represents the estimated result of the radial acceleration of the target to be measured.

[0085] Step 104: using the estimated result of the radial acceleration of the target to be measured, perform de-skewing processing on the second signal to obtain a fourth signal, and perform phase pre-modulation processing on the fourth signal to obtain a fifth signal.

[0086] In some embodiments, the second signal is de-skewed using the estimated result of the radial acceleration of the target to be measured to obtain a fourth signal, which is determined according to the following expression:

[0087] ;

[0088] in, S d ( t ) is the fourth signal, 0 ≤ t ≤ T , t is the sampling time, T is the sampling duration, a 0 represents the distance from the target to be detected to the detection device. a 1 represents the radial velocity of the target to be measured, a 3 represents the amplitude of the rotational motion of the target to be measured, b Indicates the rotational speed of the target to be measured. c Indicates the initial phase of the rotational motion of the target to be measured.

[0089] Based on the expression of the fourth signal above, the fifth signal is determined according to the following expression:

[0090] ;

[0091] in, D 3 is the value of the phase premodulation coefficient,D 3= a 3 b 2 , S dm ( t ) is the fifth signal, 0 ≤ t ≤ T , t is the sampling time, T is the sampling duration, a 0 indicates the distance from the target to be detected to the detection device. a 1 represents the radial velocity of the target to be measured, a 3 represents the amplitude of the rotational motion of the target to be measured.

[0092] Step 105: Obtain the amplitude spectrum function of the fifth signal, and based on the positions of adjacent spectrum peaks of the amplitude spectrum function of the fifth signal, obtain an estimation result of the rate of the rotational motion of the target to be measured, an estimation result of the amplitude of the rotational motion of the target to be measured, an estimation result of the initial phase of the rotational motion of the target to be measured, and an estimation result of the radial velocity of the target to be measured.

[0093] In some embodiments, Fourier transform is used to obtain S dm ( t ) Spectrum ,at this time, There will be several spectral peaks, and the distance between adjacent spectral peaks satisfies

[0094] ;

[0095] In the formula, express No. i The position of the peak is determined by locating For two adjacent peaks, the parameters are estimated according to the following expression: b and parameters a 3, namely

[0096] ;

[0097] ;

[0098] In addition, Spectrum The position satisfies the following formula:

[0099] ;

[0100] In the formula, express The time of appearance. hour, , the above formula can be simplified to:

[0101] ;

[0102] It can be seen that a 1 and All affected D 3. To this end, different phase premodulation coefficients can be used. Assume that the phase premodulation coefficient is D 4. Repeat the above process, and you can get:

[0103] ;

[0104] because ,so ;

[0105] available

[0106] ;

[0107] From the above formula, we can get the parameters a The estimated result of 1 is:

[0108] ;

[0109] Then by:

[0110] ;

[0111] Available parameters c The estimated results are:

[0112] ;

[0113] In the above expressions, Indicates that the phase premodulation coefficient is D 3, the amplitude spectrum function of the fifth signal i The position of the peaks, Indicates that the phase premodulation coefficient is D 3, the amplitude spectrum function of the fifth signal i +1 peak position, Indicates that the phase premodulation coefficient is D 4, the amplitude spectrum function of the fifth signal i The position of the peaks, D 3 and D 4 is the value of the phase premodulation coefficient, express The time of appearance, Represents the estimated result of the rotational motion rate of the target to be measured, Represents the estimated result of the amplitude of the rotational motion of the target to be measured, represents the estimated result of the radial velocity of the target to be measured, It represents the estimation result of the initial phase of the rotational motion of the target to be measured.

[0114] Step 106: De-skew the second signal using the estimated result of the radial acceleration of the target to be measured, the estimated result of the amplitude of the rotational motion of the target to be measured, the estimated result of the initial phase of the rotational motion of the target to be measured, and the estimated result of the radial velocity of the target to be measured to obtain a sixth signal.

[0115] In some embodiments, the second signal is de-skewing according to the following expression to obtain:

[0116] ;

[0117] in, S da ( t ) represents the sixth signal.

[0118] Step 107: Based on the sixth signal, obtain an estimation result of the distance from the target to be detected to the detection device.

[0119] In some embodiments, the estimated result of the distance from the target to be detected to the detection device is determined according to the following expression:

[0120] ;

[0121] in, Indicates the estimated result of the distance from the target to the detection device. S da ( t ) represents the sixth signal.

[0122] Step 108: Detect the target to be measured based on the estimated results of the amplitude of the rotational motion of the target to be measured, the estimated results of the rate of the rotational motion of the target to be measured, the estimated results of the initial phase of the rotational motion of the target to be measured, the estimated results of the radial acceleration of the target to be measured, the estimated results of the radial velocity of the target to be measured and the estimated result of the distance from the target to be measured to the detection device.

[0123] Based on the above, it can be known that the embodiment of the present invention first performs phase premodulation on the mixed frequency modulation signal, and estimates the radial acceleration of the target to be measured by finding the change of the spectrum peak of the signal after phase premodulation with the phase premodulation coefficient. Secondly, using the obtained radial acceleration of the target to be measured, the original mixed frequency modulation signal is first de-skewed, and the de-skewed signal is phase premodulated again. By locating the positions of adjacent spectrum peaks of the signal after phase premodulation, the rate of rotational motion of the target to be measured, the amplitude of rotational motion of the target to be measured, the initial phase of rotational motion of the target to be measured and the radial velocity of the target to be measured are estimated; finally, using the above-mentioned parameter estimation, the original mixed frequency modulation signal is de-skewed, and then the phase is estimated to obtain the estimation of the distance from the target to be measured to the detection device, based on the estimation of all parameters in the mixed frequency modulation signal, to achieve detection, positioning, measurement or imaging of the target to be measured.

[0124] Based on the method for processing the hyperbolic frequency modulation signal disclosed in the above embodiment, please refer to Figure 2 The embodiment of the present invention further provides a detection device, which includes a transmitting and receiving device 201 and a processor 202.

[0125] In this embodiment, the transmitting and receiving device 201 and the processor 202 are the main components of the detection device. Of course, the detection device may also include some other components connected to the processor 202, which will not be described in detail here.

[0126] The transmitting and receiving device 201 is used to transmit a first signal to the target to be measured, and receive an echo of the first signal reflected by the target to be measured to obtain a second signal; wherein the second signal is a mixed frequency modulation signal composed of a sine function and a quadratic function.

[0127] The processor 202 is connected to the transmitting and receiving device 201, and is used to execute the method for processing the hyperbolic frequency modulation signal disclosed in the above embodiment.

[0128] Those skilled in the art will appreciate that all or part of the functions of the various methods in the above-mentioned embodiments can be implemented by hardware or by computer programs. When all or part of the functions in the above-mentioned embodiments are implemented by computer programs, the program can be stored in a computer-readable storage medium, and the storage medium can include: read-only memory, random access memory, disk, optical disk, hard disk, etc., and the program is executed by a computer to implement the above-mentioned functions. For example, the program is stored in the memory of the device, and when the program in the memory is executed by the processor, all or part of the above-mentioned functions can be implemented. In addition, when all or part of the functions in the above-mentioned embodiments are implemented by computer programs, the program can also be stored in a storage medium such as a server, another computer, disk, optical disk, flash disk or mobile hard disk, and can be downloaded or copied and saved in the memory of the local device, or the system of the local device is updated, and when the program in the memory is executed by the processor, all or part of the functions in the above-mentioned embodiments can be implemented.

[0129] The above specific examples are used to illustrate the present invention, which is only used to help understand the present invention and is not intended to limit the present invention. For those skilled in the art, according to the concept of the present invention, some simple deductions, modifications or substitutions can be made.

Claims

1. A method for processing a mixed frequency modulation signal, characterized in that: include: Controlling the detection device to transmit a first signal to the target to be measured, and receiving an echo of the first signal reflected by the target to be measured, to obtain a second signal, wherein the second signal is a mixed frequency modulation signal composed of a sine function and a quadratic function; the second signal includes the amplitude of the rotational motion of the target to be measured, the speed of the rotational motion of the target to be measured, the initial phase of the rotational motion of the target to be measured, the radial acceleration of the target to be measured, the radial velocity of the target to be measured, and the distance from the target to be measured to the detection device; The second signal is determined according to the following expression: ； in, 0 ≤ t ≤ T , t is the sampling time, s ( t ) is the second signal, T is the sampling duration, a 0 represents the distance from the target to be detected to the detection device. a 1 represents the radial velocity of the target to be measured, a 2 represents the radial acceleration of the target to be measured, a 3 represents the amplitude of the rotational motion of the target to be measured, b Indicates the rotational speed of the target to be measured. c Indicates the initial phase of the rotational motion of the target to be measured; Performing phase premodulation on the second signal using a phase premodulation coefficient to obtain a third signal; The third signal is determined according to the following expression: ； in, 0 ≤ t ≤ T , t is the sampling time, S m ( t ) is the second signal, T is the sampling duration, a 0 represents the distance from the target to be detected to the detection device. a 1 represents the radial velocity of the target to be measured, a 2 represents the radial acceleration of the target to be measured, a 3 represents the amplitude of the rotational motion of the target to be measured, b Indicates the rotational speed of the target to be measured. c Indicates the initial phase of the rotational motion of the target to be measured, d represents the phase premodulation coefficient; Acquire the amplitude spectrum function of the third signal, determine a function of how the peak value of the amplitude spectrum of the third signal changes with the phase premodulation coefficient based on the amplitude spectrum function of the third signal, and then obtain an estimation result of the radial acceleration of the target to be measured based on the function of how the peak value of the amplitude spectrum of the third signal changes with the phase premodulation coefficient; Using the estimated result of the radial acceleration of the target to be measured, performing de-skewing processing on the second signal to obtain a fourth signal, and performing phase pre-modulation processing on the fourth signal to obtain a fifth signal; Acquire the amplitude spectrum function of the fifth signal, and obtain an estimation result of the rate of the rotational motion of the target to be measured, an estimation result of the amplitude of the rotational motion of the target to be measured, an estimation result of the initial phase of the rotational motion of the target to be measured, and an estimation result of the radial velocity of the target to be measured based on the positions of adjacent spectrum peaks of the amplitude spectrum function of the fifth signal; De-skewing the second signal using the estimated result of the radial acceleration of the target to be measured, the estimated result of the amplitude of the rotational motion of the target to be measured, the estimated result of the initial phase of the rotational motion of the target to be measured, and the estimated result of the radial velocity of the target to be measured to obtain a sixth signal; Based on the sixth signal, obtaining an estimation result of the distance from the target to be detected to the detection device; The target to be measured is detected based on the estimated results of the amplitude of the rotational motion of the target to be measured, the estimated results of the rate of the rotational motion of the target to be measured, the estimated results of the initial phase of the rotational motion of the target to be measured, the estimated results of the radial acceleration of the target to be measured, the estimated results of the radial velocity of the target to be measured and the estimated results of the distance from the target to be measured to the detection device.

2. The method according to claim 1, characterized in that The amplitude spectrum function of the third signal is determined according to the following expression: ； in, is the amplitude spectrum function of the third signal, is the frequency, t 0 is the time corresponding to the stationary phase point, , 0 ≤ t 0≤ T , t 0 Satisfied , express The second derivative of .

3. The method according to claim 2, characterized in that The function of determining, based on the amplitude spectrum function of the third signal, a function in which the peak value of the amplitude spectrum of the third signal changes with the phase premodulation coefficient comprises: The function of the peak value of the amplitude spectrum of the third signal changing with the phase premodulation coefficient is determined according to the following expression: ； in, a 2 represents the radial acceleration of the target to be measured, a 3 represents the amplitude of the rotational motion of the target to be measured, b Indicates the rotational speed of the target to be measured. d represents the phase premodulation coefficient, S M ( d ) represents a function in which the peak value of the amplitude spectrum of the third signal changes with the phase premodulation coefficient.

4. The method according to claim 3, characterized in that The step of obtaining the estimation result of the radial acceleration of the target to be measured based on the function of the peak value of the amplitude spectrum of the third signal changing with the phase premodulation coefficient comprises: The estimated result of the radial acceleration of the target to be measured is determined according to the following expression: ； in, D 1 and D 1 is a function S M ( d ) takes two maximum values ​​when the phase premodulation coefficient d The respective values ​​of Represents the estimated result of the radial acceleration of the target to be measured.

5. The method according to claim 4, characterized in that The step of using the estimated result of the radial acceleration of the target to be measured to perform de-skewing processing on the second signal to obtain a fourth signal, and performing phase pre-modulation processing on the fourth signal to obtain a fifth signal comprises: The fourth signal is determined according to the following expression: ； in, S d ( t ) is the fourth signal, 0 ≤ t ≤ T , t is the sampling time, T is the sampling duration, a 0 represents the distance from the target to be detected to the detection device. a 1 represents the radial velocity of the target to be measured, a 3 represents the amplitude of the rotational motion of the target to be measured, b Indicates the rotational speed of the target to be measured. c Indicates the initial phase of the rotational motion of the target to be measured; The fifth signal is determined according to the following expression: ； in, D 3 is the value of the phase premodulation coefficient, D 3= a 3 b 2 , S dm ( t ) is the fifth signal, 0 ≤ t ≤ T , t is the sampling time, T is the sampling duration, a 0 represents the distance from the target to be detected to the detection device. a 1 represents the radial velocity of the target to be measured, a 3 represents the amplitude of the rotational motion of the target to be measured.

6. The method according to claim 5, characterized in that The estimated result of the speed of the rotational motion of the target to be measured, the estimated result of the amplitude of the rotational motion of the target to be measured, the estimated result of the initial phase of the rotational motion of the target to be measured and the estimated result of the radial velocity of the target to be measured are determined according to the following expressions: ； ； ； ； in, Indicates that the phase premodulation coefficient is D 3, the amplitude spectrum function of the fifth signal i The position of the peaks, Indicates that the phase premodulation coefficient is D 3, the amplitude spectrum function of the fifth signal i +1 peak position, Indicates that the phase premodulation coefficient is D 4, the amplitude spectrum function of the fifth signal i The position of the peaks, D 3 and D 4 is the value of the phase premodulation coefficient, express The time of appearance, Represents the estimated result of the rotational motion rate of the target to be measured, Represents the estimated result of the amplitude of the rotational motion of the target to be measured, represents the estimated result of the radial velocity of the target to be measured, It represents the estimation result of the initial phase of the rotational motion of the target to be measured.

7. The method according to claim 6, characterized in that The step of obtaining an estimation result of the distance from the target to be detected to the detection device based on the sixth signal includes: The estimated result of the distance from the target to be detected to the detection device is determined according to the following expression: ； in, represents the estimated result of the distance from the target to be detected to the detection device, S da ( t ) indicates the sixth signal, .

8. A detection device, characterized in that: include: A transmitting and receiving device, used for transmitting a first signal to a target to be measured, and receiving an echo of the first signal reflected by the target to be measured, to obtain a second signal, wherein the second signal is a mixed frequency modulation signal composed of a sine function and a quadratic function; A processor, configured to execute the method according to any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that: A computer program is stored on the medium, and the computer program can be executed by a processor to implement the method according to any one of claims 1 to 7.

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