A method, device and equipment for processing target echo data

Abstract

The present invention provides a method, device and equipment for processing target echo data, which belongs to the field of computer information processing technology and solves the problem that radar target echo data is easily lost during the processing process. The method comprises: acquiring a radar echo signal; processing the radar echo signal to obtain a first echo signal and a second echo signal, wherein the first echo signal is used for target tracking and the second echo signal is used for target display; obtaining target position data according to the first echo signal; obtaining target echo data according to the target position data and the second echo signal. The scheme adopts target detection and echo display separation processing, effectively extracts target echo data, and improves the integrity of echo data during the processing process.

Description

Technical Field

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

[0002] Traditional shore-based radar clutter suppression processing technology includes clutter suppression processing technology based on time domain and frequency domain. The processing methods based on time domain include parameter filtering method and image processing method. The parameter filtering method mainly forms a custom filtering curve based on the adjustment of sea clutter gain, rain clutter gain and radar gain, and filters out the noise and clutter of the scan line according to the custom filtering curve to retain the target echo. The image processing method mainly filters out clutter and extracts the target according to the two-dimensional image relationship between the target and clutter in the current frame. The processing method based on frequency domain mainly uses the relationship between the target and clutter in the frequency spectrum to filter out clutter and extract the target.

[0003] However, traditional shore-based radar clutter suppression processing technology will lead to a decrease in the detection capability of small targets when using the correlation of target multi-frame data for clutter suppression, because the echo amplitude of small targets is weak and they are easily filtered out in the inter-frame correlation processing, resulting in a decrease in the detection performance of small targets, and weak small targets are easily lost after inter-frame correlation processing. Summary of the invention

[0004] The present invention provides a target echo data processing method, device and equipment, which solve the problem that radar target echo data is easily lost during the processing.

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

[0006] An embodiment of the present invention provides a target echo data processing method, comprising:

[0007] Acquire radar echo signal;

[0008] Processing the radar echo signal to obtain a first echo signal and a second echo signal, wherein the first echo signal is used for target tracking and the second echo signal is used for target display;

[0009] Obtaining target position data according to the first echo signal;

[0010] The echo data of the target is obtained according to the target position data and the second echo signal.

[0011] Optionally, processing the radar echo signal to obtain a first echo signal and a second echo signal includes:

[0012] Performing filtering processing on the radar echo signal to obtain a filtered radar echo signal;

[0013] The filtered radar echo signal is split and processed to obtain a first echo signal and a second echo signal.

[0014] Optionally, obtaining target position data according to the first echo signal includes:

[0015] Obtain target echo data according to the first echo signal, wherein the target echo data at least includes one or more of a starting distance, an ending distance, a starting azimuth, and an ending azimuth;

[0016] According to the target echo data, echo length data and echo width data are obtained;

[0017] Obtaining target grid unit data according to the echo length data and the echo width data, wherein the target grid unit data includes distance data and azimuth data;

[0018] According to the target grid unit data, the grid unit where the target is located is marked to obtain the target position data.

[0019] Optionally, obtaining echo length data and echo width data according to the target echo data includes:

[0020] According to ir length =ir stop –ir start Get echo length data;

[0021] According to is width =is stop –is start Get echo width data;

[0022] Among them, ir length is the echo length data, ir stop is the ending distance, ir start is the starting distance, is width is the echo width data, is stop is the ending position, start is the starting position.

[0023] Optionally, obtaining target grid unit range data according to the echo length data and the echo width data, wherein the target grid unit data includes distance data and azimuth data, includes:

[0024] According to ir start –ir length <ir<ir stop +ir length Get distance data;

[0025] According to is start–is width <is<is stop +is width Get position data;

[0026] Among them, ir is the distance data and is is the direction data.

[0027] Optionally, obtaining the echo data of the target according to the target position data and the second echo signal includes:

[0028] Obtaining grid unit data where the echo signal is located according to the azimuth data and distance data of the second echo signal;

[0029] Obtaining echo correlation data according to the grid unit data;

[0030] The echo data of the target is obtained according to the echo correlation data.

[0031] Optionally, obtaining echo correlation data according to the grid unit data includes:

[0032] Get the clutter suppression level value;

[0033] According to the clutter suppression level value, the grid cells are traversed to perform marking and correlation judgment to obtain echo correlation data, where:

[0034] When the clutter suppression level value is the first preset value, it is assumed that n>0, wherein n is the echo correlation data;

[0035] When the clutter suppression level value is the second preset value, if TrackFull[antenna][range]&0X06=0X06, n is accumulated according to the fifth preset value, wherein TrackFull[antenna][range] is grid unit data, antenna is echo azimuth data, and range is echo azimuth distance data;

[0036] When the clutter suppression level value is the third preset value, if TrackFull[antenna][range]&0X0E=0X0E, n is accumulated according to the fifth preset value;

[0037] When the clutter suppression level value is the fourth preset value, if TrackFull[antenna][range]&0X1E=0X1E, n is accumulated according to the fifth preset value.

[0038] The embodiment of the present invention further provides a target echo data processing device, comprising:

[0039] An acquisition module, used for acquiring radar echo signals;

[0040] A processing module, used for processing the radar echo signal to obtain a first echo signal and a second echo signal, wherein the first echo signal is used for target tracking and the second echo signal is used for target display;

[0041] A first generating module, used for obtaining target position data according to the first echo signal;

[0042] The second generating module is used to obtain the echo data of the target according to the target position data and the second echo signal.

[0043] An embodiment of the present invention further provides a computing device, comprising: a processor and a memory storing a computer program, wherein the computer program executes the above method when executed by the processor.

[0044] An embodiment of the present invention further provides a computer-readable storage medium storing instructions, which, when executed on a computer, enables the computer to execute the above method.

[0045] The technical solution of the present invention includes at least the following effects:

[0046] The above scheme of the present invention acquires a radar echo signal; processes the radar echo signal to obtain a first echo signal and a second echo signal, wherein the first echo signal is used for target tracking and the second echo signal is used for target display; obtains target position data according to the first echo signal; obtains target echo data according to the target position data and the second echo signal, and effectively extracts target echo data by adopting target detection and echo display separation processing and using a target feedback correlation processing method, thereby improving the integrity of the echo data during the processing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 is a first flow chart of a target echo data processing method provided by an embodiment of the present invention;

[0048] Figure 2 is a second flow chart of the target echo data processing method provided by an embodiment of the present invention;

[0049] Figure 3 is a structural diagram of a target echo data processing device provided by an embodiment of the present invention;

[0050] Figure 4 It is a schematic diagram of the structure of a computing device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0051] 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.

[0052] like Figure 1 As shown, an embodiment of the present invention provides a target echo data processing method, comprising:

[0053] Step 11, obtaining radar echo signal;

[0054] Step 12, processing the radar echo signal to obtain a first echo signal and a second echo signal, wherein the first echo signal is used for target tracking, and the second echo signal is used for target display;

[0055] Step 13, obtaining target position data according to the first echo signal;

[0056] Step 14: Obtain target echo data according to the target position data and the second echo signal.

[0057] In this example, the radar system detects targets by emitting specific electromagnetic waves, which will be reflected back when encountering the target object to form echo signals; the radar receiver captures these echo signals, which contain information such as the position, speed, and size of the target; the received original echo signals usually contain noise and other interference, and signal processing is required to extract useful information; in this process, the radar system performs shunt processing on the echo signals to obtain two echo signals with the same frequency, amplitude, and phase, namely the first echo signal and the second echo signal; the first echo signal is used for target tracking, and a stable target is formed after point trace processing and target processing, wherein point trace processing refers to the correlation between scan lines, that is, if the scan lines of adjacent azimuths that pass through a filter curve have an intersection at a distance that is greater than the distance of the filter curve, they are correlated, and point trace condensation can be performed, otherwise no condensation will be performed, and after condensation is completed A dot trace is formed, and the dot trace contains the distance and azimuth information of the sampling point, and the dot trace measurement is performed, namely, the starting distance, the ending distance, the starting azimuth, and the ending azimuth; the target processing refers to the creation, matching, and association of targets to form a stable target based on the correlation between the dot traces, namely, the dot traces in adjacent frame data are correlated if they are adjacent in position; the target position data is obtained based on the first echo signal, and the target position data includes the distance data and azimuth data of the target; the second echo signal is used for target display, and the echo processing is performed before sending to obtain an echo grid mark; the target echo data is obtained based on the target position data and the second echo signal; the target echo data is obtained by adopting the target detection and echo display separation processing and using the target feedback correlation processing method.

[0058] In an optional embodiment, the embodiment of the present invention provides that step 12 may include:

[0059] Step 121, filtering the radar echo signal to obtain a filtered radar echo signal;

[0060] Step 122, performing split processing on the filtered radar echo signal to obtain a first echo signal and a second echo signal.

[0061] In this example, the electromagnetic waves emitted by the radar system will be reflected back after encountering the target, forming radar echo signals. These signals not only contain effective information of the target, such as distance, speed, direction, etc., but may also be mixed with various noises and interferences, such as environmental noise, system internal noise, multipath effects, etc. Therefore, before subsequent signal processing, it is usually necessary to filter the radar echo signal to remove or weaken these unfavorable factors and improve the signal-to-noise ratio and clarity of the signal; the filtered radar echo signal is shunted, that is, the signal is divided into two echo signals with the same frequency, amplitude and phase, namely the first echo signal and the second echo signal.

[0062] In an optional embodiment, the embodiment of the present invention provides that step 13 may include:

[0063] Step 131, obtaining target echo data according to the first echo signal, wherein the target echo data at least includes one or more of a starting distance, an ending distance, a starting azimuth, and an ending azimuth;

[0064] Step 132, obtaining echo length data and echo width data according to the target echo data;

[0065] Step 133, obtaining target grid unit data according to the echo length data and the echo width data, wherein the target grid unit data includes distance data and azimuth data;

[0066] Step 134 , marking the grid unit where the target is located according to the target grid unit data to obtain target position data.

[0067] In this example, the first echo signal, after point trace processing and target processing, forms a stable target, and a grid mark is performed on the stable target; after the scan line is condensed into a point trace to form a target, the target contains radar sampling point information, scan line azimuth information, that is, the starting distance ir in the point trace. start , end distance ir stop 、Starting position is start 、End position is stop According to ir length =ir stop –ir start Get echo length data; according to is width =is stop –is start Get echo width data; where ir length is the echo length data, ir stop is the ending distance, ir start is the starting distance, is width is the echo width data, is stop is the ending position,start is the starting position. start –ir length <ir<ir stop +ir length Get distance data; according to is start –is width <is<is stop +is width Get the direction data; where ir is the distance data and is is the direction data; mark the grid cell where the target is located: TrackFull[is start –is width ][ir start -ir length ]=0X1F;TrackFull[is stop +is width ][ir stop +ir length ]=0X1F, where TrackFull[i][j] is the grid unit, i is the distance unit parameter, and j is the orientation unit parameter.

[0068] In an optional embodiment, the embodiment of the present invention provides that step 14 may include:

[0069] Step 141, obtaining grid unit data where the echo signal is located according to the azimuth data and distance data of the second echo signal;

[0070] Step 142, obtaining echo correlation data according to the grid unit data;

[0071] Step 143, obtaining the echo data of the target according to the echo correlation data.

[0072] In this example, the grid unit where the current echo is located is first calculated and marked. The specific process includes: marking the target grid unit, that is, TrackFull[antenna][range], where antenna is the azimuth of the echo and range is the distance of the echo; marking the lowest bit of this grid unit as 1, that is, TrackFull[antenna][range]|=1(00000001); shifting one bit to the left, that is, TrackFull[antenna][range]<<1(00000010); obtaining the clutter suppression level value; according to the clutter suppression level value, traversing the grid units for marking and related judgment, and obtaining echo correlation data, wherein, when the clutter suppression level value is the first preset value, set n>0, wherein n is the echo correlation data;

[0073] When the clutter suppression level value is the second preset value, if TrackFull[antenna][range]&0X06=0X06, n is accumulated according to the fifth preset value, wherein TrackFull[antenna][range] is grid unit data, antenna is echo azimuth data, and range is echo azimuth distance data;

[0074] When the clutter suppression level value is the third preset value, if TrackFull[antenna][range]&0X0E=0X0E, n is accumulated according to the fifth preset value;

[0075] When the clutter suppression level value is the fourth preset value, if TrackFull[antenna][range]&0X1E=0X1E, n is accumulated according to the fifth preset value.

[0076] When n>0, an echo is sent to obtain the echo data of the target.

[0077] like Figure 2 As shown, a specific embodiment of the target echo data processing method provided by the embodiment of the present invention is:

[0078] Step 1: Obtain radar echo signal.

[0079] Specifically, it includes: setting radar distance and azimuth units according to radar distance and azimuth, wherein the grid unit is TrackFull[i][j], wherein i is a distance unit parameter and j is an azimuth unit parameter;

[0080] Step 2: Process the radar echo signal to obtain a first echo signal and a second echo signal, wherein the first echo signal is used for target tracking and the second echo signal is used for target display.

[0081] Specifically, the method includes dividing the filtered radar echo into two identical signals, wherein the first echo signal is used for target tracking, and the second echo signal is used for target display.

[0082] Step 3: Obtain target position data according to the first echo signal.

[0083] Specifically, it includes: forming a stable target by subjecting the first echo signal to point trace processing and target processing, and performing grid marking on the stable target; wherein, the point trace processing is based on the correlation between scan lines, that is, if the scan lines passing through adjacent azimuths greater than the filter curve have an intersection in distance, they are correlated, and point traces can be condensed, otherwise they are not condensed, and after the condensation is completed, a point trace is formed, and the point trace contains the distance and azimuth information of the sampling point, and point trace measurement is performed, that is, the starting distance, the ending distance, the starting azimuth, and the ending azimuth; the target processing is based on the correlation between point traces, that is, if the point traces in adjacent frame data are adjacent in position, they are correlated, and target creation, matching, and association are performed to form a stable target;

[0084] (1) Calculate the target echo information: After the scan line is condensed into a point trace to form a target, the target contains radar sampling point information, scan line azimuth information, that is, the starting distance ir in the point trace. start , end distance ir stop 、Starting position is start 、End position is stop ;

[0085] (2) Calculate the target echo length and width information: Length: ir length =ir stop -ir start ; Width: is width =is stop -is start ;

[0086] (3) Calculation of target marker grid cell range: Distance: (ir start –ir length ,ir stop +ir length ); direction: (is start –is width , is stop +is width );

[0087] (4) Mark the grid cell where the target is located: TrackFull[is start –is width ][ir start -ir length ]=0X1F;TrackFull[is stop +is width ][ir stop +ir length ] = 0x1F;

[0088] Step 4: The second echo signal is echo processed and echo grid marked before being sent.

[0089] Specifically include:

[0090] (1) Calculate the grid cell where the current echo is located and mark it:

[0091] TrackFull[antenna][range], where antenna is the direction of the echo and range is the distance of the echo; mark the lowest bit of this grid cell as 1, that is: TrackFull[antenna][range]|=1

[0092] (00000001); Shift left one bit, that is: TrackFull[antenna][range]<<1(00000010);

[0093] (2) Determine the echo correlation within the grid unit: Traverse the echo distance unit according to the clutter suppression level (Off / Low / Mid / High) to mark and determine the correlation:

[0094] 1) When the clutter suppression level value is Off, set n>0, where n is the echo correlation data;

[0095] 2) When the clutter suppression level value is Low, three-frame correlation processing is performed, that is, three consecutive frames of the grid unit are marked as 00000110; if TrackFull[antenna][range]&0X06=0X06, n is accumulated by 1, where TrackFull[antenna][range] is the grid unit data, antenna is the echo azimuth data, and range is the echo azimuth distance data;

[0096] 3) When the clutter suppression level value is Mid, four-frame correlation processing is performed, that is, three consecutive frames of the grid unit are marked as 00001110; if TrackFull[antenna][range]&0X0E=0X0E, n is accumulated by 1;

[0097] 4) When the clutter suppression level value is High, five-frame correlation processing is performed, that is, three consecutive frames of the grid unit are marked as 00011110; if TrackFull[antenna][range]&0X1E=0X1E, n is accumulated by 1.

[0098] Step 5, judging the echo sending, that is, judging whether the echo is sent according to the echo correlation count, if n>0, the echo is sent; if n=0, the echo is not sent.

[0099] The target echo data processing method proposed in the present invention effectively extracts target echo data by adopting target detection and echo display separation processing and utilizing a target feedback correlation processing method, thereby improving the integrity of the echo data during the processing.

[0100] like Figure 3 As shown, the embodiment of the present invention further provides a target echo data processing device 30, comprising:

[0101] An acquisition module 31 is used to acquire a radar echo signal;

[0102] A processing module 32, used for processing the radar echo signal to obtain a first echo signal and a second echo signal, wherein the first echo signal is used for target tracking, and the second echo signal is used for target display;

[0103] A first generating module 33, used for obtaining target position data according to the first echo signal;

[0104] The second generating module 34 is used to obtain the echo data of the target according to the target position data and the second echo signal.

[0105] Optionally, the processing module 22 is specifically used for:

[0106] Performing filtering processing on the radar echo signal to obtain a filtered radar echo signal;

[0107] The filtered radar echo signal is split and processed to obtain a first echo signal and a second echo signal.

[0108] Optionally, the first generating module 33 is specifically used for:

[0109] Obtain target echo data according to the first echo signal, wherein the target echo data at least includes one or more of a starting distance, an ending distance, a starting azimuth, and an ending azimuth;

[0110] According to the target echo data, echo length data and echo width data are obtained;

[0111] Obtaining target grid unit data according to the echo length data and the echo width data, wherein the target grid unit data includes distance data and azimuth data;

[0112] According to the target grid unit data, the grid unit where the target is located is marked to obtain the target position data.

[0113] Optionally, obtaining echo length data and echo width data according to the target echo data includes:

[0114] According to ir length=ir stop –ir start Get echo length data;

[0115] According to is width =is stop –is start Get echo width data;

[0116] Among them, ir length is the echo length data, ir stop is the ending distance, ir start is the starting distance, is width is the echo width data, is stop is the ending position, start is the starting position.

[0117] Optionally, obtaining target grid unit range data according to the echo length data and the echo width data, wherein the target grid unit data includes distance data and azimuth data, includes:

[0118] According to ir start –ir length <ir<ir stop +ir length Get distance data;

[0119] According to is start –is width <is<is stop +is width Get position data;

[0120] Among them, ir is the distance data, is is the direction data, and ir length is the echo length data, ir stop is the ending distance, ir start is the starting distance, is width is the echo width data, is stop is the ending position, start is the starting position.

[0121] Optionally, the second generating module 34 is specifically used for:

[0122] Obtaining grid unit data where the echo signal is located according to the azimuth data and distance data of the second echo signal;

[0123] Obtaining echo correlation data according to the grid unit data;

[0124] The echo data of the target is obtained according to the echo correlation data.

[0125] Optionally, obtaining echo correlation data according to the grid unit data includes:

[0126] Get the clutter suppression level value;

[0127] According to the clutter suppression level value, the grid cells are traversed to perform marking and correlation judgment to obtain echo correlation data, where:

[0128] When the clutter suppression level value is the first preset value, it is assumed that n>0, wherein n is the echo correlation data;

[0129] When the clutter suppression level value is the second preset value, if TrackFull[antenna][range]&0X06=0X06, n is accumulated according to the fifth preset value, wherein TrackFull[antenna][range] is grid unit data, antenna is echo azimuth data, and range is echo azimuth distance data;

[0130] When the clutter suppression level value is the third preset value, if TrackFull[antenna][range]&0X0E=0X0E, n is accumulated according to the fifth preset value;

[0131] When the clutter suppression level value is the fourth preset value, if TrackFull[antenna][range]&0X1E=0X1E, n is accumulated according to the fifth preset value.

[0132] Optionally, obtaining the echo data of the target according to the echo correlation data includes:

[0133] When n>0, an echo is sent to obtain the echo data of the target.

[0134] It should be noted that the device is a device corresponding to the above method, and all implementation methods in the above method embodiment are applicable to this embodiment and can achieve the same technical effect.

[0135] like Figure 4 As shown, the embodiment of the present invention further provides a computing device 40, including a processor 41, a memory 42, a program or instruction stored in the memory 42 and executable on the processor 41, and when the program or instruction is executed by the processor 41, each process of the above-mentioned target echo data processing method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it is not repeated here. It should be noted that the computing device in the embodiment of the present invention includes the above-mentioned mobile electronic device and non-mobile electronic device.

[0136] The embodiment of the present invention also provides a computer-readable storage medium storing instructions, which, when executed on a computer, enable the computer to execute the method described above. Each process of the above target echo data processing method embodiment is applicable to this embodiment and can achieve the same technical effect.

[0137] Those skilled 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.

[0138] 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.

[0139] 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 units is only a logical function division, and 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.

[0140] 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.

[0141] 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.

[0142] Stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, 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, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of various embodiments 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.

[0143] 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.

[0144] 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-purpose device. Therefore, the purpose of the present invention can also be achieved by simply providing a program product containing a program code for implementing a method or device. That is to say, such a program product also constitutes the present invention, and a 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.

[0145] The above are preferred embodiments 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 within the scope of protection of the present invention.

Claims

1. A target echo data processing method, characterized in that: include: Acquire radar echo signal; Processing the radar echo signal to obtain a first echo signal and a second echo signal, wherein the first echo signal is used for target tracking and the second echo signal is used for target display; Obtaining target position data according to the first echo signal; Obtaining target echo data according to the target position data and the second echo signal; The radar echo signal is processed to obtain a first echo signal and a second echo signal, including: Performing filtering processing on the radar echo signal to obtain a filtered radar echo signal; Performing split processing on the filtered radar echo signal to obtain a first echo signal and a second echo signal; The first echo signal and the second echo signal have the same frequency, amplitude and phase.

2. The target echo data processing method according to claim 1, characterized in that: Obtaining target position data according to the first echo signal includes: Obtain target echo data according to the first echo signal, wherein the target echo data at least includes one or more of a starting distance, an ending distance, a starting azimuth, and an ending azimuth; According to the target echo data, echo length data and echo width data are obtained; Obtaining target grid unit data according to the echo length data and the echo width data, wherein the target grid unit data includes distance data and azimuth data; According to the target grid unit data, the grid unit where the target is located is marked to obtain the target position data.

3. The target echo data processing method according to claim 2, characterized in that: According to the target echo data, echo length data and echo width data are obtained, including: According to ir length =ir stop –ir start Get echo length data; According to is width =is stop –is start Get echo width data; Among them, ir length is the echo length data, ir stop is the ending distance, ir start is the starting distance, is width is the echo width data, is stop is the ending position, start is the starting position.

4. The target echo data processing method according to claim 3, characterized in that: According to the echo length data and the echo width data, target grid unit range data is obtained, and the target grid unit data includes distance data and azimuth data, including: According to ir start –ir length <ir<ir stop +ir length Get distance data; According to is start –is width <is<is stop +is width Get position data; Among them, ir is the distance data and is is the direction data.

5. The target echo data processing method according to claim 4, characterized in that: Obtaining target echo data according to the target position data and the second echo signal, including: Obtaining grid unit data where the echo signal is located according to the azimuth data and distance data of the second echo signal; Obtaining echo correlation data according to the grid unit data; The echo data of the target is obtained according to the echo correlation data.

6. The target echo data processing method according to claim 5, characterized in that: According to the grid unit data, echo correlation data is obtained, including: Get the clutter suppression level value; According to the clutter suppression level value, the grid cells are traversed to perform marking and correlation judgment to obtain echo correlation data, where: When the clutter suppression level value is the first preset value, set n >0, where n is the echo correlation data; When the clutter suppression level value is the second preset value, if TrackFull[antenna][range] & 0X06 = 0X06, then n Accumulate according to the fifth preset value, where TrackFull[antenna][range] is the grid unit data, antenna is the echo azimuth data, and range is the echo azimuth distance data; When the clutter suppression level value is the third preset value, if TrackFull[antenna][range] &0X0E= 0X0E, then n Accumulate according to the fifth preset value; When the clutter suppression level value is the fourth preset value, if TrackFull[antenna][range] & 0X1E = 0X1E, then n The fifth preset value is accumulated.

7. A target echo data processing device, characterized in that: The device comprises: An acquisition module, used for acquiring radar echo signals; A processing module, used for processing the radar echo signal to obtain a first echo signal and a second echo signal, wherein the first echo signal is used for target tracking and the second echo signal is used for target display; A first generating module, used for obtaining target position data according to the first echo signal; A second generating module, used for obtaining target echo data according to the target position data and the second echo signal; The radar echo signal is processed to obtain a first echo signal and a second echo signal, including: Performing filtering processing on the radar echo signal to obtain a filtered radar echo signal; Performing split processing on the filtered radar echo signal to obtain a first echo signal and a second echo signal; The first echo signal and the second echo signal have the same frequency, amplitude and phase.

8. 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 6 is executed.

9. 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 6.

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