A method, device and equipment for processing radar target information

Abstract

The present invention provides a method, device and equipment for processing radar target information. The method includes: obtaining radar sampling information; the radar sampling information includes at least one scan line marked with sampling points, and each sampling point is marked with a radar signal intensity value; determining filtering curve values at different azimuths and distances according to the radar sampling information; filtering the radar sampling information through the filtering curve values to obtain target traces of the filtered sampling points; weighting and marking the target traces that meet the preset rules in the radar target trace grid unit to obtain a radar target trace grid unit marked with a marking value; adjusting the filtering curve values according to the grid marking values in the radar target trace grid unit; filtering false targets in the radar sampling information according to the adjusted filtering curve values. The solution of the present invention can filter clutter through radar trace statistical information and filter out false targets.

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 target information. Background Art

[0002] The main method for traditional shore-based radar to deal with the problem of forming false targets under high sea state conditions is the parameter filtering method, and clutter is removed through filtering processing according to the parameter filtering method. The parameter filtering method mainly adjusts the sea clutter, rain clutter and radar gain to form a filtering curve for clutter suppression, so as to remove false targets. However, since the parameter filtering method is a global processing, clutter is suppressed in high sea state areas, and real targets will be filtered out in areas with weak clutter. This brings the problem of incomplete filtering of false targets or filtering of real targets, and clutter cannot be effectively filtered. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a method, device and equipment for processing radar target information, which can filter clutter and filter out false targets through radar trace statistical information.

[0004] To solve the above technical problem, the technical solution of the present invention is as follows:

[0005] A method for processing radar target information, comprising:

[0006] Obtaining radar sampling information; the radar sampling information includes: at least one scan line marked with sampling points, and each sampling point is marked with a radar signal intensity value;

[0007] Determining filtering curve values at different azimuths and distances according to the radar sampling information;

[0008] Filtering the radar sampling information through the filtering curve values to obtain target traces of the filtered sampling points;

[0009] Weightedly marking the target traces that meet the preset rules in the radar target trace grid unit to obtain a radar target trace grid unit marked with a marking value;

[0010] Adjusting the filtering curve values according to the grid marking values in the radar target trace grid unit;

[0011] Filtering false targets in the radar sampling information according to the adjusted filtering curve values.

[0012] Optionally, determining filtering curve values at different azimuths and distances according to the radar sampling information includes:

[0013] Determine the initial threshold value at each distance level based on the radar signal intensity value of each sampling point on each scan line in the radar sampling information, and the distance and azimuth information of the sampling point;

[0014] Correct the initial threshold value by distance to obtain the filtering curve values at different azimuths and distances.

[0015] Optionally, filter the radar sampling information through the filtering curve values to obtain the target traces of the filtered sampling points, including:

[0016] Filter the sampling points on the scan line whose intensity values are less than the filtering curve values through the filtering curve values to obtain the filtered sampling points;

[0017] Obtain the target traces according to the filtered sampling points.

[0018] Optionally, weight and mark the target traces that meet the preset rules in the radar target trace grid cells to obtain the radar target trace grid cells marked with mark values, including:

[0019] Determine the target traces with a trace size greater than the first threshold and a trace roundness greater than the second threshold as the target traces to be marked;

[0020] Determine the position information of the target traces to be marked in the radar target trace grid cells;

[0021] According to the position information, perform weighted marking in at least one grid cell of the radar target trace grid cell to obtain the radar target trace grid cell marked with mark values.

[0022] Optionally, determining the position information of the target traces to be marked in the radar target trace grid cells includes:

[0023] Determine the distance information of the target traces to be marked according to the average value of the distance information of the minimum sampling point and the maximum sampling point in the target traces to be marked;

[0024] Determine the azimuth information of the target traces to be marked according to the average value of the azimuth information of the minimum azimuth sampling point and the maximum azimuth sampling point in the target traces to be marked;

[0025] Obtain the position information according to the distance information and the azimuth information.

[0026] Optionally, according to the position information, perform weighted marking in at least one grid cell of the radar target trace grid cell to obtain the radar target trace grid cell marked with mark values, including:

[0027] Perform weighted marking on the target grid cell corresponding to the location information and the relevant grid cells within a certain range around the target grid cell; the grid marking value of the target grid cell is greater than that of the relevant grid cells, and the grid marking value of the relevant grid cells decreases as the distance from the relevant grid cells to the target grid cell increases.

[0028] Optionally, adjusting the filtering curve value according to the grid marking value in the radar target point track grid cell includes:

[0029] When the grid marking value of the grid cell in the radar target point track grid cell is greater than the third threshold, increase the filtering curve values in the distance and azimuth corresponding to the grid cells greater than the third threshold.

[0030] The present invention also provides a radar target information processing device, including:

[0031] An acquisition module for acquiring radar sampling information; the radar sampling information includes at least one scan line marked with sampling points, and each sampling point is marked with a radar signal intensity value;

[0032] A processing module for determining filtering curve values at different azimuths and distances according to the radar sampling information; filtering the radar sampling information through the filtering curve values to obtain target point tracks of the filtered sampling points; performing weighted marking on the target point tracks that meet the preset rules in the radar target point track grid cell to obtain a radar target point track grid cell marked with a marking value; adjusting the filtering curve value according to the grid marking value in the radar target point track grid cell; filtering false targets in the radar sampling information according to the adjusted filtering curve value.

[0033] The present invention also provides a computing device, including: a processor and a memory storing a computer program, and when the computer program is run by the processor, the method as described above is executed.

[0034] The present invention also provides a computer-readable storage medium storing instructions, and when the instructions are run on a computer, the computer is made to execute the method as described above.

[0035] The above solution of the present invention has at least the following beneficial effects:

[0036] In the above solution of the present invention, radar sampling information is obtained; the radar sampling information includes: at least one scan line marked with sampling points, and each sampling point is marked with a radar signal intensity value; according to the radar sampling information, filtering curve values at different azimuths and distances are determined; through the filtering curve values, the radar sampling information is filtered to obtain target traces of the filtered sampling points; target traces meeting preset rules are weighted and marked in a radar target trace grid unit to obtain a radar target trace grid unit marked with a marking value; according to the grid marking value in the radar target trace grid unit, the filtering curve values are adjusted; according to the adjusted filtering curve values, false targets in the radar sampling information are filtered. Clutter can be filtered through radar trace statistical information, and false targets can be filtered out. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 is a schematic flowchart of a method for processing radar target information according to an embodiment of the present invention;

[0038] Figure 2 is a schematic diagram of grid marking values in a radar target trace grid unit of a method for processing radar target information according to an embodiment of the present invention;

[0039] Figure 3 is a schematic diagram of the process of a method for processing radar target information according to an embodiment of the present invention;

[0040] Figure 4 is a structural diagram of a device for processing radar target information according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0041] Hereinafter, exemplary embodiments of the present invention will be described in more detail with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present invention can be more thoroughly understood and the scope of the present invention can be fully conveyed to those skilled in the art.

[0042] As Figure 1 shown, an embodiment of the present invention provides a method for processing radar target information, including:

[0043] Step 11, obtaining radar sampling information; the radar sampling information includes: at least one scan line marked with sampling points, and each sampling point is marked with a radar signal intensity value;

[0044] Here, a shore-based radar scans the sea conditions to obtain radar sampling information. The radar sampling information includes sweep and range, where sweep is the number of the radar scan line and range is the number of the sampling point on the radar scan line.

[0045] Step 12: Determine the filtering curve values at different azimuths and distances according to the radar sampling information;

[0046] Here, the filtering curve value is expressed as Thr[Bearing][Range], where Thr is the filtering curve value, Bearing is the azimuth, and Range is the distance. The filtering curve value changes with the distance and azimuth of the sampling points. The distance of the sampling point is related to which one the sampling point on the scan line in the radar sampling information is, and the azimuth of the sampling point is related to which scan line the sampling point is on in the radar sampling information.

[0047] Step 13: Filter the radar sampling information through the filtering curve value to obtain the target traces of the filtered sampling points;

[0048] Here, some sampling points with small radar signal intensity values in the radar sampling information are filtered according to the filtering curve value.

[0049] Step 14: Weight and mark the target traces that meet the preset rules in the radar target trace grid cells to obtain the radar target trace grid cells marked with mark values;

[0050] Here, a radar target trace grid cell SumSpotsAreaxAreaVAN is established, and the two coordinates of the grid cell are the azimuth Bearing and the distance Range. The mark value represents the number of targets scanned by the radar at this distance and azimuth. A large intensity value indicates that the targets are dense in this area.

[0051] Step 15: Adjust the filtering curve value according to the grid mark value in the radar target trace grid cell;

[0052] Here, when the grid mark value is greater than a certain set value, the filtering curve value at this distance and azimuth is increased, so that the increased filtering curve value can filter out more targets.

[0053] Step 16: Filter the false targets in the radar sampling information according to the adjusted filtering curve value.

[0054] In this embodiment, a false target processing technology based on radar target trace statistics is invented. This technology uses radar target trace statistical information to realize the calibration of false target areas, and realizes directional clutter suppression according to the calibrated areas, so as to realize false target filtering. It solves the problem that the parameter filtering method in the prior art will filter out real targets in areas with weak clutter.

[0055] In an optional embodiment of the present invention, step 12 may include:

[0056] Step 121, determining an initialization threshold value at each distance level according to the radar signal strength value of each sampling point on each scanning line in the radar sampling information, and the distance and azimuth information of the sampling point;

[0057] Here, the radar signal strength value is expressed as Sweep[Bearing][Range], and its value range is 0-255; the bearing information of the sampling point is Bearing, and its value range is 1-4096; the distance information of the sampling point is Range, that is, the sampling point is the nth sampling point on a scan line, and its value range is 1-max.

[0058] The initialization threshold value is graded according to the distance, that is, the initialization threshold values ​​of each azimuth sampling point at the same distance are equal. The calculation method of the initialization threshold value is as follows:

[0059] Thr[Bearing][1]=(Sweep[1][1]+Sweep[2][1]+…+Sweep

[4096] [1]) / 4096;

[0060] Thr[Bearing][2]=(Sweep[1][2]+Sweep[2][2]+…+Sweep

[4096] [2]) / 4096;

[0061] …

[0062] Thr[Bearing][max]=(Sweep[1][max]+Sweep[2][max]+…+Sweep

[4096] [max]) / 4096;

[0063] Where Thr[Bearing][1] represents the initialization threshold value of the sampling point at a distance of 1, which is equal to the sum of the radar signal strength values ​​of the sampling points at each azimuth at a distance of 1 divided by 4096. The calculation method of the initialization threshold values ​​at other distances is similar. Where max represents the farthest radar sampling point, and Bearing is 1-4096.

[0064] Step 122: Correct the initialization threshold value by distance to obtain filtering curve values ​​at different directions and distances.

[0065] Here, the formula for correcting the initialization threshold value by distance is Thr[Bearing][Range]=Thr[Bearing][Range]*(1-Range / max)*a, where a is a distance correction coefficient, and its value can be adjusted.

[0066] In an alternative embodiment of the present invention, step 13 may include:

[0067] Step 131, filtering the sampling points on the scan line whose intensity values are less than the filtering curve value through the filtering curve value to obtain the filtered sampling points;

[0068] Step 132, obtaining the target trace according to the filtered sampling points.

[0069] In this embodiment, the radar signal intensity value (Sweep[Bearing][Range]) of the sampling point is compared with the filtering curve value (Thr[Bearing][Range]) one by one. If the radar signal intensity value is less than the filtering curve value, it is filtered out; if it is greater, it is retained. It can be understood that the filtering curve value compared with the radar signal intensity value of the sampling point is the filtering curve value at the distance and azimuth corresponding to the distance and azimuth of the sampling point.

[0070] In an alternative embodiment of the present invention, step 14 may include:

[0071] Step 141, determining the target trace with a trace size greater than the first threshold and a trace roundness greater than the second threshold as the trace to be marked;

[0072] Here, the size and roundness of the target trace are calculated, and a new target is created for the target trace whose size and roundness meet the requirements. The trace size Size = Width * Length, where Width is the width of the echo, i.e., the number of scan lines in the trace condensation, and Length is the length of the trace, i.e., the maximum width value of the scan line sampling points in the trace condensation; the trace roundness Round = Length / Width.

[0073] When the trace size Size > SizeValue and the trace roundness Round > RoundValue, the trace is determined as the trace to be marked. Where SizeValue is the first threshold and RoundValue is the second threshold.

[0074] Step 142, determining the position information of the trace to be marked in the radar target trace grid unit;

[0075] Here, step 142 may specifically include:

[0076] Step 1421, determining the distance information of the trace to be marked according to the average value of the distance information of the minimum sampling point and the maximum sampling point in the trace to be marked;

[0077] That is, R = (Rmin + Rmax) / 2, where Rmin is the minimum sampling point in the trace, Rmax is the maximum sampling point, and R is the distance information of the trace to be marked.

[0078] Step 1422: Determine the azimuth information of the to-be-labeled trace according to the average value of the azimuth information of the minimum azimuth sampling point and the maximum azimuth sampling point in the to-be-labeled trace;

[0079] That is, B = (Bmin + Bmax) / 2, where Bmin is the minimum azimuth in the trace, Bmax is the maximum azimuth, and B is the azimuth information of the to-be-labeled trace.

[0080] Step 1423: Obtain the position information according to the distance information and the azimuth information.

[0081] Determine the ordinate of the to-be-labeled trace according to the distance information, and determine the abscissa of the to-be-labeled trace according to the azimuth information.

[0082] Step 143: Perform weighted marking in at least one grid cell of the radar target trace grid cell according to the position information, and obtain the radar target trace grid cell calibrated with a marked value.

[0083] Here, step 143 may specifically include:

[0084] Step 1431: Perform weighted marking in the target grid cell corresponding to the position information and the related grid cells within a certain range around the target grid cell; the grid mark value of the target grid cell is greater than the grid mark value of the related grid cells, and the grid mark value of the related grid cells decreases as the distance between the related grid cells and the target grid cell increases.

[0085] Here, as Figure 2 shown, perform weighted marking in the radar target trace grid cell. Preferably, assign certain grid mark values to the related grid cells within the range of 9*9 around the target grid cell. The grid mark value is increased by a certain amplitude on the basis of the original mark value of the grid cell. The preferred increase amplitude is 5 for the target grid cell, and the grid mark values of other related grid cells decrease by 1 on the basis of 5 as the distance increases by one circle. Its formula expression is as follows:

[0086] SumSpotsAreaxAreaVAN[B - 4][R - 4]++

[0087] …

[0088] SumSpotsAreaxAreaVAN[B][R]++5

[0089] …

[0090] SumSpotsAreaxAreaVAN[B + 4][R + 4]++

[0091] Among them, ++ means that the grid mark value is incremented by 1 on the original basis, [B] is the azimuth of the point track to be marked, and [R] is the distance of the point track to be marked.

[0092] In an optional embodiment of the present invention, step 15 may include:

[0093] Step 151, when the grid mark value of the grid cell in the radar target point track grid cell is greater than the third threshold, increase the filtering curve value at the distance and azimuth corresponding to the grid cell greater than the third threshold.

[0094] In this embodiment, when SumSpotsAreaxAreaVAN[B][R]>VANThr, the filtering curve value at this distance and azimuth is increased. Where B is the azimuth, R is the distance, and VANThr is the third threshold. The increase amplitude of the filtering curve value is delta, and delta can be adjusted according to actual needs. The adjustment formula of the filtering curve value is Thr[B][R] = Thr[B][R] + delta.

[0095] As Figure 3 shown, in the above method of the present invention, first, a radar target point track grid cell SumSpotsAreaxAreaVAN is established according to the distance and azimuth of the sampling points. Then, the sampling points collected by the radar are filtered according to the set filtering curve value, and the target point track is obtained according to the filtered sampling points. The target point tracks that meet the requirements in terms of size and roundness are marked in the radar target point track grid cell, and at the same time, the mark value information of the grid cell is marked to represent the target density at this distance and azimuth. When the mark value of the grid cell is greater than the third threshold, the filtering curve value at the distance and azimuth corresponding to the grid cell greater than the third threshold rises adaptively. The risen filtering curve value can filter out the false targets at this distance and azimuth.

[0096] The above method of the present invention can automatically suppress false targets according to different sea condition information, perform clutter suppression in a fixed area for high sea condition areas, and filter out false targets.

[0097] As Figure 4 shown, an embodiment of the present invention further provides a radar target information processing device 40, including:

[0098] An acquisition module 41, configured to acquire radar sampling information; the radar sampling information includes: at least one scan line marked with sampling points, and each sampling point is marked with a radar signal intensity value;

[0099] A processing module 42 is configured to determine filtering curve values at different azimuths and distances according to the radar sampling information; filter the radar sampling information through the filtering curve values to obtain target traces of the filtered sampling points; weight and mark the target traces that meet the preset rules in the radar target trace grid cells to obtain radar target trace grid cells marked with marking values; adjust the filtering curve values according to the grid marking values in the radar target trace grid cells; and filter false targets in the radar sampling information according to the adjusted filtering curve values.

[0100] Optionally, determining filtering curve values at different azimuths and distances according to the radar sampling information includes:

[0101] Determining an initial threshold value at each distance level according to the radar signal intensity value of each sampling point on each scan line in the radar sampling information, and the distance and azimuth information of the sampling point;

[0102] Calibrating the initial threshold value by distance to obtain filtering curve values at different azimuths and distances.

[0103] Optionally, filtering the radar sampling information through the filtering curve values to obtain target traces of the filtered sampling points includes:

[0104] Filtering the sampling points on the scan line whose intensity values are less than the filtering curve values through the filtering curve values to obtain filtered sampling points;

[0105] Obtaining target traces according to the filtered sampling points.

[0106] Optionally, weighting and marking the target traces that meet the preset rules in the radar target trace grid cells to obtain radar target trace grid cells marked with marking values includes:

[0107] Determining target traces with a trace size greater than a first threshold and a trace roundness greater than a second threshold as the target traces to be marked;

[0108] Determining the position information of the target traces to be marked in the radar target trace grid cells;

[0109] According to the position information, performing weighted marking in at least one grid cell of the radar target trace grid cells to obtain radar target trace grid cells marked with marking values.

[0110] Optionally, determining the position information of the target traces to be marked in the radar target trace grid cells includes:

[0111] Determine the distance information of the to-be-labeled point track according to the average value of the distance information between the minimum sampling point and the maximum sampling point in the to-be-labeled point track;

[0112] Determine the azimuth information of the to-be-labeled point track according to the average value of the azimuth information between the minimum azimuth sampling point and the maximum azimuth sampling point in the to-be-labeled point track;

[0113] Obtain the position information according to the distance information and the azimuth information.

[0114] Optionally, according to the position information, perform weighted labeling in at least one grid cell of the radar target point track grid cell to obtain a radar target point track grid cell calibrated with a label value, including:

[0115] According to the position information, perform weighted labeling in the target grid cell corresponding to the position information and the relevant grid cells within a certain range around the target grid cell; the grid label value of the target grid cell is greater than the grid label value of the relevant grid cells, and the grid label value of the relevant grid cells decreases as the distance between the relevant grid cells and the target grid cell increases.

[0116] Optionally, adjust the filter curve value according to the grid label value in the radar target point track grid cell, including:

[0117] When the grid label value of the grid cell in the radar target point track grid cell is greater than the third threshold, increase the filter curve values in the distance and azimuth corresponding to the grid cells greater than the third threshold.

[0118] It should be noted that this device corresponds to the above method, and all implementation manners in the above method embodiments are applicable to the embodiments of this device and can also achieve the same technical effects.

[0119] An embodiment of the present invention further provides a computing device, including: a processor and a memory storing a computer program. When the computer program is run by the processor, it executes the method as described above. All implementation manners in the above method embodiments are applicable to this embodiment and can also achieve the same technical effects.

[0120] An embodiment of the present invention further provides a computer-readable storage medium storing instructions. When the instructions are run on a computer, the computer is made to execute the method as described above. All implementation manners in the above method embodiments are applicable to this embodiment and can also achieve the same technical effects.

[0121] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professionals can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0122] Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0123] 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 merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, 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 displayed or discussed couplings, direct couplings, or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of the devices or units can be electrical, mechanical, or other forms.

[0124] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0125] In addition, the functional units in various embodiments of the present invention can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit.

[0126] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes various media such as USB flash drives, mobile hard disks, ROM, RAM, magnetic disks, or optical discs that can store program codes.

[0127] In addition, it should be noted that in the device and method of the present invention, obviously, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent solutions of the present invention. Moreover, the steps of performing the above series of processes can naturally be executed in chronological order according to the described order, but it is not necessary to be executed in chronological order. Some steps can be executed in parallel or independently of each other. For those of ordinary skill in the art, it is understandable that all or any steps or components of the method and device of the present invention can be implemented in any computing device (including processors, storage media, etc.) or a network of computing devices in the form of 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.

[0128] Therefore, the object of the present invention can also be achieved by running a program or a set of programs on any computing device. The computing device can be a well-known general-purpose device. Therefore, the object of the present invention can also be achieved only by providing a program product containing program codes for implementing the 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 noted that in the device and method of the present invention, obviously, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent solutions of the present invention. Moreover, the steps of performing the above series of processes can naturally be executed in chronological order according to the described order, but it is not necessary to be executed in chronological order. Some steps can be executed in parallel or independently of each other.

[0129] The above is the preferred embodiment of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the principle described in the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A radar target information processing method, characterized in that: include: Obtain radar sampling information; The radar sampling information includes: at least one scan line marked with sampling points, wherein each sampling point is marked with a radar signal strength value; Determining filtering curve values ​​at different azimuths and distances according to the radar sampling information; The radar sampling information is filtered by the filtering curve value to obtain the target point trace of the filtered sampling point; The target point traces that meet the preset rules are weighted marked in the radar target point trace grid unit to obtain the radar target point trace grid unit calibrated with the marking value; Adjusting the filter curve value according to the grid mark value in the radar target point trace grid unit; According to the adjusted filter curve value, the false targets in the radar sampling information are filtered; The target point traces that meet the preset rules are weighted marked in the radar target point trace grid unit to obtain the radar target point trace grid unit calibrated with the marking value, including: The target point whose size is greater than the first threshold and whose roundness is greater than the second threshold is determined as the point to be marked; Determine the position information of the point trace to be marked in the radar target point trace grid unit; According to the position information, weighted marking is performed in at least one of the radar target point trace grid units to obtain a radar target point trace grid unit calibrated with a marking value; According to the position information, weighted marking is performed in at least one grid unit of the radar target point trace grid unit to obtain a radar target point trace grid unit calibrated with a marking value, including: According to the location information, weighted marking is performed in the target grid cell corresponding to the location information and the related grid cells within a certain range around the target grid cell; the grid marking value of the target grid cell is greater than the grid marking value of the related grid cell, and the grid marking value of the related grid cell decreases as the distance between the related grid cell and the target grid cell increases.

2. The radar target information processing method according to claim 1, characterized in that: Determining filtering curve values ​​at different azimuths and distances according to the radar sampling information includes: Determine an initialization threshold value at each distance level according to the radar signal strength value of each sampling point on each scanning line in the radar sampling information, and the distance and azimuth information of the sampling point; The initialization threshold value is corrected by the distance to obtain the filtering curve values ​​at different directions and distances.

3. The radar target information processing method according to claim 1, characterized in that: The radar sampling information is filtered by the filtering curve value to obtain the target point trace of the filtered sampling point, including: By using the filtering curve value, filtering the sampling points on the scanning line whose intensity values ​​are less than the filtering curve value, to obtain filtered sampling points; The target point trace is obtained according to the filtered sampling points.

4. The radar target information processing method according to claim 1, characterized in that: Determining the position information of the point trace to be marked in the radar target point trace grid unit includes: Determine the distance information of the point to be marked according to the average value of the distance information of the minimum distance sampling point and the maximum distance sampling point in the point to be marked; Determine the azimuth information of the point to be marked according to the average value of the azimuth information of the minimum azimuth sampling point and the maximum azimuth sampling point in the point to be marked; The position information is obtained according to the distance information of the point to be marked and the orientation information of the point to be marked.

5. The radar target information processing method according to claim 1, characterized in that: According to the grid mark value in the radar target point trace grid unit, adjusting the filter curve value includes: When the grid mark value of the grid cell in the radar target point trace grid cell is greater than the third threshold, the filtering curve value on the distance and azimuth corresponding to the grid cell greater than the third threshold is increased.

6. A radar target information processing device, characterized in that: include: An acquisition module is used to obtain radar sampling information; The radar sampling information includes: at least one scan line marked with sampling points, wherein each sampling point is marked with a radar signal strength value; A processing module is used to determine the filter curve value at different azimuths and distances according to the radar sampling information; filter the radar sampling information by the filter curve value to obtain the target point traces of the filtered sampling points; weightedly mark the target point traces that meet the preset rules in the radar target point trace grid unit to obtain the radar target point trace grid unit calibrated with the mark value; adjust the filter curve value according to the grid mark value in the radar target point trace grid unit; filter the false targets in the radar sampling information according to the adjusted filter curve value; The target point traces that meet the preset rules are weighted marked in the radar target point trace grid unit to obtain the radar target point trace grid unit calibrated with the marking value, including: The target point whose size is greater than the first threshold and whose roundness is greater than the second threshold is determined as the point to be marked; Determine the position information of the point trace to be marked in the radar target point trace grid unit; According to the position information, weighted marking is performed in at least one of the radar target point trace grid units to obtain a radar target point trace grid unit calibrated with a marking value; According to the position information, weighted marking is performed in at least one grid unit of the radar target point trace grid unit to obtain a radar target point trace grid unit calibrated with a marking value, including: According to the location information, weighted marking is performed in the target grid cell corresponding to the location information and the related grid cells within a certain range around the target grid cell; the grid marking value of the target grid cell is greater than the grid marking value of the related grid cell, and the grid marking value of the related grid cell decreases as the distance between the related grid cell and the target grid cell increases.

7. 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 5 is performed.

8. 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 5.

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