Ground feature recognition method based on dynamic updating mechanism

Abstract

The invention discloses a ground feature recognition method based on a dynamic updating mechanism, relates to the field of meteorological radars, and considers the echo feature difference of a ground feature target and a meteorological target and the continuity changing along with time. The echo intensity and the echo speed of each scanning position in the current scanning process are calculated according to echo signals obtained in the current scanning process, and the echo intensity characteristics and the echo speed characteristics of the scanning positions are obtained by combining the echo intensity and the echo speed of the scanning positions in the historical multiple scanning processes; the scanning position belonging to the ground object target is identified by combining the two characteristics of speed and intensity, the clutter map is dynamically iterated and updated along with the scanning process, and the clutter map updated along with time change can continuously improve the condition of updating the ground object target, so that the related information of the ground object target is more completely and accurately indicated, and the method is easy to implement, simple, efficient and suitable for popularization and application. And the robustness of weather radar identification and ground clutter suppression can be improved.

Description

Technical Field

[0001] The present application relates to the field of meteorological radar, and in particular to a method for identifying ground objects based on a dynamic update mechanism. Background Art

[0002] Meteorological radar is the main tool for monitoring and warning severe convective weather, and plays an important role in modern meteorological services. When monitoring meteorological targets, the returned signals of meteorological radar are often accompanied by ground objects such as mountains, buildings, and trees. These ground objects have a negative impact on the detection of meteorological radar, seriously affecting the detection precision and accuracy of meteorological radar. Ground objects will block the propagation path of radar waves, resulting in the inability of radar waves to penetrate dense areas of mountains and buildings. The blocking of radar waves by ground objects is particularly obvious. At the same time, ground objects will form false meteorological targets in data products, which makes it difficult to analyze meteorological radar data. Therefore, effectively identifying ground objects and eliminating ground object targets has a very important impact on optimizing the detection performance of meteorological radar.

[0003] In recent years, meteorological radar scholars have proposed a variety of algorithms for identifying ground objects. For example, the quality control algorithm based on neural networks identifies ground objects by calculating the average probability of each area. Another example is to use correlation coefficient filters to generate decision trees to identify ground objects. Another example is to use fuzzy theory to fuzzify data for ground object identification. Although these methods can also effectively identify ground objects, they are more inclined to the back end, with poor real-time processing performance, and the calculation process of these methods is too complicated and slow, and their engineering applicability is poor. Summary of the invention

[0004] In view of the above problems and technical requirements, this application proposes a method for identifying ground objects based on a dynamic update mechanism. The technical solution of this application is as follows:

[0005] A method for identifying a ground object based on a dynamic update mechanism, the method comprising:

[0006] Acquire echo signals at different scanning positions obtained by the meteorological radar in a scanning process of performing one scanning on the scanning area, and calculate the echo strength and echo speed of the different scanning positions in the current scanning process according to the echo signals;

[0007] According to the echo intensity and echo velocity of each scanning position in the current scanning process, combined with the echo intensity and echo velocity of the scanning position in multiple historical scanning processes, the echo intensity feature and echo velocity feature of the scanning position are obtained;

[0008] When it is determined that the echo characteristics of the scanning position meet the ground object characteristics according to the echo intensity characteristics and echo velocity characteristics of each scanning position, it is determined that the scanning position belongs to the ground object target and the clutter map is updated using the echo intensity and echo velocity of the scanning position in the current scanning process. The clutter map indicates the scanning positions covered by the ground object targets in the scanning area.

[0009] A further technical solution is that the ground object recognition method further includes:

[0010] For each scanning position, when it is determined that the degree of echo intensity change at the scanning position is in a stable state according to the echo intensity characteristics of the scanning position, and when it is determined that the echo velocity value at the scanning position does not exceed a predetermined range and the degree of echo velocity change is in a stable state according to the echo velocity characteristics of the scanning position, it is determined that the echo characteristics of the scanning position meet the terrain characteristics; otherwise, it is determined that the echo characteristics of the scanning position do not meet the terrain characteristics.

[0011] A further technical solution is to obtain the echo intensity characteristics and echo velocity characteristics of any scanning position including:

[0012] Calculate the mean and standard deviation of the echo intensity of the scanning position in the current scanning process and the echo intensity of multiple historical scanning processes respectively, and obtain the intensity mean and intensity standard deviation of the scanning position;

[0013] The mean and standard deviation of the echo velocity of the scanning position in the current scanning process and the echo velocity of multiple historical scanning processes are calculated respectively to obtain the velocity mean and velocity standard deviation of the scanning position.

[0014] A further technical solution is that the method for identifying ground objects further comprises, for any scanning position:

[0015] When scanning the position When determining that the echo intensity variation degree at the scanning position is in a stable state, Pstd is the intensity standard deviation at the scanning position, PMean is the intensity mean at the scanning position, and th1 is the first threshold;

[0016] When |VMean| at the scanning position is less than th2, it is determined that the echo velocity value at the scanning position does not exceed a predetermined range, VMean is the velocity mean at the scanning position, and th2 is a second threshold;

[0017] When VStd<th3 at the scanning position, it is determined that the echo velocity variation degree at the scanning position is in a stable state, VStd is the velocity standard deviation at the scanning position, and th3 is the third threshold value.

[0018] A further technical solution is that the ground feature identification method further includes: saving the clutter map each time the weather radar is turned off; reading the saved clutter map each time the weather radar is started and dynamically updating the clutter map during the scanning process.

[0019] A further technical solution is that the ground object recognition method further includes:

[0020] When the weather radar does not read the saved clutter map when it is started, after the weather radar is started and the initialization scanning process is continuously performed for a predetermined number of times, the clutter map is initialized according to the echo signals obtained during the predetermined number of initialization scanning processes, and the clutter map is dynamically updated during the subsequent scanning processes.

[0021] A further technical solution is that initializing the clutter map according to the echo signals obtained during the predetermined number of initialization scans includes:

[0022] Calculate the average value of the echo intensity of each scanning position during the initialization scanning process of a predetermined number of times as the initial value of the clutter intensity of the scanning position, and initialize to obtain the intensity clutter map ClutMapPow, the intensity clutter map ClutMapPow indicating the clutter intensity of each scanning position covered by the ground object target;

[0023] The average value of the echo velocity of each scanning position during the predetermined number of initialization scanning processes is calculated as the initial value of the clutter velocity of the scanning position, and a velocity clutter map ClutMapVel is initialized to obtain the velocity clutter map ClutMapVel indicating the clutter velocity of each scanning position covered by the ground object target.

[0024] A further technical solution is to update the clutter map using the echo intensity and echo velocity of the scanning position in the current scanning process, including:

[0025] According to the echo intensity Powtdb of each scanning position in the current scanning process, the clutter intensity ClutPow of the scanning position is updated according to ClutPow=(1-Weight)ClutPow+Weight×Powtdb to obtain an updated intensity clutter map ClutMapPow;

[0026] According to the echo velocity Vel of each scanning position in the current scanning process, the clutter velocity ClutVel of the scanning position is updated according to ClutVel=(1-Weight)ClutMapVel+Weight×Vel to obtain an updated velocity clutter map ClutMapVel;

[0027] Wherein, Weight is the weight, and Weight<1-Weight.

[0028] A further technical solution is that the echo strength of different scanning positions in the current scanning process is calculated according to the echo signal, including:

[0029] The echo intensity Powtdb of any scanning position in the current scanning process is calculated according to Powtdb=10log[R0], where R0 is the echo power at the scanning position and s m It is the echo signal at any mth pulse repetition period at the scanning position, and M is the number of pulse repetition periods of the weather radar.

[0030] A further technical solution is that the echo speeds of different scanning positions in the current scanning process are calculated according to the echo signal, including:

[0031] according to The echo velocity Vel at any scanning position in the current scanning process is calculated, where R1 is the first-order autocorrelation function of the echo signal at the scanning position and s m is the echo signal at any mth pulse repetition period at the scanning position, M is the number of pulse repetition periods of the weather radar, λ is the wavelength of the weather radar, T r is the pulse repetition time of the weather radar.

[0032] The beneficial technical effects of this application are:

[0033] The present application discloses a ground object recognition method based on a dynamic update mechanism. The ground object recognition method considers the difference in echo characteristics between ground object targets and meteorological targets and their continuity over time, extracts echo intensity characteristics and echo velocity characteristics of each scanning position by combining data of the current scanning process and multiple historical scanning processes, integrates the two characteristics of speed and intensity to identify the scanning position belonging to the ground object target, and dynamically iterates and updates the clutter map as the scanning process progresses. The clutter map updated over time can continuously improve and update the situation of the ground object target, thereby indicating the relevant information of the ground object target more completely and accurately. The method is easy to implement, simple and efficient, and helps to improve the robustness of meteorological radar in identifying and suppressing ground object clutter.

[0034] In the ground feature recognition method, each time the weather radar is turned on, it is iterated based on the clutter map when it was turned off last time, and the clutter map is saved when it is turned off for continued iteration after the next startup. After a long period of continuous updating and iteration, a more accurate clutter map can be obtained. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a method flow chart of a method for identifying a ground object according to an embodiment of the present application.

[0036] Figure 2It is a schematic diagram of the working process of the weather radar in one embodiment of the present application.

[0037] Figure 3 The figure is a schematic diagram of the intensity clutter map obtained by initialization after the weather radar performs two initialization scanning processes after startup in a simulation example.

[0038] Figure 4 yes Figure 3 A schematic diagram of an intensity clutter map updated after the sixth scanning process of the weather radar after startup in the simulation example shown.

[0039] Figure 5 is Figure 3 After adding a meteorological target in the simulation example shown, a schematic diagram of the intensity clutter map updated after the 16th scanning process after the meteorological radar is started is shown. DETAILED DESCRIPTION

[0040] The specific implementation of the present application is further described below in conjunction with the accompanying drawings.

[0041] This application discloses a method for identifying ground objects based on a dynamic update mechanism. Please refer to Figure 1 The flowchart shown in the figure shows that the method for identifying objects includes the following steps:

[0042] Step 1: Acquire echo signals at different scanning positions obtained by a meteorological radar performing a scanning process on a scanning area, and calculate the echo intensity and echo speed of different scanning positions in the current scanning process according to the echo signals.

[0043] For any scanning position in the scanning area, the method for calculating the echo intensity and echo velocity of the scanning position in the current scanning process includes:

[0044] (1) Echo strength

[0045] The echo intensity Powtdb of the scanning position in the current scanning process is calculated according to the following formula:

[0046]

[0047] Where R0 is the echo power at the scanning position, s m It is the echo signal at any mth pulse repetition period at the scanning position, and M is the number of pulse repetition periods of the weather radar.

[0048] (2) Echo velocity

[0049] The echo velocity Vel of the scanning position in the current scanning process is calculated according to the following formula:

[0050]

[0051] Where R1 is the first-order autocorrelation function of the echo signal at the scanning position. m * is the echo signal s at any mth pulse repetition period at the scanning position m The conjugate result of λ is the wavelength of the weather radar, T r is the pulse repetition time of the weather radar.

[0052] Generally, weather radars scan in a circular scanning manner, and one circle of the weather radar can be regarded as one scanning process.

[0053] Step 2: according to the echo intensity and echo velocity of each scanning position in the current scanning process, combined with the echo intensity and echo velocity of the scanning position in the recent continuous historical scanning processes before the current scanning process, the echo intensity feature and echo velocity feature of the scanning position are obtained.

[0054] The echo intensity characteristics at each scanning position include the intensity mean PMean and the intensity standard deviation Pstd at the scanning position. The echo intensity characteristics of any scanning position include: calculating the mean and standard deviation of the echo intensity of the scanning position in the current scanning process and the echo intensity of multiple historical scanning processes, respectively, to obtain the intensity mean PMean and the intensity standard deviation Pstd of the scanning position.

[0055] The echo velocity characteristics at each scanning position include the velocity mean VMean and velocity standard deviation VStd at the scanning position. The echo velocity characteristics of any scanning position include: calculating the mean and standard deviation of the echo velocity of the scanning position in the current scanning process and the echo velocity of multiple historical scanning processes, respectively, to obtain the velocity mean VMean and velocity standard deviation VStd of the scanning position.

[0056] In the above process, the specific number of historical multiple scanning processes can be customized, or all scanning processes performed after the weather radar is started can be included.

[0057] Step 3: When it is determined that the echo characteristics of the scanning position meet the ground object characteristics according to the echo intensity characteristics and echo velocity characteristics of each scanning position, the scanning position is determined to belong to the ground object target and the clutter map is updated using the echo intensity and echo velocity of the scanning position in the current scanning process. The clutter map indicates the scanning positions covered by the ground object targets in the scanning area.

[0058] There are obvious characteristic differences between meteorological targets and ground objects: the position of ground objects is relatively fixed, while the position of meteorological targets is not fixed. In addition, the speed of ground objects is relatively small, while the speed of meteorological targets is relatively large and the speed difference is relatively large. In addition, when there is no meteorological target, the intensity change of ground objects is relatively small, while when the meteorological target passes by the ground object, its intensity difference will change significantly. Based on the combination of the two characteristics of speed change and intensity change, the echo that meets the requirements of small speed, small change amplitude and small intensity change can be judged as belonging to the ground object target. Therefore, for each scanning position, when it is determined that the echo intensity change degree at the scanning position is in a stable state according to the echo intensity characteristics of the scanning position, and when it is determined that the echo velocity value at the scanning position does not exceed the predetermined range and the echo velocity change degree is in a stable state according to the echo velocity characteristics of the scanning position, it can be determined that the echo characteristics of the scanning position meet the ground object characteristics, otherwise it is determined that the echo characteristics of the scanning position do not meet the ground object characteristics.

[0059] Based on the data content of the echo intensity characteristics and echo velocity characteristics of each scanning position, considering that the meteorological target is irregular and its intensity mean is always changing during the movement, the coefficient of variation obtained by calculating the ratio of the intensity standard deviation Pstd and the intensity mean PMean can effectively distinguish meteorological targets from ground objects. The speed of meteorological targets often exists in positive and negative forms in radar echoes, and the speed of meteorological targets is larger, while the speed of ground objects is smaller. Therefore, the velocity mean VMean and velocity standard deviation VStd can be used for effective distinction. The following method is used to determine whether the echo characteristics of any scanning position meet the ground object characteristics:

[0060] (1) When scanning position When determining that the echo intensity variation degree at the scanning position is in a stable state, th1 is the first threshold value which can be set by a user.

[0061] (2) When |VMean| at the scanning position is less than th2, it is determined that the echo velocity value at the scanning position does not exceed a predetermined range, and th2 is a second threshold value that can be set by user.

[0062] (3) When VStd at the scanning position is less than th3, it is determined that the echo velocity variation degree at the scanning position is in a stable state. th3 is a third threshold value that can be set by user.

[0063] When the echo intensity characteristics and echo velocity characteristics of a scanning position satisfy the above three inequalities at the same time, it can be determined that the echo characteristics of the scanning position meet the ground object characteristics, that is, the scanning position belongs to the ground object target. The same judgment is made for each scanning position, and all scanning positions that belong to the ground object target in the scanning area can be identified.

[0064] In addition to indicating the scanning positions covered by the ground object targets in the scanning area, the clutter map also indicates the distribution of the clutter intensity and the distribution of the clutter velocity of the ground object targets. In one embodiment, the clutter maps maintained and updated by the meteorological radar include two types: intensity clutter map ClutMapPow and velocity clutter map ClutMapVel. The intensity clutter map ClutMapPow indicates the clutter intensity ClutPow of each scanning position covered by the ground object targets, and the velocity clutter map ClutMapVel indicates the clutter velocity ClutVel of each scanning position covered by the ground object targets.

[0065] Then, each time the echo intensity and echo velocity of the scanning position in the current scanning process are used to update the clutter map, including updating the intensity clutter map ClutMapPow and the velocity clutter map ClutMapVel respectively:

[0066] According to the echo intensity Powtdb and echo velocity Vel of each scanning position in the current scanning process, the clutter intensity ClutPpw and clutter velocity ClutVel of the scanning position are updated according to the following formula, so as to obtain the updated intensity clutter map ClutMapPow and the updated velocity clutter map ClutMapVel:

[0067]

[0068] In the above formula, Weight is the weight, and Weight < 1-Weight. The actual weight Weight value is generally small. Although the update speed of the clutter map is slow, the result will be more accurate and complete. For example, it is generally taken as 0.1.

[0069] The clutter map will be dynamically updated during the continuous operation of the weather radar as the scanning process progresses. As the weather radar continues to operate, the clutter map will become more complete and accurate during the update process, and can more accurately indicate the relevant information of the ground objects. The clutter map will continue to iterate based on the results of the last shutdown each time the weather radar is turned on. That is, each time the weather radar is turned off to end the scanning process, the clutter map will be saved. Each time the weather radar is started, it will first read the saved clutter map and dynamically update the clutter map during the scanning process. When the weather radar is started, please refer to Figure 2 Schematic diagram of the weather radar workflow:

[0070] When the weather radar has generated and saved a clutter map, the saved clutter map will be read when the weather radar is started. After the weather radar is started, it will be dynamically updated based on the read clutter map during the scanning process.

[0071] When the weather radar is started and no saved clutter map is read, it means that no saved clutter map has been generated. Then, after the weather radar is started and the initialization scanning process is performed continuously for a predetermined number of times, the clutter map is first initialized according to the echo signal obtained during the predetermined number of initialization scanning processes, and is dynamically updated on the basis of the initialized clutter map during the subsequent scanning processes.

[0072] In order to improve the accuracy of the initialized clutter map and reduce errors, the results of the initialization scanning process for a predetermined number of times are integrated for initialization. The predetermined number of times can be customized, including:

[0073] The average value of the echo intensity of each scanning position during the predetermined number of initialization scans is calculated as the initial value of the clutter intensity of the scanning position, thereby initializing the intensity clutter map ClutMapPow. And the average value of the echo velocity of each scanning position during the predetermined number of initialization scans is calculated as the initial value of the clutter velocity of the scanning position, thereby initializing the velocity clutter map ClutMapVel.

[0074] In a simulation example, several simulated ground objects are arranged in the scanning area and the weather radar is started to scan the scanning area. After the weather radar is started and performs two initialization scanning processes, the initialization intensity clutter map ClutMapPow is obtained as follows: Figure 3 It should be noted that, since the ground clutter situation in the simulation example is relatively simple, the meteorological radar in this example only performs two initialization scan processes. However, in actual operation, the ground clutter situation is very complex, and the meteorological radar usually performs more initialization scan processes.

[0075] The weather radar continues to perform the scanning process and starts to dynamically update the intensity clutter map ClutMapPow from the third scanning process after startup. The intensity clutter map ClutMapPow updated in the sixth scanning process after startup is as follows: Figure 4 As shown by Figure 3 and Figure 4 From the comparison, it can be found that as the scanning process is executed, the intensity clutter map ClutMapPow becomes more and more complete and closer to the simulated ground object target in the dynamic update. After a long period of scanning and dynamic updating, the obtained clutter map will become more and more complete, thereby continuously improving and updating the ground object target, making the ground object recognition more accurate. If the ground object target changes, the clutter map will also be continuously updated and accurately identified.

[0076] The weather radar continues to perform the scanning process, and in the 15th scanning process after the weather radar is started, a simulated weather target moving along a predetermined path at a speed of 4.5 m / s is added to the scanning area. The weather radar continues to perform the scanning process, and in the 16th scanning process after the start-up, the intensity clutter map ClutMapPow is updated as follows: Figure 5 As shown, compared Figure 3 to Figure 5 It can be found that Figure 5 The intensity clutter map ClutMapPow becomes more complete, and when a simulated meteorological target appears in the scanning area, the obtained Figure 5 The intensity clutter map ClutMapPow shown is not affected by the simulated meteorological target and still accurately and effectively identifies the ground target, which illustrates the reliability of the method of the present application.

[0077] The above is only a preferred embodiment of the present application, and the present application is not limited to the above embodiments. It is understood that other improvements and changes directly derived or associated by those skilled in the art without departing from the spirit and concept of the present application should be considered to be included in the protection scope of the present application.

Claims

1. A method for identifying ground objects based on a dynamic update mechanism, characterized in that: The ground object recognition method comprises: Acquire echo signals at different scanning positions obtained by the meteorological radar in a scanning process of performing one scanning on the scanning area, and calculate the echo strength and echo speed of the different scanning positions in the current scanning process according to the echo signals; According to the echo intensity and echo velocity of each scanning position in the current scanning process, combined with the echo intensity and echo velocity of the scanning position in multiple historical scanning processes, the echo intensity feature and echo velocity feature of the scanning position are obtained; When it is determined that the echo characteristics of each scanning position meet the ground object characteristics according to the echo intensity characteristics and the echo velocity characteristics of the scanning position, it is determined that the scanning position belongs to the ground object target and the clutter map is updated by using the echo intensity and echo velocity of the scanning position in the current scanning process, and the clutter map indicates the scanning positions covered by the ground object targets in the scanning area.

2. The method for identifying a ground object according to claim 1, characterized in that: The ground object recognition method further comprises: For each scanning position, when it is determined according to the echo intensity characteristics of the scanning position that the degree of echo intensity change at the scanning position is in a stable state, and when it is determined according to the echo velocity characteristics of the scanning position that the echo velocity value at the scanning position does not exceed a predetermined range and the degree of echo velocity change is in a stable state, it is determined that the echo characteristics of the scanning position meet the terrain characteristics; otherwise, it is determined that the echo characteristics of the scanning position do not meet the terrain characteristics.

3. The method for identifying a ground object according to claim 2, characterized in that: The echo intensity characteristics and echo velocity characteristics of any scanning position include: Respectively calculating the mean and standard deviation of the echo intensity of the scanning position in the current scanning process and the echo intensity of multiple historical scanning processes to obtain the intensity mean and intensity standard deviation of the scanning position; The mean and standard deviation of the echo velocity of the scanning position in the current scanning process and the echo velocity of multiple historical scanning processes are calculated respectively to obtain the velocity mean and velocity standard deviation of the scanning position.

4. The method for identifying a ground object according to claim 3, characterized in that: The ground object recognition method further comprises, for any scanning position: When the scanning position When determining that the echo intensity variation degree at the scanning position is in a stable state, Pstd is the intensity standard deviation at the scanning position, PMean is the intensity mean at the scanning position, and th1 is a first threshold; When |VMean| at the scanning position is less than th2, it is determined that the echo velocity at the scanning position does not exceed a predetermined range, VMean is the velocity mean at the scanning position, and th2 is a second threshold; When VStd<th3 at the scanning position, it is determined that the echo velocity variation degree at the scanning position is in a stable state, VStd is the velocity standard deviation at the scanning position, and th3 is a third threshold value.

5. The method for identifying a ground object according to claim 1, characterized in that: The ground feature identification method further includes: saving the clutter map each time the weather radar is turned off; reading the saved clutter map each time the weather radar is started and dynamically updating the clutter map during the scanning process.

6. The method for identifying a ground object according to claim 5, characterized in that: The ground object recognition method further comprises: When the weather radar does not read the saved clutter map when it is started, after the weather radar is started and the initialization scanning process is continuously performed a predetermined number of times, the clutter map is initialized according to the echo signals obtained in the initialization scanning process of the predetermined number of times, and the clutter map is dynamically updated in the subsequent scanning process.

7. The method for identifying a ground object according to claim 6, characterized in that: Initializing the clutter map according to the echo signal obtained during the predetermined number of initialization scans includes: Calculate the average value of the echo intensity of each scanning position during the initialization scanning process of a predetermined number of times as the initial value of the clutter intensity of the scanning position, and initialize to obtain the intensity clutter map ClutMapPow, wherein the intensity clutter map ClutMapPow indicates the clutter intensity of each scanning position covered by the ground object target; The average value of the echo velocity of each scanning position during the predetermined number of initialization scanning processes is calculated as the initial value of the clutter velocity of the scanning position, and a velocity clutter map ClutMapVel is initialized to obtain the velocity clutter map ClutMapVel, which indicates the clutter velocity of each scanning position covered by the ground object target.

8. The method for identifying a ground object according to claim 7, characterized in that: The updating of the clutter map by using the echo intensity and echo velocity of the scanning position in the current scanning process includes: According to the echo intensity Powtdb of each scanning position in the current scanning process, the clutter intensity ClutPow of the scanning position is updated according to ClutPow=(1-Weight)ClutPpw+Weight×Powtdb to obtain an updated intensity clutter map ClutMapPow; According to the echo velocity Vel of each scanning position in the current scanning process, the clutter velocity ClutVel of the scanning position is updated according to ClutVel=(1-Weight)ClutMapVel+Weight×Vel to obtain an updated velocity clutter map ClutMapVel; Wherein, Weight is the weight, and Weight<1-Weight.

9. The method for identifying a ground object according to claim 1, characterized in that: The step of calculating the echo strengths of different scanning positions in the current scanning process according to the echo signals includes: The echo intensity Powtdb of any scanning position in the current scanning process is calculated according to Powtdb=10log[R0], where R0 is the echo power at the scanning position and s m is the echo signal of any m-th pulse repetition period at the scanning position, and M is the number of pulse repetition periods of the weather radar.

10. The method for identifying a ground object according to claim 1, characterized in that: The step of calculating the echo speeds of different scanning positions in the current scanning process according to the echo signal includes: according to The echo velocity Vel of any scanning position in the current scanning process is calculated, where R1 is the first-order autocorrelation function of the echo signal at the scanning position and sm is the echo signal of any mth pulse repetition period at the scanning position, M is the number of pulse repetition periods of the weather radar, λ is the wavelength of the weather radar, T r is the pulse repetition time of the weather radar.

Images