Range ambiguity solving method based on pulse frequency coding and phase coding waveforms

Abstract

The invention discloses a range ambiguity solving method based on pulse frequency coding and phase coding waveforms, and relates to the field of radar signal processing. The method comprises the following steps: at a radar transmitting end, carrying out pulse frequency coding on carrier frequency of an original pulse transmitting signal based on a slow time frequency coding method, carrying out phase coding waveform processing on the original pulse transmitting signal, determining a modulated pulse transmitting signal and transmitting the modulated pulse transmitting signal; wherein the number of phase waveforms used for phase coding waveforms is consistent with the number of fuzzy distance rings of the radar, and the phase waveforms and / or carrier frequencies between the modulated pulse emission signals are different; and at a radar receiving end, waveform domain filtering and Doppler domain filtering are carried out on the received echo signal corresponding to the modulated pulse emission signal, and a result after range ambiguity resolution is determined. Compared with the prior art, the method has the advantages that the requirement for radar system hardware is not high, radar resources can be saved, radar target detection performance can be improved, range ambiguity resolution of signals can be completed under a single PRF, and the method is suitable for radar practical engineering application.

Description

Technical Field

[0001] The present invention relates to the field of radar signal processing technology, and more specifically, to a distance ambiguity solution method based on pulse frequency coding and phase coding waveform. Background Art

[0002] Radar detects targets by emitting electromagnetic waves and detecting echo signals reflected by the target. The radial distance between the target and the radar can be obtained by the time difference between the emission signal and the reception of the echo signal. However, when the distance between the target and the radar is greater than the maximum unambiguous distance of the radar, distance ambiguity will occur. At this time, the distance between the radar and the target obtained based on the time difference only reflects the apparent distance between the target and the radar, not the real distance. The real distance needs to be obtained through further processing, which is the so-called range resolution.

[0003] For traditional radars, the multi-frequency method is generally used to resolve range ambiguity, where the radar transmits several signals with different pulse repetition frequencies (PRF). If there is range ambiguity, the apparent distance of the target in different PRF signals is different. The real distance of the target can be calculated based on this distance difference, such as the Chinese remainder theorem method, the screening method, the residual lookup table method, the two-dimensional lookup table method, etc. Although the multi-frequency method can effectively solve the range ambiguity problem of the echo signal, it takes more time to transmit several repetition frequency signals in the same direction than to transmit a single repetition frequency signal, which reduces the efficiency of radar target detection and resource utilization.

[0004] In recent years, some studies have proposed range deambiguation methods based on new radar systems, among which the representative ones are waveform diversity radars such as element pulse coding (EPC)-multiple input multiple output (MIMO) radar and frequency diversity array (FDA)-MIMO radar. Both of the above radars use the orthogonal MIMO radar system to obtain additional degrees of freedom in the transmission airspace, distinguish and separate signals from different ambiguous range rings in the transmission airspace, and extract the signals of each range ring respectively. The above methods solve the range ambiguity problem of the echo signal, but they are all based on the orthogonal MIMO radar system, which requires the radar to transmit multiple mutually orthogonal waveform signals. In practical applications, completely orthogonal waveforms do not exist. Therefore, the range ambiguity resolution performance of the above radars under non-orthogonal waveform conditions is uncertain.

[0005] In addition, orthogonal MIMO radar is more complex than phased array radar and requires higher-cost hardware support. At the same time, compared with traditional phased array radar, orthogonal MIMO radar suffers from a loss in signal-to-noise ratio, which can cause losses in target detection. Summary of the invention

[0006] In order to overcome the defects of the prior art such as high system complexity and insufficient performance reliability, the present invention provides a radar signal processing method.

[0007] In order to solve the above technical problems, the technical solution of the present invention is as follows:

[0008] In the first aspect, a range ambiguity solution based on pulse frequency coding and phase coding waveforms comprises:

[0009] At the radar transmitting end, pulse frequency encoding is performed on the carrier frequency of the original pulse transmission signal based on the slow time frequency encoding method, and phase encoding waveform processing is performed on the original pulse transmission signal to determine the modulated pulse transmission signal and transmit it; wherein the number of phase waveforms used for the phase encoding waveform is consistent with the number of fuzzy range rings of the radar, and the phase waveform and / or carrier frequency of each modulated pulse transmission signal is different;

[0010] At the radar receiving end, the received echo signal corresponding to the modulated pulse transmission signal is subjected to waveform domain filtering and Doppler domain filtering to determine the result after resolving the range ambiguity.

[0011] In a second aspect, an electronic device includes:

[0012] A memory for storing computer executable instructions or computer programs;

[0013] The processor is used to implement the method described in the first aspect when executing the computer executable instructions or computer program stored in the memory.

[0014] In a third aspect, a computer-readable storage medium stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, at least one program, a code set or an instruction set is loaded and executed by a processor to implement the method described in the first aspect.

[0015] In a fourth aspect, a computer program product comprises a computer program or computer executable instructions, wherein when the computer program or computer executable instructions are executed by a processor, the method of the first aspect is implemented.

[0016] Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0017] The present invention uses a slow time frequency coding method at the transmitting end to make the waveform of the transmitted signal of the pulse for different fuzzy range rings have different phase waveforms, and also uses pulse frequency coding to make the carrier frequencies of different pulse transmitted signals different. At the receiving end, waveform domain filtering and Doppler domain filtering are performed on each received echo signal to complete the task of resolving range ambiguity. Compared with the prior art, the present invention has low requirements on radar system hardware, can save radar resources, improve radar target detection performance, can complete signal range ambiguity resolution under a single PRF, and is suitable for actual radar engineering applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a flow chart of the distance ambiguity solution method described in Example 1 of the present application;

[0019] Figure 2 This is a schematic diagram of the hardware entity of the electronic device described in Example 3 of the present application. DETAILED DESCRIPTION

[0020] The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged in appropriate cases, which is only to describe the distinction mode adopted by the objects of the same attributes in the embodiments of the present application when describing. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, so that the process, method, system, product or equipment containing a series of units need not be limited to those units, but may include other units that are not clearly listed or inherent to these processes, methods, products or equipment. The term "determine" widely covers various actions, and may include acquisition, calculation, calculation, processing, derivation, investigation, search (for example, search in a table, database or other data structure), ascertainment, and similar actions, and may also include reception (for example, receiving information), access (for example, accessing data in a memory) and similar actions, and may also include generation, creation, establishment and similar actions, as well as parsing, selection, selection and similar actions, etc. The relevant definitions of other terms will be given in the following description.

[0021] The drawings are for illustrative purposes only and should not be construed as limiting the present patent;

[0022] In order to better illustrate the present embodiment, some parts in the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product;

[0023] It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0024] The technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0025] Example 1

[0026] This embodiment provides a range ambiguity solution based on pulse frequency coding and phase coding waveform, see Figure 1 ,include:

[0027] At the radar transmitting end, pulse frequency encoding is performed on the carrier frequency of the original pulse transmission signal based on the slow time frequency encoding method, and phase encoding waveform processing is performed on the original pulse transmission signal to determine the modulated pulse transmission signal and transmit it; wherein the number of phase waveforms used for the phase encoding waveform is consistent with the number of fuzzy range rings of the radar, and the phase waveform and / or carrier frequency of each modulated pulse transmission signal is different;

[0028] At the radar receiving end, the received echo signal corresponding to the modulated pulse transmission signal is subjected to waveform domain filtering and Doppler domain filtering to determine the result after resolving the range ambiguity.

[0029] This embodiment can complete the task of resolving range ambiguity by frequency modulating and waveform modulating different original pulse transmission signals at the transmitting end, and performing waveform domain filtering and Doppler domain filtering on each received echo signal at the receiving end. This method has low requirements on radar system hardware and is suitable for actual radar engineering applications. It can resolve range ambiguity of signals under a single PRF, and can save radar resources and improve radar target detection performance compared to traditional multiple frequency methods.

[0030] In some specific implementations, the method can be used for airborne early warning radars using antenna arrays.

[0031] Those skilled in the art will appreciate that according to the maximum unambiguous distance R in the radar parameters u and the maximum range R max , the radar's range ambiguity number P, that is, the number of fuzzy range rings, can be calculated:

[0032] P = mod(R max , R u )

[0033] Where mod(·) is the modular operation.

[0034] Therefore, the distance between the target and the radar can be expressed as:

[0035] R p =R l +(p-1)R u

[0036] In the formula, R lis the apparent distance of the target detected by the radar, and p represents the number of times the target is blurred, that is, the target is in the pth fuzzy distance ring.

[0037] It should be noted that, in this embodiment, a slow time frequency coding method is used at the transmitting end so that the waveforms of the transmitted signals of pulses for different fuzzy range rings are different phase waveforms s k (t), the correlation coefficients between different phase waveforms are small. The number of phase waveforms required for phase encoding waveform processing is P, that is, the number of cycles of the phase encoding waveform is P.

[0038] For example, if there are three fuzzy range rings for a radar, three phase waveform cycles are used to process a coherent pulse train.

[0039] Generally, in a coherent pulse train, the number of pulses K>P, so the signal waveforms of different pulses in a coherent pulse train are equal.

[0040] In this embodiment, pulse frequency coding is also used to make the carrier frequencies of different pulse transmission signals different.

[0041] In some preferred embodiments, the modulated pulse transmission signal x t (k) is represented as follows:

[0042]

[0043] In the formula, s k (t) is the phase waveform of the kth pulse, f k represents the pulse frequency code of the kth pulse; where,

[0044] f k =f0+(k-1)Δfc k , k = 1, 2, ..., K

[0045] Wherein, K represents the number of coherent pulses, that is, the number of pulse transmission signals after modulation; f0 represents the reference carrier frequency of the signal, c k ∈[0,1] represents a certain parameter that changes with the pulse. Note that each c k The values ​​of are all different, Δf represents a fixed frequency deviation, which is much smaller than f0.

[0046] In some specific implementations, the method is applied to a fully digital array radar, and after receiving the echo signal, the radar receiving array (radar receiving end) also performs analog-to-digital conversion on the signal to obtain a fully digital signal.

[0047] In some preferred embodiments, the waveform domain filtering comprises:

[0048] For different original pulse transmission signals, determining a matched filter corresponding to the fuzzy range ring according to the phase waveform used in the phase encoding waveform processing;

[0049] According to the echo signals received by the radar receiving end, the matched filter is used to determine the first sub-signals corresponding to the respective fuzzy range rings in each echo signal, that is, sub-signal groups corresponding to the number of fuzzy range rings are extracted from all the echo signals, and each sub-signal group includes the first sub-signals consistent with the number of the modulated pulse transmission signals.

[0050] Those skilled in the art should understand that in the echo signal received in the kth pulse (i.e., the slow time dimension), it can be known that each fuzzy range ring is the echo signal corresponding to the modulated pulse transmission signal, for example, the echo of the first range ring corresponds to the kth pulse transmission signal, the second range ring corresponds to the k-1th pulse transmission signal, the third range ring corresponds to the k-2th pulse transmission signal, and so on. Therefore, the phase of the signal corresponding to each fuzzy range ring is known. Assuming that the signal of the p0th fuzzy range ring is to be extracted, a suitable matched filter can be set for its phase waveform

[0051] In some optional embodiments, for the echo signal received from the kth pulse, the matched filter The expression is as follows:

[0052]

[0053] In the formula, Indicates the gth p0 The phase waveform corresponding to the modulated pulse transmission signal, (·) * represents the conjugate operator; p0 represents the fuzzy range ring index corresponding to the target fuzzy range ring; K represents the number of coherent pulses.

[0054] It should be noted that in this optional embodiment, by changing p0, the echo signal data is processed multiple times using different matched filters to extract the signals corresponding to each fuzzy range ring, which is the first filtering process for resolving the range ambiguity. For example, assuming there are P fuzzy range rings, P groups of data can be obtained. It should be emphasized that each pulse reception signal (i.e., echo signal) needs to be subjected to the above-mentioned P times of waveform domain filtering.

[0055] In some optional embodiments, the Doppler domain filtering includes:

[0056] For the first sub-signals of different pulses and different fuzzy range rings, the first sub-signals are purified by using the preset Doppler decoding to obtain the second sub-signals; wherein, assuming that the signal of the p0th fuzzy range ring is to be extracted, the Doppler decoding is used for the echo signal received by the kth pulse. The expression is as follows:

[0057]

[0058] In the formula, p0 represents the fuzzy range ring index corresponding to the target fuzzy range ring; R l Indicates the apparent distance of the radar detection target; R u represents the maximum unambiguous distance of the radar; c represents the speed at which electromagnetic waves propagate in the air; Indicates the gth p0 The modulated pulse transmission signal corresponds to a certain parameter; Δf represents a fixed frequency deviation.

[0059] It should be understood that the second sub-signal is the signal after completing the task of resolving the distance ambiguity. Those skilled in the art can parse out the real distance between the target and the radar antenna based on the second sub-signal.

[0060] It should be emphasized that the Doppler decoding can make the Doppler frequency of the p0th fuzzy range ring remain unchanged between different pulses, while the Doppler frequencies of other range rings will change with the pulses. Therefore, only the p0th fuzzy range ring can achieve coherent accumulation in slow time, and other fuzzy range rings cannot be coherently accumulated, thereby reducing the power of other fuzzy range rings and achieving suppression. In this optional embodiment, different Doppler decoding is used to process the first sub-signals of the P groups obtained above, further purify the corresponding signals of each fuzzy range ring, and complete the second filtering of resolving the range ambiguity.

[0061] Furthermore, the expression of the second sub-signal is:

[0062]

[0063] In the formula, x r (k) represents the echo signal received by the kth pulse; t represents the fast time; represents the matched filter; when p≠p0, represents the mutual correlation coefficient. When p=p0, represents the autocorrelation coefficient; f d represents the Doppler vector; f s represents the spatial frequency vector; represents the Doppler phase change caused by frequency coding; Represents the decoded Doppler phase change.

[0064] Furthermore, the Doppler phase change caused by the frequency coding The expression is:

[0065] Example 2

[0066] This embodiment provides a more specific embodiment based on the embodiment 1. Assuming that the number of pulses in the coherent processing time of the airborne early warning radar is K, K=16 in the example, and the distance ambiguity number is 3, the full digital array airborne early warning radar is taken as an example for explanation:

[0067] S1. Add different pulse phase codes to different original pulse transmission signals. At this time, the transmission signal can be expressed as:

[0068]

[0069] Among them, s k (t) is the phase encoding waveform of the kth pulse, f k =f0+(k-1)Δfc k is the pulse frequency code. k The values ​​are [0.1, 0.1533, 0.2067, 0.3133, 0.3667, 0.42, 0.4733, 0.5267, 0.58, 0.6333, 0.6867, 0.74, 0.7933, 0.8467, 0.9] respectively.

[0070] S2. The echo signal received by the radar airspace receiving channel is down-converted, then analog-to-digital converted, and the digitized echo data is stored in the system.

[0071] S3. There are three fuzzy range signals in the echo data of each pulse. Therefore, the received signal of each pulse needs to be subjected to three matched filterings, that is, waveform domain filtering, to extract the signals of the three fuzzy range rings separately and store them separately.

[0072] S4, decode the three groups of data in step S3 three times respectively, perform Doppler domain filtering, and further purify the signals of the three fuzzy range rings. Note that the decoding of different pulses and different range rings is different, and the decoding formula is as follows:

[0073]

[0074] in, p0 is the fuzzy range ring number corresponding to the target range ring. For the sake of convenience, an example is given here. The Doppler decoding of the three fuzzy range rings of the first pulse are: e 0, The decoding of the three ambiguous range rings of the second pulse are: e 0 , And so on.

[0075] S5. Now we need to extract the signal of the p0th range ring. The received signal of the kth pulse can be expressed as:

[0076]

[0077] Among them, s k,p (t) is the phase encoding waveform of the signal, f d is the Doppler vector, f s is the spatial frequency vector, is the Doppler phase change caused by frequency encoding.

[0078] S6. After matched filtering (waveform domain filtering) and Doppler decoding (Doppler domain filtering), the signal can be expressed as:

[0079]

[0080] In this example, is the cross-correlation coefficient, When p=p0, is the autocorrelation coefficient, P = 3 is the number of distance fuzzy times (i.e., the number of fuzzy distance rings); is the Doppler phase change after decoding. After decoding the p0th fuzzy range loop signal, it can be seen that only when g p =g p0 hour, and can cancel each other out, and g p ≠g p0 hour, It will become a Doppler vector, resulting in inconsistent Doppler frequencies in different pulses, making it impossible to perform coherent accumulation between coherent pulses. Therefore, except for the target range ring signal, the signals of other range rings are suppressed because they cannot be coherently accumulated, and the suppression effect becomes better as the number of pulses increases.

[0081] By using different matched filters and Doppler decoding to process the echo signal data, different range ring signals can be extracted respectively. In this example, the range ambiguity number is three times, and a total of three groups of signals can be obtained, completing the range deambiguation task of the radar signal.

[0082] It can be understood that the options in the above-mentioned embodiment 1 are also applicable to this embodiment, so they will not be described again here.

[0083] Example 3

[0084] This embodiment provides a computer-readable storage medium, on which is stored at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by a processor, so that the processor executes part or all of the steps of the method provided in Example 1 of the present application.

[0085] It is understood that the storage medium may be transient or non-transient. Exemplarily, the storage medium includes, but is not limited to, a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0086] Exemplarily, the processor may be a central processing unit (CPU), a microprocessor (MPU), a digital signal processor (DSP), or a field programmable gate array (FPGA).

[0087] Exemplarily, the read-only memory includes but is not limited to MASK ROM, PROM, EPROM, EEPROM, Flash, etc.

[0088] Exemplarily, the random access memory includes but is not limited to DRAM, SRAM, SDRAM, DDR SDRAM, etc.

[0089] In some examples, a computer program product is provided, which can be implemented in hardware, software or a combination thereof. As a non-limiting example, the computer program product can be embodied as the storage medium, or as a software product, such as an SDK (Software Development Kit).

[0090] As a non-limiting example, a computer program product is provided, the computer program product includes a computer program or a computer executable instruction, the computer program or the computer executable instruction is stored in a computer-readable storage medium. A processor of an electronic device reads the computer program or the computer executable instruction from the computer-readable storage medium, and the processor executes the computer executable instruction, so that the electronic device performs some or all steps of the method described in the embodiment of the present application.

[0091] In some examples, a computer program is provided, comprising a computer-readable code, and when the computer-readable code is run in a computer device, a processor in the computer device executes a part or all of the steps in the method.

[0092] This embodiment also proposes an electronic device, including a memory and a processor, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and when the processor executes the at least one instruction, at least one program, a code set or an instruction set, it implements part or all of the steps of the method described in Example 1.

[0093] In some examples, a hardware entity of the electronic device is provided, see Figure 2 , including: a processor, a memory and a communication interface; wherein the processor generally controls the overall operation of the electronic device; the communication interface is used to enable the electronic device to communicate with other terminals or servers through a network; the memory is configured to store instructions and applications executable by the processor, and can also cache data to be processed or processed by the processor and various modules in the electronic device (including but not limited to image data, audio data, voice communication data and video communication data), which can be implemented by flash memory (FLASH), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM) or random access memory (RAM).

[0094] The processor may include one or more processing elements. Thus, the processor may include one or more integrated circuits (ICs) configured to perform the functions of the processor. In addition, each integrated circuit may include a circuit (e.g., a first circuit, a second circuit, and other circuits, etc.) configured to perform the functions of the processor.

[0095] Furthermore, data may be transmitted between the processor, the communication interface and the memory via a bus, which may include any number of interconnected buses and bridges, and the bus connects various circuits of one or more processors and memories together.

[0096] It can be understood that the options in the above-mentioned embodiment 1 are also applicable to this embodiment, so they will not be described again here.

[0097] The same or similar reference numerals correspond to the same or similar components;

[0098] The terms used to describe the positional relationship in the drawings are only used for illustrative purposes and should not be construed as limiting the present application;

[0099] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other.

[0100] In different specific implementations, the method or system described in the present application can be implemented in software, hardware or a combination thereof. In addition, the order of the steps of the method can be changed, and various elements can be added, reordered, combined, omitted, modified, etc.

[0101] Obviously, the above-mentioned embodiments of the present application are merely examples for clearly illustrating the present application, and are not intended to limit the implementation methods of the present application, and are not intended to limit the present application. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. Each discrete structure / function module or unit can be integrated together to form an independent part, or each module can exist separately, or two or more modules can be integrated to form an independent part, and the structure and function of the discrete components can be implemented as a combined structure or component. It is not necessary and impossible to enumerate all the implementation methods here. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the claims of the present application.

Claims

1. A range ambiguity solution based on pulse frequency coding and phase coding waveform, characterized in that: include: At the radar transmitting end, pulse frequency encoding is performed on the carrier frequency of the original pulse transmission signal based on the slow time frequency encoding method, and phase encoding waveform processing is performed on the original pulse transmission signal to determine the modulated pulse transmission signal and transmit it; wherein the number of phase waveforms used for the phase encoding waveform is consistent with the number of fuzzy range rings of the radar, and the phase waveform and / or carrier frequency of each modulated pulse transmission signal is different; At the radar receiving end, the received echo signal corresponding to the modulated pulse transmission signal is subjected to waveform domain filtering and Doppler domain filtering to determine the result after resolving the range ambiguity.

2. A range ambiguity solution based on pulse frequency coding and phase coding waveform according to claim 1, characterized in that: The modulated pulse transmission signal is expressed as follows: In the formula, s k (t) is the phase waveform of the kth pulse, f k represents the pulse frequency code of the kth pulse; where, f k =f0+(k-1)Δfc k ,k=1,2,...,K Where K represents the number of coherent pulses; f0 represents the reference carrier frequency of the signal, c k ∈[0,1] represents a certain parameter that changes with the pulse, and each c k The value of is different, Δf represents a fixed frequency deviation, which is much smaller than f0.

3. The method for solving distance ambiguity based on pulse frequency coding and phase coding waveform according to claim 1, characterized in that: The waveform domain filtering includes: For different original pulse transmission signals, determining a matched filter corresponding to the fuzzy range ring according to the phase waveform used in the phase encoding waveform processing; According to the echo signal received by the radar receiving end, the matched filter is used to determine the first sub-signal corresponding to each fuzzy range ring in each echo signal.

4. A range ambiguity solution based on pulse frequency coding and phase coding waveform according to claim 3, characterized in that: For the echo signal received from the kth pulse, the matched filter The expression is as follows: In the formula, Indicates the gth p0 The phase waveform corresponding to the modulated pulse transmission signal, (·) * represents the conjugate operator; p0 represents the fuzzy range ring index corresponding to the target fuzzy range ring; K represents the number of coherent pulses.

5. The method for solving distance ambiguity based on pulse frequency coding and phase coding waveform according to claim 3, characterized in that: The Doppler domain filtering includes: For the first sub-signals of different pulses and different fuzzy range rings, the first sub-signals are purified by using the preset Doppler decoding to obtain the second sub-signals; wherein the Doppler decoding The expression is as follows: In the formula, p0 represents the fuzzy range ring index corresponding to the target fuzzy range ring; R l Indicates the apparent distance of the radar detection target; R u represents the maximum unambiguous distance of the radar; c represents the speed at which electromagnetic waves propagate in the air; Indicates the gth p0 The modulated pulse transmission signal corresponds to a certain parameter; Δf represents a fixed frequency deviation.

6. A range ambiguity solution based on pulse frequency coding and phase coding waveform according to claim 5, characterized in that: The expression of the second sub-signal is: In the formula, x r (k) represents the echo signal received by the kth pulse; t represents the fast time; represents the matched filter; When p≠p0, represents the mutual correlation coefficient. When p=p0, represents the autocorrelation coefficient; f d represents the Doppler vector; f s represents the spatial frequency vector; represents the Doppler phase change caused by frequency coding; Represents the decoded Doppler phase change.

7. A range ambiguity solution based on pulse frequency coding and phase coding waveform according to claim 6, characterized in that: The Doppler phase change caused by the frequency encoding The expression is:

8. An electronic device, characterized in that: include: A memory for storing computer executable instructions or computer programs; A processor, used to implement the method according to any one of claims 1 to 7 when executing the computer executable instructions or computer program stored in the memory.

9. A computer-readable storage medium, characterized in that: The storage medium stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, at least one program, a code set or an instruction set is loaded and executed by a processor to implement the method as described in any one of claims 1-7.

10. A computer program product comprising a computer program or computer executable instructions, characterized in that: When the computer program or computer executable instructions are executed by a processor, the method according to any one of claims 1 to 7 is implemented.

Images