Target detection method and device and computer readable storage medium

Abstract

The invention provides a target detection method and device and a computer readable storage medium. The method comprises the steps that target echoes returned after a target radar sends out electric waves to a target detection object are acquired; calculating a transfer entropy according to the target echo; and obtaining a detection result of the target detection object according to a calculation result of the transfer entropy. According to the method, the device and the computer readable storage medium, the problem that target detection cannot be carried out under the condition that only the data when the target exists is available in the existing target detection technology can be solved.

Description

Technical Field

[0001] The present invention relates to a target detection method, a device and a computer-readable storage medium. Background Art

[0002] Target detection has always been an important research direction for civil and military radars. Among the existing technologies for target detection, there is a target detection method that uses Shannon entropy to calculate mutual information. The main principle is to use the fluctuation of mutual information to analyze and detect target information. However, this method generally requires at least two sets of data with and without targets to perform target detection, and the calculation complexity is high. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a target detection method, device and computer-readable storage medium in view of the above-mentioned deficiencies in the prior art, which utilizes the advantages of transfer entropy in analyzing long time series signals and can detect targets without the need for two sets of data, one with a target and one without a target, thereby solving the problem that the existing target detection technology cannot perform target detection when only data when the target exists is available.

[0004] In a first aspect, the present invention provides a target detection method, comprising:

[0005] Obtain the target echo returned by the target radar after sending radio waves to the target detection object;

[0006] Calculating transfer entropy based on the target echo;

[0007] The detection result of the target detection object is obtained according to the calculation result of the transfer entropy.

[0008] Preferably, the target echo includes a first target echo and a second target echo.

[0009] Preferably, calculating the transfer entropy according to the target echo comprises:

[0010] quantizing the first target echo and the second target echo;

[0011] The transfer entropy is calculated based on the result of the quantization process.

[0012] Preferably, the calculating the transfer entropy according to the result after the quantization processing comprises:

[0013] Calculating a first entropy rate and a second entropy rate according to the target echo;

[0014] The transfer entropy is calculated based on the first entropy rate and the second entropy rate.

[0015] Preferably, the calculation of the first entropy rate and the second entropy rate according to the target echo satisfies the following formula:

[0016]

[0017]

[0018] Wherein, h1 is the first entropy rate, h2 is the second entropy rate, and x n is the sampling value of the nth sampling point of the first echo, x n+1 is the sampling value of the n+1th sampling point of the first echo, y n is the sampling value of the nth sampling point of the second echo, and p represents probability.

[0019] Preferably, the transfer entropy calculated according to the first entropy rate and the second entropy rate satisfies the following formula:

[0020] TE = g2-g1

[0021] Where TE stands for transfer entropy.

[0022] Preferably, obtaining the detection result of the target detection object according to the calculation result of the transfer entropy includes:

[0023] The position where the transfer entropy calculation result is the largest is used as the detection result of the target detection object detection.

[0024] In a second aspect, the present invention further provides a target detection device, comprising:

[0025] An acquisition module is used to acquire the target echo returned after the target radar sends out radio waves to the target detection object;

[0026] A calculation module, connected to the acquisition module, for calculating the transfer entropy according to the target echo;

[0027] A position module is connected to the calculation module and is used to obtain the detection result of the target detection object according to the calculation result of the transfer entropy.

[0028] In a third aspect, the present invention further provides a target detection device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to implement the target detection method described in the first aspect above.

[0029] In a fourth aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the target detection method as described in the first aspect above is implemented.

[0030] The target detection method, device and computer-readable storage medium provided by the present invention first obtain the target echo returned by the target radar after sending radio waves to the target detection object, then calculate the transfer entropy according to the target echo, and obtain the detection result of the target detection object according to the calculation result of the transfer entropy. Since the present invention utilizes the advantages of transfer entropy in analyzing long time series signals, it is possible to detect the target without two sets of data with and without the target, thereby solving the problem that the existing target detection technology cannot perform target detection when only the data when the target exists is available. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a flow chart of a target detection method according to Embodiment 1 of the present invention;

[0032] Figure 2 Schematic diagram of the waveform of the target echo in Example 1 of the present invention;

[0033] Figure 3 This is a schematic diagram of the calculation results of transfer entropy in Example 1 of the present invention;

[0034] Figure 4 This is a schematic diagram of the structure of a target detection device according to Embodiment 2 of the present invention;

[0035] Figure 5 This is a schematic diagram of the structure of a target detection device according to Example 3 of the present invention. DETAILED DESCRIPTION

[0036] In order to enable those skilled in the art to better understand the technical solution of the present invention, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0037] It should be understood that the specific embodiments and drawings described herein are only used to explain the present invention rather than to limit the present invention.

[0038] It can be understood that, in the absence of conflict, the various embodiments of the present invention and the various features in the embodiments can be combined with each other.

[0039] It can be understood that, for the convenience of description, the drawings of the present invention only show the parts related to the present invention, while the parts irrelevant to the present invention are not shown in the drawings.

[0040] It can be understood that each unit and module involved in the embodiments of the present invention may correspond to only one physical structure, or may be composed of multiple physical structures, or multiple units and modules may be integrated into one physical structure.

[0041] It can be understood that, without conflict, the functions and steps marked in the flowcharts and block diagrams of the present invention may occur in an order different from that marked in the drawings.

[0042] It is understood that the flowcharts and block diagrams of the present invention illustrate the possible architectures, functions, and operations of the systems, devices, equipment, and methods according to the various embodiments of the present invention. Each box in the flowchart or block diagram may represent a unit, module, program segment, or code, which contains executable instructions for implementing the specified functions. Moreover, each box or combination of boxes in the block diagram and flowchart may be implemented by a hardware-based system that implements the specified functions, or may be implemented by a combination of hardware and computer instructions.

[0043] It can be understood that the units and modules involved in the embodiments of the present invention can be implemented by software or hardware. For example, the units and modules can be located in a processor.

[0044] Embodiment 1:

[0045] This embodiment provides a target detection method, such as Figure 1 As shown, the method includes:

[0046] Step S1: Obtain the target echo returned by the target radar after sending out radio waves to the target detection object.

[0047] In this embodiment, the target echo may be two identical radio wave echoes X and Y emitted by the same radar at different times.

[0048] Optionally, the target echo includes a first target echo and a second target echo.

[0049] Step S2: Calculate transfer entropy according to the target echo.

[0050] In this embodiment, the transfer entropy can represent the process of target state change, so it can better represent the direction of paired process information flow compared to the common information.

[0051] Transfer entropy is proposed on the basis of information entropy. Information entropy is used to measure the uncertainty of variables. The transfer entropy from X to Y is essentially the change in the certainty of Y caused by the information of X, that is, the amount of information transferred from X to Y. Therefore, transfer entropy can also be used as an indicator to measure causality. Since transfer entropy considers the transfer of information between variables, it does not need to assume that there is a specific form of relationship between variables.

[0052] Optionally, calculating the transfer entropy according to the target echo includes:

[0053] quantizing the first target echo and the second target echo;

[0054] The transfer entropy is calculated based on the result of the quantization process.

[0055] In this embodiment, the radar echo may be interfered by noise, and quantizing the radar echo can help to better analyze the echo signal later.

[0056] Quantization is to discretize the amplitude of the instantaneous value obtained by sampling, that is, to use a set of specified levels to represent the instantaneous sampled value with the closest level value; or to divide the range of continuous change of the input signal amplitude into a finite number of non-overlapping sub-intervals, each sub-interval is represented by a certain numerical value within the interval, and the input signal falling within it will be output with this value, thereby converting the continuous input signal into an approximate signal with a finite number of discrete value levels. In this embodiment, after the radar echo is quantized, its amplitude can be discretized, which is convenient for subsequent entropy rate calculation and transfer entropy calculation.

[0057] Optionally, the calculating transfer entropy according to the result after the quantization processing includes:

[0058] Calculating a first entropy rate and a second entropy rate according to the target echo;

[0059] The transfer entropy is calculated based on the first entropy rate and the second entropy rate.

[0060] In this embodiment, the entropy rate represents the additional information required to know the value of the next radar return.

[0061] Optionally, the calculation of the first entropy rate and the second entropy rate according to the target echo satisfies the following formula:

[0062]

[0063]

[0064] Wherein, h1 is the first entropy rate, h2 is the second entropy rate, and x n is the sampling value of the nth sampling point of the first echo, x n+1 is the sampling value of the n+1th sampling point of the first echo, y n is the sampling value of the nth sampling point of the second echo, and p represents probability.

[0065] Optionally, the transfer entropy calculated according to the first entropy rate and the second entropy rate satisfies the following formula:

[0066] TE = g2-g1

[0067] Where TE stands for transfer entropy.

[0068] In this embodiment, the essence of TE is TE X→Y , represents the transfer entropy from X to Y, and represents the change in the uncertainty of X due to the information of Y. The expression of the calculation result is:

[0069]

[0070] Similarly, the transfer entropy from Y to X can be calculated:

[0071]

[0072] Step S3: obtaining the detection result of the target detection object according to the calculation result of the transfer entropy.

[0073] Optionally, obtaining the detection result of the target detection object according to the calculation result of the transfer entropy includes:

[0074] The position where the transfer entropy calculation result is the largest is used as the detection result of the target detection object detection.

[0075] In a specific embodiment, the received target echo is as follows: Figure 2 As shown, the horizontal axis represents time and the vertical axis represents amplitude; when there is a target, the result of calculating the transfer entropy of the target echo is as follows Figure 3 As shown, the horizontal axis represents time, the vertical axis represents amplitude, and the position where the transfer entropy reaches the maximum is taken as the monitoring result of the target detection object. The specific steps are as follows:

[0076] 1) Obtain the first target echo X and the second target echo Y returned by the target radar after sending radio waves to the target detection object;

[0077] 2) quantizing the first target echo X and the second target echo Y;

[0078] 3) Calculate the first entropy rate h1 and the second entropy rate h2 according to the quantized results, satisfying the following formula:

[0079]

[0080]

[0081] Among them, x n is the sampling value of the nth sampling point of the first echo X, x n+1 is the sampling value of the n+1th sampling point of the first echo X, y n is the sampling value of the nth sampling point of the second echo Y, and p represents probability.

[0082] 4) The transfer entropy is calculated based on the first entropy rate h1 and the second entropy rate h2, satisfying the following formula:

[0083]

[0084] 5) The position where the transfer entropy calculation result is the largest is used as the detection result of the target detection object.

[0085] In addition, in simulation software, the application of this embodiment will increase the success rate of target detection as the quantization level increases.

[0086] This embodiment is the first application of the transfer entropy method in target detection, which improves the performance of the information theory method in strongly occluded target detection.

[0087] The target detection method provided by the embodiment of the present invention first obtains the target echo returned by the target radar after sending radio waves to the target detection object, then calculates the transfer entropy according to the target echo, and obtains the detection result of the target detection object according to the calculation result of the transfer entropy. Since the present invention utilizes the advantage of transfer entropy in analyzing long time series signals, it is possible to detect the target without two sets of data with and without the target, thereby solving the problem that the existing target detection technology cannot perform target detection when only the data when the target exists is available.

[0088] Embodiment 2:

[0089] like Figure 4 As shown, this embodiment provides a target detection device, which is used to execute the above target detection method, including:

[0090] An acquisition module 11 is used to acquire a target echo returned after the target radar sends out radio waves to the target detection object;

[0091] A calculation module 12, connected to the acquisition module 11, for calculating the transfer entropy according to the target echo;

[0092] The location module 13 is connected to the calculation module 12 and is used to obtain the detection result of the target detection object according to the calculation result of the transfer entropy.

[0093] Preferably, the target echo includes a first target echo and a second target echo.

[0094] Preferably, the calculation module 12 specifically includes:

[0095] a quantization unit, configured to perform quantization processing on the first target echo and the second target echo;

[0096] A calculation unit is used to calculate the transfer entropy according to the result of the quantization process.

[0097] Preferably, the calculation unit comprises:

[0098] An entropy rate unit, configured to calculate a first entropy rate and a second entropy rate according to the target echo;

[0099] The transfer entropy unit is used to calculate the transfer entropy size according to the first entropy rate and the second entropy rate.

[0100] Preferably, the entropy rate unit satisfies the following formula:

[0101]

[0102]

[0103] Wherein, h1 is the first entropy rate, h2 is the second entropy rate, and x n is the sampling value of the nth sampling point of the first echo, x n+1 is the sampling value of the n+1th sampling point of the first echo, y n is the sampling value of the nth sampling point of the second echo, and p represents probability.

[0104] Preferably, the transfer entropy unit satisfies the following formula:

[0105] TE = g2-h1

[0106] Where TE stands for transfer entropy.

[0107] Preferably, the location module 13 specifically includes:

[0108] The maximum position unit is used to use the position where the transfer entropy calculation result is the largest as the detection result of the target detection object detection.

[0109] Embodiment 3:

[0110] like Figure 5 As shown, this embodiment provides a target detection device for executing the above-mentioned target detection method, including a memory 21 and a processor 22, the memory 21 stores a computer program, and the processor 22 is configured to run the computer program to execute the target detection method in Example 1.

[0111] The memory 21 is connected to the processor 22. The memory 21 may be a flash memory, a read-only memory or other memory. The processor 22 may be a central processing unit or a single-chip microcomputer.

[0112] Embodiment 4:

[0113] This embodiment provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the target detection method in the above-mentioned embodiment 1 is implemented.

[0114] The computer-readable storage medium includes volatile or non-volatile, removable or non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, computer program modules or other data). Computer-readable storage media include, but are not limited to, RAM (Random Access Memory), ROM (Read-Only Memory), EEPROM (Electrically Erasable Programmable read only memory), flash memory or other memory technology, CD-ROM (Compact Disc Read-Only Memory), digital versatile disk (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer.

[0115] The target detection devices and computer-readable storage media provided in Examples 2 to 4 first obtain the target echo returned after the target radar sends out radio waves to the target detection object, then calculate the transfer entropy based on the target echo, and obtain the detection result of the target detection object based on the calculation result of the transfer entropy. Since the present invention utilizes the advantages of transfer entropy in analyzing long time series signals, it is possible to detect the target without two sets of data with and without the target, thereby solving the problem that the existing target detection technology cannot perform target detection when only the data when the target exists is available.

[0116] It is to be understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of the present invention, but the present invention is not limited thereto. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A target detection method, It is characterized in that include: Obtain the target echo returned by the target radar after sending radio waves to the target detection object; Calculating transfer entropy based on the target echo; The detection result of the target detection object is obtained according to the calculation result of the transfer entropy.

2. The target detection method according to claim 1, It is characterized in that The target echo includes a first target echo and a second target echo.

3. The target detection method according to claim 2, It is characterized in that Calculating the transfer entropy according to the target echo comprises: quantizing the first target echo and the second target echo; The transfer entropy is calculated based on the result of the quantization process.

4. The target detection method according to claim 3, It is characterized in that The calculating the transfer entropy according to the result after the quantization processing comprises: Calculating a first entropy rate and a second entropy rate according to the target echo; The transfer entropy is calculated based on the first entropy rate and the second entropy rate.

5. The target detection method according to claim 4, It is characterized in that The first entropy rate and the second entropy rate calculated according to the target echo satisfy the following formula: Among them, h 1 is the first entropy rate, h 2 is the second entropy rate, x n is the sampling value of the nth sampling point of the first echo, x n+1 is the sampling value of the n+1th sampling point of the first echo, y n is the sampling value of the nth sampling point of the second echo, and p represents probability.

6. The target detection method according to claim 5, It is characterized in that The transfer entropy calculated according to the first entropy rate and the second entropy rate satisfies the following formula: TE=g 2 -g 1 Where TE stands for transfer entropy.

7. The target detection method according to claim 4, It is characterized in that The step of obtaining the detection result of the target detection object according to the calculation result of the transfer entropy includes: The position where the transfer entropy calculation result is the largest is used as the detection result of the target detection object detection.

8. A target detection device, It is characterized in that include: An acquisition module is used to acquire the target echo returned after the target radar sends out radio waves to the target detection object; A calculation module, connected to the acquisition module, for calculating the transfer entropy according to the target echo; A position module is connected to the calculation module and is used to obtain the detection result of the target detection object according to the calculation result of the transfer entropy.

9. A target detection device, It is characterized in that The method comprises a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to implement the target detection method according to any one of claims 1 to 7.

10. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the target detection method according to any one of claims 1 to 7 is implemented.

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