Object tracking system, method, device and equipment for non-visual scene

Abstract

The present invention provides a target tracking system, method, device and equipment for non-line-of-sight scenes. The system includes: a continuous frequency sweeping laser for emitting a triangular wave frequency sweeping laser; a first beam splitter for obtaining a signal path laser and a reference path laser; a transceiver for emitting a signal path laser to m scanning points located on an intermediate wall by adjusting the angle of a galvanometer, and receiving an echo of a non-line-of-sight scene; a second beam splitter for obtaining interference light; a circulator for transmitting the signal path laser to the transceiver and transmitting the echo of the non-line-of-sight scene to the second beam splitter; a balanced detector for converting the interference light to obtain a first beat frequency signal and a second beat frequency signal corresponding to multiple groups of m scanning points; an analog-to-digital converter for converting an analog signal output by the balanced detector into a digital signal; and a signal processing device for acquiring and processing the first beat frequency signal and the second beat frequency signal to obtain target position information and target velocity information of the target.

Description

Technical Field

[0001] The present invention relates to the field of laser radar technology, and in particular to a target tracking system, method, device and equipment for non-line-of-sight scenarios. Background Art

[0002] Non-line-of-sight technology refers to detecting targets outside the field of view, that is, targets in non-line-of-sight scenes, by actively reflecting lasers. With the rapid advancement of weak light signal capture and signal processing technology, signals in non-line-of-sight scenes can be detected with the help of intermediate walls, thus achieving non-line-of-sight imaging and non-line-of-sight positioning and tracking.

[0003] In the process of realizing the concept of the present invention, the inventors found that the system resolution of the target tracking system for the non-line-of-sight scene with multiple targets in the related art is limited, resulting in low accuracy of target tracking in the non-line-of-sight scene with multiple targets, and multiple targets are easily lost or confused when tracked, resulting in poor robustness of target tracking in the non-line-of-sight scene with multiple targets. Summary of the invention

[0004] In view of the above problems, the present invention provides a target tracking system, method, device and equipment for a non-visual scene.

[0005] According to a first aspect of the present invention, a target tracking system for a non-line-of-sight scene is provided, comprising: a continuously swept laser for emitting a triangular wave swept laser; a first beam splitter for splitting the triangular wave swept laser to obtain a signal path laser and a reference path laser; a transceiver, comprising a galvanometer for emitting a signal path laser to m scanning points located on an intermediate wall respectively by adjusting the angle of the galvanometer, and receiving an echo of a non-line-of-sight scene, wherein m is a positive integer greater than or equal to 3; a second beam splitter for performing interference processing on the reference path laser and the echo to obtain an interference light signal, and for splitting the interference light signal to obtain two identical interference lights; a circulator for The invention relates to a method for transmitting the signal path laser to the transceiver and the echo to the second beam splitter; a balanced detector is used to perform photoelectric conversion on the interference light to obtain a first beat frequency signal corresponding to multiple groups of m scanning points and a second beat frequency signal corresponding to multiple groups of m scanning points, wherein the first beat frequency signal represents the signal corresponding to the rising edge of the triangular wave frequency sweep, and the second beat frequency signal represents the signal corresponding to the falling edge of the triangular wave frequency sweep; an analog-to-digital converter is used to convert the analog signal output by the balanced detector into a digital signal; a signal processing device is used to process the first beat frequency signal and the second beat frequency signal obtained from the analog-to-digital converter to obtain the target position information and the target speed information of the target.

[0006] According to an embodiment of the present invention, the continuous frequency sweeping laser outputs an external trigger signal to the analog-to-digital converter and the galvanometer to achieve synchronization between the analog-to-digital converter and the galvanometer.

[0007] According to an embodiment of the present invention, an analog-to-digital converter receives an external trigger signal and collects an analog signal output by a balanced detector. The galvanometer receives the external trigger signal. The transceiver also includes a collimator. The echo of the non-field of view scene is obtained by emitting a signal path laser to an intermediate wall, scattering to a target blocked by an obstruction, being scattered from the target to the intermediate wall, and being scattered back by the intermediate wall. A first beat frequency signal corresponding to a group of m scanning points and a second beat frequency signal corresponding to a group of m scanning points constitute a frame of data.

[0008] According to a second aspect of the present invention, a target tracking method for a non-visual scene is provided, which is applied to a signal processing device in a target tracking system, comprising: in response to a target tracking request, obtaining a first beat frequency signal corresponding to the mth scanning point of the kth frame, a second beat frequency signal corresponding to the mth scanning point of the kth frame, preset position information of the ith target in the k-1th frame, and preset speed information of the ith target in the k-1th frame, wherein the first beat frequency signal represents a signal corresponding to a rising edge of a triangular wave frequency sweep, and the second beat frequency signal represents a signal corresponding to a falling edge of a triangular wave frequency sweep, i is a positive integer greater than or equal to 1, m is a positive integer greater than or equal to 3, and k is a positive integer greater than 1; performing Fourier transform on the first beat frequency signal and the second beat frequency signal to obtain a first beat frequency spectrum and a second beat frequency spectrum; based on a preset peak height, peak interval, and peak width, according to the first beat frequency signal The first beat frequency spectrum and the second beat frequency spectrum are used to determine the N measured peak position information of the ith target in the k-th frame, where N is a positive integer greater than or equal to 1; according to the preset position information of the ith target in the k-1-th frame and the preset speed information of the ith target in the k-1-th frame, the predicted peak position information of the ith target in the k-th frame corresponding to the first beat frequency spectrum and the second beat frequency spectrum is determined; according to the N measured peak position information of the ith target in the k-th frame and the predicted peak position information of the ith target in the k-th frame, the target peak position information of the ith target in the k-th frame is determined; according to the target peak position information of the ith target in the k-th frame, the first position information and the first speed information of the ith target in the k-th frame are determined; the first position information and the first speed information of the ith target in the k-th frame are filtered to obtain the target position information and the target speed information of the ith target in the k-th frame.

[0009] According to an embodiment of the present invention, based on the preset position information of the i-th target in the k-1-th frame and the preset speed information of the i-th target in the k-1-th frame, the predicted peak position information of the i-th target in the k-1-th frame corresponding to the first beat frequency signal and the second beat frequency signal is determined, including: based on the preset position information of the i-th target in the k-1-th frame and the preset speed information of the i-th target in the k-1-th frame, the predicted position information of the i-th target in the k-1-th frame and the predicted speed information of the i-th target in the k-1-th frame are determined; based on the predicted position information of the i-th target in the k-th frame and the predicted speed information of the i-th target in the k-th frame, the predicted peak position information of the i-th target in the k-th frame corresponding to the first beat frequency spectrum and the second beat frequency spectrum are determined.

[0010] According to an embodiment of the present invention, the first position information and first speed information of the i-th target in the k-th frame are determined based on the target peak position information of the i-th target in the k-th frame, including: determining the distance information and radial speed information from the i-th target in the k-th frame to the m-th scanning point based on the target peak position information of the i-th target in the k-th frame; determining the first position information of the i-th target in the k-th frame based on the distance information based on the least squares method; determining the first speed information of the i-th target in the k-th frame based on the first position information, distance information and radial speed information of the i-th target in the k-th frame.

[0011] According to an embodiment of the present invention, filtering is performed on the first position information and the first speed information of the i-th target in the k-th frame to obtain the target position information and the target speed information of the i-th target in the k-th frame, including: determining the first predicted position information of the i-th target in the k-th frame and the first predicted speed information of the i-th target in the k-th frame according to the preset position information of the i-th target in the k-1-th frame, the preset speed information of the i-th target in the k-1-th frame, and the state transfer matrix; determining the predicted position information of the i-th target in the k-th frame according to the initial covariance matrix and the state transfer matrix of the i-th target in the k-1-th frame; determining the predicted speed ...th frame; determining the predicted speed information of the i-th target in the k-th frame according to the initial covariance matrix and the state transfer matrix of the i-th target in the k-th frame; determining the predicted speed information of the i-th target in the The invention relates to a method for obtaining a target position information and a target speed information of the ith target in the k-th frame by measuring the covariance matrix of the ith target in the k-th frame; determining the Kalman gain according to the predicted covariance matrix and the noise covariance matrix of the ith target in the k-th frame; determining the initial covariance matrix of the ith target in the k-th frame according to the predicted covariance matrix and the Kalman gain of the ith target in the k-th frame; obtaining the target position information and target speed information of the ith target in the k-th frame according to the first predicted position information of the ith target in the k-th frame, the first predicted speed information of the ith target in the k-th frame, the Kalman gain, the preset position information of the ith target in the k-1-th frame, and the preset speed information of the ith target in the k-1-th frame.

[0012] According to an embodiment of the present invention, target peak position information of the i-th target in the k-th frame is determined based on N measured peak position information of the i-th target in the k-th frame and predicted peak position information of the i-th target in the k-th frame, including: based on the nearest neighbor matching method, determining the target peak position information of the i-th target in the k-th frame from the N measured peak position information of the i-th target in the k-th frame that matches the predicted peak position information of the i-th target in the k-th frame.

[0013] A third aspect of the present invention provides a target tracking device for a non-visual scene, including: an acquisition module, a first obtaining module, a first determining module, a second determining module, a third determining module, a fourth determining module and a second obtaining module.

[0014] An acquisition module is used to respond to a target tracking request to acquire a first beat frequency signal corresponding to the mth scanning point of the kth frame, a second beat frequency signal corresponding to the mth scanning point of the kth frame, preset position information of the ith target in the k-1th frame, and preset speed information of the ith target in the k-1th frame, wherein the first beat frequency signal represents a signal corresponding to a rising edge of a triangular wave frequency sweep, the second beat frequency signal represents a signal corresponding to a falling edge of a triangular wave frequency sweep, i is a positive integer greater than or equal to 1, m is a positive integer greater than or equal to 3, and k is a positive integer greater than 1.

[0015] The first obtaining module is used to perform Fourier transform on the first beat frequency signal and the second beat frequency signal to obtain a first beat frequency spectrum and a second beat frequency spectrum.

[0016] The first determination module is used to determine N measured peak position information of the i-th target in the k-th frame based on the preset peak height, peak interval and peak width according to the first beat frequency spectrum and the second beat frequency spectrum, wherein N is a positive integer greater than or equal to 1.

[0017] The second determination module is used to determine the predicted peak position information of the i-th target in the k-th frame corresponding to the first beat frequency spectrum and the second beat frequency spectrum respectively according to the preset position information of the i-th target in the k-1-th frame and the preset speed information of the i-th target in the k-1-th frame.

[0018] The third determination module is used to determine the target peak position information of the i-th target in the k-th frame based on the N measured peak position information of the i-th target in the k-th frame and the predicted peak position information of the i-th target in the k-th frame.

[0019] The fourth determination module is used to determine the first position information and the first speed information of the i-th target in the k-th frame according to the target peak position information of the i-th target in the k-th frame.

[0020] The second obtaining module is used to filter the first position information and the first speed information of the i-th target in the k-th frame to obtain the target position information and the target speed information of the i-th target in the k-th frame.

[0021] A fourth aspect of the present invention provides an electronic device, comprising: one or more processors; a memory for storing one or more computer programs, wherein the one or more processors execute the one or more computer programs to implement the steps of the above method.

[0022] The fifth aspect of the present invention further provides a computer-readable storage medium on which a computer program or instruction is stored, and the steps of the above method are implemented when the computer program or instruction is executed by a processor.

[0023] The sixth aspect of the present invention also provides a computer program product, including a computer program or instructions, which implement the steps of the above method when the computer program or instructions are executed by a processor.

[0024] According to the target tracking system, method, device and equipment for non-line-of-sight scenes provided by the present invention, a triangular wave swept laser is emitted by a continuous swept laser, and a first beam splitter splits the triangular wave swept laser to obtain a signal path laser and a reference path laser, which are scattered three times by an intermediate wall-non-line-of-sight target-intermediate wall, and the echo of the non-line-of-sight scene obtained by the three scatterings and the reference path laser are interfered in the second beam splitter to obtain an interference light signal, and the interference light signal is split to obtain two identical interference lights, and the interference light is processed by a balanced detector to obtain a first beat frequency signal corresponding to multiple groups of m scanning points and a second beat frequency signal corresponding to multiple groups of m scanning points, and an analog-to-digital converter converts the analog signal output by the balanced detector into a digital signal, and a signal processing device processes the first beat frequency signal and the second beat frequency signal to obtain target position information and target speed information in three-dimensional space, thereby realizing millimeter-level multi-target tracking in non-line-of-sight scenes, avoiding target loss or confusion, and improving the accuracy and robustness of target tracking. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The above and other objects, features and advantages of the present invention will become more apparent through the following description of the embodiments of the present invention with reference to the accompanying drawings.

[0026] Figure 1A The following is a diagram showing an application scenario of a target tracking method for a non-viewing scene in the related art.

[0027] Figure 1B A diagram showing an application scenario of a target tracking method for a non-viewing scene in another related technology.

[0028] Figure 2A diagram showing an application scenario of a method for tracking a target in a non-viewing scene according to an embodiment of the present invention is shown.

[0029] Figure 3 A schematic diagram of a target tracking system for a non-viewing scene according to an embodiment of the present invention is shown.

[0030] Figure 4 A signal acquisition timing diagram of an analog-to-digital converter according to an embodiment of the present invention is shown.

[0031] Figure 5 A flow chart of a method for tracking a target in a non-viewing scene according to an embodiment of the present invention is shown.

[0032] Fig. 6A A forward model architecture diagram of a target tracking method for a non-viewing scene according to an embodiment of the present invention is shown.

[0033] Figure 6B A schematic diagram showing a target peak position information determined by a target tracking method for a non-line-of-sight scenario according to an embodiment of the present invention.

[0034] Figure 6C A schematic diagram showing a method for tracking a target in a non-viewing scene according to another embodiment of the present invention for determining target peak position information is shown.

[0035] Fig. 7A A schematic diagram of determining target peak position information according to an embodiment of the present invention is shown.

[0036] Figure 7B A schematic diagram showing determination of target peak position information according to yet another embodiment of the present invention is shown.

[0037] Figure 7C A schematic diagram showing determination of target peak position information according to yet another embodiment of the present invention is shown.

[0038] Fig.7D A schematic diagram of determining target peak position information according to another embodiment of the present invention is shown.

[0039] Figure 8 A flow chart of a method for tracking an object in a non-viewing scene according to yet another embodiment of the present invention is shown.

[0040] Fig. 9A A schematic diagram of single target tracking in a non-viewing scene according to an embodiment of the present invention is shown.

[0041] Fig. 9B A schematic diagram of single target tracking in a non-line-of-sight scene according to yet another embodiment of the present invention is shown.

[0042] Fig. 10AA peak diagram of multi-target tracking in a non-viewing scene according to an embodiment of the present invention is shown.

[0043] Fig. 10B A peak diagram of multi-target tracking in a non-viewing scene according to yet another embodiment of the present invention is shown.

[0044] Fig. 10C A schematic diagram of multi-target tracking in a non-viewing scene according to an embodiment of the present invention is shown.

[0045] Fig.11 A structural block diagram of a target tracking device for a non-visual scene according to an embodiment of the present invention is shown.

[0046] Fig.12 A block diagram of an electronic device suitable for implementing a target tracking method in a non-visual scene according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0047] Below, embodiments of the present invention will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present invention. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of embodiments of the present invention. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of concepts of the present invention.

[0048] The terms used herein are only for describing specific embodiments and are not intended to limit the present invention. The terms "include", "comprises", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0049] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0050] When using expressions such as "at least one of A, B, and C, etc.", they should generally be interpreted according to the meaning of the expression commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0051] In the technical solution of the present invention, the user information (including but not limited to user personal information, user image information, user device information, such as location information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved are all information and data authorized by the user or fully authorized by all parties, and the collection, storage, use, processing, transmission, provision, disclosure and application of the relevant data comply with relevant laws, regulations and standards, take necessary confidentiality measures, do not violate public order and good morals, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0052] In the scenario of using personal information for automated decision-making, the methods, devices, and systems provided by the embodiments of the present invention provide users with corresponding operation portals for users to choose to agree or reject the automated decision-making results; if the user chooses to reject, the expert decision-making process will be entered. The expression "automated decision-making" here refers to the activity of automatically analyzing and evaluating an individual's behavioral habits, interests and hobbies, or economic, health, credit status, etc. through computer programs, and making decisions. The expression "expert decision-making" here refers to the activity of making decisions by people who specialize in a certain field, have specialized experience, knowledge and skills, and have reached a certain level of professionalism.

[0053] Figure 1A The following is a diagram showing an application scenario of a target tracking method for a non-viewing scene in the related art. Figure 1B A diagram showing an application scenario of a target tracking method for a non-viewing scene in another related technology.

[0054] In the process of implementing the present invention, it is found that the non-line-of-sight positioning and tracking technology for dynamic targets has high real-time performance and strong practicality, and has great application value in the fields of intelligent driving, emergency rescue, etc. Figure 1A As shown in FIG, in an autonomous driving scenario, there is a non-visual area at the corner of the road. Tracking vehicles in the non-visual area can ensure vehicle safety. Figure 1B As shown, in an emergency rescue scenario, since the fire may cause people in the house to be in a non-visual area, by detecting the trapped people in the non-visual area, human body signals can be detected, thereby tracking the trapped people and then rescuing them.

[0055] In the related technologies, non-line-of-sight positioning and tracking is mainly achieved through three technical means: pulsed lidar, millimeter-wave radar, and visible light imaging sensor (RGB color camera). Among them, although the RGB color camera can achieve very high resolution, it is basically limited to tracking in a two-dimensional plane, and it is difficult to track in the depth direction. Although pulsed lidar and millimeter-wave radar can achieve target tracking in three-dimensional space by three-point positioning, the resolution is limited by the pulse, detector broadening and modulation range, respectively, and the positioning accuracy is limited to the centimeter level. In addition, since pulsed lidar and millimeter-wave radar cannot accurately calculate the motion state of an object, when tracking multiple non-line-of-sight targets, common problems in multi-target tracking such as target confusion, misjudgment, and loss of targets are prone to occur.

[0056] In view of this, an embodiment of the present invention provides a target tracking system for a non-line-of-sight scene, including: a continuous frequency sweeping laser, used to emit a triangular wave frequency sweeping laser; a first beam splitter, used to split the triangular wave frequency sweeping laser to obtain a signal path laser and a reference path laser; a transceiver, including a galvanometer, used to respectively emit the signal path laser to m scanning points located on an intermediate wall by adjusting the angle of the galvanometer, and receive the echo of the non-line-of-sight scene, where m is a positive integer greater than or equal to 3; a second beam splitter, used to perform interference processing on the reference path laser and the echo to obtain an interference light signal, and to split the interference light signal to obtain two identical interference lights; a circulator, Used to transmit the signal path laser to the transceiver and transmit the echo to the second beam splitter; a balanced detector, used to perform photoelectric conversion on the interference light to obtain a first beat frequency signal corresponding to multiple groups of m scanning points and a second beat frequency signal corresponding to multiple groups of m scanning points, wherein the first beat frequency signal represents the signal corresponding to the rising edge of the triangular wave frequency sweep, and the second beat frequency signal represents the signal corresponding to the falling edge of the triangular wave frequency sweep; an analog-to-digital converter, used to convert the analog signal output by the balanced detector into a digital signal; a signal processing device, used to process the first beat frequency signal and the second beat frequency signal obtained from the analog-to-digital converter to obtain the target position information and target speed information of the target.

[0057] Figure 2 A diagram showing an application scenario of a method for tracking a target in a non-viewing scene according to an embodiment of the present invention is shown.

[0058] like Figure 2 As shown, the application scenario 200 according to this embodiment may include a first terminal device 201, a second terminal device 202, a third terminal device 203, a network 204, and a server 205. The network 204 is used to provide a medium for a communication link between the first terminal device 201, the second terminal device 202, the third terminal device 203, and the server 205. The network 204 may include various connection types, such as wired, wireless communication links, or optical fiber cables, etc.

[0059] The user may use the first terminal device 201, the second terminal device 202, and the third terminal device 203 to interact with the server 205 through the network 204 to receive or send messages, etc. Various communication client applications may be installed on the first terminal device 201, the second terminal device 202, and the third terminal device 203, such as shopping applications, web browser applications, search applications, instant messaging tools, email clients, social platform software, etc. (only for example).

[0060] The first terminal device 201, the second terminal device 202, and the third terminal device 203 may be various electronic devices having display screens and supporting web browsing, including but not limited to smart phones, tablet computers, laptop computers, desktop computers, and the like.

[0061] The server 205 may be a server that provides various services, such as a background management server (only as an example) that provides support for websites browsed by users using the first terminal device 201, the second terminal device 202, and the third terminal device 203. The background management server may analyze and process the received data such as user requests, and feed back the processing results (such as web pages, information, or data obtained or generated according to user requests) to the terminal device.

[0062] It should be noted that the target tracking method for the non-line-of-sight scene provided in the embodiment of the present invention can generally be executed by the server 205. Accordingly, the target tracking device for the non-line-of-sight scene provided in the embodiment of the present invention can generally be set in the server 205. The target tracking method for the non-line-of-sight scene provided in the embodiment of the present invention can also be executed by a server or server cluster that is different from the server 205 and can communicate with the first terminal device 201, the second terminal device 202, the third terminal device 203 and / or the server 205. Accordingly, the target tracking device for the non-line-of-sight scene provided in the embodiment of the present invention can also be set in a server or server cluster that is different from the server 205 and can communicate with the first terminal device 201, the second terminal device 202, the third terminal device 203 and / or the server 205.

[0063] It should be understood that Figure 2 The number of the first terminal device, the second terminal device, the third terminal device, the network and the server in the embodiment is only for illustration. According to the implementation requirements, there may be any number of the first terminal device, the second terminal device, the third terminal device, the network and the server.

[0064] Figure 3 A schematic diagram of a target tracking system for a non-viewing scene according to an embodiment of the present invention is shown.

[0065] like Figure 3As shown, the target tracking system for non-line-of-sight scenes includes a continuously swept laser, a first beam splitter, a transceiver, a second beam splitter, a circulator, a balanced detector, an analog-to-digital converter, and a signal processing device.

[0066] According to an embodiment of the present invention, a continuous frequency sweeping laser may be used to emit a triangle wave frequency sweeping laser.

[0067] According to an embodiment of the present invention, the first beam splitter can be used to process the triangle wave frequency sweeping laser to obtain the signal path laser and the reference path laser.

[0068] According to an embodiment of the present invention, the echo of the non-line-of-sight scene can be obtained by emitting a signal path laser to an intermediate wall, scattering through the intermediate wall to a target blocked by an obstruction, and then scattering from the target to the intermediate wall, and then scattering back from the intermediate wall. The number of scanning points m can be a positive integer greater than or equal to 3. For example, there can be 3 scanning points. The transceiver can include a galvanometer, and the transceiver can respectively emit a signal path laser to m scanning points located on the intermediate wall by adjusting the angle of the galvanometer, and receive the echo of the non-line-of-sight scene. The transceiver also includes a collimator, which can represent a device for limiting and optimizing the shape of a light beam, and can limit and optimize the shape of the signal path laser and the echo.

[0069] According to an embodiment of the present invention, the second beam splitter can be used to perform interference processing on the reference path laser and the echo of the non-viewing scene to obtain interference light, and to split the interference light to obtain two identical interference lights.

[0070] According to an embodiment of the present invention, the circulator can be used to transmit the signal path laser to the transceiver and transmit the echo of the non-line-of-sight scene to the second beam splitter. The circulator can output the signal path laser to the transceiver through one port, and can also transmit the echo of the non-line-of-sight scene to the second beam splitter from another port.

[0071] According to an embodiment of the present invention, the first beat signal can represent the signal corresponding to the rising edge of the triangular wave frequency sweep, and the second beat signal can represent the signal corresponding to the falling edge of the triangular wave frequency sweep. The balanced detector can be used to perform photoelectric conversion on two identical interference light beams to obtain a first beat signal corresponding to multiple groups of m scanning points and a second beat signal corresponding to multiple groups of m scanning points. Since the triangular wave frequency sweep laser is continuously emitted, the first beat signal corresponding to multiple groups of m scanning points and the second beat signal corresponding to multiple groups of m scanning points can be obtained.

[0072] According to an embodiment of the present invention, a first beat frequency signal corresponding to a group of m scanning points and a second beat frequency signal corresponding to a group of m scanning points constitute a frame of data. The first beat frequency signal corresponding to multiple groups of m scanning points and the second beat frequency signal corresponding to multiple groups of m scanning points can constitute multiple frames of data. The balanced detector includes at least two channels for receiving the interference light output by the second beam splitter. The first beat frequency signal corresponding to multiple groups of m scanning points and the second beat frequency signal corresponding to multiple groups of m scanning points output by the balanced detector can be collected by an analog to digital converter (ADC) and analog-to-digital conversion is performed to convert the first beat frequency signal corresponding to multiple groups of m scanning points and the second beat frequency signal corresponding to multiple groups of m scanning points in analog form into the first beat frequency signal corresponding to multiple groups of m scanning points and the second beat frequency signal corresponding to multiple groups of m scanning points in digital form.

[0073] According to an embodiment of the present invention, a signal processing device can be used to obtain first beat frequency signals corresponding to multiple groups of m scanning points and second beat frequency signals corresponding to multiple groups of m scanning points in digital form from an analog-to-digital converter, and process the first beat frequency signals corresponding to multiple groups of m scanning points and second beat frequency signals corresponding to multiple groups of m scanning points in digital form, so as to obtain target position information and target speed information of the target.

[0074] According to an embodiment of the present invention, a triangular wave swept laser is emitted by a continuous swept laser, and a first beam splitter processes the triangular wave swept laser to obtain a signal path laser and a reference path laser. After three scatterings of an intermediate wall-a non-line-of-sight target-an intermediate wall, the echo of the non-line-of-sight scene obtained by the three scatterings and the reference path laser are interfered in a second beam splitter to obtain an interference light signal, and the interference light signal is split to obtain two identical interference lights. The interference light is processed by a balanced detector to obtain a first beat frequency signal corresponding to multiple groups of m scanning points and a second beat frequency signal corresponding to multiple groups of m scanning points. A signal processing device processes the first beat frequency signal and the second beat frequency signal to obtain target position information and target speed information in three-dimensional space, thereby realizing millimeter-level multi-target tracking in non-line-of-sight scenes, avoiding target loss or confusion, and improving the accuracy and robustness of target tracking.

[0075] According to an embodiment of the present invention, the frequency sweeping laser can be a tunable laser of a brand such as Luna (Phoenix 1400). The first beam splitter, the second beam splitter, the circulator, etc. can all use single-mode fiber devices, wherein the coaxial optical path design of "circulator + collimator head" can be replaced with a dual-axis optical path design of "double collimator head" as needed. The balanced detector can use a Thorlabs PDB series balanced detector or a high-sensitivity single-photon detector. In order to achieve fast and real-time tracking, the analog-to-digital converter needs to have a sampling rate and a number of bits as high as possible, such as Analog Devices' 14-bit AD9680 with a sampling rate of 1 GHz; the signal processing device can include a field programmable gate array (FPGA) to correct the frequency sweeping nonlinear jitter in real time and perform Fourier transform, which can reduce the amount of data.

[0076] According to an embodiment of the present invention, compared with a non-line-of-sight target tracking setting based on a pulsed laser radar, Figure 3 The target tracking system for non-line-of-sight scenarios shown uses a tunable swept-frequency continuous laser instead of the mainstream narrow-pulse laser; there are both signal and reference paths while the mainstream setting only includes the signal path; it uses coherent detection while the mainstream setting uses incoherent detection. Compared with the non-line-of-sight target tracking setup based on millimeter waves, Figure 3 The target tracking system for the non-line-of-sight scenario shown uses optical bands instead of millimeter waves, so the signal source used is completely different; optical band beam splitters, circulators, collimators, and balanced detectors are used, while millimeter-wave radars use transceiver antennas, mixers and other devices.

[0077] According to an embodiment of the present invention, the continuous frequency sweeping laser has the ability to output an external trigger signal, and can output the external trigger signal to the analog-to-digital converter and the galvanometer to achieve synchronization between the analog-to-digital converter and the galvanometer.

[0078] According to an embodiment of the present invention, the analog-to-digital converter has the ability to receive an external trigger signal, and can receive an external trigger signal of a frequency-sweeping continuous laser. When receiving the external trigger signal, the analog form of the first beat frequency signal corresponding to the multiple groups of m scanning points and the second beat frequency signal corresponding to the multiple groups of m scanning points output by the balanced detector are collected and digital-to-analog conversion is performed to obtain the digital form of the first beat frequency signal corresponding to the multiple groups of m scanning points and the second beat frequency signal corresponding to the multiple groups of m scanning points. The galvanometer also has the ability to receive an external trigger signal and can receive an external trigger signal.

[0079] Figure 4 A signal acquisition timing diagram of an analog-to-digital converter according to an embodiment of the present invention is shown.

[0080] like Figure 4As shown, in the case of three scanning points, after collecting the first beat frequency signals corresponding to multiple groups of m scanning points in analog form output from the balanced detector and the second beat frequency signals corresponding to multiple groups of m scanning points through the analog-to-digital converter at the rising edge and the falling edge of the triangular wave frequency sweep for scanning point 1 and performing analog-to-digital conversion, the galvanometer moves to change the galvanometer angle, and starts to collect the first beat frequency signals corresponding to multiple groups of m scanning points in analog form output from the balanced detector and the second beat frequency signals corresponding to multiple groups of m scanning points through the analog-to-digital converter at the rising edge and the falling edge of the triangular wave frequency sweep for scanning point 2 and perform analog-to-digital conversion, then continues to move the galvanometer to change the galvanometer angle again, and starts to collect the first beat frequency signals corresponding to multiple groups of m scanning points in analog form output from the balanced detector and the second beat frequency signals corresponding to multiple groups of m scanning points through the analog-to-digital converter at the rising edge and the falling edge of the triangular wave frequency sweep for scanning point 3 and perform analog-to-digital conversion.

[0081] Figure 5 A flow chart of a method for tracking a target in a non-viewing scene according to an embodiment of the present invention is shown.

[0082] like Figure 5 As shown, the target tracking method 500 for the non-viewing scene of this embodiment includes operations S510 to S570.

[0083] In operation S510, in response to a target tracking request, a first beat frequency signal corresponding to the m-th scanning point of the k-th frame, a second beat frequency signal corresponding to the m-th scanning point of the k-th frame, preset position information of the ith target in the k-1-th frame, and preset speed information of the ith target in the k-1-th frame are obtained, wherein i is a positive integer greater than or equal to 1, m is a positive integer greater than or equal to 3, and k is a positive integer greater than 1.

[0084] In operation S520, Fourier transform is performed on the first beat frequency signal and the second beat frequency signal to obtain a first beat frequency spectrum and a second beat frequency spectrum.

[0085] In operation S530, based on the preset peak height, peak interval and peak width, N measured peak position information of the i-th target in the k-th frame is determined according to the first beat frequency spectrum and the second beat frequency spectrum, where N is a positive integer greater than or equal to 1.

[0086] In operation S540, predicted peak position information of the i-th target in the k-1-th frame corresponding to the first beat frequency spectrum and the second beat frequency spectrum is determined according to the preset position information of the i-th target in the k-1-th frame and the preset speed information of the i-th target in the k-1-th frame.

[0087] In operation S550, target peak position information of the i-th target in the k-th frame is determined based on the N measured peak position information of the i-th target in the k-th frame and the predicted peak position information of the i-th target in the k-th frame.

[0088] In operation S560, first position information and first speed information of the i-th object in the k-th frame are determined according to the object peak position information of the i-th object in the k-th frame.

[0089] In operation S570, the first position information and the first speed information of the i-th target in the k-th frame are filtered to obtain the target position information and the target speed information of the i-th target in the k-th frame.

[0090] According to an embodiment of the present invention, the non-viewing area can represent an area outside the field of view. The target of the non-viewing area scene can represent a target in the non-viewing area. The target may include multiple targets. For example, target 1, target 2, etc. The target in the non-viewing area scene can be detected with the help of an intermediate wall to achieve imaging and tracking of the target in the non-viewing area scene. To detect the target in the non-viewing area scene through the intermediate wall, the signal path laser needs to be scattered three times by the intermediate wall, the target, and the intermediate wall to obtain the echo of the non-viewing area scene.

[0091] According to an embodiment of the present invention, the number and position of scanning points may be preset. For example, the number of scanning points may be set to 3. The position information and speed information of the non-viewing area scene target may be determined based on the preset scanning points with known positions.

[0092] According to an embodiment of the present invention, the beat signal can represent a signal generated by the frequency difference between two waveforms with frequencies that are close but not completely the same. A triangular wave is used for frequency sweeping, and the sweep rates of the rising edge and the falling edge of the triangular wave are opposite, so that a first beat signal and a second beat signal can be obtained at the rising edge and the falling edge. Therefore, the first beat signal can represent the signal corresponding to the rising edge of the triangular wave frequency sweep, and the second beat signal can represent the signal corresponding to the falling edge of the triangular wave frequency sweep.

[0093] According to an embodiment of the present invention, the preset position information of the i-th target in the k-1-th frame and the preset speed information of the i-th target in the k-1-th frame may be known.

[0094] According to an embodiment of the present invention, the preset peak height, peak interval and peak width can be set according to requirements.

[0095] According to the embodiment of the present invention, a first beat frequency spectrum and a second beat frequency spectrum may be obtained by performing Fourier transform on the first beat frequency signal and the second beat frequency signal.

[0096] According to an embodiment of the present invention, peak search can be performed in the first beat frequency spectrum and the second beat frequency spectrum respectively based on preset peak height, peak interval and peak width, so as to determine N measured peaks of the i-th target in the k-th frame, wherein the number N of measured peaks is equal to the number of targets.

[0097] According to an embodiment of the present invention, the predicted position information and predicted speed information of the i-th target in the k-1-th frame can be determined based on the preset position information of the i-th target in the k-1-th frame and the preset speed information of the i-th target in the k-1-th frame, thereby determining the predicted peak position information of the i-th target in the k-th frame corresponding to the first beat frequency signal and the second beat frequency signal respectively.

[0098] According to an embodiment of the present invention, based on the N measured peak position information of the i-th target in the k-th frame and the predicted peak position information of the i-th target in the k-th frame, the measured peak position information closest to the predicted peak position information can be determined from the N measured peak position information, and the measured peak position information closest to the predicted peak position information can be determined as the target peak position information of the i-th target in the k-th frame.

[0099] According to an embodiment of the present invention, the distance information and radial velocity information from the i-th target in the k-th frame to the m-th scanning point can be determined based on the target peak position information of the i-th target in the k-th frame, and then the first position information and first velocity information of the i-th target in the k-th frame can be determined.

[0100] According to an embodiment of the present invention, the first position information may represent position information including noise, and the first speed information may represent speed information including noise. By filtering the first position information and the first speed information of the i-th target in the k-th frame, the noise in the first position information and the first speed information may be eliminated, so that the target position information and the target speed information of the i-th target in the k-th frame may be obtained.

[0101] According to an embodiment of the present invention, the time accuracy of the target tracking system in the non-viewing scene depends on the range B of the triangle wave sweep frequency, that is, For example, for The system has a temporal resolution of up to , the corresponding imaging accuracy can reach .

[0102] According to an embodiment of the present invention, a first beat frequency spectrum and a second beat frequency spectrum can be obtained by performing Fourier transform on a first beat frequency signal corresponding to the mth scanning point of the kth frame and a second beat frequency signal corresponding to the mth scanning point of the kth frame obtained from a target tracking system of a non-line-of-sight scene. Based on a preset peak height, peak interval and peak width, N measured peak position information can be determined according to the first beat frequency spectrum and the second beat frequency spectrum. A target peak position of the i-th target in the kth frame that is closest to the predicted peak position is determined from multiple measured peak positions, thereby determining first position information and first speed information according to the target peak position, and filtering the first position information and the first speed information to obtain target position information and target speed information, thereby improving target positioning accuracy in non-line-of-sight scenes, and obtaining the motion state of the target, thereby avoiding problems such as target confusion, misjudgment and loss in non-line-of-sight scenes, and thereby improving the robustness of target tracking in non-line-of-sight scenes.

[0103] According to an embodiment of the present invention, based on the preset position information of the i-th target in the k-1-th frame and the preset speed information of the i-th target in the k-1-th frame, the predicted peak position information of the i-th target in the k-1-th frame corresponding to the first beat frequency spectrum and the second beat frequency spectrum respectively is determined, including: based on the preset position information of the i-th target in the k-1-th frame and the preset speed information of the i-th target in the k-1-th frame, the predicted position information of the i-th target in the k-1-th frame and the predicted speed information of the i-th target in the k-1-th frame are determined; based on the predicted position information of the i-th target in the k-th frame and the predicted speed information of the i-th target in the k-th frame, the predicted peak position information of the i-th target in the k-th frame corresponding to the first beat frequency spectrum and the second beat frequency spectrum respectively is determined.

[0104] According to an embodiment of the present invention, the predicted position information of the i-th target in the k-th frame can be determined according to the preset position information of the i-th target in the k-1-th frame and the preset speed information of the i-th target in the k-1-th frame. , as shown in formula (1).

[0105] (1)

[0106] in, represents the preset position information of the i-th target in the k-1th frame, represents the preset speed information of the i-th target in the k-1-th frame, and T represents the time interval between the k-1-th frame and the k-th frame.

[0107] According to the embodiment of the present invention, since the time interval between the k-1th frame and the kth frame is short, it can be considered that the target moves at a uniform speed from the k-1th frame to the kth frame, so that the preset speed information of the i-th target in the k-th frame can be obtained. The preset speed information of the i-th target in the k-1th frame equal.

[0108] According to an embodiment of the present invention, when the predicted position information of the i-th target in the k-th frame and the predicted speed information of the i-th target in the k-th frame are determined, the predicted peak position information of the i-th target in the k-th frame corresponding to the first beat frequency signal and the second beat frequency signal can be determined according to the forward model formula (2).

[0109] (2)

[0110] in, represents the sweep rate, represents the central wavelength of the frequency sweep, represents the speed of light, Indicates The distance information of each target, Indicates The radial velocity information of each target, represents the collected first beat frequency signal and the second beat frequency signal, represents the signal strength, and t represents the time.

[0111] According to an embodiment of the present invention, when the predicted position information of the i-th target in the k-th frame and the predicted speed information of the i-th target in the k-th frame are determined, the predicted peak position information of the i-th target in the k-th frame corresponding to the first beat frequency spectrum can be determined. The predicted peak position information corresponding to the second beat frequency spectrum .

[0112] According to an embodiment of the present invention, the predicted position information of the i-th target in the k-1-th frame and the predicted speed information of the i-th target in the k-1-th frame can be determined based on the preset position information of the i-th target in the k-1-th frame and the preset speed information of the i-th target in the k-1-th frame, and then the predicted peak position information corresponding to the i-th target in the k-th frame in the first beat frequency spectrum and the second beat frequency spectrum can be determined, thereby improving the accuracy of the predicted peak position information corresponding to each beat frequency spectrum.

[0113] Fig. 6A A forward model architecture diagram of a target tracking method for a non-viewing scene according to an embodiment of the present invention is shown. Figure 6B A schematic diagram showing a target peak position information determined by a target tracking method for a non-line-of-sight scenario according to an embodiment of the present invention. Figure 6C A schematic diagram showing a method for tracking a target in a non-viewing scene according to another embodiment of the present invention for determining target peak position information is shown.

[0114] like Fig. 6AAs shown, the forward model architecture of the target tracking method using the non-line-of-sight scene includes an intermediate wall, an occluder, a frequency modulated continuous wave non-line-of-sight camera, a target 1 and a target 2.

[0115] According to an embodiment of the present invention, the presence of an obstruction causes target 1 and target 2 to be in a non-line-of-sight area. Scanning point 1, scanning point 2, and scanning point 3 with known positions are set on the intermediate wall. The frequency modulated continuous wave non-line-of-sight camera can represent a camera packaged with a continuous scanning laser, a first beam splitter, a circulator, a transceiver, a second beam splitter, and a balanced detector.

[0116] like Figure 6B As shown in , it is the target peak position information of target 1 and target 2 corresponding to the chirp signal (rising edge) on the triangular wave. Figure 6C As shown, the target peak position information of target 1 and target 2 corresponding to the chirp signal (falling edge) of the triangular wave.

[0117] According to an embodiment of the present invention, the first position information and first speed information of the i-th target in the k-th frame are determined based on the target peak position information of the i-th target in the k-th frame, including: determining the distance information and radial speed information from the i-th target in the k-th frame to the m-th scanning point based on the target peak position information of the i-th target in the k-th frame; determining the first position information of the i-th target in the k-th frame based on the distance information based on the least squares method; determining the first speed information of the i-th target in the k-th frame based on the first position information, distance information and radial speed information of the i-th target in the k-th frame.

[0118] According to an embodiment of the present invention, the distance information from the i-th target in the k-th frame to the m-th scanning point can be obtained based on the target peak position information of the i-th target in the k-th frame and the following formula (3): and radial velocity information .

[0119] (3)

[0120] in, Indicates the target peak position information corresponding to the rising edge of the triangle wave sweep frequency. Indicates the target peak position information corresponding to the falling edge of the triangle wave sweep.

[0121] According to an embodiment of the present invention, the target peak position information can be obtained according to the following formula (4), and the target peak position information corresponding to the rising edge and the target peak position information corresponding to the falling edge of the triangular wave frequency sweep can be determined according to the following formula (5).

[0122] (4)

[0123] (5)

[0124] According to an embodiment of the present invention, the first position information of the i-th target in the k-th frame can be determined based on the least squares method according to the distance information. , as shown in formula (6).

[0125] (6)

[0126] in, Indicates the x-direction position information of the i-th target in the k-th frame, Indicates the y-direction position information of the i-th target in the k-th frame, Represents the z-direction position information of the i-th target in the k-th frame, ( ) represents the coordinates of the scanning point m, x represents the first optimization variable, y represents the second optimization variable, and z represents the third optimization variable. Represents the distance information of the i-th target in the k-th frame.

[0127] According to an embodiment of the present invention, the first speed information of the i-th target in the k-th frame can be determined according to the first position information, distance information and radial speed information of the i-th target in the k-th frame. , as shown in formula (7).

[0128] (7)

[0129] in, Indicates the radial velocity information of the i-th target in the k-th frame, and m indicates the number of the scanning point. For example, m=1, 2, or 3.

[0130] According to an embodiment of the present invention, the distance information and radial velocity information from the ith target in the kth frame to the mth scanning point can be determined through the target peak position information of the ith target in the kth frame. Based on the distance information, the first position information can be determined, and then the first velocity information of the ith target in the kth frame can be determined. Not only the position information of the target can be obtained, but also the velocity information of the target can be obtained, thereby achieving positioning and tracking of the target.

[0131] According to an embodiment of the present invention, the first position information and the first speed information of the i-th target in the k-th frame are filtered to obtain the target position information and the target speed information of the i-th target in the k-th frame, including: determining the first predicted position information of the i-th target in the k-1-th frame and the first predicted speed information of the i-th target in the k-1-th frame according to the preset position information of the i-th target in the k-1-th frame, the preset speed information of the i-th target in the k-1-th frame, and the state transfer matrix. Determine the predicted covariance matrix of the i-th target in the k-1-th frame according to the initial covariance matrix and the state transfer matrix of the i-th target. Determine the Kalman gain according to the predicted covariance matrix and the noise covariance matrix of the i-th target in the k-th frame. Determine the initial covariance matrix of the i-th target in the k-th frame according to the predicted covariance matrix and the Kalman gain of the i-th target in the k-th frame. According to the first predicted position information of the ith target in the kth frame, the first predicted speed information of the ith target in the kth frame, the Kalman gain, the preset position information of the ith target in the k-1th frame, and the preset speed information of the ith target in the k-1th frame, the target position information and target speed information of the ith target in the kth frame are obtained.

[0132] According to an embodiment of the present invention, the preset position information of the i-th target in the k-1th frame and the preset speed information of the i-th target in the k-1th frame may be known. The state transfer matrix may be ,in, It can be a 3x3 unit matrix. Therefore, the first predicted position information of the i-th target in the k-1th frame and the first predicted speed information of the i-th target in the k-1th frame can be determined according to the preset position information of the i-th target in the k-1th frame, the preset speed information of the i-th target in the k-1th frame and the state transfer matrix.

[0133] According to an embodiment of the present invention, the initial covariance matrix of the i-th target in the k-1-th frame can be a 6x6 unit matrix The predicted covariance matrix of the i-th target in the k-th frame can be determined based on the initial covariance matrix and state transfer matrix of the i-th target in the k-1-th frame.

[0134] According to an embodiment of the present invention, the covariance matrix of the noise can be The Kalman gain can be determined based on the prediction covariance matrix and noise covariance matrix of the i-th target in the k-th frame.

[0135] According to an embodiment of the present invention, the initial covariance matrix of the i-th target in the k-th frame can be determined based on the predicted covariance matrix and Kalman gain of the i-th target in the k-th frame. The target position information and target speed information of the i-th target in the k-th frame can be obtained based on the first predicted position information of the i-th target in the k-th frame, the first predicted speed information of the i-th target in the k-th frame, the Kalman gain, the preset position information of the i-th target in the k-1-th frame, and the preset speed information of the i-th target in the k-1-th frame.

[0136] According to an embodiment of the present invention, the first position information and the first speed information of the i-th target in the k-th frame are filtered as shown in the following formula (8).

[0137] (8)

[0138] Where A represents the state transfer matrix, represents the initial covariance matrix of the i-th target in the k-1th frame, represents the preset position information of the i-th target in the k-1-th frame and the preset state composed of the preset position information, represents the transpose of A, represents the Kalman gain, represents the covariance matrix of the noise, represents the first predicted position information and the first predicted speed information of the i-th target in the k-th frame, represents the 6x6 unit matrix, represents the first predicted position information and the first predicted speed information of the i-th target in the k-th frame, represents the predicted covariance matrix of the i-th target in the k-th frame.

[0139] According to an embodiment of the present invention, by filtering the first position information and the first speed information of the ith target in the kth frame, noise in the first position information and the first speed information of the ith target in the kth frame can be removed, and more accurate target position information and target speed information of the ith target in the kth frame can be obtained, thereby improving the accuracy of the target's position and the accuracy of its motion state.

[0140] According to an embodiment of the present invention, target peak position information of the i-th target in the k-th frame is determined based on N measured peak position information of the i-th target in the k-th frame and predicted peak position information of the i-th target in the k-th frame, including: based on the nearest neighbor matching method, determining the target peak position information of the i-th target in the k-th frame from the N measured peak position information of the i-th target in the k-th frame that matches the predicted peak position information of the i-th target in the k-th frame.

[0141] According to an embodiment of the present invention, the nearest neighbor matching method can characterize finding a target sample that matches a test sample from neighbor samples, that is, finding target peak position information that matches predicted peak position information from N measured peak position information of the i-th target in the k-th frame.

[0142] According to an embodiment of the present invention, measured peak position information matching the predicted peak position information can be determined based on the nearest neighbor matching method, so that the target and the peak position can correspond to each other, thereby improving the accuracy of the target position.

[0143] Fig. 7A A schematic diagram of determining target peak position information according to an embodiment of the present invention is shown. Figure 7B A schematic diagram showing determination of target peak position information according to yet another embodiment of the present invention is shown. Figure 7C A schematic diagram showing determination of target peak position information according to yet another embodiment of the present invention is shown. Fig.7D A schematic diagram of determining target peak position information according to another embodiment of the present invention is shown.

[0144] like Fig. 7A As shown in , the measured peak position information corresponding to the chirp signal of target 1 and target 2 in the kth frame and the peak position information in the case of no Doppler. Figure 7B As shown in , the predicted peak position information corresponding to the chirp signal of target 1 and target 2 in the k+1th frame and the peak position information in the case of no Doppler are shown. Figure 7C As shown in , the predicted peak position information corresponding to the chirp signal of target 1 and target 2 in the kth frame and the peak position information in the case of no Doppler. Fig.7D As shown, the target peak position information corresponding to the chirp signal of target 1 and target 2 in the k+1th frame and the target position information in the case of no Doppler.

[0145] Figure 8 A flow chart of a method for tracking an object in a non-viewing scene according to yet another embodiment of the present invention is shown.

[0146] like Figure 8 As shown, the target tracking method for the non-viewing scene includes operations S810 to S890.

[0147] In operation S810, first beat frequency signals and second beat frequency signals of scanning point 1, scanning point 2, and scanning point 3 of the k-th frame are respectively acquired.

[0148] In operation S820, Fourier transform is performed on the first beat frequency signals and the second beat frequency signals of scanning point 1, scanning point 2, and scanning point 3 of the kth frame to obtain the first beat frequency spectrum and the second beat frequency spectrum of scanning point 1, scanning point 2, and scanning point 3 of the kth frame.

[0149] In operation S830, peaks are searched for the first beat frequency spectra and the second beat frequency spectra of scanning point 1, scanning point 2, and scanning point 3 in the kth frame, respectively, to obtain a plurality of measured peak position information.

[0150] In operation S840, predicted peak position information and predicted speed information are obtained according to the prediction of the k-1 frame for the k-th frame.

[0151] In operation S850, a plurality of measured peak position information is matched with the predicted peak position information to obtain target peak position information.

[0152] In operation S860, distance information and radial velocity information of the k-th frame are determined based on the target peak position information.

[0153] In operation S870, first position information and first velocity information are determined based on the distance information and the radial velocity information of the k-th frame.

[0154] In operation S880, filtering is performed on the first position information and the first speed information.

[0155] In operation S890, target position information and target speed information are obtained.

[0156] Fig. 9A A schematic diagram of single target tracking in a non-viewing scene according to an embodiment of the present invention is shown. Fig. 9B A schematic diagram of single target tracking in a non-line-of-sight scene according to yet another embodiment of the present invention is shown.

[0157] like Fig. 9A As shown in , it is the complete tracking trajectory in the case of a single target. Fig. 9B As shown, Fig. 9A Some trajectory details and positioning errors in the dashed box. Fig. 9A and Fig. 9B , a single target can be tracked with an error range of millimeters. Fig. 9A and Fig. 9B The tracking results of a single linear motion target are shown. The sweep frequency range can reach 0.3THz, the theoretical distance resolution is 0.5mm, and the error of the final target position information can be less than 2mm.

[0158] Fig. 10A A peak diagram of multi-target tracking in a non-viewing scene according to an embodiment of the present invention is shown. Fig. 10B A peak diagram of multi-target tracking in a non-viewing scene according to yet another embodiment of the present invention is shown. Fig. 10C A schematic diagram of multi-target tracking in a non-viewing scene according to an embodiment of the present invention is shown.

[0159] like Fig. 10AAs shown in the figure, it is a signal diagram in the case of multi-target tracking. It can be seen that in the case of multi-target, the peak distances of multiple targets are close, and peak confusion will occur. Fig. 10B As shown in Figure 1, it is another signal diagram in the case of multi-target tracking. It can be seen that in the case of multi-target, the peaks of multiple targets will overlap or non-target peak noise will appear. Fig. 10C As shown in the figure, it is the tracking trajectory in the case of multiple targets. It can be seen that target 1 and target 2 can be completely separated. Therefore, the mismatch between the peak and the target, as well as confusion, misjudgment, and loss of the target can be avoided during the multi-target tracking process, and the multi-target trajectory recovery with a target position information error of less than 2 mm and a target speed information error of less than 2 mm / s can be achieved.

[0160] Based on the above-mentioned target tracking method for non-line-of-sight scenes, the present invention also provides a target tracking device for non-line-of-sight scenes. Fig.11 The device is described in detail.

[0161] Fig.11 A structural block diagram of a target tracking device for a non-visual scene according to an embodiment of the present invention is shown.

[0162] like Fig.11 As shown, the target tracking device 1100 for the non-visual scene of this embodiment includes an acquisition module 1110, a first obtaining module 1120, a first determining module 1130, a second determining module 1140, a third determining module 1150, a fourth determining module 1160 and a second obtaining module 1170.

[0163] The acquisition module 1110 is used to obtain, in response to a target tracking request, a first beat signal corresponding to the m-th scanning point of the k-th frame, a second beat signal corresponding to the m-th scanning point of the k-th frame, preset position information of the i-th target in the k-1-th frame, and preset speed information of the i-th target in the k-1-th frame, wherein the first beat signal represents a signal corresponding to a rising edge of the triangular wave frequency sweep, the second beat signal represents a signal corresponding to a falling edge of the triangular wave frequency sweep, i is a positive integer greater than or equal to 1, m is a positive integer greater than or equal to 3, and k is a positive integer greater than 1. In one embodiment, the acquisition module 1110 can be used to perform the operation S210 described above, which will not be repeated here.

[0164] The first obtaining module 1120 is used to perform Fourier transform on the first beat frequency signal and the second beat frequency signal to obtain the first beat frequency spectrum and the second beat frequency spectrum. In one embodiment, the first obtaining module 1120 can be used to perform the operation S220 described above, which will not be described in detail here.

[0165] The first determination module 1130 is used to determine N measured peak position information of the i-th target in the k-th frame based on the preset peak height, peak interval and peak width according to the first beat frequency spectrum and the second beat frequency spectrum, where N is a positive integer greater than or equal to 1. In one embodiment, the first determination module 1130 can be used to perform the operation S230 described above, which will not be repeated here.

[0166] The second determination module 1140 is used to determine the predicted peak position information of the i-th target in the k-th frame corresponding to the first beat frequency spectrum and the second beat frequency spectrum respectively according to the preset position information of the i-th target in the k-1-th frame and the preset speed information of the i-th target in the k-1-th frame. In one embodiment, the second determination module 1140 can be used to perform the operation S240 described above, which will not be repeated here.

[0167] The third determination module 1150 is used to determine the target peak position information of the i-th target in the k-th frame according to the N measured peak position information of the i-th target in the k-th frame and the predicted peak position information of the i-th target in the k-th frame. In one embodiment, the third determination module 1150 can be used to perform the operation S250 described above, which will not be repeated here.

[0168] The fourth determination module 1160 is used to determine the first position information and first speed information of the i-th target in the k-th frame according to the target peak position information of the i-th target in the k-th frame. In one embodiment, the fourth determination module 1160 can be used to perform the operation S260 described above, which will not be repeated here.

[0169] The obtaining module 1170 is used to filter the first position information and the first speed information of the i-th target in the k-th frame to obtain the target position information and the target speed information of the i-th target in the k-th frame. In one embodiment, the second obtaining module 1170 can be used to perform the operation S270 described above, which will not be repeated here.

[0170] According to an embodiment of the present invention, the second determination module 1140 includes: a first determination submodule and a second determination submodule.

[0171] The first determination submodule is used to determine the predicted position information of the i-th target in the k-th frame and the predicted speed information of the i-th target in the k-th frame according to the preset position information of the i-th target in the k-1-th frame and the preset speed information of the i-th target in the k-1-th frame.

[0172] The second determination submodule is used to determine the predicted peak position information of the i-th target in the k-th frame corresponding to the first beat frequency signal and the second beat frequency signal respectively according to the predicted position information of the i-th target in the k-th frame and the predicted speed information of the i-th target in the k-th frame.

[0173] According to an embodiment of the present invention, the fourth determination module 1160 includes: a third determination submodule, a fourth determination submodule and a fifth determination submodule.

[0174] The third determination submodule is used to determine the distance information and radial velocity information from the ith target in the kth frame to the mth scanning point according to the target peak position information of the ith target in the kth frame.

[0175] The fourth determination submodule is used to determine the first position information of the i-th target in the k-th frame based on the least square method and the distance information.

[0176] The fifth determination submodule is used to determine the first speed information of the i-th target in the k-th frame according to the first position information, distance information and radial speed information of the i-th target in the k-th frame.

[0177] According to an embodiment of the present invention, the second obtaining module 1170 includes: a first obtaining submodule, a second obtaining submodule, a third obtaining submodule, a fourth obtaining submodule and a fifth obtaining submodule.

[0178] The first obtaining submodule is used to determine the first predicted position information of the i-th target in the k-th frame and the first predicted speed information of the i-th target in the k-th frame according to the preset position information of the i-th target in the k-1-th frame, the preset speed information of the i-th target in the k-1-th frame and the state transfer matrix.

[0179] The second obtaining submodule is used to determine the predicted covariance matrix of the i-th target in the k-th frame according to the initial covariance matrix and the state transfer matrix of the i-th target in the k-1-th frame.

[0180] The third submodule is used to determine the Kalman gain according to the prediction covariance matrix and the noise covariance matrix of the i-th target in the k-th frame.

[0181] The fourth obtaining submodule is used to determine the initial covariance matrix of the i-th target in the k-th frame according to the predicted covariance matrix and Kalman gain of the i-th target in the k-th frame.

[0182] The fifth obtaining submodule is used to obtain the target position information and target speed information of the i-th target in the k-th frame based on the first predicted position information of the i-th target in the k-th frame, the first predicted speed information of the i-th target in the k-th frame, the Kalman gain, the preset position information of the i-th target in the k-1-th frame, and the preset speed information of the i-th target in the k-1-th frame.

[0183] According to an embodiment of the present invention, the third determination module 1150 includes: a sixth determination submodule.

[0184] The sixth determination submodule is used to determine the target peak position information of the i-th target in the k-th frame that matches the predicted peak position information of the i-th target in the k-th frame from the N measured peak position information of the i-th target in the k-th frame based on the nearest neighbor matching method.

[0185] According to an embodiment of the present invention, any multiple modules among the acquisition module 1110, the first acquisition module 1120, the first determination module 1130, the second determination module 1140, the third determination module 1150, the fourth determination module 1160 and the second acquisition module 1170 can be combined into one module for implementation, or any one of the modules can be split into multiple modules. Alternatively, at least part of the functions of one or more of these modules can be combined with at least part of the functions of other modules and implemented in one module. According to an embodiment of the present invention, at least one of the acquisition module 1110, the first acquisition module 1120, the first determination module 1130, the second determination module 1140, the third determination module 1150, the fourth determination module 1160 and the second acquisition module 1170 may be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array (PLA), a system on a chip, a system on a substrate, a system on a package, an application specific integrated circuit (ASIC), or may be implemented by hardware or firmware such as any other reasonable way of integrating or packaging the circuit, or implemented in any one of the three implementation modes of software, hardware and firmware or in any appropriate combination of any of them. Alternatively, at least one of the acquisition module 1110, the first acquisition module 1120, the first determination module 1130, the second determination module 1140, the third determination module 1150, the fourth determination module 1160 and the second acquisition module 1170 may be at least partially implemented as a computer program module, and when the computer program module is run, the corresponding function may be executed.

[0186] Fig.12 A block diagram of an electronic device suitable for implementing a target tracking method in a non-visual scene according to an embodiment of the present invention is shown.

[0187] like Fig.12As shown, the electronic device 1200 according to an embodiment of the present invention includes a processor 1201, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1202 or a program loaded from a storage part 1208 to a random access memory (RAM) 1203. The processor 1201 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or a related chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 1201 may also include an onboard memory for caching purposes. The processor 1201 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present invention.

[0188] In RAM 1203, various programs and data required for the operation of electronic device 1200 are stored. Processor 1201, ROM 1202 and RAM 1203 are connected to each other via bus 1204. Processor 1201 performs various operations of the method flow according to the embodiment of the present invention by executing the program in ROM 1202 and / or RAM 1203. It should be noted that the program can also be stored in one or more memories other than ROM 1202 and RAM 1203. Processor 1201 can also perform various operations of the method flow according to the embodiment of the present invention by executing the program stored in the one or more memories.

[0189] According to an embodiment of the present invention, the electronic device 1200 may further include an input / output (I / O) interface 1205, which is also connected to the bus 1204. The electronic device 1200 may further include one or more of the following components connected to the input / output (I / O) interface 1205: an input portion 1206 including a keyboard, a mouse, etc.; an output portion 1207 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage portion 1208 including a hard disk, etc.; and a communication portion 1209 including a network interface card such as a LAN card, a modem, etc. The communication portion 1209 performs communication processing via a network such as the Internet. A drive 1210 is also connected to the input / output (I / O) interface 1205 as needed. A removable medium 1211, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1210 as needed, so that a computer program read therefrom is installed into the storage portion 1208 as needed.

[0190] The present invention also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiment; or may exist independently without being assembled into the device / apparatus / system. The above computer-readable storage medium carries one or more programs, and when the above one or more programs are executed, the method according to the embodiment of the present invention is implemented.

[0191] According to an embodiment of the present invention, the computer-readable storage medium may be a non-volatile computer-readable storage medium, for example, may include but is not limited to: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, an apparatus or a device. For example, according to an embodiment of the present invention, the computer-readable storage medium may include the ROM 1202 and / or RAM 1203 described above and / or one or more memories other than ROM 1202 and RAM 1203.

[0192] The embodiment of the present invention also includes a computer program product, which includes a computer program, and the computer program includes a program code for executing the method shown in the flowchart. When the computer program product is run in a computer system, the program code is used to enable the computer system to implement the target tracking method for non-viewing scene provided by the embodiment of the present invention.

[0193] The computer program executes the above functions defined in the system / device of the embodiment of the present invention when it is executed by the processor 1201. According to the embodiment of the present invention, the system, device, module, unit, etc. described above can be implemented by a computer program module.

[0194] In one embodiment, the computer program may rely on tangible storage media such as optical storage devices, magnetic storage devices, etc. In another embodiment, the computer program may also be transmitted and distributed in the form of signals on a network medium, and downloaded and installed through the communication part 1209, and / or installed from the removable medium 1211. The program code contained in the computer program may be transmitted using any appropriate network medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0195] In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 1209, and / or installed from the removable medium 1211. When the computer program is executed by the processor 1201, the above functions defined in the system of the embodiment of the present invention are performed. According to the embodiment of the present invention, the system, device, means, module, unit, etc. described above can be implemented by a computer program module.

[0196] According to an embodiment of the present invention, the program code for executing the computer program provided by the embodiment of the present invention can be written in any combination of one or more programming languages. Specifically, these computing programs can be implemented using high-level process and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, Java, C++, python, "C" language or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, partially on the remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (e.g., using an Internet service provider to connect through the Internet).

[0197] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flow chart, and the combination of the boxes in the block diagram or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0198] It will be appreciated by those skilled in the art that the features described in the various embodiments of the present invention may be combined and / or combined in various ways, even if such combinations and / or combinations are not explicitly described in the present invention. In particular, without departing from the spirit and teachings of the present invention, the features described in the various embodiments of the present invention may be combined and / or combined in various ways. All of these combinations and / or combinations fall within the scope of the present invention.

[0199] The embodiments of the present invention are described above. However, these embodiments are only for the purpose of illustration, and are not intended to limit the scope of the present invention. Although each embodiment is described above, it does not mean that the measures in each embodiment cannot be used in combination advantageously. Without departing from the scope of the present invention, those skilled in the art may make various substitutions and modifications, which should all fall within the scope of the present invention.

Claims

1. A target tracking system for non-viewing scenes, characterized in that: include: Continuous frequency sweeping laser, used to emit triangular wave frequency sweeping laser; A first beam splitter is used to split the triangular wave frequency sweeping laser to obtain a signal path laser and a reference path laser; A transceiver device, comprising a galvanometer, for transmitting the signal path laser to m scanning points located on the intermediate wall respectively by adjusting the angle of the galvanometer, and receiving the echo of the non-viewing scene, wherein m is a positive integer greater than or equal to 3; A second beam splitter is used to perform interference processing on the reference path laser and the echo to obtain an interference light signal, and to split the interference light signal to obtain two identical interference lights; A circulator, used to transmit the signal path laser to the transceiver and transmit the echo to the second beam splitter; A balanced detector, used for performing photoelectric conversion on the interference light to obtain a first beat frequency signal corresponding to a plurality of groups of m scanning points and a second beat frequency signal corresponding to a plurality of groups of m scanning points, wherein the first beat frequency signal represents a signal corresponding to a rising edge of a triangular wave frequency sweep, and the second beat frequency signal represents a signal corresponding to a falling edge of a triangular wave frequency sweep; An analog-to-digital converter, used for converting the analog signal output by the balanced detector into a digital signal; The signal processing device is used to process the first beat frequency signal and the second beat frequency signal obtained from the analog-to-digital converter to obtain the target position information and the target speed information of the target.

2. The system according to claim 1, characterized in that The continuous frequency scanning laser outputs an external trigger signal to the analog-to-digital converter and the galvanometer to achieve synchronization between the analog-to-digital converter and the galvanometer. The transceiver also includes a collimator. The echo of the non-field of view scene is obtained by the signal path laser emitting to the intermediate wall, scattering to the target blocked by the obstruction, being scattered from the target to the intermediate wall, and being scattered back by the intermediate wall. A group of first beat frequency signals corresponding to the m scanning points and a group of second beat frequency signals corresponding to the m scanning points constitute a frame of data.

3. The system according to claim 2, characterized in that The analog-to-digital converter receives the external trigger signal and collects the analog signal output by the balanced detector, and the galvanometer receives the external trigger signal.

4. A target tracking method in a non-viewing scene, characterized in that: The signal processing device used in the target tracking system of claim 1 comprises: In response to a target tracking request, a first beat frequency signal corresponding to the mth scanning point of the kth frame, a second beat frequency signal corresponding to the mth scanning point of the kth frame, preset position information of the i-th target in the k-1th frame, and preset speed information of the i-th target in the k-1th frame are obtained, wherein the first beat frequency signal represents a signal corresponding to a rising edge of a triangular wave frequency sweep, the second beat frequency signal represents a signal corresponding to a falling edge of a triangular wave frequency sweep, i is a positive integer greater than or equal to 1, m is a positive integer greater than or equal to 3, and k is a positive integer greater than 1; Performing Fourier transform on the first beat frequency signal and the second beat frequency signal to obtain a first beat frequency spectrum and a second beat frequency spectrum; Based on the preset peak height, peak interval and peak width, and according to the first beat frequency spectrum and the second beat frequency spectrum, determine N measured peak position information of the i-th target in the k-th frame, where N is a positive integer greater than or equal to 1; Determine predicted peak position information corresponding to the first beat frequency spectrum and the second beat frequency spectrum of the i-th target in the k-th frame according to the preset position information of the i-th target in the k-1-th frame and the preset speed information of the i-th target in the k-1-th frame; Determine the target peak position information of the i-th target in the k-th frame according to the N measured peak position information of the i-th target in the k-th frame and the predicted peak position information of the i-th target in the k-th frame; Determining first position information and first speed information of the i-th target in the k-th frame according to the target peak position information of the i-th target in the k-th frame; The first position information and the first speed information of the i-th target in the k-th frame are filtered to obtain the target position information and the target speed information of the i-th target in the k-th frame.

5. The method according to claim 4, characterized in that The determining, according to the preset position information of the i-th target in the k-1-th frame and the preset speed information of the i-th target in the k-1-th frame, the predicted peak position information corresponding to the i-th target in the first beat frequency spectrum and the second beat frequency spectrum respectively comprises: Determine the predicted position information of the i-th target in the k-th frame and the predicted speed information of the i-th target in the k-th frame according to the preset position information of the i-th target in the k-1-th frame and the preset speed information of the i-th target in the k-1-th frame; Determine predicted peak position information of the i-th target in the k-th frame in the first beat frequency spectrum and the second beat frequency spectrum respectively corresponding to the i-th target in the k-th frame according to the predicted position information of the i-th target in the k-th frame and the predicted speed information of the i-th target in the k-th frame.

6. The method according to claim 4, characterized in that The determining, according to the target peak position information of the i-th target in the k-th frame, the first position information and the first speed information of the i-th target in the k-th frame comprises: Determine the distance information and radial velocity information from the i-th target in the k-th frame to the m-th scanning point according to the target peak position information of the i-th target in the k-th frame; Determine, based on the least squares method, the first position information of the i-th target in the k-th frame according to the distance information; The first speed information of the i-th target in the k-th frame is determined according to the first position information, the distance information and the radial speed information of the i-th target in the k-th frame.

7. The method according to claim 6, characterized in that The filtering process is performed on the first position information and the first speed information of the i-th target in the k-th frame to obtain the target position information and the target speed information of the i-th target in the k-th frame, including: Determine, according to the preset position information of the i-th target in the k-1-th frame, the preset speed information of the i-th target in the k-1-th frame, and the state transfer matrix, the first predicted position information of the i-th target in the k-th frame and the first predicted speed information of the i-th target in the k-th frame; Determine a predicted covariance matrix of the i-th target in the k-th frame according to the initial covariance matrix of the i-th target in the k-1-th frame and the state transfer matrix; Determine a Kalman gain according to a prediction covariance matrix and a noise covariance matrix of the i-th target in the k-th frame; Determining an initial covariance matrix of the i-th target in the k-th frame according to the predicted covariance matrix of the i-th target in the k-th frame and the Kalman gain; According to the first predicted position information of the i-th target in the k-th frame, the first predicted speed information of the i-th target in the k-th frame, the Kalman gain, the preset position information of the i-th target in the k-1-th frame, and the preset speed information of the i-th target in the k-1-th frame, the target position information and target speed information of the i-th target in the k-th frame are obtained.

8. The method according to claim 5, characterized in that Determining the target peak position information of the i-th target in the k-th frame according to the N measured peak position information of the i-th target in the k-th frame and the predicted peak position information of the i-th target in the k-th frame includes: Based on the nearest neighbor matching method, the target peak position information of the i-th target in the k-th frame that matches the predicted peak position information of the i-th target in the k-th frame is determined from the N measured peak position information of the i-th target in the k-th frame.

9. A target tracking device for a non-visual scene, characterized in that: The device comprises: An acquisition module, configured to acquire, in response to a target tracking request, a first beat frequency signal corresponding to the mth scanning point of the kth frame, a second beat frequency signal corresponding to the mth scanning point of the kth frame, preset position information of the i-th target in the k-1th frame, and preset speed information of the i-th target in the k-1th frame, wherein the first beat frequency signal represents a signal corresponding to a rising edge of a triangular wave frequency sweep, the second beat frequency signal represents a signal corresponding to a falling edge of a triangular wave frequency sweep, i is a positive integer greater than or equal to 1, m is a positive integer greater than or equal to 3, and k is a positive integer greater than 1; A first obtaining module is used to perform Fourier transform on the first beat frequency signal and the second beat frequency signal to obtain a first beat frequency spectrum and a second beat frequency spectrum; A first determination module, configured to determine N measured peak position information of the i-th target in the k-th frame based on a preset peak height, peak interval and peak width according to the first beat frequency spectrum and the second beat frequency spectrum, wherein N is a positive integer greater than or equal to 1; A second determination module is used to determine the predicted peak position information corresponding to the first beat frequency spectrum and the second beat frequency spectrum of the i-th target in the k-th frame according to the preset position information of the i-th target in the k-1-th frame and the preset speed information of the i-th target in the k-1-th frame; A third determination module is used to determine the target peak position information of the i-th target in the k-th frame according to the N measured peak position information of the i-th target in the k-th frame and the predicted peak position information of the i-th target in the k-th frame; A fourth determining module, configured to determine first position information and first speed information of the ith target in the kth frame according to the target peak position information of the ith target in the kth frame; The second obtaining module is used to filter the first position information and the first speed information of the i-th target in the k-th frame to obtain the target position information and the target speed information of the i-th target in the k-th frame.

10. An electronic device, comprising: one or more processors; a memory for storing one or more computer programs, It is characterized in that the one or more processors execute the one or more computer programs to implement the steps of the method according to any one of claims 4 to 8.

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