Inter-channel echo signal amplitude-phase consistency compensation method and device and related equipment

Abstract

The invention discloses an inter-channel echo signal amplitude-phase consistency compensation method and device and related equipment. The method comprises the following steps: acquiring a first broadband linear frequency modulation echo signal of each channel of a radar system; performing pulse compression on the first broadband linear frequency modulation echo signal of each channel to obtain a time domain signal corresponding to a pulse compression peak point; selecting a reference channel from the channels; determining an amplitude-phase error between each first channel and a reference channel according to the time domain signal corresponding to the base station channel and the time domain signal corresponding to each first channel; determining a first amplitude-phase compensation coefficient of each first channel according to the amplitude-phase error between each first channel and the reference channel; and compensating the first broadband linear frequency modulation echo signal of each first channel based on the first amplitude-phase compensation coefficient of each first channel to obtain a compensated first broadband linear frequency modulation echo signal. Therefore, the amplitude-phase consistency of echo signals between channels can be compensated quickly and simply.

Description

Technical Field

[0001] The present application relates to the field of radar system simulation technology, and in particular to a method, device and related equipment for compensating for amplitude and phase consistency of echo signals between channels. Background Art

[0002] In the related technology, when simulating the echo of the radar system, in order to compensate for the influence of the amplitude and phase errors brought by the system on the received echo, it is usually analyzed by collecting the calibration signal, and then the phase error and amplitude error of the calibration signal are extracted, and then reversely compensated to the transmitting signal of the frequency modulation source end, so as to obtain a basically ideal signal waveform at the receiving end.

[0003] However, the amplitude and phase compensation method in the related art is for compensation of a single channel. When faced with consistency compensation between channels in multiple channels, it is usually necessary to perform error extraction of the calibration signal for each channel separately. This method has the problems of low technical feasibility and poor flexibility. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a method and device for compensating for the amplitude and phase consistency of inter-channel echo signals, so as to realize fast and concise compensation for the amplitude and phase consistency of inter-channel echo signals.

[0005] The technical solution of this application is as follows:

[0006] In a first aspect, a method for compensating amplitude and phase consistency of an inter-channel echo signal is provided, the method comprising:

[0007] Acquire a first broadband linear frequency modulation echo signal of the radar system after performing amplitude and phase compensation on an initial broadband linear frequency modulation echo signal in each channel;

[0008] Performing pulse compression on the first broadband linear frequency modulation echo signal of each channel respectively, and acquiring a time domain signal of a pulse compression peak point of the first broadband linear frequency modulation echo signal of each channel;

[0009] According to a time domain signal corresponding to a reference channel predetermined from each channel and a time domain signal corresponding to a channel to be compensated except the reference channel in each channel, respectively determining an amplitude and phase error between each channel to be compensated and the reference channel;

[0010] Determining first amplitude-phase compensation coefficients for performing amplitude-phase compensation on each of the channels to be compensated, respectively, according to the amplitude-phase errors between each of the channels to be compensated and the reference channel;

[0011] Based on the first amplitude-phase compensation coefficient corresponding to each of the channels to be compensated, amplitude-phase compensation is performed on the first broadband linear frequency modulation echo signal in each of the channels to be compensated, so as to obtain the first broadband linear frequency modulation echo signal after amplitude-phase compensation.

[0012] In a second aspect, a device for compensating for amplitude consistency of an inter-channel echo signal is provided, the device comprising:

[0013] A first acquisition module is used to acquire a first broadband linear frequency modulation echo signal of the radar system after performing amplitude and phase compensation on an initial broadband linear frequency modulation echo signal in each channel;

[0014] A second acquisition module is used to perform pulse compression on the first broadband linear frequency modulation echo signal of each channel respectively, and acquire a time domain signal of a pulse compression peak point of the first broadband linear frequency modulation echo signal of each channel;

[0015] A first determination module, configured to determine the amplitude and phase errors between each channel to be compensated and the reference channel according to a time domain signal corresponding to a reference channel predetermined from each channel and a time domain signal corresponding to a channel to be compensated other than the reference channel in each channel;

[0016] A second determination module, configured to determine, according to the amplitude-phase error between each channel to be compensated and the reference channel, a first amplitude-phase compensation coefficient for performing amplitude-phase compensation on each channel to be compensated;

[0017] The first compensation module is used to perform amplitude and phase compensation on the first broadband linear frequency modulation echo signal in each of the channels to be compensated based on the first amplitude and phase compensation coefficient corresponding to each of the channels to be compensated, so as to obtain the first broadband linear frequency modulation echo signal after amplitude and phase compensation.

[0018] In a third aspect, an embodiment of the present application provides an electronic device, comprising a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the inter-channel echo signal amplitude consistency compensation method described in any one of the embodiments of the present application.

[0019] In a fourth aspect, an embodiment of the present application provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the inter-channel echo signal amplitude consistency compensation method described in any one of the embodiments of the present application are implemented.

[0020] In a fifth aspect, an embodiment of the present application provides a computer program product. When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device can perform the steps of the inter-channel echo signal amplitude consistency compensation method described in any one of the embodiments of the present application.

[0021] The technical solution provided by the embodiments of the present application brings at least the following beneficial effects:

[0022] In an embodiment of the present application, a first broadband linear frequency modulation echo signal of a radar system is obtained after amplitude and phase compensation is performed on an initial broadband linear frequency modulation echo signal in each channel, and then pulse compression is performed on the first broadband linear frequency modulation echo signal of each channel respectively, and a time domain signal of a pulse compression peak point of the first broadband linear frequency modulation echo signal of each channel is obtained. According to a time domain signal corresponding to a reference channel predetermined in each channel and a time domain signal corresponding to a channel to be compensated in each channel except the reference channel, an amplitude and phase error between each channel to be compensated and the reference channel is determined respectively. Amplitude-phase error, determine the first amplitude-phase compensation coefficient for amplitude-phase compensation of each channel to be compensated, use the first amplitude-phase compensation coefficient of each channel to be compensated to perform amplitude-phase compensation on the first broadband linear frequency modulation echo signal of each channel to be compensated, and obtain the first broadband linear frequency modulation echo signal after amplitude-phase compensation, so as to achieve amplitude-phase consistency between channels. The scheme of the embodiment of the present application can collect broadband linear frequency modulation echo signals of multiple channels, calculate only once, obtain the amplitude compensation and phase compensation coefficients of each channel, complete the compensation of the amplitude and phase of the broadband linear frequency modulation echo signal between channels, reduce the amount of calculation, and have high flexibility.

[0023] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application, and do not constitute an improper limitation on the present application.

[0025] Figure 1 It is a flow chart of a method for compensating amplitude and phase consistency of echo signals between channels provided in an embodiment of the present application;

[0026] Figure 2 It is a flow chart of a method for compensating amplitude and phase consistency of echo signals between channels provided in an embodiment of the present application;

[0027] Figure 3 It is a structural schematic diagram of an inter-channel echo signal amplitude and phase consistency compensation device provided in an embodiment of the present application;

[0028] Figure 4 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0029] In order to make those of ordinary skill in the art better understand the technical scheme of the present application, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0030] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are only examples consistent with some aspects of the present application as detailed in the attached claims.

[0031] In the prior art, in order to compensate for the influence of the amplitude and phase errors in the system on the received wave, the inventors found that generally, the calibration signal is collected for analysis, and then the phase error and amplitude error of the calibration signal are extracted and reversely compensated to the transmitted signal at the frequency modulation source end, so that a basically ideal signal waveform can be obtained at the receiving end. The correction algorithm of homomorphic deconvolution can also be used to correct the signal distortion according to the signal error at the transmitting signal end.

[0032] The above two amplitude and phase compensation methods are for compensation of a single channel, and the above scheme of collecting calibration signals for analysis has low technical feasibility and poor flexibility. The correction algorithm based on homomorphic deconvolution has a large amount of data calculation, high requirements on system storage and computing power, and only corrects the signal phase error.

[0033] In order to solve the above problems, the embodiments of the present application provide a method, device and related equipment for compensating the amplitude and phase consistency of echo signals between channels, by obtaining the first broadband linear frequency modulation echo signal of the radar system after performing amplitude and phase compensation on the initial broadband linear frequency modulation echo signal in each channel, and then performing pulse compression on the first broadband linear frequency modulation echo signal of each channel respectively, obtaining the time domain signal of the pulse compression peak point of the first broadband linear frequency modulation echo signal of each channel, and determining the amplitude consistency between each channel to be compensated and the reference channel respectively according to the time domain signal corresponding to the reference channel predetermined from each channel and the time domain signal corresponding to the channel to be compensated in each channel except the reference channel. Phase error, according to the amplitude and phase errors between each channel to be compensated and the reference channel, determine the first amplitude and phase compensation coefficient of each channel to be compensated for amplitude and phase compensation, use the first amplitude and phase compensation coefficient of each channel to be compensated to perform amplitude and phase compensation on the first broadband linear frequency modulation echo signal of each channel to be compensated, and obtain the first broadband linear frequency modulation echo signal after amplitude and phase compensation, so as to achieve amplitude and phase consistency between channels. The scheme of the embodiment of the present application can collect broadband linear frequency modulation echo signals of multiple channels, only calculate once, obtain the amplitude compensation and phase compensation coefficients of each channel, complete the compensation of the amplitude and phase of the broadband linear frequency modulation echo signal between channels, reduce the amount of calculation, and have high flexibility.

[0034] The inter-channel echo signal amplitude consistency compensation method provided by the embodiment of the present application is described in detail below with reference to the accompanying drawings through specific embodiments and their application scenarios.

[0035] Figure 1 The flowchart of a method for compensating the amplitude phase consistency of an inter-channel echo signal provided in an embodiment of the present application is shown in FIG. The execution subject of the method for compensating the amplitude phase consistency of an inter-channel echo signal may be a server. It should be noted that the execution subject is not a limitation on the embodiment of the present application.

[0036] like Figure 1 As shown, the inter-channel echo signal amplitude consistency compensation method provided in the embodiment of the present application may include steps 110 to 150.

[0037] Step 110: Acquire a first broadband linear frequency modulation echo signal after performing amplitude and phase compensation on an initial broadband linear frequency modulation echo signal in each channel of the radar system.

[0038] The initial broadband linear frequency modulation echo signal of each channel may be an initial broadband linear frequency modulation echo signal emitted by each channel of the radar system.

[0039] The first broadband linear frequency modulation echo signal of each channel may be a signal obtained by performing amplitude and phase compensation on the initial broadband linear frequency modulation echo signal of each channel.

[0040] It should be noted that the broadband linear frequency modulation echo signal of each channel may be an intermediate frequency signal or a radio frequency signal, and the type of the broadband linear frequency modulation echo signal of each channel is not limited in the embodiment of the present application.

[0041] In some embodiments of the present application, before performing amplitude and phase consistency compensation between channels, amplitude and phase compensation must first be performed on the initial broadband linear frequency modulation echo signal of each channel. The compensation scheme for the initial broadband linear frequency modulation echo signal of a single channel is described in detail below:

[0042] In order to accurately obtain the first broadband linear frequency modulation echo signal of each channel of the radar system, before step 110, the above method may further include:

[0043] The initial broadband linear frequency modulation echo signal of each channel is respectively calculated for modulus and phase angle, so as to obtain the amplitude and phase corresponding to the initial broadband linear frequency modulation echo signal of each channel;

[0044] For the amplitude and phase corresponding to the initial broadband linear frequency modulation echo signal of each channel, the amplitude error compensation coefficient of the initial broadband linear frequency modulation echo signal is determined according to the amplitude of the initial broadband linear frequency modulation echo signal, and the phase error compensation coefficient of the initial broadband linear frequency modulation echo signal is determined according to the phase of the initial broadband linear frequency modulation echo signal. According to the amplitude error compensation coefficient and the phase error compensation coefficient of the initial broadband linear frequency modulation echo signal, a second amplitude-phase compensation coefficient for performing amplitude-phase compensation on the initial broadband linear frequency modulation echo signal is obtained, and the second amplitude-phase compensation coefficient is used to perform amplitude-phase compensation on the initial broadband linear frequency modulation echo signal to obtain the first broadband linear frequency modulation echo signal of the channel.

[0045] For a certain channel, the amplitude error compensation coefficient corresponding to the channel may be a coefficient for compensating the amplitude of an initial wideband linear frequency modulation echo signal of the channel.

[0046] For a certain channel, the phase error compensation coefficient corresponding to the channel may be a coefficient for compensating the phase of an initial wideband linear frequency modulation echo signal of the channel.

[0047] For a certain channel, the second amplitude-phase compensation coefficient corresponding to the channel may be a coefficient for compensating the amplitude and phase of the initial wideband linear frequency modulation echo signal of the channel obtained according to the amplitude error compensation coefficient and the phase error compensation coefficient corresponding to the channel.

[0048] In some embodiments of the present application, the initial broadband linear frequency modulation echo signal of each channel can be collected, and then the initial broadband linear frequency modulation echo signal of each channel is respectively calculated by modulus and phase angle, so as to obtain the amplitude A corresponding to each initial broadband linear frequency modulation echo signal of each channel. k (t) and phase Specifically, the initial broadband linear frequency modulation echo signal of each channel can be calculated by performing modulus calculation respectively to obtain the amplitude A corresponding to each initial broadband linear frequency modulation echo signal of each channel. k (t), by calculating the phase angle of the initial broadband linear frequency modulation echo signal of each channel respectively, the phase angle corresponding to the initial broadband linear frequency modulation echo signal of each channel is obtained respectively.

[0049] It should be noted that the amplitude A k (t) and phase The k in is different channels, k = 1, 2, 3, ..., because the broadband linear frequency modulation echo signal of each channel is a value that changes with time, so the amplitude A k (t) and phase are quantities that change with time t.

[0050] The initial broadband linear frequency modulation echo signal of each channel is calculated in the following manner, so that the initial broadband linear frequency modulation echo signal of each channel can be compensated, and then the first broadband linear frequency modulation echo signal of each channel can be obtained.

[0051] The following takes channel k as an example to explain how to compensate the initial broadband linear frequency modulation echo signal of channel k to obtain the first broadband linear frequency modulation echo signal of channel k:

[0052] According to the amplitude of the initial broadband linear frequency modulation echo signal of channel k, the amplitude error compensation coefficient of the initial broadband linear frequency modulation echo signal of channel k is determined, and according to the phase of the initial broadband linear frequency modulation echo signal of channel k, the phase error compensation coefficient of the initial broadband linear frequency modulation echo signal of channel k is determined, and then according to the amplitude error compensation coefficient and the phase error compensation coefficient of the initial broadband linear frequency modulation echo signal of channel k, a second amplitude-phase compensation coefficient for performing amplitude-phase compensation on the initial broadband linear frequency modulation echo signal of channel k can be obtained, and then the second amplitude-phase compensation coefficient is used to perform amplitude-phase compensation on the initial broadband linear frequency modulation echo signal of channel k to obtain a first broadband linear frequency modulation echo signal of channel k.

[0053] In an embodiment of the present application, by solving the amplitude error compensation coefficient and the phase error compensation coefficient of each channel, the initial broadband linear frequency modulation echo signal of the corresponding channel is compensated using the amplitude error compensation coefficient and the phase error compensation coefficient, so that the initial broadband linear frequency modulation echo signal of the channel can be accurately compensated. By respectively calculating the compensation coefficients for compensating the broadband linear frequency modulation echo signal of each channel, since the broadband linear frequency modulation echo signal is a signal that changes with time, each time point has its corresponding compensation coefficient, and therefore the compensation coefficient is discretized, with a small amount of calculation and high flexibility.

[0054] In some embodiments of the present application, determining the amplitude error compensation coefficient of the initial broadband linear frequency modulation echo signal according to the amplitude of the initial broadband linear frequency modulation echo signal of the channel may include:

[0055] Fitting the envelope of the initial broadband linear frequency modulation echo signal to obtain the amplitude error of the initial broadband linear frequency modulation echo signal;

[0056] An amplitude error compensation coefficient of the initial broadband linear frequency modulation echo signal is determined according to the amplitude error of the initial broadband linear frequency modulation echo signal.

[0057] For each channel, the envelope of the initial broadband linear frequency modulation echo signal of the channel may be the change of the initial broadband linear frequency modulation echo signal of the channel over time. By fitting the envelope of the initial broadband linear frequency modulation echo signal of the channel, an envelope diagram of the initial broadband linear frequency modulation echo signal of the channel may be obtained, that is, the envelope of the initial broadband linear frequency modulation echo signal of the channel may include the amplitude of the initial broadband linear frequency modulation echo signal of the channel. According to the envelope diagram of the channel, the amplitude error A' of the initial broadband linear frequency modulation echo signal of the channel may be obtained. k Specifically, the envelope of the initial broadband linear frequency modulation echo signal is fitted to obtain an envelope diagram of the initial broadband linear frequency modulation echo signal, and then the error of the value of the initial broadband linear frequency modulation echo signal that changes with time in the envelope diagram is calculated to obtain the amplitude error of the initial broadband linear frequency modulation echo signal.

[0058] Continuing with the above example, the amplitude error A' of the initial broadband linear frequency modulation echo signal of channel k is obtained: k (t), the amplitude error compensation coefficient C of the initial broadband linear frequency modulation echo signal of channel k can be obtained according to the following formula (1): k (t):

[0059] C k (t) = 1 / A' k (t) (1)

[0060] In some embodiments of the present application, for each channel, the envelope of the initial wideband linear frequency modulation echo signal of the channel is fitted to obtain the amplitude error of the initial wideband linear frequency modulation echo signal of the channel, and based on the amplitude error of the initial wideband linear frequency modulation echo signal of the channel, the amplitude error compensation coefficient of the initial wideband linear frequency modulation echo signal of the channel is determined. Specifically, the inverse of the amplitude error of the initial wideband linear frequency modulation echo signal of the channel may be determined as the amplitude error compensation coefficient of the initial wideband linear frequency modulation echo signal of the channel. In this way, the amplitude error compensation coefficient of the initial wideband linear frequency modulation echo signal of each channel may be accurately determined.

[0061] In some embodiments of the present application, in order to facilitate calculation so as to accurately compensate the amplitude and phase of the initial broadband linear frequency modulation echo signal, after determining the amplitude error compensation coefficient of the initial broadband linear frequency modulation echo signal according to the amplitude of the initial broadband linear frequency modulation echo signal of the channel, the above-mentioned method may further include:

[0062] Normalizing the amplitude error compensation coefficient to obtain a normalized amplitude error compensation coefficient;

[0063] According to the amplitude error compensation coefficient and the phase error compensation coefficient of the initial broadband linear frequency modulation echo signal, the amplitude and phase compensation coefficients of the initial broadband linear frequency modulation echo signal are obtained, including:

[0064] The amplitude and phase compensation coefficients of the initial broadband linear frequency modulation echo signal are obtained according to the normalized amplitude error compensation coefficient and phase error compensation coefficient of the initial broadband linear frequency modulation echo signal.

[0065] In some embodiments of the present application, for the convenience of calculation, after obtaining the amplitude error compensation coefficient of a certain channel, the amplitude error compensation coefficient of the channel can be normalized to obtain the normalized amplitude error compensation coefficient, and then the amplitude and phase compensation coefficient of the initial broadband linear frequency modulation echo signal can be obtained based on the phase error compensation coefficient of the initial broadband linear frequency modulation echo signal and the normalized amplitude error compensation coefficient.

[0066] In an example, taking the amplitude error compensation coefficient of a certain channel as 0.9 as an example, since the amplitude error compensation coefficient of the channel is relatively small and not convenient for subsequent calculation, it can be normalized first.

[0067] It should be noted that, for a certain channel, only the corresponding amplitude error compensation coefficient needs to be normalized, and the corresponding phase error compensation coefficient does not need to be normalized.

[0068] In an embodiment of the present application, the amplitude error compensation coefficient is normalized to obtain the normalized amplitude error compensation coefficient, and then the amplitude and phase compensation coefficients of the initial broadband linear frequency modulation echo signal are obtained based on the normalized amplitude error compensation coefficient and phase error compensation coefficient of the initial broadband linear frequency modulation echo signal. This can facilitate the calculation of the amplitude and phase compensation coefficients of the initial broadband linear frequency modulation echo signal and improve the accuracy of determining the amplitude and phase compensation coefficients of the initial broadband linear frequency modulation echo signal.

[0069] In some embodiments of the present application, determining the phase error compensation coefficient of the initial broadband linear frequency modulation echo signal according to the phase of the initial broadband linear frequency modulation echo signal may include:

[0070] Comparing the phase of the initial broadband linear frequency modulation echo signal with the reference phase of a predetermined reference broadband linear frequency modulation echo signal to obtain a phase error of the initial broadband linear frequency modulation echo signal;

[0071] The phase error is fitted, and a phase error compensation coefficient of the initial broadband linear frequency modulation echo signal is obtained according to the fitted phase error.

[0072] Among them, the reference broadband linear frequency modulation echo signal can be an ideal broadband linear frequency modulation echo signal of the radar system. For the echo signal, it has an ideal signal, and the signal has a phase, which is the above-mentioned reference phase, that is, the reference phase can be the phase of the reference broadband linear frequency modulation echo signal.

[0073] In some embodiments of the present application, referring to the above example, for channel k, the phase of the initial broadband linear frequency modulation echo signal of the channel k is Reference phase with reference broadband linear frequency modulation echo signal Compare and obtain the phase error of the initial broadband linear frequency modulation echo signal Then the phase error is fitted according to time to obtain the fitted phase error Then, the phase error compensation coefficient P corresponding to the channel k is calculated according to the following formula (2): k (t):

[0074]

[0075] In formula (2), j is an imaginary unit.

[0076] In an embodiment of the present application, for each channel, the phase of the initial broadband linear frequency modulation echo signal of the channel is compared with the reference phase of the reference broadband linear frequency modulation echo signal to obtain the phase error of the initial broadband linear frequency modulation echo signal of the channel, and the phase error is fitted. According to the fitted phase error, the phase error compensation coefficient of the initial broadband linear frequency modulation echo signal of the channel is obtained, so that the phase error compensation coefficient of the initial broadband linear frequency modulation echo signal of each channel can be accurately determined.

[0077] In some embodiments of the present application, obtaining the amplitude and phase compensation coefficients of the initial broadband linear frequency modulation echo signal according to the amplitude error compensation coefficient and the phase error compensation coefficient of the initial broadband linear frequency modulation echo signal may include:

[0078] The product of the amplitude error compensation coefficient and the phase error compensation coefficient of the initial broadband linear frequency modulation echo signal is determined as the amplitude and phase compensation coefficient of the initial broadband linear frequency modulation echo signal.

[0079] In some embodiments of the present application, for a certain channel, the product of the amplitude error compensation coefficient and the phase error compensation coefficient of the initial wideband linear frequency modulation echo signal of the channel can be determined as the amplitude and phase compensation coefficient of the initial wideband linear frequency modulation echo signal of the channel.

[0080] Continuing with the above example, the amplitude and phase compensation coefficient E of the initial broadband linear frequency modulation echo signal of channel k is k (t) = C k (t)P k (t).

[0081] In an embodiment of the present application, for each channel, the product of the amplitude error compensation coefficient and the phase error compensation coefficient of the initial broadband linear frequency modulation echo signal of the channel is determined as the amplitude and phase compensation coefficient of the initial broadband linear frequency modulation echo signal of the channel, so that the amplitude and phase compensation coefficient of the initial broadband linear frequency modulation echo signal of each channel can be accurately determined.

[0082] In some embodiments of the present application, after obtaining the amplitude and phase compensation coefficients of the initial broadband linear frequency modulation echo signals of each channel, the amplitude and phase compensation coefficients of the initial broadband linear frequency modulation echo signals of each channel can be used to compensate for the initial broadband linear frequency modulation echo signals of each channel, and the first broadband linear frequency modulation echo signals of each channel can be obtained.

[0083] Step 120 : Perform pulse compression on the first broadband linear frequency modulation echo signal of each channel respectively, and obtain a time domain signal of a pulse compression peak point of the first broadband linear frequency modulation echo signal of each channel.

[0084] In some embodiments of the present application, after obtaining the first broadband linear frequency modulation echo signal of each channel, the first broadband linear frequency modulation echo signal of each channel can be pulse compressed respectively, and then the value Sigmax of the time domain signal corresponding to the pulse compression peak point of the first broadband linear frequency modulation echo signal of each channel is obtained. k , k represents different channels, k = 1, 2, 3,…

[0085] Step 130 , according to the time domain signal corresponding to the predetermined reference channel among the channels and the time domain signal corresponding to the channels to be compensated except the reference channel among the channels, respectively determine the amplitude and phase errors between each channel to be compensated and the reference channel.

[0086] The reference channel may be a channel predetermined from among the channels.

[0087] In some embodiments of the present application, any one of the channels is used as a reference channel.

[0088] In some embodiments of the present application, any one channel may be selected as a reference channel. Since the amplitude and phase consistency between the channels needs to be ensured, the amplitude and phase between the channels may be adjusted to be consistent. Therefore, any one channel may be selected as a reference channel.

[0089] It should be noted that when selecting the reference channel, it is necessary to ensure that the initial broadband linear frequency modulation echo signal of each channel is not problematic, for example, the initial broadband linear frequency modulation echo signal of each channel is not distorted, because if the initial broadband linear frequency modulation echo signal is distorted, then the waveform of the initial broadband linear frequency modulation echo signal will have problems, which will lead to problems in subsequent calculations and the accuracy of compensation consistency between channels cannot be ensured. If it is found that the initial broadband linear frequency modulation echo signal of a channel has problems when selecting the reference channel, any channel can be selected from the remaining channels without problems as the reference channel.

[0090] In the embodiment of the present application, any one of the channels is used as a reference channel, which improves the flexibility of selecting the reference channel.

[0091] The channel to be compensated may be any channel other than the reference channel.

[0092] In some embodiments of the present application, after determining the reference channel, the amplitude and phase errors between each channel to be compensated and the reference channel can be determined respectively based on the time domain signal of the pulse compression peak point corresponding to the reference channel and the time domain signal of the pulse compression peak point corresponding to each channel to be compensated.

[0093] In an example, the radar system has three channels, the reference channel is channel 1, and the channels to be compensated are channel 2 and channel 3. The amplitude and phase errors between channel 2 and channel 1 can be determined based on the time domain signal of the pulse compression peak point corresponding to channel 2 and the time domain signal of the pulse compression peak point corresponding to channel 1. The amplitude and phase errors between channel 3 and channel 1 can be determined based on the time domain signal of the pulse compression peak point corresponding to channel 3 and the time domain signal of the pulse compression peak point corresponding to channel 1.

[0094] In some embodiments of the present application, in order to accurately determine the amplitude and phase errors between each channel to be compensated and the reference channel, step 130 may specifically include:

[0095] Calculate the ratio of the time domain signal corresponding to the predetermined reference channel among the channels to the time domain signal corresponding to the channel to be compensated except the reference channel among the channels;

[0096] According to the ratio corresponding to each channel to be compensated, the amplitude and phase errors between each channel to be compensated and the reference channel are determined.

[0097] In some embodiments of the present application, when determining the amplitude-phase error between each channel to be compensated and a reference channel according to the ratio corresponding to each channel to be compensated, the ratio corresponding to each channel to be compensated may be determined as the amplitude-phase error between each channel to be compensated and the reference channel.

[0098] Continuing with the above example, the time domain signal of the pulse compression peak point corresponding to channel 1 is Sigmax 1 , the time domain signal of the pulse compression peak point corresponding to channel 2 is Sigmax 2 , the time domain signal of the pulse compression peak point corresponding to channel 3 is Sigmax 3 , then according to the following formula (3), the amplitude and phase error Ra between channel 2 and channel 1 can be calculated 12 According to the following formula (4), the amplitude and phase error Ra between channel 3 and channel 1 can be calculated: 13 :

[0099] Ra 12 =Sigmax 1 / Sigmax 2 (3)

[0100] Ra 13 =Sigmax 1 / Sgmax 3 (4)

[0101] In an embodiment of the present application, the amplitude and phase errors between each channel to be compensated and the reference channel can be determined by comparing the time domain signal corresponding to the reference channel with the time domain signal corresponding to each channel to be compensated. In this way, the amplitude and phase errors between each channel to be compensated and the reference channel can be accurately determined.

[0102] Step 140: Determine first amplitude-phase compensation coefficients for performing amplitude-phase compensation on each channel to be compensated according to the amplitude-phase errors between each channel to be compensated and the reference channel.

[0103] For a channel to be compensated, the first amplitude-phase compensation coefficient of the channel to be compensated may be a coefficient determined according to the amplitude-phase error between the channel to be compensated and a reference channel and used to compensate the first broadband linear frequency modulation echo signal of the channel to be compensated.

[0104] In some embodiments of the present application, in order to accurately determine the first amplitude-phase compensation coefficient for performing amplitude-phase compensation on each channel to be compensated, step 140 may specifically include:

[0105] For each channel to be compensated, a first amplitude-phase compensation coefficient for performing amplitude-phase compensation on the channel to be compensated is determined according to an amplitude-phase error between the channel to be compensated and a reference channel and a second amplitude-phase compensation coefficient corresponding to the channel to be compensated.

[0106] For a certain channel to be compensated, the second amplitude-phase compensation coefficient corresponding to the channel to be compensated may be a compensation coefficient when performing amplitude-phase compensation on an initial broadband linear frequency modulation echo signal of the channel to be compensated.

[0107] In some embodiments of the present application, for each channel to be compensated, a first amplitude-phase compensation coefficient for amplitude-phase compensation of the channel to be compensated is determined based on the amplitude-phase error between the channel to be compensated and a reference channel, and a second amplitude-phase compensation coefficient corresponding to the channel to be compensated. Specifically, the product of the amplitude-phase error between the channel to be compensated and the reference channel, and the second amplitude-phase compensation coefficient corresponding to the channel to be compensated may be determined as the first amplitude-phase compensation coefficient for amplitude-phase compensation of the channel to be compensated.

[0108] Continuing with the above example, the amplitude and phase errors Ra between channel 2 to be compensated and reference channel 1 are 12 , and the single-channel amplitude and phase compensation coefficient E of channel 2 to be compensated 2 (t) can be multiplied to obtain the first amplitude-phase compensation coefficient of the channel 2 to be compensated. The first amplitude-phase compensation coefficient of the reference channel 1 is the corresponding single-channel amplitude-phase compensation coefficient E 1 (t).

[0109] In some embodiments of the present application, referring to the above-mentioned method for determining the first amplitude-phase compensation coefficient of the channel 2 to be compensated, the first amplitude-phase compensation coefficients of other channels to be compensated may be calculated.

[0110] In an embodiment of the present application, for each channel to be compensated, a first amplitude-phase compensation coefficient for amplitude-phase compensation of the channel to be compensated is determined based on the amplitude-phase error between the channel to be compensated and a reference channel, and a second amplitude-phase compensation coefficient corresponding to the channel to be compensated. In this way, the first amplitude-phase compensation coefficient for amplitude-phase compensation of each channel to be compensated can be accurately determined.

[0111] Step 150 : performing amplitude and phase compensation on the first broadband linear frequency modulation echo signal in each channel to be compensated based on the first amplitude and phase compensation coefficient corresponding to each channel to be compensated, so as to obtain the first broadband linear frequency modulation echo signal after amplitude and phase compensation.

[0112] In some embodiments of the present application, after obtaining the first amplitude-phase compensation coefficient corresponding to each channel to be compensated, amplitude-phase compensation can be performed on the first broadband linear frequency modulation echo signal of each channel to be compensated based on the first amplitude-phase compensation coefficient corresponding to each channel to be compensated, so as to obtain the first broadband linear frequency modulation echo signal after amplitude-phase compensation, thereby completing the compensation of amplitude-phase consistency between each channel.

[0113] It should be noted that if the compensation coefficient needs to be quantized, the phase of the broadband linear frequency modulation echo signal needs to be compensated before quantization, and the amplitude of the broadband linear frequency modulation echo signal needs to be compensated after quantization, otherwise the amplitude compensation failure will occur.

[0114] In some embodiments of the present application, in order to facilitate understanding of the scheme of the embodiments of the present application, the embodiments of the present application also provide another implementable method of compensating for the amplitude and phase consistency of echo signals between channels. The amplitude and phase consistency compensation method for echo signals between channels is divided into two parts, one part is the compensation of a single-channel broadband linear frequency modulation echo signal, and the second part is the compensation of a broadband linear frequency modulation echo signal between channels, that is, each channel is compensated separately first, and then the amplitude and phase between channels are compensated. Single-channel compensation needs to be compared with an ideal signal (i.e., a reference broadband linear frequency modulation echo signal), and the amplitude and phase consistency compensation part between channels is to compare the broadband linear frequency modulation echo signals of two channels. When compensating, it is necessary to first fix the reference channel, calculate the amplitude and phase errors of other channels relative to the reference channel, obtain new amplitude and phase compensation coefficients for other channels, and complete the amplitude and phase consistency compensation of multi-channel broadband linear frequency modulation signals.

[0115] like Figure 2 As shown, the inter-channel echo signal amplitude consistency compensation method provided in the embodiment of the present application may include steps 1 to 12. Figure 2 The compensation of the broadband linear frequency modulation echo signal of a single channel is described by taking channel k as an example, and the compensation of the broadband linear frequency modulation echo signal between channels is described by taking channel 1 and channel 2 as an example, wherein channel 1 is a reference channel.

[0116] Step 1: Obtain an initial broadband linear frequency modulation signal of channel k.

[0117] Step 2: Extract the amplitude and phase of the initial broadband linear frequency modulation echo signal of channel k.

[0118] In step 2, the amplitude and phase of the initial broadband linear frequency modulation echo signal of channel k may be extracted by referring to the above embodiment, which will not be described in detail here.

[0119] Step 3: Fit the envelope of the initial broadband linear frequency modulation echo signal of channel k to obtain the amplitude error compensation coefficient of the initial broadband linear frequency modulation echo signal of channel k.

[0120] Step 4: Compare the phase of the initial broadband linear frequency modulation echo signal of channel k with the reference phase of the reference broadband linear frequency modulation echo signal to obtain a phase error compensation coefficient of the initial broadband linear frequency modulation echo signal of channel k.

[0121] Step 5: According to the amplitude error compensation coefficient and the phase error compensation coefficient of the initial broadband linear frequency modulation echo signal of channel k, obtain a second amplitude-phase compensation coefficient for performing amplitude-phase compensation on the initial broadband linear frequency modulation echo signal of channel k.

[0122] Step 6: Perform amplitude and phase compensation on the initial broadband linear frequency modulation echo signal of channel 1 by using the second amplitude and phase compensation coefficient of channel 1 to obtain the first broadband linear frequency modulation echo signal of channel 1.

[0123] Step 7: Perform amplitude and phase compensation on the initial broadband linear frequency modulation echo signal of channel 2 using the second amplitude and phase compensation coefficient of channel 2 to obtain the first broadband linear frequency modulation echo signal of channel 2.

[0124] Step 8: Perform pulse compression on the first broadband linear frequency modulation echo signal of channel 1 to obtain a time domain signal of a pulse compression peak point.

[0125] Step 9: perform pulse compression on the first broadband linear frequency modulation echo signal of channel 2 to obtain a time domain signal of a pulse compression peak point.

[0126] Step 10: The ratio of the time domain signal of the pulse compression peak point of the first broadband linear frequency modulation echo signal of channel 1 to the time domain signal of the pulse compression peak point of the first broadband linear frequency modulation echo signal of channel 2 is the amplitude and phase error between channel 1 and channel 2.

[0127] Step 11: According to the amplitude and phase of channel 2 and the amplitude and phase errors between channel 1 and channel 2, a first amplitude and phase compensation coefficient for compensating the first broadband linear frequency modulation echo signal of channel 2 is obtained.

[0128] Step 12: Compensate the first broadband linear frequency modulation echo signal of channel 2 by using the first amplitude-phase compensation coefficient of channel 2.

[0129] After the above steps 1-12, the amplitude and phase of the first broadband linear frequency modulation echo signal of channel 1 and the first broadband linear frequency modulation echo signal of channel 2 are consistent, and the compensation is completed.

[0130] It should be noted that the inter-channel echo signal amplitude consistency compensation method provided in the embodiment of the present application can be executed by an inter-channel echo signal amplitude consistency compensation device, or a control module in the inter-channel echo signal amplitude consistency compensation device for executing the inter-channel echo signal amplitude consistency compensation method.

[0131] Based on the same inventive concept as the above-mentioned inter-channel echo signal amplitude consistency compensation method, the present application also provides an inter-channel echo signal amplitude consistency compensation device. Figure 3 The inter-channel echo signal amplitude consistency compensation device provided in the embodiment of the present application is described in detail.

[0132] Figure 3 It is a schematic structural diagram of a device for compensating for amplitude consistency of echo signals between channels according to an exemplary embodiment.

[0133] like Figure 3 As shown, the inter-channel echo signal amplitude phase consistency compensation device 300 may include:

[0134] A first acquisition module 310 is used to acquire a first broadband linear frequency modulation echo signal of the radar system after performing amplitude and phase compensation on the initial broadband linear frequency modulation echo signal in each channel;

[0135] A second acquisition module 320, configured to perform pulse compression on the first broadband linear frequency modulation echo signal of each channel, and acquire a pulse compression peak point of the first broadband linear frequency modulation echo signal of each channel;

[0136] A first determination module 330 is used to determine the amplitude and phase errors between each channel to be compensated and the reference channel according to a time domain signal corresponding to a reference channel predetermined from each channel and a time domain signal corresponding to a channel to be compensated other than the reference channel in each channel;

[0137] A second determination module 340 is used to determine first amplitude-phase compensation coefficients for performing amplitude-phase compensation on each of the channels to be compensated, according to the amplitude-phase errors between each of the channels to be compensated and the reference channel;

[0138] The first compensation module 350 is used to perform amplitude and phase compensation on the first broadband linear frequency modulation echo signal in each of the channels to be compensated based on the first amplitude and phase compensation coefficient corresponding to each of the channels to be compensated, so as to obtain the first broadband linear frequency modulation echo signal after amplitude and phase compensation.

[0139] In an embodiment of the present application, a first broadband linear frequency modulation echo signal of a radar system is obtained after amplitude and phase compensation is performed on an initial broadband linear frequency modulation echo signal in each channel, and then pulse compression is performed on the first broadband linear frequency modulation echo signal of each channel respectively, and a time domain signal of a pulse compression peak point of the first broadband linear frequency modulation echo signal of each channel is obtained. According to a time domain signal corresponding to a reference channel predetermined in each channel and a time domain signal corresponding to a channel to be compensated in each channel except the reference channel, an amplitude and phase error between each channel to be compensated and the reference channel is determined respectively. The amplitude and phase errors are determined, and the first amplitude and phase compensation coefficients for amplitude and phase compensation of each channel to be compensated are determined. The first amplitude and phase compensation coefficients of each channel to be compensated are used to perform amplitude and phase compensation on the first broadband linear frequency modulation echo signal of each channel to be compensated, so as to obtain the first broadband linear frequency modulation echo signal after amplitude and phase compensation, so as to achieve amplitude and phase consistency between the channels. The scheme of the embodiment of the present application can collect broadband linear frequency modulation echo signals of multiple channels, and only calculate once to obtain the amplitude compensation and phase compensation coefficients of each channel, so as to complete the compensation of the amplitude and phase of the broadband linear frequency modulation echo signal between channels, thereby reducing the amount of calculation and having high flexibility.

[0140] In some embodiments of the present application, the second determination module 340 may be specifically used to:

[0141] For each of the to-be-compensated channels, determining the first amplitude-phase compensation coefficient for performing amplitude-phase compensation on the to-be-compensated channel according to the amplitude-phase error between the to-be-compensated channel and the reference channel, and the second amplitude-phase compensation coefficient corresponding to the to-be-compensated channel;

[0142] The second amplitude-phase compensation coefficient corresponding to the channel to be compensated is a compensation coefficient when performing amplitude-phase compensation on the initial broadband linear frequency modulation echo signal of the channel to be compensated.

[0143] In some embodiments of the present application, the above-mentioned device may further include:

[0144] A third determination module is used to respectively calculate the modulus and phase angle of the initial broadband linear frequency modulation echo signal of each channel before obtaining the first broadband linear frequency modulation echo signal of the radar system after performing amplitude and phase compensation on the initial broadband linear frequency modulation echo signal in each channel, so as to obtain the amplitude and phase corresponding to each of the initial broadband linear frequency modulation echo signals of each channel;

[0145] A processing module is used for the amplitude and phase corresponding to the initial broadband linear frequency modulation echo signal of each channel,

[0146] determining an amplitude error compensation coefficient of the initial broadband linear frequency modulation echo signal according to the amplitude of the initial broadband linear frequency modulation echo signal,

[0147] determining a phase error compensation coefficient of the initial broadband linear frequency modulation echo signal according to the phase of the initial broadband linear frequency modulation echo signal,

[0148] According to the amplitude error compensation coefficient and the phase error compensation coefficient of the initial wideband linear frequency modulation echo signal, the second amplitude-phase compensation coefficient for performing amplitude-phase compensation on the initial wideband linear frequency modulation echo signal is obtained, and the second amplitude-phase compensation coefficient is used to perform amplitude-phase compensation on the initial wideband linear frequency modulation echo signal to obtain the first wideband linear frequency modulation echo signal of the channel.

[0149] In some embodiments of the present application, determining the amplitude error compensation coefficient of the initial broadband linear frequency modulation echo signal according to the amplitude of the initial broadband linear frequency modulation echo signal of the channel specifically includes:

[0150] Fitting the envelope of the initial broadband linear frequency modulation echo signal to obtain the amplitude error of the initial broadband linear frequency modulation echo signal, wherein the envelope of the initial broadband linear frequency modulation echo signal includes: the amplitude of the initial broadband linear frequency modulation echo signal;

[0151] An amplitude error compensation coefficient of the initial wideband linear frequency modulation echo signal is determined according to the amplitude error of the initial wideband linear frequency modulation echo signal.

[0152] In some embodiments of the present application, determining the phase error compensation coefficient of the initial broadband linear frequency modulation echo signal according to the phase of the initial broadband linear frequency modulation echo signal specifically includes:

[0153] Comparing the phase of the initial broadband linear frequency modulation echo signal with the reference phase of a predetermined reference broadband linear frequency modulation echo signal to obtain a phase error of the initial broadband linear frequency modulation echo signal;

[0154] The phase error is fitted, and a phase error compensation coefficient of the initial broadband linear frequency modulation echo signal is obtained according to the fitted phase error.

[0155] In some embodiments of the present application, the first determining module 330 is specifically used to:

[0156] Calculating the ratio of a time domain signal corresponding to a predetermined reference channel among the channels to a time domain signal corresponding to a channel to be compensated among the channels except the reference channel;

[0157] The amplitude and phase errors between each of the channels to be compensated and the reference channel are determined according to the ratios corresponding to the channels to be compensated.

[0158] The inter-channel echo signal amplitude consistency compensation device provided in the embodiment of the present application can be used to execute the inter-channel echo signal amplitude consistency compensation method provided in the above-mentioned method embodiments. Its implementation principle and technical effect are similar, and for the sake of brief introduction, they will not be repeated here.

[0159] Based on the same inventive concept, an embodiment of the present application also provides an electronic device.

[0160] Figure 4 Schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 4 As shown, the electronic device may include a processor 401 and a memory 402 storing computer programs or instructions.

[0161] Specifically, the processor 401 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiment of the present invention.

[0162] The memory 402 may include a large capacity memory for data or instructions. For example, but not limitation, the memory 402 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, the memory 402 may include a removable or non-removable (or fixed) medium. In appropriate cases, the memory 402 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 402 is a non-volatile solid-state memory. The memory may include a read-only memory (ROM), a random access memory (RAM), a disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Therefore, typically, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described in the inter-channel echo signal amplitude consistency compensation method provided in the above-mentioned embodiments.

[0163] The processor 401 reads and executes the computer program instructions stored in the memory 402 to implement any one of the inter-channel echo signal amplitude phase consistency compensation methods in the above embodiments.

[0164] In one example, the electronic device may further include a communication interface 403 and a bus 410. Figure 4 As shown, the processor 401, the memory 402, and the communication interface 403 are connected via a bus 410 and communicate with each other.

[0165] The communication interface 403 is mainly used to implement the communication between the modules, devices, units and / or devices in the embodiment of the present invention.

[0166] Bus 410 includes hardware, software or both, and the parts of electronic equipment are coupled to each other. For example, but not limitation, bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front side bus (FSB), hypertransport (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, information electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 410 may include one or more buses. Although the embodiment of the present invention describes and shows a specific bus, the present invention considers any suitable bus or interconnection.

[0167] The electronic device can execute the inter-channel echo signal amplitude phase consistency compensation method in the embodiment of the present invention, thereby achieving Figure 4 A method for compensating for amplitude consistency of echo signals between channels is described.

[0168] Based on the same technical concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the inter-channel echo signal amplitude consistency compensation method as described in any of the above embodiments.

[0169] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0170] The computer instructions stored in the storage medium of the above embodiment are used to enable the computer to execute the inter-channel echo signal amplitude consistency compensation method as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0171] In addition, in combination with the inter-channel echo signal amplitude consistency compensation method in the above-mentioned embodiment, an embodiment of the present invention may provide a computer program product. When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes any one of the inter-channel echo signal amplitude consistency compensation methods in the above-mentioned embodiment.

[0172] It should be clear that the present invention is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present invention is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present invention.

[0173] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present invention are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0174] It should also be noted that the exemplary embodiments mentioned in the present invention describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiments, or in a different order from the embodiments, or several steps can be performed simultaneously.

[0175] The above reference is according to the method of the embodiment of the present application, the flow chart of the device (system) and the computer program product and / or the block diagram described various aspects of the present application.It should be understood that each square box in the flow chart and / or the block diagram and the combination of each square box in the flow chart and / or the block diagram can be realized by computer program instructions.These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the realization of the function / action specified in one or more square boxes of the flow chart and / or the block diagram.Such a processor can be but is not limited to a general-purpose processor, a special-purpose processor, a special application processor or a field programmable logic circuit.It can also be understood that each square box in the block diagram and / or the flow chart and the combination of the square boxes in the block diagram and / or the flow chart can also be realized by the dedicated hardware that performs the specified function or action, or can be realized by the combination of dedicated hardware and computer instructions.

[0176] The above is only a specific implementation of the present invention. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the system, module and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. It should be understood that the protection scope of the present invention is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be covered within the protection scope of the present invention.

Claims

1. A method for compensating for amplitude consistency of echo signals between channels, characterized in that: The method comprises: Acquire a first broadband linear frequency modulation echo signal of the radar system after performing amplitude and phase compensation on an initial broadband linear frequency modulation echo signal in each channel; Performing pulse compression on the first broadband linear frequency modulation echo signal of each channel respectively, and acquiring a time domain signal of a pulse compression peak point of the first broadband linear frequency modulation echo signal of each channel; According to a time domain signal corresponding to a reference channel predetermined from each channel and a time domain signal corresponding to a channel to be compensated except the reference channel in each channel, respectively determining an amplitude and phase error between each channel to be compensated and the reference channel; Determining first amplitude-phase compensation coefficients for performing amplitude-phase compensation on each of the channels to be compensated, respectively, according to the amplitude-phase errors between each of the channels to be compensated and the reference channel; Based on the first amplitude-phase compensation coefficient corresponding to each of the channels to be compensated, amplitude-phase compensation is performed on the first broadband linear frequency modulation echo signal in each of the channels to be compensated, so as to obtain the first broadband linear frequency modulation echo signal after amplitude-phase compensation.

2. The method according to claim 1, characterized in that The determining, according to the amplitude-phase error between each channel to be compensated and the reference channel, a first amplitude-phase compensation coefficient for performing amplitude-phase compensation on each channel to be compensated comprises: For each of the to-be-compensated channels, determining the first amplitude-phase compensation coefficient for performing amplitude-phase compensation on the to-be-compensated channel according to the amplitude-phase error between the to-be-compensated channel and the reference channel, and the second amplitude-phase compensation coefficient corresponding to the to-be-compensated channel; The second amplitude-phase compensation coefficient corresponding to the channel to be compensated is a compensation coefficient when performing amplitude-phase compensation on the initial broadband linear frequency modulation echo signal of the channel to be compensated.

3. The method according to claim 2, characterized in that Before acquiring the first broadband linear frequency modulation echo signal after amplitude and phase compensation of the initial broadband linear frequency modulation echo signal in each channel of the radar system, the method further includes: The initial broadband linear frequency modulation echo signal of each channel is respectively calculated for modulus and phase angle, so as to obtain the amplitude and phase corresponding to the initial broadband linear frequency modulation echo signal of each channel; The amplitude and phase of the initial broadband linear frequency modulation echo signal of each channel, determining an amplitude error compensation coefficient of the initial broadband linear frequency modulation echo signal according to the amplitude of the initial broadband linear frequency modulation echo signal, determining a phase error compensation coefficient of the initial broadband linear frequency modulation echo signal according to the phase of the initial broadband linear frequency modulation echo signal, According to the amplitude error compensation coefficient and the phase error compensation coefficient of the initial wideband linear frequency modulation echo signal, the second amplitude-phase compensation coefficient for performing amplitude-phase compensation on the initial wideband linear frequency modulation echo signal is obtained, and the second amplitude-phase compensation coefficient is used to perform amplitude-phase compensation on the initial wideband linear frequency modulation echo signal to obtain the first wideband linear frequency modulation echo signal of the channel.

4. The method according to claim 3, characterized in that Determining the amplitude error compensation coefficient of the initial broadband linear frequency modulation echo signal according to the amplitude of the initial broadband linear frequency modulation echo signal of the channel includes: Fitting the envelope of the initial broadband linear frequency modulation echo signal to obtain the amplitude error of the initial broadband linear frequency modulation echo signal, wherein the envelope of the initial broadband linear frequency modulation echo signal includes: the amplitude of the initial broadband linear frequency modulation echo signal; An amplitude error compensation coefficient of the initial wideband linear frequency modulation echo signal is determined according to the amplitude error of the initial wideband linear frequency modulation echo signal.

5. The method according to claim 3, characterized in that: Determining the phase error compensation coefficient of the initial broadband linear frequency modulation echo signal according to the phase of the initial broadband linear frequency modulation echo signal includes: Comparing the phase of the initial broadband linear frequency modulation echo signal with the reference phase of a predetermined reference broadband linear frequency modulation echo signal to obtain a phase error of the initial broadband linear frequency modulation echo signal; The phase error is fitted, and a phase error compensation coefficient of the initial broadband linear frequency modulation echo signal is obtained according to the fitted phase error.

6. The method according to claim 1, characterized in that The step of determining the amplitude and phase errors between each channel to be compensated and the reference channel according to a time domain signal corresponding to a reference channel predetermined from each channel and a time domain signal corresponding to a channel to be compensated other than the reference channel in each channel, comprises: Calculating the ratio of a time domain signal corresponding to a predetermined reference channel among the channels to a time domain signal corresponding to a channel to be compensated among the channels except the reference channel; The amplitude and phase errors between each of the channels to be compensated and the reference channel are determined according to the ratios corresponding to the channels to be compensated.

7. An inter-channel echo signal amplitude consistency compensation device, characterized in that: The device comprises: A first acquisition module is used to acquire a first broadband linear frequency modulation echo signal of the radar system after performing amplitude and phase compensation on an initial broadband linear frequency modulation echo signal in each channel; A second acquisition module is used to perform pulse compression on the first broadband linear frequency modulation echo signal of each channel respectively, and acquire a time domain signal of a pulse compression peak point of the first broadband linear frequency modulation echo signal of each channel; A first determination module, configured to determine the amplitude and phase errors between each channel to be compensated and the reference channel according to a time domain signal corresponding to a reference channel predetermined from each channel and a time domain signal corresponding to a channel to be compensated other than the reference channel in each channel; A second determination module, configured to determine, according to the amplitude-phase error between each channel to be compensated and the reference channel, a first amplitude-phase compensation coefficient for performing amplitude-phase compensation on each channel to be compensated; The first compensation module is used to perform amplitude and phase compensation on the first broadband linear frequency modulation echo signal in each of the channels to be compensated based on the first amplitude and phase compensation coefficient corresponding to each of the channels to be compensated, so as to obtain the first broadband linear frequency modulation echo signal after amplitude and phase compensation.

8. An electronic device, characterized in that: It includes a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein when the program or instruction is executed by the processor, the steps of the inter-channel echo signal amplitude consistency compensation method as described in any one of claims 1-6 are implemented.

9. A readable storage medium, characterized in that:The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the steps of the inter-channel echo signal amplitude consistency compensation method as described in any one of claims 1-6 are implemented.

10. A computer program product, characterized in that When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the steps of the inter-channel echo signal amplitude consistency compensation method as described in any one of claims 1-6.

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