Slow-moving object detection method, device and equipment based on security radar

Abstract

The present invention discloses a method, device and equipment for detecting slow-moving objects based on security radar, including: step S11, first performing MTI processing on a plurality of continuous echo signals to be processed, and then performing distance dimension FFT processing; step S12, first performing distance dimension FFT processing on a plurality of continuous echo signals to be processed, and then performing Doppler dimension FFT processing to obtain a two-dimensional spectrum, and selecting a plurality of reference signals based on the two-dimensional spectrum; step S13, determining a pulse compensation phase difference according to the pulse inter-pulse phase difference in the result of the distance dimension FFT processing of a plurality of reference signals in step S11; step S14, using the pulse compensation phase difference, respectively compensating each echo signal to be processed after the distance dimension FFT processing of step S11; step S15, performing pulse inter-pulse coherent accumulation on a plurality of compensated echo signals to be processed. The present invention belongs to the field of radar detection. The present invention can improve the detection performance of the security radar system for slow-moving objects.

Description

Technical Field

[0001] The present invention relates to the field of radar detection, and in particular to a method, device and equipment for detecting slow-moving objects based on security radar. Background Art

[0002] Security radar is a radar system used for security and monitoring purposes, mainly used to detect, track and identify targets within a specific area. This type of radar is usually deployed in places where perimeter protection, intrusion detection or large-area surveillance is required, such as airports, military bases, borders, industrial facilities, important infrastructure, etc. Security radar can provide all-weather, all-day monitoring capabilities and can work effectively even in severe weather conditions.

[0003] For a security radar system that uses inter-pulse coherent accumulation, the target phase also changes slowly between pulses because the internal components of the radar system change with time and operating temperature. When performing inter-pulse coherent accumulation, the coherent accumulation gain is affected due to the change in the inter-pulse phase. Increasing the number of coherent accumulation pulses has limited improvement in the target's signal-to-noise ratio. In other words, the radar system has poor detection performance for slow-moving targets. Therefore, based on the current radar configuration settings, improving the detection capability of slow-moving objects is an urgent problem to be solved. Summary of the invention

[0004] The present invention solves the technical problem of poor slow-moving object detection capability based on the current radar configuration settings in the prior art by providing a slow-moving object detection method, device and equipment based on security radar, and achieves the technical effect of improving the slow-moving object detection capability based on the current radar configuration settings.

[0005] In a first aspect, the present invention provides a slow-moving object detection method based on a security radar, the method comprising:

[0006] Step S11, controlling the target security radar to receive a number of continuous echo signals to be processed, and first performing MTI processing on the number of continuous echo signals to be processed, and then performing range-dimensional FFT processing;

[0007] Step S12, performing range dimension FFT processing on a plurality of continuous echo signals to be processed, and then performing Doppler dimension FFT processing to obtain a two-dimensional spectrum, and selecting a plurality of reference signals based on the two-dimensional spectrum;

[0008] Step S13, determining a pulse compensation phase difference according to the inter-pulse phase difference in the result of the range-dimensional FFT processing of several reference signals in step S11;

[0009] Step S14, compensating each echo signal to be processed after the range-dimensional FFT processing in step S11 by using pulse compensation phase difference;

[0010] Step S15, performing inter-pulse coherent accumulation with a plurality of compensated echo signals to be processed.

[0011] Furthermore, after performing MTI processing on a plurality of continuous echo signals to be processed, performing range-dimensional FFT processing, including:

[0012] Weighting a plurality of continuous echo signals to be processed according to a preset ratio to update the echo signals to be processed;

[0013] By performing distance-dimensional FFT processing on the updated echo signal to be processed, the signal type of the echo signal to be processed is converted from a time-domain signal to a frequency-domain signal.

[0014] Furthermore, a plurality of continuous echo signals to be processed are first processed in the range dimension by FFT, and then in the Doppler dimension by FFT, to obtain a two-dimensional spectrum, including:

[0015] Performing range-dimensional FFT processing on a number of continuous echo signals to be processed to obtain a number of range-dimensional spectra;

[0016] Performing Doppler dimension FFT processing on all echo signals to be processed on the same range unit corresponding to a plurality of range dimension spectra to obtain a plurality of Doppler spectra;

[0017] Based on several Doppler spectra and several range-dimensional spectra, a two-dimensional spectrum is obtained.

[0018] Furthermore, a number of reference signals are selected based on the two-dimensional spectrum, including:

[0019] A number of stationary objects are identified in the two-dimensional spectrum, and the stationary objects are used as sources of reference signals corresponding to the stationary objects.

[0020] Further, according to the inter-pulse phase difference of the reference signals in the result of the range-dimensional FFT processing in step S11, the pulse compensation phase difference is determined, including:

[0021] In the result of the range-dimensional FFT processing in step S11, the phases of different echo signals to be processed under the same range unit of each reference signal are determined, and the inter-pulse phase difference corresponding to each reference signal is determined;

[0022] The pulse compensation phase difference is determined according to the inter-pulse phase differences of a plurality of reference signals.

[0023] Further, each echo signal to be processed after the range-dimensional FFT processing in step S11 is compensated respectively by using the pulse compensation phase difference, including:

[0024] For each echo signal to be processed on each range unit, respectively determine the actual phase corresponding to each echo signal to be processed in the pulse emitted by the target security radar;

[0025] According to the actual phase of each echo signal to be processed and the pulse compensation phase difference, the compensated echo signal to be processed is determined.

[0026] Further, determining the pulse compensation phase difference according to the inter-pulse phase difference of the plurality of reference signals includes:

[0027]

[0028]

[0029]

[0030] in, is the pulse compensation phase difference, is the number of reference signals, is the number of Doppler cells, is the inter-pulse phase difference of the reference signal with range unit number i and Doppler unit number j.

[0031] Further, according to the actual phase of each echo signal to be processed and the pulse compensation phase difference, determining the compensated echo signal to be processed includes:

[0032]

[0033]

[0034]

[0035] in, is the pulse compensation phase difference, is the phase of the echo signal to be processed with the distance unit number x and the Doppler unit number y after compensation, is the actual phase of the echo signal to be processed with the range unit number x and the Doppler unit number y, is the number of distance units.

[0036] In a second aspect, the present invention provides a slow-moving object detection device based on a security radar, the device comprising:

[0037] The first loop module is used to control the target security radar to receive a number of continuous echo signals to be processed, and first perform MTI processing on the several continuous echo signals to be processed, and then perform range-dimensional FFT processing;

[0038] The second loop module is used to perform range dimension FFT processing on a number of continuous echo signals to be processed, and then perform Doppler dimension FFT processing to obtain a two-dimensional spectrum, and select a number of reference signals based on the two-dimensional spectrum;

[0039] A compensation determination module, used to determine the pulse compensation phase difference according to the inter-pulse phase difference in the result of the range-dimensional FFT processing of several reference signals in step S11;

[0040] A compensation module, used to compensate the phase difference by pulse compensation, and to compensate each echo signal to be processed after the distance dimension FFT processing in step S11;

[0041] The coherent accumulation module is used to perform inter-pulse coherent accumulation using a number of compensated echo signals to be processed.

[0042] In a third aspect, the present invention provides an electronic device, comprising:

[0043] processor;

[0044] a memory for storing processor-executable instructions;

[0045] The processor is configured to execute to implement the slow-moving object detection method based on security radar as provided in the first aspect.

[0046] One or more technical solutions provided in the present invention have at least the following technical effects or advantages:

[0047] The invention provides a slow-moving object detection method based on a security radar, and the method comprises: step S11, controlling a target security radar to receive a plurality of continuous echo signals to be processed, and first performing MTI processing on the plurality of continuous echo signals to be processed, and then performing range-dimensional FFT processing; step S12, first performing range-dimensional FFT processing on the plurality of continuous echo signals to be processed, and then performing Doppler-dimensional FFT processing to obtain a two-dimensional spectrum, and selecting a plurality of reference signals based on the two-dimensional spectrum; step S13, determining a pulse compensation phase difference according to the pulse inter-pulse phase difference in the result of the range-dimensional FFT processing of the plurality of reference signals in step S11; step S14, respectively compensating each echo signal to be processed after the range-dimensional FFT processing in step S11 by using the pulse compensation phase difference; and step S15, performing pulse inter-pulse coherent accumulation on the plurality of compensated echo signals to be processed.

[0048] With the operation of the radar system, the traditional pulse-to-pulse coherent accumulation will cause the signal phase at the same distance unit to fluctuate between pulses. Not only can the coherent accumulation gain of a finite number of pulses not be guaranteed, but the coherent accumulation gain cannot be improved by increasing the number of pulse coherent accumulations. When the echo signal of a slow-moving object is weak, the security radar system has poor detection performance for slow-moving targets, which may lead to missed detection of the target. The present invention selects a real stationary target as a reference signal to determine the fluctuation of the pulse-to-pulse phase difference caused by the change of the radar system's own components over the running time. By compensating the corresponding phase difference between pulses for all signals at the same distance unit, the phase fluctuation of the target signal between pulses is eliminated, and the coherent accumulation gain of the current number of coherent accumulation pulses is guaranteed. Further, by increasing the number of coherent accumulation pulses, the coherent accumulation gain can be improved, the signal-to-noise ratio of the target signal can be enhanced, and the detection performance of the security radar system for slow-moving objects can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0050] Figure 1 A schematic diagram of a flow chart of a slow-moving object detection method based on security radar provided by the present invention;

[0051] Figure 2 A schematic diagram of the structure of the delay line canceller provided by the present invention;

[0052] Figure 3 A schematic diagram of a two-dimensional spectrum provided by the present invention;

[0053] Figure 4 A schematic diagram of the structure of a slow-moving object detection device based on security radar provided by the present invention;

[0054] Figure 5 The present invention provides a schematic structural diagram of an electronic device. DETAILED DESCRIPTION

[0055] The embodiment of the present invention solves the technical problem of poor slow-moving object detection performance in the prior art by providing a slow-moving object detection method based on a security radar.

[0056] The technical solution of the present invention is to solve the above technical problems, and the overall idea is as follows:

[0057] The invention discloses a slow-moving object detection method based on security radar, the method comprising: step S11, controlling the target security radar to receive a plurality of continuous echo signals to be processed, and first performing MTI processing on the plurality of continuous echo signals to be processed, and then performing distance dimension FFT processing; step S12, first performing distance dimension FFT processing on the plurality of continuous echo signals to be processed, and then performing Doppler dimension FFT processing to obtain a two-dimensional spectrum, and selecting a plurality of reference signals based on the two-dimensional spectrum; step S13, determining a pulse compensation phase difference according to the pulse inter-pulse phase difference in the result of the distance dimension FFT processing of the plurality of reference signals in step S11; step S14, using the pulse compensation phase difference, respectively compensating each echo signal to be processed after the distance dimension FFT processing in step S11; step S15, performing pulse inter-pulse coherent accumulation on the plurality of compensated echo signals to be processed.

[0058] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0059] First of all, the term "and / or" in this article is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0060] The purpose of the present invention is explained below: The security radar transmits pulses and receives echo signals reflected by objects, so as to locate the relative position information of mobile targets in space.

[0061] For objects moving at a slower speed, due to reasons such as the weak Doppler effect, the slow-moving target object is weaker, resulting in the security radar's poor detection capability for slow objects, and it cannot effectively detect and identify slow objects. The slow-moving object in the present invention can refer to an object with a speed lower than 0.5m / s. The slow-moving object can be a living thing or a non-living thing, and there is no limitation here.

[0062] In addition, for the multiple continuous pulse signals emitted by the security radar, the echo signals reflected from the object may have random phase differences due to phase jitter in the internal components of the radar system. The random phase difference will not only cause the inter-pulse coherent accumulation effect to fail to reach the ideal state, but also affect the selection of the total number of pulses that can be used for inter-pulse coherent accumulation, thereby failing to guarantee the radar's detection performance for slow targets.

[0063] The invention provides Figure 1The slow-moving object detection method based on security radar shown includes steps S11 to S15. It should be noted that step S11 and step S12 can be executed simultaneously, or step S11 can be executed first and then step S12; or step S12 can be executed first and then step S11.

[0064] Regarding step S11, the target security radar is controlled to receive a number of continuous echo signals to be processed, and the MTI processing is first performed on the number of continuous echo signals to be processed, and then the range-dimensional FFT processing is performed.

[0065] The following is an explanation of MTI and distance dimension FFT:

[0066] MTI: Moving Target Indication (MTI) is a radar signal processing technique whose main purpose is to detect and track moving targets from a stationary background. MTI operation achieves this goal by comparing the echo signals of successively transmitted radar pulses.

[0067] Range-Dimensional Fast Fourier Transform (FFT) is a technology in radar signal processing, which is used to convert the echo signal in the time domain into the frequency domain to extract the distance information of the object.

[0068] The specific steps include: weighting a number of continuous echo signals to be processed at a preset ratio to update the echo signals to be processed; converting the signal type of the echo signals to be processed from time domain signals to frequency domain signals by performing distance dimension FFT processing on the updated echo signals to be processed.

[0069] When the target security radar receives several consecutive echo signals to be processed, a delay line canceller can be used to implement MTI, including: weighting multiple consecutive echo signals at a preset ratio to eliminate static clutter in the echo signal and retaining the echo signal of the object in motion (the static clutter echo signal has been removed).

[0070] Then, the signal type of the echo signal to be processed is converted from a time domain signal to a frequency domain signal through the distance dimension FFT. The echo signal after the distance dimension FFT processing contains the distance information of the corresponding moving object.

[0071] Figure 2 The schematic diagram of the delay line canceller structure provided by the present invention, wherein T is the delay time and N is the number of echo signals. By means of a delay line, the current echo signal is weighted with N-1 subsequent echo signals to obtain an updated current echo signal.

[0072] Regarding step S12, a plurality of continuous echo signals to be processed are first processed in the range dimension FFT and then in the Doppler dimension FFT to obtain a two-dimensional spectrum, and a plurality of reference signals are selected based on the two-dimensional spectrum.

[0073] Doppler-Dimensional Fast Fourier Transform (Doppler-Dimensional Fast Fourier Transform) is an important step in radar signal processing. Doppler-Dimensional FFT is used to extract the speed information of an object from a continuous echo signal. The Doppler effect refers to the change in the frequency of the reflected signal when the electromagnetic wave emitted by the radar encounters a moving target. The frequency change is proportional to the speed of the target relative to the radar.

[0074] Specifically, the method includes: performing range-dimensional FFT processing on a number of continuous echo signals to be processed to obtain a number of range-dimensional spectra; performing Doppler-dimensional FFT processing on all echo signals to be processed on the same range unit corresponding to the several range-dimensional spectra to obtain a number of Doppler spectra; and obtaining a two-dimensional spectrum based on the several Doppler spectra and the several range-dimensional spectra.

[0075] It should be noted that the continuous echo signals to be processed in step S12 are continuous echo signals to be processed that have not been processed in step S11.

[0076] For security radar, the directly received continuous echo signal to be processed is composed of multiple time domain pulse signals. Each echo signal to be processed is subjected to distance dimension FFT processing to obtain the distance dimension spectrum corresponding to each echo signal to be processed.

[0077] Then, all signals on the same distance unit corresponding to multiple distance-dimensional spectra are subjected to Doppler-dimensional FFT to obtain multiple Doppler spectra. Specifically:

[0078] In the distance dimension spectrum, for each distance unit, data of the kth distance unit is extracted from each distance dimension spectrum.

[0079] For N continuous echo signals, N complex values ​​can be obtained. The complex values ​​constitute a slow time series. The slow time series contains the complex signal values ​​corresponding to different echo signals at the kth distance unit. Each complex value contains amplitude and phase information.

[0080] Fast Fourier transform (FFT) is performed on the slow time series to convert time into frequency domain and generate Doppler spectrum.

[0081] The range-dimensional spectrum and the Doppler-dimensional spectrum together form a two-dimensional spectrum of the echo signal, which contains the speed information and distance information of the stationary object, as well as the speed information and distance information of the moving object.

[0082] Figure 3 This is a schematic diagram of a two-dimensional spectrum provided by the present invention, in which the horizontal axis represents Doppler dimension units, which are N in total, and the vertical axis represents distance units, which are M in total.

[0083] Selecting a plurality of reference signals based on the two-dimensional spectrum includes: determining a plurality of stationary objects in the two-dimensional spectrum, and using the stationary objects as sources of reference signals corresponding to the stationary objects.

[0084] Likewise Figure 3 Take this as an example: After performing distance dimension FFT and Doppler dimension FFT on the echo signal, a two-dimensional spectrum is obtained, where the distance unit is , the Doppler unit is , when the Doppler dimension unit is 1, the corresponding speed of the object is 0, and all stationary objects are in the distance unit corresponding to the Doppler dimension (that is, Figure 3 The speed of the three objects represented by p in is 0).

[0085] When the Doppler dimension is (2-N), the corresponding speed of the object is not 0, and the moving target is in the distance unit corresponding to this Doppler dimension, that is, Figure 3 The velocities of the three objects represented by q are not 0.

[0086] The echo signal reflected by an object with a speed of 0 is selected as the reference signal source. In other words, by detecting the signal with a Doppler dimension of 1 in the two-dimensional spectrum, the distance dimension corresponding to the reference signal point can be obtained. , , is the number of selected reference signals.

[0087] Regarding step S13, the pulse compensation phase difference is determined according to the pulse-to-pulse phase difference of the results of the range-dimensional FFT processing of the plurality of reference signals in step S11;

[0088] Specifically include:

[0089] In the result of the distance-dimensional FFT processing in step S11, the phases of different echo signals to be processed are determined for each reference signal at the same distance unit, and the inter-pulse phase difference corresponding to each reference signal is determined; the pulse compensation phase difference is determined based on the inter-pulse phase differences of several reference signals.

[0090] Based on the processing results of step S11 and step S12, the distance units corresponding to the multiple reference signals selected in step S12 are combined with the distance dimension FFT result obtained in step S11 to find the phase difference between different pulses of the reference signal in the same distance unit. , and further obtain the pulse phase difference of the reference signal .

[0091] Since the selected reference signals are all stationary targets, the phase of the echo signal corresponding to the stationary target should not have any other phase difference except the phase fluctuation caused by the radar system components. That is, the phase fluctuation caused by the self-generated vibration of the radar system components, and for multiple stationary objects at the same distance, the phase fluctuations of different stationary objects are basically the same. The average of the phase difference between the pulses of multiple reference signals can be obtained, including:

[0092]

[0093]

[0094]

[0095] in, is the pulse compensation phase difference, is the number of reference signals, is the number of Doppler cells, is the inter-pulse phase difference of the reference signal with range unit number i and Doppler unit number j.

[0096] Regarding step S14, each echo signal to be processed after the range-dimensional FFT processing in step S11 is compensated respectively by using pulse compensation phase difference;

[0097] Specifically include:

[0098] For the echo signal to be processed on each distance unit, the actual phase corresponding to each echo signal to be processed in the pulse emitted by the target security radar is determined respectively; according to the actual phase of each echo signal to be processed and the pulse compensation phase difference, the compensated echo signal to be processed is determined.

[0099] According to the pulse compensation phase difference obtained in step S13, phase compensation between pulses is performed on the N echo signals after the range-dimensional FFT in step S11.

[0100] Specifically, for each echo signal on the distance unit, determine the actual phase corresponding to different pulses. , and perform superposition calculation with pulse compensation phase difference, including:

[0101]

[0102]

[0103]

[0104] in, is the pulse compensation phase difference, is the phase of the echo signal to be processed with the distance unit number x and the Doppler unit number y after compensation, is the actual phase of the echo signal to be processed with the range unit number x and the Doppler unit number y, is the number of distance units.

[0105] Regarding step S15, pulse-to-pulse coherent accumulation is performed using a plurality of compensated echo signals to be processed.

[0106] For the distance dimension FFT signals corresponding to different echoes after compensation, the inter-pulse coherent accumulation can be achieved through the Doppler dimension FFT, and the coherent accumulation gain is , where G is the coherent integration gain and N is the number of echo signals.

[0107] For slow-moving objects, after determining the inter-pulse phase variation caused by the jitter of the radar system components, by compensating for the phase variation, not only can the coherent accumulation gain be guaranteed, but the number of coherently accumulated pulses can also be increased, further improving the coherent accumulation gain.

[0108] For multiple consecutive echo signals to be processed, a real stationary target is selected as a reference signal, and the phase fluctuation difference between pulses caused by the radar system components itself is obtained. This phase fluctuation difference is used as a reference to compensate the corresponding target signal in each pulse to offset the coherent accumulation gain loss caused by the phase fluctuation. The number of coherent accumulation pulses can be further increased to improve the coherent accumulation gain.

[0109] In view of the actual situation that the target signal strength of a slow-moving object will become weak after MTI processing, resulting in the radar being unable to detect the slow-moving target signal, the present invention improves the coherent accumulation gain to increase the target signal strength, thereby ensuring the security radar's detection capability for slow-moving targets.

[0110] In summary, the present invention provides a slow-moving object detection method based on security radar, and the method includes: step S11, controlling the target security radar to receive a number of continuous echo signals to be processed, and first performing MTI processing on the number of continuous echo signals to be processed, and then performing distance-dimensional FFT processing; step S12, first performing distance-dimensional FFT processing on the number of continuous echo signals to be processed, and then performing Doppler-dimensional FFT processing to obtain a two-dimensional spectrum, and selecting a number of reference signals based on the two-dimensional spectrum; step S13, determining a pulse compensation phase difference according to the pulse inter-pulse phase difference in the result of the distance-dimensional FFT processing of the number of reference signals in step S11; step S14, using the pulse compensation phase difference to compensate each echo signal to be processed after the distance-dimensional FFT processing in step S11; step S15, performing pulse-to-pulse coherent accumulation on the number of compensated echo signals to be processed.

[0111] With the operation of the radar system, the traditional pulse-to-pulse coherent accumulation will cause the signal phase at the same distance unit to fluctuate between pulses. Not only can the coherent accumulation gain of a finite number of pulses not be guaranteed, but the coherent accumulation gain cannot be improved by increasing the number of pulse coherent accumulations. When the echo signal of a slow-moving object is weak, the security radar system has poor detection performance for slow-moving targets, which may lead to missed detection of the target. The present invention selects a real stationary target as a reference signal to determine the fluctuation of the pulse-to-pulse phase difference caused by the change of the radar system's own components over the running time. By compensating the corresponding phase difference between pulses for all signals at the same distance unit, the phase fluctuation of the target signal between pulses is eliminated, and the coherent accumulation gain of the current number of coherent accumulation pulses is guaranteed. Further, by increasing the number of coherent accumulation pulses, the coherent accumulation gain can be improved, the signal-to-noise ratio of the target signal can be enhanced, and the detection performance of the security radar system for slow-moving objects can be improved.

[0112] The present invention also provides Figure 4 The slow-moving object detection device based on security radar shown in the figure comprises:

[0113] The first loop module 41 is used to control the target security radar to receive a number of continuous echo signals to be processed, and first perform MTI processing on the number of continuous echo signals to be processed, and then perform range-dimensional FFT processing;

[0114] The second loop module 42 is used to perform range dimension FFT processing on a plurality of continuous echo signals to be processed, and then perform Doppler dimension FFT processing to obtain a two-dimensional spectrum, and select a plurality of reference signals based on the two-dimensional spectrum;

[0115] The compensation determination module 43 is used to determine the pulse compensation phase difference according to the inter-pulse phase difference in the result of the range-dimensional FFT processing of the plurality of reference signals in step S11;

[0116] The compensation module 44 is used to compensate the phase difference by pulse compensation, and to compensate each echo signal to be processed after the range-dimensional FFT processing in step S11;

[0117] The coherent accumulation module 45 is used to perform inter-pulse coherent accumulation using a plurality of compensated echo signals to be processed.

[0118] Based on the same inventive concept, the present invention also provides Figure 5 An electronic device as shown includes:

[0119] Processor 51;

[0120] A memory 52 for storing instructions executable by the processor 51;

[0121] The processor 51 is configured to execute to implement the slow-moving object detection method based on security radar as provided above.

[0122] Since the electronic device introduced in this embodiment is an electronic device used to implement the information processing method in the embodiment of the present invention, based on the information processing method introduced in the embodiment of the present invention, a person skilled in the art can understand the specific implementation of the electronic device of this embodiment and its various variations, so how the electronic device implements the method in the embodiment of the present invention is not described in detail here. As long as the electronic device used by a person skilled in the art to implement the information processing method in the embodiment of the present invention, it belongs to the scope of protection of the present invention.

[0123] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0124] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1A device that provides the functions specified in a block or multiple blocks.

[0125] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0126] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0127] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0128] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A slow-moving object detection method based on security radar, characterized in that: The method comprises: Step S11, controlling the target security radar to receive a number of continuous echo signals to be processed, and first performing MTI processing on the number of continuous echo signals to be processed, and then performing distance-dimensional FFT processing, including: weighting the number of continuous echo signals to be processed at a preset ratio to update the echo signals to be processed; converting the signal type of the echo signals to be processed from time domain signals to frequency domain signals by performing distance-dimensional FFT processing on the updated echo signals to be processed, wherein the echo signals to be processed are obtained by being reflected by an object with a speed lower than 0.5 m / s; Step S12, performing range dimension FFT processing on a number of continuous echo signals to be processed first, and then performing Doppler dimension FFT processing on a number of continuous echo signals to be processed to obtain a two-dimensional spectrum, and selecting a number of reference signals based on the two-dimensional spectrum, including: performing range dimension FFT processing on a number of continuous echo signals to be processed to obtain a number of range dimension spectrums; performing Doppler dimension FFT processing on all echo signals to be processed on the same range unit corresponding to the number of range dimension spectrums to obtain a number of Doppler spectrums; obtaining the two-dimensional spectrum based on the number of Doppler spectrums and the number of range dimension spectrums, and selecting a number of reference signals based on the two-dimensional spectrum, including: determining a number of stationary objects in the two-dimensional spectrum, and using the stationary objects as sources of reference signals corresponding to the stationary objects; Step S13, determining a pulse compensation phase difference according to the inter-pulse phase difference in the result of the range-dimensional FFT processing of several reference signals in step S11; Step S14, using the pulse compensation phase difference to compensate each echo signal to be processed after the range-dimensional FFT processing in step S11; Step S15, performing inter-pulse coherent accumulation with a plurality of compensated echo signals to be processed.

2. The slow-moving object detection method based on security radar as claimed in claim 1, characterized in that: Determining the pulse compensation phase difference according to the pulse phase difference between the results of the range-dimensional FFT processing of the plurality of reference signals in step S11 includes: In the result of the range-dimensional FFT processing in step S11, the phases of different echo signals to be processed under the same range unit of each reference signal are determined, and the inter-pulse phase difference corresponding to each reference signal is determined; The pulse compensation phase difference is determined according to the inter-pulse phase differences of a plurality of reference signals.

3. The slow-moving object detection method based on security radar as claimed in claim 1, characterized in that: Using the pulse compensation phase difference, each echo signal to be processed after the range-dimensional FFT processing in step S11 is compensated respectively, including: For each echo signal to be processed on each range unit, respectively determine the actual phase corresponding to each echo signal to be processed in the pulse emitted by the target security radar; According to the actual phase of each echo signal to be processed and the pulse compensation phase difference, the compensated echo signal to be processed is determined.

4. The slow-moving object detection method based on security radar as claimed in claim 2, characterized in that: Determining the pulse compensation phase difference according to the inter-pulse phase differences of a plurality of reference signals comprises: in, is the pulse compensation phase difference, is the number of reference signals, is the number of Doppler cells, is the inter-pulse phase difference of the reference signal with range unit number i and Doppler unit number j.

5. The method for detecting slow-moving objects based on security radar as claimed in claim 3, characterized in that: Determining the compensated echo signal to be processed according to the actual phase of each echo signal to be processed and the pulse compensation phase difference, including: in, is the pulse compensation phase difference, is the phase of the echo signal to be processed with the distance unit number x and the Doppler unit number y after compensation, is the actual phase of the echo signal to be processed with the range unit number x and the Doppler unit number y, is the number of distance units.

6. A slow-moving object detection device based on security radar, characterized in that: The method for detecting slow-moving objects based on security radar applied to any one of claims 1 to 5, the device comprising: The first loop module is used to control the target security radar to receive a number of continuous echo signals to be processed, and first perform MTI processing on the several continuous echo signals to be processed, and then perform range-dimensional FFT processing; The second loop module is used to perform range dimension FFT processing on a plurality of continuous echo signals to be processed, and then perform Doppler dimension FFT processing to obtain a two-dimensional spectrum, and select a plurality of reference signals based on the two-dimensional spectrum; A compensation determination module, used to determine the pulse compensation phase difference according to the inter-pulse phase difference in the result of the range-dimensional FFT processing of several reference signals in step S11; A compensation module, used to compensate each echo signal to be processed after the range-dimensional FFT processing in step S11 by using the pulse compensation phase difference; The coherent accumulation module is used to perform inter-pulse coherent accumulation using a number of compensated echo signals to be processed.

7. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute to implement the slow-moving object detection method based on security radar as described in any one of claims 1 to 5.

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