Radar target echo signal generation method

Abstract

The embodiment of the invention discloses a radar target echo signal generation method. The method comprises the following steps: loading and analyzing an XML (Extensible Markup Language) file for describing a radar echo simulation scene to obtain an analysis result comprising simulation scene duration of the radar echo simulation scene, parameters of a plurality of targets and parameters of a radar; according to the pulse repetition period PRI of the radar, segmenting the duration of the simulation scene to obtain a plurality of simulation slices; based on the analysis result, executing a first simulation calculation operation for each simulation slice by using a multi-core parallel thread of a graphics processing unit (GPU); traversing a plurality of simulation slices by taking each PRI as a simulation step length; based on the first simulation calculation operation result, second simulation calculation operation is executed in parallel, echo signals of the multiple targets are obtained, superposition processing is carried out, and radar target echo signals are obtained. According to the method, the generation speed of the radar echo signal can be greatly improved, and the requirements of real-time simulation and high-performance calculation are met.

Description

Technical Field

[0001] The present disclosure relates to the field of radar technology, and in particular to a method for generating a radar target echo signal. Background Art

[0002] Radar is a core equipment in modern military, aviation, meteorology, unmanned driving and other fields. Its performance evaluation and system design often rely on accurate and efficient radar echo signal simulation. Traditional simulation methods focus on processing signal-level simulation in a serialized manner through detailed physical models and mathematical analysis methods to reproduce the radar echo generation process.

[0003] The radar echo signal simulation process of the related technology first needs to build an accurate spatial geometric model between the radar and the target, then provide signal modulation parameters for subsequent calculations by analyzing the relative motion characteristics, and then use the radar equation to determine the key attributes of the echo signal one by one through complex scattering point echo calculations. Faced with the increasingly complex radar system design, especially the application of broadband and high-resolution radars, the radar echo signal simulation method of the related technology has the following defects: (1) The number of data files to be processed is growing exponentially. The traditional large file preloading strategy not only occupies a lot of resources, but also leads to low data processing efficiency and seriously restricts the simulation process; (2) The application of broadband signals makes the traditional point target radar scattering cross-section area RCS model unable to meet the needs, and it is necessary to turn to a more complex extended target (surface target) model. This model introduces signal convolution operations, which greatly increases the burden of echo calculation, directly affects the simulation efficiency and real-time performance, and leads to low efficiency in radar echo signal simulation generation. Summary of the invention

[0004] In view of this, the embodiments of the present disclosure provide a radar target echo signal generation method, which can quickly generate radar target echo signals based on graphics processing unit GPU acceleration. Through an efficient parallel processing mechanism, it can efficiently solve RCS data preprocessing and real-time signal simulation of arbitrary bandwidth. Under the premise of ensuring simulation accuracy, it can greatly improve the generation speed of echo signals and realize the computing requirements of rapid generation of radar echo signals, thereby meeting the needs of real-time simulation and high-performance computing.

[0005] In a first aspect, the embodiments of the present disclosure provide a method for generating a radar target echo signal, which adopts the following technical solution:

[0006] Load and parse the XML file describing the radar echo simulation scene, and obtain the parsing results including the simulation scene duration of the radar echo simulation scene, the parameters of several targets and the parameters of the radar;

[0007] According to the pulse repetition period PRI of the radar, the duration of the simulation scene is divided into a plurality of simulation slices;

[0008] Based on the analysis result, a first simulation calculation operation is performed on each simulation slice using multi-core parallel threads of a graphics processing unit (GPU);

[0009] Taking each pulse repetition period PRI as a simulation step length, traversing the plurality of simulation slices;

[0010] Based on the first simulation calculation operation result of each pulse repetition period PRI, a second simulation calculation operation is performed using multi-core parallel threads of the graphics processor GPU to obtain echo signals of several targets;

[0011] The echo signals of the several targets are superimposed to obtain a radar target echo signal.

[0012] In some embodiments, based on the analysis result, a multi-core parallel thread of a graphics processor GPU is used to perform a first simulation calculation operation for each simulation slice, including:

[0013] Calculating the first spatial position coordinates and the first spatial attitude of the radar, and calculating the second spatial position coordinates and the second spatial attitude of the target;

[0014] Calculating the echo delay and echo phase of the radar signal according to the position coordinate relationship between the second spatial position coordinate of the target and the first spatial position coordinate of the radar;

[0015] Calculating an average radial velocity and a Doppler frequency deviation according to a rate of change of a distance of the target relative to the radar;

[0016] According to the attitude, frequency band and polarization information of the target relative to the radar, a matching RCS data file is loaded, and the RCS data file is processed to obtain a swept frequency RCS data set;

[0017] According to the radar equation, the echo signal amplitude of the radar relative to the radar cross section RCS target per unit area is calculated;

[0018] Generate baseband signal samples according to radar signal waveform parameters;

[0019] The first calculation result obtained by performing the first simulation calculation operation is sent from the video memory to the internal memory for storage.

[0020] In some embodiments, the method further comprises:

[0021] Allocating at least one simulation slice computing task to each CUDA core of the graphics processing unit GPU;

[0022] When the total number of the plurality of simulation slices is greater than the number of CUDA cores of the graphics processor GPU, multiple allocation operations are performed until all the simulation slices are executed.

[0023] In some embodiments, the method further comprises:

[0024] Performing data fitting on the first spatial position coordinates and the first spatial posture of the radar, and the second spatial position coordinates and the second spatial posture of the target, where the number of fitted data points is N;

[0025] The following formula (1) is used to calculate the echo delay and echo phase of the radar signal:

[0026]

[0027] Among them, (x R ,y R ,z R ) represents the first spatial position coordinate of the radar; (x T ,y T ,z T ) represents the second spatial position coordinate of the target; the echo delay of the radar signal is expressed as τ = 2R / C, C = 3.0×10 8 m / s represents the speed of light in free space; the echo phase of the radar signal is expressed as φ=2πf c τ,f c is the carrier frequency of the radar signal;

[0028] In some embodiments, the average radial velocity and Doppler frequency shift are calculated using the following formula (2):

[0029]

[0030] Among them, R PRI_n represents the distance between the radar and the target at the nth pulse repetition period PRI; R PRI_n-1 represents the distance between the radar and the target at the n-1th PRI moment; V represents the average radial velocity;

[0031] The Doppler frequency shift is denoted as f d =2V / λ; λ is the wavelength of the radar signal; f d represents the Doppler frequency deviation; V represents the mean radial velocity.

[0032] In some embodiments, the echo signal amplitude is calculated using the following formula (3):

[0033]

[0034] Among them, ACPI_n represents the echo signal amplitude at the nth PRI moment, in V; P represents the radar transmission peak power at the PRI moment, in W; P t Indicates the radar transmission peak power at the nth PRI moment, in W; G t G represents the transmitting antenna gain of the radar pointing to the target angle at the nth PRI moment; r It represents the receiving antenna gain in the angular direction of the radar pointing to the target at the nth PRI moment; σ represents the radar scattering cross section RCS of the target, normalized to 1 square meter; λ represents the carrier wavelength of the radar at the nth PRI moment, in m; R represents the distance between the radar and the target at the nth PRI moment, in m.

[0035] In some embodiments, based on the first simulation calculation operation result of each pulse repetition period PRI, a second simulation calculation operation is performed using multi-core parallel threads of the graphics processor GPU to obtain echo signals of several targets, including:

[0036] In the graphics processor GPU, a convolution operation is performed on the signal of each sampling point of the radar baseband waveform and the swept frequency RCS data set to obtain a baseband modulated signal;

[0037] In the graphics processor GPU, the baseband modulation signal is amplitude modulated point by point using the echo signal strength to obtain an amplitude modulated baseband modulation signal;

[0038] In the graphics processor GPU, delay-modulate the baseband modulation signal after amplitude modulation by using the delay data to obtain a baseband modulation signal after delay modulation;

[0039] In the graphics processor GPU, phase modulating the baseband modulation signal after the delay modulation by using the phase data to obtain a baseband modulation signal after the phase modulation;

[0040] In the graphics processor GPU, frequency modulation processing is performed on the baseband modulation signal after the phase modulation using Doppler frequency deviation data;

[0041] The second calculation result obtained by performing the second simulation calculation operation is sent from the video memory to the internal memory for storage, and the echo signals of several targets are obtained.

[0042] In some embodiments, the method further comprises:

[0043] The signal of each sampling point of the radar baseband waveform is convolved with the swept frequency RCS data set to calculate the baseband modulation signal using the following formula (4):

[0044]

[0045] in, Represents the transmitted signal; S(t) is the convolution of the target time domain feature ξ(t); t is the time domain sampling point, which is expressed as t=k×Ts after sampling quantization, where k is the number of the sampling point and Ts is the signal sampling interval; S0(f) represents the radar frequency domain signal of each sampling point; ξ(f) represents the swept frequency RCS data set of the target.

[0046] In some embodiments, the baseband modulation signal after the amplitude modulation is calculated using the following formula (5):

[0047] S2(t)=A PRI_n S1(t); (5)

[0048] Among them, A PRI_n represents the echo signal strength at the nth pulse repetition period PRI; S1(t) represents the baseband modulation signal;

[0049] The baseband modulation signal after the delay modulation is calculated using the following formula (6):

[0050] S3(t)=S2(t-τ); (6)

[0051] Wherein, S2(t) represents the baseband modulation signal after the amplitude modulation; τ represents the delay of the radar echo signal, τ = 2R / C, R represents the spatial distance between the radar and the target, C = 3.0×10 8 m / s, which represents the speed of light in free space;

[0052] The baseband modulation signal after the phase modulation is calculated using the following formula (7):

[0053] S4(t)=S3(t)exp(jφ); (7)

[0054] Wherein, S3(t) represents the baseband modulation signal after the delay modulation; φ represents the phase data;

[0055] The baseband modulation signal after frequency modulation is calculated using the following formula (8):

[0056] S5(t)=S4(t)exp(-2πf d t); (8)

[0057] Wherein, S4(t) represents the baseband modulation signal after the phase modulation; f d represents the Doppler frequency deviation data.

[0058] In some embodiments, the method further comprises:

[0059] The echo signals of the several targets are superimposed using the following formula (9):

[0060]

[0061] Wherein, S5(t) represents the baseband modulation signal after frequency modulation processing.

[0062] In a second aspect, the embodiment of the present disclosure further provides a radar target echo signal generating device, which adopts the following technical solution:

[0063] A parsing unit is configured to load and parse an XML file describing a radar echo simulation scene, and obtain a parsing result including a simulation scene duration of the radar echo simulation scene, parameters of several targets, and parameters of the radar;

[0064] A segmentation unit is configured to segment the simulation scene duration into a plurality of simulation slices according to a pulse repetition period PRI of the radar;

[0065] A first computing unit is configured to perform a first simulation computing operation on each of the simulation slices using multi-core parallel threads of a graphics processing unit (GPU) based on the analysis result;

[0066] A traversal unit is configured to traverse the plurality of simulation slices with each pulse repetition period PRI as a simulation step length;

[0067] A second calculation unit is configured to perform a second simulation calculation operation based on the first simulation calculation operation result of each pulse repetition period PRI using multi-core parallel threads of the graphics processor GPU to obtain echo signals of several targets;

[0068] The superposition unit is configured to perform superposition processing on the echo signals of the plurality of targets to obtain a radar target echo signal.

[0069] The radar target echo signal generation method provided by the embodiment of the present disclosure can quickly generate radar target echo signals based on the graphics processing unit GPU acceleration. Through the efficient parallel processing mechanism, it can efficiently solve the RCS data preprocessing and real-time signal simulation of any bandwidth. Under the premise of ensuring the simulation accuracy, it can greatly improve the generation speed of the echo signal, realize the computing requirements of rapid generation of radar echo signals, thereby meeting the requirements of real-time simulation and high-performance computing.

[0070] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the following preferred embodiments are specifically cited and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0072] Figure 1 A schematic diagram of a flow chart of a radar target echo signal generation method provided in an embodiment of the present disclosure;

[0073] Figure 2 A schematic diagram of a flow chart of another radar target echo signal generation method provided by an embodiment of the present disclosure;

[0074] Figure 3 A schematic diagram of the structure of a radar target echo signal generating device provided in an embodiment of the present disclosure;

[0075] Figure 4 A schematic diagram of the structure of a computer device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0076] The embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0077] It should be clear that the following embodiments of the present disclosure are described by specific specific examples, and those skilled in the art can easily understand other advantages and effects of the present disclosure from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all of the embodiments. The present disclosure can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present disclosure. It should be noted that the following embodiments and features in the embodiments can be combined with each other in the absence of conflict. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present disclosure.

[0078] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein may be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present disclosure, it should be understood by those skilled in the art that an aspect described herein may be implemented independently of any other aspect, and two or more of these aspects may be combined in various ways. For example, any number of aspects described herein may be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein may be used to implement this device and / or practice this method.

[0079] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present disclosure. The drawings only show components related to the present disclosure rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0080] Additionally, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects described may be practiced without these specific details.

[0081] like Figure 1 As shown, a radar target echo signal generation method provided by an embodiment of the present disclosure includes the following steps:

[0082] S101, loading and parsing an XML file describing a radar echo simulation scene, and obtaining a parsing result including a simulation scene duration of the radar echo simulation scene, parameters of several targets, and parameters of the radar.

[0083] Load an XML file describing a simulation scenario, parse the XML file, and obtain scenario simulation information, wherein the scenario simulation information includes the simulation scenario duration T of the radar echo simulation scenario, the motion track data of each target and the position of the radar, and radar operating parameters. The radar operating parameters include antenna radiation pattern, frequency, bandwidth, polarization, pulse repetition period PRI, and other information. Store the above scenario simulation information in the computer memory.

[0084] S102. According to the pulse repetition period PRI of the radar, the duration of the simulation scene is divided into a plurality of simulation slices.

[0085] Optionally, the entire simulation scene duration T is divided into N simulation slices, and the division formula adopts N=ceil(T / PRI), where ceil is a right-round function. A CUDA core of a graphics processor GPU is allocated to each sampling time, and the sampling time is expressed as t=(n-1)*PRI, (n=1,2,...N).

[0086] Optionally, at least one time slice computing task is allocated to each CUDA core of the GPU. When N>the number of CUDA cores, multiple allocations are performed until all simulation slices are allocated.

[0087] S103: Based on the analysis result, use the multi-core parallel threads of a graphics processing unit (GPU) to perform a first simulation calculation operation on each of the simulation slices.

[0088] S104, taking each pulse repetition period PRI as a simulation step length, traversing the plurality of simulation slices.

[0089] S105 . Based on the first simulation calculation operation result of each pulse repetition period PRI, a second simulation calculation operation is performed using multi-core parallel threads of the graphics processor GPU to obtain echo signals of several targets.

[0090] The above process is the preprocessing operation of radar echo calculation. After completing the preprocessing operation, the pulse repetition period PRI is used as the simulation step, N simulation slices are traversed, and the results of the preprocessing operation of each pulse repetition period PRI are applied. The second simulation calculation operation is performed in each t = (n-1) * PRI ~ t = n * PRI interval (n = 1, 2, ... N).

[0091] S106: Superimpose the echo signals of the plurality of targets to obtain a radar target echo signal.

[0092] When there are multiple targets, the CPU's OpenMP parallel acceleration method can be used to perform the second simulation calculation operation for each target to obtain the echo signal of each target, and then superimpose the echo signals of these targets point by point in the GPU to obtain the total radar target echo signal, and send the radar target echo signal from the video memory to the memory storage to complete the echo signal generation of multiple targets.

[0093] The radar target echo signal generation method provided by the embodiment of the present disclosure can quickly generate radar target echo signals based on the graphics processing unit GPU acceleration. Through the efficient parallel processing mechanism, it can efficiently solve the RCS data preprocessing and real-time signal simulation of any bandwidth. Under the premise of ensuring the simulation accuracy, it can greatly improve the generation speed of the echo signal, realize the computing requirements of rapid generation of radar echo signals, thereby meeting the requirements of real-time simulation and high-performance computing.

[0094] In some embodiments, based on the analysis result, a multi-core parallel thread of a graphics processor GPU is used to perform a first simulation calculation operation for each simulation slice, including:

[0095] Calculating the first spatial position coordinates and the first spatial attitude of the radar, and calculating the second spatial position coordinates and the second spatial attitude of the target;

[0096] Calculating the echo delay and echo phase of the radar signal according to the position coordinate relationship between the second spatial position coordinate of the target and the first spatial position coordinate of the radar;

[0097] Calculating an average radial velocity and a Doppler frequency deviation according to a rate of change of a distance of the target relative to the radar;

[0098] According to the attitude, frequency band and polarization information of the target relative to the radar, a matching RCS data file is loaded, and the RCS data file is processed to obtain a swept frequency RCS data set;

[0099] According to the radar equation, the echo signal amplitude of the radar relative to the radar cross section RCS target per unit area is calculated;

[0100] Generate baseband signal samples according to radar signal waveform parameters;

[0101] The first calculation result obtained by performing the first simulation calculation operation is sent from the video memory to the internal memory for storage.

[0102] In some embodiments, the method further comprises:

[0103] Allocating at least one simulation slice computing task to each CUDA core of the graphics processing unit GPU;

[0104] When the total number of the plurality of simulation slices is greater than the number of CUDA cores of the graphics processor GPU, multiple allocation operations are performed until all the simulation slices are executed.

[0105] In some embodiments, the method further comprises:

[0106] Performing data fitting on the first spatial position coordinates and the first spatial posture of the radar, and the second spatial position coordinates and the second spatial posture of the target, where the number of fitted data points is N;

[0107] The following formula (1) is used to calculate the echo delay and echo phase of the radar signal:

[0108]

[0109] Among them, (xR ,y R ,z R ) represents the first spatial position coordinate of the radar; (x T ,y T ,z T ) represents the second spatial position coordinate of the target; the echo delay of the radar signal is expressed as τ = 2R / C, C = 3.0×10 8 m / s represents the speed of light in free space; the echo phase of the radar signal is expressed as φ=2πf c τ,f c is the carrier frequency of the radar signal;

[0110] The average radial velocity and Doppler frequency shift are calculated using the following formula (2):

[0111]

[0112] Among them, R PRI_n represents the distance between the radar and the target at the nth pulse repetition period PRI; R PRI_n-1 represents the distance between the radar and the target at the n-1th PRI moment; V represents the average radial velocity; and the Doppler frequency deviation is represented by f d =2V / λ; λ is the wavelength of the radar signal; f d represents the Doppler frequency deviation; V represents the mean radial velocity.

[0113] With the target as the origin, a coordinate system is established to calculate the θ and This part is completed in the GPU. Then, in the CPU, according to the radar signal frequency band and polarization requirements described in the XML file, as well as the calculation results of and , the matching swept-frequency RCS data file is loaded, thereby avoiding the memory consumption and retrieval inefficiency caused by loading all RCS data files with all angle range contents, and obtaining a swept-frequency RCS data set that meets the needs of the PRI echo simulation, where -0.5B≤f≤f c +0.5B, B is the signal bandwidth;

[0114] The echo signal amplitude is calculated using the following formula (3):

[0115]

[0116] Among them, A PRI_n represents the echo signal amplitude at the nth PRI moment, in V; P represents the radar transmission peak power at the PRI moment, in W; P t Indicates the radar transmission peak power at the nth PRI moment, in W; G tG represents the transmitting antenna gain of the radar pointing to the target angle at the nth PRI moment; r It represents the receiving antenna gain in the angular direction of the radar pointing to the target at the nth PRI moment; σ represents the radar scattering cross section RCS of the target, normalized to 1 square meter; λ represents the carrier wavelength of the radar at the nth PRI moment, in m; R represents the distance between the radar and the target at the nth PRI moment, in m.

[0117] In some embodiments, according to the radar baseband signal waveform parameters, such as pulse width, repetition period, pulse modulation parameters, signal bandwidth, etc., a baseband signal sample S0(t) is generated, where t=k×Ts, Ts is the sampling interval, and k=1 to K=PRI / Ts is the number of signal sampling points for each PRI; since it is necessary to perform a convolution operation between the baseband signal and the swept frequency RCS data set when the echo is generated, in order to improve the simulation efficiency, the CUFFT library of the GPU's fast Fourier transform is called here to perform FFT processing on the baseband time domain signal to obtain the spectrum S0(f) of the baseband signal, which is convenient for subsequent fast convolution; this step is to obtain samples of the radar baseband signal, so if the current PRI signal parameters have not changed, there is no need to repeat the calculation. The above calculation results completed in the GPU are sent from the video memory to the defined array variables in the memory for storage, completing the preprocessing of the echo calculation.

[0118] In some embodiments, based on the first simulation calculation operation result of each pulse repetition period PRI, a second simulation calculation operation is performed using multi-core parallel threads of the graphics processor GPU to obtain echo signals of several targets, including:

[0119] In the graphics processor GPU, a convolution operation is performed on the signal of each sampling point of the radar baseband waveform and the swept frequency RCS data set to obtain a baseband modulated signal;

[0120] In the graphics processor GPU, the baseband modulation signal is amplitude modulated point by point using the echo signal strength to obtain an amplitude modulated baseband modulation signal;

[0121] In the graphics processor GPU, delay-modulate the baseband modulation signal after amplitude modulation by using the delay data to obtain a baseband modulation signal after delay modulation;

[0122] In the graphics processor GPU, phase modulating the baseband modulation signal after the delay modulation by using the phase data to obtain a baseband modulation signal after the phase modulation;

[0123] In the graphics processor GPU, frequency modulation processing is performed on the baseband modulation signal after the phase modulation using Doppler frequency deviation data;

[0124] The second calculation result obtained by performing the second simulation calculation operation is sent from the video memory to the internal memory for storage, and the echo signals of several targets are obtained.

[0125] In some embodiments, the method further comprises:

[0126] The signal at each sampling point of the radar baseband waveform is convolved with the swept frequency RCS data set to calculate the baseband modulation signal using the following formula (4):

[0127]

[0128] in, represents the transmitted signal; the convolution of S(t) and the target time domain feature ξ(t); t is the time domain sampling point, which is expressed as t=k×Ts after sampling quantization, where k is the number of the sampling point and Ts is the signal sampling interval; S0(f) represents the radar frequency domain signal of each sampling point; ξ(f) represents the swept frequency RCS data set of the target; in the GPU, the frequency domain signal S0(f) of the radar baseband waveform at each sampling time t=k×Ts is multiplied with the swept frequency RCS data set ξ(f) and an inverse Fourier transform is performed to complete the fast calculation of the time domain convolution and obtain the baseband modulated signal with the target RCS information; this step is implemented in the GPU by calling the kernel function of the CUFFT library to accelerate IFFT;

[0129] The baseband modulation signal after the amplitude modulation is calculated using the following formula (5):

[0130] S2(t)=A PRI_n S1(t); (5)

[0131] Among them, A PRI_n represents the echo signal strength at the nth pulse repetition period PRI; S1(t) represents the baseband modulation signal;

[0132] The baseband modulation signal after the delay modulation is calculated using the following formula (6):

[0133] S3(t)=S2(t-τ); (6)

[0134] Wherein, S2(t) represents the baseband modulation signal after the amplitude modulation; τ represents the delay of the radar echo signal; τ = 2R / C, R represents the spatial distance between the radar and the target, C = 3.0×10 8 m / s, which indicates the speed of light in free space. In the GPU, the delay data τ is used to perform point-by-point rightward cyclic shift processing on S2(t) to complete signal delay modulation.

[0135] The baseband modulation signal after the phase modulation is calculated using the following formula (7):

[0136] S4(t)=S3(t)exp(jφ); (7)

[0137] Wherein, S3(t) represents the baseband modulation signal after the delay modulation; φ represents the phase data;

[0138] The baseband modulation signal after frequency modulation is calculated using the following formula (8):

[0139] S5(t)=S4(t)exp(-2πf d t); (8)

[0140] Wherein, S4(t) represents the baseband modulation signal after the phase modulation; f d represents the Doppler frequency deviation data.

[0141] The process of continuously generating radar echoes in time requires traversing N simulation slices, applying the results of the preprocessing operation of each PRI (baseband signal spectrum, RCS data set, amplitude, delay, phase, Doppler frequency deviation), and performing echo generation in the interval of t = (n-1) * PRI to t = n * PRI (n = 1, 2, ... N). Execute the above-mentioned second simulation calculation operation.

[0142] In some embodiments, the method further comprises:

[0143] The echo signals of the several targets are superimposed using the following formula (9):

[0144]

[0145] Wherein, S5(t) represents the baseband modulation signal after frequency modulation processing.

[0146] The disclosed embodiments can solve the problem of rapid generation of radar target echo signals by optimizing the simulation process and accelerating it with a GPU. This method can significantly improve the simulation speed of echo signals while ensuring simulation accuracy, thereby better meeting the requirements of modern radar echo signals for real-time and high-performance simulation.

[0147] like Figure 2As shown, the disclosed embodiment also provides a radar target echo signal generation method, which parses the XML file of the simulation scene, and then processes multiple PRIs in parallel in the GPU, for example, generating swept frequency RCS data in the radar direction, calculating the propagation delay and phase of the target echo signal, calculating the radial velocity and Doppler frequency deviation of the target relative to the radar, generating swept frequency RCS data in the radar direction, calculating the amplitude of the echo signal, and generating baseband modulation signal samples. Then, based on the processing results of the above preprocessing operations, multiple PRIs are processed in parallel in the GPU to generate echoes of multiple targets, for example, performing RCS modulation, amplitude modulation, delay modulation, phase modulation, Doppler modulation, and outputting target echo signals on the baseband modulation signal.

[0148] like Figure 3 As shown, the embodiment of the present disclosure also provides a radar target echo signal generating device, including:

[0149] The parsing unit 31 is configured to load and parse the XML file describing the radar echo simulation scene, and obtain the parsing result including the simulation scene duration of the radar echo simulation scene, the parameters of several targets and the parameters of the radar;

[0150] A segmentation unit 32 is configured to segment the simulation scene duration into a plurality of simulation slices according to a pulse repetition period PRI of the radar;

[0151] A first calculation unit 33 is configured to perform a first simulation calculation operation on each simulation slice by using multi-core parallel threads of a graphics processor GPU based on the analysis result;

[0152] A traversal unit 34 is configured to traverse the plurality of simulation slices with each pulse repetition period PRI as a simulation step length;

[0153] The second calculation unit 35 is configured to perform a second simulation calculation operation based on the first simulation calculation operation result of each pulse repetition period PRI using the multi-core parallel threads of the graphics processor GPU to obtain the echo signals of several targets;

[0154] The superposition unit 36 ​​is configured to perform superposition processing on the echo signals of the plurality of targets to obtain a radar target echo signal.

[0155] The computer device according to the embodiment of the present disclosure includes a memory and a processor. The memory is used to store non-temporary computer-readable instructions. Specifically, the memory may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may, for example, include a random access memory (RAM) and / or a cache memory (cache), etc. The non-volatile memory may, for example, include a read-only memory (ROM), a hard disk, a flash memory, etc.

[0156] The processor may be a central processing unit (CPU) or other forms of processing units with data processing capabilities and / or instruction execution capabilities, and may control other components in the computer device to perform desired functions. In one embodiment of the present disclosure, the processor is used to run the computer-readable instructions stored in the memory, so that the computer device performs all or part of the steps of the radar target echo signal generation method of each embodiment of the present disclosure.

[0157] Those skilled in the art should be able to understand that in order to solve the technical problem of how to obtain a good user experience, the present embodiment may also include well-known structures such as a communication bus and an interface, and these well-known structures should also be included in the protection scope of the present disclosure.

[0158] like Figure 4 A schematic diagram of the structure of a computer device provided in an embodiment of the present disclosure is shown, which is a schematic diagram of the structure of a computer device suitable for implementing the embodiment of the present disclosure. Figure 4 The computer device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0159] like Figure 4 As shown, the computer device may include a processor (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) or a program loaded from a storage device into a random access memory (RAM). In the RAM, various programs and data required for the operation of the computer device are also stored. The processor, ROM, and RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0160] Typically, the following devices can be connected to the I / O interface: input devices such as sensors or visual information acquisition devices; output devices such as display screens; storage devices such as tapes, hard disks, etc.; and communication devices. The communication device can allow the computer device to communicate with other devices (such as edge computing devices) wirelessly or by wire to exchange data. Figure 4A computer device having various devices is shown, but it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed instead.

[0161] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device, or installed from a ROM. When the computer program is executed by a processor, all or part of the steps of the radar target echo signal generation method of the embodiment of the present disclosure are executed.

[0162] For detailed description of this embodiment, reference may be made to the corresponding descriptions in the aforementioned embodiments, which will not be repeated here.

[0163] According to the computer-readable storage medium of the embodiment of the present disclosure, non-transitory computer-readable instructions are stored thereon. When the non-transitory computer-readable instructions are executed by a processor, all or part of the steps of the radar target echo signal generation method of each embodiment of the present disclosure are executed.

[0164] The above-mentioned computer-readable storage media include, but are not limited to: optical storage media (e.g., CD-ROM and DVD), magneto-optical storage media (e.g., MO), magnetic storage media (e.g., magnetic tape or mobile hard disk), media with built-in rewritable non-volatile memory (e.g., memory card) and media with built-in ROM (e.g., ROM box).

[0165] For detailed description of this embodiment, reference may be made to the corresponding descriptions in the aforementioned embodiments, which will not be repeated here.

[0166] The basic principles of the present disclosure are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present disclosure are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present disclosure. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, and are not limitations. The above details do not limit the present disclosure to the necessity of adopting the above specific details to be implemented.

[0167] In the present disclosure, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. The block diagrams of the devices, devices, equipment, and systems involved in the present disclosure are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, devices, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0168] Additionally, as used herein, "or" used in a list of items beginning with "at least one" indicates a separate list, so that, for example, a list of "at least one of A, B, or C" means A or B or C, or AB or AC or BC, or ABC (i.e., A and B and C). Furthermore, the word "exemplary" does not mean that the example described is preferred or better than other examples.

[0169] It should also be noted that in the system and method of the present disclosure, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present disclosure.

[0170] Various changes, substitutions, and modifications of the techniques described herein may be made without departing from the teachings defined by the appended claims. Furthermore, the scope of the claims of the present disclosure is not limited to the specific aspects of the processes, machines, manufactures, compositions of events, means, methods, and actions described above. Currently existing or later to be developed processes, machines, manufactures, compositions of events, means, methods, or actions that perform substantially the same functions or achieve substantially the same results as the corresponding aspects described herein may be utilized. Thus, the appended claims include such processes, machines, manufactures, compositions of events, means, methods, or actions within their scope.

[0171] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0172] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present disclosure to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A radar target echo signal generation method, characterized in that: include: Load and parse the XML file describing the radar echo simulation scene, and obtain the parsing results including the simulation scene duration of the radar echo simulation scene, the parameters of several targets and the parameters of the radar; According to the pulse repetition period PRI of the radar, the duration of the simulation scene is divided into a plurality of simulation slices; Based on the analysis result, a first simulation calculation operation is performed on each simulation slice using multi-core parallel threads of a graphics processing unit (GPU); Taking each pulse repetition period PRI as a simulation step length, traversing the plurality of simulation slices; Based on the first simulation calculation operation result of each pulse repetition period PRI, a second simulation calculation operation is performed using multi-core parallel threads of the graphics processor GPU to obtain echo signals of several targets; The echo signals of the several targets are superimposed to obtain a radar target echo signal.

2. The radar target echo signal generating method according to claim 1, characterized in that: Based on the analysis result, a first simulation calculation operation is performed for each simulation slice using multi-core parallel threads of a graphics processing unit (GPU), including: Calculating the first spatial position coordinates and the first spatial attitude of the radar, and calculating the second spatial position coordinates and the second spatial attitude of the target; According to the position coordinate relationship between the second spatial position coordinate of the target and the first spatial position coordinate of the radar, the echo delay and echo phase of the radar signal are calculated; YY+242179P-YX Calculating an average radial velocity and a Doppler frequency deviation according to a rate of change of a distance of the target relative to the radar; According to the attitude, frequency band and polarization information of the target relative to the radar, a matching RCS data file is loaded, and the RCS data file is processed to obtain a swept frequency RCS data set; According to the radar equation, the echo signal amplitude of the radar relative to the radar cross-sectional area RCS target per unit area is calculated; Generate baseband signal samples according to radar signal waveform parameters; The first calculation result obtained by performing the first simulation calculation operation is sent from the video memory to the internal memory for storage.

3. The radar target echo signal generating method according to claim 2, characterized in that: The method further comprises: Allocating at least one simulation slice computing task to each CUDA core of the graphics processing unit GPU; When the total number of the plurality of simulation slices is greater than the number of CUDA cores of the graphics processor GPU, multiple allocation operations are performed until all the simulation slices are executed.

4. The radar target echo signal generating method according to claim 2, characterized in that: The method further comprises: Performing data fitting on the first spatial position coordinates and the first spatial posture of the radar, and the second spatial position coordinates and the second spatial posture of the target, where the number of fitted data points is N; The following formula (1) is used to calculate the echo delay and echo phase of the radar signal: Among them, (x R ,y R ,z R ) represents the first spatial position coordinate of the radar; (x T ,y T ,z T ) represents the second spatial position coordinates of the target; The echo delay of the radar signal is expressed as τ = 2R / C, C = 3.0 × 10 8 m / s represents the speed of light in free space; The echo phase of the radar signal is expressed as φ = 2πf c τ,f c is the carrier frequency of the radar signal.

5. The radar target echo signal generating method according to claim 2, characterized in that: The average radial velocity and Doppler frequency shift are calculated using the following formula (2): Among them, R PRI_n represents the distance between the radar and the target at the nth pulse repetition period PRI; R PRI_n-1 represents the distance between the radar and the target at the n-1th PRI moment; V represents the average radial velocity; The Doppler frequency shift is denoted as f d =2V / λ; λ is the wavelength of the radar signal; f d represents the Doppler frequency deviation; V represents the mean radial velocity.

6. The radar target echo signal generating method according to claim 2, characterized in that: The echo signal amplitude is calculated using the following formula (3): Among them, A CPI_n represents the echo signal amplitude at the nth PRI moment, in V; P represents the radar transmission peak power at the PRI moment, in W; P t When it indicates the nth PRI, YY+242179P-YX The radar transmit peak power at that moment, in W; G t G represents the transmitting antenna gain of the radar pointing to the target angle at the nth PRI moment; r It represents the receiving antenna gain in the angular direction of the radar pointing to the target at the nth PRI moment; σ represents the radar scattering cross section RCS of the target, normalized to 1 square meter; λ represents the carrier wavelength of the radar at the nth PRI moment, in m; R represents the distance between the radar and the target at the nth PRI moment, in m.

7. The radar target echo signal generating method according to any one of claims 2 to 6, characterized in that: Based on the first simulation calculation operation result of each pulse repetition period PRI, a second simulation calculation operation is performed using multi-core parallel threads of the graphics processor GPU to obtain echo signals of several targets, including: In the graphics processor GPU, a convolution operation is performed on the signal of each sampling point of the radar baseband waveform and the swept frequency RCS data set to obtain a baseband modulated signal; In the graphics processor GPU, the baseband modulation signal is amplitude modulated point by point using the echo signal strength to obtain an amplitude modulated baseband modulation signal; In the graphics processor GPU, delay-modulate the baseband modulation signal after amplitude modulation by using the delay data to obtain a baseband modulation signal after delay modulation; In the graphics processor GPU, phase modulating the baseband modulation signal after the delay modulation by using the phase data to obtain a baseband modulation signal after the phase modulation; In the graphics processor GPU, frequency modulation processing is performed on the baseband modulation signal after the phase modulation using Doppler frequency deviation data; The second calculation result obtained by performing the second simulation calculation operation is sent from the video memory to the internal memory for storage, and the echo signals of several targets are obtained.

8. The radar target echo signal generating method according to claim 7, characterized in that: The method further comprises: The signal of each sampling point of the radar baseband waveform is convolved with the swept frequency RCS data set to calculate the baseband modulation signal using the following formula (4): in, Represents the transmitted signal; S(t) is the convolution of the target time domain feature ξ(t); t is the time domain sampling point, which is expressed as t=k×Ts after sampling quantization, where k is the number of the sampling point and Ts is the signal sampling interval; S0(f) represents the radar frequency domain signal of each sampling point; ξ(f) represents the swept frequency RCS data set of the target.

9. The radar target echo signal generating method according to claim 8, characterized in that: The baseband modulation signal after the amplitude modulation is calculated using the following formula (5): S2(t)=A PRI_n S1(t); (5) Among them, A PRI_n represents the echo signal strength at the nth pulse repetition period PRI; S1(t) represents the baseband modulation signal; The baseband modulation signal after the delay modulation is calculated using the following formula (6): S3(t)=S2(t-τ); (6) Wherein, S2(t) represents the baseband modulation signal after the amplitude modulation; τ represents the delay of the radar echo signal, τ = 2R / C, R represents the spatial distance between the radar and the target, C = 3.0×10 8 m / s, which represents the speed of light in free space; The baseband modulation signal after the phase modulation is calculated using the following formula (7): S4(t)=S3(t)exp(jφ); (7) Wherein, S3(t) represents the baseband modulation signal after the delay modulation; φ represents the phase data; The baseband modulation signal after frequency modulation is calculated using the following formula (8): S5(t)=S4(t)exp(-2πf d t); (8) Wherein, S4(t) represents the baseband modulation signal after the phase modulation; f d represents the Doppler frequency deviation data.

10. The radar target echo signal generation method according to claim 9, characterized in that: The method further comprises: The echo signals of the several targets are superimposed using the following formula (9): Wherein, S5(t) represents the baseband modulation signal after frequency modulation processing.

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