Signal demodulation method, device, equipment, medium and product

Abstract

The invention discloses a signal demodulation method, device and equipment, a medium and a product. The method comprises the following steps: acquiring an echo signal, and a local oscillator signal and a synchronization signal corresponding to the echo signal; coherent frequency mixing is carried out on the echo signal and the local oscillator signal, and a beat frequency combination is determined; constructing a beat frequency signal set in the demodulation area according to the demodulation area corresponding to the synchronization signal and the beat frequency combination; determining an actual beat frequency based on the echo signal and the beat frequency signal set; and demodulating the target information based on the actual beat frequency. A demodulation area is determined through a synchronization signal, a beat frequency signal set in the demodulation area is constructed, and the actual beat frequency is determined through an echo signal. Accurate determination of the beat frequency signal frequency is realized, and the demodulation accuracy of the target information is further improved.

Description

Technical Field

[0001] The present invention relates to the field of laser radar technology, and in particular to a signal demodulation method, device, equipment, medium and product. Background Art

[0002] In FMCW radar, linear frequency sweeping and linear frequency change are usually used as the modulation form of the signal, and continuous wave forms such as sawtooth wave or triangle wave are mostly used. Its general operating mechanism is: the modulated radar signal is divided into two, one of which is called the local oscillator signal, and the other is transmitted. After being reflected by the target, it is received by the radar system as an echo signal, and the echo signal and the local oscillator signal are coherently mixed to obtain the beat frequency (difference frequency) signal of the two.

[0003] Take the modulation form of triangular wave as an example: since the echo signal and the local oscillator signal are both linear swept frequency signals, the beat frequency signal of the two is a single frequency signal. The frequency of the beat frequency signal can be determined by performing Fourier transform on the beat frequency signal to obtain the spectrum, and the distance and speed information of the target can be demodulated by combining the beat frequency of adjacent swept frequency bands.

[0004] However, for the Fourier transform of real signals, what is obtained in this process is the absolute value of the beat signal frequency, and the positive or negative nature of the frequency of the signal itself cannot be determined, which may lead to erroneous results in the demodulation process. Summary of the invention

[0005] The present invention provides a signal demodulation method, device, equipment, medium and product to achieve accurate demodulation of signals.

[0006] According to a first aspect of the present invention, there is provided a signal demodulation method, comprising:

[0007] Acquire an echo signal and a local oscillator signal and a synchronization signal corresponding to the echo signal;

[0008] Performing coherent mixing on the echo signal and the local oscillator signal to determine a beat frequency combination;

[0009] Constructing a beat frequency signal set within the demodulation area according to the demodulation area corresponding to the synchronization signal and the beat frequency combination;

[0010] Determining an actual beat frequency based on the echo signal and the beat signal set;

[0011] The target information is demodulated based on the actual beat frequency.

[0012] According to a second aspect of the present invention, there is provided a signal demodulation device, comprising:

[0013] A signal acquisition module, used to acquire an echo signal and a local oscillator signal and a synchronization signal corresponding to the echo signal;

[0014] A combination determination module, used for performing coherent mixing on the echo signal and the local oscillator signal to determine a beat frequency combination;

[0015] A signal set determination module, configured to construct a beat frequency signal set within the demodulation region according to the demodulation region corresponding to the synchronization signal and the beat frequency combination;

[0016] A frequency determination module, configured to determine an actual beat frequency based on the echo signal and the beat frequency signal set;

[0017] The information determination module is used to demodulate the target information based on the actual beat frequency.

[0018] According to a third aspect of the present invention, there is provided an electronic device, the electronic device comprising:

[0019] at least one processor; and

[0020] a memory communicatively connected to the at least one processor; wherein,

[0021] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the signal demodulation method described in any embodiment of the present invention.

[0022] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the signal demodulation method described in any embodiment of the present invention when executed.

[0023] According to a fifth aspect of the present invention, an embodiment of the present invention further provides a computer program product, the computer program product comprising a computer program, and when the computer program is executed by a processor, the signal demodulation method of any embodiment of the present invention is implemented.

[0024] The technical solution of the embodiment of the present invention is to obtain the echo signal and the local oscillator signal and the synchronization signal corresponding to the echo signal; perform coherent mixing on the echo signal and the local oscillator signal to determine the beat frequency combination; construct a beat signal set in the demodulation area according to the demodulation area and the beat frequency combination corresponding to the synchronization signal; determine the actual beat frequency based on the echo signal and the beat signal set; and demodulate the target information based on the actual beat frequency. The demodulation area is determined by the synchronization signal, the beat signal set under the demodulation area is constructed, and the actual beat frequency is determined by the echo signal. The accurate determination of the beat signal frequency is achieved, thereby improving the demodulation accuracy of the target information.

[0025] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] 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 only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0027] Figure 1 is a flow chart of a signal demodulation method provided according to Embodiment 1 of the present invention;

[0028] Figure 2 is a flow chart of a signal demodulation method provided according to Embodiment 2 of the present invention;

[0029] Figure 3 is a signal example diagram in a signal demodulation method provided in Embodiment 2 of the present invention;

[0030] Figure 4 is an example diagram of a beat frequency signal in a signal demodulation method provided in Embodiment 2 of the present invention;

[0031] Figure 5 is a structural schematic diagram of a signal demodulation device provided according to Embodiment 3 of the present invention;

[0032] Figure 6 It is a schematic diagram of the structure of an electronic device implementing an embodiment of the present invention. DETAILED DESCRIPTION

[0033] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0034] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0035] Embodiment 1

[0036] Figure 1 A flow chart of a signal demodulation method is provided for the first embodiment of the present invention. This embodiment is applicable to demodulation of radar signals. The method can be performed by a signal demodulation device. The signal demodulation device can be implemented in the form of hardware and / or software. The signal demodulation device can be configured in an electronic device. Figure 1 As shown, the method includes:

[0037] S110, acquiring an echo signal and a local oscillator signal and a synchronization signal corresponding to the echo signal.

[0038] In this embodiment, the echo signal can be understood as a modulated radar signal divided into two, one of which is called a local oscillator signal, and the other is transmitted, and after being reflected by the target, it is received by the radar system (for example, a frequency modulated continuous wave (FMCW) radar system) as an echo signal. The local oscillator signal can be understood as the signal of the modulated radar signal in the radar system. The synchronization signal can be understood as a signal that provides the same time and change reference for synchronous processing of information, for example, each jump edge of the synchronization signal corresponds to the moment when the local oscillator signal changes the sweep direction.

[0039] Specifically, when the radar system measures the target status, it will generate a modulated radar signal according to the set parameters. At the same time, when generating the modulated waveform, it will draw out a synchronization signal as a reference for the local oscillator signal. One path is transmitted in the radar system, which is the local oscillator signal, and the other path is transmitted to the target to be measured, and the returned signal is the echo signal. The processor can obtain the echo signal and the corresponding local oscillator signal, as well as the synchronization signal synchronized with the local oscillator signal.

[0040] S120, performing coherent mixing on the echo signal and the local oscillator signal to determine a beat frequency combination.

[0041] In this embodiment, the beat frequency combination can be understood as a combination of two frequency values ​​of the beat signal, both of which are in absolute value form. The frequency of the beat signal usually includes two values, for example, the left side and the right side corresponding to a peak value in a triangular wave correspond to a frequency respectively, that is, two frequency values. Among them, the beat signal can be understood as a frequency difference signal between the echo signal and the local oscillator signal waveform.

[0042] Specifically, the processor can perform coherent mixing on the echo signal and the local oscillator signal to obtain a beat frequency signal to determine the beat frequency signal of the two, and then perform Fourier transform on the beat frequency signal to obtain the spectrum, which can determine the two frequency values ​​of the beat frequency signal. These two frequency values ​​are absolute values, and then these two frequency values ​​are used as the beat frequency combination.

[0043] S130: construct a beat frequency signal set within the demodulation area according to the demodulation area and the beat frequency combination corresponding to the synchronization signal.

[0044] In this embodiment, the demodulation region can be understood as a region in the beat signal used to restore the detected target information. The beat signal set can be understood as a set of beat signals reconstructed based on the beat frequency combination.

[0045] Specifically, the processor can determine the starting position of the demodulation area corresponding to each transition edge based on the synchronization signal, and use the maximum delay between the radar local oscillator signal and the echo signal as the time length of the demodulation area. Based on the positive and negative combinations of the two frequency values ​​of the beat frequency combination, for example, the two absolute values ​​are e and f, then there are four positive and negative combinations: e and f, e and -f, -e and f, and -e and -f. Based on all the obtained positive and negative combinations, the beat signal in the demodulation area is reconstructed to obtain a beat signal set.

[0046] S140: Determine an actual beat frequency based on the echo signal and the beat signal set.

[0047] In this embodiment, the actual beat frequency may be understood as the calculated real beat frequency of the echo signal.

[0048] Specifically, the processor may determine a beat signal that is most similar to the echo signal in the beat signal set, and then use the beat frequency corresponding to the beat signal as the actual beat frequency.

[0049] S150: Demodulate target information based on the actual beat frequency.

[0050] In this embodiment, the target information can be understood as information of the detected target, such as distance and speed.

[0051] Specifically, the processor can demodulate the target information of the target by combining the actual beat frequencies of the adjacent sweep frequency bands. The demodulation of the target information can adopt the common methods of the prior art, which will not be described in detail in this application.

[0052] The technical solution of the embodiment of the present invention is to obtain the echo signal and the local oscillator signal and the synchronization signal corresponding to the echo signal; perform coherent mixing on the echo signal and the local oscillator signal to determine the beat frequency combination; construct a beat signal set in the demodulation area according to the demodulation area and the beat frequency combination corresponding to the synchronization signal; determine the actual beat frequency based on the echo signal and the beat signal set; and demodulate the target information based on the actual beat frequency. The demodulation area is determined by the synchronization signal, the beat signal set under the demodulation area is constructed, and the actual beat frequency is determined by the echo signal. The accurate determination of the beat signal frequency is achieved, thereby improving the demodulation accuracy of the target information.

[0053] Embodiment 2

[0054] Figure 2 This is a flow chart of a signal demodulation method provided in Embodiment 2 of the present invention. This embodiment is a further refinement of the above embodiment. Figure 2 As shown, the method includes:

[0055] S201: Acquire an echo signal and a local oscillator signal and a synchronization signal corresponding to the echo signal.

[0056] S202: Perform coherent mixing on the echo signal and the local oscillator signal to determine a beat frequency signal.

[0057] Specifically, the processor may perform a coherent mixing operation on the echo signal and the local oscillator signal to obtain a beat frequency signal.

[0058] S203: Perform Fourier transform on the beat signal to obtain the beat frequency of the beat signal.

[0059] In this embodiment, Fourier transform can be understood as an algorithm for converting a signal from a time domain to a frequency domain. The beat frequency can be understood as a frequency value corresponding to the beat signal.

[0060] Specifically, the processor may perform Fourier transform on the beat signal, convert the beat signal from the time domain to the frequency domain, and then determine the beat frequency of the beat signal, which usually has two beat frequencies.

[0061] S204: Determine a beat frequency combination according to the beat frequencies.

[0062] Specifically, the processor may combine two beat frequencies in the form of absolute values ​​to form a beat frequency combination.

[0063] S205 . Determine four groups of beat frequency information according to the positive and negative combinations of beat frequency combinations and their corresponding echo parameters.

[0064] In this embodiment, the positive and negative combination can be understood as a combination formed by assigning positive and negative values ​​to two beat frequencies in absolute value form. The echo parameters can be understood as information related to the target, such as the distance and speed of the target corresponding to each positive and negative combination. The beat frequency information includes the beat frequencies of different positive and negative combinations and the corresponding echo parameters.

[0065] Specifically, the processor can perform different positive and negative amplitudes according to the two beat frequencies in the absolute value form in the beat frequency combination, and obtain four positive and negative combinations of positive and negative beat frequencies, and determine the echo parameters corresponding to the four positive and negative combinations, and use each positive and negative combination and the corresponding echo parameters as beat frequency information to obtain four groups of beat frequency information.

[0066] For example, if the two absolute values ​​are e and f, there are four positive and negative combinations: e and f, e and -f, -e and f, and -e and -f.

[0067] S206: Construct a beat signal in a demodulation region corresponding to the synchronization signal based on the beat frequency information.

[0068] Specifically, the processor may construct a beat frequency signal of the echo signal in the demodulation area according to the two beat frequencies and the echo parameters in the beat frequency information.

[0069] S207: Determine a beat signal set that meets a distance condition according to the beat signals corresponding to each beat frequency information.

[0070] In this embodiment, the distance condition can be understood as a target distance for screening out the actual beat frequency.

[0071] Specifically, the processor can compare the beat signal corresponding to each beat frequency information with the local oscillator signal, and filter out the beat signal on the left side of the local oscillator signal, that is, the distance in the beat signal echo parameter corresponding to the beat signal is a negative value, which can be understood as the beat signal is generated before the local oscillator signal is generated, and the beat signal set that meets the distance condition is obtained after filtering.

[0072] Further, based on the above embodiment, the beat signal set satisfying the distance condition can be determined according to the beat signals corresponding to the beat frequency information as follows:

[0073] Determine the target detection distance corresponding to the beat signal of each beat frequency information; filter out the beat signal with a negative target detection distance to obtain the target beat signal with a positive target detection distance; and determine a beat signal set that meets the distance condition based on each target beat signal.

[0074] In this embodiment, the target detection distance can be understood as the distance between the target and the radar device corresponding to the processed beat signal. The target beat signal can be understood as the beat signal for the next step of judgment.

[0075] Specifically, the processor can demodulate the beat frequency corresponding to the beat signal to determine the corresponding target detection distance. When the target detection distance is a negative value, the beat signal is generated when the local oscillation signal is not generated. Therefore, the beat signal with a negative target detection distance is filtered out to obtain a target beat signal with a positive target detection distance. According to each target beat signal, a beat signal set that meets the distance condition is determined.

[0076] S208 . Determine the similarity between the beat signal and the echo signal in the beat signal set.

[0077] In this embodiment, the similarity can be understood as being used to characterize the degree of similarity between two signals.

[0078] Specifically, an echo signal is restored from the beat signal in the beat signal set, and then the restored echo signal is compared with the actually received echo signal to determine the similarity between the two.

[0079] S209: Take the beat signal corresponding to the highest value among the similarities as the target signal.

[0080] Specifically, the processor may use the beat signal corresponding to the highest value of the similarity as the target signal.

[0081] S210: Taking the beat frequency corresponding to the target signal as the actual beat frequency.

[0082] S211. Demodulate target information based on the actual beat frequency.

[0083] As a first optional embodiment of this embodiment, based on the above embodiment, the step of determining the demodulation area corresponding to the synchronization signal may be further specificized as follows:

[0084] Obtain a preset maximum range delay value; take a jump edge in the synchronization signal as a starting point; take a preset maximum range delay value as a time length; and determine a demodulation area corresponding to the synchronization signal based on the starting point and the time length.

[0085] It can be known that since the echo signal and the local oscillator signal are both linear frequency sweep signals, the beat signal of the two is a single-frequency signal, and its signal frequency is related to the delay difference between the two (caused by the distance between the target and the radar equipment), the frequency difference (caused by the speed of the target through the Doppler effect) and the sweep slope.

[0086] In this embodiment, the preset maximum range delay value can be understood as the delay between the local oscillator signal and the echo signal when the radar signal hits the target with the maximum range. The transition edge can be understood as the moment when the sweep direction of the local oscillator signal changes in the synchronization signal. The starting point can be understood as the starting point of the demodulation area. The time length can be understood as the time range of the demodulation area.

[0087] Specifically, the processor can obtain a predetermined preset maximum range delay value. The processor can use the jump edge in the synchronization signal as the starting point of each demodulation area, use the preset maximum range delay value as the time length of the demodulation area, and determine the demodulation area corresponding to the synchronization signal according to the starting point and the time length.

[0088] The technical solution of the embodiment of the present invention obtains the echo signal and the local oscillator signal and the synchronization signal corresponding to the echo signal; performs coherent mixing on the echo signal and the local oscillator signal to determine the beat frequency combination; determines the demodulation area according to the preset maximum range delay value and the transition edge of the synchronization signal, and provides support for the demodulation area for subsequent signal demodulation. According to the positive and negative combinations of the beat frequency combination and the corresponding echo parameters, four groups of beat frequency information are determined, and then a beat signal set in the demodulation area is constructed through the beat frequency information. Based on the similarity between the echo signal and the beat signal set, the actual beat frequency is determined, and the target information is demodulated based on the actual beat frequency. The accurate determination of the beat signal frequency is achieved, which solves the problem that the beat signal frequency value cannot be determined in the prior art, thereby improving the demodulation accuracy of the target information.

[0089] For example, in order to facilitate understanding of the demodulation area in the present invention, a specific example is used for illustration. Figure 3 This is a signal example diagram of a signal demodulation method provided in Embodiment 2 of the present invention. Figure 3 As shown, the dotted line represents an echo signal 1 corresponding to a beat signal in the beat signal set that meets the distance condition, and the dotted line represents an echo signal 2 corresponding to another beat signal in the beat signal set that meets the distance condition, which represents the local oscillator signal. Point a represents the moment when the sweep direction corresponding to the local oscillator signal changes, that is, it corresponds to the jump edge in the synchronization signal, a is the starting point, and the echo signal corresponding to the dotted line is the echo signal corresponding to the preset maximum range delay value, that is, point b is the time length. The area between a and b corresponds to the demodulation area.

[0090] Figure 4 This is an example diagram of a beat frequency signal in a signal demodulation method provided in Embodiment 2 of the present invention. Figure 4 As shown, the corresponding demodulation area is the beat frequency signal diagram from a to b time, and Figure 3 Correspondingly, the dashed line is the beat frequency signal diagram corresponding to echo signal 1, and the dotted dashed line is the beat frequency signal diagram corresponding to echo signal 2.

[0091] Embodiment 3

[0092] Figure 5 This is a schematic diagram of the structure of a signal demodulation device provided in Embodiment 3 of the present invention. Figure 5 As shown, the device includes: a signal acquisition module 41, a combination determination module 42, a signal set determination module 43, a frequency determination module 44 and an information determination module 45. Among them,

[0093] A signal acquisition module 41, used to acquire an echo signal and a local oscillator signal and a synchronization signal corresponding to the echo signal;

[0094] A combination determination module 42, configured to perform coherent mixing on the echo signal and the local oscillator signal to determine a beat frequency combination;

[0095] A signal set determination module 43, configured to construct a beat frequency signal set within the demodulation region according to the demodulation region corresponding to the synchronization signal and the beat frequency combination;

[0096] A frequency determination module 44, configured to determine an actual beat frequency based on the echo signal and the beat frequency signal set;

[0097] The information determination module 45 is used to demodulate the target information based on the actual beat frequency.

[0098] The technical solution of the embodiment of the present invention is to obtain the echo signal and the local oscillator signal and the synchronization signal corresponding to the echo signal; perform coherent mixing on the echo signal and the local oscillator signal to determine the beat frequency combination; construct a beat signal set in the demodulation area according to the demodulation area and the beat frequency combination corresponding to the synchronization signal; determine the actual beat frequency based on the echo signal and the beat signal set; and demodulate the target information based on the actual beat frequency. The demodulation area is determined by the synchronization signal, the beat signal set under the demodulation area is constructed, and the actual beat frequency is determined by the echo signal. The accurate determination of the beat signal frequency is achieved, thereby improving the demodulation accuracy of the target information.

[0099] Furthermore, the combination determination module 42 is specifically used for:

[0100] Performing coherent mixing on the echo signal and the local oscillator signal to determine a beat frequency signal;

[0101] Performing Fourier transform on the beat signal to obtain a beat frequency of the beat signal;

[0102] A beat frequency combination is determined according to the beat frequencies.

[0103] Further, the signal set determination module 43 includes:

[0104] A first determining unit, configured to determine four sets of beat frequency information according to positive and negative combinations of the beat frequency combinations and their corresponding echo parameters;

[0105] A second determining unit, configured to construct a beat frequency signal in a demodulation area corresponding to the synchronization signal based on the beat frequency information;

[0106] The third determining unit is used to determine a beat frequency signal set that meets the distance condition according to the beat frequency signals corresponding to the beat frequency information.

[0107] The third determining unit is specifically used for:

[0108] Determine the target detection distance corresponding to the beat frequency signal of each of the beat frequency information;

[0109] Filtering out the beat frequency signal with a negative target detection distance to obtain the target beat frequency signal with a positive target detection distance;

[0110] A beat signal set satisfying a distance condition is determined according to each of the target beat signal.

[0111] Further, the frequency determination module 44 is specifically used for:

[0112] For a beat signal in the beat signal set, determining a similarity between the beat signal and the echo signal;

[0113] Taking the beat signal corresponding to the highest value among the similarities as the target signal;

[0114] The beat frequency corresponding to the target signal is used as the actual beat frequency.

[0115] Optionally, the device also includes: a region determination module.

[0116] The area determination module is specifically used for:

[0117] Get the preset maximum range delay value;

[0118] Taking the transition edge in the synchronization signal as the starting point;

[0119] Using the preset maximum range delay value as the time length;

[0120] A demodulation area corresponding to the synchronization signal is determined according to the starting point and the time length.

[0121] The signal demodulation device provided in the embodiment of the present invention can execute the signal demodulation method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0122] Embodiment 4

[0123] Figure 6 A schematic diagram of an electronic device 50 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0124] like Figure 6 As shown, the electronic device 50 includes at least one processor 51, and a memory connected to the at least one processor 51 in communication, such as a read-only memory (ROM) 52, a random access memory (RAM) 53, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 51 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 52 or the computer program loaded from the storage unit 58 to the random access memory (RAM) 53. In the RAM 53, various programs and data required for the operation of the electronic device 50 can also be stored. The processor 51, the ROM 52, and the RAM 53 are connected to each other via a bus 54. An input / output (I / O) interface 55 is also connected to the bus 54.

[0125] A number of components in the electronic device 50 are connected to the I / O interface 55, including: an input unit 56, such as a keyboard, a mouse, etc.; an output unit 57, such as various types of displays, speakers, etc.; a storage unit 58, such as a disk, an optical disk, etc.; and a communication unit 59, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 59 allows the electronic device 50 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0126] The processor 51 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 51 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 51 performs the various methods and processes described above, such as a signal demodulation method.

[0127] In some embodiments, the signal demodulation method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 58. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 50 via the ROM 52 and / or the communication unit 59. When the computer program is loaded into the RAM 53 and executed by the processor 51, one or more steps of the signal demodulation method described above may be performed. Alternatively, in other embodiments, the processor 51 may be configured to perform the signal demodulation method in any other suitable manner (e.g., by means of firmware).

[0128] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0129] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0130] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0131] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0132] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0133] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0134] In one embodiment, the present invention further includes a computer program product. The computer program product includes a computer program. When the computer program is executed by a processor, the X signal demodulation method of any embodiment of the present invention is implemented.

[0135] In the process of implementation, the computer program product can be written in one or more programming languages ​​or a combination thereof to perform the computer program code of the present invention, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, using an Internet service provider to connect through the Internet).

[0136] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0137] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A signal demodulation method, characterized in that: include: Acquire an echo signal and a local oscillator signal and a synchronization signal corresponding to the echo signal; Performing coherent mixing on the echo signal and the local oscillator signal to determine a beat frequency combination; Constructing a beat frequency signal set within the demodulation area according to the demodulation area corresponding to the synchronization signal and the beat frequency combination; Determining an actual beat frequency based on the echo signal and the beat signal set; The target information is demodulated based on the actual beat frequency.

2. The method according to claim 1, characterized in that The coherent mixing of the echo signal and the local oscillator signal to determine a beat frequency combination includes: Performing coherent mixing on the echo signal and the local oscillator signal to determine a beat frequency signal; Performing Fourier transform on the beat signal to obtain a beat frequency of the beat signal; A beat frequency combination is determined according to the beat frequencies.

3. The method according to claim 1, characterized in that The step of determining the demodulation area corresponding to the synchronization signal comprises: Get the preset maximum range delay value; Taking the transition edge in the synchronization signal as the starting point; Using the preset maximum range delay value as the time length; A demodulation area corresponding to the synchronization signal is determined according to the starting point and the time length.

4. The method according to claim 1, characterized in that: The step of constructing a beat frequency signal set within the demodulation area according to the demodulation area corresponding to the synchronization signal and the beat frequency combination includes: Determine four groups of beat frequency information according to the positive and negative combinations of the beat frequency combinations and their corresponding echo parameters; Based on each of the beat frequency information, construct a beat signal in a demodulation area corresponding to the synchronization signal; A beat signal set satisfying a distance condition is determined according to the beat signals corresponding to the beat frequency information.

5. The method according to claim 4, characterized in that The step of determining a beat signal set satisfying a distance condition according to the beat signals corresponding to the beat frequency information includes: Determine the target detection distance corresponding to the beat frequency signal of each of the beat frequency information; Filtering out the beat frequency signal with a negative target detection distance to obtain the target beat frequency signal with a positive target detection distance; A beat signal set satisfying a distance condition is determined according to each of the target beat signal.

6. The method according to claim 1, characterized in that The determining the actual beat frequency based on the echo signal and the beat frequency signal set includes: For a beat signal in the beat signal set, determining a similarity between the beat signal and the echo signal; Taking the beat signal corresponding to the highest value among the similarities as the target signal; The beat frequency corresponding to the target signal is used as the actual beat frequency.

7. A signal demodulation device, characterized in that: include: A signal acquisition module, used to acquire an echo signal and a local oscillator signal and a synchronization signal corresponding to the echo signal; A combination determination module, used for performing coherent mixing on the echo signal and the local oscillator signal to determine a beat frequency combination; A signal set determination module, configured to construct a beat frequency signal set within the demodulation region according to the demodulation region corresponding to the synchronization signal and the beat frequency combination; A frequency determination module, configured to determine an actual beat frequency based on the echo signal and the beat frequency signal set; The information determination module is used to demodulate the target information based on the actual beat frequency.

8. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the signal demodulation method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the signal demodulation method according to any one of claims 1 to 6 when executed.

10. A computer program product, characterized in that The computer program product comprises a computer program, which, when executed by a processor, implements the signal demodulation method according to any one of claims 1 to 6.

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