Radar deformation monitoring method based on data statistics and electronic equipment

Abstract

The invention discloses a radar deformation monitoring method based on data statistics and electronic equipment, and the method comprises the steps: firstly selecting a target point which is not liable to shake as a stable point, and selecting N stable points as reference points; when the monitoring point P with the phase change in a certain time frame is monitored, counting the phase change of all the reference points, and obtaining the phase change trend of each reference point in the same time period; and according to the characteristic that for phase slow change caused by unavoidable factors such as radar hardware and the like in deformation monitoring, all stable points in a radar irradiation range have consistent slow change trend, comparing the phase change state trend of the monitoring point P with the phase change state trend of the reference point, and judging whether the monitoring point P really deforms or not. Therefore, the problem of deformation monitoring misinformation caused by slow phase change caused by radar hardware is filtered, and the accuracy of radar deformation monitoring is improved. The invention further provides electronic equipment.

Description

Technical Field

[0001] The invention relates to a radar deformation monitoring method based on data statistics and electronic equipment, belonging to the technical field of radar monitoring. Background Art

[0002] Geological disasters are usually caused by energy release from the earth's crust, abnormal movement of geological structures, deformation of rock and soil, etc. Geological disasters are diverse and widely distributed, with characteristics of suddenness and multiple occurrences, which can cause irreparable damage to human life and property as well as the protection of the earth's environment.

[0003] In the past few years, the casualties and economic losses caused by landslides have been huge. On the other hand, the micro-deformation of geological structures poses a safety hazard to infrastructure and construction projects. When the deformation exceeds the safety limit, a major disaster will occur to a large extent. Therefore, deformation monitoring is an indispensable early warning measure for geological disasters. By converting the measured data into the deformation or displacement of the monitoring point, it can be used as an important basis for evaluating the safety status of the monitoring point, and timely warning can be given before the danger comes.

[0004] In the research on deformation monitoring of mountains, ground surfaces, bridges and buildings by radar, the phase of stationary targets is not always fixed due to hardware and other issues. During long-term radar irradiation monitoring, the phase of stationary targets will change slowly, leading to false alarms, which will bring additional work. Therefore, it is urgent to provide a new technical solution to reduce false alarms and improve the accuracy of early warnings. Summary of the invention

[0005] The present invention aims to provide a radar deformation monitoring method based on data statistics, which can determine whether a target is actually deformed by counting the phase changes of multiple target points within the same period of time, thereby reducing false alarms.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is: a radar deformation monitoring method based on data statistics, the method comprising the following steps:

[0007] Step 1: According to the signal-to-noise ratio and / or amplitude dispersion and / or phase standard deviation of the target point, X target points with high signal-to-noise ratio and / or small amplitude dispersion index and / or small phase standard deviation are selected as stable points, and N stable points are selected as reference points;

[0008] In deformation monitoring, in time frame t m The stable point where the phase change occurs is set as the monitoring point P; wherein X is a positive integer, N is a positive integer, m is a positive integer, and X>N;

[0009] Step 2: Get the reference point P iIn the time period [t m -Δt,t m ] phase change state; wherein the reference point P i is the i-th reference point, 1≤i≤N, the reference point P i In the time period [t m -Δt,t m The phase change states of the reference point P include rising state, falling state and stable state, and Δt is the statistical i The time interval of phase change;

[0010] Step 3: If Δφ P >0, and the reference point P i In the time period [t m -Δt,t m ] is decreasing, it is determined that the monitoring point P is deformed and an early warning is issued;

[0011] Or if Δφ P <0, and the reference point P i In the time period [t m -Δt,t m ] is increasing, it is determined that the monitoring point P is deformed and an early warning is issued;

[0012] Or if Δφ P >0, and the reference point P i In the time period [t m -Δt,t m ] is an upward trend in the phase change state, it is determined that the monitoring point P has not been deformed and no early warning is issued;

[0013] Or if Δφ P <0, and the reference point P i In the time period [t m -Δt,t m ] is decreasing, it is determined that the monitoring point P has not been deformed and no warning is issued;

[0014] Among them, Δφ P is the monitoring point P in time frame t m Phase With the initial phase φ P,0 The phase difference value, that is, The initial phase φ of the monitoring point P P,0 It is the average value of all phases of the monitoring point P within the time period t after the radar is fixed and started.

[0015] Through actual data acquisition experiments, it is found that for the slow phase change caused by hardware, the change trend of all stable points (i.e. stable target points) is consistent. However, for the phase change caused by deformation, the phase change trend of other stable points is rarely consistent with the phase change of the monitoring point P where deformation occurs. Based on this characteristic, the phase change of the monitoring point P obtained in step 1 and the reference point P obtained in step 2 are i The phase change state of the monitoring point P is used to determine whether the monitoring point P is actually deformed.

[0016] According to the embodiments of the present invention, the present invention can be further optimized. The following is the technical solution formed after optimization:

[0017] In one preferred embodiment, N is 5, and / or Δt is not less than 1 minute, and / or t is 5 minutes.

[0018] In one preferred embodiment, in step 1, according to the amplitude dispersion, a target point with a small amplitude deviation index is selected as a stable point, and the calculation formula of the amplitude deviation index is:

[0019]

[0020] Among them, D A is the amplitude deviation index of the target point, δ A is the amplitude standard deviation of the target point, m A is the average amplitude of the target point;

[0021] And / or in step 1, according to the phase standard deviation, a target point with a small phase standard deviation is selected as a stable point, and the calculation formula of the phase standard deviation is:

[0022] φ=arg(γ)

[0023]

[0024] Among them, γ is the standard deviation, φ is the phase standard deviation, arg is the operator for taking the complex angle, that is, the phase, S t1 is the complex value corresponding to the target point at time t1, S t2 is the complex value corresponding to the target point at time t2, t1 and t2 are different, S t2 * For S t2 is the conjugate complex number of , | | is the absolute value operator, and E{} is the expected value operator.

[0025] In one preferred embodiment, in step 1, the m The specific steps of using the monitored stable point where the phase change occurs as the monitoring point P include:

[0026] like Then it is determined that the stable point P is detected j In time frame t m A phase change occurs, and the corresponding stable point P j Set as monitoring point P;

[0027] Among them, the stable point P j is the jth stable point, 1≤j≤X, is the stable point P j In time frame t m Phase With initial phase The phase difference value, the stable point P j The initial phase The stable point P is the stable point P within the time period t after the radar is fixed and started. j The average value of all phases, Δφ th is the phase difference threshold.

[0028] In one preferred embodiment, the specific steps of step 2 include:

[0029] Statistics in the time period [t m -Δt,t m ], the reference point P i The number of frames corresponding to the rising and falling trends of the phase change;

[0030] If the number of frames corresponding to the upward trend is greater than the number of frames corresponding to the downward trend, then the reference point P is determined to be i The phase change state of is the rising state;

[0031] If the number of frames corresponding to the downward trend is greater than the number of frames corresponding to the upward trend, then the reference point P is determined to be i The phase change state of is a falling state;

[0032] If the number of frames corresponding to the upward trend is equal to the number of frames corresponding to the downward trend, then the reference point P is determined to be i The phase change state is a stable state;

[0033] The upward trend is The downward trend is is the reference point P i In time frame t m Phase Phase with previous frame The phase difference is 1≤k≤m-1.

[0034] In one preferred embodiment, the step 2 further comprises the following steps:

[0035] If the reference point P i When the phase change state of is in the rising state, and Then determine the other reference point P i The phase change state of is in the rising state;

[0036] If the reference point P i When the phase change state is in the rising state, Then determine the reference point P i The phase change state is in a stable state;

[0037] If the reference point P i When the phase change state of is in the falling state, and Then determine the reference point P i The phase change state of is in a decreasing state;

[0038] If the reference point P i When the phase change state is in the falling state, Then determine the reference point P i The phase change state is in a stable state;

[0039] in, is the reference point P i In time frame t m Phase With initial phase The phase difference is: The reference point P i The initial phase The reference point P is the reference point within the time period t after the radar is fixed and started. i The average value of all phases.

[0040] In one preferred embodiment, the specific steps of step 3 include:

[0041] If Δφ P >0, and the reference point P i If the number of the phase change states in the rising state is less than a first set value, it is determined that the monitoring point P is deformed and an early warning is issued;

[0042] Or if Δφ P >0, and the reference point P i If the number of the phase change states in the descending state and the stable state is greater than a second set value, it is determined that the monitoring point P is deformed and an early warning is issued;

[0043] Or if ΔφP <0, and the reference point P i If the number of the phase change states in the descending state is less than the first set value, it is determined that the monitoring point P is deformed and an early warning is issued;

[0044] Or if Δφ P <0, and the reference point P i If the number of the phase change states in the rising state and the stable state is greater than the second set value, it is determined that the monitoring point P is deformed and an early warning is issued;

[0045] Or if Δφ P >0, and the reference point P i If the number of the phase change states in the rising state is greater than the second set value, it is determined that the monitoring point P has not been deformed and no warning is issued;

[0046] Or if Δφ P >0, and the reference point P i If the number of the phase change states in the descending state and the stable state is less than the first set value, it is determined that the monitoring point P has not been deformed and no warning is issued;

[0047] Or if Δφ P <0, and the reference point P i If the number of the phase change states in the descending state is greater than the second set value, it is determined that the monitoring point P has not been deformed and no warning is issued;

[0048] Or if Δφ P <0, and the reference point P i If the number of the rising state and the stable state in the phase change state is less than the first set value, it is determined that the monitoring point P has not been deformed and no warning is issued.

[0049] In one preferred embodiment, the first set value is 1 / 10 of N, and the second set value is 2 / 3 of N.

[0050] In one preferred embodiment, the method further comprises the following steps:

[0051] Step 4: In step 3, if it is determined that the monitoring point P is deformed, according to Δφ P Calculating the deformation amount of the monitoring point P, where the deformation amount is used for safety assessment of the monitoring point P;

[0052] Preferably, when the radar is an FMCW radar, in step 4, the calculation formula of the deformation amount is:

[0053]

[0054] Where Δx P is the deformation of the monitoring point P, λ c is the radar wavelength, and α is the azimuth of the monitoring point P relative to the radar.

[0055] Based on the same concept, the present invention also provides an electronic device, which includes a memory and one or more processors; one or more programs are stored in the memory, and when the one or more programs are executed by the one or more processors, the one or more processors implement the steps of the above method.

[0056] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention is based on a method of data statistics, firstly selects a target point that is not easy to shake as a stable point, and selects N of the stable points as reference points; when a monitoring point P with a phase change in a certain time frame is monitored, the phase changes of all reference points are counted to obtain the phase change trend of each reference point in the same time period; according to the deformation monitoring, for the phase slow change caused by unavoidable factors such as radar hardware, all stable points within the radar irradiation range have the same slow change trend, and the phase change of the monitoring point P is compared with the phase change state trend of the reference point to determine whether the monitoring point P is actually deformed. In this way, the problem of false alarms in deformation monitoring caused by the slow phase change caused by radar hardware is filtered out, and the accuracy of radar deformation monitoring is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 is a flow chart of a radar deformation monitoring method based on data statistics according to an embodiment of the present invention;

[0058] Figure 2 is a phase change diagram based on a stable point selected from a building according to another embodiment of the present invention;

[0059] Figure 3 is a phase change diagram of another embodiment of the present invention with a slowly changing triangular reflector as a monitoring point; wherein, Figure 3 (a) is the phase change diagram of the monitoring point during all monitoring time. Figure 3 (b) is the phase change diagram of the monitoring point during part of the monitoring time. DETAILED DESCRIPTION

[0060] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that the embodiments and features in the embodiments of the present invention can be combined with each other without conflict.

[0061] Example 1

[0062] Embodiment 1 of the present invention provides a radar deformation monitoring method based on data statistics, and the specific implementation steps of the method include:

[0063] Step 1: According to the signal-to-noise ratio and / or amplitude dispersion and / or phase standard deviation of the target point, select X target points with high signal-to-noise ratio and / or small amplitude dispersion index and / or small phase standard deviation as stable points, and select N stable points as reference points, wherein N is a positive integer, X is a positive integer, and X>N;

[0064] In this embodiment 1, target points with good stability are selected for deformation monitoring, and objects that are prone to shaking, such as trees, vegetation or water areas, should be avoided from being selected, because such targets are prone to shaking, unstable, prone to false alarms, and should not appear in the radar deformation monitoring range. However, in practical applications, it is difficult to directly determine whether the selected target point is stable based on conditions such as geographical location. Therefore, a more ideal target point, i.e., a stable point, can be selected based on the signal-to-noise ratio of the target point and / or the amplitude dispersion and / or the phase standard deviation characteristics. The stable point has a high signal-to-noise ratio, a small amplitude dispersion index and a stable phase.

[0065] In most cases, targets with a high signal-to-noise ratio are more stable than targets with a low signal-to-noise ratio.

[0066] The stability of the target point can also be determined by calculating the amplitude deviation index of the target point, and the target point with a small amplitude deviation index is selected as the stable point. The calculation formula of the amplitude deviation index is:

[0067]

[0068] Among them, D A is the amplitude deviation index of the target point, δ A is the amplitude standard deviation of the target point, m A is the average amplitude of the target point. Amplitude deviation index D A The smaller it is, the smaller the amplitude change is and the more stable the target point is.

[0069] The phase standard deviation of the target point can also be calculated to filter out the misselected points of flowing targets such as water areas, and the target point with a small phase standard deviation can be selected as a stable point. The calculation formula of the phase standard deviation is:

[0070] φ=arg(γ)

[0071]

[0072] Among them, γ is the standard deviation, φ is the phase standard deviation, arg is the operator for taking the complex angle, that is, the phase, S t1 is the complex value corresponding to the target point at time t1, S t2 is the complex value corresponding to the target point at time t2, t1 and t2 are different, S t2 * For St2 The conjugate complex number of , | | is the absolute value operator, and E{} is the expected value operator. The smaller the φ value, the more stable the target point.

[0073] In deformation monitoring, in time frame t m The stable point where the phase change is detected is set as the monitoring point P; wherein m is a positive integer;

[0074] Specifically, after selecting a stable point with a high signal-to-noise ratio and / or a small amplitude dispersion index and / or a small phase standard deviation, all stable points within the radar illumination range are monitored. In long-term monitoring, the radar is fixed and started within a period of time t after the stable point P j The average value of all phases is taken as the initial phase Among them, P j is the jth stable point, 1≤j≤X.

[0075] Furthermore, if a certain time frame t m The stable point P is detected j Phase Deviation from initial phase And the deviation is greater than or equal to the phase difference threshold Δφ th When , the stable point P is determined j In time frame t m A phase change occurs, namely: and in, is the stable point P j In time frame t m Phase With initial phase The phase difference, Δφ th is the phase difference threshold. m The stable point P where the phase change occurs is monitored j Assume that the monitoring point is P, that is: And |Δφ P |≥Δφ th . Among them, Δφ P is the monitoring point P in time frame t m Phase With the initial phase φ P,0 The initial phase φ of the monitoring point P is P,0 It is the average value of all phases of the monitoring point P within the time period t after the radar is fixed and started. th , which can prevent misjudgment problems caused by normal phase micro-fluctuations.

[0076] In actual monitoring, in time frame t mThere may be several monitoring points where phase changes are detected. According to the radar deformation monitoring method based on data statistics provided in Example 1 of the present invention, it is determined whether the phase change of each monitoring point is caused by real deformation.

[0077] In this embodiment 1, the time period t is preferably 5 minutes, which can be set according to actual conditions.

[0078] Step 2: Get the reference point P i In the time period [t m -Δt,t m ] phase change state; wherein the reference point P i is the i-th reference point, 1≤i≤N, the reference point P i In the time period [t m -Δt,t m The phase change states of the reference point P include rising state, falling state and stable state, and Δt is the statistical i The time interval of phase change;

[0079] For the time frame t m The monitoring point P that has undergone phase change needs to be further determined whether its phase change is caused by deformation of the monitoring point. Currently, there are many methods for determining data change trends, such as linear regression, exponential smoothing, etc. In Example 1 of the present invention, a simpler, more direct and practical method is used, and the specific steps include:

[0080] Statistics of the reference point P i In the time period [t m -Δt,t m ], obtain the reference point P i The phase change state. Among them, Δt is preferably not less than 1 minute, which can better observe the phase change. In this embodiment 1, Δt can be set to 5 minutes, which can be set according to actual conditions. Further, the reference point P i The phase change state judgment steps include:

[0081] Statistics in the time period [t m -Δt,t m ], the reference point P i The number of frames corresponding to the rising and falling trends of the phase change;

[0082] If the number of frames corresponding to the upward trend is greater than the number of frames corresponding to the downward trend, then the reference point P is determined to be i The phase change state of is the rising state;

[0083] If the number of frames corresponding to the downward trend is greater than the number of frames corresponding to the upward trend, then the reference point P is determined to be i The phase change state of is a falling state;

[0084] If the number of frames corresponding to the upward trend is equal to the number of frames corresponding to the downward trend, then the reference point P is determined to be i The phase change state is a stable state;

[0085] The upward trend is is greater than 0, the downward trend is Less than 0, is the reference point P i In time frame t m Phase Phase with previous frame The phase difference is 1≤k≤m-1.

[0086] Furthermore, considering the reference point P i There may be errors in the phase change state judgment, so the reference point P i The phase change state judgment step also includes:

[0087] If the reference point P i When the phase change state of is in the rising state, and Then determine the reference point P i The phase change state of is in the rising state;

[0088] If the reference point P i When the phase change state is in the rising state, Then determine the reference point P i The phase change state is in a stable state;

[0089] If the reference point P i When the phase change state of is in the falling state, and Then determine the reference point P i The phase change state of is in a decreasing state;

[0090] If the reference point P i When the phase change state is in the falling state, Then determine the reference point P i The phase change state is in a stable state;

[0091] in, is the reference point P i In time frame t m Phase With initial phase The difference, that is: The reference point P i The initial phase The reference point P is the reference point within the time period t after the radar is fixed and started. i The average value of all phases.

[0092] Step 3: If Δφ P >0, and the reference point P i In the time period [t m -Δt,t m ] is decreasing, it is determined that the monitoring point P is deformed and an early warning is issued;

[0093] Or if Δφ P <0, and the reference point P i In the time period [t m -Δt,t m ] is increasing, it is determined that the monitoring point P is deformed and an early warning is issued;

[0094] Or if Δφ P >0, and the reference point P i In the time period [t m -Δt,t m ] is an upward trend in the phase change state, it is determined that the monitoring point P has not been deformed and no early warning is issued;

[0095] Or if Δφ P <0, and the reference point P i In the time period [t m -Δt,t m ] is decreasing, it is determined that the monitoring point P has not been deformed and no warning is issued;

[0096] Among them, Δφ P is the monitoring point P in time frame t m Phase With the initial phase φ P,0 The phase difference value, that is, The initial phase φ of the monitoring point P P,0 It is the average value of all phases of the monitoring point P within the time period t after the radar is fixed and started.

[0097] Through actual data collection experiments, it is found that for the slow phase change caused by hardware, the change trend of all stable points is consistent. For the phase change caused by deformation, the phase change trend of other stable points is rarely consistent with the phase change of the monitoring point where deformation occurs. Based on this characteristic, the phase change of the monitoring point P obtained in step 1 and the reference point P obtained in step 2 arei The phase change state of the monitoring point P is used to determine whether the monitoring point P is actually deformed.

[0098] Furthermore, the specific steps of step 3 include:

[0099] If Δφ P >0, and the reference point P i If the number of the phase change states in the rising state is less than a first set value, it is determined that the monitoring point P is deformed and an early warning is issued;

[0100] Or if Δφ P >0, and the reference point P i If the number of the phase change states in the descending state and the stable state is greater than a second set value, it is determined that the monitoring point P is deformed and an early warning is issued;

[0101] Or if Δφ P <0, and the reference point P i If the number of the phase change states in the descending state is less than the first set value, it is determined that the monitoring point P is deformed and an early warning is issued;

[0102] Or if Δφ P <0, and the reference point P i If the number of the phase change states in the rising state and the stable state is greater than the second set value, it is determined that the monitoring point P is deformed and an early warning is issued;

[0103] Or if Δφ P >0, and the reference point P i If the number of the phase change states in the rising state is greater than the second set value, it is determined that the monitoring point P has not been deformed and no warning is issued;

[0104] Or if Δφ P >0, and the reference point P i If the number of the phase change states in the descending state and the stable state is less than the first set value, it is determined that the monitoring point P has not been deformed and no warning is issued;

[0105] Or if Δφ P <0, and the reference point P i If the number of the phase change states in the descending state is greater than the second set value, it is determined that the monitoring point P has not been deformed and no warning is issued;

[0106] Or if Δφ P <0, and the reference point P i If the number of the rising state and the stable state in the phase change state is less than the first set value, it is determined that the monitoring point P has not been deformed and no warning is issued.

[0107] In this embodiment 1, the first setting value is 1 / 10 of N, and the second setting value is 2 / 3 of N. The setting is made according to the actual situation.

[0108] Furthermore, the method further comprises the following steps:

[0109] Step 4: In step 3, if it is determined that the monitoring point P is deformed, according to Δφ P The deformation amount of the monitoring point P is calculated, and the deformation amount is used for safety assessment of the monitoring point P.

[0110] Furthermore, when the radar is an FMCW radar, in step 4, the calculation formula of the deformation amount is:

[0111]

[0112] Where Δx P is the deformation of the monitoring point P, λ c is the radar wavelength, and α is the azimuth of the monitoring point P relative to the radar.

[0113] Example 2

[0114] In Example 2 of the present invention, FMCW radar is used to collect data from the building and the slowly moving (slowly changing) triangular reflector. The radar position is fixed, the radar signal frequency is 79.5G, and the radar wavelength is 0.0038m. Figure 2 and Figure 3 As shown, in this embodiment 2, the number of reference points N is 5, and the phase difference threshold Δφ th Set to 20 degrees.

[0115] Figure 2 The figure shows the phase change within the radar illumination range based on the reference point selected on the building. Figure 2 It shows that: as the monitoring time goes by, in actual situations the building is fixed and the corresponding phase of the building should not change; however, in deformation monitoring, the phase of the building changes slowly, and the phase change trend of each reference point is consistent. Figure 2 The unit of the time axis is 1*10 4 millisecond.

[0116] In Example 2 of the present invention, a triangular reflector is placed under the building and selected as a monitoring point. When the monitoring time is 4863 seconds, the triangular reflector is slowly moved backward by 5 mm to simulate the deformation of the building and the phase change of the triangular reflector is counted.

[0117] Figure 3The phase change result of the slow-moving (slow-changing) triangular reflector is shown, where: Figure 3 (a) is the phase change diagram of the monitoring point during all monitoring time. Figure 3 (b) is the phase change diagram of the monitoring point during part of the monitoring time. Figure 3 (a) It can be seen that the phase of the slowly changing triangular reflector changes greatly in a short period of time (226 seconds), and the phase change trend is different from that of other stable points. Therefore, it is possible to determine whether the monitoring point is actually deformed by judging whether the phase change trend of the monitoring point is consistent with that of other stable points.

[0118] Example 3

[0119] Embodiment 3 of the present invention further provides an electronic device, comprising a memory and one or more processors; one or more programs are stored in the memory, and when the one or more programs are executed by the one or more processors, the one or more processors implement the steps of the method described in Embodiment 1.

[0120] The contents explained in the above embodiments should be understood as these embodiments are only used to more clearly illustrate the present invention, and are not used to limit the scope of the present invention. After reading the present invention, various equivalent forms of modifications to the embodiments made by those skilled in the art fall within the scope defined by the claims attached to the present invention.

Claims

1. A radar deformation monitoring method based on data statistics, characterized in that: The method comprises the following steps: Step 1: According to the signal-to-noise ratio and / or amplitude dispersion and / or phase standard deviation of the target point, X target points with high signal-to-noise ratio and / or small amplitude dispersion index and / or small phase standard deviation are selected as stable points, and N stable points are selected as reference points for deformation monitoring; In deformation monitoring, in time frame t m The stable point where the phase change occurs is set as the monitoring point P; wherein X is a positive integer, N is a positive integer, and m is a positive integer; Step 2: Get the reference point P i In the time period [t m -Δt,t m ] phase change state; wherein the reference point P i is the i-th reference point, 1≤i≤N, the reference point P i In the time period [t m -Δt,t m The phase change states of the reference point P include rising state, falling state and stable state, and Δt is the statistical i The time interval of phase change; Step 3: If Δφ P >0, and the reference point P i In the time period [t m -Δt,t m ] is decreasing, it is determined that the monitoring point P is deformed and an early warning is issued; Or if Δφ P <0, and the reference point P i In the time period [t m -Δt,t m ] is increasing, it is determined that the monitoring point P is deformed and an early warning is issued; Or if Δφ P >0, and the reference point P i In the time period [t m -Δt,t m ] is an upward trend in the phase change state, it is determined that the monitoring point P has not been deformed and no early warning is issued; Or if Δφ P <0, and the reference point P i In the time period [t m -Δt,t m ] is decreasing, it is determined that the monitoring point P has not been deformed and no warning is issued; Among them, Δφ P is the monitoring point P at time frame t m Phase With the initial phase φ P,0 The phase difference value, that is, The initial phase φ of the monitoring point P P,0 It is the average value of all phases of the monitoring point P within the time period t after the radar is fixed and started.

2. The radar deformation monitoring method based on data statistics according to claim 1 is characterized in that: N is 5, and / or Δt is not less than 1 minute, and / or t is 5 minutes.

3. The radar deformation monitoring method based on data statistics according to claim 1 is characterized in that: In step 1, according to the amplitude dispersion, a target point with a small amplitude deviation index is selected as a stable point. The calculation formula of the amplitude deviation index is: Among them, D A is the amplitude deviation index of the target point, δ A is the amplitude standard deviation of the target point, m A is the average amplitude of the target point; And / or in step 1, according to the phase standard deviation, a target point with a small phase standard deviation is selected as a stable point, and the calculation formula of the phase standard deviation is: φ=arg(γ) Among them, γ is the standard deviation, φ is the phase standard deviation, arg is the operator for taking the complex angle, that is, the phase, S t1 is the complex value corresponding to the target point at time t1, S t2 is the complex value corresponding to the target point at time t2, t1 and t2 are different, S t2 * For S t2 The conjugate complex number of , || is the absolute value operator, and E{} is the expected value operator.

4. The radar deformation monitoring method based on data statistics according to claim 1 is characterized in that: In step 1, the m The specific steps of setting the monitored stable point where the phase change occurs as the monitoring point P include: like Then it is determined that the stable point P is detected j In time frame t m A phase change occurs, and the corresponding stable point P j Set as monitoring point P; Among them, the stable point P j is the jth stable point, 1≤j≤X, is the stable point P j In time frame t m Phase With initial phase The phase difference is The stable point P j The initial phase The stable point P is the stable point P within the time period t after the radar is fixed and started. j The average value of all phases, Δφ th is the phase difference threshold.

5. The radar deformation monitoring method based on data statistics according to claim 1 is characterized in that: The specific steps of step 2 include: Statistics in the time period [t m -Δt,t m ], the reference point P i The number of frames corresponding to the rising and falling trends of the phase change; If the number of frames corresponding to the upward trend is greater than the number of frames corresponding to the downward trend, then the reference point P is determined to be i The phase change state of is the rising state; If the number of frames corresponding to the downward trend is greater than the number of frames corresponding to the upward trend, then the reference point P is determined to be i The phase change state of is a falling state; If the number of frames corresponding to the upward trend is equal to the number of frames corresponding to the downward trend, then the reference point P is determined to be i The phase change state is a stable state; The upward trend is The downward trend is is the reference point P i In time frame t m Phase Phase with previous frame The phase difference is 6. The radar deformation monitoring method based on data statistics according to claim 5 is characterized in that: The step 2 further comprises the following steps: If the reference point P i When the phase change state of is in the rising state, and Then determine the reference point P i The phase change state of is in the rising state; If the reference point P i When the phase change state is in the rising state, Then determine the reference point P i The phase change state is in a stable state; If the reference point P i When the phase change state of is in the falling state, and Then determine the reference point P i The phase change state of is in a decreasing state; If the reference point P i When the phase change state is in the falling state, Then determine the reference point P i The phase change state is in a stable state; in, is the reference point P i In time frame t m Phase With initial phase The phase difference is: The reference point P i The initial phase The reference point P is the reference point within the time period t after the radar is fixed and started. i The average value of all phases.

7. The radar deformation monitoring method based on data statistics according to claim 1 is characterized in that: The specific steps of step 3 include: If Δφ P >0, and the reference point P i If the number of the phase change states in the rising state is less than a first set value, it is determined that the monitoring point P is deformed and an early warning is issued; Or if Δφ P >0, and the reference point P i If the number of the phase change states in the descending state and the stable state is greater than a second set value, it is determined that the monitoring point P is deformed and an early warning is issued; Or if Δφ P <0, and the reference point P i If the number of the phase change states in the descending state is less than the first set value, it is determined that the monitoring point P is deformed and an early warning is issued; Or if Δφ P <0, and the reference point P i If the number of the phase change states in the rising state and the stable state is greater than the second set value, it is determined that the monitoring point P is deformed and an early warning is issued; Or if Δφ P >0, and the reference point P i If the number of the phase change states in the rising state is greater than the second set value, it is determined that the monitoring point P has not been deformed and no warning is issued; Or if Δφ P >0, and the reference point P i If the number of the phase change states in the descending state and the stable state is less than the first set value, it is determined that the monitoring point P has not been deformed and no warning is issued; Or if Δφ P <0, and the reference point P i If the number of the phase change states in the descending state is greater than the second set value, it is determined that the monitoring point P has not been deformed and no warning is issued; Or if Δφ P <0, and the reference point P i If the number of the rising state and the stable state in the phase change state is less than the first set value, it is determined that the monitoring point P has not been deformed and no warning is issued.

8. The radar deformation monitoring method based on data statistics according to claim 7 is characterized in that: The first set value is 1 / 10 of N, and the second set value is 2 / 3 of N.

9. The radar deformation monitoring method based on data statistics according to any one of claims 1 to 8, characterized in that: The method further comprises the following steps: Step 4: In step 3, if it is determined that the monitoring point P is deformed, according to Δφ P Calculating the deformation amount of the monitoring point P, where the deformation amount is used for safety assessment of the monitoring point P; Preferably, when the radar is an FMCW radar, in step 4, the calculation formula of the deformation amount is: Where Δx P is the deformation of the monitoring point P, λ c is the radar wavelength, and α is the azimuth of the monitoring point P relative to the radar.

10. An electronic device, characterized in that: The electronic device includes a memory and one or more processors; one or more programs are stored in the memory, and when the one or more programs are executed by the one or more processors, the one or more processors implement the steps of any one of the methods described in claims 1 to 9.

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