Radar signal normalization device and method

Abstract

The invention discloses a radar signal normalization device and method, and belongs to the technical field of signal processing. The device comprises a receiving unit which is used for receiving radar signals of different transmission channels, data formats and transmission protocols through a plurality of independent physical channels; different radar signals are converted into a unified data format; and the normalization processing unit is used for acquiring the data sampling rate and the radar echo data from the received radar signals, normalizing the radar echo data based on the data sampling rate, then recombining the radar signals, and finally sending the radar signals to the command and control terminal through the sending unit. Based on the scheme of the application, the display control terminal can realize unified receiving and processing of radar signals of different transmission channels, protocols and formats, hardware connection is greatly simplified, and the cost is reduced.

Description

Technical Field

[0001] The present application belongs to the field of signal processing technology, and more specifically, relates to a normalization device and method for radar signals. Background Art

[0002] Radar is an indispensable equipment on ships. It can detect sea and air targets, provide target data, guide ships, avoid obstacles at sea, and ensure the safe navigation of ships. The types and quantities of radars equipped on various ships depend on the type and tonnage of the ship. Usually, small ships are equipped with 1 to 2 radars; large and medium-sized ships are equipped with more than 10 radars; some special ships, such as scientific research ships, are equipped with more than 20 or more radars. Different radars have different data transmission channels, interfaces, protocols, etc.; and with the upgrade of ship equipment, radar interfaces are also changing. The same radar will go through the evolution from analog data interface, to Ethernet digital interface, and then to FC protocol or 10 Gigabit network protocol interface based on fiber channel. The different radar sensor video interfaces provided by the same ship are also different, and often all sensor videos need to be displayed on the command terminal.

[0003] At present, conversion devices are usually designed for radars of different standards and different physical interfaces to solve the interconnection problem between radar signals and display and control terminals. The conversion devices have poor compatibility and are only suitable for one type of radar. In order to adapt to multiple radars, multiple conversion devices must be designed specifically. Summary of the invention

[0004] In view of the above defects or improvement needs of the prior art, the present application provides a radar signal normalization device and method, which aims to solve the technical problem of poor compatibility of existing radar signal conversion equipment.

[0005] To achieve the above purpose, the present application provides a radar signal normalization device, which specifically includes the following parts:

[0006] A receiving unit is used to receive radar signals of different transmission channels, data formats and transmission protocols through multiple independent physical channels; and convert different radar signals into a unified data format and send them to a normalization processing unit;

[0007] The signal generating unit is used to simulate and generate different radar signals according to the characteristics of different standard radars, and convert the different radar signals into a unified data format and send them to the normalization processing unit;

[0008] A normalization processing unit, used for obtaining a data sampling rate and radar echo data from a received radar signal, normalizing the radar echo data based on the data sampling rate; recombining the radar signal with the normalized radar echo data and sending it to the sending unit;

[0009] A transmitting unit, configured to encapsulate the recombined radar signal according to a required transmission protocol and output it.

[0010] Preferably, the normalization processing unit is specifically configured to:

[0011] After receiving the radar signal, respond to the zero-distance trigger pulse in the radar signal, and use the zero-distance trigger pulse as a starting point to analyze the radar signal, so as to obtain a radar signal including azimuth, data sampling rate N, data length, and radar echo data;

[0012] Set the normalization sampling rate M, and compare the data sampling rate N and the normalization sampling rate M: if M > N, copy and expand each radar echo data in the radar signal to M / N copies; if M = N, the radar echo data in the radar signal remains unchanged; if M < N, select one maximum value from every N / M radar echo data in the radar signal and retain it;

[0013] Recombine the radar signal into a data sequence including the zero-distance trigger pulse in the following order:

[0014] Frame header information + azimuth + data sampling rate M + original length of radar echo data + normalized length of radar echo data + normalized radar echo data.

[0015] Preferably, the physical channel includes:

[0016] An analog receiving subunit, configured to sequentially filter, amplify, clamp and limit, and perform analog-to-digital conversion on the received analog radar signal to obtain a digital radar signal;

[0017] A first preprocessing subunit, configured to respond to the zero-distance trigger pulse in the digital radar signal, obtain a first group of signals including the zero-distance trigger pulse, azimuth, data sampling rate, data length, and radar echo data, and at the same time use the first data of the radar echo data as the starting point of the zero-distance trigger pulse of the first group of signals, and jointly form a radar signal in a unified data format.

[0018] Preferably, the physical channel includes:

[0019] An Ethernet receiving subunit, configured to receive a radar signal in Ethernet protocol;

[0020] A second preprocessing subunit, configured to analyze the radar signal sent by Ethernet to obtain a second group of signals including azimuth, data sampling rate, data length, and radar echo data, and at the same time use the first data of the radar echo data as the starting point of the zero-distance trigger pulse of the second group of signals, and jointly form a radar signal in a unified data format.

[0021] Preferably, the physical channel includes:

[0022] An optical fiber receiving subunit, used for converting radar optical signals transmitted in the optical fiber transmission medium into radar electrical signals;

[0023] The third preprocessing subunit is used to analyze the radar electrical signal to obtain a third group of signals including azimuth, data sampling rate, data length and radar echo data, and at the same time use the first data of the echo data as the starting point of the zero-distance trigger pulse of the third group of signals to jointly constitute a radar signal in a unified data format.

[0024] Preferably, the sending unit includes an Ethernet sending subunit and an optical fiber sending subunit:

[0025] The Ethernet sending subunit is used to encapsulate the reorganized radar signal using the Ethernet protocol and then transmit it through the network transmission medium;

[0026] The optical fiber sending subunit is used to encapsulate the reorganized radar signal using the optical fiber channel protocol, and then transmit it through the optical fiber transmission medium.

[0027] In a second aspect, the present application implements a radar signal normalization method, which specifically includes the following steps:

[0028] Receive radar signals of different transmission channels, data formats and transmission protocols through multiple independent physical channels; and convert different radar signals into a unified data format;

[0029] According to the characteristics of different radar systems, different radar signals are simulated and converted into a unified data format; mechanical circular motion is used to simulate the generation of full-scan radar signals; or electronic scanning is used to simulate the generation of multiple sector radar signals;

[0030] The data sampling rate and radar echo data are obtained from the radar signal with a unified data format, and the radar echo data is normalized based on the data sampling rate; the radar signal is reorganized with the normalized radar echo data and sent out.

[0031] Preferably, the data sampling rate and radar echo data are obtained from the radar signal with a unified data format, and the radar echo data is normalized based on the data sampling rate; and the radar signal is reconstructed using the normalized radar echo data, specifically:

[0032] After receiving the radar signal, respond to the zero-distance trigger pulse in the radar signal, and analyze the radar signal with the zero-distance trigger pulse as the starting point to obtain a radar signal including azimuth, data sampling rate N, data length and radar echo data;

[0033] Set the normalized sampling rate M, and compare the data sampling rate N with the normalized sampling rate M: If M > N, then copy and expand each radar echo data in the radar signal to M / N copies; if M = N, then the radar echo data in the radar signal remains unchanged; if M < N, then select one maximum value from every N / M radar echo data in the radar signal and keep it;

[0034] Recombine the radar signal into a data sequence containing zero-distance trigger pulses in the following order:

[0035] Frame header information + azimuth + data sampling rate M + original length of radar echo data + length of radar echo data after normalization + normalized radar echo data.

[0036] Preferably, receive radar signals with different transmission channels, data formats, and transmission protocols through multiple independent physical channels; and convert different radar signals into a unified data format, specifically:

[0037] Receive analog signals, and sequentially filter, amplify, clamp and limit, and perform analog-to-digital conversion on the received analog signals to obtain digital radar signals; obtain a first group of signals including zero-distance trigger pulses, azimuth, data sampling rate, data length, and radar echo data. At the same time, use the first data of the radar echo data as the starting point of the zero-distance trigger pulse of the first group of signals, and jointly form a radar signal in a unified format;

[0038] Receive Ethernet signals, parse the radar signals sent by the Ethernet protocol to obtain a second group of signals including azimuth, data sampling rate, data length, and radar echo data. At the same time, use the first data of the echo data as the starting point of the zero-distance trigger pulse of the second group of signals, and jointly form a radar signal in a unified format;

[0039] Receive optical fiber signals, convert the radar optical signals into radar electrical signals; parse the radar electrical signals to obtain a third group of signals including azimuth, data sampling rate, data length, and radar echo data. At the same time, use the first data of the azimuth signal as the zero-distance trigger pulse of the third group of signals, and jointly form a radar signal in a unified format.

[0040] Preferably, encapsulate the recombined radar signal using the Ethernet protocol, and then transmit it through a network transmission medium;

[0041] Encapsulate the recombined radar signal using the fiber channel protocol, and then transmit it through a fiber transmission medium.

[0042] Generally speaking, compared with the prior art through the above technical solutions conceived by the present application, the following beneficial effects are obtained:

[0043] (1) The present application provides a radar signal normalization technical solution, which normalizes and reorganizes radar signals of different transmission channels, protocols, and formats. The normalized and reorganized data is sent to the display and control terminal according to the required physical channel and transmission protocol. The display and control terminal can use a unified interface to receive and process multi-mode source radar sensor data, which greatly simplifies hardware connections, reduces costs, and facilitates software debugging and integration.

[0044] (2) The radar signal normalization processing device of the present application also includes a signal generating unit, which can simulate different radar source signals without the help of real radar sensors during the test and coordination stage of the display and control terminal, and provide normalized data as the video source signal of the display and control terminal, thereby providing support for the establishment of the entire system experimental environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 A radar signal normalization processing device is provided in an embodiment of the present application.

[0046] Figure 2 This is a schematic diagram of a digitized radar signal provided in an embodiment of the present application.

[0047] Figure 3 It is a flowchart of a radar signal normalization processing method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0049] The terms "first" and "second" in the specification and claims herein are used to distinguish different objects rather than to describe a specific order of the objects. For example, a first preprocessing subunit and a second preprocessing subunit are used to distinguish different preprocessing subunits rather than to describe a specific order of the preprocessing subunits.

[0050] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0051] In the description of the embodiments of the present application, unless otherwise specified, “multiple” means two or more than two. For example, multiple sectors refer to two or more sectors, etc.

[0052] Next, the technical solutions provided in the embodiments of the present application are introduced.

[0053] like Figure 1 As shown, the device of the present application includes a receiving unit, a signal generating unit, a normalization processing unit and a sending unit.

[0054] The receiving unit is used to receive radar signals of different transmission channels, data formats and transmission protocols through multiple independent physical channels respectively; and convert different radar signals into a unified data format and send them to the normalization processing unit. In this embodiment, the disclosed physical channels include 3 types:

[0055] Physical channel 1, analog receiving subunit + first preprocessing subunit:

[0056] The radar analog signal is received by the analog receiving subunit. After long-distance transmission, the radar analog signal will cause signal attenuation and noise superposition. Direct use will cause the signal to be submerged and the signal cannot be fully restored, which will lead to the loss of the target. After the radar analog signal enters the analog receiving subunit, it first passes through the filtering circuit, which is used to reduce the AC component in the radar analog signal, retain its DC component, reduce the output voltage ripple factor, and make the waveform smoother; then pass through the signal amplification circuit to make the radar analog signal as linearly amplified as possible, and the amplitude range after amplification is controlled between 0 and 3V; after the radar analog signal passes through the amplification circuit, the level amplitude of some signals will exceed the set maximum level value of 3V. For such signals, they can be defined as strong radar echo signals, and a clamping limiter circuit can be used to clamp the signal with a level amplitude exceeding 3V to 3V, and then the processed radar analog signal is converted into a digital signal to obtain a radar digital signal.

[0057] In this embodiment, the analog-to-digital conversion is quantized using 8-bit binary bits, which are divided into 256 gray levels, each of which represents about 3 / 256 V. Hexadecimal 00H represents 0V, 7FH represents 1.5V, and FFH represents 3V.

[0058] The radar digital signal obtained after analog-to-digital conversion is then sent to the first preprocessing subunit. In this embodiment, the first preprocessing subunit runs in the FPGA, which responds to the zero-distance trigger pulse signal in the digital radar signal, calculates the azimuth value of the current main pulse and latches it, and caches the digital radar signal with the zero-distance trigger pulse as the starting point, forming a group of signals with zero-distance trigger pulse signal, azimuth signal, sampling rate, data length, radar echo data and other information. The signal schematic diagram is shown in FIG. Figure 2 shown.

[0059] In this embodiment, the zero-distance trigger pulse is a proprietary signal quantity in the radar system, which is used to indicate the starting position of the radar detection distance;

[0060] Physical channel 2, Ethernet receiving subunit + second pre-processing subunit:

[0061] The Ethernet receiving subunit adopts the standard TCP / IP protocol, has 10M / 100M / 1000M adaptive capability, and is responsible for receiving the radar signal sent by the front-end Ethernet. In this embodiment, a Gigabit Ethernet PHY chip is used as the physical access layer to convert the differential signal into a parallel RGMII timing signal.

[0062] In this embodiment, the second preprocessing subunit runs in the FPGA, which integrates the Ethernet data link layer, network layer, transport layer and application layer. It receives the RGMII timing sent by the Ethernet receiving subunit, unloads the Ethernet protocol, and obtains the original radar video signal. After receiving a complete UDP data packet, the second preprocessing subunit immediately parses it to separate the radar signal's azimuth signal, sampling rate, data length, radar echo data, etc. At the same time, the first echo data of the azimuth signal is used as the zero distance to form a zero-distance trigger pulse signal. The signal diagram is shown in the figure. Figure 2 shown.

[0063] Physical channel 3, optical fiber receiving subunit + third pre-processing subunit:

[0064] The optical fiber receiving subunit uses optical fiber as the physical transmission medium and uses an optical module to convert the optical signal into an electrical signal. In this embodiment, the optical fiber receiving subunit uses an optical module with a maximum rate of 10Gbps as the receiving end and supports an operating wavelength of 850nm or 1310nm. The optical module converts the optical signal into a set of differential high-speed electrical signals, and connects this set of differential signals to the high-speed GT port of the FPGA, and the data is transmitted through this GT port.

[0065] The third preprocessing subunit runs in the FPGA and is responsible for parsing the data sent by the optical fiber receiving subunit. In the FPGA, the GT interface is configured with transmission rate, reference clock, transmission bit width, 8b / 10b encoding, K code definition, clock check, etc., so that it corresponds one-to-one with the sensor end sending protocol. After receiving a complete data packet, the third preprocessing subunit immediately parses it to separate the radar signal's azimuth signal, sampling rate, data length, radar echo data, etc. At the same time, the first echo data of the azimuth signal is used as the zero point distance to form a zero-distance trigger pulse signal. The signal diagram is shown in the figure. Figure 2 shown.

[0066] The signal generating unit is used to simulate and generate different radar signals according to the characteristics of different standard radars, and send the different radar signals to the normalization processing unit in a unified data format; in this embodiment, representative mechanical scanning methods and electronic scanning methods are selected to generate simulated data.

[0067] Mechanical scanning generally makes circular motion, simulating a radar signal with a complete scanning cycle of 4 seconds, then its zero-distance trigger pulse cycle is about 4 seconds / 4096=976 microseconds, using a 2500Kbps sampling rate, and each data point represents a distance of 60 meters; the echo data is set to be between the four sector orientations of 0°~10°, 90°~100°, 180°~190°, and 270°~280°, and the grayscale value increases from 0 to 1 in sequence, and then returns to zero and starts again after reaching 255, to simulate the grayscale step-by-step change signal. A total of 3000 points, that is, a distance of 180 kilometers.

[0068] The electronic scanning method generally has multiple arrays, and not only the scanning period and scanning angle of each array are different, but also the sampling rate of each array is different. This embodiment simulates four arrays, as follows:

[0069] a. The first array simulates a scan from 0° to 90°, the sampling rate is set to 2000Kbps, the echo data is set between 0° to 10° and 80° to 90°, the grayscale value increases from 0 to 1, and then returns to zero and starts again after reaching 255, to simulate the grayscale changing signal step by step. A total of 4000 points, i.e. 300 kilometers;

[0070] b. The second array simulates a scan from 90° to 180°, with a sampling rate of 2500Kbps, echo data set between 90° and 100°, grayscale value set to 0x0a to simulate continuous small signals; between 170° and 180°, grayscale value set to 0xff to simulate continuous large signals. A total of 5000 points, i.e. 300 km distance;

[0071] c. The third array simulates a scan of 180° to 270°, with a sampling rate of 5000Kbps. The echo data is set to 0x0a at every 500 points (15 kilometers) between 180° and 190°, and other gray values ​​are set to 0 to simulate discrete small signals; between 260° and 270°, the gray value is set to 0xff at every 500 points (15 kilometers), and other gray values ​​are set to 0 to simulate discrete large signals. A total of 10,000 points, or 300 kilometers;

[0072] d. The fourth array simulates a scan of 270° to 360°, the sampling rate is set to 10000Kbps, the echo data is set to be between 300° and 310°, the initial distance starts from 0 distance, the gray value is set to 0xff, and the gray values ​​of other data points are set to 0; after each scan cycle, the data sequence where the gray value 0xff is located increases by 100 (1.5 kilometers), and the gray values ​​of other data points are set to 0, and this is repeated. A total of 20,000 points are used to simulate dynamic targets within 300 kilometers.

[0073] After the signal generating unit simulates different radar signal formats, it forms a set of signals with zero-distance trigger pulse signal, azimuth signal, sampling rate, data length, radar echo data and other information. Figure 2 shown.

[0074] The normalization processing unit is used to obtain the data sampling rate N and the radar echo data from the radar signal, normalize the radar echo data based on the data sampling rate, and then reassemble and send the radar signal. Figure 3 As shown, the processing flow is as follows:

[0075] Step 1: The normalization processing unit adopts a cyclic processing mechanism to respond to the zero-distance trigger pulse signal sent by the receiving unit or the signal generating unit, and analyzes the pre-processed radar azimuth signal, data sampling rate, data length, radar echo data and other parameters;

[0076] Step 2: Obtain the sampling rate N sent by the receiving unit or the signal generating unit, and compare it with the set normalized sampling rate M;

[0077] Step 3: If M is greater than N, it means that the distance represented by each echo data point of the radar signal to be normalized is less than the distance represented by the original echo data point sent by the data receiving unit or the signal generating unit, then each original echo data point is copied M / N times;

[0078] Step 4: If M is less than N, it means that the distance represented by each echo data point of the radar signal to be normalized is greater than the distance represented by the original echo data point sent by the receiving unit or the signal generating unit, then the largest data point among every N / M original echo data points is selected as the normalized radar signal echo data point;

[0079] Step 5: If M is equal to N, it means that the distance represented by each echo data point of the radar signal to be normalized is equal to the distance represented by the original radar echo data point sent by the receiving unit or the signal generating unit, and the sent original radar echo data point is not processed in any way;

[0080] Step 6, traverse L1 original radar echo data points and perform normalization processing to form L2 normalized radar echo data points;

[0081] Step 7: Reorganize the data sequence. Reorganize a zero-distance trigger pulse data sequence in the order of frame header information, azimuth signal FW, sampling rate M, original radar echo data length L1, normalized radar echo data length L2, and normalized radar echo data.

[0082] Taking this embodiment as an example, the normalized sampling rate is set to 5000 Kbps. If the sampling rate sent by the receiving unit or the signal generating unit is 2500 Kbps, the normalized sampling rate is twice the sampling rate sent by the receiving unit or the signal generating unit, which means that the normalization processing unit needs to copy each original radar echo data point twice as the normalized data sequence; if the sampling rate sent by the receiving unit or the signal generating unit is 10000 Kbps, the normalized sampling rate is half of the sampling rate sent by the receiving unit, and the original radar echo data needs to be grouped into groups of 2, and then the largest one of each group of 2 data is used as the normalized data sequence; if the sampling rate sent by the receiving unit is also 5000 Kbps, it is the same as the sampling rate sent by the receiving unit or the signal generating unit, and the normalized data is consistent with the original data. In this way, the original radar signal data sent is traversed once to form a normalized data sequence. Finally, the relevant parameter information and data frame header information are attached to the beginning of this data sequence to reorganize it into a zero-distance trigger pulse data sequence. The data reorganization rules are shown in Table 1:

[0083] Table 1

[0084]

[0085] The sending unit is used to send the radar signal reorganized after normalization. In this embodiment, the sending unit includes the following parts:

[0086] The Ethernet sending subunit is used to encapsulate the reorganized radar signal using the Ethernet protocol and then transmit it through the network transmission medium.

[0087] In this embodiment, after the Ethernet sending subunit obtains the normalized reorganized zero-distance trigger pulse data sequence, it will convert this data sequence into standard TCP / IP protocol data to the Internet for use by the back-end command terminal. The Ethernet sending subunit is a UDP / IP transmission protocol implemented based on FPGA. Specifically, the sending unit obtains the reorganized zero-distance trigger pulse data sequence and starts UDP / IP protocol encapsulation. First, the source port, destination port, data length and checksum are added to this data sequence to form a UDP packet, and then the source IP address, destination IP address and data type are added to the header area of ​​the UDP packet to encapsulate it into an IP packet, and finally the data is sent out through the physical layer chip.

[0088] The optical fiber sending subunit is used to encapsulate the reassembled radar signal using the optical fiber channel protocol and then transmit it through the optical fiber transmission medium.

[0089] In this embodiment, the optical fiber sending subunit is the same as the Ethernet sending subunit, and simultaneously obtains the reorganized zero-distance trigger pulse data sequence, and converts the sequence into the Fiber Channel protocol format for Internet access. The optical fiber sending subunit is an FC-AE-ASM hardware protocol stack implemented based on FPGA, which encapsulates the reorganized zero-distance trigger pulse data sequence as the payload, together with the data frame header information consisting of the source ID, destination ID, packet type, error check, etc., and then sends the data out through the optoelectronic conversion chip.

[0090] It should be understood that the various numerical numbers involved in the embodiments of the present application are only used for the convenience of description and are not used to limit the scope of the embodiments of the present application.

[0091] The above content is easily understood by those skilled in the art. The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A radar signal normalization device, characterized in that: Specifically, it includes the following parts: A receiving unit, which is used to receive radar signals of different transmission channels, data formats, and transmission protocols through multiple independent physical channels respectively; and convert the different radar signals into a unified data format and then send them to the normalization processing unit; A signal generation unit, which is used to simulate and generate different radar signals according to the characteristics of different types of radars, and convert the different radar signals into a unified data format and send them to the normalization processing unit; A normalization processing unit, which is used to obtain the data sampling rate and radar echo data from the received radar signals, and normalize the radar echo data based on the data sampling rate; recombine the radar signals with the normalized radar echo data and then send them to the sending unit; A sending unit, which is used to encapsulate the recombined radar signals according to the required transmission protocol and output them.

2. The normalization device according to claim 1, characterized in that: Specifically, the normalization processing unit is used for: After receiving the radar signal, respond to the zero-distance trigger pulse in the radar signal, and parse the radar signal starting from the zero-distance trigger pulse to obtain a radar signal including azimuth, data sampling rate N, data length, and radar echo data; Set the normalization sampling rate M, and compare the data sampling rate N with the normalization sampling rate M: if M > N, then copy and expand each radar echo data in the radar signal to M / N copies; if M = N, the radar echo data in the radar signal remains unchanged; If M < N, then select and retain one maximum value from every N / M radar echo data in the radar signal; Recombine the radar signal into a data sequence including the zero-distance trigger pulse in the following order: Frame header information + azimuth + data sampling rate M + original length of radar echo data + length of normalized radar echo data + normalized radar echo data.

3. The normalization device according to claim 1, characterized in that: The physical channels include: An analog receiving sub-unit, which is used to filter, amplify, clamp and limit, and perform analog-to-digital conversion on the received analog radar signal in sequence to obtain a digital radar signal; A first preprocessing sub-unit, which is used to respond to the zero-distance trigger pulse in the digital radar signal, obtain a first group of signals including the zero-distance trigger pulse, azimuth, data sampling rate, data length, and radar echo data, and at the same time use the first data of the radar echo data as the starting point of the zero-distance trigger pulse of the first group of signals to jointly form a radar signal in a unified data format.

4. The normalization device according to claim 1, characterized in that: The physical channels include: An Ethernet receiving sub-unit, which is used to receive radar signals of Ethernet protocol; A second preprocessing sub-unit, which is used to parse the radar signals sent by Ethernet to obtain a second group of signals including azimuth, data sampling rate, data length, and radar echo data, and at the same time use the first data of the radar echo data as the starting point of the zero-distance trigger pulse of the second group of signals to jointly form a radar signal in a unified data format.

5. The normalization device according to claim 1, characterized in that: The physical channels include: An optical fiber receiving sub-unit, which is used to convert the radar optical signal transmitted in the optical fiber transmission medium into a radar electrical signal; A third preprocessing subunit, configured to analyze the radar electrical signal to obtain a third set of signals including azimuth, data sampling rate, data length, and radar echo data, and at the same time use the first data of the echo data as the zero-distance trigger pulse starting point of the third set of signals, jointly constituting a radar signal in a unified data format.

6. The normalization device according to claim 1, characterized in that: The sending unit includes an Ethernet sending subunit and an optical fiber sending subunit: The Ethernet sending subunit is configured to encapsulate the reorganized radar signal using the Ethernet protocol and then transmit it through a network transmission medium. The optical fiber sending subunit is configured to encapsulate the reorganized radar signal using the fiber channel protocol and then transmit it through an optical fiber transmission medium.

7. A radar signal normalization method, characterized in that: Specifically, it includes the following steps: Receive radar signals with different transmission channels, data formats, and transmission protocols through multiple independent physical channels; and convert different radar signals into a unified data format. According to the characteristics of different types of radars, simulate and generate different radar signals, and convert different radar signals into a unified data format; use a mechanical circular motion method to simulate and generate a full-scan radar signal; or use an electronic scanning method to simulate and generate radar signals of multiple sectors. Obtain the data sampling rate and radar echo data from the radar signal with a unified data format, and normalize the radar echo data based on the data sampling rate; reorganize the radar signal with the normalized radar echo data and send it out.

8. The normalization method according to claim 7, characterized in that: Obtain the data sampling rate and radar echo data from the radar signal with a unified data format, and normalize the radar echo data based on the data sampling rate; reorganize the radar signal with the normalized radar echo data, specifically: After receiving the radar signal, respond to the zero-distance trigger pulse in the radar signal, and analyze the radar signal starting from the zero-distance trigger pulse to obtain a radar signal including azimuth, data sampling rate N, data length, and radar echo data. Set the normalized sampling rate M, and compare the data sampling rate N with the normalized sampling rate M: if M > N, copy and expand each radar echo data in the radar signal to M / N copies; if M = N, the radar echo data in the radar signal remains unchanged. If M < N, select and retain one maximum value from every N / M radar echo data in the radar signal. Reorganize the radar signal into a data sequence including the zero-distance trigger pulse in the following order: Frame header information + azimuth + data sampling rate M + original length of radar echo data + normalized length of radar echo data + normalized radar echo data.

9. The normalization method according to claim 7, characterized in that: Receive radar signals with different transmission channels, data formats, and transmission protocols through multiple independent physical channels; and convert different radar signals into a unified data format, specifically: Receive an analog signal, sequentially filter, amplify, clamp and limit, and perform analog-to-digital conversion on the received analog signal to obtain a digital radar signal; obtain a first set of signals including a zero-distance trigger pulse, azimuth, data sampling rate, data length, and radar echo data, and at the same time use the first data of the radar echo data as the zero-distance trigger pulse starting point of the first set of signals, jointly constituting a radar signal in a unified format. Receiving an Ethernet signal, parsing the radar signal sent by the Ethernet protocol to obtain a second group of signals including azimuth, data sampling rate, data length and radar echo data, and taking the first data of the echo data as the starting point of the zero-distance trigger pulse of the second group of signals, together forming a radar signal in a unified format; Receive optical fiber signals and convert radar optical signals into radar electrical signals; The radar electrical signal is analyzed to obtain a third group of signals including azimuth, data sampling rate, data length and radar echo data. At the same time, the first data of the azimuth signal is used as the zero-distance trigger pulse of the third group of signals to form a radar signal of a unified format.

10. The normalization method according to claim 7, characterized in that: The reassembled radar signal is encapsulated using the Ethernet protocol and then transmitted through the network transmission medium; The reassembled radar signal is encapsulated using the Fibre Channel protocol and then transmitted through the optical fiber transmission medium.

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