Bird migration behavior monitoring method and system based on bird detection radar

Abstract

The present invention discloses a bird migration behavior monitoring method and system based on a bird detection radar, and relates to the technical field of bird detection radar monitoring. The method comprises the following steps: judging whether to perform radar transceiver adjustment according to a radar transceiver influence degree coefficient obtained from radar transceiver influence data; judging whether to perform preprocessing adjustment according to a radar signal preprocessing influence index obtained from radar signal preprocessing data; judging whether to perform bird migration behavior monitoring according to a target detection effect evaluation coefficient obtained from target detection effect data. The present invention obtains target detection effect data, and judges whether to perform bird migration behavior monitoring according to a target detection effect evaluation coefficient obtained from the target detection effect data, thereby achieving the effect of more accurately monitoring bird migration behavior, and solves the problem in the prior art that it is difficult to accurately obtain bird detection radar data related to bird migration behavior monitoring.

Description

Technical Field

[0001] The present invention relates to the technical field of bird detection radar monitoring, and in particular to a method and system for monitoring bird migration behavior based on bird detection radar. Background Art

[0002] Bird-detecting radar detects birds by emitting electromagnetic waves and receiving the signals reflected from them. When electromagnetic waves encounter birds, they are reflected. These reflected waves are received and processed by the radar system to obtain information such as the bird's location, speed, and direction of movement. Since radar signals may be affected by various factors during propagation, such as terrain and weather, the quality of the received reflected wave signal will decrease, thus affecting the accuracy of the data. Bird-detecting radar generates a large amount of data during the monitoring process. Accurately extracting target data related to bird migration from a large amount of radar data is a challenging task.

[0003] The existing bird migration monitoring system obtains bird migration-related data through radar, and uses statistics and machine learning methods to analyze the obtained bird migration-related data to obtain the patterns of bird migration, thereby realizing the monitoring function of bird migration.

[0004] For example, a patent application with publication number: CN115932837A discloses a method for quantifying migratory birds based on dual-polarization weather radar and bird-detecting radar, including: S1, setting up bird-detecting radar and weather radar; wherein the effective detection range of the weather radar covers the detection range of the bird-detecting radar; the bird-detecting radar adopts a near-far waveform alternating scanning mode; S2, eliminating false track targets in the track observed by the bird-detecting radar, and then calculating the bird density; eliminating non-bird echoes observed by the weather radar, including meteorological echoes and insect echoes; S3, performing a correlation analysis on the time series of bird density observed by the bird-detecting radar and the time series of echo intensity at different positions of the weather radar, and determining the common monitoring airspace of the two; S4, extracting the average bird density of the bird-detecting radar in the common monitoring airspace, extracting the average reflectivity intensity of the weather radar in the common monitoring airspace, and obtaining the quantitative relationship between the bird density and the reflectivity intensity of the weather radar through regression analysis.

[0005] For example, the invention patent with announcement number: CN109239702B announces a method for counting the number of low-altitude birds at an airport based on a target state set, including: in each filtering cycle, frame-by-frame merging is performed based on multiple bird detection radar echo measurement data in previous continuous cycles to obtain a candidate set of bird targets, and the historical trajectory information is used to remove existing targets from the above-mentioned candidate set of bird targets to obtain a new target candidate set for the filtering cycle; based on the above-mentioned new target candidate set and the existing trajectory at the previous moment, the measurement data at the current moment is filtered to obtain the current target state set; the target state set is connected by trajectory and extinction judgment is performed, and the number of bird targets within the current monitoring range is output.

[0006] However, in the process of implementing the technical solution of the invention in the embodiments of the present application, the present application found that the above technology has at least the following technical problems:

[0007] In the prior art, since bird-detecting radar generates a large amount of data during the monitoring of bird migration behavior, it is difficult to accurately extract target data related to bird migration from a large amount of radar data, and there is a problem that it is difficult to accurately obtain bird-detecting radar data related to bird migration behavior monitoring. Summary of the invention

[0008] The embodiments of the present application solve the problem in the prior art that it is difficult to accurately obtain bird detection radar data related to bird migration behavior monitoring by providing a bird migration behavior monitoring method and system based on bird detection radar, thereby achieving more accurate bird migration behavior monitoring.

[0009] The embodiment of the present application provides a method for monitoring bird migration behavior based on a bird detecting radar, comprising the following steps: obtaining radar reception and transmission influence data of the bird detecting radar, and judging whether to adjust the radar reception and transmission according to the radar reception and transmission influence degree coefficient obtained from the radar reception and transmission influence data; obtaining a radar signal through a qualified bird detecting radar after the radar reception and transmission adjustment and preprocessing it, obtaining radar signal preprocessing data, and judging whether to perform preprocessing adjustment according to the radar signal preprocessing influence index obtained from the radar signal preprocessing data; performing target detection on the qualified radar signal after the preprocessing adjustment to obtain a target signal, obtaining target detection effect data, and judging whether to perform bird migration behavior monitoring according to the target detection effect evaluation coefficient obtained from the target detection effect data; the radar reception and transmission influence data include: rainfall in the radar use area, PM2.5 concentration in the radar use area, maximum radar detection distance, radar resolution, radar limited rainfall, Radar limited PM2.5 concentration, radar detection standard distance and radar standard resolution; the radar use area rainfall indicates the rainfall in the area used by the bird detecting radar when sending and receiving radar signals; the radar use area PM2.5 concentration indicates the PM2.5 concentration in the area used by the bird detecting radar when sending and receiving radar signals; the radar maximum detection distance indicates the maximum distance detected by the bird detecting radar when sending and receiving radar signals; the radar resolution indicates the maximum resolution of the bird detecting radar when sending and receiving radar signals; the radar limited rainfall indicates the minimum rainfall affected by rainfall when the bird detecting radar is sending and receiving radar signals; the radar limited PM2.5 concentration indicates the minimum concentration affected by PM2.5 when the bird detecting radar is sending and receiving radar signals; the radar transceiver impact degree coefficient is used to reflect the degree of influence of the use area environment on the bird detecting radar when sending and receiving radar signals.

[0010] Furthermore, the specific acquisition process of the radar reception and transmission influence coefficient is as follows: the rainfall compliance coefficient is obtained by processing the result of the ratio operation of the rainfall in the radar use area with the radar limited rainfall with the first-level weight; the PM2.5 compliance coefficient is obtained by processing the result of the ratio operation of the PM2.5 concentration in the radar use area with the radar limited PM2.5 concentration and twice the radar limited PM2.5 concentration with the second-level weight; the distance compliance coefficient is obtained by processing the result of the ratio operation of the maximum radar detection distance with the radar detection compliance distance with the third-level weight; the resolution compliance coefficient is obtained by processing the result of the ratio operation of the radar compliance resolution with the radar resolution with the fourth-level weight; when the maximum radar detection distance is not less than the radar detection compliance distance, the radar reception and transmission influence coefficient is obtained according to the rainfall compliance coefficient, the PM2.5 compliance coefficient and the resolution compliance coefficient; when the maximum radar detection distance is less than the radar detection compliance distance, the radar reception and transmission influence coefficient is obtained according to the rainfall compliance coefficient, the PM2.5 compliance coefficient, the distance compliance coefficient and the resolution compliance coefficient.

[0011] Furthermore, the radar signal preprocessing data includes: radar signal noise power, radar signal signal-to-noise ratio, radar signal fluctuation amplitude, radar signal unprocessed noise power, radar signal unprocessed signal-to-noise ratio and radar signal unprocessed fluctuation amplitude; the radar signal noise power represents the noise power of the preprocessed radar signal; the radar signal signal-to-noise ratio represents the signal-to-noise ratio of the preprocessed radar signal; the radar signal fluctuation amplitude represents the signal amplitude fluctuation range of the preprocessed radar signal within a preset time period; the radar signal preprocessing influence index is used to reflect the preprocessing effect of the radar signal obtained by the qualified bird-detecting radar after radar transceiver adjustment.

[0012] Furthermore, a specific method for obtaining the radar signal preprocessing influence index is as follows: a result of a ratio operation of radar signal noise power and radar signal unprocessed noise power is processed with a first weight to obtain a noise power qualification coefficient; a result of a ratio operation of the sum of the radar signal signal-to-noise ratio and the radar signal unprocessed signal-to-noise ratio and twice the radar signal unprocessed signal-to-noise ratio is processed with a second weight to obtain a signal-to-noise ratio qualification coefficient; a result of a ratio operation of the radar signal fluctuation amplitude and the radar signal unprocessed fluctuation amplitude is processed with a third weight to obtain a fluctuation amplitude qualification coefficient; and a radar signal preprocessing influence index is obtained by processing according to the noise power qualification coefficient, the signal-to-noise ratio qualification coefficient and the fluctuation amplitude qualification coefficient.

[0013] Furthermore, the specific process of determining whether to perform preprocessing adjustment is as follows: comparing the acquired radar signal preprocessing influence index with the radar signal preprocessing threshold; when the radar signal preprocessing influence index is less than the radar signal preprocessing threshold, no preprocessing adjustment is performed; when the radar signal preprocessing influence index is not less than the radar signal preprocessing threshold, preprocessing adjustment is performed.

[0014] Furthermore, the target detection effect data includes: the number of detected objects, the number of detected birds, the missed detection ratio and the actual number of birds; the number of detected objects represents the number of objects detected in the target signal obtained by performing target detection on the qualified radar signal after preprocessing and adjustment; the number of detected birds represents the number of birds detected in the target signal obtained by performing target detection on the qualified radar signal after preprocessing and adjustment; the missed detection ratio represents the ratio of the number of undetected birds in the target signal obtained by performing target detection on the qualified radar signal after preprocessing and adjustment to the actual number of birds; the target detection effect evaluation coefficient is used to reflect the accuracy of the target signal obtained by performing target detection on the qualified radar signal after preprocessing and adjustment.

[0015] Furthermore, the specific method for obtaining the target detection effect evaluation coefficient is as follows: the result of the ratio operation of the sum of the number of detected birds and the actual number of birds and twice the actual number of birds is processed with a first-level weight to obtain the sensitivity coefficient; the result of the ratio operation of the number of detected birds and the number of detected objects is processed with a second-level weight to obtain the accuracy coefficient; the missed detection ratio is processed with a third-level weight to obtain the missed detection coefficient; the target detection effect evaluation coefficient is obtained according to the sensitivity coefficient, the accuracy coefficient and the missed detection coefficient.

[0016] Furthermore, the specific limiting expression of the radar receiving and transmitting influence coefficient is:

[0017] ;

[0018] In the formula, It is expressed as the radar receiving and transmitting influence coefficient of the bird-detecting radar, It indicates the rainfall in the current radar usage area of ​​the bird detection radar. It represents the PM2.5 concentration in the current radar usage area of ​​the bird detection radar. It indicates the maximum detection distance of the bird detection radar. It represents the current radar resolution of the bird-detecting radar. is expressed as radar-limited rainfall for bird-detecting radar, Expressed as radar-limited PM2.5 concentration for bird-detecting radar, It is expressed as the radar detection standard distance of the bird detection radar. It is expressed as the radar standard resolution of bird-detecting radar. Represented as the first-level weight, Expressed as secondary weight, Expressed as three-level weights, Expressed as four-level weights, Expressed as a natural constant.

[0019] The embodiment of the present application provides a bird migration behavior monitoring system based on a bird detecting radar, including: a transceiver adjustment module, a preprocessing adjustment module and a bird migration behavior monitoring module; wherein the transceiver adjustment module is used to obtain radar transceiver influence data of the bird detecting radar, and determine whether to perform radar transceiver adjustment according to the radar transceiver influence degree coefficient obtained from the radar transceiver influence data; the preprocessing adjustment module is used to obtain and preprocess radar signals from a qualified bird detecting radar after radar transceiver adjustment, obtain radar signal preprocessing data, and determine whether to perform preprocessing adjustment according to the radar signal preprocessing influence index obtained from the radar signal preprocessing data; the bird migration behavior monitoring module is used to perform target detection on the qualified radar signal after preprocessing adjustment to obtain the target signal, obtain target detection effect data, and determine whether to perform bird migration behavior monitoring according to the target detection effect evaluation coefficient obtained from the target detection effect data; the radar transceiver influence data include: rainfall in the radar use area, radar use area The radar uses the area rainfall that indicates the rainfall in the area used by the bird detecting radar when receiving and sending radar signals; the radar uses the area PM2.5 concentration that indicates the PM2.5 concentration in the area used by the bird detecting radar when receiving and sending radar signals; the radar detects the farthest distance that the bird detecting radar detects when receiving and sending radar signals; the radar resolution indicates the maximum resolution of the bird detecting radar when receiving and sending radar signals; the radar limited rainfall indicates the minimum rainfall that is affected by rainfall when the bird detecting radar receives and sends radar signals; the radar limited PM2.5 concentration indicates the minimum concentration that is affected by PM2.5 when the bird detecting radar receives and sends radar signals; the radar transceiver impact coefficient is used to reflect the degree of influence of the bird detecting radar by the use area environment when receiving and sending radar signals.

[0020] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0021] 1. Determine whether to adjust the radar reception and transmission by using the obtained radar reception and transmission influence coefficient, and determine whether to perform preprocessing adjustment based on the radar signal preprocessing influence index obtained from the radar signal preprocessing data of the qualified bird detecting radar after the radar reception and transmission adjustment, thereby determining whether to perform bird migration behavior monitoring based on the target detection effect evaluation coefficient obtained from the target detection effect data of the qualified radar signal after the preprocessing adjustment, thereby achieving more accurate bird migration behavior monitoring, and effectively solving the problem in the prior art that it is difficult to accurately obtain bird detecting radar data related to bird migration behavior monitoring.

[0022] 2. The rainfall compliance coefficient is obtained by combining the rainfall in the radar usage area with the first-level weight, and then the PM2.5 concentration in the radar usage area is processed with the second-level weight to obtain the PM2.5 compliance coefficient. Next, the radar maximum detection distance is processed with the third-level weight to obtain the distance compliance coefficient, and then the radar resolution is processed with the fourth-level weight to obtain the resolution compliance coefficient. Finally, the radar reception and transmission influence coefficient is obtained based on the rainfall compliance coefficient, PM2.5 compliance coefficient, distance compliance coefficient and resolution compliance coefficient. The radar reception and transmission are adjusted based on the radar reception and transmission influence coefficient, thereby improving the effectiveness of the bird detection radar reception and transmission signals.

[0023] 3. The noise power qualification coefficient is obtained by combining the radar signal noise power, the radar signal unprocessed noise power and the first weight, and then the signal-to-noise ratio qualification coefficient is obtained by combining the radar signal signal-to-noise ratio, the radar signal unprocessed signal-to-noise ratio and the second weight. Then, the result of the ratio operation between the radar signal fluctuation amplitude and the radar signal unprocessed fluctuation amplitude is processed with the third weight to obtain the fluctuation amplitude qualification coefficient, and finally the radar signal preprocessing influence index is obtained, so as to perform preprocessing adjustment according to the radar signal preprocessing influence index, thereby improving the reliability of radar signal preprocessing. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A flow chart of a method for monitoring bird migration behavior based on bird detection radar provided in an embodiment of the present application;

[0025] Figure 2 A target detection effect evaluation coefficient curve diagram provided in an embodiment of the present application;

[0026] Figure 3 A schematic diagram of the structure of a bird migration behavior monitoring system based on bird detection radar provided in an embodiment of the present application. DETAILED DESCRIPTION

[0027] The embodiments of the present application solve the problem in the prior art that it is difficult to accurately obtain bird detecting radar data related to bird migration behavior monitoring by providing a bird migration behavior monitoring method and system based on bird detecting radar. The radar transceiver influence degree coefficient obtained from the radar transceiver influence data determines whether to perform radar transceiver adjustment, and then determines whether to perform preprocessing adjustment based on the radar signal preprocessing data of the qualified bird detecting radar after the radar transceiver adjustment. The target detection effect evaluation coefficient obtained from the target detection effect data of the qualified radar signal after the preprocessing adjustment determines whether to perform bird migration behavior monitoring, thereby achieving more accurate bird migration behavior monitoring.

[0028] The technical solution in the embodiment of the present application is to solve the above-mentioned problem that it is difficult to accurately obtain bird detection radar data related to bird migration behavior monitoring. The overall idea is as follows:

[0029] Whether to adjust the radar reception and transmission is determined by the obtained radar reception and transmission influence coefficient, and a radar signal is obtained by a qualified bird-detecting radar after the radar reception and transmission adjustment. The radar signal is then preprocessed and radar signal preprocessing data is obtained. According to the radar signal preprocessing data, a radar signal preprocessing influence index is obtained and it is determined whether to perform preprocessing adjustment. Then, target detection is performed on the qualified radar signal after the preprocessing adjustment to obtain a target signal and target detection effect data are obtained, so as to obtain a target detection effect evaluation coefficient according to the target detection effect data and determine whether to monitor bird migration behavior, thereby achieving the effect of more accurately monitoring bird migration behavior.

[0030] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0031] like Figure 1 As shown, it is a flow chart of a method for monitoring bird migration behavior based on a bird detecting radar provided in an embodiment of the present application, the method comprising the following steps: obtaining radar transceiver influence data of the bird detecting radar, and judging whether to perform radar transceiver adjustment according to a radar transceiver influence degree coefficient obtained from the radar transceiver influence data; obtaining a radar signal from a qualified bird detecting radar after the radar transceiver adjustment and preprocessing it, obtaining radar signal preprocessing data, and judging whether to perform preprocessing adjustment according to a radar signal preprocessing influence index obtained from the radar signal preprocessing data; performing target detection on the qualified radar signal after the preprocessing adjustment to obtain a target signal, obtaining target detection effect data, and judging whether to perform bird migration behavior monitoring according to a target detection effect evaluation coefficient obtained from the target detection effect data.

[0032] It should be added that the data affecting radar transmission and reception include: rainfall in the radar use area, PM2.5 concentration in the radar use area, maximum radar detection distance, radar resolution, radar-restricted rainfall, radar-restricted PM2.5 concentration, radar detection standard distance and radar standard resolution.

[0033] In this embodiment, the rainfall in the radar use area indicates the rainfall in the area used by the bird detecting radar when it is transmitting and receiving radar signals; the PM2.5 concentration in the radar use area indicates the PM2.5 concentration in the area used by the bird detecting radar when it is transmitting and receiving radar signals; the maximum radar detection distance indicates the maximum distance detected by the bird detecting radar when it is transmitting and receiving radar signals; the radar resolution indicates the maximum resolution of the bird detecting radar when it is transmitting and receiving radar signals; the radar limited rainfall indicates the minimum rainfall affected by rainfall when the bird detecting radar is transmitting and receiving radar signals; the radar limited PM2.5 concentration indicates the minimum concentration affected by PM2.5 when the bird detecting radar is transmitting and receiving radar signals; the radar transmission and reception influence degree coefficient is used to reflect the degree of influence of the bird detecting radar by the use area environment when it is transmitting and receiving radar signals.

[0034] Preprocessing includes denoising, filtering and data correction. Radar signals may be interfered by various noises during transmission, such as environmental noise, equipment noise, etc. The purpose of denoising is to remove these unnecessary noises from the original signals to improve the quality of the signal; filtering is the frequency domain processing of the signal, the purpose is to retain useful frequency components and remove useless frequency components. Through filtering, the radar signal can be further purified to make it easier for subsequent processing and analysis; data correction is to correct various errors of the radar signal, including time error, space error, etc. The corrected data is more accurate and can more truly reflect the location and dynamic information of the birds.

[0035] The radar detection standard distance indicates the target detection distance when the bird detecting radar is sending and receiving radar signals; the radar standard resolution indicates the target resolution when the bird detecting radar is sending and receiving radar signals.

[0036] When the bird-detecting radar sends and receives radar signals, the rainfall is monitored in real time through the rainfall sensor deployed at the installation site of the bird-detecting radar to obtain the rainfall in the radar use area. According to the radar's technical specifications and experimental data, it is determined at what rainfall the radar begins to be affected, and the corresponding rainfall is recorded as the radar-restricted rainfall.

[0037] When the bird-detecting radar sends and receives radar signals, the PM2.5 concentration in the air is monitored in real time by a PM2.5 air quality monitor installed at a preset position of the bird-detecting radar to obtain the PM2.5 concentration in the radar use area. According to the technical documentation and experimental data of the bird-detecting radar, it is determined at what PM2.5 concentration the radar will begin to be affected, and the corresponding PM2.5 concentration is recorded as the radar-restricted PM2.5 concentration.

[0038] When the bird detection radar sends and receives radar signals, the radar's built-in test function or preset test mode is used to measure the maximum distance that the bird detection radar can detect, and the radar's maximum detection distance is obtained. The target detection distance set according to the bird migration monitoring needs is obtained, and the radar detection standard distance is obtained.

[0039] When the bird detecting radar sends and receives radar signals, the radar resolution is obtained by using the built-in test function of the bird detecting radar to obtain its maximum resolution. The target resolution set according to the monitoring requirements is obtained as the radar target resolution.

[0040] By analyzing the radar reception and transmission effects of radar signals through data affecting rainfall in the radar operating area, PM2.5 concentration in the radar operating area, maximum radar detection distance, radar resolution, radar limited rainfall, radar limited PM2.5 concentration, radar detection standard distance and radar standard resolution, we can accurately and comprehensively analyze from the environmental aspect whether the bird-detecting radar is affected, resulting in deterioration of the radar signal reception and transmission effect.

[0041] Furthermore, the specific process of obtaining the radar transmission and reception influence coefficient is as follows: the rainfall compliance coefficient (i.e., the specific restriction expression of the radar transmission and reception influence coefficient) is obtained by processing the result of the ratio operation of the radar use area rainfall and the radar restricted rainfall with the first-level weight. ); The PM2.5 compliance coefficient (i.e. the specific restriction expression of the radar receiving and transmitting influence coefficient) is obtained by processing the result of the ratio operation of the PM2.5 concentration in the radar use area with the radar restricted PM2.5 concentration and twice the radar restricted PM2.5 concentration with the secondary weight. ); The distance reaching coefficient (i.e., the specific restriction expression of the radar receiving and transmitting influence coefficient) is obtained by processing the result of the ratio operation of the maximum radar detection distance and the radar detection reaching distance with the three-level weight. ); The resolution compliance coefficient (i.e., the specific restriction expression of the radar transceiver influence coefficient) is obtained by processing the result of the ratio operation of the radar compliance resolution and the radar resolution with the four-level weight. ); when the farthest radar detection distance is not less than the radar detection standard distance, the radar transceiver influence coefficient is obtained according to the rainfall standard coefficient, the PM2.5 standard coefficient and the resolution standard coefficient; when the farthest radar detection distance is less than the radar detection standard distance, the radar transceiver influence coefficient is obtained according to the rainfall standard coefficient, the PM2.5 standard coefficient, the distance standard coefficient and the resolution standard coefficient; the obtained radar transceiver influence coefficient is compared with the preset radar transceiver influence threshold obtained from the database, when the radar transceiver influence coefficient is less than the radar transceiver influence threshold, the radar transceiver adjustment is not performed; when the radar transceiver influence coefficient is not less than the radar transceiver influence threshold, the radar transceiver adjustment is performed; the radar transceiver adjustment includes radar adjustment and antenna adjustment.

[0042] The specific limiting expression of the radar transmission and reception influence coefficient is:

[0043] ;

[0044] In the formula, It is expressed as the radar receiving and transmitting influence coefficient of the bird-detecting radar, It indicates the rainfall in the current radar usage area of ​​the bird detection radar. It represents the PM2.5 concentration in the current radar usage area of ​​the bird detection radar. It indicates the maximum detection distance of the bird detection radar. It represents the current radar resolution of the bird-detecting radar. is expressed as radar-limited rainfall for bird-detecting radar, Expressed as radar-limited PM2.5 concentration for bird-detecting radar, It is expressed as the radar detection standard distance of the bird detection radar. It is expressed as the radar standard resolution of bird-detecting radar. Represented as the first-level weight, Expressed as secondary weight, Expressed as three-level weights, Expressed as four-level weights, Expressed as a natural constant.

[0045] In this embodiment, the preset radar transceiver impact threshold represents the maximum radar transceiver impact coefficient when the radar signal transceiver effect is qualified when the historical bird detecting radar performs radar signal transceiver in the preset database.

[0046] When the radar transceiver influence coefficient is less than the radar transceiver influence threshold, it means that the bird detecting radar is slightly affected by the use area environment during the transceiver process (can be ignored), and no radar transceiver adjustment is performed; when the radar transceiver influence coefficient is not less than the radar transceiver influence threshold, it means that the bird detecting radar is greatly affected by the use area environment during the transceiver process, and radar transceiver adjustment is performed; when the radar transceiver influence coefficient is less than the radar transceiver influence threshold, the radar transceiver adjustment is stopped.

[0047] Radar adjustment includes increasing the transmission power step by step (for example, increasing it by 5 watts at a time) according to the working environment and target requirements of the bird-detecting radar, observing whether the coverage range of the radar signal is expanded, and stopping increasing the transmission power when the signal coverage range reaches the requirements of the monitoring area; increasing the receiving sensitivity step by step (for example, increasing it by 2dBm at a time), observing the improvement of measurement accuracy, and stopping increasing the receiving sensitivity when the measurement accuracy meets the requirements and the noise interference is still within an acceptable range, so as to improve its detection capability and accuracy.

[0048] Antenna adjustment includes adjusting the antenna beam width according to the working environment and target requirements of the bird-detecting radar, and selecting the appropriate beam width according to the size of the monitoring area and the target characteristics. A wider beam can cover a larger area, but may reduce the measurement accuracy; a narrower beam can provide higher measurement accuracy, but the coverage area is limited. According to the target characteristics and monitoring needs, the beam shape is adjusted to adapt to the measurement accuracy and coverage area requirements of different detection scenarios. For example, for long-distance detection, a narrow beam can be used to focus on the target while meeting the coverage area requirements; for close-range detection, a wide beam can be used to cover a larger area while meeting the coverage area requirements; to reduce the impact of environmental factors on the signal.

[0049] Among them, the first-level weight, second-level weight, third-level weight and fourth-level weight respectively represent the weight ratios corresponding to the preset radar use area rainfall, radar use area PM2.5 concentration, radar detection maximum distance and radar resolution obtained from the database, and respectively represent the influence of radar use area rainfall, radar use area PM2.5 concentration, radar detection maximum distance and radar resolution on the radar transmission and reception influence coefficient. When in use, the weight ratios corresponding to the rainfall in the radar use area, the PM2.5 concentration in the radar use area, the maximum radar detection distance and the radar resolution can be obtained from the database respectively, and the corresponding relationship can be a preset mapping relationship. For example, the rainfall in the radar use area, the PM2.5 concentration in the radar use area, the maximum radar detection distance and the radar resolution are respectively formed into a mapping set with the weight ratios corresponding to the rainfall in the radar use area, the PM2.5 concentration in the radar use area, the maximum radar detection distance and the radar resolution preset in the database. The rainfall in the radar use area, the PM2.5 concentration in the radar use area, the maximum radar detection distance and the radar resolution are respectively input into the corresponding mapping sets to obtain the weight ratios corresponding to the rainfall in the radar use area, the PM2.5 concentration in the radar use area, the maximum radar detection distance and the radar resolution. The mapping relationship can be one-to-one or many-to-one.

[0050] When the parameter settings of the bird-detecting radar remain unchanged, the increase in rainfall in the radar use area will lead to an increase in the rainfall compliance coefficient; the increase in PM2.5 concentration in the radar use area will lead to an increase in the PM2.5 compliance coefficient; the increase in rainfall in the radar use area and the PM2.5 concentration in the radar use area will affect the transmission and reception of the bird-detecting radar signal, resulting in a decrease in the maximum detection distance of the radar and the radar resolution, thereby resulting in a larger distance compliance coefficient and a larger resolution compliance coefficient; the increase in the rainfall compliance coefficient, the PM2.5 compliance coefficient, the distance compliance coefficient and the resolution compliance coefficient will lead to an increase in the radar transmission and reception influence coefficient. The larger the radar transmission and reception influence coefficient, the greater the impact of the bird-detecting radar on the use area environment during the transmission and reception process, and the more it is necessary to adjust the radar transmission and reception. In the algorithm of this embodiment, the radar transmission and reception influence coefficient is obtained by using a hyperbolic sine function to perform a nonlinear transformation on the radar transmission and reception influence data, so that the obtained radar transmission and reception influence coefficient is more accurate, which is conducive to more accurate radar transmission and reception adjustment according to the radar transmission and reception influence coefficient, thereby improving the accuracy of the bird-detecting radar transmission and reception.

[0051] Furthermore, the radar signal preprocessing data includes: radar signal noise power, radar signal signal-to-noise ratio, radar signal fluctuation amplitude, radar signal unprocessed noise power, radar signal unprocessed signal-to-noise ratio and radar signal unprocessed fluctuation amplitude; radar signal noise power represents the noise power of the preprocessed radar signal; radar signal signal-to-noise ratio represents the signal-to-noise ratio of the preprocessed radar signal; radar signal fluctuation amplitude represents the signal amplitude fluctuation range of the preprocessed radar signal within a preset time period; radar signal preprocessing influence index is used to reflect the preprocessing effect of the radar signal obtained by the qualified bird-detecting radar after radar transceiver adjustment.

[0052] In this embodiment, the unprocessed noise power of the radar signal represents the noise power of the radar signal before preprocessing; the unprocessed signal-to-noise ratio of the radar signal represents the signal-to-noise ratio of the radar signal before preprocessing; and the unprocessed fluctuation amplitude of the radar signal represents the signal amplitude fluctuation range of the radar signal within a preset time period before preprocessing.

[0053] The noise power of the radar signal before and after preprocessing is measured by a power meter in the bird detecting radar to obtain the unprocessed noise power of the radar signal and the noise power of the radar signal.

[0054] The signal power and noise power of the radar signal before and after preprocessing are measured by a power meter or a signal analyzer, and a ratio operation is performed. The operation results are the unprocessed signal-to-noise ratio of the radar signal and the signal-to-noise ratio of the radar signal;

[0055] The radar signal before and after preprocessing is sampled by a sampler or oscilloscope, and the amplitude difference between the sampling points is calculated to obtain the signal fluctuation amplitude. A preset number of sampling points are statistically analyzed to obtain the signal fluctuation amplitude range within a preset time period, that is, the unprocessed fluctuation amplitude of the radar signal and the radar signal fluctuation amplitude.

[0056] Further, the specific method for obtaining the radar signal preprocessing influence index is as follows: the result of the ratio operation of the radar signal noise power and the radar signal unprocessed noise power is processed with the first weight to obtain the noise power qualification coefficient (that is, the specific restriction expression of the radar signal preprocessing influence index) ); The result of the ratio operation of the sum of the radar signal signal-to-noise ratio and the radar signal unprocessed signal-to-noise ratio and twice the radar signal unprocessed signal-to-noise ratio is processed with the second weight to obtain the signal-to-noise ratio qualification coefficient (i.e., the specific restriction expression of the radar signal preprocessing influence index ); The result of the ratio operation of the radar signal fluctuation amplitude and the radar signal unprocessed fluctuation amplitude is processed with the third weight to obtain the fluctuation amplitude qualification coefficient (that is, the specific restriction expression of the radar signal preprocessing influence index ); The radar signal preprocessing influence index is obtained by processing according to the noise power qualification coefficient, the signal-to-noise ratio qualification coefficient and the fluctuation amplitude qualification coefficient.

[0057] The specific limiting expression of the radar signal preprocessing influencing index is:

[0058] ;

[0059] In the formula, Expressed as the radar signal preprocessing impact index of the radar signal, It is represented as the radar signal noise power after radar signal preprocessing, It is expressed as the radar signal-to-noise ratio after radar signal preprocessing, It is expressed as the radar signal fluctuation amplitude after radar signal preprocessing, It is represented as the unprocessed noise power of radar signal before radar signal preprocessing, It is expressed as the unprocessed signal-to-noise ratio of the radar signal before radar signal preprocessing, It is represented by the unprocessed fluctuation amplitude of the radar signal before radar signal preprocessing. Represented as the first weight, Denoted as the second weight, Denoted as the third weight, Expressed as a natural constant.

[0060] In this embodiment, the increase of noise power will lead to a decrease in signal-to-noise ratio, because the signal-to-noise ratio is the ratio of signal power to noise power. When the noise power increases, even if the signal power remains unchanged, the signal-to-noise ratio will decrease accordingly. On the contrary, if the noise power decreases, the signal-to-noise ratio will increase. If the fluctuation range of the signal is too large, it may cause signal instability, thereby affecting the clarity and detectability of the signal, thereby reducing the signal-to-noise ratio, and vice versa. When the signal characteristics of the radar signal before preprocessing remain unchanged, the larger the noise power of the radar signal after preprocessing and the fluctuation amplitude of the radar signal, the smaller the radar signal signal-to-noise ratio will be, making the noise power qualification coefficient, the signal-to-noise ratio qualification coefficient and the fluctuation amplitude qualification coefficient larger, thereby causing the radar signal preprocessing influence index to be larger. When the radar signal preprocessing influence index is larger, the worse the radar signal and the processing effect are, the more preprocessing adjustment is needed, and vice versa. In the algorithm of this embodiment, the radar signal preprocessing influence index is obtained by using the inverse tangent function to perform nonlinear transformation on the radar signal preprocessing data, so that the reliability of the radar signal preprocessing influence index is higher, which is conducive to more accurate preprocessing adjustment.

[0061] Among them, the first weight, the second weight and the third weight are respectively represented by the weight ratios corresponding to the preset radar signal noise power, radar signal signal-to-noise ratio and radar signal fluctuation amplitude obtained from the database, and respectively represent the influence degree of the radar signal noise power, radar signal signal-to-noise ratio and radar signal fluctuation amplitude on the radar signal preprocessing influencing index. When used, the weight ratios corresponding to the radar signal noise power, radar signal signal-to-noise ratio and radar signal fluctuation amplitude can be obtained from the database respectively, and the corresponding relationship can be a pre-set mapping relationship, for example, the radar signal noise power, radar signal signal-to-noise ratio and radar signal fluctuation amplitude respectively form a mapping set with the weight ratios corresponding to the preset radar signal noise power, radar signal signal-to-noise ratio and radar signal fluctuation amplitude in the database, and the radar signal noise power, radar signal signal-to-noise ratio and radar signal fluctuation amplitude are respectively input into the corresponding mapping set to obtain the weight ratios corresponding to the radar signal noise power, radar signal signal-to-noise ratio and radar signal fluctuation amplitude, and the mapping relationship can be one-to-one or many-to-one.

[0062] Furthermore, the specific process of determining whether to perform preprocessing adjustment is as follows: comparing the acquired radar signal preprocessing influence index with the radar signal preprocessing threshold; when the radar signal preprocessing influence index is less than the radar signal preprocessing threshold, no preprocessing adjustment is performed; when the radar signal preprocessing influence index is not less than the radar signal preprocessing threshold, preprocessing adjustment is performed.

[0063] In this embodiment, the preset radar signal preprocessing threshold represents the maximum radar signal preprocessing impact index corresponding to the historical bird detecting radar in the preset database when performing radar signal preprocessing without preprocessing adjustment.

[0064] The obtained radar signal preprocessing influence index is compared with the radar signal preprocessing threshold. When the radar signal preprocessing influence index is less than the radar signal preprocessing threshold, it indicates that the preprocessing effect of the radar signal is good and no preprocessing adjustment is performed. When the radar signal preprocessing influence index is not less than the radar signal preprocessing threshold, it indicates that the preprocessing effect of the radar signal is not good and preprocessing adjustment is performed. When the radar signal preprocessing influence index is less than the radar signal preprocessing threshold, the preprocessing adjustment is stopped.

[0065] Preprocessing adjustment includes replacing filters and adjusting filter parameters. According to the characteristics of radar signals and the type of interference, replace filters such as low-pass filters, high-pass filters, band-pass filters, etc. For complex interference signals, consider using adaptive filters or intelligent filters to improve the filtering effect; and adjust the bandwidth of the filter according to actual conditions. If the preprocessed signal contains too much noise or interference components, reduce the bandwidth of the filter step by step (for example, reduce it by 1kHz at a time) to filter out these components. If important frequency components are lost in the preprocessed signal, increase the bandwidth of the filter step by step (for example, increase it by 1kHz at a time) to include these components. When the bandwidth of the filter is moderate, noise and interference are filtered out, important frequency components are retained, and the quality of the preprocessed signal reaches the optimal level, stop adjusting the bandwidth of the filter. Adjust the cutoff frequency of the filter according to actual conditions. For a low-pass filter, if the preprocessed signal contains too many high-frequency components, reduce the cutoff frequency step by step (for example, reduce it by 1Hz at a time) to filter out these components; for a high-pass filter, if important low-frequency components are lost in the preprocessed signal, increase the cutoff frequency step by step (for example, increase it by 10kHz at a time) to include these components; when the cutoff frequency of the filter is moderate, it not only filters out unnecessary frequency components but also retains important frequency components, and the quality of the preprocessed signal reaches the optimal level, stop adjusting the cutoff frequency of the filter to better filter out interference signals.

[0066] Furthermore, the target detection effect data includes: the number of detected objects, the number of detected birds, the missed detection ratio and the actual number of birds; the number of detected objects represents the number of objects detected in the target signal obtained by performing target detection on the qualified radar signal after preprocessing adjustment; the number of detected birds represents the number of birds detected in the target signal obtained by performing target detection on the qualified radar signal after preprocessing adjustment; the missed detection ratio represents the ratio of the number of undetected birds in the target signal obtained by performing target detection on the qualified radar signal after preprocessing adjustment to the actual number of birds; the target detection effect evaluation coefficient is used to reflect the accuracy of the target signal obtained by performing target detection on the qualified radar signal after preprocessing adjustment.

[0067] In this embodiment, target detection is performed on the qualified radar signal after preprocessing and adjustment to obtain the target signal. The specific process of target detection is: target detection is performed on the radar signal using target detection technology (such as constant false alarm rate detection, moving target detection, etc.), and the radar signal strength is compared with the preset threshold value obtained by CFAR (Constant False Alarm Rate, constant false alarm rate or constant false alarm rate) technology. If the radar signal strength exceeds the preset threshold value, it is considered that there is a target; if the radar signal strength is lower than the preset threshold value, it is considered that there is no target, so as to judge whether there is a target and determine the preliminary position of the target. After the target is detected, it is necessary to further analyze the characteristics of the target, such as distance, speed, direction, etc., and by matching with the known bird feature library, it can be preliminarily identified whether the target is a bird. If the target is identified as a bird, the radar signal is attributed to the target signal. After completing the target detection, the relevant signal characteristics of the target signal, such as flight trajectory, speed change, etc., can be extracted according to the target signal to obtain bird detection radar data related to bird migration behavior monitoring.

[0068] The actual number of birds refers to the actual number of birds when the qualified radar signal after pre-processing and adjustment is used for target detection; the image processing technology is used to acquire images of the bird flock monitored by the bird detection radar, and the image processing software is improved to recognize the image, obtain the number of birds in the bird flock, and obtain the actual number of birds.

[0069] The number of detected objects indicates the number of targets detected in the target signal identified with birds as the target when the qualified radar signal after preprocessing adjustment is used for target detection. During the target detection process, the number of detected objects and the number of birds are recorded to obtain the number of detected objects and the number of detected birds. The actual number of birds is subtracted from the number of detected birds to obtain the number of undetected birds. The missed detection ratio is obtained by comparing the number of undetected birds with the actual number of birds.

[0070] Furthermore, the specific method for obtaining the target detection effect evaluation coefficient is as follows: the result of the ratio operation of the sum of the number of detected birds and the actual number of birds and twice the actual number of birds is processed with a first-order weight to obtain the sensitivity coefficient (i.e., ); The result of the ratio operation between the number of detected birds and the number of detected objects is processed with the second-order weight to obtain the accuracy coefficient (that is, the specific restriction expression of the target detection effect evaluation coefficient ); Process the missed detection ratio and the three weights to obtain the missed detection coefficient (i.e. the specific restriction expression of the target detection effect evaluation coefficient). ); obtain the target detection effect evaluation coefficient according to the sensitivity coefficient, accuracy coefficient and missed detection coefficient; compare the obtained target detection effect evaluation coefficient with the target detection effect threshold, and when the target detection effect evaluation coefficient is greater than the target detection effect threshold, perform bird migration behavior monitoring; when the target detection effect evaluation coefficient is not greater than the target detection effect threshold, do not perform bird migration behavior monitoring, and perform target detection adjustment; target detection adjustment includes model adjustment and training adjustment.

[0071] The specific limiting expression of the target detection effect evaluation coefficient is:

[0072] ;

[0073] In the formula, Expressed as the target detection effect evaluation coefficient, Represents the number of detection objects for target detection of radar signals, represents the number of detected birds for target detection of radar signals, It is expressed as the missed detection ratio of target detection by radar signal, Expressed as the actual number of birds in the radar signal, Represented as first-class weight, Expressed as second-order weight, Expressed as three equal weights.

[0074] In this embodiment, when the number of detected birds is larger, the number of undetected birds is smaller, resulting in larger sensitivity coefficients, accuracy coefficients, and missed detection coefficients, which in turn leads to larger target detection effect evaluation coefficients, more accurate target detection, and better target detection effects, which can be used to monitor bird migration behavior. Conversely, the worse the target detection effect, the less useful it is for monitoring bird migration behavior. The algorithm of this embodiment obtains the target detection effect evaluation coefficient by performing a nonlinear transformation on the target detection effect data using an inverse hyperbolic sine function, which makes the target detection effect evaluation coefficient more interpretable, and is conducive to more accurately adjusting target detection according to the target detection effect evaluation coefficient.

[0075] The preset target detection effect threshold represents the minimum radar signal preprocessing impact index corresponding to the historical bird-detecting radar in the preset database when performing qualified target detection.

[0076] The obtained target detection effect evaluation coefficient is compared with the target detection effect threshold. When the target detection effect evaluation coefficient is greater than the target detection effect threshold, the target detection effect is good, and bird migration behavior monitoring is carried out; when the target detection effect evaluation coefficient is not greater than the target detection effect threshold, the target detection effect is not good, bird migration behavior monitoring is not carried out, and target detection adjustment is carried out; when the target detection effect evaluation coefficient is greater than the target detection effect threshold, the target detection adjustment is stopped.

[0077] Target detection adjustment includes model adjustment and training adjustment. Model adjustment includes retraining the model. The specific process of retraining the model is: collect new bird sample data, including images, videos, etc., to ensure that the data covers newly emerging species and changes in bird behavior patterns, annotate the collected data, clearly distinguish birds from other flying objects or obstacles, use a deep learning framework to build and train the model, use a new data set to train the model, ensure that the model can learn the characteristics of new species and behaviors, enhance the generalization ability of the model, and adjust the learning rate of the model. A higher learning rate can accelerate model convergence, but an excessively high learning rate may cause training instability. Increase or decrease the learning rate step by step (for example, increase it to 1.2 times the original or decrease it to 0.8 times the original). When the performance of the model on the validation set reaches stability or begins to decline, stop adjusting the learning rate to improve the convergence speed and performance of the model, improve the feature extraction network, use a deeper network structure or more advanced feature extraction methods (such as attention mechanisms, convolutional neural network variants, etc.) to improve the representation ability of the model, and combine other related tasks (such as classification, segmentation, etc.) for multi-task learning to improve the generalization ability and detection performance of the model.

[0078] Training adjustments include using learning rate scheduling strategies (such as cosine decay, learning rate warm-up, etc.) to dynamically adjust the learning rate to optimize the training process, using richer data enhancement strategies during training to increase the robustness of the model, and performing hard example mining on samples that are easily missed or misdetected, and improving the detection performance of the model by increasing the weights of these samples or repeating training.

[0079] Among them, the first-class weight, the second-class weight and the third-class weight are respectively expressed as the weight ratios corresponding to the preset number of detected birds, the number of detected objects and the missed detection ratio obtained from the database, respectively indicating the influence of the number of detected birds, the number of detected objects and the missed detection ratio on the target detection effect evaluation coefficient. When used, the weight ratios corresponding to the number of detected birds, the number of detected objects and the missed detection ratio can be obtained from the database respectively, and the corresponding relationship can be a pre-set mapping relationship. For example, the number of detected birds, the number of detected objects and the missed detection ratio are respectively mapped with the weight ratios corresponding to the number of detected birds, the number of detected objects and the missed detection ratio preset in the database to form a mapping set, and the number of detected birds, the number of detected objects and the missed detection ratio are respectively input into the corresponding mapping sets to obtain the weight ratios corresponding to the number of detected birds, the number of detected objects and the missed detection ratio, wherein the mapping relationship can be one-to-one or many-to-one.

[0080] In a specific embodiment, Figure 2As shown, it is a target detection effect evaluation coefficient curve graph provided by an embodiment of the present application, with the number of detected birds as the independent variable and the target detection effect evaluation coefficient as the dependent variable. The first-class weight, second-class weight and third-class weight are 0.3, 0.3 and 0.4 respectively. Through the increase and decrease analysis of curve one, curve two and curve three, it can be seen that when the number of detected birds is larger, the target detection effect evaluation coefficient is larger; when the number of detected birds is smaller, the target detection effect evaluation coefficient is smaller. The statistical table of target detection effect evaluation coefficient related data is shown in Table 1:

[0081] Table 1 Statistical table of relevant data of target detection effect evaluation coefficient

[0082]

[0083] When the number of detection objects of curve 1, curve 2 and curve 3 are 100, 90 and 80 respectively, the number of detected birds is 100, and other parameters are consistent, the target detection effect evaluation coefficients of curve 1, curve 2 and curve 3 are 0.789, 0.804 and 0.822 respectively. It can be seen that the larger the number of detected birds and the smaller the number of detection objects, the larger the target detection effect evaluation coefficient.

[0084] like Figure 3 As shown, it is a structural schematic diagram of a bird migration behavior monitoring system based on a bird detecting radar provided in an embodiment of the present application. The bird migration behavior monitoring system based on a bird detecting radar provided in an embodiment of the present application includes: a transceiver adjustment module, a preprocessing adjustment module and a bird migration behavior monitoring module; wherein, the transceiver adjustment module: is used to obtain the radar transceiver influence data of the bird detecting radar, and judge whether to perform radar transceiver adjustment according to the radar transceiver influence degree coefficient obtained from the radar transceiver influence data; the preprocessing adjustment module: is used to obtain and preprocess the radar signal through the qualified bird detecting radar after the radar transceiver adjustment, obtain the radar signal preprocessing data, and judge whether to perform preprocessing adjustment according to the radar signal preprocessing influence index obtained from the radar signal preprocessing data; the bird migration behavior monitoring module: is used to perform target detection on the qualified radar signal after the preprocessing adjustment to obtain the target signal, obtain the target detection effect data, and judge whether to perform bird migration behavior monitoring according to the target detection effect evaluation coefficient obtained from the target detection effect data.

[0085] The technical solution in the above-mentioned embodiment of the present application determines whether to adjust the radar transmission and reception by obtaining the radar transmission and reception influence degree coefficient, and determines whether to perform preprocessing adjustment based on the radar signal preprocessing influence index obtained from the radar signal preprocessing data of the qualified bird detecting radar after the radar transmission and reception adjustment, thereby determining whether to monitor the bird migration behavior based on the target detection effect evaluation coefficient obtained from the target detection effect data of the qualified radar signal after the preprocessing adjustment, thereby achieving more accurate monitoring of bird migration behavior, and effectively solving the problem in the prior art that it is difficult to accurately obtain bird detecting radar data related to bird migration behavior monitoring.

[0086] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0087] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0088] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0089] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0090] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0091] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A method for monitoring bird migration behavior based on bird detection radar, characterized in that: The following steps are involved: Acquire radar receiving and transmitting influence data of the bird detecting radar, and determine whether to adjust the radar receiving and transmitting according to the radar receiving and transmitting influence degree coefficient obtained from the radar receiving and transmitting influence data; The radar signal is obtained and preprocessed by the qualified bird-detecting radar after radar transceiver adjustment, radar signal preprocessing data is obtained, and whether to perform preprocessing adjustment is determined according to the radar signal preprocessing influence index obtained from the radar signal preprocessing data; Perform target detection on the qualified radar signal after preprocessing and adjustment to obtain the target signal, obtain the target detection effect data, and determine whether to conduct bird migration behavior monitoring based on the target detection effect evaluation coefficient obtained from the target detection effect data; The radar transmission and reception impact data include: rainfall in the radar use area, PM2.5 concentration in the radar use area, maximum radar detection distance, radar resolution, radar restricted rainfall, radar restricted PM2.5 concentration, radar detection standard distance and radar standard resolution; The radar use area rainfall refers to the rainfall in the area used by the bird detection radar when transmitting and receiving radar signals; The PM2.5 concentration in the radar use area indicates the PM2.5 concentration in the area used by the bird detection radar when transmitting and receiving radar signals; The maximum radar detection distance refers to the maximum distance detected by the bird detection radar when transmitting and receiving radar signals; The radar resolution indicates the maximum resolution of the bird detecting radar when transmitting and receiving radar signals; The radar limited rainfall refers to the minimum rainfall that the bird-detecting radar is affected by when transmitting and receiving radar signals; The radar-restricted PM2.5 concentration refers to the minimum concentration at which the bird-detecting radar is affected by PM2.5 when transmitting and receiving radar signals; The radar transmission and reception influence coefficient is used to reflect the degree to which the bird detection radar is affected by the use area environment when transmitting and receiving radar signals; The specific acquisition process of the radar receiving and transmitting influence coefficient is as follows: The rainfall compliance coefficient is obtained by processing the result of the ratio calculation of the radar use area rainfall and the radar restricted rainfall with the first-level weight; The PM2.5 compliance coefficient is obtained by calculating the ratio of the PM2.5 concentration in the radar use area to the radar restricted PM2.5 concentration and twice the radar restricted PM2.5 concentration and processing it with the secondary weight; The distance reaching coefficient is obtained by processing the result of the ratio calculation between the maximum radar detection distance and the radar detection reaching distance and the three-level weight; The resolution compliance coefficient is obtained by processing the result of the ratio operation between the radar compliance resolution and the radar resolution and the four-level weight; When the maximum radar detection distance is not less than the radar detection standard distance, the radar transmission and reception influence coefficient is obtained according to the rainfall standard coefficient, PM2.5 standard coefficient and resolution standard coefficient; When the maximum radar detection distance is less than the radar detection standard distance, the radar transmission and reception influence coefficient is obtained according to the rainfall standard coefficient, PM2.5 standard coefficient, distance standard coefficient and resolution standard coefficient; The specific limiting expression of the radar receiving and transmitting influence coefficient is: ； In the formula, It is expressed as the radar receiving and transmitting influence coefficient of the bird-detecting radar, It indicates the rainfall in the current radar usage area of ​​the bird detection radar. It represents the PM2.5 concentration in the current radar usage area of ​​the bird detection radar. It indicates the maximum detection distance of the bird detection radar. It represents the current radar resolution of the bird-detecting radar. is expressed as radar-limited rainfall for bird-detecting radar, Expressed as radar-limited PM2.5 concentration for bird-detecting radar, It is expressed as the radar detection standard distance of the bird detection radar. It is expressed as the radar standard resolution of bird-detecting radar. Represented as the first-level weight, Expressed as secondary weight, Expressed as three-level weights, Expressed as four-level weights, Expressed as a natural constant.

2. The bird migration behavior monitoring method based on bird detection radar as claimed in claim 1, characterized in that: The radar signal preprocessing data includes: radar signal noise power, radar signal signal-to-noise ratio, radar signal fluctuation amplitude, radar signal unprocessed noise power, radar signal unprocessed signal-to-noise ratio and radar signal unprocessed fluctuation amplitude; The radar signal noise power represents the noise power of the preprocessed radar signal; The radar signal noise ratio represents the signal noise ratio of the preprocessed radar signal; The radar signal fluctuation amplitude represents the signal amplitude fluctuation range of the preprocessed radar signal within a preset time period; The radar signal preprocessing influence index is used to reflect the preprocessing effect of the radar signal obtained by the qualified bird detecting radar after the radar transceiver adjustment.

3. The bird migration behavior monitoring method based on bird detection radar as claimed in claim 2, characterized in that: The specific method for obtaining the radar signal preprocessing influence index is as follows: The result of performing a ratio operation on the radar signal noise power and the radar signal unprocessed noise power is processed with the first weight to obtain a noise power qualification coefficient; The result of performing a ratio operation on the sum of the radar signal signal-to-noise ratio and the radar signal unprocessed signal-to-noise ratio and twice the radar signal unprocessed signal-to-noise ratio is processed with the second weight to obtain a signal-to-noise ratio qualification coefficient; The result of the ratio operation of the radar signal fluctuation amplitude and the unprocessed radar signal fluctuation amplitude is processed with the third weight to obtain the fluctuation amplitude qualification coefficient; The radar signal preprocessing influencing index is obtained by processing according to the noise power qualification coefficient, signal-to-noise ratio qualification coefficient and fluctuation amplitude qualification coefficient.

4. The bird migration behavior monitoring method based on bird detection radar as claimed in claim 3 is characterized in that: The specific process of determining whether to perform preprocessing adjustment is as follows: The obtained radar signal preprocessing influence index is compared with the radar signal preprocessing threshold, and when the radar signal preprocessing influence index is less than the radar signal preprocessing threshold, no preprocessing adjustment is performed; When the radar signal preprocessing impact index is not less than the radar signal preprocessing threshold, preprocessing adjustment is performed.

5. The bird migration behavior monitoring method based on bird detection radar as claimed in claim 1, characterized in that: The target detection effect data includes: the number of detected objects, the number of detected birds, the missed detection ratio and the actual number of birds; The number of detected objects represents the number of objects detected in the target signal obtained by performing target detection on the qualified radar signal after preprocessing and adjustment; The number of detected birds refers to the number of birds detected in the target signal obtained by performing target detection on the qualified radar signal after preprocessing and adjustment; The missed detection ratio indicates the ratio of the number of undetected birds in the target signal obtained by performing target detection on the qualified radar signal after preprocessing adjustment to the actual number of birds; The target detection effect evaluation coefficient is used to reflect the accuracy of target signals obtained by performing target detection on qualified radar signals after preprocessing and adjustment.

6. The bird migration behavior monitoring method based on bird detection radar as claimed in claim 5, characterized in that: The specific method for obtaining the target detection effect evaluation coefficient is as follows: The result of the ratio calculation of the sum of the number of detected birds and the actual number of birds and twice the actual number of birds is processed with the first-order weight to obtain the sensitivity coefficient; The result of the ratio operation of the number of detected birds and the number of detected objects is processed with the second-order weight to obtain the accuracy coefficient; The missed detection ratio and the three weights are processed to obtain the missed detection coefficient; The target detection effect evaluation coefficient is obtained based on the sensitivity coefficient, accuracy coefficient and missed detection coefficient.

7. The bird migration behavior monitoring system based on bird detection radar is characterized by: include: Transmitting and receiving adjustment module, pre-processing adjustment module and bird migration behavior monitoring module; The transceiver adjustment module is used to obtain the radar transceiver influence data of the bird detection radar, and determine whether to perform radar transceiver adjustment according to the radar transceiver influence degree coefficient obtained from the radar transceiver influence data; The preprocessing adjustment module is used to obtain radar signals from the qualified bird-detecting radar after radar transceiver adjustment and perform preprocessing, obtain radar signal preprocessing data, and determine whether to perform preprocessing adjustment according to the radar signal preprocessing influence index obtained from the radar signal preprocessing data; The bird migration behavior monitoring module is used to perform target detection on the qualified radar signal after preprocessing and adjustment to obtain the target signal, obtain the target detection effect data, and determine whether to perform bird migration behavior monitoring according to the target detection effect evaluation coefficient obtained from the target detection effect data; The radar transmission and reception impact data include: rainfall in the radar use area, PM2.5 concentration in the radar use area, maximum radar detection distance, radar resolution, radar restricted rainfall, radar restricted PM2.5 concentration, radar detection standard distance and radar standard resolution; The radar use area rainfall refers to the rainfall in the area used by the bird detection radar when transmitting and receiving radar signals; The PM2.5 concentration in the radar use area indicates the PM2.5 concentration in the area used by the bird detection radar when transmitting and receiving radar signals; The maximum radar detection distance refers to the maximum distance detected by the bird detection radar when transmitting and receiving radar signals; The radar resolution indicates the maximum resolution of the bird detecting radar when transmitting and receiving radar signals; The radar limited rainfall refers to the minimum rainfall that the bird-detecting radar is affected by when transmitting and receiving radar signals; The radar-restricted PM2.5 concentration refers to the minimum concentration at which the bird-detecting radar is affected by PM2.5 when transmitting and receiving radar signals; The radar transmission and reception influence coefficient is used to reflect the degree to which the bird detection radar is affected by the use area environment when transmitting and receiving radar signals; The specific acquisition process of the radar receiving and transmitting influence coefficient is as follows: The rainfall compliance coefficient is obtained by processing the result of the ratio calculation of the radar use area rainfall and the radar restricted rainfall with the first-level weight; The PM2.5 compliance coefficient is obtained by calculating the ratio of the PM2.5 concentration in the radar use area to the radar restricted PM2.5 concentration and twice the radar restricted PM2.5 concentration and processing it with the secondary weight; The distance reaching coefficient is obtained by processing the result of the ratio calculation between the maximum radar detection distance and the radar detection reaching distance and the three-level weight; The resolution compliance coefficient is obtained by processing the result of the ratio operation between the radar compliance resolution and the radar resolution and the four-level weight; When the maximum radar detection distance is not less than the radar detection standard distance, the radar transmission and reception influence coefficient is obtained according to the rainfall standard coefficient, PM2.5 standard coefficient and resolution standard coefficient; When the maximum radar detection distance is less than the radar detection standard distance, the radar transmission and reception influence coefficient is obtained according to the rainfall standard coefficient, PM2.5 standard coefficient, distance standard coefficient and resolution standard coefficient; The specific limiting expression of the radar receiving and transmitting influence coefficient is: ； In the formula, It is expressed as the radar receiving and transmitting influence coefficient of the bird-detecting radar, It indicates the rainfall in the current radar usage area of ​​the bird detection radar. It represents the PM2.5 concentration in the current radar usage area of ​​the bird detection radar. It indicates the maximum detection distance of the bird detection radar. It represents the current radar resolution of the bird-detecting radar. is expressed as radar-limited rainfall for bird-detecting radar, Expressed as radar-limited PM2.5 concentration for bird-detecting radar, It is expressed as the radar detection standard distance of the bird detection radar. It is expressed as the radar standard resolution of bird-detecting radar. Represented as the first-level weight, Expressed as secondary weight, Expressed as three-level weights, Expressed as four-level weights, Expressed as a natural constant.

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