A radar communication integrated clutter suppression method, system, device and medium

Abstract

The present invention belongs to the field of radar signal processing technology, and specifically relates to a radar communication integrated clutter suppression method, system, equipment and medium. The method constructs a clutter statistical model that matches the working environment of the radar communication integrated system, and designs a radar communication integrated echo signal model containing clutter, target echo and noise based on this model. By designing an optimization problem with the integral sidelobe ratio of the matched filtering result as the cost function, an iterative solution is obtained to obtain a radar communication integrated signal waveform with low sidelobe characteristics. At the same time, a two-stage cascade filter is designed to filter the echo signal. Finally, the filtered echo signal is compensated for communication information, and a two-dimensional FFT algorithm and a subspace algorithm are used to estimate the target parameters. The method effectively reduces sidelobe interference and improves the accuracy of target detection, and is suitable for high-resolution radars and high-speed communication systems.

Description

Technical Field

[0001] The present invention belongs to the technical field of radar signal processing, and in particular relates to a radar communication integrated clutter suppression method, system, equipment and medium. Background Art

[0002] With the rapid development of modern electronic technology, the integration of radar and communication systems has become a research hotspot. The radar communication integrated system aims to realize the simultaneous performance of radar detection and communication functions, and achieve the purpose of efficient resource utilization by sharing hardware resources and spectrum resources. In the radar communication integrated system, clutter suppression is one of the key technologies to ensure system performance. Traditional clutter suppression methods mainly rely on signal processing algorithms, such as filtering, coherent detection, etc., to separate the target signal from the received echo signal, while suppressing the interference of clutter and noise.

[0003] When constructing an integrated radar communication echo signal model, it is usually necessary to consider multiple factors such as clutter, target echo, and noise. The selection of the clutter model is crucial for subsequent signal processing because it directly affects the design of the clutter suppression algorithm. At present, a variety of clutter statistical models have been used to describe the clutter characteristics in different environments, such as Gaussian distribution, Rayleigh distribution, lognormal distribution, etc. These models can reflect the statistical characteristics of clutter to a certain extent, thus providing a basis for the design of clutter suppression algorithms.

[0004] Although the existing radar communication integrated clutter suppression methods have achieved results to a certain extent, there are still some obvious defects.

[0005] (1) Traditional clutter suppression algorithms are often optimized for specific clutter models. When the clutter characteristics in the actual environment do not match the model, the performance of the algorithm will significantly decrease. In addition, due to the differences in operating frequency bands and signal waveforms between radar and communication systems, traditional clutter suppression methods often find it difficult to take into account the performance requirements of both when realizing radar and communication integration.

[0006] (2) Existing radar-communication integrated signal waveform designs often lack flexibility and are difficult to meet complex and changing application scenarios. Traditional waveform design methods usually only consider the performance requirements of a single radar or communication system, but fail to fully consider the mutual influence between the two. As a result, in practical applications, the performance of radar-communication integrated systems is often limited and optimal resource utilization cannot be achieved.

[0007] (3) Existing clutter suppression algorithms often have problems such as large computational complexity and poor real-time performance when processing echo signals in complex environments. These problems are particularly prominent in high-resolution radar and high-speed communication systems. Therefore, how to design an efficient and flexible radar communication integrated clutter suppression method to overcome the defects of existing technologies has become a technical problem that needs to be solved urgently. Summary of the invention

[0008] The present invention proposes a radar communication integrated clutter suppression method, system, device and medium to solve the problem that the performance of the existing radar communication integrated clutter suppression method is easy to deteriorate and difficult to meet complex and changeable application scenarios.

[0009] The present invention achieves the above-mentioned purpose through the following technical solutions:

[0010] In a first aspect, the present invention proposes a radar communication integrated clutter suppression method, the method comprising the following steps:

[0011] S1. Based on the clutter statistical model matched in the working environment of the radar communication integrated system, a radar communication integrated echo signal model including clutter, target echo and noise is constructed;

[0012] S2. Using the echo signal model, setting the integrated sidelobe ratio of the matched filtering result as the cost function, constructing an optimization problem and solving it iteratively, designing a radar communication integrated signal waveform with low sidelobe characteristics based on the optimal solution and using it as a transmission signal;

[0013] S3. Receive an echo signal corresponding to the transmitted signal in the working environment, and design a two-stage cascade filter to filter the echo signal; wherein the first stage filter is designed based on the least squares method, and the second stage filter is designed based on a low sidelobe template;

[0014] S4. Perform communication information compensation on the filtered echo signal, and use a two-dimensional FFT algorithm and a subspace algorithm to estimate target parameters of the compensated echo signal.

[0015] Preferably, step S1 includes:

[0016] S101. Analyze the environment in which the target is located, determine the clutter scattering characteristics, and select an adaptive statistical distribution to describe the clutter model;

[0017] S102. Combining the principle of electromagnetic wave superposition, path propagation loss and antenna pattern characteristics, a mathematical model of radar communication integrated echo signal is constructed.

[0018] Preferably, step S2 includes:

[0019] S201. Taking the integrated sidelobe ratio of the matched filtering result of the radar communication integrated signal as the cost function, the optimization problem of the low sidelobe radar communication integrated waveform is constructed;

[0020] S202. Relaxing the optimization problem, and iteratively solving the relaxed optimization problem using an alternating projection method;

[0021] S203. Using the designed non-constant modulus low sidelobe radar communication integrated waveform as the initial waveform, iterative optimization is performed to design a constant modulus low sidelobe radar communication integrated waveform as the transmission signal.

[0022] Preferably, step S3 includes:

[0023] S301. Receiving an echo signal corresponding to the transmitted signal in the working environment, designing a two-stage cascade filter, designing the first-stage filter using the least squares method, and filtering the echo signal to obtain a filtering result;

[0024] S302. Approximating the first-stage filtering results to the low sidelobe template, taking the mean or minimum peak sidelobe ratio of the approximation results as the new template, and approximating the second-stage filtering output results to the updated template;

[0025] S303. By iterating the template update and approximation process in step S302, the loss of similarity of the filtering result caused by the second-stage filter is compensated, and the second-stage filter coefficients are calculated;

[0026] S304. Obtain a filtering output result based on the updated second-stage filter.

[0027] Preferably, step S4 includes:

[0028] S401. The filtered echo signal is compensated for communication information;

[0029] S402. The echo signal after the compensation communication information is truncated and the signal is transformed into the frequency domain for frequency domain smoothing and decoherence processing;

[0030] S403. Rearranging the decorrelation-processed echo signal into a matrix form, wherein each row of the matrix is ​​fast time sampling and each column is slow time sampling;

[0031] S404. Filtering is performed along the fast time dimension sampling, Fourier transform is performed along the slow time dimension sampling, moving target detection is achieved, and the target distance and speed are estimated using a two-dimensional FFT algorithm;

[0032] S405. Use a subspace algorithm to estimate the angle of the target.

[0033] In a second aspect, the present invention proposes a radar communication integrated clutter suppression system, the system being configured to implement any of the clutter suppression methods described above, the system comprising:

[0034] The echo signal modeling module is used to build a radar communication integrated echo signal model including clutter, target echo and noise based on the clutter statistical model matched in the working environment of the radar communication integrated system;

[0035] A low sidelobe signal optimization module is used to use the echo signal model to design an integrated sidelobe ratio of the matched filtering result as a cost function, construct an optimization problem and perform iterative solution, and design a radar communication integrated signal waveform with low sidelobe characteristics based on the optimal solution and use it as a transmission signal;

[0036] A receiving filter module, used for receiving an echo signal corresponding to the transmitting signal in the working environment, and designing a two-stage cascade filter to filter the echo signal; wherein the first stage filter is designed based on the least squares method, and the second stage filter is designed based on a low sidelobe template;

[0037] The target parameter estimation module is used to perform communication information compensation on the echo signal after filtering, and use a two-dimensional FFT algorithm and a subspace algorithm to estimate the target parameters of the compensated echo signal.

[0038] In a third aspect, the present invention proposes an electronic device, comprising a memory module, and a logic operation control program stored in the memory module and executable on the processor module, wherein the processor module implements any of the above-described clutter suppression methods when executing the logic operation control program.

[0039] In a fourth aspect, the present invention proposes a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements any of the clutter suppression methods described above.

[0040] The beneficial effects of the present invention are:

[0041] 1. The present invention constructs a clutter statistical model that matches the working environment of the radar communication integrated system, and designs a radar communication integrated echo signal model containing clutter, target echo and noise based on this model, which significantly improves the accuracy and robustness of clutter suppression. By designing an optimization problem with the integral sidelobe ratio of the matched filtering result as the cost function, and iteratively solving the radar communication integrated signal waveform with low sidelobe characteristics, the sidelobe interference is effectively reduced and the accuracy of target detection is improved. In addition, the design of the two-stage cascade filter further enhances the clutter suppression capability, allowing the system to work stably in complex environments.

[0042] 2. The present invention not only takes into account the performance requirements of radar detection, but also takes into account the performance requirements of the communication system. By optimizing the design of the radar communication integrated signal waveform, a performance balance between the two is achieved. This design enables the system to meet the transmission rate and bit error rate requirements of the communication system while ensuring the accuracy of radar detection. In addition, the clutter suppression method of the present invention performs well in terms of computational complexity and real-time performance, is suitable for high-resolution radars and high-speed communication systems, and effectively improves the overall performance and resource utilization efficiency of the system. These beneficial effects make the present invention have broad application prospects in the field of radar communication integration. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 A schematic diagram of a flow chart of a radar communication integrated clutter suppression method provided in an embodiment of the present application;

[0044] Figure 2 A schematic diagram of another process flow of the radar communication integrated clutter suppression method provided in an embodiment of the present application;

[0045] Figure 3 This is a radar communication integrated echo model diagram in an embodiment of the present application. DETAILED DESCRIPTION

[0046] For ease of understanding, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] Example 1

[0048] See also Figure 1-Figure 2 , the present application proposes a radar communication integrated clutter suppression method, the method comprising the following steps:

[0049] S1. Based on the clutter statistical model matched in the working environment of the radar communication integrated system, a radar communication integrated echo signal model including clutter, target echo and noise is constructed;

[0050] More specifically, step S1 includes:

[0051] S101. Analyze the environment in which the target is located, determine the clutter scattering characteristics, and select an adaptive statistical distribution to describe the clutter model;

[0052] S102. Combining the principle of electromagnetic wave superposition, path propagation loss and antenna pattern characteristics, a mathematical model of radar communication integrated echo signal is constructed.

[0053] In some specific implementations, step S1 is specifically a radar communication integrated echo signal mathematical modeling, and accordingly, the radar communication integrated system model is as follows: Figure 3 As shown in Figure 1, according to the environment in which the radar communication integrated system is located, a suitable statistical random process is selected to describe the clutter model. Based on the clutter statistical model, Line The first element of the array The received clutter data of a range ring can be expressed as:

[0054]

[0055] in is the range ring pitch angle, is the range ring pitch angle, is the transmission pattern, is the path loss, is the statistical distribution of clutter, such as Rayleigh distribution, For integrated transmission signal, for The communication information carried at all times, is the array element spacing, is the wavelength, is the height of the array from the ground.

[0056] No. Line The received target echo data of the array elements of the column can be expressed as:

[0057]

[0058] in is the target number, is the target pitch angle, is the target azimuth, is the transmission pattern, is the path loss, Delay for the target, is the target Doppler frequency, is the target radial velocity, is a step function.

[0059] No. Line The echo signal of the array element of the column can be expressed as:

[0060]

[0061] in is the number of distance rings, For the The delay of the distance ring, For noise.

[0062] S2. Using the echo signal model, setting the integrated sidelobe ratio of the matched filtering result as the cost function, constructing an optimization problem and solving it iteratively, designing a radar communication integrated signal waveform with low sidelobe characteristics based on the optimal solution and using it as a transmission signal;

[0063] More specifically, step S2 includes:

[0064] S201. Taking the integrated sidelobe ratio of the matched filtering result of the radar communication integrated signal as the cost function, the optimization problem of the low sidelobe radar communication integrated waveform is constructed;

[0065] S202. Relaxing the optimization problem, and iteratively solving the relaxed optimization problem using an alternating projection method;

[0066] S203. Using the designed non-constant modulus low sidelobe radar communication integrated waveform as the initial waveform, iterative optimization is performed to design a constant modulus low sidelobe radar communication integrated waveform as the transmission signal.

[0067] In some specific implementations, step S2 is specifically a low sidelobe radar communication integrated signal optimization, and within the acceptable range of system performance loss, the optimization problem is relaxed and the relaxed optimization problem is iteratively solved using the alternating projection method. In addition, considering that radar detection usually transmits equal power waveforms, the designed equal power waveform of low sidelobe radar communication integrated waveform is the initial waveform for iterative optimization. This iterative process is a non-convex nonlinear optimization problem with nonlinear constraints, which needs to be transformed to make it easy to solve.

[0068] The optimization constraints can be expressed as:

[0069]

[0070] By transforming the cost function and discarding the constant term, the equivalent function can be expressed as:

[0071]

[0072] The M constraints can be replaced by LM constraints:

[0073]

[0074] The above constraints can be transformed into:

[0075]

[0076] S3. Receive an echo signal corresponding to the transmitted signal in the working environment, and design a two-stage cascade filter to filter the echo signal; wherein the first stage filter is designed based on the least squares method, and the second stage filter is designed based on a low sidelobe template;

[0077] More specifically, step S3 includes:

[0078] S301. Receiving an echo signal corresponding to the transmitted signal in the working environment, designing a two-stage cascade filter, designing the first-stage filter using the least squares method, and filtering the echo signal to obtain a filtering result;

[0079] S302. Approximating the first-stage filtering results to the low sidelobe template, taking the mean or minimum peak sidelobe ratio of the approximation results as the new template, and approximating the second-stage filtering output results to the updated template;

[0080] S303. By iterating the template update and approximation process in step S302, the loss of similarity of the filtering result caused by the second-stage filter is compensated, and the second-stage filter coefficients are calculated;

[0081] S304. Obtain a filtering output result based on the updated second-stage filter.

[0082] It is understandable that the first-stage filter in step S3 is designed using the least squares method to ensure the consistency of the filtering responses of different integrated signals. The second-stage filter approximates the first-stage filtering result to the low sidelobe template, and compensates for the loss of similarity of the filtering result caused by the second-stage filter through iterative template updating and approximation process.

[0083] In some specific implementations, step S3 is specifically radar communication integrated receiving filter clutter suppression. More specifically, by designing a radar communication integrated receiving filter, the radar communication integrated signal is processed to improve the consistency of the filtering result. Specifically, a two-stage cascade-iterative filter is designed to solve the problems of low similarity and high distance sidelobe of the filtering outputs of different integrated signals. First, the first-stage filter is designed by the least squares method to ensure the consistency of the filtering response of different integrated signals; then, the first-stage filtering results are approximated to the low sidelobe template, and the mean or minimum peak sidelobe ratio of the approximation result is used as a new template, and the second-stage filtering output results are approximated to the updated template. By iterating the above template update and approximation process, the loss of similarity of the filtering results caused by the second-stage filter is compensated, and finally the second-stage filter coefficient is calculated. By using the joint processing of multi-stage filters of different integrated signals, the consistency of the radar communication integrated echo signal is enhanced to achieve the purpose of clutter suppression.

[0084] Receiving Signals After filtering, it can be expressed as:

[0085]

[0086] is the order of the filter, represents the number of filters, Indicates clutter.

[0087] make , further writing the above formula into matrix form:

[0088]

[0089] Derivative the above formula to obtain the filter coefficients:

[0090]

[0091] Pick out the minimum column value and solve it using the least squares approximation:

[0092]

[0093] The output result of the above formula is used as the constraint condition for iteration, the low-clutter echo signal is output, and the filter coefficient is obtained.

[0094] S4. Perform communication information compensation on the filtered echo signal, and use a two-dimensional FFT algorithm and a subspace algorithm to estimate target parameters of the compensated echo signal.

[0095] More specifically, step S4 includes:

[0096] S401. The filtered echo signal is compensated for communication information;

[0097] S402. The echo signal after the compensation communication information is truncated and the signal is transformed into the frequency domain for frequency domain smoothing and decoherence processing;

[0098] S403. Rearranging the decorrelation-processed echo signal into a matrix form, wherein each row of the matrix is ​​fast time sampling and each column is slow time sampling;

[0099] S404. Filtering is performed along the fast time dimension sampling, Fourier transform is performed along the slow time dimension sampling, moving target detection is achieved, and the target distance and speed are estimated using a two-dimensional FFT algorithm;

[0100] S405. Use a subspace algorithm to estimate the angle of the target.

[0101] In some specific implementations, step S4 is specifically information-compensated radar communication integrated target parameter estimation; more specifically, firstly, the communication information of the received signal is compensated, the echo signal after the communication information is compensated is truncated, and the signal is transformed into the frequency domain, and the frequency domain smoothing and decorrelation processing is performed, and the echo signal after the decorrelation processing is rearranged into the form of a matrix, each row of the matrix is ​​a fast time sample, and each column is a slow time sample, and filtering processing is performed along the fast time dimension sampling, and Fourier transform is performed along the slow time dimension sampling to realize moving target detection and estimate the target distance and speed.

[0102] Assume that the number of fast time sampling points per line is Assume that the number of fast time sampling points per line is N, and the sampling frequency is , n is the frequency point corresponding to the FFT spectrum peak. According to the relationship between T, Fs, and N, the formula for the relationship between distance and frequency can be further expressed as:

[0103]

[0104] Among them, is the distance resolution. It can be known that the frequency point corresponding to the FFT spectrum peak of the intermediate frequency signal, that is, the target range gate multiplied by the distance resolution can get the distance of the target.

[0105] For two adjacent signals in the column signal, due to the short period interval and limited distance resolution, the peak position in the distance-dimensional FFT spectrum of the two fast time periods changes slightly, but its phase is more sensitive than the distance. The phase between the two points is inconsistent. The speed of the target can be obtained by calculating the phase difference between the adjacent points in the slow time.

[0106]

[0107]

[0108] The small distance change between the two points in slow time is , then the speeds of the two targets are

[0109]

[0110] To obtain the target angle information, it can be achieved through angle of arrival estimation. Since each antenna position is different, different path differences will be generated. The phase difference of the array receiving data caused by the path difference can be used to realize the angle of arrival estimation. At the same time, considering the influence of multipath effect, according to the difference between direct signal and scattered signal, the method of compensating for signal fading caused by multipath is studied, the correlation between direct signal and scattered signal is reduced, and the interference of scattered signal is suppressed. After interference suppression, the subspace algorithm is used to estimate the angle of the target. The subspace MUSIC algorithm to be used in this article does not consider the scenario where the signal is coherent due to multipath effect. The signal-to-noise ratio and number of snapshots of the received signal are related to the resolution and accuracy of DOA angle estimation as follows:

[0111] DOA angle estimation resolution:

[0112]

[0113] DOA angle estimation accuracy:

[0114]

[0115] in is the DOA angle estimation resolution, is the DOA angle estimation accuracy, is the number of array elements, For the number of snapshots, is the noise power, is the guidance vector, is the matrix associated with the steering vector.

[0116] According to the above embodiments of the present invention, the present invention realizes effective suppression of integrated signal clutter by constructing an accurate echo signal model, designing a low sidelobe radar communication integrated signal waveform, designing a two-stage cascade filter, and using a two-dimensional FFT algorithm and a subspace algorithm to estimate target parameters. The method has the advantages of small calculation amount, good real-time performance, and high accuracy, and has a wide range of application prospects in the field of radar communication integration; and in actual applications, it reduces 2.5dB compared with traditional suppression methods, and improves the probability of low-altitude target recognition.

[0117] In another embodiment of the present invention, a radar communication integrated clutter suppression system is proposed, the system is configured to implement the clutter suppression method as described above, and the system includes:

[0118] The echo signal modeling module is used to build a radar communication integrated echo signal model including clutter, target echo and noise based on the clutter statistical model matched in the working environment of the radar communication integrated system;

[0119] A low sidelobe signal optimization module is used to use the echo signal model to design an integrated sidelobe ratio of the matched filtering result as a cost function, construct an optimization problem and perform iterative solution, and design a radar communication integrated signal waveform with low sidelobe characteristics based on the optimal solution and use it as a transmission signal;

[0120] A receiving filter module, used for receiving an echo signal corresponding to the transmitting signal in the working environment, and designing a two-stage cascade filter to filter the echo signal; wherein the first stage filter is designed based on the least squares method, and the second stage filter is designed based on a low sidelobe template;

[0121] The target parameter estimation module is used to perform communication information compensation on the echo signal after filtering, and use a two-dimensional FFT algorithm and a subspace algorithm to estimate the target parameters of the compensated echo signal.

[0122] In another embodiment of the present invention, an electronic device is proposed, comprising a memory module, and a logic operation control program stored on the memory module and executable on the processor module, wherein the processor module implements the above-mentioned interference suppression method when executing the logic operation control program.

[0123] In yet another embodiment of the present invention, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the clutter suppression method as described above is implemented.

[0124] The above formulas are all dimensionless and numerical calculations. The formula is a formula for the most recent real situation obtained by collecting a large amount of data and performing software simulation. The preset parameters and thresholds in the formula are set by technicians in this field according to actual conditions.

[0125] It is obvious to those skilled in the art that the embodiments of the present invention are not limited to the details of the above exemplary embodiments, and that the embodiments of the present invention can be implemented in other specific forms without departing from the spirit or basic features of the embodiments of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the embodiments of the present invention is limited by the attached claims rather than the above description, so it is intended to include all changes that fall within the meaning and scope of the equivalent elements of the claims in the embodiments of the present invention. Any figure mark in the claims should not be regarded as limiting the claims involved. In addition, it is obvious that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units, modules or devices stated in the system, device or terminal claims can also be implemented by the same unit, module or device through software or hardware. The words first, second, etc. are used to indicate names, and do not indicate any particular order.

[0126] Finally, it should be noted that the above implementation modes are only used to illustrate the technical solutions of the embodiments of the present invention and are not intended to limit them. Although the embodiments of the present invention have been described in detail with reference to the above preferred implementation modes, those skilled in the art should understand that the technical solutions of the embodiments of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A radar communication integrated clutter suppression method, characterized in that: The method comprises the following steps: S1. Based on the clutter statistical model matched in the working environment of the radar communication integrated system, a radar communication integrated echo signal model including clutter, target echo and noise is constructed; S2. Using the echo signal model, setting the integrated sidelobe ratio of the matched filtering result as the cost function, constructing an optimization problem and solving it iteratively, designing a radar communication integrated signal waveform with low sidelobe characteristics based on the optimal solution and using it as a transmission signal; S3. Receive an echo signal corresponding to the transmitted signal in the working environment, and design a two-stage cascade filter to filter the echo signal; wherein the first stage filter is designed based on the least squares method, and the second stage filter is designed based on a low sidelobe template; S4. Perform communication information compensation on the filtered echo signal, and use a two-dimensional FFT algorithm and a subspace algorithm to estimate target parameters of the compensated echo signal.

2. The radar communication integrated clutter suppression method according to claim 1, characterized in that: Step S1 includes: S101. Analyze the environment in which the target is located, determine the clutter scattering characteristics, and select an adaptive statistical distribution to describe the clutter model; S102. Combining the principle of electromagnetic wave superposition, path propagation loss and antenna pattern characteristics, a mathematical model of radar communication integrated echo signal is constructed.

3. The radar communication integrated clutter suppression method according to claim 1, characterized in that: Step S2 includes: S201. Taking the integrated sidelobe ratio of the matched filtering result of the radar communication integrated signal as the cost function, the optimization problem of the low sidelobe radar communication integrated waveform is constructed; S202. Relaxing the optimization problem, and iteratively solving the relaxed optimization problem using an alternating projection method; S203. Using the designed non-constant modulus low sidelobe radar communication integrated waveform as the initial waveform, iterative optimization is performed to design a constant modulus low sidelobe radar communication integrated waveform as the transmission signal.

4. The radar communication integrated clutter suppression method according to claim 1, characterized in that: Step S3 includes: S301. Receiving an echo signal corresponding to the transmitted signal in the working environment, designing a two-stage cascade filter, designing the first-stage filter using the least squares method, and filtering the echo signal to obtain a filtering result; S302. Approximating the first-stage filtering results to the low sidelobe template, taking the mean or minimum peak sidelobe ratio of the approximation results as the new template, and approximating the second-stage filtering output results to the updated template; S303. By iterating the template update and approximation process in step S302, the loss of similarity of the filtering result caused by the second-stage filter is compensated, and the second-stage filter coefficients are calculated; S304. Obtain a filtering output result based on the updated second-stage filter.

5. The radar communication integrated clutter suppression method according to claim 1, characterized in that: Step S4 includes: S401. The filtered echo signal is compensated for communication information; S402. The echo signal after the compensation communication information is truncated and the signal is transformed into the frequency domain for frequency domain smoothing and decoherence processing; S403. Rearranging the decorrelation-processed echo signal into a matrix form, wherein each row of the matrix is ​​fast time sampling and each column is slow time sampling; S404. Filtering is performed along the fast time dimension sampling, Fourier transform is performed along the slow time dimension sampling, moving target detection is achieved, and the target distance and speed are estimated using a two-dimensional FFT algorithm; S405. Use a subspace algorithm to estimate the angle of the target.

6. A radar communication integrated clutter suppression system, characterized in that: The system is configured to implement the clutter suppression method according to any one of claims 1 to 5, and the system comprises: The echo signal modeling module is used to build a radar communication integrated echo signal model including clutter, target echo and noise based on the clutter statistical model matched in the working environment of the radar communication integrated system; A low sidelobe signal optimization module is used to use the echo signal model to design an integrated sidelobe ratio of the matched filtering result as a cost function, construct an optimization problem and perform iterative solution, and design a radar communication integrated signal waveform with low sidelobe characteristics based on the optimal solution and use it as a transmission signal; A receiving filter module, used for receiving an echo signal corresponding to the transmitting signal in the working environment, and designing a two-stage cascade filter to filter the echo signal; wherein the first stage filter is designed based on the least squares method, and the second stage filter is designed based on a low sidelobe template; The target parameter estimation module is used to perform communication information compensation on the echo signal after filtering, and use a two-dimensional FFT algorithm and a subspace algorithm to estimate the target parameters of the compensated echo signal.

7. An electronic device, characterized in that: It comprises a memory module and a processor module, and a logic operation control program stored in the memory module and executable on the processor module. When the processor module executes the logic operation control program, the clutter suppression method as described in any one of claims 1 to 5 is implemented.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the clutter suppression method according to any one of claims 1 to 5 is implemented.

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