Radar detection method and radar system

Abstract

The invention discloses a radar detection method and a radar system. The method is applied to a radar system, the radar system comprises a master radar and at least one slave radar, and the method comprises the following steps: the master radar determines positioning information of each target in a detection range of the master radar through a radar signal transmitted by a transmitter and a radar signal received by a receiver, and sends the positioning information of each target to each slave radar; the positioning information comprises the distance and orientation of the target relative to the main radar and the motion state of each target; and the slave radar interrupts the emission of the radar signal, screens out the positioning information corresponding to the local radar from the received positioning information, and determines the positioning information of the remaining targets relative to the slave radar according to the positioning information corresponding to the local radar and the positioning information corresponding to the remaining targets. By adopting the method, the number of radar signals can be effectively reduced, interference between the radar signals is fundamentally avoided, and the accuracy of radar detection is effectively improved.

Description

Technical Field

[0001] The present application relates to the field of detection, and in particular to a radar detection method and a radar system. Background Art

[0002] With the rapid economic development, maritime trade has continued to grow, and the demand for ship transportation has increased significantly, resulting in a significant increase in the density of ships on the waterway.

[0003] Ships often use radar detection to achieve target tracking, environmental monitoring, etc. However, the increase in ship density directly leads to a higher radar density. In a high-density radar environment, since the operating frequencies of radar equipment are similar, co-frequency interference is easily generated between radars, which affects the detection and tracking performance of the radar and leads to safety issues for ships. Summary of the invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, it is desired to provide a radar detection method and a radar system, which can effectively reduce the number of radar signals, fundamentally avoid interference between radar signals, and effectively improve the accuracy of radar detection.

[0005] In a first aspect, the present application provides a radar detection method applied to a radar system, the radar system comprising a master radar and at least one slave radar, the master radar being a radar selected from all radars within the detection range when any radar in the radar system determines that the number of radars within the detection range is greater than a preset number. The method comprises: The main radar determines the positioning information of each target within the detection range of the main radar through the radar signal transmitted by the transmitter and the radar signal received by the receiver, and sends the positioning information of each target to each slave radar; the positioning information includes the distance and direction of the target relative to the main radar and the motion status of each target; The slave radar stops transmitting radar signals, and selects the positioning information corresponding to the local radar from the received positioning information, and determines the positioning information of the remaining targets relative to the slave radar based on the positioning information corresponding to the local radar and the positioning information corresponding to the remaining targets.

[0006] In combination with the first aspect, in a possible implementation method, the method of constructing a radar system includes: when any radar determines that the number of radars within a detection range is greater than a preset number, determining whether a radar broadcast signal is received; the broadcast signal includes at least one of the radar identification, frequency data, position data, and time data; if at least one radar broadcast signal is received, selecting a target radar as a main radar from at least one radar corresponding to the at least one radar broadcast signal, and the remaining radars as slave radars; if no radar broadcast signal is received, broadcasting local radar information, and determining that the local radar is the main radar, and the remaining radars within the detection range are slave radars; and constructing a radar system based on the main radar and the slave radars.

[0007] In combination with the first aspect, in one possible implementation, if at least one radar broadcast signal is received, a target radar is selected as a main radar from at least one radar corresponding to the at least one radar broadcast signal, including: if a radar broadcast signal is received, the radar corresponding to the radar broadcast signal is selected as the main radar.

[0008] In combination with the first aspect, in one possible implementation, if at least one radar broadcast signal is received, a target radar is selected as a main radar from at least one radar corresponding to the at least one radar broadcast signal, including: if multiple radar broadcast signals are received, the number of received radar broadcast signals is determined again after a preset time period until a radar broadcast signal is received, and the radar corresponding to the received radar broadcast signal is selected as the main radar.

[0009] In combination with the first aspect, in a possible implementation method, a radar system is constructed based on a master radar and a slave radar, including: the master radar sends a transmitter shutdown request to all radars within a detection range; the slave radar turns off the transmitter in response to the transmitter shutdown request of the master radar, and sends a target data request to the master radar; the master radar constructs a radar system based on the local radar and the slave radar corresponding to the received target data request, and sends the positioning information of the target within the detection range to the slave radar in response to the target data request of the slave radar.

[0010] In combination with the first aspect, in a possible implementation manner, the master radar and the slave radar communicate within a first frequency band; the first frequency band is a frequency band outside a frequency band where radar signals are located.

[0011] In combination with the first aspect, in a possible implementation method, the positioning information of the remaining targets relative to the slave radar is determined according to the positioning information corresponding to the local radar and the positioning information corresponding to the remaining targets, including: determining the positioning information of the main radar relative to the local radar according to the positioning information corresponding to the local radar; determining the positioning information of the remaining targets relative to the slave radar according to the positioning information corresponding to the remaining targets and the positioning information of the main radar relative to the local radar.

[0012] In combination with the first aspect, in a possible implementation method, determining the positioning information of the main radar relative to the local radar based on the positioning information corresponding to the local radar includes: determining the azimuth information of the main radar relative to the local radar based on the opposite direction of the local radar relative to the direction of the main radar; determining the positioning information corresponding to the main radar relative to the local radar based on the distance between the local radar and the main radar, the azimuth information of the main radar relative to the local radar, and the motion state of the main radar.

[0013] In combination with the first aspect, in a possible implementation method, the positioning information of the remaining targets relative to the slave radar is determined according to the positioning information corresponding to the remaining targets and the positioning information of the main radar relative to the local radar, including: for each remaining target, determining the distance and azimuth of the target relative to the local radar according to the distance and azimuth of the target relative to the main radar, and the distance and azimuth of the main radar relative to the local radar; determining the positioning information of the target relative to the local radar according to the distance and azimuth of the target relative to the local radar, and the motion state of the target.

[0014] In a second aspect, the present application also provides a radar system. The system includes a master radar and at least one slave radar. The main radar is used to determine the positioning information of each target within the detection range of the main radar through the radar signal transmitted by the transmitter and the radar signal received by the receiver, and send the positioning information of each target to each slave radar; the positioning information includes the distance and direction of the target relative to the main radar and the motion status of each target; The slave radar is used to interrupt the transmission of radar signals, and filter out the positioning information corresponding to the local radar from the received positioning information, and determine the positioning information of the remaining targets relative to the slave radar based on the positioning information corresponding to the local radar and the positioning information corresponding to the remaining targets.

[0015] The embodiment of the present application provides a radar detection method and a radar system, wherein the radar system includes a main radar and at least one slave radar, wherein the main radar is a radar selected from all radars within the detection range when any radar in the radar system determines that the number of radars within the detection range is greater than a preset number. The main radar determines the positioning information of each target within the detection range of the main radar through the radar signal transmitted by the transmitter and the radar signal received by the receiver, and sends the positioning information of each target to each slave radar. The slave radar interrupts the transmission of the radar signal, and filters out the positioning information corresponding to the local radar from the received positioning information, and determines the positioning information of the remaining targets relative to the slave radar based on the positioning information corresponding to the local radar and the positioning information corresponding to the remaining targets. In the embodiment of the present application, in the case of dense radars, by selecting one radar as the main radar, the remaining radars do not transmit radar signals, and the positioning information of each target is determined by the information sent by the main radar, thereby effectively reducing the number of radar signals, fundamentally avoiding interference between radar signals, and effectively improving the accuracy of radar detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings: Figure 1 is a schematic structural diagram of a radar system in one embodiment; Figure 2A schematic diagram of a flow chart of a radar detection method in one embodiment; Figure 3 is another schematic flow chart of a radar detection method in one embodiment; Figure 4 is another schematic flow chart of a radar detection method in one embodiment; Figure 5 Another schematic diagram of a flow chart of a radar detection system in one embodiment; Figure 6 Another schematic diagram of a flow chart of a radar detection system in one embodiment; Figure 7 FIG. 4 is another flow chart of a radar detection system in one embodiment. DETAILED DESCRIPTION

[0017] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0018] With the rapid economic development, the maritime trade is growing, and the demand for ship transportation has increased significantly, which has greatly increased the density of ships on the waterway. Ships often use radar detection to achieve target tracking, environmental monitoring, etc. However, in a high-density ship environment, especially when the distance between ships is close, due to the similar operating frequencies of radar equipment, the possibility of overlapping signals of radar equipment increases, and co-frequency interference is easily generated between radars, which affects the detection and tracking performance of radars, resulting in a series of problems such as radar detection blind spots, information confusion, and positioning errors, which seriously affect the effectiveness and reliability of the ship's safe navigation and collision avoidance system.

[0019] At present, the commonly used measures to resist co-channel interference between radars include: designing the radar antenna with a narrower beam and as low side lobes as possible to reduce the interference power input; requiring the radar transmitter to transmit frequency-staggered signals and waveform-coded signals; requiring the receiver to have good anti-saturation capability to prevent the saturation of the receiving and processing system from causing loss of target information; the receiver must have signal discrimination capability; the signal processing can not only perform coherent and non-coherent processing such as normal moving target indication (MTI), moving target detection (MTD) and constant false alarm, but also has the ability to distinguish signal characteristics to distinguish whether the signal is a normal target echo or a co-channel interference signal from other radars.

[0020] In order to suppress asynchronous interference between radars, the n-pulse incoherent accumulation algorithm is currently often used. The algorithm can weaken the amplitude of the interference signal without weakening the amplitude of the target echo signal. However, the algorithm still cannot completely eliminate the influence of the interference signal, especially when the main lobe of the interfering radar interferes with the main lobe of the interfered radar. The amplitude of the interference signal processed by the algorithm may be larger than the amplitude of the target echo signal, which is not suitable for small target detection.

[0021] Normally, radar is greatly affected by asynchronous interference signals. Based on the fact that asynchronous interference is located in different distance units in adjacent sweeps, while the target signal is in the same distance unit, the asynchronous interference can be directly filtered out through the "AND" processing between sweeps. In order to enhance the anti-interference capability against asynchronous interference signals, the binary detection results are often processed by "AND". For signals with echoes spanning two distance units or leading edge jitter, the echo width is narrowed by one distance quantization unit.

[0022] However, the above methods cannot eliminate interference signals. When the environmental conditions are poor, such as when affected by rain, snow and waves, the sea clutter is serious and the target echo fluctuates rapidly, resulting in insufficient correlation between sweeps. The "AND" processing may filter out the target echo, resulting in missed alarms.

[0023] In view of the above problems, the present application embodiment proposes a radar detection method, which is applied to Figure 1 The radar system shown includes a main radar 10 and at least one slave radar 20. The main radar 10 is a radar selected from all radars within the detection range when any radar in the radar system determines that the number of radars within the detection range is greater than a preset number.

[0024] The radar detection method based on the above radar system includes the following steps: Figure 2 Steps shown: Step 101 : The master radar 10 determines the positioning information of each target within the detection range of the master radar through the radar signal transmitted by the transmitter and the radar signal received by the receiver, and sends the positioning information of each target to each slave radar 20 .

[0025] In an embodiment of the present application, when a radar determines that the number of radars within its detection range is greater than a preset number, one radar can be selected from all the radars within the detection range as a main radar, and the remaining radars within the detection range except the main radar are selected as slave radars. A main radar and at least one slave radar constitute a radar system.

[0026] When the radar system is working, only the main radar 10 can perform target detection through the transmitter and the receiver, that is, determine the positioning information of each target within the detection range of the main radar through the radar signal transmitted by the transmitter and the radar signal received by the receiver.

[0027] The positioning information includes the distance and direction of the target relative to the main radar 10 and the motion state of each target. The motion state of the target may include the moving direction and speed of the target. The target can be tracked based on the positioning information of the target.

[0028] The target can be a slave radar in the radar system or other objects within the detection range of the main radar, such as a ship hull without radar, obstacles (boulders), etc.

[0029] Step 102, the slave radar 20 stops transmitting the radar signal, and filters out the positioning information corresponding to the local radar from the received positioning information, and determines the positioning information of the remaining targets relative to the slave radar 20 based on the positioning information corresponding to the local radar and the positioning information corresponding to the remaining targets.

[0030] In the embodiment of the present application, the slave radar in the radar system does not transmit radar signals, and only determines the positioning information of each target relative to the slave radar through the positioning information of the target relative to the master radar sent by the master radar received by the receiver. That is, the slave radar can turn off the transmitter, and in the radar-intensive area, only the transmitter of the master radar is allowed to transmit radar signals, which fundamentally avoids interference between radar signals and ensures the accuracy of radar detection results.

[0031] Specifically, the slave radar can first filter out the positioning information corresponding to itself (i.e., the local radar) from the positioning information of all targets sent by the master radar, and then determine the positioning information of each target relative to the local radar based on the positioning information of each target relative to the master radar and the positioning information of the local radar relative to the master radar through coordinate system conversion and other methods.

[0032] In a possible implementation, the positioning information of each target relative to the slave radar can also be determined on the master radar. That is, after the master radar determines the positioning information of each target within the detection range, the positional relationship such as the distance and direction between the targets can be determined by calculation in the master radar's own coordinate system. The master radar selects the positional relationship corresponding to the slave radar from the positional relationship between the targets, so that the slave radar determines the positioning information of each target relative to the local area.

[0033] In a possible implementation manner, the master radar and the slave radar communicate within a first frequency band.

[0034] The first frequency band is a frequency band outside the frequency band where the radar signal is located. For example, the master radar and the slave radar can communicate via high-frequency microwaves.

[0035] Communicating between the master radar and the slave radar through a frequency band other than the frequency band where the radar signal is located can further avoid interference between signals, ensure the accuracy of positioning signal transmission, and further ensure the accuracy of the detection results of each radar.

[0036] The radar detection method provided in the embodiment of the present application is applied to a radar system, wherein the radar system includes a main radar and at least one slave radar, wherein the main radar is a radar selected from all radars within the detection range when any radar in the radar system determines that the number of radars within the detection range is greater than a preset number. The main radar determines the positioning information of each target within the detection range of the main radar through the radar signal transmitted by the transmitter and the radar signal received by the receiver, and sends the positioning information of each target to each slave radar. The slave radar interrupts the transmission of the radar signal, and filters out the positioning information corresponding to the local radar from the received positioning information, and determines the positioning information of the remaining targets relative to the slave radar based on the positioning information corresponding to the local radar and the positioning information corresponding to the remaining targets. In the embodiment of the present application, in the case of dense radars, by selecting one radar as the main radar, the remaining radars do not transmit radar signals, and the positioning information of each target is determined by the information sent by the main radar, thereby effectively reducing the number of radar signals, fundamentally avoiding interference between radar signals, and effectively improving the accuracy of radar detection.

[0037] The above-mentioned embodiment provides a radar system including a master radar and a slave radar. In another embodiment of the present application, a construction process of the radar system is provided, including: Figure 3 Steps shown: Step 201: When any radar determines that the number of radars within the detection range is greater than a preset number, it determines whether a radar broadcast signal is received.

[0038] Step 202: If at least one radar broadcast signal is received, a target radar is selected as a master radar from at least one radar corresponding to the at least one radar broadcast signal, and the remaining radars are selected as slave radars.

[0039] Step 203: If no radar broadcast signal is received, local radar information is broadcasted, and the local radar is determined to be the master radar, and the remaining radars within the detection range are slave radars.

[0040] Step 204: construct a radar system according to the master radar and the slave radar.

[0041] In an embodiment of the present application, when a certain radar detects (the local radar in this embodiment is this radar) that the number of radars within its detection range is greater than a preset number, it is determined that the current area is a radar-dense area.

[0042] The preset number may be an integer greater than or equal to 0. For example, a radar detects that there is a radar within its detection range. Since two radars may also cause interference when they are close to each other, it can be determined that the current area is a radar-intensive area.

[0043] When the radar determines that its detection range is a radar-dense area, it can determine whether there is a radar broadcast signal in the radar listening communication channel, that is, whether there is the radar broadcasting its own identification, frequency data, location data, time data, etc.

[0044] If at least one radar broadcast signal is received, it indicates that at least one radar can be used as a master radar. Therefore, one of them is selected as the master radar. The master radar can determine that the radars within its detection range are slave radars, and a radar system can be constructed based on itself and the radars within its detection range.

[0045] Specifically, if the local radar determines that it has received a radar broadcast signal, it means that the radar corresponding to the radar broadcast signal can be used as the main radar, so the radar is directly used as the main radar. Similarly, the main radar determines that all radars within its detection range are slave radars, and a radar system can be constructed based on itself and the radars within its detection range.

[0046] If the local radar receives multiple radar broadcast signals, it indicates that the multiple radars corresponding to the multiple radar broadcast signals can be used as the main radar. At this time, in order to ensure the uniformity of the main radar in the current radar-dense area, the main radar can be determined first, that is, the main radar is not determined by the local radar selection method, but the number of received radar broadcast signals is determined again after waiting for a preset period of time. If multiple radar broadcast signals are still received, the number of received radar broadcast signals is determined after waiting for the preset period of time again. That is, the number of received radar broadcast signals is determined every preset period of time until a radar broadcast signal is received, and the radar corresponding to the radar broadcast signal is used as the main radar. The main radar determines all radars within its detection range as slave radars, and a radar system can be constructed based on itself and the radars within its detection range.

[0047] If the local radar determines that its detection range is a radar-dense area and does not receive radar broadcast signals in the radar listening communication channel, it can broadcast its own radar information, act as the main radar, and other radars within the detection range as slave radars, and build a radar system.

[0048] In the method provided in the embodiment of the present application, when the local radar determines that the detection range is a radar-dense area, the main radar is determined by the radar broadcast signal. When no radar broadcast signal is received, the radar information of the local radar is broadcast and used as the main radar; when a radar broadcast signal is received, the radar corresponding to the radar broadcast signal is used as the main radar; when multiple radar broadcast signals are received, the number of received radar broadcast signals is determined again every preset time period until a radar broadcast signal is received, and the radar corresponding to the radar broadcast signal is used as the main radar. The main radar constructs a radar system based on itself and the radars within its detection range. The embodiment of the present application always determines the main radar when there is only one radar broadcast signal, which ensures the unity of the main radar and the effectiveness of the radar system.

[0049] The above-mentioned embodiment provides a scheme for determining the master radar and the slave radar. In another embodiment of the present application, it is also necessary to adjust the transmitter state of the slave radar, and a radar system can be constructed based on the slave radar and the master radar after the state adjustment. The present application embodiment includes the following: Figure 4 Steps shown: Step 301: The main radar sends a transmitter shutdown request to all radars within the detection range.

[0050] Step 302: The slave radar turns off its transmitter in response to the transmitter turn-off request of the master radar, and sends a target data request to the master radar.

[0051] Step 303: The master radar constructs a radar system according to the local radar and the slave radar corresponding to the received target data request, and sends the positioning information of the target within the detection range to the slave radar in response to the target data request of the slave radar.

[0052] In an embodiment of the present application, after the main radar is determined, the main radar sends a transmitter shutdown request to all radars within its detection range. The radars within the detection range of the main radar shut down their transmitters in response to the transmitter shutdown request, and after shutting down the transmitter, send a target data request to the main radar. The target data request carries information such as the radar's identification.

[0053] After receiving the target data request from the radar within the detection range, the master radar determines that the radar has turned off the transmitter, so it is used as a slave radar. The master radar builds a radar system based on itself and all radars corresponding to the received target data requests. At the same time, the master radar responds to the target data request from the slave radar and sends the positioning information of the detected target to the slave radar, so that the slave radar can realize target tracking, collision avoidance and other functions based on the positioning information of the target.

[0054] In the method provided in the embodiment of the present application, the main radar constructs a radar system based on itself and the radars with transmitters turned off within the detection range, thereby effectively reducing the number of radar signals in the constructed radar system, fundamentally avoiding interference between radar signals, and effectively improving the accuracy of radar detection.

[0055] The above-mentioned embodiment provides a solution for the local radar to determine the positioning information of each target relative to itself based on the received positioning information of each target relative to the main radar. In another embodiment of the present application, the positioning information of each target relative to itself can be determined by coordinate system conversion. This embodiment includes the following: Figure 5 Steps shown: Step 401: Determine the positioning information of the main radar relative to the local radar according to the positioning information corresponding to the local radar.

[0056] In the embodiment of the present application, the main radar sends the positioning information of all targets to the local radar, including the positioning information of the local radar relative to the main radar. Therefore, the local radar can determine the positioning information of the main radar relative to the local radar for each piece of information in the positioning information, which may include the following: Figure 6 Steps shown: Step 501: Determine the azimuth information of the main radar relative to the local radar according to the opposite azimuth of the local radar relative to the main radar.

[0057] Step 502: Determine the positioning information of the main radar relative to the local radar according to the distance between the local radar and the main radar, the azimuth information of the main radar relative to the local radar, and the motion state of the main radar.

[0058] That is, for the direction in the positioning information, the local radar receives its own direction information relative to the main radar, and after inverting it, the direction information of the main radar relative to the local radar can be obtained.

[0059] The orientation information may be an azimuth angle.

[0060] The positioning information sent by the master radar to the slave radar may also include the motion state of the master radar itself. Therefore, the local radar can determine the positioning information of the master radar relative to the local radar based on the inverted azimuth information of the master radar relative to the local radar, the distance between the local radar and the master radar, and the motion state of the master radar, and realize target tracking of the master radar.

[0061] Step 402: Determine the positioning information of the remaining targets relative to the slave radar based on the positioning information corresponding to the remaining targets and the positioning information of the master radar relative to the local radar.

[0062] In the embodiment of the present application, the conversion relationship between the coordinate system of the main radar and the coordinate system of the local radar can be determined based on the positioning information of the main radar relative to the local radar. Then, for the positioning information of the remaining targets except the main radar and the local radar, the local radar can perform coordinate system conversion on the positioning information through the conversion relationship, and convert the positioning information from the coordinate system of the main radar to the coordinate system of the local radar, so as to determine the positioning information of each target relative to the local radar. Specifically, Figure 7 Steps shown: Step 601: For each remaining target, determine the distance and azimuth of the target relative to the local radar according to the distance and azimuth of the target relative to the main radar, and the distance and azimuth of the main radar relative to the local radar.

[0063] Step 602: Determine the positioning information of the target relative to the local radar according to the distance and direction of the target relative to the local radar and the motion state of the target.

[0064] That is, the coordinate system is converted for the azimuth information and distance information in the positioning information of the target relative to the main radar, and the above two information are converted to the local radar coordinate system, so that the distance and azimuth of the target relative to the local radar can be obtained. Finally, according to the motion state of the target in the positioning information and the above-determined distance and azimuth of the target relative to the local radar, the positioning information of the target relative to the local radar can be obtained.

[0065] In the method provided in the embodiment of the present application, the local radar can determine the positioning information of the main radar relative to the local radar based on the received positioning information of itself relative to the main radar, and then determine the positioning information of the remaining targets relative to the slave radar by means of coordinate system conversion based on the positioning information corresponding to the remaining targets and the positioning information of the main radar relative to the local radar. In the embodiment of the present application, the slave radar can realize target tracking based on the positioning information sent by the main radar, without transmitting radar signals through a transmitter to locate the target, effectively reducing the number of radar signals, fundamentally avoiding interference between radar signals, and effectively improving the accuracy of radar detection.

[0066] In one embodiment, a radar system is provided, which includes a master radar 10 and at least one slave radar 20. The master radar 10 is used to determine the positioning information of each target within the detection range of the master radar through the radar signal transmitted by the transmitter and the radar signal received by the receiver, and send the positioning information of each target to each slave radar 20. The slave radar 20 is used to interrupt the transmission of the radar signal, and filter out the positioning information corresponding to the local radar from the received positioning information, and determine the positioning information of the remaining targets relative to the slave radar 20 according to the positioning information corresponding to the local radar and the positioning information corresponding to the remaining targets.

[0067] In an embodiment of the present application, when a radar determines that the number of radars within its detection range is greater than a preset number, one radar can be selected from all the radars within the detection range as a main radar, and the remaining radars within the detection range except the main radar are selected as slave radars. A main radar and at least one slave radar constitute a radar system.

[0068] When the radar system is working, only the main radar 10 can perform target detection through the transmitter and the receiver, that is, determine the positioning information of each target within the detection range of the main radar through the radar signal transmitted by the transmitter and the radar signal received by the receiver.

[0069] The positioning information includes the distance and direction of the target relative to the main radar 10 and the motion state of each target. The motion state of the target may include the moving direction and speed of the target. The target can be tracked based on the positioning information of the target.

[0070] The target can be a slave radar in the radar system or other objects within the detection range of the main radar, such as a ship hull without radar, obstacles (boulders), etc.

[0071] The slave radar in the radar system does not transmit radar signals, but only determines the positioning information of each target relative to the slave radar through the positioning information of the target relative to the master radar sent by the receiver. That is, the slave radar can turn off the transmitter, and in the radar-intensive area, only the transmitter of the master radar is allowed to transmit radar signals, which fundamentally avoids interference between radar signals and ensures the accuracy of radar detection results.

[0072] Specifically, the slave radar can first filter out the positioning information corresponding to itself (i.e., the local radar) from the positioning information of all targets sent by the master radar, and then determine the positioning information of each target relative to the local radar based on the positioning information of each target relative to the master radar and the positioning information of the local radar relative to the master radar through coordinate system conversion and other methods.

[0073] In a possible implementation, the positioning information of each target relative to the slave radar can also be determined on the master radar. That is, after the master radar determines the positioning information of each target within the detection range, the positional relationship such as the distance and direction between the targets can be determined by calculation in the master radar's own coordinate system. The master radar selects the positional relationship corresponding to the slave radar from the positional relationship between the targets, so that the slave radar determines the positioning information of each target relative to the local area.

[0074] In a possible implementation manner, the master radar and the slave radar communicate within a first frequency band.

[0075] The first frequency band is a frequency band outside the frequency band where the radar signal is located. For example, the master radar and the slave radar can communicate via high-frequency microwaves.

[0076] Communicating between the master radar and the slave radar through a frequency band other than the frequency band where the radar signal is located can further avoid interference between signals, ensure the accuracy of positioning signal transmission, and further ensure the accuracy of the detection results of each radar.

[0077] The radar system provided in the embodiment of the present application includes a main radar and at least one slave radar, wherein the main radar is a radar selected from all radars within the detection range when any radar in the radar system determines that the number of radars within the detection range is greater than a preset number. The main radar determines the positioning information of each target within the detection range of the main radar through the radar signal transmitted by the transmitter and the radar signal received by the receiver, and sends the positioning information of each target to each slave radar. The slave radar interrupts the transmission of the radar signal, and filters out the positioning information corresponding to the local radar from the received positioning information, and determines the positioning information of the remaining targets relative to the slave radar according to the positioning information corresponding to the local radar and the positioning information corresponding to the remaining targets. In the embodiment of the present application, in the case of dense radars, by selecting one radar as the main radar, the remaining radars do not transmit radar signals, and the positioning information of each target is determined by the information sent by the main radar, thereby effectively reducing the number of radar signals, fundamentally avoiding interference between radar signals, effectively improving the accuracy of radar detection, and thus improving the detection accuracy and effectiveness of the radar system.

[0078] It should be noted that although the operations of the method of the present invention are described in a particular order in the accompanying drawings, this does not require or imply that the operations must be performed in this particular order, or that all the operations shown must be performed to achieve the desired results. On the contrary, the steps depicted in the flow chart can be performed in a different order. Additionally or alternatively, some steps can be omitted, multiple steps can be combined into one step, and / or one step can be decomposed into multiple steps.

[0079] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0080] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

Claims

1. A radar detection method, characterized in that: Applied to a radar system, the radar system includes a master radar and at least one slave radar, the master radar is a radar selected from all radars within the detection range when any radar in the radar system determines that the number of radars within the detection range is greater than a preset number, the method includes: The master radar determines the positioning information of each target within the detection range of the master radar through the radar signal transmitted by the transmitter and the radar signal received by the receiver, and sends the positioning information of each target to each slave radar; the positioning information includes the distance and direction of the target relative to the master radar and the motion state of each target; The slave radar stops transmitting the radar signal, and filters out the positioning information corresponding to the local radar from the received positioning information, and determines the positioning information of the remaining targets relative to the slave radar based on the positioning information corresponding to the local radar and the positioning information corresponding to the remaining targets.

2. The method according to claim 1, characterized in that The radar system is constructed in a manner including: When any radar determines that the number of radars within the detection range is greater than a preset number, determining whether a radar broadcast signal is received; the broadcast signal includes at least one of the radar identification, frequency data, location data, and time data; If at least one radar broadcast signal is received, selecting a target radar from at least one radar corresponding to the at least one radar broadcast signal as a master radar, and the remaining radars as slave radars; If no radar broadcast signal is received, local radar information is broadcasted, and the local radar is determined to be the master radar, and the remaining radars within the detection range are slave radars; The radar system is constructed according to the master radar and the slave radar.

3. The method according to claim 2, characterized in that If at least one radar broadcast signal is received, selecting a target radar as a main radar from at least one radar corresponding to the at least one radar broadcast signal comprises: If a radar broadcast signal is received, the radar corresponding to the radar broadcast signal is used as the main radar.

4. The method according to claim 3, characterized in that If at least one radar broadcast signal is received, selecting a target radar as a main radar from at least one radar corresponding to the at least one radar broadcast signal comprises: If multiple radar broadcast signals are received, the number of received radar broadcast signals is determined again at intervals of a preset time period until one radar broadcast signal is received, and the radar corresponding to the received radar broadcast signal is used as the main radar.

5. The method according to claim 2, characterized in that: The step of constructing the radar system according to the master radar and the slave radar includes: The master radar sends a transmitter shutdown request to all radars within the detection range; The slave radar turns off the transmitter in response to the transmitter turn-off request of the master radar, and sends a target data request to the master radar; The master radar constructs the radar system according to the local radar and the slave radar corresponding to the received target data request, and sends the positioning information of the target within the detection range to the slave radar in response to the target data request of the slave radar.

6. The method according to claim 1, characterized in that The master radar and the slave radar communicate with each other in a first frequency band; the first frequency band is a frequency band outside the frequency band where the radar signal is located.

7. The method according to claim 1, characterized in that The determining, according to the positioning information corresponding to the local radar and the positioning information corresponding to the remaining targets, the positioning information of the remaining targets relative to the slave radar comprises: Determining the positioning information of the main radar relative to the local radar according to the positioning information corresponding to the local radar; The positioning information of the remaining targets relative to the slave radar is determined according to the positioning information corresponding to the remaining targets and the positioning information of the master radar relative to the local radar.

8. The method according to claim 7, characterized in that The determining, according to the positioning information corresponding to the local radar, the positioning information of the main radar relative to the local radar comprises: Determining the azimuth information of the main radar relative to the local radar according to the opposite azimuth of the local radar relative to the main radar; The positioning information of the main radar relative to the local radar is determined according to the distance between the local radar and the main radar, the azimuth information of the main radar relative to the local radar, and the motion state of the main radar.

9. The method according to claim 7, characterized in that: The determining, according to the positioning information corresponding to the remaining targets and the positioning information of the master radar relative to the local radar, the positioning information of the remaining targets relative to the slave radar comprises: For each of the remaining targets, determining the distance and azimuth of the target relative to the local radar according to the distance and azimuth of the target relative to the main radar, and the distance and azimuth of the main radar relative to the local radar; The positioning information of the target relative to the local radar is determined according to the distance and the azimuth of the target relative to the local radar and the motion state of the target.

10. A radar system, characterized in that: The radar system includes a master radar and at least one slave radar, The master radar is used to determine the positioning information of each target within the detection range of the master radar through the radar signal transmitted by the transmitter and the radar signal received by the receiver, and send the positioning information of each target to each slave radar; the positioning information includes the distance and direction of the target relative to the master radar and the motion state of each target; The slave radar is used to interrupt the transmission of radar signals, filter out the positioning information corresponding to the local radar from the received positioning information, and determine the positioning information of the remaining targets relative to the slave radar based on the positioning information corresponding to the local radar and the positioning information corresponding to the remaining targets.

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