Target speed calculation method and device, electronic equipment and readable storage medium

Abstract

The embodiment of the invention provides a target speed calculation method and device, electronic equipment and a readable storage medium, and relates to the technical field of radars. The method comprises the following steps: obtaining a first speed and a second speed corresponding to a moving target detection (MTD) processing result corresponding to an echo signal; obtaining a prediction speed according to the change condition of the distance between the radar and the target; and obtaining a target speed according to the predicted speed, the first speed and the second speed. Therefore, the real speed of the target can be calculated on the premise that the motion mode of the target is unknown.

Description

Technical Field

[0001] The present application relates to the field of radar technology, and in particular to a target speed calculation method, device, electronic device and readable storage medium. Background Art

[0002] At present, the target speed is generally calculated in the following way: the radar on the moving platform transmits a linear frequency modulation pulse signal and receives the echo signal from the target; the return signal is subjected to speed compensation and MTD (Moving Target Detection) processing to obtain the MTD processing result. According to the peak value in the MTD processing result, an approaching speed and a moving away speed can be calculated. Since the target movement mode (approaching, moving away) is unknown, the true speed of the target cannot be obtained. Summary of the invention

[0003] The embodiments of the present application provide a method, device, electronic device and readable storage medium for calculating target speed, which can calculate the true speed of a target under the premise that the target motion mode is unknown.

[0004] The embodiments of the present application can be implemented as follows:

[0005] In a first aspect, an embodiment of the present application provides a method for calculating a target speed, the method comprising:

[0006] Obtaining a first speed and a second speed corresponding to a mobile target detection MTD processing result corresponding to the echo signal;

[0007] According to the change of the distance between the radar and the target, the predicted speed is obtained;

[0008] A target speed is obtained according to the predicted speed, the first speed and the second speed.

[0009] In a second aspect, an embodiment of the present application provides a target speed calculation device, the device comprising:

[0010] A preprocessing module, used to obtain a first speed and a second speed corresponding to a mobile target detection MTD processing result corresponding to the echo signal;

[0011] A prediction module is used to obtain the predicted speed according to the change of the distance between the radar and the target;

[0012] The speed obtaining module is used to obtain a target speed according to the predicted speed, the first speed and the second speed.

[0013] In a third aspect, an embodiment of the present application provides an electronic device, including a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor can execute the machine executable instructions to implement the target speed calculation method described in the aforementioned embodiment.

[0014] In a fourth aspect, an embodiment of the present application provides a readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the target speed calculation method as described in the aforementioned embodiment is implemented.

[0015] The target speed calculation method, device, electronic device and readable storage medium provided in the embodiments of the present application can first obtain the first speed and the second speed corresponding to the mobile target detection MTD processing result corresponding to the echo signal, and obtain the predicted speed according to the change of the distance between the radar and the target, and then obtain the target speed according to the predicted speed, the first speed and the second speed. In this way, the real speed of the target can be calculated under the premise that the target movement mode is unknown. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 A block diagram of an electronic device provided in an embodiment of the present application;

[0018] Figure 2 One of the flow charts of the target speed calculation method provided in the embodiment of the present application;

[0019] Figure 3 for Figure 2 A schematic flow chart of the sub-steps included in step S110;

[0020] Figure 4 The second flowchart of the target speed calculation method provided in the embodiment of the present application;

[0021] Figure 5 for Figure 2 A schematic flow chart of the sub-steps included in step S130;

[0022] Figure 6 This is a schematic diagram of the MTD processing result of a certain frame;

[0023] Figure 7 This is a schematic diagram of the 50 saved moments and the corresponding distances;

[0024] Figure 8 It is a schematic diagram of the target speed and the fitting speed calculated at different times;

[0025] Fig. 9 A block diagram of a target speed calculation device provided in an embodiment of the present application.

[0026] Icons: 100 - electronic device; 110 - memory; 120 - processor; 130 - communication unit; 200 - target speed calculation device; 210 - preprocessing module; 220 - prediction module; 230 - speed acquisition module. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0028] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0029] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0030] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0031] Please refer to Figure 1 , Figure 1A block diagram of an electronic device 100 provided in an embodiment of the present application. The electronic device 100 may be, but is not limited to, a computer, a server, etc. The electronic device 100 may include a memory 110, a processor 120, and a communication unit 130. The memory 110, the processor 120, and the communication unit 130 are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components may be electrically connected to each other via one or more communication buses or signal lines.

[0032] The memory 110 is used to store programs or data. The memory 110 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc.

[0033] The processor 120 is used to read / write data or programs stored in the memory 110 and execute corresponding functions. For example, the memory 110 stores a target speed calculation device 200, and the target speed calculation device 200 includes at least one software function module that can be stored in the memory 110 in the form of software or firmware. The processor 120 executes various functional applications and data processing by running software programs and modules stored in the memory 110, such as the target speed calculation device 200 in the embodiment of the present application, that is, realizing the target speed calculation method in the embodiment of the present application.

[0034] The communication unit 130 is used to establish a communication connection between the electronic device 100 and other communication terminals through a network, and to send and receive data through the network.

[0035] It should be understood that Figure 1 The structure shown is only a schematic diagram of the structure of the electronic device 100. The electronic device 100 may also include Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown. Figure 1 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0036] Please refer to Figure 2 , Figure 2This is one of the flow diagrams of the target speed calculation method provided in the embodiment of the present application. The method can be applied to the above-mentioned electronic device. The specific flow of the target speed calculation method is described in detail below. In this embodiment, the method may include steps S110 to S130.

[0037] Step S110, obtaining a first speed and a second speed corresponding to the MTD processing result corresponding to the echo signal.

[0038] Step S120, obtaining a predicted speed according to a change in the distance between the radar and the target.

[0039] Step S130, obtaining a target speed according to the predicted speed, the first speed and the second speed.

[0040] In this embodiment, the electronic device can obtain an MTD (Moving Target Detection) processing result by performing MTD processing on the echo signal, and then obtain the first speed and the second speed based on the analysis of the MTD processing result; the electronic device can also receive the first speed and the second speed obtained by processing and analyzing the echo signal sent by other devices. The specific method for obtaining the first speed and the second speed can be determined in combination with actual needs and is not specifically limited here. Among the first speed and the second speed, one speed represents the approach speed corresponding to the speed channel where the peak is located, and the other speed represents the distance speed obtained by subtracting the absolute value of the approach speed from the maximum unambiguous speed range.

[0041] The electronic device can also analyze and obtain a predicted speed based on the change in the distance between the radar and the target. The predicted speed represents the estimated moving speed of the target. The specific method for obtaining the predicted speed can be determined in combination with actual needs and is not specifically limited here. Among them, step S110 and step S120 can be executed simultaneously or in sequence, and the specific execution order can be set in combination with actual needs.

[0042] When the first speed, the second speed and the predicted speed are obtained, the target speed can be obtained by analyzing the above three speeds. The target speed represents the movement speed of the target calculated by the target speed calculation method provided in the embodiment of the present application. In this way, under the premise that the movement mode of the target is unknown, the actual speed of the target can be calculated in combination with the predicted speed of the target.

[0043] Please refer to Figure 3 , Figure 3 for Figure 2Schematic diagram of the flow of sub-steps included in step S110. In this embodiment, step S110 may include sub-steps S111 to S1133.

[0044] Sub-step S111, performing pulse compression processing and MTD processing on the obtained echo signal to obtain the MTD processing result.

[0045] Sub-step S112, calculating the first velocity according to the total channel number and the channel number of the Doppler channel where the peak in the MTD processing result is located.

[0046] Sub-step S1133: taking the difference between the maximum unambiguous speed corresponding to the radar and the absolute value of the first speed as the second speed.

[0047] In this embodiment, the radar may be located on a moving platform. The radar on the moving platform transmits a linear frequency modulation pulse train and receives an echo from the target, i.e., obtains an echo signal. The echo signal contains Doppler information caused by the radial motion of the platform-target. The echo signal is down-converted and sampled to transform the echo signal into a baseband signal, and a point frequency signal of a corresponding Doppler frequency is generated according to the platform speed of the moving platform, and then the point frequency signal is mixed with the baseband signal to obtain a first signal, so that the platform speed compensation can be completed. Among them, the platform speed can be obtained in real time according to the inertial measurement device on the moving platform.

[0048] For the first signal corresponding to each pulse, pulse compression processing can be performed to obtain a second signal. After obtaining the second signals corresponding to all pulse trains, MTD processing is performed in the slow time dimension, usually FFT operation, to obtain the MTD processing result.

[0049] For the MTD processing result, the peak value can be analyzed and determined, and then the Doppler channel number where the peak value is located can be determined. After that, a quotient value and the product of the maximum unambiguous speed corresponding to the radar can be calculated, and the inverse of the product can be used as the first speed, wherein the quotient value is the value obtained by dividing the channel number corresponding to the peak value by the total channel number, and the first speed represents the approach speed of the target and the radar. And, the absolute value of the first speed can be subtracted from the maximum unambiguous speed, and the result obtained can be used as the second speed, wherein the second speed represents the departure speed of the target and the radar.

[0050] In this embodiment, when it is necessary to use the predicted speed to analyze the target speed, a preset number of historical moments and the distances corresponding to each historical moment currently saved can be obtained, and then the predicted speed can be calculated based on the preset number of historical moments and the distances corresponding to each historical moment.

[0051] Optionally, as a possible implementation method, the predicted speed may be obtained by analyzing and fitting the preset number of historical moments and the distances corresponding to each historical moment through a univariate linear regression method.

[0052] As a possible implementation, Figure 4 Steps S101 to S103 in the example above can be used to analyze and obtain the current predicted speed when the predicted speed is needed. Figure 4 , Figure 4 The second flowchart of the target speed calculation method provided in the embodiment of the present application is as follows. In this embodiment, the method may further include steps S101 to S103.

[0053] Step S101, creating a time array and a distance array.

[0054] Step S102, when each distance is obtained, the time corresponding to the distance is saved in the time array, and the distance is saved in the distance array, until the time array and the distance array are full.

[0055] Step S103, after the moment array and the distance array are full, each time a distance is obtained, the moment to be deleted in the moment array is deleted, and the obtained moment is saved in the moment array, and the distance to be deleted corresponding to the moment to be deleted in the distance array is deleted, and the obtained distance is saved in the moment array.

[0056] In this embodiment, two arrays x and y of length N may be created first, where array x is a time array and array y is a distance array; the sizes of the time array and the distance array are both equal to the preset number, that is, N is equal to the preset number.

[0057] In this embodiment, an information frame can be obtained according to the distance acquisition cycle, and the information frame includes 1 distance, which represents the radar-target radial distance. A basic moment can be set as the moment corresponding to the first information frame obtained, and the moments corresponding to the subsequent information frames are accumulated on the basic moment in combination with the distance acquisition cycle. Optionally, the basic moment can be set in combination with actual needs, for example, set to 0, so that the moment corresponding to a distance is an integer multiple of the distance acquisition cycle. The moment corresponding to each information frame and the distance in the information frame can be saved in the moment array x and the distance array y in sequence until the moment array x and the distance array y are full.

[0058] When the time array x and the distance array y are full, every time a new information frame arrives, for the current time array x, the time with the largest time difference between the current time array x and the time corresponding to the newly obtained information frame is used as the time to be deleted, and the time to be deleted is deleted from the current time array x, and then the time corresponding to the newly obtained information frame is saved in the time array x. The minimum value in the time array increases with the update. Correspondingly, for the current distance array y, the distance corresponding to the time to be deleted is used as the distance to be deleted, and the distance to be deleted is deleted from the current distance array y, and then the distance in the newly obtained information frame is saved in the distance array y.

[0059] That is to say, when the time array x and the distance array y are full, every time a new information frame arrives, the first element of the array is deleted, and the other elements are moved forward in sequence, and the latest information is saved in the position of the last element of the array. Assuming that the base time is 0, the above processing before and after full can be expressed by the following formula:

[0060]

[0061]

[0062] Where i represents the information frame count, starting from 1, Δt represents the interval between adjacent frames, and R i Indicates the radial distance between the platform and the target measured in the current frame.

[0063] For example, N=5, Δt is 0.5s, then after receiving 5 information frames, the time of the time array x is: 0; 0.5; 1; 1.5; 2.0. After receiving the 6th frame, the time array x is updated to: 0.5; 1; 1.5; 2.0; 2.5.

[0064] The following is an example of how to obtain the predicted speed in combination with the above-mentioned time array x and distance array y.

[0065] Starting from the time array x and the distance array y are full, the slope of the linear function of the fitted time-distance data pair (x, y) can be calculated for each frame through the univariate linear regression method, that is, the fitted speed This is the prediction speed.

[0066] Assume the best fitting result is:

[0067] The loss function for the error between the fitted value and the true value is:

[0068]

[0069] To minimize the error, we can take the derivative of k and b respectively. When the reciprocal is 0, the loss function is the smallest:

[0070]

[0071]

[0072] make: but: Solved:

[0073]

[0074] As a possible implementation, Figure 5 The target speed is obtained as shown. Figure 5 , Figure 5 for Figure 2 Schematic diagram of the flow of sub-steps included in step S130. In this embodiment, step S130 may include sub-steps S131 to S133.

[0075] Sub-step S131, calculating and obtaining a first difference between the first speed and the predicted speed.

[0076] Sub-step S132, calculating and obtaining a second difference between the second speed and the predicted speed.

[0077] Sub-step S133: taking the speed corresponding to the smaller difference between the first difference and the second difference as the target speed.

[0078] In this embodiment, the absolute value of the difference between the first speed and the predicted speed can be calculated as the first difference between the first speed and the predicted speed. Also, the absolute value of the difference between the second speed and the predicted speed can be calculated as the second difference between the second speed and the predicted speed. Then, the smaller difference between the first difference and the second difference is determined by comparison. When the smaller difference is the first difference between the first speed and the predicted speed, the first speed is used as the target speed; when the smaller difference is the second difference between the second speed and the predicted speed, the second speed is used as the target speed. That is, the speed closest to the predicted speed between the first speed and the second speed is used as the target speed.

[0079] For example, the unambiguous speed range is 30m / s, and the target speed is calculated to be 10m / s according to the speed channel where the peak is located. However, since the direction of the target's movement speed is unknown, the speed may be -10m / s or (30-10)=20m / s, that is, approaching at a speed of 10m / s or moving away at a speed of 20m / s. The peak position is consistent in both cases. By comparing with the fitted speed (i.e., the predicted speed), the actual speed direction can be determined, and then the accurate target speed can be obtained.

[0080] In this embodiment, the target motion speed may be fitted by a univariate linear regression method, and then the real measurement value of the target speed may be determined by combining the fitted speed and the first speed and the second speed obtained based on the MTD processing result.

[0081] Combine the following Figure 6-7 The above target speed calculation method is briefly illustrated by an example.

[0082] Figure 6 The MTD data of a frame of data is shown, and the pulse repetition frequency F of the waveform r =16KHz, carrier frequency f c =81GHz, number of pulses 160, number of FFT points for MTD processing 256, speed of light c = 3×10 8 m / s, unambiguous speed range v u =F r *(c / f c ) / 2=29.6296m / s, we can calculate the possible speed of the target in the 104th channel as v1=-104 / 256×v u = -12.0370 m / s or v2 = (256 - 104) / 256 × v u =17.5926m / s, that is, approaching at a speed of 12.0370m / s or moving away at a speed of 17.5926m / s.

[0083] Set the array length N = 50. At this frame time, the 50 frames of data saved are as follows Figure 7 As shown. The 50 frames of data are fitted and the slope of the linear function is calculated to be -7.3974 m / s. Since -12.0370 is closest to -7.3974 among -12.0370 and 17.5926, the final measured target speed is -12.0370 m / s.

[0084] The curve of the target speed solution result (i.e. the calculated target speed) and the fitting speed (i.e. the predicted speed) of the whole process is as follows: Figure 8 As shown, it can be seen that the target speed calculated based on the fitting speed solution is smooth and has no mutations in the whole process, which shows that it is consistent with the actual target speed.

[0085] In order to execute the corresponding steps in the above embodiments and various possible methods, an implementation method of a target speed calculation device 200 is given below. Optionally, the target speed calculation device 200 can adopt the above Figure 1 The device structure of the electronic device 100 is shown. Fig. 9 , Fig. 9 The block diagram of the target speed calculation device 200 provided in the embodiment of the present application. It should be noted that the basic principle and technical effect of the target speed calculation device 200 provided in the present embodiment are the same as those of the above-mentioned embodiment. For the sake of brief description, the parts not mentioned in the present embodiment can refer to the corresponding contents in the above-mentioned embodiment. In the present embodiment, the target speed calculation device 200 may include: a preprocessing module 210, a prediction module 220 and a speed acquisition module 230.

[0086] The pre-processing module 210 is used to obtain a first speed and a second speed corresponding to a mobile target detection MTD processing result corresponding to the echo signal.

[0087] The prediction module 220 is used to obtain the predicted speed according to the change of the distance between the radar and the target.

[0088] The speed obtaining module 230 is used to obtain a target speed according to the predicted speed, the first speed and the second speed.

[0089] In this embodiment, the speed acquisition module 230 is specifically used to: calculate a first difference between the first speed and the predicted speed, wherein the first difference is the absolute value of the difference between the first speed and the predicted speed; calculate a second difference between the second speed and the predicted speed, wherein the second difference is the absolute value of the difference between the second speed and the predicted speed; and use the speed corresponding to the smaller difference between the first difference and the second difference as the target speed, wherein the speed corresponding to the smaller difference is the first speed or the second speed.

[0090] In this embodiment, the prediction module 220 is also used to: create a moment array and a distance array, wherein the sizes of the moment array and the distance array are both equal to the preset number; when each distance is obtained, the moment corresponding to the distance is saved in the moment array, and the distance is saved in the distance array until the moment array and the distance array are full; after the moment array and the distance array are full, when each distance is obtained, the moment to be deleted in the moment array is deleted, and the obtained moment is saved in the moment array, and the distance to be deleted corresponding to the moment to be deleted in the distance array is deleted, and the obtained distance is saved in the moment array, wherein the moment to be deleted is the moment in the moment array with the largest time difference with the obtained moment, and the minimum value in the moment array increases with the update.

[0091] Optionally, the above modules can be stored in the form of software or firmware. Figure 1 The memory 110 shown in the figure may be fixed in the operating system (OS) of the electronic device 100 and may be Figure 1 Meanwhile, the data and program codes required for executing the above modules may be stored in the memory 110.

[0092] An embodiment of the present application further provides a readable storage medium having a computer program stored thereon, and the computer program implements the target speed calculation method when executed by a processor.

[0093] In summary, the embodiments of the present application provide a method, device, electronic device and readable storage medium for calculating target speed. First, the first speed and the second speed corresponding to the mobile target detection MTD processing result corresponding to the echo signal can be obtained, and the predicted speed can be obtained according to the change in the distance between the radar and the target. Then, the target speed can be obtained according to the predicted speed, the first speed and the second speed. In this way, the real speed of the target can be calculated under the premise that the target motion mode is unknown.

[0094] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0095] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0096] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0097] The above description is only an optional embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for calculating target speed, characterized in that: The method comprises: Obtaining a first speed and a second speed corresponding to a mobile target detection MTD processing result corresponding to the echo signal; According to the change of the distance between the radar and the target, the predicted speed is obtained; A target speed is obtained according to the predicted speed, the first speed and the second speed.

2. The method according to claim 1, characterized in that The step of obtaining a target speed according to the predicted speed, the first speed and the second speed includes: Calculate and obtain a first difference between the first speed and the predicted speed, wherein the first difference is an absolute value of the difference between the first speed and the predicted speed; Calculate and obtain a second difference between the second speed and the predicted speed, wherein the second difference is an absolute value of the difference between the second speed and the predicted speed; The speed corresponding to the smaller difference between the first difference and the second difference is used as the target speed, wherein the speed corresponding to the smaller difference is the first speed or the second speed.

3. The method according to claim 1, characterized in that The method of obtaining the predicted speed according to the change of the distance between the radar and the target includes: Get the preset number of historical moments currently saved and the distances corresponding to each historical moment; The predicted speed is calculated based on the preset number of historical moments and the distances corresponding to each historical moment.

4. The method according to claim 3, characterized in that The method further comprises: Creating a time array and a distance array, wherein the sizes of the time array and the distance array are both equal to the preset number; When each distance is obtained, the time corresponding to the distance is saved in the time array, and the distance is saved in the distance array until the time array and the distance array are full; After the moment array and the distance array are full, each time a distance is obtained, the moment to be deleted in the moment array is deleted, and the obtained moment is saved in the moment array, and the distance to be deleted corresponding to the moment to be deleted in the distance array is deleted, and the obtained distance is saved in the moment array, wherein the moment to be deleted is the moment in the moment array with the largest time difference with the obtained moment, and the minimum value in the moment array increases with the update.

5. The method according to claim 3, characterized in that: The calculating the predicted speed according to the preset number of historical moments and the distances corresponding to each historical moment includes: The predicted speed is obtained by performing analysis based on the preset number of historical moments and the distances corresponding to each historical moment through a univariate linear regression method.

6. The method according to any one of claims 1 to 5, characterized in that: The obtaining of the first speed and the second speed corresponding to the MTD processing result corresponding to the echo signal includes: Performing pulse compression processing and MTD processing on the obtained echo signal to obtain the MTD processing result; Calculate the first speed according to the total channel number and the channel number of the Doppler channel where the peak in the MTD processing result is located, wherein the first speed represents the approach speed; The difference between the maximum unambiguous speed corresponding to the radar and the absolute value of the first speed is taken as the second speed, wherein the second speed represents the moving away speed.

7. A target speed calculation device, characterized in that: The device comprises: A preprocessing module, used to obtain a first speed and a second speed corresponding to a mobile target detection MTD processing result corresponding to the echo signal; A prediction module is used to obtain the predicted speed according to the change of the distance between the radar and the target; The speed obtaining module is used to obtain a target speed according to the predicted speed, the first speed and the second speed.

8. The device according to claim 7, characterized in that The speed acquisition module is specifically used for: Calculate and obtain a first difference between the first speed and the predicted speed, wherein the first difference is an absolute value of the difference between the first speed and the predicted speed; Calculate and obtain a second difference between the second speed and the predicted speed, wherein the second difference is an absolute value of the difference between the second speed and the predicted speed; The speed corresponding to the smaller difference between the first difference and the second difference is used as the target speed, wherein the speed corresponding to the smaller difference is the first speed or the second speed.

9. An electronic device, characterized in that: The invention comprises a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor can execute the machine executable instructions to implement the target speed calculation method according to any one of claims 1 to 6.

10. A readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the target speed calculation method according to any one of claims 1 to 6 is implemented.

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