Radar false target identification method, device and equipment and storage medium

Abstract

The embodiment of the invention relates to the technical field of radars, and discloses a radar false target identification method, device and equipment and a storage medium, and the radar multipath false target identification method comprises the steps: obtaining target information sent by a radar; the target information comprises first target information of a latest target and second target information of a to-be-confirmed target; calculating a distance between the latest target and the target to be confirmed by using the first target information and the second target information to obtain a first target distance, and comparing the first target distance with a preset target movement threshold range; and when the first target distance is not within the target movement threshold range, determining that the target to be confirmed is a false target. According to the radar false target identification method disclosed by the invention, the problems of low identification efficiency and poor identification accuracy are solved, and the effect of improving the real-time performance and accuracy of false target identification can be achieved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of radar technology, and in particular to a radar false target recognition method, device, equipment and storage medium. Background Art

[0002] Radar is a detection device that uses electromagnetic waves to detect targets without being blocked by fog, clouds and rain. It has the characteristics of all-weather and all-day. Millimeter-wave radar is widely used in the monitoring of ground moving targets because it can identify very small targets separately and can identify multiple targets.

[0003] However, in practical applications, millimeter wave sensors may generate false target signals, affecting system performance. Existing false target recognition methods mainly rely on complex signal processing algorithms, which have low processing efficiency and are difficult to accurately identify false targets in dynamic changes. Summary of the invention

[0004] The purpose of the present invention is to at least provide a radar false target identification method, device, equipment and storage medium, which can at least solve the problems of low recognition efficiency and poor recognition accuracy, and at least achieve the effect of improving the real-time and accuracy of false target identification.

[0005] To solve the above technical problems, at least one embodiment of the present application provides a radar multipath false target identification method, comprising:

[0006] Acquire target information sent by the radar; the target information includes first target information of the latest target and second target information of the target to be confirmed;

[0007] Calculating the distance between the latest target and the target to be confirmed by using the first target information and the second target information to obtain a first target distance, and comparing the first target distance with a preset target movement threshold range;

[0008] When the first target distance is not within the target movement threshold range, it is determined that the target to be confirmed is a false target.

[0009] At least one embodiment of the present application further provides a radar false target identification device, comprising:

[0010] A data acquisition module, used to acquire target information sent by the radar; the target information includes first target information of the latest target and second target information of the target to be confirmed;

[0011] The target recognition module is used to calculate the distance between the latest target and the target to be confirmed by using the first target information and the second target information to obtain a first target distance, and compare the first target distance with a preset target movement threshold range; when the first target distance is not within the target movement threshold range, determine that the target to be confirmed is a false target.

[0012] At least one embodiment of the present application also provides an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the above-mentioned radar false target identification method.

[0013] At least one embodiment of the present application further provides a computer-readable storage medium storing a computer program, wherein the computer program implements the above-mentioned radar false target identification method when executed by a processor.

[0014] The radar false target identification method, device, equipment and storage medium provided by the embodiments of the present application calculate the first target information of the latest target received in real time with the second target information of the target to be confirmed, determine the distance between the latest target and the target to be confirmed, and obtain the first target distance. The first target distance can be compared with a preset target movement threshold range. When the first target distance is not within the target movement threshold range, the target to be confirmed is determined to be a false target; by real-time analysis of the dynamic characteristics of the target information sent by the radar, false targets can be accurately and quickly identified, the real-time performance of false target identification is improved, and the anti-interference ability of the system and the accuracy of target tracking are improved.

[0015] In some optional embodiments, it also includes:

[0016] An array set is preset for storing target information sent by the radar; the array set includes a first array for storing first target information of the latest target sent by the radar in real time and a second array for storing second target information of the target to be confirmed;

[0017] The obtaining of target information sent by the radar comprises:

[0018] Acquire the real-time target information of the real-time target sent by the radar in real time and store it in the first array;

[0019] Determine whether the second array is empty;

[0020] When the second array is empty, the real-time target stored in the first array is used as the target to be confirmed, and the real-time target information is assigned to the second array as the second target information of the target to be confirmed;

[0021] The first target information of the next real-time target most recently sent by the radar is obtained from the first array as the latest target, and the second target information of the target to be confirmed is obtained from the second array.

[0022] By setting the first array and the second array, the first target information of the latest target and the second target information of the target to be confirmed can be recorded respectively, so as to avoid confusion between the latest target sent by the radar in real time and the target to be confirmed, reasonably allocate the information of each target, and then accurately and real-timely identify the target.

[0023] In some optional embodiments, the array set further includes a third array; the target information includes third target information of the true target recorded in the third array;

[0024] The method further comprises:

[0025] When the first target distance is within the target movement threshold range, the target to be confirmed is determined to be a true target, and the second target information of the target to be confirmed is assigned to the third array as the third target information of the true target.

[0026] In some optional embodiments, when the second array is empty, taking the real-time target stored in the first array as the target to be confirmed, and assigning the real-time target information as the second target information of the target to be confirmed to the second array, includes:

[0027] When the second array is empty and the third array is not empty, the distance between the real-time target and the true target is calculated using the real-time target information and the third target information to obtain a second target distance, and the second target distance is compared with a preset target movement threshold range;

[0028] When the second target distance exceeds the maximum boundary value of the target movement threshold range, it is determined that the real-time target is not the same target as the true target, and the real-time target information of the real-time target is assigned to the second array as the second target information of the target to be confirmed.

[0029] In some optional embodiments, the method further includes: when the second target distance is within the target movement threshold range, updating the third target information of the true target in the third array with the real-time target information to update the tracking position of the true target.

[0030] In some optional embodiments, the calculating the distance between the latest target and the target to be confirmed by using the first target information and the second target information to obtain the first target distance includes:

[0031] Determine a first distance between the latest target and the radar and a first angle between the latest target and the horizontal line where the radar is located according to the first target information;

[0032] Determine a second distance between the target to be confirmed and the radar and a second angle between the target to be confirmed and the horizontal line where the radar is located according to the second target information;

[0033] Calculate the target angle between the latest target and the target to be confirmed relative to the radar point according to the first angle and the second angle;

[0034] The distance between the latest target and the target to be confirmed is calculated according to the first distance, the second distance and the target angle to obtain a first target distance.

[0035] In some optional embodiments, the number of real-time targets recognized by the radar at a single time is one or more, and the recognition method further includes:

[0036] When the number of real-time targets identified by the radar at a single time is multiple, one of the real-time targets is selected in turn as the latest target for the multiple real-time targets, and the following target identification operation is performed based on the latest target; the number of targets to be confirmed corresponds to the number of real-time targets;

[0037] Calculating the first target distance between the latest target and each of the targets to be confirmed, respectively, to obtain a plurality of first target distances corresponding to each of the targets to be confirmed; wherein the targets to be confirmed that have been identified as false targets have been eliminated from the targets to be confirmed;

[0038] Taking out a minimum target distance from a plurality of the first target distances for analysis, and determining whether the minimum target distance is within a moving threshold range;

[0039] If not, the target to be confirmed corresponding to the minimum target distance is identified as a false target.

[0040] By taking each real-time target as the latest target to compare the distance with each target to be confirmed in turn, the minimum target distance is selected to compare with the target movement threshold range, so as to facilitate the identification of each target to be confirmed. When it is identified as a false target, it is eliminated, so that each target to be confirmed can be identified as true or false in turn, which is convenient for identification and analysis of multiple targets. The minimum target distance is used as the identification parameter, and the identification is based on the minimum target movement range, which can facilitate the rapid identification of whether the target to be confirmed is false, thereby improving the efficiency of identification and confirmation of multiple targets. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] One or more embodiments are exemplarily described by the pictures in the corresponding drawings, and these exemplary descriptions do not constitute limitations on the embodiments.

[0042] Figure 1 This is a process of a radar false target identification method provided by an embodiment of the present application Figure 1 ;

[0043] Figure 2 This is a process of a radar false target identification method provided by an embodiment of the present application Figure 2 ;

[0044] Figure 3 This is a process of a radar false target identification method provided by an embodiment of the present application Figure 3 ;

[0045] Figure 4 This is a process of a radar false target identification method provided by an embodiment of the present application Figure 4 ;

[0046] Figure 5 This is a process of a radar false target identification method provided by an embodiment of the present application Figure 5 ;

[0047] Figure 6 This is a process of a radar false target identification method provided by an embodiment of the present application Figure 6 ;

[0048] Figure 7 It is a scanning schematic diagram showing the distance and angle between the radar and the latest target and the target to be confirmed in the radar false target identification method provided by an embodiment of the present application;

[0049] Figure 8 is a schematic diagram of a radar false target identification device provided by another embodiment of the present application;

[0050] Fig. 9 is a structural schematic diagram of an electronic device provided by another embodiment of the present application;

[0051] Fig.10 It is a schematic diagram of the structure of a computer-readable storage medium provided by another embodiment of the present application. DETAILED DESCRIPTION

[0052] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the embodiments of the present application will be described in detail below in conjunction with the accompanying drawings. However, it will be appreciated by those skilled in the art that in the present application, many technical details are proposed in order to enable the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present application can also be implemented. The division of the following embodiments is for the convenience of description, and the specific implementation of the present application should not be construed as any limitation, and the various embodiments can be combined and referenced with each other under the premise of no contradiction.

[0053] In order to facilitate understanding of the embodiments of the present application, relevant content about millimeter wave sensors is first introduced here.

[0054] Radar is a detection device that uses electromagnetic waves to detect targets without being blocked by fog, clouds and rain. It has the characteristics of all-weather and all-day. Millimeter-wave radar is widely used in the monitoring of ground moving targets because it can identify very small targets separately and can identify multiple targets.

[0055] With the widespread application of millimeter wave sensor technology, it plays an important role in the field of target detection and tracking. However, in practical applications, millimeter wave sensors may generate false target signals, affecting the performance of the system. Existing false target recognition methods mainly rely on complex signal processing algorithms, which have low processing efficiency and are difficult to accurately identify false targets in dynamic changes. Therefore, there is an urgent need for a method that can accurately identify false targets sent by millimeter wave sensors in real time.

[0056] In order to solve the above-mentioned technical problems of low recognition efficiency and poor recognition accuracy, the present invention proposes a radar false target recognition method. The implementation details of the radar false target recognition method of this embodiment are specifically described below. The following content is only the implementation details provided for the convenience of understanding and is not necessary for the implementation of this solution.

[0057] Embodiment 1:

[0058] The radar false target identification method of this embodiment can be applied to electronic devices with communication, computing and data storage capabilities. The specific process can be as follows: Figure 1 As shown, steps 101-103 are included, specifically including:

[0059] Step 101, obtaining target information sent by the radar; the target information includes first target information of the latest target and second target information of the target to be confirmed;

[0060] Specifically, radar takes a millimeter wave sensor as an example. When the millimeter wave sensor identifies a target, it can send the identified target information. The latest target refers to the target that the radar has recently identified, and the target to be confirmed refers to the target that the radar has previously identified but has not yet confirmed.

[0061] In some examples, the target information includes the distance of the identified target relative to the radar and the angle of the target relative to the horizon at which the radar is located.

[0062] The horizontal line where the radar is located refers to the 0° coordinate axis of the radar scanning coverage area, such as Figure 7 As shown, in some examples, the latest target is recorded as Target1, the target to be confirmed is recorded as Target2, D1 is the distance between the latest target and the radar, D2 is the distance between the target to be confirmed and the radar, A1 is the angle between the latest target and the horizontal line where the radar is located; A2 is the angle between the target to be confirmed and the horizontal line where the radar is located.

[0063] Step 102: Calculate the distance between the latest target and the target to be confirmed by using the first target information and the second target information to obtain a first target distance, and compare the first target distance with a preset target movement threshold range;

[0064] Specifically, the target movement threshold range is usually a movement range value, which is usually limited by the movement range of the real target. Therefore, based on the fixed emission point of the millimeter wave sensor, the millimeter wave sensor can only detect the characteristics of the moving target, and can identify the authenticity of the detected target through the target movement threshold range. In this embodiment, the minimum value of the target movement threshold is recorded as M1, and the maximum value is recorded as M2, where M1 is less than M2, and the preset target movement threshold range is recorded as between M1 and M2.

[0065] Step 103: When the first target distance is not within the target movement threshold range, determine that the target to be confirmed is a false target.

[0066] Specifically, when the first target distance is less than the minimum value of the target movement threshold range, it means that the target to be confirmed has not moved. Based on the characteristic that the millimeter wave sensor can only detect moving targets, it is determined that the target to be confirmed is a false target.

[0067] When the first target distance is greater than the maximum value of the target movement threshold range, it means that the target to be confirmed moves too fast, and then the target to be confirmed is determined to be a false target.

[0068] In some examples, when the first target distance is within the target movement threshold range, it is identified that the target to be confirmed is moving, which meets the detection characteristics of the millimeter wave sensor, so that the target to be confirmed can be determined to be a true target.

[0069] In this embodiment, the first target information of the latest target received in real time and the second target information of the target to be confirmed are calculated to determine the distance between the latest target and the target to be confirmed, and the first target distance is obtained. The first target distance can be compared with a preset target movement threshold range. When the first target distance is not within the target movement threshold range, the target to be confirmed is determined to be a false target; by real-time analysis of the dynamic characteristics of the target information sent by the radar, false targets can be accurately and quickly identified, the real-time performance of false target identification is improved, and the anti-interference ability of the system and the accuracy of target tracking are improved.

[0070] In some embodiments, the number of real-time targets recognized by the radar at a time is one or more. When the radar recognizes one target at a time, steps 101 to 103 can be directly used for recognition. Further, the method further includes:

[0071] like Figure 2 As shown, when the number of real-time targets recognized by the radar at a single time is multiple, one of the real-time targets is selected in turn as the latest target for the multiple real-time targets, and the following target recognition operation is performed based on the latest target; the number of targets to be confirmed corresponds to the number of real-time targets;

[0072] Step 201, respectively calculating the first target distance between the latest target and each of the targets to be confirmed, to obtain a plurality of first target distances respectively corresponding to each of the targets to be confirmed; wherein the targets to be confirmed that have been identified as false targets have been eliminated from the targets to be confirmed;

[0073] Step 202: taking out the minimum target distance from the plurality of first target distances for analysis, and determining whether the minimum target distance is within the target movement threshold range;

[0074] Step 203: If not, the target to be confirmed corresponding to the minimum target distance is identified as a false target;

[0075] Step 204: If yes, identify the target to be confirmed corresponding to the minimum target distance as a true target.

[0076] Specifically, by taking each real-time target as the latest target to compare the distance with each target to be confirmed in turn, the minimum target distance is selected to compare with the target movement threshold range, so as to facilitate the identification of each target to be confirmed. When it is identified as a false target, it is eliminated, so that each target to be confirmed can be identified as true or false in turn, which is convenient for identification and analysis of multiple targets. The minimum target distance is used as the identification parameter, and the identification is based on the minimum range of target movement. It is convenient to quickly identify whether the target to be confirmed is false, thereby improving the efficiency of identification and confirmation of multiple targets.

[0077] In some embodiments, step 102, such as Figure 3 As shown, including:

[0078] Step 1021, determining a first distance between the latest target and the radar and a first angle between the latest target and the horizontal line where the radar is located according to the first target information;

[0079] Step 1022: determining a second distance between the target to be confirmed and the radar and a second angle between the target to be confirmed and the horizontal line where the radar is located according to the second target information;

[0080] Step 1023, calculating the target angle between the latest target and the target to be confirmed relative to the radar point according to the first angle and the second angle;

[0081] Step 1024: Calculate the distance between the latest target and the target to be confirmed according to the first distance, the second distance, and the target angle to obtain a first target distance.

[0082] Specifically, if Figure 7 As shown in the figure, the latest target is recorded as Target1, the target to be confirmed is recorded as Target2, D1 is the distance between the latest target and the radar, D2 is the distance between the target to be confirmed and the radar, A1 is the angle between the latest target and the horizontal line where the radar is located; A2 is the angle between the target to be confirmed and the horizontal line where the radar is located. At this time, the first target distance is calculated according to the following formula:

[0083] Diff12 2 =D1 2 +D2 2 -2D1D2cos(A12);

[0084] Wherein, Diff12 represents the first target distance, D1 is the distance between the latest target and the radar, D2 is the distance between the target to be confirmed and the radar, A12 is the target angle between the latest target and the target to be confirmed relative to the radar point, that is, A12 = A2-A1; A1 is the angle between the latest target and the horizontal line where the radar is located; A2 is the angle between the target to be confirmed and the horizontal line where the radar is located.

[0085] The distance between the latest target and the target to be confirmed is calculated by the first distance, the second distance and the target angle to obtain the first target distance. The calculation process is simple and the information required for identification is simple, which facilitates the simplification of the processing flow of false target identification and reduces the calculation burden of the system.

[0086] In some embodiments, in order to facilitate the storage of the first target information of the latest target and the second target information of the target to be confirmed, in this embodiment, the method further includes:

[0087] An array set is preset for storing target information sent by the radar; the array set includes a first array for storing first target information of the latest target sent by the radar in real time and a second array for storing second target information of the target to be confirmed.

[0088] Based on this, step 101, such as Figure 4 As shown, including:

[0089] Step 1011, obtaining real-time target information of real-time targets sent by the radar in real time and storing it in the first array;

[0090] Step 1012: determine whether the second array is empty;

[0091] Step 1013: when the second array is empty, the real-time target stored in the first array is used as the target to be confirmed, and the real-time target information is assigned to the second array as the second target information of the target to be confirmed;

[0092] Step 1014: obtaining first target information of the next real-time target most recently sent by the radar as the latest target from the first array, and obtaining second target information of the target to be confirmed from the second array.

[0093] Through the cooperation of the first array and the second array, the real-time targets detected by the radar in real time are all stored in the first array. When the second array is empty, the latest real-time target in the first array is assigned to the second array as a target to be confirmed for identification, thereby ensuring the orderly identification of each radar detection target, avoiding data confusion, reducing the false alarm rate of the system, enhancing the real-time performance of the system, and being able to detect false target signals in a timely manner.

[0094] Furthermore, in order to facilitate the radar to track the target identified as true, the array set also includes a third array; the target information includes third target information of the true target recorded in the third array. Specifically, Figure 5 As shown, the method also includes:

[0095] Step 104: When the first target distance is within the target movement threshold range, determine that the target to be confirmed is a true target, and assign the second target information of the target to be confirmed as the third target information of the true target to the third array.

[0096] Step 105: After the second target information of the target to be confirmed in the second array is assigned to the third array as the third target information of the true target, the second target information of the target to be confirmed in the second array is deleted, so that the second array takes over the next target to be confirmed for storage.

[0097] In some embodiments, step 1013, such as Figure 6 As shown, including:

[0098] Step 401: when the second array is empty and the third array is not empty, the distance between the real-time target and the true target is calculated using the real-time target information and the third target information to obtain a second target distance, and the second target distance is compared with a preset target movement threshold range;

[0099] Step 402: When the second target distance exceeds the maximum boundary value of the target movement threshold range, determine that the real-time target is not the same target as the true target, and assign the real-time target information of the real-time target as the second target information of the target to be confirmed in the second array.

[0100] Specifically, when the second array is empty and the third array is not empty, the real-time detection target information of the real-time detection target detected by the radar in real time can be directly identified with the third target information, so as to directly analyze whether the real-time target and the true target are the same target. If they are not the same target, the real-time target information of the real-time target is assigned to the second array as the second target information of the target to be confirmed, and wait for the latest target detected by the radar next time for comparative analysis, which can simplify the recognition process. When it is identified as the same target, the third target information of the true target can be directly updated or not according to the real-time detection target information.

[0101] In some examples, step 402 of the method further includes:

[0102] When the second target distance is within the target movement threshold range, the third target information of the true target in the third array is updated with the real-time target information to update the tracking position of the true target

[0103] When the second target distance is less than the minimum value of the target movement threshold, it is determined that the true target currently detected has not moved, and the third target information in the third array is kept unchanged.

[0104] In some embodiments, after the third target information of the true target is identified in the third array, the corresponding functions of the smart device can be controlled according to the third target information, such as the intelligent shaking function of the fan with radar, and the wind direction can be controlled according to the target position of the third array to improve the user experience.

[0105] Embodiment 2:

[0106] This embodiment takes the millimeter wave sensor sending a target information once as an example. In this embodiment, Figure 7As shown, the first array, the second array and the third array are recorded as Target1, Target2 and Target3 respectively, wherein Target1 stores the target information received in real time from the sensor, Target2 stores the target information to be confirmed, and Target3 stores the information identified as the true target.

[0107] Based on this, the process of radar false target identification method includes:

[0108] 1. If the data of Target2 and Target3 are empty, Target1 is the new target, and the current information of Target1 is directly assigned to Target2 for identification, that is, step 2 below.

[0109] 2. If the data of Target2 is not empty and the data of Target3 is empty, Target1 will compare and analyze the target information received with that of Target2:

[0110] First, calculate the distance Diff12 between Target1 and Target2. The distance of Target1 from the sensor is D1, and the angle is A1. The distance of Target2 from the sensor is D2, and the angle is A2. The angle between Target1 and Target2 from the sensor is A12 = A2-A1. Using the formula Diff12 2 =D1 2 +D2 2 -2D1D2cos(A12), the distance between the two targets Diff12 can be calculated.

[0111] Two target movement thresholds M1 and M2 are preset (M1<M2):

[0112] Diff12<M1, it is judged that Target2 has not moved, which is a false target;

[0113] Diff12>M2, Target2 is judged to be moving too fast and a false target;

[0114] M1≤Diff12≤M2 means that Target2 is moving and is a true target.

[0115] If it is a false target, clear the target information of Target2; return to step 1.

[0116] The real target saves the moved target information in Target3 and clears the target information of Target2. Go to step 3.

[0117] 3. If the data of Target2 is empty and the data of Target3 is not empty, then Target1 will compare and analyze the newly received target information with the target information of Target3:

[0118] According to the above method, calculate the distance Diff13 between Target1 and Target3 (Target3 stores the information of all true targets. When there is more than one target in Target3, find the target with the smallest distance from Target1 to make a judgment)

[0119] Diff13<M1, it is judged that Target3 has not moved, and the target information of Target3 remains unchanged;

[0120] Diff13>M2, Target1 is determined to be a new target, and the current information of Target1 is directly assigned to Target2, and the process goes to step 4;

[0121] M1≤Diff13≤M2 indicates that Target3 is moving, and the information of Target3 is updated to the target information after the movement.

[0122] 4. If the data of Target2 and Target3 are not empty, the newly received target information of Target1 is compared and analyzed with the target information of Target2 according to the method in step 2.

[0123] 5. Perform subsequent processing on the target information of Target3, such as the intelligent shaking function of the fan, which controls the wind direction according to the target position of Target3.

[0124] In other embodiments, when the millimeter wave sensor sends information of multiple targets at one time, it is necessary to calculate the distance between each target separately, and then compare the minimum distance with the preset movement threshold.

[0125] For example:

[0126] The sensor sends three target information at a time. The real-time target information in Target1 is: T11, T12, T13; the target information to be confirmed in Target2 is: T21, T22, T23.

[0127] First, calculate the distances between T11 and T21, T22, and T23 respectively. Assume that the distance between T11 and T22 is the smallest. If the distance meets the requirements of [M1, M2], then T22 is a true target, otherwise T22 is a false target.

[0128] If T22 is a true target, then T22 is removed, and then the distances between T12 and T21 and T23 are calculated; if T22 is a false target, then T22 is removed, and then the distances between T12 and T21 and T23 are calculated, and then the minimum distance is compared with the target moving threshold. Similarly, the distances between T13 and the total remaining targets of Target2 are calculated. This process continues until multiple targets to be confirmed sent by the radar are confirmed.

[0129] Embodiment three:

[0130] Another embodiment of the present application relates to a radar false target identification device. The implementation details of the radar false target identification device of this embodiment are specifically described below. The following content is only for the convenience of understanding the implementation details provided, and is not necessary for the implementation of this solution. The schematic diagram of the radar false target identification device of this embodiment can be as follows Figure 8 As shown, it includes a data acquisition module 801 and a target recognition module 802.

[0131] An acquisition module 801 is used to acquire target information sent by the radar; the target information includes first target information of the latest target and second target information of the target to be confirmed;

[0132] The target recognition module 802 is used to calculate the distance between the latest target and the target to be confirmed by using the first target information and the second target information to obtain a first target distance, and compare the first target distance with a preset target movement threshold range; when the first target distance is not within the target movement threshold range, it is determined that the target to be confirmed is a false target.

[0133] It is worth mentioning that all modules involved in this embodiment are logic modules. In practical applications, a logic unit can be a physical unit, a part of a physical unit, or a combination of multiple physical units. In addition, in order to highlight the innovative part of this application, this embodiment does not introduce units that are not closely related to solving the technical problems proposed by this application, but this does not mean that there are no other units in this embodiment.

[0134] Embodiment 4:

[0135] Another embodiment of the present application relates to an electronic device, such as Fig. 9 As shown, it includes: at least one processor 901; and a memory 902 that is communicatively connected to the at least one processor 901; wherein the memory 902 stores instructions that can be executed by the at least one processor 901, and the instructions are executed by the at least one processor 901 so that the at least one processor 901 can execute the radar false target identification method in the above-mentioned embodiments.

[0136] Among them, the memory and the processor are connected in a bus manner, and the bus may include any number of interconnected buses and bridges, and the bus connects various circuits of one or more processors and memories together. The bus can also connect various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be one element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices on a transmission medium. The data processed by the processor is transmitted on a wireless medium via an antenna, and further, the antenna also receives data and transmits the data to the processor.

[0137] The processor is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory can be used to store data used by the processor when performing operations.

[0138] Embodiment five:

[0139] Another embodiment of the present application relates to a computer-readable storage medium, such as Fig.10 As shown, a computer program 31 is stored. When the computer program 31 is executed by a processor, the above method embodiment is implemented.

[0140] That is, those skilled in the art can understand that all or part of the steps in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium, including a number of instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as: ROM), random access memory (Random Access Memory, referred to as: RAM), disk or optical disk and other media that can store program codes.

[0141] Those skilled in the art will appreciate that the above embodiments are specific embodiments for implementing the present application, and in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present application.

Claims

1. A radar false target identification method, characterized in that: include: Get the target information sent by radar; The target information includes first target information of the latest target and second target information of the target to be confirmed; Calculating the distance between the latest target and the target to be confirmed by using the first target information and the second target information to obtain a first target distance, and comparing the first target distance with a preset target movement threshold range; When the first target distance is not within the target movement threshold range, it is determined that the target to be confirmed is a false target.

2. A radar false target identification method according to claim 1, characterized in that: Also includes: An array set is preset for storing target information sent by the radar; the array set includes a first array for storing first target information of the latest target sent by the radar in real time and a second array for storing second target information of the target to be confirmed; The obtaining of target information sent by the radar comprises: Acquire the real-time target information of the real-time target sent by the radar in real time and store it in the first array; Determine whether the second array is empty; When the second array is empty, the real-time target stored in the first array is used as the target to be confirmed, and the real-time target information is assigned to the second array as the second target information of the target to be confirmed; The first target information of the next real-time target most recently sent by the radar is obtained from the first array as the latest target, and the second target information of the target to be confirmed is obtained from the second array.

3. A radar false target identification method according to claim 2, characterized in that: The array set further includes a third array; the target information includes third target information of the true target recorded in the third array; The method further comprises: When the first target distance is within the target movement threshold range, the target to be confirmed is determined to be a true target, and the second target information of the target to be confirmed is assigned to the third array as the third target information of the true target.

4. A radar false target identification method according to claim 3, characterized in that: When the second array is empty, taking the real-time target stored in the first array as the target to be confirmed, and assigning the real-time target information as the second target information of the target to be confirmed to the second array, comprises: When the second array is empty and the third array is not empty, the distance between the real-time target and the true target is calculated using the real-time target information and the third target information to obtain a second target distance, and the second target distance is compared with a preset target movement threshold range; When the second target distance exceeds the maximum boundary value of the target movement threshold range, it is determined that the real-time target is not the same target as the true target, and the real-time target information of the real-time target is assigned to the second array as the second target information of the target to be confirmed.

5. A radar false target identification method according to claim 4, characterized in that: The method further includes: when the second target distance is within the target movement threshold range, updating the third target information of the true target in the third array with the real-time target information to update the tracking position of the true target.

6. A radar false target identification method according to claim 1, characterized in that: The calculating the distance between the latest target and the target to be confirmed by using the first target information and the second target information to obtain the first target distance includes: Determine a first distance between the latest target and the radar and a first angle between the latest target and the horizontal line where the radar is located according to the first target information; Determine a second distance between the target to be confirmed and the radar and a second angle between the target to be confirmed and the horizontal line where the radar is located according to the second target information; Calculate the target angle between the latest target and the target to be confirmed relative to the radar point according to the first angle and the second angle; The distance between the latest target and the target to be confirmed is calculated according to the first distance, the second distance and the target angle to obtain a first target distance.

7. A radar false target identification method according to claim 1, characterized in that: The number of real-time targets recognized by the radar at a single time is one or more, and the recognition method further includes: When the number of real-time targets identified by the radar at a single time is multiple, one of the real-time targets is selected in turn as the latest target for the multiple real-time targets, and the following target identification operation is performed based on the latest target; the number of targets to be confirmed corresponds to the number of real-time targets; Calculating the first target distance between the latest target and each of the targets to be confirmed, respectively, to obtain a plurality of first target distances corresponding to each of the targets to be confirmed; wherein the targets to be confirmed that have been identified as false targets have been eliminated from the targets to be confirmed; Taking out a minimum target distance from a plurality of the first target distances for analysis, and determining whether the minimum target distance is within a moving threshold range; If not, the target to be confirmed corresponding to the minimum target distance is identified as a false target.

8. A radar false target identification device, characterized in that: include: A data acquisition module is used to obtain target information sent by the radar; The target information includes first target information of the latest target and second target information of the target to be confirmed; The target recognition module is used to calculate the distance between the latest target and the target to be confirmed by using the first target information and the second target information to obtain a first target distance, and compare the first target distance with a preset target movement threshold range; when the first target distance is not within the target movement threshold range, it is determined that the target to be confirmed is a false target.

9. An electronic device, characterized in that: include: at least one processor; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the radar false target identification method according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the radar false target identification method according to any one of claims 1 to 7 is implemented.

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