Multi-thread parallel radar constant false alarm rate detection method, system, equipment and medium

Abstract

The invention relates to a radar signal constant false alarm detection technology, and discloses a multi-thread parallel radar constant false alarm detection method, system and device and a medium, and the method comprises the steps: obtaining a time domain signal of each pulse, and obtaining a signal matrix; uniformly segmenting the time domain signal to obtain a time domain signal segment, and calculating the length of the time domain signal segment; calculating a constant false alarm detection threshold initial value of the time domain signal segment according to the length of the time domain signal segment, the threshold coefficient and the number of the reference units; filling constant false alarm detection threshold initial values into the constructed threshold matrix, and extracting an initial index of each constant false alarm detection threshold initial value; in the thread of each time domain signal segment, recursively calculating constant false alarm detection thresholds corresponding to other indexes in the time domain signal segment; and filling the constant false alarm detection thresholds corresponding to all the indexes into the constructed threshold matrix, and obtaining a difference between the signal matrix and the threshold moment to obtain a constant false alarm detection result. According to the method, the technical problem that multi-core parallel computing resources cannot be effectively utilized in existing constant false alarm detection can be solved.

Description

Technical Field

[0001] The invention belongs to the field of signal processing, relates to a radar signal constant false alarm detection technology, and specifically relates to a multi-threaded parallel radar constant false alarm detection method, system, equipment and medium. Background Art

[0002] In order to meet the modular and reconfigurable requirements of modern embedded computing platforms, GPGPU (Genera lPurpose Computing on GPU, i.e. general computing on graphics processors) not only undertakes the tasks of traditional image processing and intelligent computing, but also has signal processing functions. In order to fully utilize the parallel computing capabilities of GPGPU and similar platforms, it is necessary to improve the original traditional radar signal algorithm to achieve more efficient computing.

[0003] To achieve parallel computing, the algorithm needs to be redesigned, that is, the algorithm should be split into parallel operators with small data dependency, few memory access conflicts and strong internal memory access continuity. In the signal processing task of radar target detection, operations such as pulse compression and MTD can be easily parallelized. However, traditional constant false alarm detection processing often requires cyclic summation of the entire detection azimuth sliding window, and this summation depends on the previous result. Multiple cycles reduce the computing efficiency and cannot effectively utilize multi-core parallel computing resources. Summary of the invention

[0004] In order to solve the technical problem that the existing constant false alarm detection needs to rely on the previous result to cyclically sum the entire detection azimuth sliding window, resulting in multiple cycles reducing the calculation efficiency and thus failing to effectively utilize multi-core parallel computing resources, the present invention discloses a multi-threaded parallel radar constant false alarm detection method, the method comprising the following steps:

[0005] S1, compressing and moving target detection for each pulse collected by the radar, obtaining the time domain signal of each distance unit in each pulse, and filling all the time domain signals into the constructed signal matrix;

[0006] S2. According to a constant false alarm detection parameter and a pulse length, each of the time domain signals is evenly segmented to obtain a plurality of continuous time domain signal segments, and the time domain signal segment lengths of the time domain signal segments are calculated, wherein the constant false alarm detection parameter includes the number of reference units and the number of protection units;

[0007] S3, calculating the initial value of the constant false alarm detection threshold of each time domain signal segment in the thread of each time domain signal segment according to the time domain signal segment length, the threshold coefficient and the number of reference units;

[0008] S4, filling the initial values ​​of the constant false alarm detection thresholds of all the time domain signal segments into the constructed threshold matrix, and extracting the initial index of each initial value of the constant false alarm detection threshold;

[0009] S5. In each thread of the time domain signal segment, respectively judge the position of the time domain signal segment and the initial index, and according to the judgment result, use multiple of the constant false alarm detection threshold initial value, threshold coefficient, number of reference units and number of protection units to recursively calculate the constant false alarm detection threshold corresponding to the remaining indexes in the time domain signal segment except the initial index;

[0010] S6. Fill the constant false alarm detection thresholds corresponding to all indexes in all time domain signal segments into the threshold matrix, and calculate the difference between the signal matrix and the threshold matrix to obtain a constant false alarm detection result.

[0011] Further, in step S2, by the formula R=N / (1+2×N ref +2×N pro ) calculates the number of segments for each of the time domain signals to be evenly segmented, where R is the number of segments, N is the pulse length, and N ref is the number of reference units, N pro is the number of protection units.

[0012] Further, in step S3, according to the length of the time domain signal segment, the threshold coefficient and the number of reference units in the constant false alarm detection parameter, the initial value of the constant false alarm detection threshold of each time domain signal segment is calculated in the thread of each time domain signal segment, including:

[0013] S31, constructing a thread for each of the time domain signal segments, and calculating the time domain signal sum of each of the time domain signal segments according to the length of the time domain signal segment in the thread;

[0014] S32. Calculate an initial constant false alarm detection threshold value of each of the time domain signal segments according to the time domain signal sum, the threshold coefficient and the number of reference units in the constant false alarm detection parameter.

[0015] Further, in step S5, in each thread of the time domain signal segment, the positions of the time domain signal segment and the initial index are judged respectively, and according to the judgment result, multiple types of the constant false alarm detection threshold initial value, the threshold coefficient, the number of reference units and the number of protection units are used to recursively calculate the constant false alarm detection thresholds corresponding to the remaining indexes in the time domain signal segment except the initial index, including:

[0016] S51, in each thread of the time domain signal segment, judging the column index position of the initial index by the number of reference units and the number of protection units; judging the signal segment position of the time domain signal segment by the number of segments;

[0017] S52, according to the position judgment result, by using multiple of the constant false alarm detection threshold initial value, the threshold coefficient, the number of reference units and the number of protection units, recursively calculate the constant false alarm detection threshold corresponding to the remaining indexes in the time domain signal segment except the initial index.

[0018] Furthermore, in step S51, in each thread of the time domain signal segment, the column index position of the initial index is determined by the reference unit number and the protection unit number, including:

[0019] The column index of the initial index is located at 1+N ref +N pro and (1+2×N ref +2×N pro )×(R-1)+1+N ref +N pro When the initial index is between , determining whether the initial index is the first position or the last position in the time domain signal segment;

[0020] The column index of the index is equal to 1+N ref +N pro , determining that the initial index is at the first position of the time domain signal segment;

[0021] The column index of the index is equal to (1+2×N ref +2×N pro )×(R-1)+1+N ref +N pro , determine whether the initial index is at the end of the time domain signal segment.

[0022] Furthermore, in step S52, according to the position judgment result, the constant false alarm detection threshold corresponding to the remaining indexes in the time domain signal segment except the initial index is recursively calculated one by one through multiple of the constant false alarm detection threshold initial value, the threshold coefficient, the number of reference units and the number of protection units, including:

[0023] S521, when the initial index is in a non-first segment or non-last segment of the time domain signal segment, and the initial index is in a non-first position or non-last position of the time domain signal segment, by using the initial value of the constant false alarm detection threshold, the threshold coefficient and the number of reference units, taking the initial index as the starting point, forward recursion and backward recursion are performed to successively calculate the constant false alarm detection thresholds corresponding to the remaining indexes in the time domain signal segment except the initial index;

[0024] S522, when the initial index is in the first segment of the time domain signal segment and the initial index is not the first or last bit of the time domain signal segment, the constant false alarm detection threshold initial value, the threshold coefficient and the number of reference units are used to recursively start from the initial index and backward to the last index in the time domain signal segment, and the constant false alarm detection thresholds corresponding to the remaining indexes after the index in the time domain signal segment are calculated one by one;

[0025] By using the initial value of the constant false alarm detection threshold, the threshold coefficient, the number of reference units and the number of protection units, taking the initial index as the starting point and recursively forward, the constant false alarm detection threshold corresponding to the index of the number of reference units before the initial index in the time domain signal segment is calculated one by one; taking the sum of the initial index and the number of reference units as the current index, taking the current index as the starting point and recursively forward to the first index, the constant false alarm detection threshold corresponding to the index before the current index in the time domain signal segment is calculated one by one;

[0026] S523, when the initial index is at the end of the time domain signal segment and the initial index is not the first position or the last position of the time domain signal segment; by using the initial value of the constant false alarm detection threshold, the threshold coefficient and the number of reference units, starting from the initial index and recursively forward to the first index, the constant false alarm detection thresholds corresponding to the remaining indexes in the time domain signal segment except the initial index are calculated one by one;

[0027] Through the initial value of the constant false alarm detection threshold, the threshold coefficient, the number of reference units and the number of protection units, the initial index is used as the starting point and the constant false alarm detection threshold corresponding to the index of the number of reference units before the initial index in the time domain signal segment is calculated one by one; the sum of the initial index and the number of reference units is used as the current index, and the current index is used as the starting point and the constant false alarm detection threshold corresponding to the index after the current index in the time domain signal segment is calculated one by one.

[0028] The embodiment of the present invention also provides a multi-threaded parallel radar constant false alarm detection system, including a time domain signal acquisition module, a time domain signal division module, a constant false alarm detection threshold initial value calculation module, an index position acquisition module, a constant false alarm detection threshold calculation module and a detection result calculation module.

[0029] The time domain signal acquisition module is used to compress and detect moving targets on each pulse collected by the radar, obtain the time domain signal of each distance unit in each pulse, and fill all the time domain signals into the constructed signal matrix;

[0030] The time domain signal division module is used to evenly segment each of the time domain signals according to the constant false alarm detection parameter and the pulse length to obtain a plurality of continuous time domain signal segments, and calculate the time domain signal segment lengths of the time domain signal segments, wherein the constant false alarm detection parameter includes the number of reference units and the number of protection units;

[0031] The constant false alarm detection threshold initial value calculation module is used to calculate the constant false alarm detection threshold initial value of each time domain signal segment in the thread of each time domain signal segment according to the time domain signal segment length, the threshold coefficient and the number of reference units;

[0032] The initial index acquisition module is used to fill the initial values ​​of the constant false alarm detection thresholds of all the time domain signal segments into the constructed threshold matrix, and extract the initial index of each initial value of the constant false alarm detection threshold;

[0033] The constant false alarm detection threshold calculation module is used to judge the position of the time domain signal segment and the initial index respectively in the thread of each time domain signal segment, and recursively calculate the constant false alarm detection threshold corresponding to the remaining indexes in the time domain signal segment except the initial index by using multiple of the constant false alarm detection threshold initial value, threshold coefficient, reference unit number and protection unit number according to the judgment result;

[0034] The detection result calculation module is used to add the constant false alarm detection thresholds corresponding to all indexes in all time domain signal segments to the threshold matrix, and calculate the difference between the signal matrix and the threshold matrix to obtain the constant false alarm detection result.

[0035] An embodiment of the present invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, any of the above-mentioned multi-threaded parallel radar constant false alarm detection methods is implemented to solve the technical problem that the existing constant false alarm detection needs to rely on the previous result to cyclically sum the entire detection azimuth sliding window, resulting in multiple cycles that reduce the computing efficiency and thus fail to effectively utilize multi-core parallel computing resources.

[0036] An embodiment of the present invention also provides a computer-readable storage medium, which stores a computer program for executing any of the above-mentioned multi-threaded parallel radar constant false alarm detection methods, so as to solve the technical problem that the existing constant false alarm detection needs to rely on the previous result to cyclically sum the entire detection azimuth sliding window, resulting in multiple cycles that reduce the computing efficiency and thus cannot effectively utilize multi-core parallel computing resources.

[0037] Compared with the prior art, the beneficial effects that can be achieved by at least one of the above technical solutions adopted in the embodiments of this specification include at least: the method of the present invention, by processing the multi-pulse time domain signal after pulse compression and MTD, decomposes the calculation task of constant false alarm into multi-threaded calculation tasks without data dependence and memory access conflict according to different pulses and different distance units, and then completes the constant false alarm detection through a smaller number of cyclic calculations. The present invention can deploy the constant false alarm detection calculation task on a computing resource that supports multi-threaded parallelism, such as GPGPU, and the calculation efficiency of the present invention is higher than that of the traditional constant false alarm detection algorithm. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] 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. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 A flowchart of a multi-threaded parallel radar constant false alarm detection method is disclosed in an embodiment of the present invention;

[0040] Figure 2 A program execution diagram of a multi-threaded parallel radar constant false alarm detection method is disclosed in an embodiment of the present invention;

[0041] Figure 3 The present invention discloses a multi-threaded parallel radar constant false alarm detection system architecture diagram;

[0042] Among them, 301, a time domain signal acquisition module; 302, a time domain signal division module; 303, a constant false alarm detection threshold initial value calculation module; 304, an index position acquisition module; 305, a constant false alarm detection threshold calculation module; 306, a detection result calculation module. DETAILED DESCRIPTION

[0043] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0044] The following describes the implementation methods of the present application through specific specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and the features of the embodiments can be combined with each other in the absence of conflict. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work belong to the scope of protection of the present application.

[0045] The present invention discloses a multi-thread parallel radar constant false alarm detection method, see Figure 1 and Figure 2 As shown, the method comprises the following steps:

[0046] S1, compressing and moving target detection for each pulse collected by the radar, obtaining the time domain signal of each distance unit in each pulse, and filling all the time domain signals into the constructed signal matrix X;

[0047] S2. According to a constant false alarm detection parameter and a pulse length, each of the time domain signals is evenly segmented to obtain a plurality of continuous time domain signal segments, and the time domain signal segment lengths of the time domain signal segments are calculated, wherein the constant false alarm detection parameter includes the number of reference units and the number of protection units;

[0048] S3, calculating the initial value of the constant false alarm detection threshold of each time domain signal segment in the thread of each time domain signal segment according to the length of the time domain signal segment, the threshold coefficient α and the number of reference units;

[0049] S4, filling the initial values ​​of the constant false alarm detection thresholds of all the time domain signal segments into the constructed threshold matrix C, and extracting the initial index of each initial value of the constant false alarm detection threshold;

[0050] S5. In each thread of the time domain signal segment, respectively judge the position of the time domain signal segment and the initial index, and according to the judgment result, use multiple of the constant false alarm detection threshold initial value, threshold coefficient, number of reference units and number of protection units to recursively calculate the constant false alarm detection threshold corresponding to the remaining indexes in the time domain signal segment except the initial index;

[0051] S6. Fill the constant false alarm detection thresholds corresponding to all indexes in all time domain signal segments into the threshold matrix C, and calculate the difference between the signal matrix X and the threshold matrix C to obtain a constant false alarm detection result.

[0052] Furthermore, in the specific implementation of step S1, the number of pulses received by the radar can be defined as M, and the time domain signals obtained after pulse compression and MTD (moving target detection) of each pulse are X1(n), X2(n), ..., X M (n). The length of a single pulse is N, and the signal X1(n), X2(n), ..., X can be represented by a signal matrix X of size M×N. M (n) Data, X M (n) represents the time domain signal of the nth distance unit in the Mth pulse.

[0053] A threshold matrix C of size M×N may be constructed. When the threshold data is not filled in, each position in the threshold matrix C is zero, and is used to record the final constant false alarm detection result calculated in the following step S6, that is, the time domain signal of the signal matrix X is subtracted from the initial value of the constant false alarm detection threshold at the same index position in the threshold matrix C to obtain the final constant false alarm detection result matrix.

[0054] Further, in step S2, the number of segments of each time domain signal is evenly segmented is calculated by the formula R=N / (1+2×Nref+2×Npro), where R is the number of segments, N is the pulse length, and N ref is the number of reference units, N pro is the number of protection units.

[0055] When segmenting the time domain signal, taking the nth distance unit X1(n) in the first time domain signal as an example, after dividing it into R segments, we can get Similarly, X2(n), X3(n), ..., X M (n) After segmentation, it is

[0056]

[0057] Further, in step S3, according to the length of the time domain signal segment, the threshold coefficient and the number of reference units in the constant false alarm detection parameter, the initial value of the constant false alarm detection threshold of each time domain signal segment is calculated in the thread of each time domain signal segment, including:

[0058] S31, constructing a thread for each of the time domain signal segments, and calculating the time domain signal sum of each of the time domain signal segments according to the length of the time domain signal segment in the thread;

[0059] S32. Calculate an initial constant false alarm detection threshold value of each of the time domain signal segments according to the time domain signal sum, the threshold coefficient and the number of reference units in the constant false alarm detection parameter.

[0060] When step S3 is implemented, a thread may be constructed for each time domain signal segment. For example, the thread of the first time domain signal segment of the first time domain signal may be represented as T 1,1 , in this thread T 1,1 Middle Pair Middle Pair Sum all elements in (for example, when the length of the time domain signal segment is 10, calculate the sum of the 10 lengths in the segment), and then divide by 2×N ref / α, get the first pulse, 1+N ref +N pro Initial value of constant false alarm detection threshold at distance unit Where α is a constant parameter (i.e., threshold coefficient) related to false alarm rate and noise probability distribution in a given constant false alarm detector. Fill in the threshold matrix C Specifically, the specific position of the threshold value filled in the threshold matrix C can be calculated by the following formula: Among them, c represents the cth row currently filled in the C matrix, l represents the lth column currently filled in the C matrix, m represents that the current segment is located at the mth pulse, and r represents that the current segment is the rth segment in the current pulse.

[0061] Similarly, thread T can be constructed 1,2 , T 1,3 , ..., T 1,R ; T 2,1 , T 2,2 , ..., T 2,R ;……;T M,1 , T M,2 , ..., T M,R ; Calculate the initial value of the constant false alarm detection threshold for each thread, and calculate it in each thread.

[0062] Further, in step S5, in each thread of the time domain signal segment, the positions of the time domain signal segment and the initial index are judged respectively, and according to the judgment result, multiple types of the constant false alarm detection threshold initial value, the threshold coefficient, the number of reference units and the number of protection units are used to recursively calculate the constant false alarm detection thresholds corresponding to the remaining indexes in the time domain signal segment except the initial index, including:

[0063] S51, in each thread of the time domain signal segment, judging the column index position of the initial index by the number of reference units and the number of protection units; judging the signal segment position of the time domain signal segment by the number of segments;

[0064] S52, according to the position judgment result, by using multiple of the constant false alarm detection threshold initial value, the threshold coefficient, the number of reference units and the number of protection units, recursively calculate the constant false alarm detection threshold corresponding to the remaining indexes in the time domain signal segment except the initial index.

[0065] Furthermore, in step S51, in each thread of the time domain signal segment, judging the column index position of the initial index by the reference unit number and the protection unit number includes:

[0066] The column index of the initial index is located at 1+N ref +N pro and (1+2×N ref +2×N pro )×(R-1)+1+N ref +N pro When the initial index is between the first and last positions of the time domain signal segment, it is determined that the initial index is not the first position or the last position of the time domain signal segment, and the constant false alarm detection threshold corresponding to the remaining indexes except the initial index in each time domain signal segment is calculated through the following step S521;

[0067] The column index of the index is equal to 1+N ref +N pro , determining that the initial index is at the first position of the time domain signal segment, and calculating the constant false alarm detection threshold corresponding to the remaining indexes except the initial index in each time domain signal segment through the following step S522;

[0068] The column index of the index is equal to (1+2×N ref +2×N pro )×(R-1)+1+N ref +N pro , determine that the initial index is at the end of the time domain signal segment, and calculate the constant false alarm detection threshold corresponding to the remaining indexes in each time domain signal segment except the initial index through the following step S523.

[0069] Furthermore, in step S52, according to the position judgment result, the constant false alarm detection threshold corresponding to the remaining indexes in the time domain signal segment except the initial index is recursively calculated one by one through multiple of the constant false alarm detection threshold initial value, the threshold coefficient, the number of reference units and the number of protection units, including:

[0070] S521, when the initial index is in a non-first segment or non-last segment of the time domain signal segment, and when the initial index is in a non-first position or non-last position of the time domain signal segment, the constant false alarm detection threshold initial value, the threshold coefficient and the number of reference units are used, and the initial index is used as the starting point for forward and backward recursion to successively calculate the constant false alarm detection thresholds corresponding to the remaining indexes in the time domain signal segment except the initial index.

[0071] Specifically, when recursively calculating the constant false alarm detection threshold of the index after the initial index, the column index c and row index l of the current element are obtained by accessing the memory, and c, l and C are used as c,l As the initial value, according to the recursive formula Recursively back to the last index position of the current time domain signal segment, that is, recursively Nre f +Npr o The constant false alarm detection threshold Cc,l is calculated in turn. +1 ,Cc,l +2 ,……,

[0072] When recursively calculating the constant false alarm detection threshold of the index before the initial index, c, l and C c , l is the initial value, according to the recursive formula:

[0073] Recursively move forward to the first index position of the current time domain signal segment, that is, recursively move Nre f +Npr o The constant false alarm detection thresholds Cc,l-1, Cc,l-2, ... are calculated in sequence.

[0074] S522. When the initial index is at the beginning of the time domain signal segment and the initial index is not the first position or the last position of the time domain signal segment, the constant false alarm detection threshold initial value, the threshold coefficient and the number of reference units are used to recursively start from the initial index and backward to the last index in the time domain signal segment, and the constant false alarm detection thresholds corresponding to the remaining indexes after the index in the time domain signal segment are calculated one by one.

[0075] When recursively calculating the constant false alarm detection threshold of the index after the initial index, specifically, the column index c and row index l of the current element are obtained by accessing the memory, and c, l and C are used as c , l is the initial value, according to the recursive formula: Recursively recurse to the last index position of the time domain signal segment by a one-time recursive method, that is, recursively Nre f +Npr o The constant false alarm detection threshold C is calculated in turn. c ,l +1 , C c ,l +2 ,……,

[0076] Through the initial value of the constant false alarm detection threshold, the threshold coefficient, the number of reference units and the number of protection units, the initial index is used as the starting point to recursively forward, and the constant false alarm detection threshold corresponding to the index of the number of reference units before the initial index in the time domain signal segment is calculated one by one; the sum of the initial index and the number of reference units is used as the current index, and the current index is used as the starting point to recursively forward to the first index, and the constant false alarm detection threshold corresponding to the index before the current index in the time domain signal segment is calculated one by one.

[0077] When recursively calculating the constant false alarm detection threshold of the index before the initial index, it is recursively calculated twice to the first index position of the current time domain signal segment. Specifically, it includes:

[0078] In the first recursion, the column index c and row index l of the current element are obtained by accessing the memory, using c, l and C c,l As the initial value, according to the recursive formula:

[0079] Recursively go to the first N elements of the current segment ref index positions, that is, recursion N ref The constant false alarm detection threshold C is calculated in turn. c,l-1 , C c,l-2 ,……,

[0080] The second recursion is to continue forward recursion to the first index position of this segment based on the first recursion, that is, c, lN ref and As the initial value, according to the recursive formula: Recursion N pro The constant false alarm detection threshold is calculated in sequence to the first index position of this segment.

[0081] S523, when the initial index is at the end of the time domain signal segment, and the initial index is not the first position or the last position of the time domain signal segment; through the initial value of the constant false alarm detection threshold, the threshold coefficient and the number of reference units, starting from the initial index and recursively forward to the first index, the constant false alarm detection thresholds corresponding to the remaining indexes in the time domain signal segment except the initial index are calculated one by one.

[0082] When recursively forward, the constant false alarm detection threshold of the index before the initial index is calculated, with c, l and C c,l As the initial value, according to the recursive formula

[0083] Recursion N ref +N proRecursively repeat to the first index position, and calculate the constant false alarm detection threshold C c,l-1 , C c,l-2 ,……,

[0084] Through the initial value of the constant false alarm detection threshold, the threshold coefficient, the number of reference units and the number of protection units, the initial index is used as the starting point and the constant false alarm detection threshold corresponding to the index of the number of reference units before the initial index in the time domain signal segment is calculated one by one; the sum of the initial index and the number of reference units is used as the current index, and the current index is used as the starting point and the constant false alarm detection threshold corresponding to the index after the current index in the time domain signal segment is calculated one by one.

[0085] When recursively calculating the constant false alarm detection threshold of the index before the initial index, c, l and C c,l is the initial value, and is recursively repeated twice to the last index position of the current time domain signal segment.

[0086] Specifically, it includes:

[0087] The first backward recursion obtains the column index c and row index l of the current element by accessing the memory, using c, l and C c,l As the initial value, according to the recursive formula:

[0088]

[0089] Recursively go to the next N elements of the current element in this paragraph ref index positions, that is, recursion N ref The constant false alarm detection threshold C is calculated in turn. c,l+1 , C c,l+2 ,……,

[0090] The second backward recursion continues to recurse to the last index position of this segment based on the first recursion, that is, c, l+N pro and As the initial value, according to the recursive formula: Recursion N pro The constant false alarm detection threshold is calculated successively from the last index position to the last index position.

[0091]

[0092] Furthermore, in the specific implementation of step S6, when the constant false alarm detection result matrix is ​​calculated, if the element in the i-th row and j-th column is greater than or equal to 0, it means that the detection result of the i-th pulse and the j-th distance unit is a target, otherwise the result is no target.

[0093] The method of the present invention processes the multi-pulse time domain signal after pulse compression and MTD, decomposes the calculation task of constant false alarm into multi-threaded calculation tasks without data dependence and memory access conflict according to different pulses and different distance units, and then completes the constant false alarm detection through a small number of cyclic calculations. The present invention can deploy the constant false alarm detection calculation task on a computing resource that supports multi-thread parallelism, such as GPGPU, and the calculation efficiency of the present invention is higher than that of the traditional constant false alarm detection algorithm.

[0094] Based on the same inventive concept, a multi-threaded parallel radar constant false alarm detection system is also provided in the embodiment of the present invention, as described in the following embodiments. Since the principle of solving the problem of the multi-threaded parallel radar constant false alarm detection system is similar to the multi-threaded parallel radar constant false alarm detection method, the implementation of the multi-threaded parallel radar constant false alarm detection system can refer to the implementation of the multi-threaded parallel radar constant false alarm detection method, and the repetitions are not repeated. As used below, the term "unit" or "module" can implement a combination of software and / or hardware of a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware is also possible and conceived.

[0095] Figure 3 is a structural block diagram of a multi-threaded parallel radar constant false alarm detection system disclosed in an embodiment of the present invention, such as Figure 3 As shown, the radar constant false alarm detection method includes a time domain signal acquisition module 301, a time domain signal division module 302, a constant false alarm detection threshold initial value calculation module 303, an index position acquisition module 304, a constant false alarm detection threshold calculation module 305 and a detection result calculation module 306. The structure is described below.

[0096] The time domain signal acquisition module 301 is used to compress and detect moving targets on each pulse collected by the radar, obtain the time domain signal of each distance unit in each pulse, and fill all the time domain signals into the constructed signal matrix X;

[0097] The time domain signal division module 302 is used to evenly segment each of the time domain signals to obtain a plurality of continuous time domain signal segments according to a constant false alarm detection parameter and a pulse length, and calculate the time domain signal segment length of the time domain signal segment, wherein the constant false alarm detection parameter includes the number of reference units and the number of protection units;

[0098] The constant false alarm detection threshold initial value calculation module 303 is used to calculate the constant false alarm detection threshold initial value of each time domain signal segment in the thread of each time domain signal segment according to the time domain signal segment length, the threshold coefficient α and the number of reference units;

[0099] The initial index acquisition module 304 is used to fill the initial values ​​of the constant false alarm detection thresholds of all the time domain signal segments into the constructed threshold matrix C, and extract the initial index of each initial value of the constant false alarm detection threshold;

[0100] The constant false alarm detection threshold calculation module 305 is used to judge the position of the time domain signal segment and the initial index in each thread of the time domain signal segment, and recursively calculate the constant false alarm detection threshold corresponding to the remaining indexes in the time domain signal segment except the initial index by using multiple of the constant false alarm detection threshold initial value, threshold coefficient, reference unit number and protection unit number according to the judgment result;

[0101] The detection result calculation module 306 is used to fill the constant false alarm detection thresholds corresponding to all indexes in all time domain signal segments into the threshold matrix C, and calculate the difference between the signal matrix X and the threshold matrix C to obtain the constant false alarm detection result.

[0102] In this embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, any of the above-mentioned multi-threaded parallel radar constant false alarm detection methods is implemented.

[0103] Specifically, the computer device may be a computer terminal, a server or a similar computing device.

[0104] In this embodiment, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program for executing any of the above-mentioned multi-threaded parallel radar constant false alarm detection methods.

[0105] Specifically, computer-readable storage media include permanent and non-permanent, removable and non-removable media that can store information by any method or technology. Information can be computer-readable instructions, data structures, program modules or other data. Examples of computer-readable storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable storage media does not include transitory media such as modulated data signals and carrier waves.

[0106] Obviously, those skilled in the art should understand that the modules or steps of the above-mentioned embodiments of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, and optionally, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order from that here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. In this way, the embodiments of the present invention are not limited to any specific combination of hardware and software.

[0107] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the embodiments of the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A multi-threaded parallel radar constant false alarm detection method, characterized in that: include: Compressing and moving target detecting each pulse collected by the radar, obtaining the time domain signal of each distance unit in each pulse, and filling all the time domain signals into the constructed signal matrix; According to a constant false alarm detection parameter and a pulse length, each of the time domain signals is evenly segmented to obtain a plurality of continuous time domain signal segments, and the time domain signal segment lengths of the time domain signal segments are calculated, wherein the constant false alarm detection parameter includes the number of reference units and the number of protection units; Calculating the initial value of the constant false alarm detection threshold of each time domain signal segment in the thread of each time domain signal segment according to the time domain signal segment length, the threshold coefficient and the number of reference units; Filling the initial constant false alarm detection threshold values ​​of all the time domain signal segments into the constructed threshold matrix, and extracting the initial index of each initial constant false alarm detection threshold value; In each thread of the time domain signal segment, the positions of the time domain signal segment and the initial index are judged respectively, and according to the judgment result, a plurality of the constant false alarm detection threshold initial value, the threshold coefficient, the number of reference units and the number of protection units are adopted to recursively calculate the constant false alarm detection thresholds corresponding to the remaining indexes in the time domain signal segment except the initial index one by one; The constant false alarm detection thresholds corresponding to all indexes in all time domain signal segments are filled into the threshold matrix, and the difference between the signal matrix and the threshold matrix is ​​calculated to obtain the constant false alarm detection result.

2. The multi-threaded parallel radar constant false alarm detection method according to claim 1, characterized in that: By the formula R = N / (1 + 2 × N ref +2×N pro ) calculates the number of segments for each of the time domain signals to be evenly segmented, where R is the number of segments, N is the pulse length, and N ref is the number of reference units, N pro is the number of protection units.

3. The multi-threaded parallel radar constant false alarm detection method according to claim 1, characterized in that: According to the length of the time domain signal segment, the threshold coefficient and the number of reference units in the constant false alarm detection parameter, calculating the initial value of the constant false alarm detection threshold of each time domain signal segment in the thread of each time domain signal segment, including: Constructing a thread for each of the time domain signal segments, and calculating the time domain signal sum of each of the time domain signal segments in the thread according to the length of the time domain signal segment; The initial value of the constant false alarm detection threshold of each of the time domain signal segments is calculated according to the sum of the time domain signals, the threshold coefficient and the number of reference units in the constant false alarm detection parameter.

4. The multi-threaded parallel radar constant false alarm detection method according to claim 1, characterized in that: In each thread of the time domain signal segment, the positions of the time domain signal segment and the initial index are judged respectively, and according to the judgment result, multiple types of the constant false alarm detection threshold initial value, the threshold coefficient, the number of reference units and the number of protection units are used to recursively calculate the constant false alarm detection thresholds corresponding to the remaining indexes in the time domain signal segment except the initial index, including: In each thread of the time domain signal segment, the column index position of the initial index is determined by the number of reference units and the number of protection units; the signal segment position of the time domain signal segment is determined by the number of segments; According to the position judgment result, the constant false alarm detection threshold corresponding to the remaining indexes in the time domain signal segment except the initial index is recursively calculated by using multiple ones of the constant false alarm detection threshold initial value, the threshold coefficient, the number of reference units and the number of protection units.

5. The multi-threaded parallel radar constant false alarm detection method according to claim 4, characterized in that: In each thread of the time domain signal segment, the column index position of the initial index is determined by the number of reference units and the number of protection units, including: The column index of the initial index is located at 1+N ref +N pro and (1+2×N ref +2×N pro )×(R-1)+1+N ref +N pro When the initial index is between , determining whether the initial index is the first position or the last position in the time domain signal segment; The column index of the index is equal to 1+N ref +N pro , determining that the initial index is at the first position of the time domain signal segment; The column index of the index is equal to (1+2×N ref +2×N pro )×(R-1)+1+N ref +N pro , determine whether the initial index is at the end of the time domain signal segment.

6. The multi-threaded parallel radar constant false alarm detection method according to claim 5, characterized in that: According to the position judgment result, the constant false alarm detection threshold corresponding to the remaining indexes in the time domain signal segment except the initial index is recursively calculated by using multiple of the constant false alarm detection threshold initial value, the threshold coefficient, the number of reference units and the number of protection units, including: When the initial index is in a non-first segment or non-last segment of the time domain signal segment, and the initial index is in a non-first position or non-last position of the time domain signal segment, the constant false alarm detection threshold initial value, the threshold coefficient and the number of reference units are used to recursively forward and backward with the initial index as the starting point, and the constant false alarm detection thresholds corresponding to the remaining indexes in the time domain signal segment except the initial index are calculated one by one; When the initial index is in the first segment of the time domain signal segment and the initial index is not the first or last position of the time domain signal segment, the initial value of the constant false alarm detection threshold, the threshold coefficient and the number of reference units are used, and the initial index is used as the starting point to recursively reverse to the last index in the time domain signal segment, and the constant false alarm detection thresholds corresponding to the remaining indexes after the index in the time domain signal segment are calculated one by one; the initial value of the constant false alarm detection threshold, the threshold coefficient, the number of reference units and the number of protection units are used, and the initial index is used as the starting point to recursively forward, and the constant false alarm detection thresholds corresponding to the indexes of the number of reference units before the initial index in the time domain signal segment are calculated one by one; the sum of the initial index and the number of reference units is used as the current index, and the current index is used as the starting point to recursively forward to the first index, and the constant false alarm detection thresholds corresponding to the indexes before the current index in the time domain signal segment are calculated one by one; The initial index is at the end of the time domain signal segment, and the initial index is not the first or last position in the time domain signal segment; through the initial value of the constant false alarm detection threshold, the threshold coefficient and the number of reference units, the initial index is used as the starting point to recurse forward to the first index, and the constant false alarm detection thresholds corresponding to the remaining indexes except the initial index in the time domain signal segment are calculated one by one; through the initial value of the constant false alarm detection threshold, the threshold coefficient, the number of reference units and the number of protection units, the initial index is used as the starting point to recurse backward, and the constant false alarm detection thresholds corresponding to the indexes of the number of reference units before the initial index in the time domain signal segment are calculated one by one; the sum of the initial index and the number of reference units is used as the current index, and the current index is used as the starting point to recurse backward to the last index, and the constant false alarm detection thresholds corresponding to the indexes after the current index in the time domain signal segment are calculated one by one.

7. A multi-threaded parallel radar constant false alarm detection system, characterized in that: include: A time domain signal acquisition module, which is used to compress and detect moving targets on each pulse collected by the radar, obtain the time domain signal of each distance unit in each pulse, and fill all the time domain signals into the constructed signal matrix; A time domain signal division module, the time domain signal division module is used to evenly segment each of the time domain signals to obtain a plurality of continuous time domain signal segments according to a constant false alarm detection parameter and a pulse length, and calculate the time domain signal segment length of the time domain signal segment, wherein the constant false alarm detection parameter includes the number of reference units and the number of protection units; A constant false alarm detection threshold initial value calculation module, the constant false alarm detection threshold initial value calculation module is used to calculate the constant false alarm detection threshold initial value of each time domain signal segment in the thread of each time domain signal segment according to the time domain signal segment length, the threshold coefficient and the number of reference units; An initial index acquisition module, the initial index acquisition module is used to fill the initial values ​​of the constant false alarm detection thresholds of all the time domain signal segments into the constructed threshold matrix, and extract the initial index of each of the initial values ​​of the constant false alarm detection thresholds; A constant false alarm detection threshold calculation module, the constant false alarm detection threshold calculation module is used to judge the position of the time domain signal segment and the initial index in each thread of the time domain signal segment, and recursively calculate the constant false alarm detection thresholds corresponding to the remaining indexes in the time domain signal segment except the initial index by using multiple of the constant false alarm detection threshold initial value, threshold coefficient, reference unit number and protection unit number according to the judgment result; The detection result calculation module is used to fill the constant false alarm detection thresholds corresponding to all indexes in all time domain signal segments into the threshold matrix, and calculate the difference between the signal matrix and the threshold matrix to obtain the constant false alarm detection result.

8. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the multi-threaded parallel radar constant false alarm detection method according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program for executing the multi-threaded parallel radar constant false alarm detection method according to any one of claims 1 to 6.

Images