Low-cost radar detection system for low-altitude low-speed small target

Abstract

The invention relates to a low-cost radar detection system for a low-altitude low-speed small target, and belongs to the technical field of radar detection, and the system comprises an information obtaining module which is used for obtaining the environment information of a to-be-deployed and controlled radar region, so as to determine the number of antenna units of a radar; the radar selection module is used for selecting a target radar and deploying and controlling the target radar; the beam determination module is used for determining an initial beam direction and a beam direction deviation value corresponding to the target radar at the current moment according to the time interval to which the current moment belongs; the data receiving module is used for operating the target radar and acquiring detection data based on the initial beam direction and the beam direction deviation value; and the evaluation module is used for determining a target evaluation model in combination with the detection data and the time interval, inputting the detection data into the target evaluation model to obtain an output result, and determining a target recognition result. According to the invention, the recognition accuracy and speed of the low-altitude low-speed small target can be improved, and the radar detection cost is reduced.

Description

Technical Field

[0001] The present application relates to the field of radar detection technology, and in particular to a low-cost radar detection system for low-altitude, slow-moving, small targets. Background Art

[0002] "Low-altitude, slow-speed, small" targets usually refer to flying objects with a flight altitude of less than 1000m, a flight speed of less than 200km / h, and a radar reflection area of ​​less than two square meters. They have the characteristics of low cost, mature technology, and small target features. With the maturity of drone technology and the popularization of drone products for various purposes, they are constantly used by criminals to carry explosives and other dangerous items to carry out various attacks and sabotage activities. Due to the limited radar reflection area, the echo signal intensity generated is low, and low-altitude flying targets will be strongly interfered by ground clutter. These clutters are superimposed on the target echo, making it difficult for the radar system to accurately distinguish and lock the target. Therefore, how to quickly and accurately capture the existence of "low-altitude, slow-speed, small" targets is an urgent problem to be solved. Summary of the invention

[0003] Based on this, it is necessary to provide a low-cost radar detection system for low-altitude, slow-speed, small targets that can quickly and accurately capture the existence of "low-altitude, slow-speed, small" targets in response to the above-mentioned technical problems.

[0004] The present application provides a low-cost radar detection system for low-altitude, slow-speed, small targets, the system comprising: An information acquisition module is used to acquire environmental information of the area where the radar is to be deployed, and determine the number of antenna units of the radar based on the environmental information; A radar selection module, used for selecting a target radar according to the number of antenna units of the radar, and deploying the target radar in the radar area to be deployed; A beam determination module is used to determine the initial beam direction and beam direction offset value corresponding to the target radar at the current moment according to the time interval to which the current moment belongs, wherein the time interval is used to describe the historical flight time of low-altitude slow small targets in the radar area to be controlled; A data receiving module, used to operate the target radar based on the initial beam direction and the beam direction offset value, and obtain detection data received by the target radar; An evaluation module is used to determine a target evaluation model by combining the detection data and the time interval, input the detection data into the target evaluation model to obtain an output result, and determine a target recognition result based on the output result.

[0005] Optionally, it is characterized in that obtaining environmental information of the area where the radar is to be deployed includes: Acquire geographical location information of the radar area to be deployed, wherein the geographical location information at least includes longitude and latitude information; The environmental information of the area to be controlled radar is determined according to the latitude and longitude information, where the environmental information at least includes natural environmental information and humanistic environmental information.

[0006] Optionally, it is characterized in that, based on the environmental information, determining the number of antenna units of the radar comprises: Determine a first target threshold of the radar area to be controlled according to the natural environment information and the human environment information; Obtain the distance between the radar area to be controlled and other radar base stations, and determine the number of radar base stations within a preset distance interval and the distance and value between each radar base station and the radar area to be controlled according to the distance; According to the number of radar base stations and the interval and value, the first target threshold of the radar area to be controlled is corrected to obtain a second target threshold; Determining the number of radar antenna units corresponding to the second target threshold according to a mapping relationship between the target threshold and the number of radar antenna units; The number of radar antenna units corresponding to the second target threshold is defined as the number of antenna units of the radar.

[0007] Optionally, it is characterized in that the calculation method of the second target threshold includes: Normalizing the natural environment information, human environment information, radar base station quantity and spacing and value to obtain a target data set; Based on the natural environment information and the human environment information in the target data set, the first target threshold is calculated and determined. The calculation method of the first target threshold includes: in, Indicates The first target threshold of the position node, represents the fitting value of natural environment information, and Both represent weight coefficients, represents the fitting value of human environment information; Based on the number, spacing and value of radar base stations in the target data set, the first target threshold is corrected, and the algorithm for correcting the first target threshold includes: in, represents the second target threshold, represents the correction function, Indicates spacing and values, Indicates the number of radar base stations, Indicates the distance between the mth radar base station and the radar area to be controlled; Based on the correction result of the first target threshold, the second target threshold is determined.

[0008] Optionally, it is characterized in that selecting a target radar according to the number of antenna units of the radar, and placing the target radar under control in the radar area to be placed under control comprises: A radar whose number of target antenna units is greater than or equal to the number of antenna units of the radar is defined as the target radar; The target radar is deployed in the radar area to be deployed.

[0009] Optionally, it is characterized in that, according to the time interval to which the current moment belongs, determining the initial beam direction and the beam direction offset value corresponding to the target radar at the current moment includes: Obtain the target time interval to which the current moment belongs, and determine the identifier corresponding to the target time interval according to the mapping relationship between the time interval and the identifier, wherein the method for generating the mapping relationship between the time interval and the identifier includes: Obtain the historical flight time of a low-altitude, slow-speed, small target within a preset range of the radar area to be controlled within a preset time period, and mark the target historical flight time based on the flight start time and the flight end time to obtain a first identifier corresponding to the target historical flight time; In response to the number of occurrences of the first identifier within a plurality of preset time periods being greater than a preset number threshold, performing a secondary marking on the target historical flight time to obtain a second identifier corresponding to the target historical flight time; Acquire a flight direction of a low-altitude, slow-speed, small target corresponding to a historical flight time of a target with a second identifier, define an initial direction of the flight direction as the initial beam direction in response to a current moment being within a time range corresponding to the historical flight time of the target, and determine a beam direction offset value according to a flight start time and a flight end time; In response to the current time not being within the time range corresponding to the target historical flight time, an arbitrary direction is defined as the initial beam direction, and a standard beam pointing angle is defined as a beam direction offset value.

[0010] Optionally, the method further comprises: The target radar is operated according to the signal values ​​and beam direction offset values ​​of the plurality of antenna units to obtain detection data received by the target radar, and the calculation method of the signal values ​​of the antenna units includes: in, represents the signal value of the mth antenna element, Indicates the amplitude, represents the angular frequency, Indicates time, represents the antenna unit spacing, represents the wavelength, Indicates the angle, Indicates the correction parameter.

[0011] Optionally, it is characterized in that combining the detection data and the time interval to determine a target evaluation model, inputting the detection data into the target evaluation model to obtain an output result, and determining a target recognition result according to the output result includes: In response to the presence of a second identifier in the time interval to which the detection data reception time belongs, determining that the first evaluation model is a target evaluation model, normalizing the detection data and inputting the data into the first evaluation model to obtain a first output result, and determining a target recognition result according to the first output result; In response to the absence of a second identifier in the time interval to which the detection data is received, the second evaluation model is determined to be the target evaluation model, the detection data is normalized and input into the second evaluation model to obtain a second output result, and the target recognition result is determined based on the second output result.

[0012] Optionally, determining the target recognition result based on the first evaluation model includes: The detection data is normalized and then input into the first evaluation model to obtain a first output result. The first evaluation model includes: in, Represents the first output result, represents the first correction function, It represents the position difference per unit time. It represents the speed difference per unit time. Indicates the size of the shape, Indicates the number of interference sources, represents the probability value of the risk of the e-th interference source exciting, represents the impact value of the e-th interference source, represents a constant; In response to the first output result being greater than a first preset threshold, it is determined that the target identification result is an abnormal target, and a warning message is sent to the terminal.

[0013] Optionally, it is characterized in that, based on the second evaluation model, determining the target recognition result includes: The detection data is normalized and then input into the second evaluation model to obtain a second output result, wherein the second evaluation model includes: in, Represents the second output result, represents the second correction function; In response to the second output result being greater than a second preset threshold, it is determined that the target identification result is an abnormal target, and an early warning message is sent to the terminal, wherein the second preset threshold is greater than the first preset threshold.

[0014] The low-cost radar detection system for low-altitude, slow and small targets, the system includes: an information acquisition module, used to obtain environmental information of the radar area to be controlled, and determine the number of antenna units of the radar based on the environmental information; a radar selection module, used to select a target radar according to the number of antenna units of the radar, and control the target radar in the radar area to be controlled; a beam determination module, used to determine the initial beam direction and beam direction offset value corresponding to the target radar at the current moment according to the time interval to which the current moment belongs, wherein the time interval is used to describe the historical flight time of the low-altitude, slow and small targets in the radar area to be controlled; a data receiving module, used to operate the target radar based on the initial beam direction and the beam direction offset value, and obtain the detection data received by the target radar; an evaluation module, used to determine a target evaluation model in combination with the detection data and the time interval, input the detection data into the target evaluation model, obtain an output result, and determine a target recognition result based on the output result. The present application can improve the recognition accuracy and speed of low-altitude, slow and small targets, and reduce the radar detection cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The structure block diagram of a low-cost radar detection system for low-altitude, slow-moving, small targets in one embodiment. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0017] It should be understood that in the description of the present application, unless the context clearly requires otherwise, words such as "include", "comprises", and the like throughout the specification should be interpreted as including rather than being exclusive or exhaustive; that is, as including but not limited to.

[0018] It should also be understood that the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of this application, unless otherwise specified, "plurality" means two or more.

[0019] It should be noted that the terms "S1", "S2", etc. are only used for the purpose of describing the steps, and do not specifically refer to the order or sequence, nor are they used to limit the present application. They are only for the convenience of describing the method of the present application, and cannot be understood as indicating the order of the steps. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present application.

[0020] In one embodiment, Figure 1 As shown, a low-cost radar detection system for low-altitude, slow-speed, small targets is provided, comprising: An information acquisition module is used to acquire environmental information of the radar area to be controlled, and determine the number of antenna units of the radar based on the environmental information, wherein the environmental information generally includes natural environmental information and human environmental information, the natural environmental information includes temperature, humidity and altitude, etc., the human environmental information includes the density of surrounding residents and the distance between the population distribution location and the radar area to be controlled, etc. The radar area to be controlled is an area where radars need to be deployed to detect low-altitude, slow and small targets. Radars generally include millimeter-wave radars and phased array radars, etc., and the present application is preferably a phased array radar. The antenna units of the radar are used to receive and transmit signals, and the number thereof can range from hundreds to tens of thousands; A radar selection module, used for selecting a target radar according to the number of antenna units of the radar, and deploying the target radar in the radar area to be deployed; A beam determination module is used to determine the initial beam direction and beam direction offset value corresponding to the target radar at the current moment according to the time interval to which the current moment belongs, wherein the time interval is used to describe the historical flight time of low-altitude slow small targets in the radar area to be controlled; A data receiving module, used to operate the target radar based on the initial beam direction and the beam direction offset value, and obtain detection data received by the target radar; An evaluation module is used to determine a target evaluation model by combining the detection data and the time interval, input the detection data into the target evaluation model to obtain an output result, and determine a target recognition result based on the output result.

[0021] In some specific implementations, obtaining environmental information of the radar area to be controlled includes: Acquire geographical location information of the radar area to be controlled, wherein the geographical location information at least includes longitude and latitude information, wherein the geographical location information here refers to the longitude and latitude information corresponding to the specific installation location of the radar in the radar area to be controlled; According to the longitude and latitude information, the environmental information of the area to be controlled is determined, and the environmental information at least includes natural environment information and cultural environment information. Among them, through the longitude and latitude information, relevant information such as temperature, humidity and altitude, the density of surrounding residents and the distance between the population distribution location and the area to be controlled can be determined. The specific content included in the above environmental information is generally the factors that affect the accuracy of radar detection, such as the distribution of surrounding residents may cause magnetic field signal interference, humidity will affect the detection distance, etc.

[0022] In some specific implementations, determining the number of antenna units of the radar based on the environmental information includes: Determine a first target threshold of the radar area to be controlled according to the natural environment information and the human environment information; Obtain the distance between the radar area to be controlled and other radar base stations, and determine the number of radar base stations within the preset distance interval, and the distance and value between each radar base station and the radar area to be controlled according to the distance, wherein the distance is the distance between the coordinate point of the radar to be controlled and the coordinate point of other radar base stations, and the preset distance range can be set according to actual needs, such as 100 kilometers; According to the number of radar base stations and the interval and value, the first target threshold of the radar area to be controlled is corrected to obtain a second target threshold; Determine the number of radar antenna units corresponding to the second target threshold according to a mapping relationship between the target threshold and the number of radar antenna units, wherein the optimal number of radar antenna units corresponding to each target threshold is obtained by combining multiple simulation tests and expert experience, thereby forming a mapping relationship, and the average value of the expert's experience evaluation result and the simulation test result is the optimal radar antenna unit number evaluation result, the average value is rounded up, and the mapping relationship is saved in a database, and the second target threshold is compared with multiple mapping relationships to obtain the corresponding number of radar antenna units; The number of radar antenna units corresponding to the second target threshold is defined as the number of antenna units of the radar, that is, the number of radar antenna units matched from the database is taken as the final result.

[0023] In some specific embodiments, the method for calculating the second target threshold comprises: The natural environment information, human environment information, radar base station quantity and spacing and value are normalized to obtain a target data set, wherein the calculation data involved in this application are all data obtained after normalization processing, and the normalization processing method is a common method, and its specific processing process is not repeated here; Based on the natural environment information and the human environment information in the target data set, the first target threshold is calculated and determined. The calculation method of the first target threshold includes: in, Indicates The first target threshold of the position node, represents the fitting value of natural environment information, and Both represent weight coefficients, It represents the fitting value of human environment information. Specifically, the location node is the geographical location of the radar area to be deployed. The fitting value of natural environment information and the fitting value of human environment information can be determined by linear function calculation. For example, the calculation method of the fitting value is: ,in, represents the value corresponding to the cth information factor in the environmental information, represents the number of information factors, represents the fitted value, and the information factors are the humidity mentioned above; Based on the number, spacing and value of radar base stations in the target data set, the first target threshold is corrected, and the algorithm for correcting the first target threshold includes: in, represents the second target threshold, represents the correction function, Indicates spacing and values, Indicates the number of radar base stations, Indicates the distance between the mth radar base station and the radar area to be controlled; Based on the correction result of the first target threshold, the second target threshold is determined.

[0024] In some specific implementations, selecting a target radar according to the number of antenna units of the radar, and placing the target radar under control in the radar area to be placed under control includes: A radar whose number of target antenna units is greater than or equal to the number of antenna units of the radar is defined as the target radar, that is, a radar whose number of radar antenna units is greater than the calculated number of antenna units is selected as the target radar to ensure the accuracy of detection data acquisition; The target radar is deployed in the radar area to be deployed, and the corresponding radar is selected by calculating and determining the number of antenna units, which can avoid the waste of radar resources and reduce the use cost.

[0025] In some specific implementations, determining the initial beam direction and the beam direction offset value corresponding to the target radar at the current moment according to the time interval to which the current moment belongs includes: Obtain the target time interval to which the current moment belongs, and determine the identifier corresponding to the target time interval according to the mapping relationship between the time interval and the identifier, wherein the method for generating the mapping relationship between the time interval and the identifier includes: Obtain the historical flight time of a low-altitude, slow-speed, small target within a preset range of the radar area to be deployed within a preset time period, and mark the target historical flight time based on the flight start time and the flight end time to obtain a first identifier corresponding to the target historical flight time, wherein the preset time period can be set according to actual needs, such as a season, half a year, etc., and the historical flight time of the low-altitude, slow-speed, small target can be obtained and determined by other methods, such as based on ultrasonic and camera equipment, etc. The first identifier includes the flight start time, flight end time, flight duration and its corresponding time period, and the time period is a range value, such as 10:00 to 11:00 in a day, that is, the flight start time and the flight end time are within this time period; In response to the number of times the first identifier appears within multiple preset time periods being greater than a preset number threshold, the target historical flight time is secondary marked to obtain a second identifier corresponding to the target historical flight time, wherein the preset number threshold can be set according to actual needs, such as when the number of time periods is 10, the preset number threshold can be set to 8, and the number of times the first identifier appears here refers to the number of times the above-mentioned time period appears within multiple preset time periods; Obtain the flight direction of the low-altitude, slow, small target corresponding to the historical flight time of the target with the second identifier, define the initial direction of the flight direction as the initial beam direction in response to the current moment within the time range corresponding to the historical flight time of the target, and determine the beam direction offset value according to the flight start time and the flight end time, such as the flight duration determined according to the flight start time and the flight end time, and the working angle of the radar, to determine the optimal beam direction offset value to ensure that the radar can detect the entire flight process data of the low-altitude, slow, small target, wherein the beam direction can be controlled by the phase, and the beam direction offset value can be adjusted by adjusting the angle To adjust, the specific control and adjustment methods are common methods, and the process will not be repeated here; In response to the current moment not being within the time range corresponding to the target historical flight time, any direction is defined as the initial beam direction, and the standard beam pointing angle is defined as the beam direction offset value. The above-mentioned time range is the time period corresponding to the target historical flight time with the second identifier, and the standard beam pointing angle is the commonly used offset angle set by the staff according to actual needs.

[0026] In some embodiments, the method further comprises: The target radar is operated according to the signal values ​​and beam direction offset values ​​of the plurality of antenna units to obtain detection data received by the target radar, and the calculation method of the signal values ​​of the antenna units includes: in, represents the signal value of the mth antenna element, Indicates the amplitude, represents the angular frequency, Indicates time, represents the antenna unit spacing, represents the wavelength, Indicates the angle, Indicates the correction parameter.

[0027] In the above implementation, the radar detection efficiency can be improved by determining the initial beam direction and the beam direction offset value.

[0028] In some specific implementations, combining the detection data and the time interval to determine a target assessment model, inputting the detection data into the target assessment model to obtain an output result, and determining a target recognition result based on the output result includes: In response to the presence of a second identifier in the time interval to which the detection data reception time belongs, that is, the time interval is a time period corresponding to the second identifier within a time period, determining that the first evaluation model is a target evaluation model, normalizing the detection data and inputting it into the first evaluation model to obtain a first output result, and determining a target recognition result based on the first output result; In response to the fact that the second identifier does not exist in the time interval to which the detection data is received, that is, the time interval is not a time period corresponding to the second identifier within a time period, the second evaluation model is determined to be the target evaluation model, the detection data is normalized and then input into the second evaluation model to obtain a second output result, and the target recognition result is determined based on the second output result, wherein normalization is a commonly used technique and the specific processing process will not be repeated here.

[0029] In some specific implementations, determining the target recognition result based on the first evaluation model includes: The detection data is normalized and then input into the first evaluation model to obtain a first output result. The first evaluation model includes: in, Represents the first output result, represents the first correction function, It represents the position difference per unit time. It represents the speed difference per unit time. Indicates the size of the shape, Indicates the number of interference sources, represents the probability value of the risk of the e-th interference source exciting, represents the impact value of the e-th interference source, Indicates a constant. The unit time can be set according to actual needs. The position difference can be the height difference or the azimuth difference. The shape size can be the volume, etc. The impact value of the interference source is determined by the degree of influence of the interference source on the radar signal. It is generally assigned by experts. For example, it is divided into high, medium and low according to the degree of influence. High is assigned to 1 and low is assigned to 3. In response to the first output result being greater than a first preset threshold, the target identification result is determined to be an abnormal target, and a warning message is sent to the terminal, wherein the first preset threshold can be set according to actual needs.

[0030] In some specific implementations, determining the target recognition result based on the second evaluation model includes: The detection data is normalized and then input into the second evaluation model to obtain a second output result, wherein the second evaluation model includes: in, Represents the second output result, represents the second correction function; In response to the second output result being greater than a second preset threshold, the target identification result is determined to be an abnormal target, and a warning message is sent to the terminal, wherein the second preset threshold is greater than the first preset threshold, and the second preset threshold can be set according to actual needs.

[0031] In the above-mentioned low-cost radar detection system for low-altitude, slow and small targets, the system includes: an information acquisition module, which is used to obtain environmental information of the radar area to be controlled, and determine the number of antenna units of the radar based on the environmental information; a radar selection module, which is used to select a target radar according to the number of antenna units of the radar, and control the target radar in the radar area to be controlled; a beam determination module, which is used to determine the initial beam direction and beam direction offset value corresponding to the target radar at the current moment according to the time interval to which the current moment belongs, wherein the time interval is used to describe the historical flight time of the low-altitude, slow and small targets in the radar area to be controlled; a data receiving module, which is used to operate the target radar based on the initial beam direction and the beam direction offset value, and obtain the detection data received by the target radar; an evaluation module, which is used to determine a target evaluation model in combination with the detection data and the time interval, input the detection data into the target evaluation model, obtain an output result, and determine a target recognition result based on the output result. The present application can improve the recognition accuracy and speed of low-altitude, slow and small targets and reduce the cost of radar detection.

[0032] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0033] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0034] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application.

Claims

1. A low-cost radar detection system for low-altitude, slow-moving, small targets, characterized in that: The system comprises: An information acquisition module is used to acquire environmental information of the area where the radar is to be deployed, and determine the number of antenna units of the radar based on the environmental information; A radar selection module, used for selecting a target radar according to the number of antenna units of the radar, and deploying the target radar in the radar area to be deployed; A beam determination module is used to determine the initial beam direction and beam direction offset value corresponding to the target radar at the current moment according to the time interval to which the current moment belongs, wherein the time interval is used to describe the historical flight time of low-altitude slow small targets in the radar area to be controlled; A data receiving module, used to operate the target radar based on the initial beam direction and the beam direction offset value, and obtain detection data received by the target radar; An evaluation module is used to determine a target evaluation model by combining the detection data and the time interval, input the detection data into the target evaluation model to obtain an output result, and determine a target recognition result based on the output result.

2. The low-cost radar detection system for low-altitude, slow-speed, small targets according to claim 1 is characterized in that: Obtaining environmental information about the area where the radar is to be deployed includes: Acquire geographical location information of the radar area to be deployed, wherein the geographical location information at least includes longitude and latitude information; The environmental information of the area to be controlled radar is determined according to the latitude and longitude information, where the environmental information at least includes natural environmental information and humanistic environmental information.

3. The low-cost radar detection system for low-altitude, slow-speed, small targets according to claim 2 is characterized in that: Based on the environmental information, determining the number of antenna units of the radar includes: Determine a first target threshold of the radar area to be controlled according to the natural environment information and the human environment information; Obtain the distance between the radar area to be controlled and other radar base stations, and determine the number of radar base stations within a preset distance interval and the distance and value between each radar base station and the radar area to be controlled according to the distance; According to the number of radar base stations and the interval and value, the first target threshold of the radar area to be controlled is corrected to obtain a second target threshold; Determining the number of radar antenna units corresponding to the second target threshold according to a mapping relationship between the target threshold and the number of radar antenna units; The number of radar antenna units corresponding to the second target threshold is defined as the number of antenna units of the radar.

4. The low-cost radar detection system for low-altitude, slow-speed, small targets according to claim 3 is characterized in that: The calculation method of the second target threshold includes: Normalizing the natural environment information, human environment information, radar base station quantity and spacing and value to obtain a target data set; Based on the natural environment information and the human environment information in the target data set, the first target threshold is calculated and determined. The calculation method of the first target threshold includes: in, Indicates The first target threshold of the position node, represents the fitting value of natural environment information, and Both represent weight coefficients, represents the fitting value of human environment information; Based on the number, spacing and value of radar base stations in the target data set, the first target threshold is corrected, and the algorithm for correcting the first target threshold includes: in, represents the second target threshold, represents the correction function, Indicates spacing and values, Indicates the number of radar base stations, Indicates the distance between the mth radar base station and the radar area to be controlled; Based on the correction result of the first target threshold, the second target threshold is determined.

5. The low-cost radar detection system for low-altitude, slow-speed, small targets according to claim 4 is characterized in that: Selecting a target radar according to the number of antenna units of the radar, and placing the target radar under control in the radar area to be placed under control includes: A radar whose number of target antenna units is greater than or equal to the number of antenna units of the radar is defined as the target radar; The target radar is deployed in the radar area to be deployed.

6. The low-cost radar detection system for low-altitude, slow-speed, small targets according to claim 5 is characterized in that: Determining the initial beam direction and the beam direction offset value corresponding to the target radar at the current moment according to the time interval to which the current moment belongs includes: Obtain the target time interval to which the current moment belongs, and determine the identifier corresponding to the target time interval according to the mapping relationship between the time interval and the identifier, wherein the method for generating the mapping relationship between the time interval and the identifier includes: Obtain the historical flight time of a low-altitude, slow-speed, small target within a preset range of the radar area to be controlled within a preset time period, and mark the target historical flight time based on the flight start time and the flight end time to obtain a first identifier corresponding to the target historical flight time; In response to the number of occurrences of the first identifier within a plurality of preset time periods being greater than a preset number threshold, performing a secondary marking on the target historical flight time to obtain a second identifier corresponding to the target historical flight time; Acquire a flight direction of a low-altitude, slow-speed, small target corresponding to a historical flight time of a target with a second identifier, define an initial direction of the flight direction as the initial beam direction in response to a current moment being within a time range corresponding to the historical flight time of the target, and determine a beam direction offset value according to a flight start time and a flight end time; In response to the current time not being within the time range corresponding to the target historical flight time, an arbitrary direction is defined as the initial beam direction, and a standard beam pointing angle is defined as a beam direction offset value.

7. The low-cost radar detection system for low-altitude, slow-speed, small targets according to claim 6 is characterized in that: The method further comprises: The target radar is operated according to the signal values ​​and beam direction offset values ​​of the plurality of antenna units to obtain detection data received by the target radar, and the calculation method of the signal values ​​of the antenna units includes: in, represents the signal value of the mth antenna element, Indicates the amplitude, represents the angular frequency, Indicates time, represents the antenna unit spacing, represents the wavelength, Indicates the angle, Indicates the correction parameter.

8. The low-cost radar detection system for low-altitude, slow-speed, small targets according to claim 7 is characterized in that: Determining a target assessment model in combination with the detection data and the time interval, inputting the detection data into the target assessment model to obtain an output result, and determining a target recognition result based on the output result includes: In response to the presence of a second identifier in the time interval to which the detection data reception time belongs, determining that the first evaluation model is a target evaluation model, normalizing the detection data and inputting the data into the first evaluation model to obtain a first output result, and determining a target recognition result according to the first output result; In response to the absence of a second identifier in the time interval to which the detection data is received, the second evaluation model is determined to be the target evaluation model, the detection data is normalized and input into the second evaluation model to obtain a second output result, and the target recognition result is determined based on the second output result.

9. The low-cost radar detection system for low-altitude, slow-speed, small targets according to claim 8, characterized in that: Determining a target recognition result based on the first evaluation model includes: The detection data is normalized and then input into the first evaluation model to obtain a first output result. The first evaluation model includes: in, Represents the first output result, represents the first correction function, It represents the position difference per unit time. It represents the speed difference per unit time. Indicates the size of the shape, Indicates the number of interference sources, represents the probability value of the risk of the e-th interference source exciting, represents the impact value of the e-th interference source, represents a constant; In response to the first output result being greater than a first preset threshold, it is determined that the target identification result is an abnormal target, and a warning message is sent to the terminal.

10. The low-cost radar detection system for low-altitude, slow-speed, small targets according to claim 9, characterized in that: Determining a target recognition result based on the second evaluation model includes: The detection data is normalized and then input into the second evaluation model to obtain a second output result, wherein the second evaluation model includes: in, Represents the second output result, represents the second correction function; In response to the second output result being greater than a second preset threshold, it is determined that the target identification result is an abnormal target, and an early warning message is sent to the terminal, wherein the second preset threshold is greater than the first preset threshold.

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