A low-cost radar detection system for low-altitude, slow-speed small targets

Abstract

The present application relates to a low-cost radar detection system for low-altitude, slow-moving small targets, belonging to the field of radar detection technology. The system includes: an information acquisition module for acquiring environmental information of the radar deployment area to determine the number of antenna units of the radar; a radar selection module for selecting a target radar and deploying it; a beam determination module for determining an initial beam direction and a beam direction offset value corresponding to the target radar at the current moment according to the time interval to which the current moment belongs; a data reception module for operating the target radar based on the initial beam direction and the beam direction offset value and acquiring detection data; and an evaluation module for determining a target evaluation model by combining 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. The present application can improve the recognition accuracy and speed of low-altitude, slow-moving small targets and reduce the radar detection cost.

Description

Technical Field

[0001] This application relates to the field of radar detection technology, and particularly to a low-cost radar detection system for low-altitude, slow-speed, and small targets. Background Art

[0002] "Low-altitude, slow-speed, and small" targets generally refer to flying objects with a flight altitude less than 1000m, a flight speed less than 200km / h, and a radar cross-section less than two square meters. They have characteristics such as low cost, mature technology, and small target features. With the maturity of unmanned aerial vehicle (UAV) technology and the popularization of UAV products for various purposes, they are increasingly being used by criminals to carry dangerous items such as explosives to carry out various attack and sabotage activities. Due to the limited radar cross-section, the echo signal intensity generated is low, and low-altitude flying targets are 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 detect the presence of "low-altitude, slow-speed, and small" targets is an urgent problem to be solved. Summary of the Invention

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

[0004] This application provides a low-cost radar detection system for low-altitude, slow-speed, and small targets, and the system includes:

[0005] An information acquisition module, configured to acquire the environmental information of the radar deployment area to be monitored, and determine the number of antenna units of the radar based on the environmental information;

[0006] A radar selection module, configured to select a target radar according to the number of antenna units of the radar, and deploy the target radar in the radar deployment area to be monitored;

[0007] A beam determination module, configured 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, where the time interval is used to describe the historical flight time of low-altitude, slow-speed, and small targets in the radar deployment area to be monitored;

[0008] A data reception module, configured to operate the target radar based on the initial beam direction and the beam direction offset value, and acquire the detection data received by the target radar;

[0009] An evaluation module, configured 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 according to the output result.

[0010] Optionally, it is characterized in that obtaining the environmental information of the radar area to be deployed includes:

[0011] Obtaining the geographical location information of the radar area to be deployed, where the geographical location information at least includes longitude and latitude information;

[0012] According to the longitude and latitude information, determining the environmental information of the radar area to be deployed, where the environmental information at least includes natural environmental information and human environmental information.

[0013] Optionally, it is characterized in that determining the number of antenna units of the radar based on the environmental information includes:

[0014] Determining a first target threshold for the radar area to be deployed according to the natural environmental information and the human environmental information;

[0015] Obtaining the distance between the radar area to be deployed and other radar base stations, and according to the distance, determining the number of radar base stations within a preset distance range, as well as the sum value of the distances between each radar base station and the radar area to be deployed;

[0016] Correcting the first target threshold of the radar area to be deployed according to the number of radar base stations and the sum value of the distances to obtain a second target threshold;

[0017] Determining the number of radar antenna units corresponding to the second target threshold according to the mapping relationship between the target threshold and the number of radar antenna units;

[0018] Defining the number of radar antenna units corresponding to the second target threshold as the number of antenna units of the radar.

[0019] Optionally, it is characterized in that 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 includes:

[0020] Defining a radar with a target antenna unit number greater than or equal to the number of antenna units of the radar as the target radar;

[0021] Deploying the target radar in the radar area to be deployed.

[0022] Optionally, it is characterized in that determining 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 includes:

[0023] Obtaining the target time interval to which the current moment belongs, and determining the identifier corresponding to the target time interval according to the mapping relationship between the time interval and the identifier, where the generation method of the mapping relationship between the time interval and the identifier includes:

[0024] Obtain the historical flight time of low-altitude slow small targets within a preset range in the area of the radar to be monitored during a preset time period, and mark the target historical flight time based on the flight start time and flight end time to obtain the first identifier corresponding to the target historical flight time;

[0025] In response to the number of occurrences of the first identifier in multiple preset time periods being greater than a preset number threshold, perform secondary marking on the target historical flight time to obtain the second identifier corresponding to the target historical flight time;

[0026] Obtain the flight direction of the low-altitude slow small target corresponding to the target historical flight time with the second identifier. In response to the current moment being within the time range corresponding to the target historical flight time, define the initial direction of the flight direction as the initial beam direction, and determine the beam direction offset value according to the flight start time and flight end time;

[0027] In response to the current moment not being within the time range corresponding to the target historical flight time, define an arbitrary direction as the initial beam direction, and define the standard beam pointing angle as the beam direction offset value.

[0028] Optionally, it is characterized in that the method further includes:

[0029] Run the target radar according to the signal values of multiple antenna units and the beam direction offset value to obtain the detection data received by the target radar. The calculation method of the signal value of the antenna unit includes:

[0030]

[0031] Wherein, represents the signal value of the m-th antenna unit, represents the amplitude, represents the angular frequency, represents the time, represents the antenna unit spacing, represents the wavelength, represents the angle, represents the correction parameter, and m represents the m-th, that is, the identifier of the antenna unit.

[0032] Optionally, it is characterized in that, combining the detection data and the time interval, determine a target evaluation model, input the detection data into the target evaluation model to obtain an output result, and determine the target recognition result according to the output result, including:

[0033] In response to the existence of a second identifier in the time interval to which the detection data reception time belongs, determine the first evaluation model as the target evaluation model, normalize the detection data and input it into the first evaluation model to obtain a first output result, and determine the target recognition result according to the first output result;

[0034] In response to the non-existence of a second identifier in the time interval to which the detection data reception time belongs, determine the second evaluation model as the target evaluation model, normalize the detection data and input it into the second evaluation model to obtain a second output result, and determine the target recognition result according to the second output result.

[0035] Optionally, determining the target recognition result based on the first evaluation model includes:

[0036] Normalize the detection data and input it into the first evaluation model to obtain a first output result. The first evaluation model includes:

[0037]

[0038]

[0039] Wherein, represents the first output result, represents the first correction function, represents the position difference per unit time, represents the speed difference per unit time, represents the volume, represents the number of interference sources, represents the probability value of the e-th interference source triggering a risk, represents the influence value of the e-th interference source, represents a constant;

[0040] In response to the first output result being greater than a first preset threshold, determine that the target recognition result is an abnormal target and send a warning message to the terminal.

[0041] Optionally, characterized in that determining the target recognition result based on the second evaluation model includes:

[0042] Normalize the detection data and input it into the second evaluation model to obtain a second output result. The second evaluation model includes:

[0043]

[0044]

[0045] Wherein, represents the second output result, represents the second correction function;

[0046] In response to the second output result being greater than a second preset threshold, determine that the target recognition result is an abnormal target, and send a warning message to the terminal, where the second preset threshold is greater than the first preset threshold.

[0047] The above-mentioned low-cost radar detection system for low-altitude slow small targets, the system includes: an information acquisition module, configured to acquire environmental information of the radar area to be deployed, and determine the number of antenna units of the radar based on the environmental information; a radar selection module, configured to select a target radar according to the number of antenna units of the radar, and deploy the target radar in the radar area to be deployed; a beam determination module, configured to determine an initial beam direction and a beam direction offset value corresponding to the target radar at the current moment according to the time interval to which the current moment belongs, where the time interval is used to describe the historical flight time of low-altitude slow small targets in the radar area to be deployed; a data reception module, configured to operate the target radar based on the initial beam direction and the beam direction offset value, and acquire detection data received by the target radar; an evaluation module, configured 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 according to the output result. This application can improve the recognition accuracy and speed of low-altitude slow small targets, and reduce the radar detection cost. Description of the Drawings

[0048] Figure 1 It is a structural block diagram of a low-cost radar detection system for low-altitude slow small targets in an embodiment. Detailed Embodiments

[0049] To make the objectives, technical solutions, and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0050] It should be understood that in the description of the present application, unless otherwise clearly required by the context, the words such as "including" and "comprising" throughout the specification should be interpreted as the meaning of including rather than exclusive or exhaustive; that is, the meaning of "including but not limited to".

[0051] It should also be understood that terms such as "first", "second", etc. are only for descriptive purposes and should not be construed as indicating or implying relative importance. In addition, in the description of this application, unless otherwise specified, the meaning of "a plurality" is two or more.

[0052] It should be noted that terms such as "S1", "S2", etc. are only for the purpose of describing steps, and do not particularly refer to the order or sequence, nor are they used to limit this application. They are only for the convenience of describing the method of this application and should not be construed as indicating the order of steps. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. 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 this application.

[0053] In one embodiment, as Figure 1 shown, a low-cost radar detection system for low-altitude, slow-speed, small targets is provided, including:

[0054] An information acquisition module, configured to acquire the environmental information of the radar deployment area to be controlled, and based on the environmental information, determine the number of antenna units of the radar. Among them, the environmental information generally includes natural environmental information and human environmental information. The natural environmental information includes temperature, humidity, altitude, etc., and the human environmental information includes the density of surrounding residents and the distance between the population distribution location and the radar deployment area to be controlled. The radar deployment area to be controlled is an area where a radar needs to be deployed to detect low-altitude, slow-speed, small targets. The radar generally can include millimeter-wave radar and phased array radar, etc. This application preferably uses a phased array radar. The antenna units of the radar are used to receive and transmit signals, and the number thereof can range from several hundred to tens of thousands;

[0055] A radar selection module, configured to select a target radar according to the number of antenna units of the radar, and deploy the target radar in the radar deployment area to be controlled;

[0056] A beam determination module, configured 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, where the time interval is used to describe the historical flight time of low-altitude, slow-speed, small targets in the radar deployment area to be controlled;

[0057] A data reception module, configured to operate the target radar based on the initial beam direction and the beam direction offset value, and acquire the detection data received by the target radar;

[0058] An evaluation module, configured to combine the detection data and the time interval to determine a target evaluation model, input the detection data into the target evaluation model to obtain an output result, and determine a target recognition result according to the output result.

[0059] In some specific embodiments, obtaining the environmental information of the radar area to be deployed includes:

[0060] Obtaining the geographical location information of the radar area to be deployed, where the geographical location information includes at least longitude and latitude information. Here, the geographical location information refers to the longitude and latitude information corresponding to the specific installation location of the radar in the radar area to be deployed;

[0061] According to the longitude and latitude information, determining the environmental information of the radar area to be deployed, where the environmental information includes at least natural environmental information and human environmental information. Among them, through this longitude and latitude information, relevant information such as temperature, humidity, altitude, the density of surrounding residents, and the distance between the population distribution location and the radar area to be deployed can be determined. The specific content included in the above environmental information is generally factors affecting the radar detection accuracy. For example, the distribution of surrounding residents may cause magnetic field signal interference, and humidity will affect the detection distance, etc.

[0062] In some specific embodiments, based on the environmental information, determining the number of antenna units of the radar includes:

[0063] According to the natural environmental information and human environmental information, determining the first target threshold of the radar area to be deployed;

[0064] Obtaining the distance between the radar area to be deployed and other radar base stations. According to the distance, determining the number of radar base stations within the preset distance range, as well as the sum of the distances between each radar base station and the radar area to be deployed, where the distance is the distance between the coordinate points of the radar to be deployed and the coordinate points of other radar base stations. The preset distance range can be set according to actual needs, such as 100 kilometers, etc.;

[0065] According to the number of radar base stations and the sum of the distances, correcting the first target threshold of the radar area to be deployed to obtain a second target threshold;

[0066] According to the mapping relationship between the target threshold and the number of radar antenna units, determining the number of radar antenna units corresponding to the second target threshold. Among them, through a combination of multiple simulation tests and expert experience, the optimal number of radar antenna units corresponding to each target threshold is obtained, thereby forming a mapping relationship. The average value of the results evaluated by experts based on experience and the simulation test results is the optimal evaluation result of the number of radar antenna units. This average value is rounded up. This mapping relationship is stored in the database. By comparing the second target threshold with multiple mapping relationships, the corresponding number of radar antenna units can be obtained;

[0067] Define the number of radar antenna units corresponding to the second target threshold as the number of antenna units of the radar, that is, use the number of radar antenna units matched from the database as the final result.

[0068] In some specific embodiments, according to the number of antenna units of the radar, select a target radar, and the process of deploying the target radar in the radar area to be deployed includes:

[0069] Define the radar with the number of target antenna units greater than or equal to the number of antenna units of the radar as the target radar, that is, select the radar corresponding to the number of radar antenna units greater than the calculated number of antenna units as the target radar to ensure the accuracy of detecting data acquisition;

[0070] Deploy the target radar in the radar area to be deployed. By calculating the number of antenna units to select the corresponding radar as above, the waste of radar resources can be avoided and the usage cost can be reduced.

[0071] In some specific embodiments, according to the time interval to which the current moment belongs, determine the initial beam direction and beam direction offset value of the target radar at the current moment, including:

[0072] 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. The generation method of the mapping relationship between the time interval and the identifier includes:

[0073] Obtain the historical flight time of low-altitude, slow-speed and small targets within the preset range in 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 flight end time to obtain the first identifier corresponding to the target historical flight time. The preset time period can be set according to actual needs, such as a season, half a year, etc. The historical flight time of low-altitude, slow-speed and small targets can be obtained and determined by other methods, such as based on ultrasonic and camera equipment. The first identifier includes the flight start time, flight end time, flight duration and its corresponding time period, and this time period is a range value, such as from 10:00 to 11:00 within a day, that is, the flight start time and flight end time are within this time period;

[0074] In response to the number of occurrences of the first identifier in multiple preset time periods being greater than the preset number threshold, perform secondary marking on the target historical flight time to obtain the second identifier corresponding to the target historical flight time. The preset number threshold can be set according to actual needs. For example, if the number of time periods is 10, the preset number threshold can be set to 8. The number of occurrences of the first identifier here refers to the number of occurrences of the above time period in multiple preset time periods;

[0075] Obtain the flight direction of the low-altitude, slow-speed, small target corresponding to the target historical time of flight with the second identifier. In response to the current moment being within the time range corresponding to the target historical time of flight, define the initial direction of the flight direction as the initial beam direction, and determine the beam direction offset value according to the flight start time and flight end time. For example, determine the optimal beam direction offset value according to the flight duration determined by the flight start time and flight end time, and the working angle of the radar, so as to ensure that the radar can detect the entire flight process data of the low-altitude, slow-speed, small target. Among them, the beam direction can be controlled by phase, and the beam direction offset value can be adjusted by adjusting the angle. The adjustment is made by adjusting the angle, and the specific control and adjustment methods are common methods, and the process will not be elaborated here;

[0076] In response to the current moment not being within the time range corresponding to the target historical time of flight, define an arbitrary direction as the initial beam direction, and define the standard beam pointing angle as the beam direction offset value. The above time range is the time period corresponding to the target historical time of flight with the second identifier, and the standard beam pointing angle is the common offset angle set by the staff according to actual needs.

[0077] In some specific embodiments, the method further includes:

[0078] Run the target radar according to the signal values of multiple antenna units and the beam direction offset value to obtain the detection data received by the target radar. The calculation method of the signal value of the antenna unit includes:

[0079]

[0080] Among them, represents the signal value of the mth antenna unit, represents the amplitude, represents the angular frequency, represents the time, represents the antenna unit spacing, represents the wavelength, represents the angle, represents the correction parameter, and m represents the mth, that is, the identifier of the antenna unit.

[0081] In the above embodiment, the radar detection efficiency can be improved by determining the initial beam direction and the beam direction offset value.

[0082] In some specific embodiments, combine the detection data and the time interval to determine a target evaluation model, input the detection data into the target evaluation model to obtain an output result, and determine the target recognition result according to the output result, including:

[0083] In response to the existence of a second identifier in the time interval to which the detection data reception time belongs, that is, the time interval is the time period corresponding to the second identifier within a time cycle, determine the first evaluation model as the target evaluation model, normalize the detection data and input it into the first evaluation model to obtain a first output result, and determine the target recognition result according to the first output result;

[0084] In response to the non-existence of a second identifier in the time interval to which the detection data reception time belongs, that is, the time interval is not the time period corresponding to the second identifier within a time cycle, determine the second evaluation model as the target evaluation model, normalize the detection data and input it into the second evaluation model to obtain a second output result, and determine the target recognition result according to the second output result, where the normalization process is a common technique and the specific process is not elaborated here.

[0085] In some specific embodiments, determining the target recognition result based on the first evaluation model includes:

[0086] Normalize the detection data and input it into the first evaluation model to obtain a first output result, where the first evaluation model includes:

[0087]

[0088]

[0089] where, represents the first output result, represents the first correction function, represents the position difference within a unit time, represents the speed difference within a unit time, represents the volume, represents the number of interference sources, represents the probability value of the e-th interference source triggering a risk, represents the influence value of the e-th interference source, represents a constant, and this unit time can be set according to actual needs. The position difference can be the difference in height or azimuth angle, the morphological size can be the volume, etc. The influence value of the interference source is determined by the degree of influence of the interference source on the radar signal, and it is generally assigned by experts. For example, according to the degree of influence, it is divided into high, medium, and low, with a high assignment of 1 and a low assignment of 3, etc.;

[0090] In response to the first output result being greater than a first preset threshold, determine that the target recognition result is an abnormal target and send a warning message to the terminal, where the first preset threshold can be set according to actual needs.

[0091] In some specific embodiments, determining the target recognition result based on the second evaluation model includes:

[0092] After normalizing the detection data, inputting it into the second evaluation model to obtain a second output result, where the second evaluation model includes:

[0093]

[0094]

[0095] Wherein, represents the second output result, represents the second correction function;

[0096] In response to the second output result being greater than a second preset threshold, determining that the target recognition result is an abnormal target and sending a warning message to the terminal, where the second preset threshold is greater than the first preset threshold, and the second preset threshold can be set according to actual requirements.

[0097] In the above low-altitude, slow-speed, small-target low-cost radar detection system, the system includes: an information acquisition module for acquiring the environmental information of the radar area to be deployed, and determining the number of antenna units of the radar based on the environmental information; a radar selection module 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 for 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, where the time interval is used to describe the historical flight time of low-altitude, slow-speed, small targets in the radar area to be deployed; a data reception module for operating the target radar based on the initial beam direction and the beam direction offset value and acquiring the detection data received by the target radar; an evaluation module 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 the target recognition result according to the output result. The present application can improve the recognition accuracy and speed of low-altitude, slow-speed, small targets and reduce the radar detection cost.

[0098] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. 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 methods. Among them, any reference to a memory, storage, database, or other medium used in the embodiments provided in the present application can include non-volatile and / or volatile memories. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM), etc.

[0099] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, 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, it should be considered as the scope described in this specification.

[0100] The above-described embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, 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 includes: An information acquisition module, configured to acquire the environmental information of the radar area to be deployed, and determine the number of antenna units of the radar based on the environmental information; A radar selection module, configured to select a target radar according to the number of antenna units of the radar, and deploy the target radar in the radar area to be deployed; A beam determination module, configured to determine 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, where the time interval is used to describe the historical flight time of low-altitude slow small targets in the radar area to be deployed; A data reception module, configured to operate the target radar based on the initial beam direction and the beam direction offset value, and acquire the detection data received by the target radar; An evaluation module, configured 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 according to the output result; 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: Acquiring the target time interval to which the current moment belongs, and determining the identifier corresponding to the target time interval according to the mapping relationship between the time interval and the identifier. The generation method of the mapping relationship between the time interval and the identifier includes: Acquiring the historical flight time of low-altitude slow small targets within a preset range in the radar area to be deployed within a preset time period, and marking the target historical flight time based on the flight start time and the flight end time to obtain the first identifier corresponding to the target historical flight time; In response to the number of occurrences of the first identifier within multiple preset time periods being greater than a preset number threshold, performing secondary marking on the target historical flight time to obtain the second identifier corresponding to the target historical flight time; Acquiring the flight direction of the low-altitude slow small target corresponding to the target historical flight time with the second identifier. In response to the current moment being within the time range corresponding to the target historical flight time, defining the initial direction of the flight direction as the initial beam direction, and determining the beam direction offset value according to the flight start time and the flight end time; In response to the current moment not being within the time range corresponding to the target historical flight time, defining an arbitrary direction as the initial beam direction, and defining the standard beam pointing angle as the beam direction offset value.

2. The low-cost radar detection system for low-altitude and slow-speed small targets according to claim 1, characterized in that, Acquiring the environmental information of the radar area to be deployed includes: Acquiring the geographical location information of the radar area to be deployed, where the geographical location information at least includes longitude and latitude information; Determining the environmental information of the radar area to be deployed according to the longitude and latitude information, where the environmental information at least includes natural environmental information and human environmental information.

3. The low-cost radar detection system for low-altitude and slow-moving small targets according to claim 2, wherein Determining the number of antenna units of the radar based on the environmental information includes: Determining the first target threshold of the radar area to be deployed according to the natural environmental information and the human environmental information; Obtain the distances between the radar area to be deployed and other radar base stations. According to the distances, determine the number of radar base stations within a preset distance range, as well as the sum of the distances between each radar base station and the radar area to be deployed. According to the number of radar base stations and the sum of the distances, correct the first target threshold of the radar area to be deployed to obtain a second target threshold. According to the mapping relationship between the target threshold and the number of radar antenna units, determine the number of radar antenna units corresponding to the second target threshold. Define the number of radar antenna units corresponding to the second target threshold as the number of antenna units of the radar.

4. The low-cost radar detection system for low-altitude and slow-moving small targets according to claim 3, characterized in that, According to the number of antenna units of the radar, select a target radar and deploy the target radar in the radar area to be deployed, including: Define the radar whose number of target antenna units is greater than or equal to the number of antenna units of the radar as the target radar. Deploy the target radar in the radar area to be deployed.

5. The low-cost radar detection system for low-altitude and slow-moving small targets according to claim 4, wherein The method further includes: Run the target radar according to the signal values and beam direction offset values of multiple antenna units to obtain the detection data received by the target radar. The calculation method of the signal value of the antenna unit includes: Among them, represents the signal value of the m-th antenna element, represents the amplitude, represents the angular frequency, represents the time, represents the antenna element spacing, represents the wavelength, represents the angle, represents the correction parameter, and m represents the m-th, that is, the identifier of the antenna element.

6. The low-cost radar detection system for low-altitude and slow-moving small targets according to claim 5, characterized in that, Combine the detection data and the time interval to determine a target evaluation model. Input the detection data into the target evaluation model to obtain an output result, and according to the output result, determine the target recognition result, including: In response to the existence of a second identifier in the time interval to which the detection data reception time belongs, determine the first evaluation model as the target evaluation model. Normalize the detection data and input it into the first evaluation model to obtain a first output result, and according to the first output result, determine the target recognition result. In response to the non-existence of a second identifier in the time interval to which the detection data reception time belongs, determine the second evaluation model as the target evaluation model. Normalize the detection data and input it into the second evaluation model to obtain a second output result, and according to the second output result, determine the target recognition result.

7. The low-cost radar detection system for low-altitude slow-moving small targets according to claim 6, wherein Based on the first evaluation model, determining the target recognition result includes: Normalize the detection data and input it into the first evaluation model to obtain a first output result. The first evaluation model includes: Among them, represents the first output result, represents the first correction function, represents the position difference within a unit time, represents the speed difference within a unit time, represents the volume, represents the number of interference sources, represents the probability value of the risk excited by the e-th interference source, represents the influence value of the e-th interference source, represents a constant; In response to the first output result being greater than a first preset threshold, determine that the target recognition result is an abnormal target and send a warning message to the terminal.

8. The low-cost radar detection system for low-altitude and slow-moving small targets according to claim 7, characterized in that Based on the second evaluation model, determining the target recognition result includes: Normalize the detection data and input it into the second evaluation model to obtain a second output result. The second evaluation model includes: Among them, represents the second output result, represents the second correction function; In response to the second output result being greater than a second preset threshold, determine that the target recognition result is an abnormal target and send a warning message to the terminal, where the second preset threshold is greater than the first preset threshold.

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