Signal processing system based on low-cost low-slow small target detection radar

Abstract

The invention relates to a signal processing system based on a low-cost low-slow small target detection radar, and belongs to the technical field of radars, and the system comprises a preprocessing module which is used for transmitting a plurality of wave band radio frequency signals based on a detection radar, obtaining and preprocessing an echo signal corresponding to each wave band radio frequency signal, and obtaining a target echo signal; the establishing module is used for establishing a maximum correlation echo signal characteristic variable combination according to the echo signal and a mutual signal model; the construction module is used for constructing a multi-dimensional feature data set based on the echo signal feature variable combination and determining a detection result type based on a classification model; and the determination module is used for generating a flight path of the low-slow small target based on the detection result type so as to determine a coordinate value of the target moment. According to the invention, the detection precision of low, slow and small targets is improved, and the radar detection cost is reduced.

Description

Technical Field

[0001] The present application relates to the field of radar technology, and in particular to a signal processing system based on a low-cost, low-speed and small target detection radar. Background Art

[0002] Low, slow and small refers to low-altitude, slow and small flying targets, which have the characteristics of flying at low altitude or ultra-low altitude, flying at a slow speed, and not being easily detected by radar. They include drones and floating objects, which pose a great hidden danger to social public safety. In order to monitor and control such low, slow and small targets, three types of detection equipment have emerged: spectrum, optoelectronics and radar detection. Among them, radar detection is not affected by weather and can detect multi-dimensional information of the target. However, the current radar detection of low, slow and small targets faces problems such as weak echo energy, low Doppler frequency shift of echo signals, and strong environmental background clutter, which brings great difficulty to radar signal processing and makes it difficult to detect such "low, slow and small" targets. Summary of the invention

[0003] Based on this, it is necessary to provide a signal processing system based on a low-cost, low-speed, small target detection radar that can improve the detection accuracy of low-speed, small targets in response to the above technical problems.

[0004] In a first aspect, a signal processing system based on a low-cost, low-speed and small target detection radar is provided, the system comprising: A preprocessing module is used to acquire and preprocess the echo signal corresponding to each band of radio frequency signals based on the detection radar sending multiple bands of radio frequency signals to obtain the target echo signal; An establishing module, used for establishing a maximum-correlated echo signal characteristic variable combination according to the echo signal and the mutual signal model; A construction module, used to construct a multi-dimensional feature data set based on the combination of echo signal feature variables, and determine the detection result type based on a classification model; The determination module is used to generate a flight path of a low, slow and small target based on the detection result type to determine the coordinate value of the target at a certain moment.

[0005] Optionally, the detection radar emits multiple bands of radio frequency signals including: Performing a detection process analysis on the detection radar to determine attribute data of each detection stage, wherein the attribute data of each detection stage at least includes distance, azimuth and resolution; The attribute data is normalized, and the calculation formula of the normalization includes: in, represents the normalization coefficient of the nth data attribute, Represents the custom coefficient of the mth data. Indicates the nth data attribute of the mth data. represents the weight of the nth data attribute, Indicates the number of data attributes, Represents the normalized value of the nth data attribute of the mth data, , Indicates the amount of data; According to the attribute data of each detection stage after normalization, the detection stage division index corresponding to the current time is calculated and determined.

[0006] Optionally, the method further includes: calculating and determining a detection stage division index value corresponding to the current time according to the attribute data of each detection stage after normalization, wherein the calculation method of the detection stage division index value includes: in, Indicates the detection phase division index value, represents the total number of detection phase divisions, represents the distance of the pth detection stage, represents the average distance of all detection stages, represents the azimuth angle of the pth detection stage, represents the average azimuth angle of all detection stages, represents the resolution of the pth detection stage, represents the average resolution of all detection stages; Based on the detection stage division index value, it is determined that the detection radar sends out multiple bands of radio frequency signals.

[0007] Optionally, based on the detection stage division index value, determining that the detection radar sends multiple bands of radio frequency signals includes: In response to the detection stage division index value being less than a first preset threshold, determining that the band of the detection radar is a high frequency band; In response to the detection stage division index value being greater than or equal to a first preset threshold and less than or equal to a second preset threshold, determining that the band of the detection radar is a band obtained by integrating a high frequency band and a low frequency band; In response to the detection stage division index value being greater than a second preset threshold, determining that the band of the detection radar is a low-frequency band; Based on the band of the detection radar, a plurality of radio frequency signals are sent out.

[0008] Optionally, acquiring and preprocessing the echo signal corresponding to the radio frequency signal of each band to obtain the target echo signal includes: Receiving, by a receiver, an echo signal corresponding to the radio frequency signal of each band; The echo signal corresponding to each band of the radio frequency signal is subjected to denoising processing to obtain the target echo signal.

[0009] Optionally, establishing a maximum correlated echo signal feature variable combination according to the echo signal and the mutual signal model includes: Acquiring characteristic variable data corresponding to the echo signal; The characteristic variable data is input into the mutual signal model to obtain a first output result, wherein the mutual signal model includes: in, Represents the first output result, Indicates the number of bands, Represents the ratio of the time domain characteristic variable parameter value to the number of parameters, Represents the ratio of the frequency domain characteristic variable parameter value to the number of parameters, Represents the ratio of other parameters to the number of parameters, represents the bias parameter, Indicates The correction function corresponding to each band is: Represents a time value, represents the constant coefficient, Represents the ratio of the spatial characteristic variable parameter value to the number of parameters; The first output results are sorted to determine the echo signal characteristic variable combination with the greatest correlation.

[0010] Optionally, constructing a multidimensional feature data set based on the combination of echo signal feature variables, and determining the detection result type based on a classification model includes: Based on the combination of echo signal feature variables, construct a multidimensional feature data set; The multidimensional feature data set is input into the classification model to obtain a second output result, wherein the classification model includes: in, The second output result is, Indicates the number of dimensions, represents the fusion parameter of the feature dataset, Represents the number of feature variables in the feature dataset, represents the classification parameter, represents the probability distribution parameters; The detection result type is determined according to the second output result.

[0011] Optionally, determining the detection result type according to the second output result includes: In response to the second output result being within a first preset range, it is determined that the detection result type is a low, slow and small target.

[0012] Optionally, based on the detection result type, generating a flight path of a low, slow, small target to determine the coordinate value of the target at a certain moment includes: In response to the detection result type being a low, slow, small target and the starting flight direction of the low, slow, small target being the direction approaching the detection radar, a flight path of the low, slow, small target is generated according to the flight coordinate values ​​of multiple time nodes to determine the coordinate value of the low, slow, small target at the target time.

[0013] The above-mentioned signal processing system based on low-cost, low-speed, and small target detection radar comprises: a preprocessing module, which is used to acquire and preprocess the echo signal corresponding to each band of radio frequency signals based on the detection radar to obtain the target echo signal; an establishment module, which is used to establish the maximum correlated echo signal feature variable combination according to the echo signal and the mutual signal model; a construction module, which is used to construct a multidimensional feature data set based on the echo signal feature variable combination, and determine the detection result type based on the classification model; a determination module, which is used to generate the flight path of the low-speed, small target based on the detection result type to determine the coordinate value of the target at the moment. The present application processes the radar detection signal to construct a multidimensional feature data set to determine the detection result type, thereby improving the detection accuracy of the low-speed, small target and reducing the radar detection cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 The structure block diagram of a signal processing system based on a low-cost, low-speed, small target detection radar in one embodiment. DETAILED DESCRIPTION

[0015] 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.

[0016] 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.

[0017] 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.

[0018] 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.

[0019] In one embodiment, Figure 1 As shown, a signal processing system based on a low-cost, low-speed and small target detection radar is provided, comprising: A preprocessing module is used to acquire and preprocess the echo signal corresponding to each band of radio frequency signals based on the detection radar sending multiple bands of radio frequency signals to obtain the target echo signal; An establishing module, used for establishing a maximum-correlated echo signal characteristic variable combination according to the echo signal and the mutual signal model; A construction module, used to construct a multi-dimensional feature data set based on the combination of echo signal feature variables, and determine the detection result type based on a classification model; The determination module is used to generate a flight path of a low, slow and small target based on the detection result type to determine the coordinate value of the target at a certain moment.

[0020] In some specific embodiments, sending multiple bands of radio frequency signals based on the detection radar includes: Performing a detection process analysis on the detection radar to determine attribute data of each detection stage, wherein the attribute data of each detection stage at least includes distance, azimuth and resolution; The attribute data is normalized, and the calculation formula of the normalization includes: in, represents the normalization coefficient of the nth data attribute, Represents the custom coefficient of the mth data. Indicates the nth data attribute of the mth data. represents the weight of the nth data attribute, Indicates the number of data attributes, Represents the normalized value of the nth data attribute of the mth data, , Indicates the amount of data; According to the attribute data of each detection stage after normalization, the detection stage division index corresponding to the current time is calculated and determined.

[0021] It should be noted that detection radar is a device that uses electromagnetic waves to detect target location, distance, speed and other information. The radio frequency signal emitted by the radar refers to electromagnetic waves. The bands generally include high-frequency bands, low-frequency bands, etc., such as 30khz-300Mhz for low-frequency bands, and 1000GHz-3000GHz for high-frequency bands; the detection process refers to the data obtained during the detection process of historical radar detection data. The detection stage can be divided according to actual needs, such as one month.

[0022] In some specific embodiments, it also includes: According to the attribute data of each detection stage after normalization, the detection stage division index value corresponding to the current time is calculated and determined. The calculation method of the detection stage division index value includes: in, Indicates the detection phase division index value, represents the total number of detection phase divisions, represents the distance of the pth detection stage, represents the average distance of all detection stages, represents the azimuth angle of the pth detection stage, represents the average azimuth angle of all detection stages, represents the resolution of the pth detection stage, represents the average resolution of all detection stages; Based on the detection stage division index value, it is determined that the detection radar sends out multiple bands of radio frequency signals.

[0023] In some specific implementations, determining that the detection radar sends multiple bands of radio frequency signals based on the detection stage division index value includes: In response to the detection stage division index value being less than a first preset threshold, determining that the band of the detection radar is a high frequency band, wherein the first preset threshold can be set according to actual needs; In response to the detection stage division index value being greater than or equal to a first preset threshold and less than or equal to a second preset threshold, determining that the band of the detection radar is a band obtained by integrating a high-frequency band and a low-frequency band, wherein the second preset threshold can be set according to actual needs, and the band here includes both a high-frequency band and a low-frequency band; In response to the detection stage division index value being greater than a second preset threshold, determining that the band of the detection radar is a low-frequency band; Based on the band of the detection radar, a plurality of radio frequency signals are sent out.

[0024] In some specific implementations, acquiring and preprocessing the echo signal corresponding to each band radio frequency signal to obtain the target echo signal includes: Receiving, by a receiver, an echo signal corresponding to the radio frequency signal of each band; The echo signal corresponding to each band of the radio frequency signal is denoised to obtain the target echo signal, wherein the denoising method is a commonly used method and will not be described in detail here.

[0025] In some specific implementations, establishing a maximum correlated echo signal feature variable combination according to the echo signal and the mutual signal model includes: Acquire characteristic variable data corresponding to the echo signal, wherein the characteristic variable data may include time domain parameters, such as pulse width, pulse conflict interval, etc., frequency domain parameters, such as carrier frequency, frequency bandwidth, etc., spatial domain parameters, such as signal arrival angle, etc., and some other parameters, such as pulse amplitude, modulation parameters, etc. After acquiring the above characteristic variable data, perform normalization processing on it for subsequent calculation; The characteristic variable data is input into the mutual signal model to obtain a first output result, wherein the mutual signal model includes: in, Represents the first output result, Indicates the number of bands, Represents the ratio of the time domain characteristic variable parameter value to the number of parameters, Represents the ratio of the frequency domain characteristic variable parameter value to the number of parameters, Represents the ratio of other parameters to the number of parameters, represents the bias parameter, Indicates The correction function corresponding to each band is: Represents a time value, represents the constant coefficient, Represents the ratio of the spatial characteristic variable parameter value to the number of parameters; The first output results are sorted to determine the echo signal characteristic variable combination with the greatest correlation, that is, sorted in order from large to small or from small to large, and the echo signal characteristic variable combination with greater correlation is selected.

[0026] In some specific implementations, constructing a multidimensional feature data set based on the combination of echo signal feature variables, and determining the detection result type based on a classification model includes: Based on the echo signal characteristic variable combination, a multidimensional characteristic data set is constructed, that is, the selected characteristic variable combination is integrated to generate a multidimensional characteristic data set; The multidimensional feature data set is input into the classification model to obtain a second output result, wherein the classification model includes: in, The second output result is, Indicates the number of dimensions, represents the fusion parameter of the feature dataset, Represents the number of feature variables in the feature dataset, represents the classification parameter, Represents the probability distribution parameters, where the fusion parameters are generally calculated by linear functions, such as =r 1 t 1 +r 2 t 2 +...+r w t w , where r 1 、r 2 , ..., r w Both represent weights, t 1 ,t 2 , ..., t w All represent the parameter values ​​of characteristic variables; The detection result type is determined according to the second output result.

[0027] In some specific implementations, determining the detection result type according to the second output result includes: In response to the second output result being within a first preset range, it is determined that the detection result type is a low, slow, and small target, wherein the first preset range can be set according to actual needs.

[0028] In some specific implementations, generating a flight path of a low, slow, small target based on the detection result type to determine the coordinate value of the target at a certain moment includes: In response to the detection result type being a low, slow, small target and the starting flight direction of the low, slow, small target being the direction approaching the detection radar, a flight path of the low, slow, small target is generated based on the flight coordinate values ​​of multiple time nodes to determine the coordinate value of the low, slow, small target at the target moment, wherein the direction approaching the detection radar refers to the flight from an area outside the radar detection range to the direction of the detection radar. The flight path of the low, slow, small target can be generated through the flight coordinate values ​​of multiple time nodes, thereby predicting the coordinate value of the low, slow, small target at the next moment.

[0029] In the above-mentioned signal processing system based on low-cost, low-speed, and small target detection radar, the system includes: a preprocessing module, which is used to acquire and preprocess the echo signal corresponding to each band of radio frequency signals based on the detection radar to obtain the target echo signal; an establishment module, which is used to establish the maximum correlated echo signal feature variable combination based on the echo signal and the mutual signal model; a construction module, which is used to construct a multidimensional feature data set based on the echo signal feature variable combination, and determine the detection result type based on the classification model; a determination module, which is used to generate the flight path of the low-speed, small target based on the detection result type to determine the coordinate value of the target at the moment. The present application processes the radar detection signal to construct a multidimensional feature data set to determine the detection result type, thereby improving the detection accuracy of the low-speed, small target and reducing the radar detection cost.

[0030] 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.

[0031] The technical features of the above embodiments may be combined arbitrarily. 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.

[0032] 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 signal processing system based on a low-cost, low-speed, small target detection radar, characterized in that: The system comprises: A preprocessing module is used to acquire and preprocess the echo signal corresponding to each band of radio frequency signals based on the detection radar sending multiple bands of radio frequency signals to obtain the target echo signal; An establishing module, used for establishing a maximum-correlated echo signal characteristic variable combination according to the echo signal and the mutual signal model; A construction module, used to construct a multi-dimensional feature data set based on the combination of echo signal feature variables, and determine the detection result type based on a classification model; The determination module is used to generate a flight path of a low, slow and small target based on the detection result type to determine the coordinate value of the target at a certain moment.

2. The signal processing system based on low-cost, low-speed and small target detection radar according to claim 1 is characterized in that: Based on the detection radar, multiple bands of radio frequency signals are emitted, including: Performing a detection process analysis on the detection radar to determine attribute data of each detection stage, wherein the attribute data of each detection stage at least includes distance, azimuth and resolution; The attribute data is normalized, and the calculation formula of the normalization includes: in, represents the normalization coefficient of the nth data attribute, Represents the custom coefficient of the mth data. Indicates the nth data attribute of the mth data. represents the weight of the nth data attribute, Indicates the number of data attributes, Represents the normalized value of the nth data attribute of the mth data, , Indicates the amount of data; According to the attribute data of each detection stage after normalization, the detection stage division index corresponding to the current time is calculated and determined.

3. The signal processing system based on low-cost, low-speed and small target detection radar according to claim 2 is characterized in that: Also includes: According to the attribute data of each detection stage after normalization, the detection stage division index value corresponding to the current time is calculated and determined. The calculation method of the detection stage division index value includes: in, Indicates the detection phase division index value, represents the total number of detection phase divisions, represents the distance of the pth detection stage, represents the average distance of all detection stages, represents the azimuth angle of the pth detection stage, represents the average azimuth angle of all detection stages, represents the resolution of the pth detection stage, represents the average resolution of all detection stages; Based on the detection stage division index value, it is determined that the detection radar sends out multiple bands of radio frequency signals.

4. The signal processing system based on low-cost, low-speed and small target detection radar according to claim 3 is characterized in that: Based on the detection stage division index value, determining that the detection radar sends multiple bands of radio frequency signals includes: In response to the detection stage division index value being less than a first preset threshold, determining that the band of the detection radar is a high frequency band; In response to the detection stage division index value being greater than or equal to a first preset threshold and less than or equal to a second preset threshold, determining that the band of the detection radar is a band obtained by integrating a high frequency band and a low frequency band; In response to the detection stage division index value being greater than a second preset threshold, determining that the band of the detection radar is a low-frequency band; Based on the band of the detection radar, a plurality of radio frequency signals are sent out.

5. The signal processing system based on low-cost, low-speed and small target detection radar according to claim 4 is characterized in that: Acquiring and preprocessing the echo signal corresponding to each band of RF signal to obtain the target echo signal includes: Receiving, by a receiver, an echo signal corresponding to the radio frequency signal of each band; The echo signal corresponding to each band of the radio frequency signal is subjected to denoising processing to obtain the target echo signal.

6. The signal processing system based on low-cost, low-speed and small target detection radar according to claim 5 is characterized in that: According to the echo signal and mutual signal model, establishing the maximum correlation echo signal characteristic variable combination includes: Acquiring characteristic variable data corresponding to the echo signal; The characteristic variable data is input into the mutual signal model to obtain a first output result, wherein the mutual signal model includes: in, Represents the first output result, Indicates the number of bands, Represents the ratio of the time domain characteristic variable parameter value to the number of parameters, Represents the ratio of the frequency domain characteristic variable parameter value to the number of parameters, Represents the ratio of other parameters to the number of parameters, represents the bias parameter, Indicates The correction function corresponding to each band is: Represents a time value, represents the constant coefficient, Represents the ratio of the spatial characteristic variable parameter value to the number of parameters; The first output results are sorted to determine the echo signal characteristic variable combination with the greatest correlation.

7. The signal processing system based on low-cost, low-speed and small target detection radar according to claim 6 is characterized in that: Based on the combination of the echo signal feature variables, a multidimensional feature data set is constructed, and based on the classification model, the detection result type is determined, including: Based on the combination of echo signal feature variables, construct a multidimensional feature data set; The multidimensional feature data set is input into the classification model to obtain a second output result, wherein the classification model includes: in, The second output result is, Indicates the number of dimensions, represents the fusion parameter of the feature dataset, Represents the number of feature variables in the feature dataset, represents the classification parameter, represents the probability distribution parameters; The detection result type is determined according to the second output result.

8. The signal processing system based on low-cost, low-speed and small target detection radar according to claim 7 is characterized in that: Determining the detection result type according to the second output result includes: In response to the second output result being within a first preset range, it is determined that the detection result type is a low, slow and small target.

9. The signal processing system based on low-cost, low-speed and small target detection radar according to claim 8 is characterized in that: Based on the detection result type, the flight path of the low, slow and small target is generated to determine the coordinate value of the target at the time, including: In response to the detection result type being a low, slow, small target and the starting flight direction of the low, slow, small target being the direction approaching the detection radar, a flight path of the low, slow, small target is generated according to the flight coordinate values ​​of multiple time nodes to determine the coordinate value of the low, slow, small target at the target time.

Images