A signal processing system based on low-cost, low-speed and small target detection radar

Abstract

The present application relates to a signal processing system based on a low-cost, low-speed, small target detection radar, and belongs to the field of radar technology. The system includes: a preprocessing module for emitting multiple bands of radio frequency signals based on the detection radar, acquiring and preprocessing the echo signal corresponding to each band of radio frequency signals, and obtaining the target echo signal; an establishment module for establishing a maximum-correlated echo signal feature variable combination based on the echo signal and the mutual signal model; a construction module for constructing a multidimensional feature data set based on the echo signal feature variable combination, and determining the detection result type based on the classification model; a determination module for generating 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 improves the detection accuracy of low-speed, small targets and reduces the cost of radar detection.

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, small target detection radar. Background Art

[0002] "Low, slow, and small" refers to low-altitude, slow, and small flying targets. These targets, including drones and airborne objects, fly at low or ultra-low altitudes, at relatively slow speeds, making them difficult to detect by radar. These targets pose a significant threat to public safety. To monitor and control these low, slow, and small targets, three types of detection equipment have emerged: spectrum, optoelectronic, and radar. Radar detection is unaffected by weather and can detect multi-dimensional target information. However, current radar detection of low, slow, and small targets faces challenges such as weak echo energy, low Doppler shift of the echo signal, and strong background clutter. These challenges complicate radar signal processing, making detection of these "low, slow, and small" targets difficult. 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, small target detection radar is provided, the system comprising:

[0005] The preprocessing module is used to obtain and preprocess the echo signal corresponding to each band of radio frequency signals based on the detection radar to obtain the target echo signal;

[0006] An establishing module, configured to establish a maximum-correlated echo signal characteristic variable combination according to the echo signal and the mutual signal model;

[0007] A construction module, configured to construct a multidimensional feature data set based on the combination of the echo signal feature variables, and determine the detection result type based on a classification model;

[0008] The determination module is used to generate 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.

[0009] Optionally, the detection radar emits multiple bands of radio frequency signals including:

[0010] 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 includes at least distance, azimuth, and resolution;

[0011] The attribute data is normalized, and the calculation formula of the normalization process includes:

[0012]

[0013]

[0014]

[0015] 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;

[0016] Based on the attribute data of each detection stage after normalization, the detection stage division index corresponding to the current time is calculated and determined.

[0017] Optionally, the method further includes: calculating and determining a detection stage division index value corresponding to the current time based on the attribute data of each detection stage after normalization processing, wherein the calculation method of the detection stage division index value includes:

[0018]

[0019] in, Indicates the detection phase division index value, represents the total number of detection phase divisions, represents the distance of the p-th detection stage, represents the average distance of all detection stages, represents the azimuth angle of the p-th detection stage, represents the average azimuth angle of all detection stages, represents the resolution of the p-th detection stage, represents the average resolution of all detection stages;

[0020] Based on the detection stage division index value, it is determined that the detection radar sends multiple bands of radio frequency signals.

[0021] Optionally, determining, based on the detection stage division indicator value, that the detection radar sends radio frequency signals in multiple bands includes:

[0022] 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;

[0023] 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;

[0024] 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;

[0025] Based on the wavelength band of the detection radar, multiple radio frequency signals are sent out.

[0026] Optionally, acquiring and preprocessing the echo signal corresponding to the radio frequency signal in each band to obtain the target echo signal includes:

[0027] Receiving, by a receiver, an echo signal corresponding to the radio frequency signal of each band;

[0028] De-noising is performed on the echo signal corresponding to the radio frequency signal of each band to obtain the target echo signal.

[0029] Optionally, establishing a maximum-correlation echo signal feature variable combination according to the echo signal and mutual signal model includes:

[0030] Acquiring characteristic variable data corresponding to the echo signal;

[0031] The characteristic variable data is input into the mutual signal model to obtain a first output result, wherein the mutual signal model includes:

[0032]

[0033] 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 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;

[0034] The first output results are sorted to determine the echo signal characteristic variable combination with the greatest correlation.

[0035] 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:

[0036] Constructing a multidimensional feature data set based on the combination of echo signal feature variables;

[0037] Inputting the multidimensional feature data set into the classification model to obtain a second output result, the classification model comprising:

[0038]

[0039] 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 parameter;

[0040] The detection result type is determined according to the second output result.

[0041] Optionally, determining the detection result type according to the second output result includes:

[0042] 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.

[0043] Optionally, 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 given moment includes:

[0044] 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, the 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.

[0045] The above-mentioned signal processing system based on low-cost, low-speed, small target detection radar 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 correlation 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 time. This 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

[0046] Figure 1 1 is a structural block diagram of a signal processing system based on a low-cost, low-speed, small target detection radar in one embodiment. DETAILED DESCRIPTION

[0047] To make the purpose, technical solutions, and advantages of this application more clear, 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 the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0048] It should be understood that in the description of this application, unless the context clearly requires otherwise, words such as "include", "comprises", and the like throughout the specification should be interpreted as inclusive rather than exclusive or exhaustive; that is, as "including but not limited to".

[0049] 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, the meaning of "plurality" is two or more.

[0050] It should be noted that the terms "S1", "S2", etc. are used only for the purpose of describing the steps and do not specifically refer to the order or sequence, nor are they used to limit this application. They are merely for the convenience of describing the method of this application and should not 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 this must be based on the fact that ordinary technicians in this field can implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0051] In one embodiment, Figure 1 As shown, a signal processing system based on a low-cost, low-speed, small target detection radar is provided, comprising:

[0052] The preprocessing module is used to obtain and preprocess the echo signal corresponding to each band of radio frequency signals based on the detection radar to obtain the target echo signal;

[0053] An establishing module, configured to establish a maximum-correlated echo signal characteristic variable combination according to the echo signal and the mutual signal model;

[0054] A construction module, configured to construct a multidimensional feature data set based on the combination of the echo signal feature variables, and determine the detection result type based on a classification model;

[0055] The determination module is used to generate 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.

[0056] In some specific embodiments, transmitting multiple bands of radio frequency signals based on a detection radar includes:

[0057] 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 includes at least distance, azimuth, and resolution;

[0058] The attribute data is normalized, and the calculation formula of the normalization process includes:

[0059]

[0060]

[0061]

[0062] 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;

[0063] Based on the attribute data of each detection stage after normalization, the detection stage division index corresponding to the current time is calculated and determined.

[0064] 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 historical radar detection data detection process. The detection stage can be divided according to actual needs, such as one month.

[0065] In some specific embodiments, it further comprises:

[0066] Based on 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:

[0067]

[0068] in, Indicates the detection phase division index value, represents the total number of detection phase divisions, represents the distance of the p-th detection stage, represents the average distance of all detection stages, represents the azimuth angle of the p-th detection stage, represents the average azimuth angle of all detection stages, represents the resolution of the p-th detection stage, represents the average resolution of all detection stages;

[0069] Based on the detection stage division index value, it is determined that the detection radar sends multiple bands of radio frequency signals.

[0070] In some specific implementations, determining, based on the detection stage division indicator value, that the detection radar transmits radio frequency signals in multiple bands includes:

[0071] 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;

[0072] 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;

[0073] 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;

[0074] Based on the wavelength band of the detection radar, multiple radio frequency signals are sent out.

[0075] In some specific implementations, acquiring and preprocessing the echo signal corresponding to each band of radio frequency signals to obtain the target echo signal includes:

[0076] Receiving, by a receiver, an echo signal corresponding to the radio frequency signal of each band;

[0077] The echo signal corresponding to each band of the radio frequency signal is subjected to denoising processing to obtain the target echo signal, wherein the denoising processing method is a commonly used method and will not be described in detail here.

[0078] In some specific embodiments, establishing a maximum correlation echo signal feature variable combination based on the echo signal and the mutual signal model includes:

[0079] Acquiring characteristic variable data corresponding to the echo signal, wherein the characteristic variable data may include time domain parameters, such as pulse width, pulse collision 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, normalizing them for subsequent calculations;

[0080] The characteristic variable data is input into the mutual signal model to obtain a first output result, wherein the mutual signal model includes:

[0081]

[0082] 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 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;

[0083] 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 the greater correlation is selected.

[0084] In some specific embodiments, 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:

[0085] Based on the echo signal characteristic variable combination, a multidimensional feature data set is constructed, that is, the selected characteristic variable combination is integrated to generate a multidimensional feature data set;

[0086] Inputting the multidimensional feature data set into the classification model to obtain a second output result, the classification model comprising:

[0087]

[0088] 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 =r1t1+r2t2+...+r w t w , where r1, r2, ..., r w All represent weights, t1, t2, ..., t w All represent the parameter values ​​of characteristic variables;

[0089] The detection result type is determined according to the second output result.

[0090] In some specific implementations, determining the detection result type according to the second output result includes:

[0091] 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.

[0092] In some specific embodiments, 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 moment includes:

[0093] 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, the 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 the 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.

[0094] 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 correlation 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 and small target based on the detection result type to determine the coordinate value of the target at the time. This 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 and small target and reducing the radar detection cost.

[0095] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the 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-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 DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0096] The technical features of the above embodiments can 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.

[0097] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art may make various modifications and improvements without departing from the scope of the present application, and such modifications and improvements are all within the scope of protection of the present application.

Claims

1. A signal processing system based on a low-cost, low-speed, small-scale target detection radar, characterized in that: The system comprises: The preprocessing module is used to obtain 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 establishing module, configured to establish a maximum-correlated echo signal characteristic variable combination according to the echo signal and the mutual signal model; A construction module, configured to construct a multidimensional feature data set based on the combination of the echo signal feature variables, and determine the detection result type based on a classification model; A determination module, configured to generate a flight path of a low, slow, small target based on the detection result type, so as to determine the coordinate value of the target at a given moment; Wherein, establishing a maximum-correlation echo signal characteristic variable combination according to the echo signal and 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 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.

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 includes at least distance, azimuth, and resolution; The attribute data is normalized, and the calculation formula of the normalization process 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; Based on 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: Based on 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 p-th detection stage, represents the average distance of all detection stages, represents the azimuth angle of the p-th detection stage, represents the average azimuth angle of all detection stages, represents the resolution of the p-th 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 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: Determining, based on the detection stage division indicator value, 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 wavelength band of the detection radar, multiple 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 signals to obtain the target echo signal includes: Receiving, by a receiver, an echo signal corresponding to the radio frequency signal of each band; De-noising is performed on the echo signal corresponding to the radio frequency signal of each band 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: 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: Constructing a multidimensional feature data set based on the combination of echo signal feature variables; Inputting the multidimensional feature data set into the classification model to obtain a second output result, the classification model comprising: in, Represents the second output result, 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 parameter; The detection result type is determined according to the second output result.

7. The signal processing system based on low-cost, low-speed and small target detection radar according to claim 6 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.

8. The signal processing system based on low-cost, low-speed and small target detection radar according to claim 7 is characterized in that: 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 the time 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, the 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.

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