Method and device for correcting echo data of lunar sounding radar based on lunar soil temperature

Abstract

The invention provides a correction method and device for echo data of a lunar radar, which can be applied to the field of data processing, and the method comprises the steps: obtaining a time-related lunar soil temperature data curve and the echo data of the lunar radar, a frame header of the echo data comprises time information and patrol route position information under the time information; reading lunar soil temperature data corresponding to the time information from the lunar soil temperature data curve to obtain lunar soil temperature data under the patrol route position information; and correcting the echo data based on the lunar soil temperature data under the patrol route position information to obtain corrected echo data.

Description

Technical Field

[0001] The present disclosure relates to the field of echo data processing, and particularly to a method and apparatus for correcting lunar radar echo data based on lunar soil temperature. Background Art

[0002] The lunar radar is a subsurface penetration detection radar based on the lunar rover platform and is one of the important payloads for the exploration missions of Chang'e-3, Chang'e-4, and Chang'e-7. It is used to detect the lunar soil thickness and stratification structure, providing scientific detection data for frontier scientific research such as the origin and evolution of the moon.

[0003] During the rover's movement, the lunar radar emits electromagnetic wave signals underground. The electromagnetic wave signals propagate in the underground medium and, when encountering targets such as lunar soil stratification and rocks, generate reflections and scattering of electromagnetic waves, forming radar echoes. By receiving and processing the radar echoes, the depth information of the targets with discontinuous underground electromagnetic parameters can be obtained, and a profile image of the geological stratification, rocks, etc. under the travel route can be formed. Summary of the Invention

[0004] In view of the above problems, the present disclosure provides a method and apparatus for correcting lunar radar echo data based on lunar soil temperature.

[0005] According to a first aspect of the present disclosure, there is provided a method for correcting lunar radar echo data based on lunar soil temperature, including:

[0006] Obtaining a lunar soil temperature data curve related to time and echo data of the lunar radar, where the echo data includes time information and the position information of the travel route at the time information;

[0007] Reading the lunar soil temperature data corresponding to the time information from the lunar soil temperature data curve to obtain the lunar soil temperature data at the position information of the travel route;

[0008] Based on the lunar soil temperature data at the position information of the travel route, correcting the echo data to obtain corrected echo data.

[0009] In some embodiments, the correcting the echo data based on the lunar soil temperature data at the position information of the travel route to obtain corrected echo data includes:

[0010] Obtaining a temperature correction coefficient corresponding to the lunar soil temperature data at the position of the travel route according to a preset mapping relationship between the lunar soil temperature data and the temperature correction coefficient;

[0011] Correcting the echo data according to the temperature correction coefficient to obtain corrected echo data.

[0012] In some embodiments, the obtaining of the lunar regolith temperature data curve related to time includes:

[0013] Obtaining the lunar regolith temperature data collected by a temperature probe, where the temperature probe is disposed on a transfer mechanism of a lunar lander;

[0014] Based on the lunar regolith temperature data, constructing a lunar regolith temperature data curve related to time.

[0015] In some embodiments, the obtaining of the lunar regolith temperature data collected by the temperature probe includes:

[0016] Obtaining at least one first voltage value collected by the temperature probe under a first lunar surface temperature condition and at least one second voltage value collected by the temperature probe under a second lunar surface temperature condition;

[0017] Based on the first lunar surface temperature condition, determining a first processing coefficient of the temperature probe;

[0018] Based on the second lunar surface temperature condition, determining a second processing coefficient of the temperature probe;

[0019] Calculating the lunar regolith temperature data according to the at least one first voltage value and the first processing coefficient, or, according to the at least one second voltage value and the second processing coefficient.

[0020] In some embodiments, the method further includes:

[0021] According to the measured fixed values of the echo data of lunar regolith at different temperatures in a laboratory, fitting to obtain a temperature correction coefficient table between the lunar regolith temperature data and the echo data;

[0022] According to the temperature correction coefficient table, determining the mapping relationship between the preset lunar regolith temperature data and the temperature correction coefficient.

[0023] In some embodiments, the correcting the echo data according to the temperature correction coefficient to obtain the corrected echo data includes:

[0024] Multiplying the temperature correction coefficient by the echo data to obtain the corrected echo data.

[0025] In some embodiments, the obtaining of the echo data of a lunar radar includes:

[0026] Obtaining the echo data of the lunar radar under lunar day conditions.

[0027] A second aspect of the present disclosure provides a correction device for the echo data of a lunar radar based on lunar regolith temperature, and the device includes:

[0028] An acquisition module for acquiring a lunar soil temperature data curve related to time and echo data of a lunar radar, where the echo data includes time information and patrol route position information at the time information;

[0029] A reading module for reading lunar soil temperature data corresponding to the time information from the lunar soil temperature data curve to obtain lunar soil temperature data at the patrol route position information;

[0030] A confirmation module for obtaining a temperature correction coefficient corresponding to the lunar soil temperature data at the patrol route position according to a mapping relationship between preset lunar soil temperature data and a temperature correction coefficient;

[0031] A correction module for correcting the echo data according to the temperature correction coefficient to obtain corrected echo data.

[0032] In some embodiments, correcting the echo data based on the lunar soil temperature data at the patrol route position information to obtain corrected echo data includes:

[0033] Obtaining a temperature correction coefficient corresponding to the lunar soil temperature data at the patrol route position according to a mapping relationship between preset lunar soil temperature data and a temperature correction coefficient;

[0034] Correcting the echo data according to the temperature correction coefficient to obtain corrected echo data.

[0035] In some embodiments, acquiring the lunar soil temperature data curve related to time includes:

[0036] Acquiring lunar soil temperature data collected by a temperature probe, where the temperature probe is arranged on a transfer mechanism of a lunar lander;

[0037] Constructing a lunar soil temperature data curve related to time based on the lunar soil temperature data.

[0038] According to the correction method and device for lunar radar echo data provided by the embodiments of the present disclosure, at least the following technical effects can be achieved:

[0039] The correction method and device for lunar radar echo data based on lunar soil temperature provided by the embodiments of the present disclosure take into account the temperature change caused by the sun shining at different heights on the detection medium itself, and obtain the temperature of the surface lunar soil of the patrol route for correcting the lunar radar echo data, reducing errors. Description of the Drawings

[0040] Through the following description of the embodiments of the present disclosure with reference to the drawings, the above content and other objects, features and advantages of the present disclosure will become clearer. In the drawings:

[0041] Figure 1 Schematically shows a flowchart of a method for correcting lunar radar echo data according to an embodiment of the present disclosure;

[0042] Figure 2 Schematically shows a schematic diagram of the installation position of a temperature probe on a lander according to an embodiment of the present disclosure;

[0043] Figure 3 Schematically shows a line graph of the temperature data values of four temperature probes for a complete lunar day and night according to an embodiment of the present disclosure;

[0044] Figure 4 Schematically shows a mean value graph after abnormal fitting of the temperature data values of four temperature probes according to an embodiment of the present disclosure;

[0045] Figure 5 Schematically shows a diagram of the power-on working time and the inspection route when the lunar radar rover moves during the current lunar day according to an embodiment of the present disclosure;

[0046] Figure 6 Schematically shows a diagram of the power-on working time lunar surface temperature and the inspection route lunar surface temperature when the lunar radar rover moves during the current lunar day according to an embodiment of the present disclosure;

[0047] Figure 7 Schematically shows a schematic diagram before and after correcting the echo data collected by the walking route of the lunar radar power-on rover during the current lunar day according to an embodiment of the present disclosure;

[0048] Figure 8 Schematically shows a structural block diagram of a device for correcting lunar radar echo data according to an embodiment of the present disclosure. Detailed implementation manners

[0049] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present disclosure. In the following detailed description, for the sake of explanation, many specific details are set forth in order to provide a comprehensive understanding of the embodiments of the present disclosure. However, it is obvious that one or more embodiments can also be implemented without these specific details. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessarily obscuring the concepts of the present disclosure.

[0050] The terms used herein are merely for describing specific embodiments and are not intended to limit the present disclosure. The terms "including", "comprising", etc. used herein indicate the presence of the described features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0051] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those of ordinary skill in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification, and should not be interpreted in an idealized or overly rigid manner.

[0052] In cases where expressions similar to "at least one of A, B, and C, etc." are used, generally, it should be interpreted according to the meaning commonly understood by those of ordinary skill in the art (for example, "a system having at least one of A, B, and C" should include, but not be limited to, a system having only A, only B, only C, having A and B, having A and C, having B and C, and / or having A, B, and C, etc.).

[0053] Figure 1 A flowchart of a method for correcting lunar radar echo data according to an embodiment of the present disclosure is schematically shown.

[0054] As Figure 1 shown, the method for correcting lunar radar echo data includes operations S110 to S140.

[0055] In operation S110, time-related lunar regolith temperature data curves and echo data of the lunar radar are acquired.

[0056] In operation S120, lunar regolith temperature data corresponding to the time information is read from the lunar regolith temperature data curve to obtain lunar regolith temperature data at the inspection route position information.

[0057] In operation S130, the echo data is corrected based on the lunar regolith temperature data at the inspection route position information to obtain corrected echo data.

[0058] According to an embodiment of the present disclosure, the amplitude of the backscattered electromagnetic echo received by the lunar radar is closely related to the propagation distance and the electromagnetic characteristics of the underground medium. Temperature changes caused by different solar altitude angles during travel in different time periods may cause changes in the electromagnetic parameters of the shallow surface medium, resulting in radar echo distortion, and correction is required to reduce the deviation. The embodiment of the present disclosure takes into account the temperature changes brought about by the different heights of the sun irradiating the detection medium itself, and obtains the temperature of the lunar regolith on the surface layer of the inspection route for correcting the echo data of the lunar radar to reduce errors.

[0059] In some embodiments of the present disclosure, the above-mentioned correcting the echo data based on the lunar regolith temperature data at the inspection route position information to obtain corrected echo data includes: obtaining a temperature correction coefficient corresponding to the lunar regolith temperature data at the inspection route position according to a preset mapping relationship between the lunar regolith temperature data and the temperature correction coefficient; correcting the echo data according to the temperature correction coefficient to obtain corrected echo data.

[0060] In some embodiments of the present disclosure, the obtaining of the lunar regolith temperature data curve related to time includes: obtaining the lunar regolith temperature data collected by a temperature probe, where the temperature probe is disposed on a transfer mechanism of a lunar lander; and constructing a lunar regolith temperature data curve related to time based on the lunar regolith temperature data.

[0061] Embodiments of the present disclosure obtain the temperature of the surface lunar regolith along the inspection route for calibration of the lunar radar. However, currently, since the rover needs to move, it does not carry facilities for directly measuring the lunar surface temperature. Embodiments of the present disclosure use the lunar lander near the inspection area to directly measure the lunar surface temperature data to solve the problem of the source of the temperature correction coefficient of the lunar radar. By obtaining the temperature directly measured on the ground by the lunar lander and acquiring the surface lunar regolith temperature at the corresponding time according to the radar acquisition time of the rover's movement, temperature correction is performed on the lunar radar echo signal, improving the true accuracy of the in-situ detection data of the lunar radar and providing an effective constraint for the inversion of the underground geological structure of the inspection route from the lunar radar echo data.

[0062] In some embodiments of the present disclosure, obtaining the lunar regolith temperature data collected by a temperature probe includes: obtaining at least one first voltage value collected by the temperature probe under a first lunar surface temperature condition and at least one second voltage value collected by the temperature probe under a second lunar surface temperature condition; determining a first processing coefficient of the temperature probe based on the first lunar surface temperature condition; determining a second processing coefficient of the temperature probe based on the second lunar surface temperature condition; and calculating the lunar regolith temperature data according to at least one first voltage value and the first processing coefficient, or at least one second voltage value and the second processing coefficient.

[0063] Wherein, the first lunar surface temperature condition may be a high-temperature condition, and the second lunar surface temperature condition may be a low-temperature condition. The specific thresholds of high temperature and low temperature can be set according to actual situations.

[0064] The temperature probe may be a self-adhesive thermistor. A self-adhesive thermistor may be disposed in contact with the lunar surface by the transfer mechanism of the lunar lander, and the number of self-adhesive thermistors is not limited. Taking the lunar radar carried by the Chang'e-4 mission as an example. There are a total of 4 self-adhesive thermistors at the ends of the 2 tracks of the transfer mechanism of the lunar lander, as Figure 2 shown. After the lunar lander lands, the transfer mechanism extends, and the self-adhesive thermistors at the ends remain in contact with the lunar regolith on the lunar surface. Controlled by the command of the electronic control box, the voltage values are collected and stored in the telemetry parameter table. For example, there can be a total of 4 high-temperature voltage values and 4 low-temperature voltage values collected for the voltage values. The ground station receives the telemetry parameters, unpacks them, and takes out the corresponding 4 high-temperature voltage values and 4 low-temperature voltage values, calculates the lunar regolith temperature t according to the following temperature value calculation formula, and arranges them according to the complete lunar day and night.

[0065]

[0066] Among them, V t represents the voltage value corresponding to different temperature conditions, V represents the measured value of the calibration voltage on the lander, and R 0 represents the reference resistor (10 kΩ), and a, b, and c are the processing coefficients of the self-adhesive thermistor. Vt can be calculated by the formula Nt×20 / 65536, where Nt is the telemetry source code of the temperature voltage. V can be calculated by the formula 1.2×N×20 / 65536, where N is the telemetry source code of the temperature measurement reference voltage.

[0067] a, b, c, and V t have different values under high-temperature conditions and low-temperature conditions. In the embodiments of the present disclosure, when the current lunar surface temperature belongs to the high-temperature situation, V t uses 4 high-temperature voltage values to calculate the lunar regolith temperature t, and a, b, and c also select the corresponding values under high-temperature conditions. When the current lunar surface temperature belongs to the low-temperature situation, V t uses 4 low-temperature voltage values to calculate the lunar regolith temperature t, and a, b, and c also select the corresponding values under low-temperature conditions.

[0068] It can be understood that the time of the lander also needs to be processed. Time = the counting conversion time on the lander + the reference time. The word length of the counting conversion time on the lander is 6 bytes, a total of 48 bits, where the first 16 bits are milliseconds and the last 32 bits are seconds. The reference time is 00:00:00:00 milliseconds on January 1, 2010, Beijing time.

[0069] It can be understood that the time of the lunar radar can be processed by referring to the above method for processing the time of the lander.

[0070] In some embodiments of the present disclosure, Figure 1 the method shown further includes: measuring the fixed values according to the echo data of the lunar regolith at different temperatures in the laboratory, and fitting to obtain a temperature correction coefficient table between the lunar regolith temperature data and the echo data; according to this temperature correction coefficient table, determining the mapping relationship between the preset lunar regolith temperature data and the temperature correction coefficient.

[0071] As Figure 3 shown, take the series of temperature data of the continuous telemetry time of the 3rd lunar day-night cycle, remove the abnormal points and then average to obtain the average temperature data of the 3rd lunar day-night cycle, as Figure 4 shown.

[0072] The lunar sounding radar is mounted on the lunar rover. Its working mode is that when the rover moves slowly between navigation points, multiple delayed samplings are performed at fixed time intervals. The multi-point data sampled in each time interval is one track of data. When the rover starts moving, echo data along the patrol route is obtained for multiple tracks. The echo data is sent to the electronic control box of the rover through the radar electronics box, and after being packaged into scientific data by the rover, it is received by the ground station antenna via the telemetry data transmission channel. Due to the power supply requirements of the rover, its movement generally occurs during the lunar day and it goes into hibernation during the lunar night. In this embodiment, the echo data of the lunar sounding radar is obtained by unpacking the scientific data of the 3rd lunar day. After data preprocessing, 2B-level release data is obtained. The echo data is divided into high-frequency data and low-frequency data. In this example, high-frequency data is used for illustration. The multi-track echo data obtained from the 3rd day sorted by reception time is spliced, and the working time of the lunar sounding radar and the patrol route are obtained from the header of each detection track, as Figure 5 shown. As Figure 5 can be seen, there are a total of 9 position navigation points on the 3rd lunar day, which can be divided into 8 segments of data. According to the time of the 8 segments of data, the temperature data at the corresponding time is found from the lunar surface average temperature data of the 3rd lunar day. Since the acquisition interval of the temperature data of the self-adhesive thermistor is greater than the time interval of the sampling points of the lunar sounding radar, interpolation processing can be performed on the lunar surface average temperature of the 3rd lunar day to obtain accurate temperature values, as Figure 6 shown.

[0073] According to the fitting of the measured values of the echo at different temperatures of the medium in the laboratory, a temperature correction table for the medium temperature and the echo data is obtained. Then, the temperature correction coefficient is confirmed according to the actual temperature of the lunar regolith on the surface layer of the lunar sounding radar measurement line. According to the temperature correction coefficient, the radar echo data is corrected according to the temperature compensation formula to obtain the corrected radar echo data as Figure 7 shown. Temperature compensation formula: , where Z (n) is the corrected radar echo data, a (n) is the temperature correction coefficient, and z (n) is the radar echo data before correction.

[0074] Based on the above response method, the present disclosure also provides a method for correcting lunar sounding radar echo data. The following will be described in detail with reference to Figure 8 this device.

[0075] Figure 8 Schematically shows a structural block diagram of a device for correcting lunar sounding radar echo data according to an embodiment of the present disclosure.

[0076] As Figure 8 shown, the device 800 for correcting lunar sounding radar echo data in this embodiment includes an acquisition module 810, a reading module 820, and a correction module 830.

[0077] The acquisition module 810 is used to acquire the lunar regolith temperature data curve related to time, as well as the echo data of the lunar radar. The frame header of the echo data includes time information and the patrol route position information at this time information. In one embodiment, the acquisition module 810 can be used to perform the operation S110 described above, which will not be elaborated here.

[0078] The reading module 820 is used to read the lunar regolith temperature data corresponding to the time information from the lunar regolith temperature data curve, and obtain the lunar regolith temperature data at the patrol route position information. In one embodiment, the reading module 820 can be used to perform the operation S120 described above, which will not be elaborated here.

[0079] The correction module 830 is used to correct the echo data based on the lunar regolith temperature data at the patrol route position information, and obtain the corrected echo data. In one embodiment, the correction module 830 can be used to perform the operation S130 described above, which will not be elaborated here.

[0080] According to an embodiment of the present disclosure, correcting the echo data based on the lunar regolith temperature data at the patrol route position information to obtain the corrected echo data includes:

[0081] Obtaining the temperature correction coefficient corresponding to the lunar regolith temperature data at the patrol route position according to the mapping relationship between the preset lunar regolith temperature data and the temperature correction coefficient;

[0082] Correcting the echo data according to the temperature correction coefficient to obtain the corrected echo data.

[0083] According to an embodiment of the present disclosure, the lunar regolith temperature data curve related to time includes:

[0084] Obtaining the lunar regolith temperature data collected by the temperature probe, and the temperature probe is arranged on the transfer mechanism of the lunar lander;

[0085] Based on the lunar regolith temperature data, constructing a lunar regolith temperature data curve related to time.

[0086] According to an embodiment of the present disclosure, obtaining the lunar regolith temperature data collected by the temperature probe includes:

[0087] Obtaining at least one first voltage value collected by the temperature probe under the first lunar surface temperature condition and at least one second voltage value collected under the second lunar surface temperature condition;

[0088] Based on the first lunar surface temperature condition, determining the first processing coefficient of the temperature probe;

[0089] Based on the second lunar surface temperature condition, determining the second processing coefficient of the temperature probe;

[0090] Calculate the lunar regolith temperature data according to the at least one first voltage value and the first processing coefficient, or the at least one second voltage value and the second processing coefficient.

[0091] According to an embodiment of the present disclosure, the apparatus further includes:

[0092] A fitting module, configured to fit and obtain a temperature correction coefficient table between the lunar regolith temperature data and the echo data according to the measured fixed values of the echo data of the lunar regolith at different temperatures in the laboratory;

[0093] A relationship confirmation module, configured to determine the mapping relationship between the preset lunar regolith temperature data and the temperature correction coefficient according to the temperature correction coefficient table.

[0094] According to an embodiment of the present disclosure, correcting the echo data according to the temperature correction coefficient to obtain the corrected echo data includes:

[0095] Multiply the temperature correction coefficient by the echo data to obtain the corrected echo data.

[0096] According to an embodiment of the present disclosure, obtaining the echo data of the lunar radar includes:

[0097] Obtain the echo data of the lunar radar in the lunar day condition.

[0098] According to an embodiment of the present disclosure, any multiple of the acquisition module 810, the reading module 820, and the correction module 830 may be combined and implemented in one module, or any one of them may be split into multiple modules. Or, at least part of the functions of one or more of these modules may be combined with at least part of the functions of other modules and implemented in one module. According to an embodiment of the present disclosure, the acquisition module 810, the reading module 820, and the correction module 830 may be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array (PLA), a system on chip, a system on substrate, a system on package, an application specific integrated circuit (ASIC), or may be implemented by any other reasonable way of integrating or packaging circuits, etc., in hardware or firmware, or implemented in any one of the three implementation manners of software, hardware, and firmware, or in any appropriate combination of several of them. Or, the acquisition module 810, the reading module 820, and the correction module 830 may be at least partially implemented as a computer program module, and when the computer program module is run, the corresponding functions may be executed.

[0099] In accordance with embodiments of the present disclosure, program code for executing the computer programs provided by the embodiments of the present disclosure may be written in any combination of one or more programming languages. Specifically, these computing programs may be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages include, but are not limited to, such as Java, C++, Python, the "C" language, or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., by connecting through the Internet using an Internet service provider).

[0100] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the above-mentioned module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, and the combination of blocks in the block diagram or flowchart, may be implemented by a dedicated hardware-based system for performing the specified functions or operations, or may be implemented by a combination of dedicated hardware and computer instructions.

[0101] Those skilled in the art can understand that the features described in the various embodiments of the present disclosure can be combined and / or combined in various ways, even if such combinations or combinations are not explicitly described in the present disclosure. In particular, without departing from the spirit and teachings of the present disclosure, the features described in the various embodiments of the present disclosure can be combined and / or combined in various ways. All such combinations and / or combinations fall within the scope of the present disclosure.

[0102] The above describes the embodiments of the present disclosure. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although the embodiments are described separately above, this does not mean that the measures in each embodiment cannot be used advantageously in combination. Without departing from the scope of the present disclosure, those skilled in the art can make various substitutions and modifications, and all such substitutions and modifications should fall within the scope of the present disclosure.

Claims

1. A correction method for lunar radar echo data based on lunar soil temperature, characterized in that: include: Acquire a lunar soil temperature data curve related to time, and the echo data of the lunar radar, wherein the frame header of the echo data includes time information and patrol route position information under the time information; Reading the lunar soil temperature data corresponding to the time information from the lunar soil temperature data curve to obtain the lunar soil temperature data under the patrol route position information; Based on the lunar soil temperature data under the patrol route position information, the echo data is corrected to obtain corrected echo data.

2. The correction method for lunar radar echo data based on lunar soil temperature according to claim 1 is characterized in that: The step of correcting the echo data based on the lunar soil temperature data under the patrol route position information to obtain the corrected echo data includes: According to the preset mapping relationship between the lunar soil temperature data and the temperature correction coefficient, the temperature correction coefficient corresponding to the lunar soil temperature data at the patrol route position is obtained; The echo data is corrected according to the temperature correction coefficient to obtain corrected echo data.

3. The correction method for lunar radar echo data based on lunar soil temperature according to claim 1 is characterized in that: The step of obtaining a time-dependent lunar soil temperature data curve comprises: Acquiring lunar soil temperature data collected by a temperature probe, wherein the temperature probe is disposed on a transfer mechanism of the lunar lander; Based on the lunar soil temperature data, a lunar soil temperature data curve related to time is constructed.

4. The correction method for lunar radar echo data based on lunar soil temperature according to claim 3 is characterized in that: The step of obtaining the lunar soil temperature data collected by the temperature probe comprises: Acquire at least one first voltage value collected by the temperature probe under a first lunar surface temperature condition and at least one second voltage value collected under a second lunar surface temperature condition; determining a first processing coefficient of the temperature probe based on the first lunar surface temperature condition; determining a second processing coefficient of the temperature probe based on the second lunar surface temperature condition; Lunar soil temperature data is calculated based on the at least one first voltage value and the first processing coefficient, or the at least one second voltage value and the second processing coefficient.

5. The correction method for lunar radar echo data based on lunar soil temperature according to claim 1 is characterized in that: The method further comprises: According to the measured values ​​of the echo data of lunar soil at different temperatures in the laboratory, the temperature correction coefficient table between the lunar soil temperature data and the echo data is obtained by fitting; According to the temperature correction coefficient table, the mapping relationship between the preset lunar soil temperature data and the temperature correction coefficient is determined.

6. The correction method for lunar radar echo data based on lunar soil temperature according to claim 1 is characterized in that: The step of correcting the echo data according to the temperature correction coefficient to obtain the corrected echo data comprises: The temperature correction coefficient is multiplied by the echo data to obtain corrected echo data.

7. The correction method for lunar radar echo data based on lunar soil temperature according to claim 1 is characterized in that: The step of obtaining the echo data of the lunar radar comprises: Acquire the echo data of the lunar radar under lunar day conditions.

8. A correction device for lunar radar echo data based on lunar soil temperature, characterized in that: The device comprises: An acquisition module is used to acquire a time-related lunar soil temperature data curve and the echo data of the lunar radar, wherein the frame header of the echo data includes time information and patrol route position information under the time information; A reading module, used for reading the lunar soil temperature data corresponding to the time information from the lunar soil temperature data curve, and obtaining the lunar soil temperature data under the patrol route position information; A correction module is used to correct the echo data based on the lunar soil temperature data under the patrol route position information to obtain corrected echo data.

9. The correction device for lunar radar echo data based on lunar soil temperature according to claim 8 is characterized in that: The step of correcting the echo data based on the lunar soil temperature data under the patrol route position information to obtain the corrected echo data includes: According to the preset mapping relationship between the lunar soil temperature data and the temperature correction coefficient, the temperature correction coefficient corresponding to the lunar soil temperature data at the patrol route position is obtained; The echo data is corrected according to the temperature correction coefficient to obtain corrected echo data.

10. The correction device for lunar radar echo data based on lunar soil temperature according to claim 8 is characterized in that: The step of obtaining a time-dependent lunar soil temperature data curve comprises: Acquiring lunar soil temperature data collected by a temperature probe, wherein the temperature probe is disposed on a transfer mechanism of the lunar lander; Based on the lunar soil temperature data, a lunar soil temperature data curve related to time is constructed.

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