Detection point-based sea radar comprehensive video generation method

Abstract

The invention discloses a sea radar comprehensive video generation method based on detection points. The method comprises the steps that original video data are acquired, the original video data are real-time video data acquired by a sea detection radar, the background noise power of the original video data is estimated according to far region data, the original video data are a matrix A, and the far region data are region data farthest from the sea detection radar; setting a detection threshold, and obtaining an initial detection 0 / 1 table corresponding to the original video data based on the detection threshold and the value of each resolution unit in the original video data; acquiring a plurality of detection point positions of the original video data, and confirming a resolution unit corresponding to each detection point position on the original video data; according to the invention, the technical problems of non-target clutter, false alarm, more interference and difficult observation of the original video of the sea radar in the prior art are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of radar, and in particular, to a method for generating a comprehensive video of a sea radar based on detection points. Background Art

[0002] The traditional terminal interface of a sea detection radar generally displays the acquired original video information, which includes various clutter information (ground clutter, sea clutter, meteorological clutter, interference information, etc.). The primary traces obtained after target detection and the secondary traces obtained after tracking will be attached to the original video in the form of points. This display strategy has too much information, and there are often many false alarm points near the shore. Information such as clutter echo blocks and false alarm traces seriously affects the user experience and the judgment of the target of interest. Summary of the Invention

[0003] An embodiment of the present invention provides a method for generating a comprehensive video of a sea radar based on detection points, so as to at least solve the technical problem that in the prior art, there are many non-target clutters, false alarms, and interferences in the original video display of the sea radar, making it difficult to observe.

[0004] According to one aspect of an embodiment of the present invention, a method for generating a comprehensive video of a sea radar based on detection points is provided. The method may include: obtaining original video data, where the original video data is real-time video data obtained by a sea detection radar, estimating the background noise power of the original video data according to far-zone data, where the original video data is matrix A and the far-zone data is the data of the area farthest from the sea detection radar; setting a detection threshold, and based on the detection threshold and the value of each resolution unit in the original video data, obtaining an initial detection 0 / 1 table corresponding to the original video data; obtaining the positions of several detection points of the original video data, confirming the resolution unit corresponding to each detection point position on the original video data, and taking the resolution unit corresponding to each detection point position on the original video data as the initial center position of the target echo block corresponding to each detection point position; on the initial detection 0 / 1 table, starting from the initial center position of the target echo block corresponding to each detection point position, and in accordance with the four directions of left, right, up, and down, and using the single-direction search edge position method in each direction, searching for the target edge segmentation points of the target echo block corresponding to each detection point position; based on the target edge segmentation points of the target echo block corresponding to each detection point position and the initial center position of the target echo block corresponding to each detection point position, determining the target echo block area corresponding to each detection point position; representing the target echo block area corresponding to each detection point position with a standard geometric figure ellipse, obtaining the standard ellipse area and the final center position corresponding to each detection point position, where the final center position is used to determine the position of the standard ellipse area corresponding to each detection point position, and determining the other areas of the target echo block area except the standard ellipse area as non-ellipse areas; setting each resolution unit of the standard ellipse area corresponding to each detection point position to 1, and setting each resolution unit of the non-ellipse area to 0, obtaining a target detection 0 / 1 table corresponding to the original video data, where the target detection 0 / 1 table corresponding to the original video data is matrix D; based on matrix A and matrix D, obtaining an intermediate matrix; processing the intermediate matrix to obtain a target matrix, where the target matrix is comprehensive video data.

[0005] Optionally, the setting the detection threshold, and based on the detection threshold and the value of each resolution unit in the original video data, obtaining an initial detection 0 / 1 table corresponding to the original video data includes: setting the resolution units in the original video data whose values are greater than or equal to the detection threshold to 1, and setting the resolution units in the original video data whose values are less than the detection threshold to 0; based on the 0 / 1 of the resolution units in the original video data, obtaining an initial detection 0 / 1 table corresponding to the original video data.

[0006] Optionally, the process of finding the target edge segmentation points of the target echo block corresponding to each detection point position starting from the starting point, in four directions of left, right, up, and down, and using the single-direction edge search method in each direction is as follows: In any one direction, set the initial cumulative amount and the initial decreasing amount; each time step one resolution unit. If the value of the resolution unit is 1, the initial cumulative amount remains unchanged, and it turns to judge whether the initial cumulative amount is 0. If it is not 0, continue to judge the next resolution unit; if it is 0, turn to the initial cumulative amount being 0; if the value of the resolution unit is 0, then calculate the distance interval cumulative sum. When the distance interval cumulative sum is zero, let the initial cumulative amount decrease by the initial decreasing amount in sequence, and the initial decreasing amount is reduced at most 2 times to make the initial cumulative amount 0. Determine the resolution unit with the initial cumulative amount of 0 as the initial edge segmentation point. When the distance interval cumulative sum is non-zero, the initial cumulative amount remains unchanged, and it turns to judge whether the initial cumulative amount is 0. If it is not 0, continue to judge the next resolution unit; if it is 0, turn to the initial cumulative amount being 0, where the distance interval cumulative sum is the sum of the values of 5 distance resolution units above and below the current resolution unit; if the initial cumulative amount is 0, the target echo initial edge segmentation point flag is correct. Then, count 3 resolution units backward in any one direction of the target echo initial edge segmentation point. If the sum of the 3 resolution units backward in any one direction is greater than 1, the target echo initial edge segmentation point flag is wrong. Let the initial cumulative amount increase by one and the initial decreasing amount decrease by one, and re-find the initial edge segmentation point. If the sum of the 3 resolution units searched backward in any one direction is less than or equal to 1, determine the initial edge segmentation point as the target edge segmentation point.

[0007] Optionally, the expressions for the major axis and minor axis of the standard elliptical region are:

[0008] Where is the major axis of the standard elliptical region, is the minor axis of the standard elliptical region, is the left edge segmentation point of the target echo block corresponding to each detection point position, is the right edge segmentation point of the target echo block corresponding to each detection point position, is the upper edge segmentation point of the target echo block corresponding to each detection point position, is the lower edge segmentation point of the target echo block corresponding to each detection point position.

[0009] Optionally, the expression for the final center position of the target echo block region corresponding to each detection point position is:

[0010] Where ( , is the final center position corresponding to the target echo block area for each detection point position.

[0011] Optionally, obtaining the intermediate matrix based on matrix A and matrix D includes: performing a dot product operation on matrix A and matrix D to obtain the intermediate matrix.

[0012] Optionally, processing the intermediate matrix to obtain the target matrix includes: judging each resolution cell of the intermediate matrix. If the value of the resolution cell is 0, a Gaussian noise value generated according to the background noise power is randomly assigned; if the value of the resolution cell is non-zero, the value of the resolution cell remains unchanged to obtain the target matrix.

[0013] Advantages of the present invention: The comprehensive video generation method based on detection points designed by the present invention makes full use of detection point information, filters out non-target clutter, false alarms, interference and other information in the original video data, and only retains the target echo block information corresponding to the detection points determined as targets; the generation of the comprehensive video provides users with another observation mode in addition to the original video, with a cleaner and purer background and easier target focusing; in the later stage, when drawing on the control terminal system, it is jointly processed with the original video mode through different display strategies. Compared with the traditional scheme, users can more easily extract the targets they are interested in, improving the user's viewing experience and usability. Description of the Drawings

[0014] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1 is a flowchart of a method for generating a comprehensive video of a sea radar based on detection points according to an embodiment of the present invention. Detailed Embodiments

[0015] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0016] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are used to describe a specific order or sequence. It should be understood that such terms can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order different from those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0017] Embodiment 1 According to an embodiment of the present invention, a method for generating a comprehensive video of a sea radar based on detection points is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system including at least one set of computer-executable instructions. And although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that here.

[0018] Figure 1 is a flowchart of a method for generating a comprehensive video of a sea radar based on detection points according to an embodiment of the present invention, as Figure 1 shown, the method may include the following steps: Step S101, obtain original video data, where the original video data is real-time video data obtained by a sea detection radar, and estimate the background noise power of the original video data according to far-zone data, where the original video data is matrix A, and the far-zone data is data of the area with the farthest distance from the sea detection radar.

[0019] In the technical solution provided in step S101 of the present invention above, obtain the real-time video data obtained by the sea detection radar, and estimate the background noise power of the original video data according to the far-zone data, where the original video data is matrix A, and the far-zone data is data of the area 1 - 2 km at the farthest end of the radar detection distance (without island, clutter interference, etc.).

[0020] Step S102, set a detection threshold, and based on the detection threshold and the value of each resolution unit in the original video data, obtain an initial detection 0 / 1 table corresponding to the original video data.

[0021] In the technical solution provided in step S102 of the present invention above, design a detection threshold (SDR TH = 6 dB), compare the detection threshold with the value of each resolution unit in the original video data, and obtain an initial detection 0 / 1 table corresponding to the original video data.

[0022] Step S103: Obtain the positions of several detection points of the original video data, confirm the resolution units corresponding to each detection point position on the original video data, and use the resolution units corresponding to each detection point position on the original video data as the initial center positions of the target echo blocks corresponding to each detection point position.

[0023] In the technical solution provided in step S103 of the present invention, obtain a detection point position Dot(R, B) of the original video data, and confirm the resolution unit corresponding to a detection point position on the original video data , and use the resolution units corresponding to each detection point position on the original video data as the initial center positions of the target echo blocks corresponding to a detection point position .

[0024] Step S104: On the initial detection 0 / 1 table, starting from the initial center position of the target echo block corresponding to each detection point position, search for the target edge segmentation points of the target echo block corresponding to each detection point position in four directions: left, right, up, and down, and use the single-direction search edge position method in each direction.

[0025] In the technical solution provided in step S104 of the present invention, on the initial detection 0 / 1 table, with the initial center position of the target echo block corresponding to a detection point position as the starting point, starting from the starting point, search for the target edge segmentation points B1, B2, R1, and R2 of the target echo block corresponding to a detection point position in four directions: left, right, up, and down, and use the single-direction search edge position method in each direction.

[0026] Step S105: Based on the target edge segmentation points of the target echo block corresponding to each detection point position and the initial center position of the target echo block corresponding to each detection point position, determine the target echo block area corresponding to each detection point position.

[0027] In the technical solution provided in step S105 of the present invention, based on the target edge segmentation points of the target echo block corresponding to a detection point position and the initial center position of the target echo block corresponding to a detection point position , the four edge points of the target echo block area corresponding to a detection point position are obtained as , , and , and according to the four edge points, the target echo block area corresponding to each detection point position is obtained.

[0028] Step S106: Characterize the target echo block region corresponding to each detection point position with a standard geometric figure, an ellipse, to obtain the standard ellipse region and the final center position of each detection point position. The final center position is used to determine the position of the standard ellipse region corresponding to each detection point position, and the other regions of the target echo block region except the standard ellipse region are determined as non-ellipse regions.

[0029] In the technical solution provided in step S106 of the present invention, a standard geometric figure, an ellipse, is circled in the target echo block region corresponding to each detection point position to obtain the standard ellipse region and the final center position of the standard ellipse region of each detection point position. The non-ellipse region is the remaining region of the target echo region except the standard ellipse region.

[0030] Step S107: Set each resolution unit of the standard ellipse region of each detection point position to 1 and each resolution unit of the non-ellipse region to 0 to obtain the target detection 0 / 1 table corresponding to the original video data, where the target detection 0 / 1 table corresponding to the original video data is matrix D.

[0031] In the technical solution provided in step S107 of the present invention, each resolution unit of the standard ellipse region of each detection point position is set to 1, and each resolution unit of the non-ellipse region is set to 0 to obtain the target detection 0 / 1 table corresponding to the original video data, where the target detection 0 / 1 table corresponding to the original video data is matrix D.

[0032] Step S108: Based on matrix A and matrix D, obtain an intermediate matrix.

[0033] In the technical solution provided in step S108 of the present invention, matrix A and matrix D are subjected to mathematical operations to obtain an intermediate matrix.

[0034] Step S109: Process the intermediate matrix to obtain a target matrix, where the target matrix is the comprehensive video data.

[0035] In the technical solution provided in step S109 of the present invention, each resolution unit of the intermediate matrix is processed to obtain a target matrix, where the target matrix is the comprehensive video data.

[0036] The above method of this embodiment will be further introduced below.

[0037] As an alternative embodiment, in step S102, for setting the detection threshold and obtaining the initial detection 0 / 1 table corresponding to the original video data based on the detection threshold and the value of each resolution unit in the original video data, the method includes: setting the resolution units in the original video data whose values are greater than or equal to the detection threshold to 1, and setting the resolution units in the original video data whose values are less than the detection threshold to 0; and obtaining the initial detection 0 / 1 table corresponding to the original video data based on the 0 / 1 of the resolution units in the original video data.

[0038] In this embodiment, the resolution units in the original video data whose values are greater than or equal to 6 dB are set to 1, and the resolution units in the original video data whose values are less than 6 dB are set to 0; and the initial detection 0 / 1 table corresponding to the original video data is obtained according to the 0 / 1 of the resolution units in the original video data.

[0039] As an alternative embodiment, in step S104, the process of finding the target echo block target edge segmentation point corresponding to each detection point position from the starting point in four directions: left, right, up, and down, and using the single-direction search edge position method in each direction is as follows: in any one direction, set the initial cumulative amount and the initial decreasing amount; each time step one resolution unit, if the value of the resolution unit is 1, the initial cumulative amount remains unchanged, and then determine whether the initial cumulative amount is 0. If it is not 0, continue to determine the next resolution unit; if it is 0, turn to the initial cumulative amount being 0; if the value of the resolution unit is 0, calculate the cumulative sum of the distance intervals. When the cumulative sum of the distance intervals is zero, let the initial cumulative amount be subtracted by the initial decreasing amount in turn, and the initial decreasing amount is subtracted at most 2 times to make the initial cumulative amount 0, and determine the resolution unit with the initial cumulative amount of 0 as the initial edge segmentation point. When the cumulative sum of the distance intervals is non-zero, the initial cumulative amount remains unchanged, and then determine whether the initial cumulative amount is 0. If it is not 0, continue to determine the next resolution unit; if it is 0, turn to the initial cumulative amount being 0, where the cumulative sum of the distance intervals is the sum of the values of the 5 distance resolution units above and below the current resolution unit; if the initial cumulative amount is 0, the target echo initial edge segmentation point flag is correct, and then count 3 resolution units backward in any one direction of the target echo initial edge segmentation point. If the sum of the 3 resolution units backward in any one direction is greater than 1, the target echo initial edge segmentation point flag is incorrect, let the initial cumulative amount be incremented by 1 and the initial decreasing amount be decremented by 1, and re-find the initial edge segmentation point. If the sum of the 3 resolution units searched backward in any one direction is less than or equal to 1, determine the initial edge segmentation point as the target edge segmentation point.

[0040] In this embodiment, taking the right direction as an example, 1) The initial cumulative amount Count1 = 5, and the decreasing amount Delta1 = 2; 2) Each step S = 1 resolution unit. If the resolution unit = "1", then Count remains unchanged and proceed to 3); if the resolution unit = "0", then calculate the cumulative sum Rsum of the distance interval. If Rsum = 0, then the cumulative quantity Count2 = Count1 – Delta1, Delta++ (Delta <= 3). Otherwise, Count remains unchanged and proceed to 3); where the calculation of the cumulative sum Rsum of the distance interval is the sum of the 5 distance resolution units above and below the current resolution unit. The meaning of Count2 = Count1 – Delta1, Delta++ (Delta <= 3) is as follows: First time: Rsum = 0, Count2 = Count1 – Delta1, that is 5 - 2 = 3; Second time: Rsum = 0, Count2 = Count1 – Delta1, that is 3 - 3 = 0; that is, the initial decrement is at most subtracted 2 times to make the initial cumulative quantity become 0, then the resolution unit with an initial cumulative quantity of 0 is determined as the initial edge segmentation point; 3) If Count = 0, then the target echo edge segmentation point flag EdgeFlag = true. Then, count the 3 resolution units on the right side of the target echo edge segmentation point. If the cumulative sum DirSum of the 3 resolution units on the right side > 1, then the target echo edge segmentation point = false, Count3 = 6, Delta3 = 1, and continue to search to the right after 3 units; if the cumulative sum DirSum of the 3 resolution units on the right side <= 1, then the position of the target echo edge segmentation point is determined, that is, B2 is determined; According to the "single - direction search for edge position method", confirm B1 to the left, B2 to the right, R2 upward, and R1 downward.

[0041] As an optional embodiment, in step S106, the expressions for the major axis and minor axis of the standard elliptical region are:

[0042] where, is the major axis of the standard elliptical region, is the minor axis of the standard elliptical region, is the left - edge segmentation point of the target echo block corresponding to each detection point position, is the right - edge segmentation point of the target echo block corresponding to each detection point position, is the upper - edge segmentation point of the target echo block corresponding to each detection point position, is the lower - edge segmentation point of the target echo block corresponding to each detection point position.

[0043] In this embodiment, according to the left-edge segmentation points of the target echo blocks corresponding to each detection point position and the right-edge segmentation points of the target echo blocks corresponding to each detection point position, the minor axis of the standard ellipse region is obtained. According to the upper-edge segmentation points of the target echo blocks corresponding to each detection point position and the lower-edge segmentation points of the target echo blocks corresponding to each detection point position, the major axis of the standard ellipse region is obtained.

[0044] As an alternative embodiment, in step S106, the expression for the final center position of the target echo block region corresponding to each detection point position is:

[0045] where, ( , ) is the final center position of the target echo block region corresponding to each detection point position.

[0046] In this embodiment, according to the left-edge segmentation points of the target echo blocks corresponding to each detection point position and the minor axis of the standard ellipse region, the point on the x-axis of the final center position is obtained. According to the upper-edge segmentation points of the target echo blocks corresponding to each detection point position and the major axis of the standard ellipse region, the point on the y-axis of the final center position is obtained.

[0047] As an alternative embodiment, the obtaining of the intermediate matrix based on matrix A and matrix D includes: performing a dot product operation on matrix A and matrix D to obtain the intermediate matrix.

[0048] In this embodiment, a dot product operation is performed on matrix A and matrix D to obtain the intermediate matrix.

[0049] As an alternative embodiment, in step S109, the processing of the intermediate matrix to obtain the target matrix includes: judging each resolution unit of the intermediate matrix. If the value of the resolution unit is 0, a Gaussian noise value generated according to the background noise power is randomly assigned; if the value of the resolution unit is non-zero, the value of the resolution unit remains unchanged to obtain the target matrix.

[0050] In this embodiment, each resolution unit of the intermediate matrix is judged. If the value of the resolution unit is 0, a Gaussian noise value generated according to the background noise power is randomly assigned to the resolution unit. If the value of the resolution unit is non-zero, the value of the resolution unit remains unchanged. Based on the value of the resolution unit being non-zero and the value of the resolution unit being a Gaussian noise value randomly assigned according to the background noise power, the target matrix is obtained. The target matrix is the integrated video data, and the generated integrated video data is sent to the control terminal system for display.

[0051] In the embodiment of the present invention, by acquiring original video data, where the original video data is real-time video data obtained by a sea detection radar, estimating the background noise power of the original video data according to far-zone data, where the original video data is matrix A and the far-zone data is the data of the area farthest from the sea detection radar; setting a detection threshold, and obtaining an initial detection 0 / 1 table corresponding to the original video data based on the detection threshold and the value of each resolution unit in the original video data; acquiring the positions of several detection points of the original video data, confirming the resolution unit corresponding to each detection point position on the original video data, and taking the resolution unit corresponding to each detection point position on the original video data as the initial center position of the target echo block corresponding to each detection point position; on the initial detection 0 / 1 table, starting from the initial center position of the target echo block corresponding to each detection point position, and in accordance with the four directions of left, right, up, and down, and using the single-direction search edge position method in each direction, searching for the target edge segmentation points of the target echo block corresponding to each detection point position; based on the target edge segmentation points of the target echo block corresponding to each detection point position and the initial center position of the target echo block corresponding to each detection point position, determining the target echo block area corresponding to each detection point position; representing the target echo block area corresponding to each detection point position with a standard geometric figure ellipse, obtaining the standard ellipse area and the final center position of each detection point position, where the final center position is used to determine the position of the standard ellipse area corresponding to each detection point position, and determining the other areas of the target echo block area except the standard ellipse area as non-ellipse areas; setting each resolution unit of the standard ellipse area of each detection point position to 1 and each resolution unit of the non-ellipse area to 0, obtaining the target detection 0 / 1 table corresponding to the original video data, where the target detection 0 / 1 table corresponding to the original video data is matrix D; based on matrix A and matrix D, obtaining an intermediate matrix; processing the intermediate matrix to obtain a target matrix, where the target matrix is comprehensive video data, solving the technical problem that there are many non-target clutters, false alarms, and interferences in the original video display of the sea radar, which is not easy to observe, and achieving the technical effect that by proposing a comprehensive video generation method based on detection points, making full use of the original video information and the point track information after detection, filtering out non-target clutters, false alarms, interferences, etc. after comprehensive processing, and forming comprehensive video data only containing the echo block information corresponding to the detection points, which is easier to observe.

[0052] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages and disadvantages of the embodiments.

[0053] In the above embodiments of the present invention, the descriptions of the various embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0054] In several embodiments provided by this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only illustrative. For example, the division of units can be a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of units or modules can be in an electrical or other form.

[0055] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0056] In addition, each functional unit in various embodiments of the present invention can be integrated in a first processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0057] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can still be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A method for generating comprehensive video of sea-viewing radar based on detection points, characterized in that: include: Obtaining original video data, wherein the original video data is real-time video data acquired by the sea detection radar, and estimating background noise power of the original video data according to far-zone data, wherein the original video data is matrix A, and the far-zone data is data of a region farthest from the sea detection radar; Set a detection threshold, and obtain an initial detection 0 / 1 table corresponding to the original video data based on the detection threshold and the value of each resolution unit in the original video data; Acquire several detection point positions of the original video data, confirm the resolution unit corresponding to each detection point position on the original video data, and use the resolution unit corresponding to each detection point position on the original video data as the initial center position of the target echo block corresponding to each detection point position; On the initial detection 0 / 1 table, take the initial center position of the target echo block corresponding to each detection point position as the starting point, and start from the starting point, in four directions: left, right, upward, and downward, and use the single-direction edge position search method in each direction to find the target edge segmentation point of the target echo block corresponding to each detection point position; Determine the target echo block area corresponding to each detection point position based on the target edge segmentation point of the target echo block corresponding to each detection point position and the initial center position of the target echo block corresponding to each detection point position; The target echo block area corresponding to each detection point position is characterized by a standard geometric ellipse, and the standard ellipse area and the final center position of each detection point position are obtained, wherein the final center position is used to determine the position of the standard ellipse area corresponding to each detection point position, and the other areas of the target echo block area except the standard ellipse area are determined as non-ellipse areas; Each resolution unit of the standard ellipse area of ​​each detection point position is set to 1, and each resolution unit of the non-ellipse area is set to 0, to obtain the target detection 0 / 1 table corresponding to the original video data, wherein the target detection 0 / 1 table corresponding to the original video data is a matrix D; Based on matrix A and matrix D, an intermediate matrix is ​​obtained; The intermediate matrix is ​​processed to obtain a target matrix, wherein the target matrix is ​​the comprehensive video data.

2. The method according to claim 1, characterized in that: The setting of the detection threshold, based on the detection threshold and the value of each resolution unit in the original video data, obtains an initial detection 0 / 1 table corresponding to the original video data, including: The resolution units in the original video data whose values ​​are greater than or equal to the detection threshold are set to 1, and the resolution units in the original video data whose values ​​are less than the detection threshold are set to 0; Based on the 0 / 1 of the resolution unit in the original video data, an initial detection 0 / 1 table corresponding to the original video data is obtained.

3. The method according to claim 2, characterized in that The process of searching the target edge segmentation point of the target echo block corresponding to each detection point position from the starting point in four directions, namely, left, right, upward, and downward, and using a single-direction edge position search method in each direction is as follows: In any direction, set the initial cumulative amount and initial decrement amount; Each time a resolution unit is stepped, if the value of the resolution unit is 1, the initial cumulative amount remains unchanged, and the initial cumulative amount is judged to be 0. If not, the next resolution unit is judged; if it is 0, the initial cumulative amount is 0; if the value of the resolution unit is 0, the distance interval cumulative sum is calculated. When the distance interval cumulative sum is zero, the initial cumulative amount is reduced by the initial decreasing amount in sequence, and the initial decreasing amount is reduced by a maximum of 2 times, so that the initial cumulative amount is 0, and the resolution unit with an initial cumulative amount of 0 is determined as the initial edge segmentation point. When the distance interval is accumulated and non-zero, the initial cumulative amount remains unchanged, and the initial cumulative amount is judged to be 0. If not, the next resolution unit is judged. If it is 0, the initial cumulative amount is 0, where the distance interval cumulative sum is the sum of the values ​​of the 5 distance resolution units above and below the current resolution unit; If the initial cumulative amount is 0, the target echo initial edge segmentation point is correctly marked. Then count the three resolution units in any direction backward from the target echo initial edge segmentation point. If the cumulative sum of the three resolution units in any direction backward is greater than 1, the target echo initial edge segmentation point is incorrectly marked. Add one to the initial cumulative amount and reduce one to the initial decrement amount, and search for the initial edge segmentation point again. If the cumulative sum of the three resolution units searched backward in any direction is less than or equal to 1, the initial edge segmentation point is determined as the target edge segmentation point.

4. The method according to claim 3, characterized in that The expressions of the major axis and minor axis of the standard ellipse area are: in, is the major axis of the standard ellipse area, is the minor axis of the standard ellipse area, For each detection point position corresponding to the target echo block left edge segmentation point, For each detection point, the right edge segmentation point of the target echo block corresponding to the position of the detection point, For each detection point position corresponding to the target echo block upper edge segmentation point, It is the lower edge segmentation point of the target echo block corresponding to each detection point position.

5. The method according to claim 4, characterized in that The expression of the final center position of the target echo block area corresponding to each detection point position is: in,( , ) is the final center position of the target echo block area corresponding to each detection point position.

6. The method according to claim 5, characterized in that The intermediate matrix is ​​obtained based on the matrix A and the matrix D, including: Perform a dot multiplication operation on matrix A and matrix D to obtain an intermediate matrix.

7. The method according to claim 6, characterized in that The processing of the intermediate matrix to obtain the target matrix includes: The intermediate matrix is ​​judged one by one. If the value of the resolution unit is 0, a Gaussian noise value generated according to the background noise power is randomly assigned; If the value of the resolution unit is not 0, the value of the resolution unit is kept unchanged to obtain the target matrix.

8. A computer system, characterized in that include: One or more processors, and a computer-readable storage medium for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors are enabled to implement the method of claim 1.

9. A computer-readable storage medium, characterized in that Computer executable instructions are stored, and when the instructions are executed, they are used to implement the method of claim 1.

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