Radar signal processing device and processing method

Abstract

The invention discloses a radar signal processing device and method, and particularly relates to the technical field of radar signal processing, and the method comprises the steps: S01, radar signal receiving, S02, radar signal enhancement, S03, radar signal target detection, S04, radar signal target motion trail processing, and S05, radar signal mutual interference evaluation. According to the method, radar original signal data are received, high-quality radar signal data are output after preliminary amplification and self-adaptive sampling, effective signals are screened out based on signal enhancement processing of a self-adaptive filtering algorithm, so that weak signals can be detected out, the sampling frequency is adjusted in real time, the effective signals are subjected to feature extraction, and the detection accuracy is improved. A time domain sampling value is collected, a signal correlation evaluation index between effective signals is calculated, a grading verification mechanism is carried out on interference signals, the correlation degree between the signals is quantitatively analyzed, the difference between the interference signals and the effective signals is effectively recognized, and the interference signal processing efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of radar signal processing. More specifically, the present invention relates to a radar signal processing device and a processing method. Background Art

[0002] Radar signal processing technology plays a crucial role in modern radar systems. Its main task is to extract target signals from complex background noise and interference and accurately estimate the parameters of the targets, including key information such as distance, speed, azimuth, etc. In practical applications, the signal-to-noise ratio (SNR) of radar signals is often affected by various factors, such as target reflection characteristics, propagation path loss, environmental noise, and human interference.

[0003] A low signal-to-noise ratio radar signal processing method and device with the publication number CN115166648B performs autocorrelation processing on the acquired radar signal data to obtain the envelope of the time-domain autocorrelation signal; then, calculates an adaptive threshold, and uses the adaptive threshold to detect the envelope of the time-domain autocorrelation signal to obtain the time-domain data of the first pulse signal; then, performs rough parameter estimation on the time-domain data of the first pulse signal containing the pulse signal, performs pulse compression processing on the time-domain data of the pulse signal to calculate the pulse repetition period of the radar signal, and uses the time-domain data of the first pulse signal to obtain the second signal detection threshold; uses the second signal detection threshold to detect and estimate the parameters of the radar signal data after coherent accumulation superposition to obtain an accurate estimation result of the radar signal parameters. The present invention achieves a high-precision estimation effect on the parameters of low signal-to-noise ratio radar signals. This technical solution shows a high parameter estimation accuracy in a low signal-to-noise ratio environment and has significant application value.

[0004] However, when it is actually used, there are still some drawbacks. For example, in practical applications of existing radar signal processing methods, when multiple targets appear simultaneously and the signal intensities vary greatly, traditional methods often cannot accurately separate and identify weak target signals, and it is difficult to effectively meet the requirements of separating and tracking multi-target signals, and the applicability is relatively weak; Existing radar signal processing methods lack an effective multi-target signal separation mechanism in the data analysis stage. In a multi-target scenario, it is difficult to cope with the mutual interference between multi-target signals, resulting in an increase in the false alarm rate and affecting the accuracy of target detection. Summary of the Invention

[0005] In order to overcome the above-mentioned defects of the prior art, embodiments of the present invention provide a radar signal processing device and a processing method to solve the problems raised in the above background art.

[0006] To achieve the above object, the present invention provides the following technical solution: A radar signal processing method, comprising the following steps: Step S01: Radar signal reception: It is used to receive the original radar signal data through a radar receiving antenna, preprocess the original radar signal data through preliminary amplification and adaptive sampling, and output high-quality radar signal data.

[0007] Step S02: Radar signal enhancement: It is used to receive the high-quality radar signal data transmitted in the radar signal reception step, perform multi-scale wavelet decomposition on the input high-quality radar signal data, decompose it into high-quality radar signal data at different times, perform signal enhancement processing based on the adaptive filtering algorithm, obtain the enhanced radar output signal, and screen out the effective signals.

[0008] Step S03: Radar signal target detection: It is used to receive the effective signals transmitted in the radar signal enhancement step, extract features from the effective signals, and transmit the features to Step S04: Radar signal processing.

[0009] Step S04: Radar signal target motion trajectory processing: It is used to receive the set of feature extractions transmitted in the radar signal target detection step, track the motion trajectory of the target effective signal, and analyze to obtain the predicted value of the motion characteristics of the target effective signal.

[0010] Step S05: Radar signal mutual interference evaluation: Based on the time-domain sampling values of the effective signals, calculate the signal correlation evaluation index between the effective signals, and perform a grading verification mechanism on the interference signals.

[0011] Preferably, the said Step S01: Radar signal reception is specifically as follows: S21: Use a high-performance radar signal receiving antenna to receive the original radar signal data. The antenna is connected to a low-noise amplifier. If the original radar signal data meets any of the determination criteria for weak signals, then determine that the original radar signal is a weak signal, increase the gain of the low-noise amplifier, preliminarily amplify the weak received signal through the low-noise amplifier, make the original radar signal easier to identify and process, and transmit the original radar signal data to the adaptive sampling; S22: The determination criteria for the weak signals are: the signal-to-noise ratio of the original radar signal data is lower than the set signal-to-noise ratio of the noise amplifier, the signal power of the original radar signal data is lower than the set receiver sensitivity of the noise amplifier, and the signal power of the original radar signal data is lower than the set noise floor of the noise amplifier; S23: Receive the preliminarily amplified original radar signal data. Based on the adaptive sampling control circuit configured by the analog-to-digital converter, according to the received radar signal strength, when it is detected that the radar signal strength is lower than the preset signal strength, increase the sampling frequency through the control circuit. When it is detected that the radar signal strength is higher than the preset signal strength, then decrease the sampling frequency, and convert the original radar signal data into a digital signal; S24: The digital signal sequentially enters noise suppression and signal normalization, and high-quality radar signal data is output.

[0012] Preferably, the enhanced radar output signal is specifically: S31: Perform multi-scale wavelet decomposition on the input high-quality radar signal data, decompose it into high-quality radar signal data at different times, and visualize the characteristics of the high-quality radar signal data at different frequency levels; S32: In the adaptive filtering scenario, by continuously adjusting the weight coefficients according to the characteristics of the signal, based on the adaptive filtering algorithm, multiply the signal value at the current moment and the values at the past n - 1 moments by the corresponding weight coefficients respectively, and then add these products to obtain the radar output signal data after enhancement processing at the current moment.

[0013] Preferably, the screening out of valid signals is specifically: Set a signal intensity threshold, obtain the signal intensity value of the radar output signal data after enhancement processing at the current moment, and compare it with the set signal intensity threshold. If the signal intensity value is less than the set signal intensity threshold, it is judged as noise or useless signal and is eliminated. If the signal intensity value is greater than or equal to the set signal intensity threshold, it is judged as a valid signal and is retained, and the valid signal is transmitted to step S03: Radar signal target detection.

[0014] Preferably, the step S03: Radar signal target detection is specifically: S51: Extract features from the valid signal, including calculating the target distance by measuring the delay time of the radar echo signal, calculating the target speed using the Doppler frequency shift, determining the target azimuth according to the beam pointing of the receiving antenna and the signal intensity distribution, and marking it as the feature extraction set , which are respectively expressed as the distance feature, speed feature, and azimuth angle feature of the i-th valid signal; S52: Convert the valid signal into a digital signal, collect the time-domain sampling values of the valid signal, and mark them as .

[0015] Preferably, the step S04: Radar signal target motion trajectory processing is specifically: S61: Obtain the feature extraction set as the initial vector, initialize the motion trajectory of the radar signal according to the initial received feature set information. If the target has been tracked before, use the trajectory information at the previous moment as the current starting point; S62: Use the Kalman filtering algorithm to extract the data of the distance feature, speed feature, and azimuth angle feature extraction set of the target valid signal, track the motion trajectory of the target valid signal, predict the position at the next moment, and compare and correct it with the actually received signal; S63: Output the predicted value of the motion characteristics of the target valid signal, and send the predicted value of the motion characteristics to the visualization interface for display.

[0016] Preferably, the calculation of the signal correlation evaluation index is as follows: Calculate the mean value of the time-domain sampling values of any two valid signals; calculate the degree of synchronous change of the valid signals through covariance; calculate the product of the standard deviations of any two valid signals; calculate the signal correlation evaluation index .

[0017] Preferably, the step S05: Evaluation of the mutual interference of radar signals is specifically as follows: S81: The hierarchical verification mechanism is as follows: Time-domain interference determination: Obtain the signal correlation evaluation index between valid signals. If the signal correlation evaluation index , it indicates strong correlation interference, and interference suppression measures should be preferentially taken for it. If , it indicates medium correlation interference, and interference suppression measures should be taken for it. If , it indicates weak correlation interference, and enter the frequency-domain interference verification; S82: Frequency-domain interference analysis: Extract the useful signal power and interference signal power between valid signals in the weak correlation interference, and calculate the adjacent-channel interference ratio between valid signals in the weak correlation interference; Obtain the adjacent-channel interference ratio between valid signals in the weak correlation interference, and compare it with the preset adjacent-channel interference ratio. If the adjacent-channel interference ratio between certain valid signals is less than the preset adjacent-channel interference ratio, it indicates that the relative intensity of the interference signal of this valid signal is large, and there is adjacent-frequency signal interference in the radar signal. Relevant personnel should be immediately notified to initiate countermeasures. Otherwise, it indicates that there is no adjacent-frequency signal interference problem in this valid signal, and the radar signal is normal.

[0018] Preferably, a radar signal processing device includes a memory, a processor, and a machine-executable program stored on the memory and running on the processor, and the processor executes the machine-executable program to implement any one of the above-mentioned radar signal processing methods.

[0019] The technical effects and advantages of the present invention: 1. The present invention provides a radar signal processing device and a processing method. The radar original signal data is received by a radar receiving antenna and preprocessed through preliminary amplification and adaptive sampling to output high-quality radar signal data. The input high-quality radar signal data is subjected to multi-scale wavelet decomposition to be decomposed into high-quality radar signal data at different times. Based on the signal enhancement processing of the adaptive filtering algorithm, the enhanced radar output signal is obtained. A signal intensity threshold is set, and the signal intensity value of the radar output signal data after the enhancement processing at the current moment is obtained and compared with the set signal intensity threshold. If the signal intensity value is less than the set signal intensity threshold, it is determined as noise or an unuseful signal and is excluded. If the signal intensity value is greater than or equal to the set signal intensity threshold, it is determined as a valid signal and is retained. Through the low-noise amplifier gain adaption + oversampling, weak signals can be detected. An adaptive sampling control circuit is configured to adjust the sampling frequency in real time according to the received radar signal intensity. In a low signal-to-noise ratio environment, the sampling rate can be increased to capture more detailed information, while in a high signal-to-noise ratio condition, the sampling rate is reduced to save storage and computing resources; 2. The present invention provides a radar signal processing device and a processing method. By extracting the features of the valid signals, the set data of the distance feature, speed feature, and azimuth angle feature of the target valid signals is extracted by using the Kalman filtering algorithm. The motion trajectory of the target valid signals is tracked, the position at the next moment is predicted, and it is compared and corrected with the actually received signals to output the predicted value of the motion features of the target valid signals. By converting the valid signals into digital signals, the time-domain sampling values of the valid signals are collected, the signal correlation evaluation index between the valid signals is calculated, and a hierarchical verification mechanism for the interference signals is carried out. Through the Kalman filtering tracking, the tracking of the target trajectory is more accurate. By converting the valid signals into digital signals, the signal quality and the accuracy of feature extraction are improved. By collecting the time-domain sampling values of the valid signals, the change features of the signals in the time dimension can be accurately captured, providing a detailed data basis for the subsequent correlation calculation and interference analysis. By calculating the signal correlation evaluation index, the correlation degree between the signals can be quantitatively analyzed, effectively identifying the differences between the interference signals and the valid signals, and improving the processing efficiency of the interference signals. Brief Description of the Drawings

[0020] Figure 1 It is a schematic flow chart of a radar signal processing method of the present invention. Detailed Embodiments

[0021] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying 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. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0022] The step S01: Radar signal reception: It is used to receive the original radar signal data through a radar receiving antenna, preprocess the original radar signal data through preliminary amplification and adaptive sampling, and output high-quality radar signal data.

[0023] In a possible design, the step S01: Radar signal reception is specifically: S11: Use a high-performance radar signal receiving antenna to receive the original radar signal data. The antenna is connected to a low-noise amplifier. If the original radar signal data meets any of the determination criteria for weak signals, it is determined that the original radar signal is a weak signal, increase the gain of the low-noise amplifier, and preliminarily amplify the weak received signal through the low-noise amplifier to make the original radar signal easier to identify and process, and transmit the original radar signal data to adaptive sampling; S12: The determination criteria for the weak signal are: the signal-to-noise ratio of the original radar signal data is lower than the set signal-to-noise ratio of the noise amplifier, the signal power of the original radar signal data is lower than the set receiver sensitivity of the noise amplifier, and the signal power of the original radar signal data is lower than the set noise floor of the noise amplifier; S13: Receive the pre-amplified original radar signal data. Based on the adaptive sampling control circuit configured by the analog-to-digital converter, according to the received radar signal strength, when it is detected that the radar signal strength is lower than the preset signal strength, increase the sampling frequency through the control circuit, and when it is detected that the radar signal strength is higher than the preset signal strength, reduce the sampling frequency, and convert the original radar signal data into a digital signal; S14: The digital signal enters noise suppression and signal normalization in sequence, and outputs high-quality radar signal data.

[0024] The step S02: Radar signal enhancement: It is used to receive the high-quality radar signal data transmitted in the radar signal reception step, perform multi-scale wavelet decomposition on the input high-quality radar signal data, decompose it into high-quality radar signal data at different times, perform signal enhancement processing based on the adaptive filtering algorithm, obtain the enhanced radar output signal, and screen out the effective signal.

[0025] In a possible design, the step S02: Radar signal enhancement is specifically: S21: Perform multi-scale wavelet decomposition on the input high-quality radar signal data, decompose it into high-quality radar signal data at different times, and visualize the characteristics of the high-quality radar signal data at different frequency levels; S22: In the adaptive filtering scenario, by continuously adjusting the weight coefficients according to the characteristics of the signal, based on the adaptive filtering algorithm, multiply the signal value at the current time and the values at the past n - 1 times by the corresponding weight coefficients respectively, and then add these products to obtain the radar output signal data after enhancement processing at the current time; S23: Set a signal intensity threshold, obtain the signal intensity value of the radar output signal data after enhancement processing at the current time, compare it with the set signal intensity threshold. If the signal intensity value is less than the set signal intensity threshold, it is judged as noise or useless signal and eliminated. If the signal intensity value is greater than or equal to the set signal intensity threshold, it is judged as an effective signal and retained, and the effective signal is transmitted to step S03: Radar signal target detection.

[0026] In this embodiment, it should be specifically noted that the adaptive filtering algorithm is specifically:

[0027] Among them, represents the radar output signal after enhancement processing at time t, represents the weight coefficient corresponding to time t, represents the high-quality radar signal input at time t, represents the value of the current input high-quality radar signal at time t - k, and n represents the number of high-quality radar signal samples.

[0028] Specifically, represents the high-quality radar signal input at time t, that is, the original signal to be processed, the signal received from the radar receiving antenna; the weight coefficients of the signal samples for each operation of the adaptive filter are dynamically updated using the recursive least squares method ; n represents the number of high-quality radar signal samples, which determines how many past times of signal values the filter considers to calculate the output at the current time. If n = 5, it means the filter will consider the input signal values at the current time t and the past 4 times (t - 1, t - 2, t - 3, t - 4) to calculate .

[0029] The step S03: Radar signal target detection: is used to receive the effective signal transmitted by the radar signal enhancement step, extract the features of the effective signal, and transmit the features to step S04: Radar signal processing.

[0030] In a possible design, the step S03: radar signal target detection is specifically as follows: S31: Extract features from the valid signals, including calculating the target distance by measuring the delay time of the radar echo signal, calculating the target speed using the Doppler shift, and determining the target azimuth based on the beam pointing and signal intensity distribution of the receiving antenna, which is marked as the feature extraction set , which are respectively represented as the distance feature, speed feature, and azimuth angle feature of the i-th valid signal.

[0031] S32: Convert the valid signals into digital signals, and collect the time-domain sampling values of the valid signals, which are marked as .

[0032] The step S04: radar signal target motion trajectory processing: is used to receive the feature extraction set transmitted by the radar signal target detection step, track the motion trajectory of the target valid signals, and analyze to obtain the predicted value of the motion characteristics of the target valid signals.

[0033] In a possible design, the step S04: radar signal target motion trajectory processing is specifically as follows: S41: Obtain the feature extraction set as the initial vector, initialize the motion trajectory of the radar signal according to the information of the initially received feature set. If the target has been tracked before, use the trajectory information of the previous moment as the current starting point; S42: Use the Kalman filter algorithm to extract the data of the distance feature, speed feature, and azimuth angle feature extraction set of the target valid signals, track the motion trajectory of the target valid signals, predict the position of the next moment, and compare and correct it with the actually received signals; S43: Output the predicted value of the motion characteristics of the target valid signals, and send the predicted value of the motion characteristics to the visualization interface for display.

[0034] The step S05: radar signal mutual interference evaluation: Based on the time-domain sampling values of the valid signals, calculate the signal correlation evaluation index between the valid signals, and perform a hierarchical verification mechanism on the interference signals.

[0035] In a possible design, the step S05: radar signal mutual interference evaluation is specifically as follows: S51: Calculate the mean value of the time-domain sampling values of any two valid signals; calculate the degree of synchronous change of the valid signals through covariance; calculate the product of the standard deviations of any two valid signals; calculate the signal correlation evaluation index ; S52: The hierarchical verification mechanism is as follows: Time-domain interference determination: Obtain the signal correlation evaluation index between the valid signals. If the signal correlation evaluation index , it indicates strong correlation interference. Interference suppression measures should be taken for it preferentially. If , it indicates medium correlation interference. Interference suppression measures should be taken for it. If , it indicates weak correlation interference, and enter the frequency-domain interference verification; S53: Frequency-domain interference analysis: Extract the useful signal power and interference signal power between the valid signals in the weak correlation interference, and calculate the adjacent-channel interference ratio between the valid signals in the weak correlation interference; Obtain the adjacent-channel interference ratio between the valid signals in the weak correlation interference, and compare it with the preset adjacent-channel interference ratio. If the adjacent-channel interference ratio between a certain valid signals is less than the preset adjacent-channel interference ratio, it indicates that the relative intensity of the interference signal of the valid signal is large, and there is adjacent-frequency signal interference in the radar signal. Relevant personnel should be notified immediately to initiate countermeasures. Otherwise, it indicates that there is no adjacent-frequency signal interference problem in the valid signal and the radar signal is normal.

[0036] In this embodiment, it should be specifically noted that the calculation formula of the signal correlation evaluation index is: , where represents the signal correlation evaluation index, 、 respectively represent the time-domain sampling values of any two valid signals, 、 respectively represent the means of the time-domain sampling values of any two valid signals, and m represents the number of valid signals; The calculation formula of the adjacent-channel interference ratio is: , where represents the adjacent-channel interference ratio of the i-th valid signal, represents the useful signal power of the i-th valid signal, represents the interference signal power of the i-th valid signal.

[0037] In this embodiment, it should be specifically noted that the present invention receives the original radar signal data through a radar receiving antenna, preprocesses the original radar signal data through preliminary amplification and adaptive sampling, and outputs high-quality radar signal data. The input high-quality radar signal data is subjected to multi-scale wavelet decomposition to be decomposed into high-quality radar signal data at different times. Based on the signal enhancement processing of the adaptive filtering algorithm, the enhanced radar output signal is obtained. A signal intensity threshold is set, and the signal intensity value of the radar output signal data after enhancement processing at the current moment is obtained and compared with the set signal intensity threshold. If the signal intensity value is less than the set signal intensity threshold, it is determined as noise or useless signal and is eliminated. If the signal intensity value is greater than or equal to the set signal intensity threshold, it is determined as an effective signal and is retained. Through the gain adaptivity + oversampling of the low-noise amplifier, it is ensured that weak signals can be detected. An adaptive sampling control circuit is configured to adjust the sampling frequency in real time according to the received radar signal intensity. In a low signal-to-noise ratio environment, the sampling rate can be increased to capture more detailed information, while in a high signal-to-noise ratio condition, the sampling rate is reduced to save storage and computing resources; The present invention extracts features from the effective signals, uses the Kalman filtering algorithm to extract the set data of the distance feature, speed feature, and azimuth angle feature of the target effective signal, tracks the motion trajectory of the target effective signal, predicts the position at the next moment, and compares and corrects it with the actually received signal to output the motion feature prediction value of the target effective signal. By converting the effective signal into a digital signal, the time-domain sampling values of the effective signal are collected, the signal correlation evaluation index between the effective signals is calculated, and a grading verification mechanism for interference signals is carried out. Through the Kalman filtering tracking, the target trajectory tracking is more accurate. By converting the effective signal into a digital signal, the signal quality and the accuracy of feature extraction are improved. By collecting the time-domain sampling values of the effective signal, the change characteristics of the signal in the time dimension can be accurately captured, providing a detailed data basis for subsequent correlation calculation and interference analysis. By calculating the signal correlation evaluation index, the correlation degree between signals can be quantitatively analyzed, the difference between interference signals and effective signals can be effectively identified, and the processing efficiency of interference signals can be improved.

[0038] Finally: The above are only the preferred embodiments of the present invention and are not used to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A radar signal processing method, characterized in that, Including: Step S01: Radar signal reception: Used to receive radar raw signal data through a radar receiving antenna, preprocess the radar raw signal data through preliminary amplification and adaptive sampling, and output high-quality radar signal data; Step S02: Radar signal enhancement: Used to receive the high-quality radar signal data transmitted in the radar signal reception step, perform multi-scale wavelet decomposition on the input high-quality radar signal data, decompose it into high-quality radar signal data at different times, perform signal enhancement processing based on an adaptive filtering algorithm, obtain the enhanced radar output signal, and screen out the effective signals; Step S03: Radar signal target detection: Used to receive the effective signals transmitted in the radar signal enhancement step, extract features from the effective signals, and transmit the features to Step S04: Radar signal processing; Step S04: Radar signal target motion trajectory processing: Used to receive the feature extraction set transmitted in the radar signal target detection step, track the motion trajectory of the target effective signal, and analyze to obtain the predicted value of the motion characteristics of the target effective signal; Step S05: Radar signal mutual interference evaluation: Based on the time-domain sampling values of the effective signals, calculate the signal correlation evaluation index between the effective signals, and perform a grading verification mechanism on the interference signals.

2. The radar signal processing method according to claim 1, characterized in that: The specific content of the said Step S01: Radar signal reception is as follows: S21: Use a high-performance radar signal receiving antenna to receive radar raw signal data. The antenna is connected to a low-noise amplifier. If the radar raw signal data meets any of the determination criteria for weak signals, then determine that the radar raw signal is a weak signal, increase the gain of the low-noise amplifier, preliminarily amplify the weak received signal through the low-noise amplifier, make the radar raw signal easier to identify and process, and transmit the radar raw signal data to adaptive sampling; S22: The determination criteria for the said weak signals are: The signal-to-noise ratio of the radar raw signal data is lower than the set signal-to-noise ratio of the noise amplifier, the signal power of the radar raw signal data is lower than the set receiver sensitivity of the noise amplifier, and the signal power of the radar raw signal data is lower than the set noise floor of the noise amplifier; S23: Receive the preliminarily amplified radar raw signal data. Based on the adaptive sampling control circuit configured by the analog-to-digital converter, according to the received radar signal intensity, when it is detected that the radar signal intensity is lower than the preset signal intensity, increase the sampling frequency through the control circuit, and when it is detected that the radar signal intensity is higher than the preset signal intensity, then decrease the sampling frequency, and convert the radar raw signal data into a digital signal; S24: Let the digital signal enter noise suppression and signal normalization in sequence, and output high-quality radar signal data.

3. A radar signal processing method according to claim 1, characterized in that: The specific content of the said enhanced radar output signal is as follows: S31: Perform multi-scale wavelet decomposition on the input high-quality radar signal data, decompose it into high-quality radar signal data at different times, and visualize the characteristics of the high-quality radar signal data at different frequency levels; S32: In the adaptive filtering scenario, by continuously adjusting the weight coefficients according to the characteristics of the signal, based on the adaptive filtering algorithm, multiply the signal value at the current moment and the values at the past n - 1 moments by the corresponding weight coefficients respectively, and then sum these products to obtain the radar output signal data after enhancement processing at the current moment.

4. A radar signal processing method according to claim 1, characterized in that: The screening out of the valid signals is specifically as follows: Set a signal intensity threshold, obtain the signal intensity value of the radar output signal data after enhancement processing at the current moment, and compare it with the set signal intensity threshold. If the signal intensity value is less than the set signal intensity threshold, it is judged as noise or useless signal and is excluded. If the signal intensity value is greater than or equal to the set signal intensity threshold, it is judged as a valid signal and is retained, and the valid signal is transmitted to step S03: Radar signal target detection.

5. A radar signal processing method according to claim 1, characterized in that: The step S03: Radar signal target detection is specifically as follows: S51: Extract features from the valid signals, including calculating the target distance by measuring the delay time of the radar echo signal, calculating the target speed using the Doppler shift, determining the target azimuth based on the beam pointing and signal intensity distribution of the receiving antenna, and marking them as the feature extraction set , which are respectively expressed as the distance feature, speed feature, and azimuth angle feature of the i-th valid signal; S52: Convert the valid signal into a digital signal, collect the time-domain sampling values of the valid signal, and mark them as .

6. A radar signal processing method according to claim 1, characterized in that: The step S04: Radar signal target motion trajectory processing is specifically as follows: S61: Obtain the feature extraction set as the initial vector, and initialize the motion trajectory of the radar signal according to the initially received feature set information. If the target has been tracked before, use the trajectory information at the previous moment as the current starting point; S62: Use the Kalman filtering algorithm to extract the set data of the distance feature, speed feature, and azimuth angle feature of the target valid signal, track the motion trajectory of the target valid signal, predict the position at the next moment, and compare and correct it with the actually received signal; S63: Output the motion feature prediction value of the target valid signal, and send the motion feature prediction value to the visualization interface for display.

7. A radar signal processing method according to claim 1, characterized in that: The calculation of the signal correlation evaluation index is as follows: Calculate the mean of the time-domain sampled values of any two valid signals; calculate the degree of synchronous change of the valid signals through covariance; calculate the product of the standard deviations of any two valid signals; calculate the signal correlation evaluation index .

8. A radar signal processing method according to claim 1, characterized in that: The step S05: Radar signal mutual interference evaluation is specifically as follows: S81: The hierarchical verification mechanism is as follows: Time-domain interference determination: Obtain the signal correlation evaluation index between valid signals. If the signal correlation evaluation index is satisfied, it indicates strong correlated interference, and interference suppression measures should be preferentially taken for it. If is satisfied, it indicates medium correlated interference, and interference suppression measures should be taken for it. If is satisfied, it indicates weak correlated interference, and enter the frequency domain interference verification; S82: Frequency-domain interference analysis: Extract the useful signal power and interference signal power between the valid signals in the weakly correlated interference, and calculate the adjacent channel interference ratio between the valid signals in the weakly correlated interference; Obtain the adjacent channel interference ratio between the valid signals in the weakly correlated interference, and compare it with the preset adjacent channel interference ratio. If the adjacent channel interference ratio between a certain valid signal is less than the preset adjacent channel interference ratio, it indicates that the relative intensity of the interference signal of this valid signal is large, and there is adjacent frequency signal interference in the radar signal, and relevant personnel should be immediately notified to initiate countermeasures. Otherwise, it indicates that there is no adjacent frequency signal interference problem in this valid signal and the radar signal is normal.

9. A radar signal processing device, characterized in that: It includes a memory, a processor, and a machine-executable program stored on the memory and running on the processor, and when the processor executes the machine-executable program, it implements a radar signal processing method according to any one of claims 1 - 8.

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