A radar signal processing device and method

Abstract

The application discloses a radar signal processing device and method, and particularly relates to the technical field of radar signal processing, and comprises the following steps: S01, radar signal receiving; S02, radar signal enhancement; S03, radar signal target detection; S04, radar signal target motion track processing; and S05, radar signal mutual interference evaluation. The application receives radar original signal data, and outputs high-quality radar signal data after preliminary amplification and adaptive sampling. Based on the signal enhancement processing of an adaptive filtering algorithm, effective signals are screened out, so that weak signals can be detected, the sampling frequency is adjusted in real time, the characteristic extraction of effective signals is carried out, the time domain sampling values are collected, the signal correlation evaluation index between effective signals is calculated, the interference signal is subjected to a hierarchical verification mechanism, the correlation degree between signals is quantitatively analyzed, the difference between the interference signal and the effective signal is effectively identified, and the interference signal processing efficiency is improved.

Description

Technical Field

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

[0002] Radar signal processing technology plays a vital role in modern radar systems. Its main task is to extract target signals from complex background noise and interference and accurately estimate target parameters, including key information such as range, velocity, and direction. In practical applications, the signal-to-noise ratio (SNR) of radar signals is often affected by many 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 publication number CN115166648B, performs autocorrelation processing on the acquired radar signal data to obtain a time-domain autocorrelation signal envelope; then, an adaptive threshold is calculated, and the time-domain autocorrelation signal envelope is detected using the adaptive threshold to obtain first pulse signal time-domain data; then, a rough parameter estimation is performed on the first pulse signal time-domain data containing the pulse signal, and pulse compression processing is performed on the pulse signal time-domain data to calculate the radar signal pulse repetition period. The first pulse signal time-domain data is used to obtain a second signal detection threshold; the second signal detection threshold is used to detect and estimate the parameters of the coherently accumulated and superimposed radar signal data to obtain an accurate estimation result of the radar signal parameters. The present invention achieves a high-precision estimation effect on low signal-to-noise ratio radar signal parameters. This technical solution exhibits high parameter estimation accuracy in a low signal-to-noise ratio environment and has significant application value.

[0004] However, it still has some shortcomings in actual use. For example, in actual applications, when multiple targets appear at the same time and the signal strengths vary greatly, the existing radar signal processing methods are often unable to accurately separate and identify weak target signals, making it difficult to effectively meet the needs of separating and tracking multiple target signals, and the applicability is relatively weak.

[0005] Existing radar signal processing methods lack an effective multi-target signal separation mechanism in the data analysis stage. In multi-target scenarios, it is difficult to cope with the mutual interference between multi-target signals, which leads to an increase in the false alarm rate and affects the accuracy of target detection. Summary of the Invention

[0006] 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, which are used to solve the problems raised in the above-mentioned background technology.

[0007] To achieve the above object, the present invention provides the following technical solution: a radar signal processing method, comprising the following steps:

[0008] Step S01: radar signal reception: used to receive radar raw signal data through a radar receiving antenna, pre-process the radar raw signal data through preliminary amplification and adaptive sampling, and output high-quality radar signal data.

[0009] Step S02: Radar signal enhancement: used to receive the high-quality radar signal data transmitted by the radar signal receiving 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 valid signal.

[0010] Step S03: Radar signal target detection: used to receive the effective signal transmitted by the radar signal enhancement step, extract features from the effective signal, and transmit the features to step S04: radar signal processing.

[0011] Step S04: radar signal target motion trajectory processing: used to receive the feature extraction set transmitted by the radar signal target detection step, track the target effective signal motion trajectory, and analyze to obtain the motion feature prediction value of the target effective signal.

[0012] Step S05: Radar signal mutual interference assessment: Based on the time domain sampling values ​​of the effective signals, the signal correlation evaluation index between the effective signals is calculated, and a hierarchical verification mechanism is performed on the interference signals.

[0013] Preferably, the step S01: receiving radar signals is specifically as follows:

[0014] S21: A high-performance radar signal receiving antenna is used to receive the radar raw signal data. The antenna is connected to a low-noise amplifier. If the radar raw signal data meets any weak signal judgment criteria, the radar raw signal is judged to be a weak signal, the gain of the low-noise amplifier is increased, and the weak received signal is initially amplified by the low-noise amplifier, making the radar raw signal easier to identify and process. The radar raw signal data is then transmitted to the adaptive sampling.

[0015] S22: The weak signal determination criteria are: the radar original signal data signal-to-noise ratio is lower than the set signal-to-noise ratio of the noise amplifier, the signal power of the radar original signal data is lower than the set receiver sensitivity of the noise amplifier, and the signal power of the radar original signal data is lower than the set noise floor of the noise amplifier;

[0016] S23: receiving the radar raw signal data that has been preliminarily amplified, and converting the radar raw signal data into a digital signal based on the adaptive sampling control circuit configured based on the analog-to-digital converter. When the radar signal strength is detected to be lower than a preset signal strength, the control circuit increases the sampling frequency. When the radar signal strength is detected to be higher than the preset signal strength, the control circuit decreases the sampling frequency.

[0017] S24: The digital signal enters noise suppression and signal normalization in sequence, and outputs high-quality radar signal data.

[0018] Preferably, the enhanced radar output signal is specifically:

[0019] S31: Perform multi-scale wavelet decomposition on the input high-quality radar signal data to 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;

[0020] S32: In the adaptive filtering scenario, the weight coefficient is continuously adjusted according to the characteristics of the signal. Based on the adaptive filtering algorithm, the signal value at the current moment and the value at the past n-1 moments are multiplied by the corresponding weight coefficient, and then these products are added together to obtain the radar output signal data after enhancement processing at the current moment.

[0021] Preferably, the screening out of effective signals specifically includes:

[0022] A signal strength threshold is set, and the signal strength value of the radar output signal data after enhancement processing at the current moment is obtained and compared with the set signal strength threshold. If the signal strength value is less than the set signal strength threshold, it is judged as noise or useless signal and is eliminated. If the signal strength value is greater than or equal to the set signal strength threshold, it is judged as a valid signal and is retained. The valid signal is transmitted to step S03: radar signal target detection.

[0023] Preferably, the step S03: radar signal target detection is specifically as follows:

[0024] S51: Extract features from valid signals, including calculating target distance by measuring the delay time of radar echo signals, calculating target speed by using Doppler frequency shift, and determining target orientation based on the beam pointing of the receiving antenna and the signal strength distribution, marked as feature extraction set , respectively represent the distance feature, velocity feature, and azimuth feature of the i-th effective signal;

[0025] S52: Convert the effective signal into a digital signal and collect the time domain sampling value of the effective signal, marked as .

[0026] Preferably, the step S04: radar signal target motion trajectory processing is specifically as follows:

[0027] S61: Obtain a feature extraction set as an 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;

[0028] S62: Using the Kalman filter algorithm to extract aggregate data from the distance, velocity, and azimuth characteristics of the target effective signal, the target effective signal's trajectory is tracked, the position at the next moment is predicted, and the position is compared and corrected with the actual received signal;

[0029] S63: Output the motion feature prediction value of the target effective signal, and send the motion feature prediction value to the visualization interface for display.

[0030] Preferably, the signal correlation evaluation index is calculated as:

[0031] Calculate the mean 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 .

[0032] Preferably, the step S05: evaluating the mutual interference of radar signals is specifically as follows:

[0033] S81: The hierarchical verification mechanism is:

[0034] Time domain interference determination:

[0035] Get the signal correlation evaluation index between valid signals. If the signal correlation evaluation index , it indicates strong correlated interference, and priority should be given to interference suppression measures. If , it indicates medium-correlated interference, and interference suppression measures should be taken. If , it indicates weakly correlated interference, and enters the frequency domain interference verification;

[0036] S82: Frequency Domain Interference Analysis:

[0037] Extract the useful signal power and interference signal power between the effective signals in the weakly correlated interference, and calculate the adjacent channel interference ratio between the effective signals in the weakly correlated interference;

[0038] Obtain the adjacent channel interference ratio between valid signals in 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 smaller than the preset adjacent channel interference ratio, it indicates that the relative strength of the interference signal of the valid signal is large, and the radar signal is interfered by adjacent frequency signals. Relevant personnel should be notified immediately to initiate countermeasures. Otherwise, it indicates that there is no adjacent frequency signal interference problem for the valid signal and the radar signal is normal.

[0039] Preferably, a radar signal processing device includes a memory, a processor, and a machine executable program stored in the memory and running on the processor, and the processor executes the machine executable program to implement any one of the radar signal processing methods described.

[0040] The technical effects and advantages of the present invention are as follows:

[0041] 1. The present invention provides a radar signal processing device and method. A radar receiving antenna receives raw radar signal data, pre-processes the raw 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 decompose it into high-quality radar signal data at different times. Signal enhancement processing based on an adaptive filtering algorithm is performed to obtain an enhanced radar output signal. A signal strength threshold is set, and the signal strength value of the enhanced radar output signal data at the current moment is obtained and compared with the set signal strength threshold. If the signal strength value is less than the set signal strength threshold, it is determined to be noise or useless signal and is eliminated. If the signal strength value is greater than or equal to the set signal strength threshold, it is determined to be a valid signal and is retained. Low-noise amplifier gain adaptive gain plus oversampling are used to ensure 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 strength. In low signal-to-noise ratio environments, the sampling rate can be increased to capture more detailed information, while in high signal-to-noise ratio conditions, the sampling rate can be reduced to save storage and computing resources.

[0042] 2. The present invention provides a radar signal processing device and method, which extracts features from effective signals, uses a Kalman filter algorithm to extract aggregate data from the distance features, speed features, and azimuth features 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 actual received signal, outputs the motion feature prediction value of the target effective signal, converts the effective signal into a digital signal, collects the time domain sampling value of the effective signal, calculates the signal correlation evaluation index between the effective signals, performs a hierarchical verification mechanism on the interference signal, and achieves more accurate target trajectory tracking through Kalman filter tracking. By converting the effective signal into a digital signal, the signal quality and feature extraction accuracy are improved. By collecting the time domain sampling value of the effective signal, the signal change characteristics 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 degree of correlation between signals can be quantitatively analyzed, the difference between the interference signal and the effective signal can be effectively identified, and the interference signal processing efficiency is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 The figure is a flow chart of a radar signal processing method according to the present invention. DETAILED DESCRIPTION

[0044] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0045] The step S01: radar signal reception: is used to receive radar raw signal data through a radar receiving antenna, pre-process the radar raw signal data through preliminary amplification and adaptive sampling, and output high-quality radar signal data.

[0046] In one possible design, step S01: receiving radar signals is specifically as follows:

[0047] S11: A high-performance radar signal receiving antenna is used to receive the radar raw signal data. The antenna is connected to a low-noise amplifier. If the radar raw signal data meets any weak signal judgment criteria, the radar raw signal is judged to be a weak signal, the gain of the low-noise amplifier is increased, and the weak received signal is preliminarily amplified by the low-noise amplifier, making the radar raw signal easier to identify and process. The radar raw signal data is then transmitted to the adaptive sampling.

[0048] S12: The weak signal determination criteria are: the radar original signal data signal-to-noise ratio is lower than the set signal-to-noise ratio of the noise amplifier, the signal power of the radar original signal data is lower than the set receiver sensitivity of the noise amplifier, and the signal power of the radar original signal data is lower than the set noise floor of the noise amplifier;

[0049] S13: receiving the radar raw signal data that has been preliminarily amplified, and converting the radar raw signal data into a digital signal based on the adaptive sampling control circuit configured based on the analog-to-digital converter. When the radar signal strength is detected to be lower than a preset signal strength, the control circuit increases the sampling frequency. When the radar signal strength is detected to be higher than the preset signal strength, the control circuit decreases the sampling frequency.

[0050] S14: The digital signal enters noise suppression and signal standardization in sequence, and outputs high-quality radar signal data.

[0051] Step S02: radar signal enhancement: receives the high-quality radar signal data transmitted in the radar signal receiving step, performs multi-scale wavelet decomposition on the input high-quality radar signal data to decompose it into high-quality radar signal data at different times, performs signal enhancement processing based on an adaptive filtering algorithm, obtains an enhanced radar output signal, and screens out a valid signal.

[0052] In one possible design, step S02: radar signal enhancement is specifically as follows:

[0053] S21: Perform multi-scale wavelet decomposition on the input high-quality radar signal data to 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;

[0054] S22: In the adaptive filtering scenario, the weight coefficient is continuously adjusted according to the characteristics of the signal. Based on the adaptive filtering algorithm, the signal value at the current moment and the values ​​at the past n-1 moments are multiplied by the corresponding weight coefficients, and these products are added together to obtain the radar output signal data after enhancement processing at the current moment.

[0055] S23: Set a signal strength threshold, obtain the signal strength value of the radar output signal data after enhancement processing at the current moment, and compare it with the set signal strength threshold. If the signal strength value is less than the set signal strength threshold, it is judged as noise or useless signal and is eliminated. If the signal strength value is greater than or equal to the set signal strength threshold, it is judged as a valid signal and is retained. The valid signal is transmitted to step S03: radar signal target detection.

[0056] In this embodiment, it should be specifically explained that the adaptive filtering algorithm is specifically:

[0057]

[0058] in, It is represented as the radar output signal after enhancement processing at time t, Expressed as the weight coefficient corresponding to time t, Represents the high-quality radar signal input at time t, It represents the value of the current input high-quality radar signal at time tk, and n represents the number of high-quality radar signal samples.

[0059] Specifically, Represented as 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 recursive least squares method is used to dynamically update the weight coefficient of the signal sample of each operation of the adaptive filter ; n represents the number of high-quality radar signal samples, which determines how many past moments the filter considers to calculate the output at the current moment. If n=5, it means that the filter will consider the input signal values ​​at the current moment t and the past four moments (t-1, t-2, t-3, t-4) to calculate .

[0060] The step S03: radar signal target detection is used to receive the effective signal transmitted in the radar signal enhancement step, extract features from the effective signal, and transmit the features to the step S04: radar signal processing.

[0061] In one possible design, step S03: radar signal target detection is specifically as follows:

[0062] S31: Extract features from valid signals, including calculating target distance by measuring the delay time of radar echo signals, calculating target speed by using Doppler frequency shift, and determining target orientation based on the beam pointing of the receiving antenna and the signal strength distribution. This is marked as a feature extraction set. , respectively represent the distance feature, velocity feature, and azimuth feature of the i-th effective signal.

[0063] S32: Convert the effective signal into a digital signal and collect the time domain sampling value of the effective signal, marked as .

[0064] 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 target effective signal motion trajectory, and analyze to obtain the motion feature prediction value of the target effective signal.

[0065] In a possible design, the step S04: radar signal target motion trajectory processing is specifically as follows:

[0066] S41: Obtain a feature extraction set as an 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;

[0067] S42: Using the Kalman filter algorithm to extract aggregate data from the distance, velocity, and azimuth characteristics of the target effective signal, the motion trajectory of the target effective signal is tracked, the position at the next moment is predicted, and the position is compared and corrected with the actual received signal;

[0068] S43: Output the motion feature prediction value of the target effective signal, and send the motion feature prediction value to the visualization interface for display.

[0069] The step S05: evaluating the mutual interference of radar signals: calculating the signal correlation evaluation index between the effective signals based on the time domain sampling values ​​of the effective signals, and performing a hierarchical verification mechanism for the interference signals.

[0070] In one possible design, step S05: evaluating the mutual interference of radar signals is specifically as follows:

[0071] S51: Calculate the mean 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 ;

[0072] S52: The hierarchical verification mechanism is:

[0073] Time domain interference determination:

[0074] Get the signal correlation evaluation index between valid signals. If the signal correlation evaluation index , it indicates strong correlated interference, and priority should be given to interference suppression measures. If , it indicates medium-correlated interference, and interference suppression measures should be taken. If , it indicates weakly correlated interference, and enters the frequency domain interference verification;

[0075] S53: Frequency Domain Interference Analysis:

[0076] Extract the useful signal power and interference signal power between the effective signals in the weakly correlated interference, and calculate the adjacent channel interference ratio between the effective signals in the weakly correlated interference;

[0077] Obtain the adjacent channel interference ratio between valid signals in 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 smaller than the preset adjacent channel interference ratio, it indicates that the relative strength of the interference signal of the valid signal is large, and the radar signal is interfered by adjacent frequency signals. Relevant personnel should be notified immediately to initiate countermeasures. Otherwise, it indicates that there is no adjacent frequency signal interference problem for the valid signal and the radar signal is normal.

[0078] In this embodiment, it should be specifically explained that the calculation formula of the signal correlation evaluation index is:

[0079] ,in, Expressed as the signal correlation evaluation index, 、 Respectively represent the time domain sampling values ​​of any two valid signals, 、 They are respectively represented as the mean of the time domain sampling values ​​of any two valid signals, and m represents the number of valid signals;

[0080] The calculation formula of the adjacent channel interference ratio is: ,in Expressed as the adjacent channel interference ratio of the i-th effective signal, Expressed as the useful signal power of the i-th effective signal, Expressed as the interference signal power of the i-th effective signal.

[0081] In this embodiment, it should be specifically explained that the present invention receives raw radar signal data via a radar receiving antenna, pre-processes the raw 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 decompose it into high-quality radar signal data at different times. Signal enhancement processing based on an adaptive filtering algorithm is performed to obtain an enhanced radar output signal. A signal strength threshold is set, and the signal strength value of the enhanced radar output signal data at the current moment is obtained and compared with the set signal strength threshold. If the signal strength value is less than the set signal strength threshold, it is determined to be noise or useless signal and is eliminated. If the signal strength value is greater than or equal to the set signal strength threshold, it is determined to be a valid signal and is retained. Adaptive gain and oversampling of a low-noise amplifier are used to ensure 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 strength. In low signal-to-noise ratio environments, the sampling rate can be increased to capture more detailed information, while in high signal-to-noise ratio conditions, the sampling rate can be reduced to save storage and computing resources.

[0082] The present invention extracts features from effective signals, uses a Kalman filter algorithm to extract aggregate data from the distance features, speed features, and azimuth features 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 actual received signal, outputs the motion feature prediction value of the target effective signal, converts the effective signal into a digital signal, collects the time domain sampling value of the effective signal, calculates the signal correlation evaluation index between the effective signals, performs a hierarchical verification mechanism on the interference signal, and achieves more accurate target trajectory tracking through Kalman filter tracking. By converting the effective signal into a digital signal, the signal quality and feature extraction accuracy are improved. By collecting the time domain sampling value of the effective signal, the signal change characteristics 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 degree of correlation between the signals can be quantitatively analyzed, the difference between the interference signal and the effective signal can be effectively identified, and the interference signal processing efficiency is improved.

[0083] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A radar signal processing method, characterized in that: include: Step S01: radar signal reception: used to receive radar raw signal data through a radar receiving antenna, pre-process the radar raw signal data through preliminary amplification and adaptive sampling, and output high-quality radar signal data; The step S01: receiving radar signals is specifically as follows: S21: A high-performance radar signal receiving antenna is used to receive the radar raw signal data. The antenna is connected to a low-noise amplifier. If the radar raw signal data meets any weak signal judgment criteria, the radar raw signal is judged to be a weak signal, the gain of the low-noise amplifier is increased, and the weak received signal is initially amplified by the low-noise amplifier, making the radar raw signal easier to identify and process. The radar raw signal data is then transmitted to the adaptive sampling. S22: The weak signal determination criteria are: the radar original signal data signal-to-noise ratio is lower than the set signal-to-noise ratio of the noise amplifier, the signal power of the radar original signal data is lower than the set receiver sensitivity of the noise amplifier, and the signal power of the radar original signal data is lower than the set noise floor of the noise amplifier; S23: receiving the radar raw signal data that has been preliminarily amplified, and converting the radar raw signal data into a digital signal based on the adaptive sampling control circuit configured based on the analog-to-digital converter. When the radar signal strength is detected to be lower than a preset signal strength, the control circuit increases the sampling frequency. When the radar signal strength is detected to be higher than the preset signal strength, the control circuit decreases the sampling frequency. S24: The digital signal is sequentially subjected to noise suppression and signal standardization to output high-quality radar signal data; Step S02: Radar signal enhancement: receiving the high-quality radar signal data transmitted in the radar signal receiving step, performing multi-scale wavelet decomposition on the input high-quality radar signal data to decompose it into high-quality radar signal data at different times, performing signal enhancement processing based on an adaptive filtering algorithm, obtaining an enhanced radar output signal, and screening out valid signals; The enhanced radar output signal is specifically: S31: Perform multi-scale wavelet decomposition on the input high-quality radar signal data to 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, the weight coefficient is continuously adjusted according to the characteristics of the signal. Based on the adaptive filtering algorithm, the signal value at the current moment and the values ​​at the past n-1 moments are multiplied by the corresponding weight coefficient, and these products are added together to obtain the radar output signal data after enhancement processing at the current moment. The adaptive filtering algorithm is specifically: in, It is represented as the radar output signal after enhancement processing at time t, Expressed as the weight coefficient corresponding to time t, Represents the high-quality radar signal input at time t, It represents the value of the current input high-quality radar signal at time tk, and n represents the number of high-quality radar signal samples; Specifically, Represented as 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 recursive least squares method is used to dynamically update the weight coefficient of the signal sample of each operation of the adaptive filter ; The specific method of screening out effective signals is as follows: Setting a signal strength threshold, obtaining the signal strength value of the radar output signal data after enhancement processing at the current moment, and comparing it with the set signal strength threshold. If the signal strength value is less than the set signal strength threshold, it is determined to be noise or useless signal and is eliminated. If the signal strength value is greater than or equal to the set signal strength threshold, it is determined to be a valid signal and is retained. The valid signal is transmitted to step S03: radar signal target detection; Step S03: radar signal target detection: used to receive the effective signal transmitted in the radar signal enhancement step, extract features from the effective signal, 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 target effective signal motion trajectory, and analyze to obtain the motion feature prediction value of the target effective signal; Step S05: Radar signal mutual interference assessment: Based on the time domain sampling values ​​of the effective signals, the signal correlation evaluation index between the effective signals is calculated, and a hierarchical verification mechanism is performed on the interference signals; The signal correlation evaluation index is calculated as: Calculate the mean 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 ; The step S05: evaluating the mutual interference of radar signals is specifically as follows: S81: The hierarchical verification mechanism is: Time domain interference determination: Get the signal correlation evaluation index between valid signals. If the signal correlation evaluation index , it indicates strong correlated interference, and priority should be given to interference suppression measures. If , it indicates medium-correlated interference, and interference suppression measures should be taken. If , it indicates weakly correlated interference, and enters the frequency domain interference verification; S82: Frequency Domain Interference Analysis: Extract the useful signal power and interference signal power between the effective signals in the weakly correlated interference, and calculate the adjacent channel interference ratio between the effective signals in the weakly correlated interference; Obtain the adjacent channel interference ratio between valid signals in 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 smaller than the preset adjacent channel interference ratio, it indicates that the relative strength of the interference signal of the valid signal is large, and the radar signal is interfered by adjacent frequency signals. Relevant personnel should be notified immediately to initiate countermeasures. Otherwise, it indicates that there is no adjacent frequency signal interference problem for the valid signal and the radar signal is normal.

2. The radar signal processing method according to claim 1, wherein: The step S03: radar signal target detection is specifically as follows: S51: Extract features from valid signals, including calculating target distance by measuring the delay time of radar echo signals, calculating target speed by using Doppler frequency shift, and determining target orientation based on the beam pointing of the receiving antenna and the signal strength distribution, marked as feature extraction set , respectively represent the distance feature, velocity feature, and azimuth feature of the i-th effective signal; S52: Convert the effective signal into a digital signal and collect the time domain sampling value of the effective signal, marked as .

3. The radar signal processing method according to claim 1, wherein: The step S04: radar signal target motion trajectory processing is specifically as follows: S61: Obtain a feature extraction set as an 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: Using the Kalman filter algorithm to extract aggregate data from the distance, velocity, and azimuth characteristics of the target effective signal, the target effective signal's trajectory is tracked, the position at the next moment is predicted, and the position is compared and corrected with the actual received signal; S63: Output the motion feature prediction value of the target effective signal, and send the motion feature prediction value to the visualization interface for display.

4. A radar signal processing device, characterized in that: The radar signal processing method comprises a memory, a processor, and a machine executable program stored in the memory and running on the processor, and the processor implements a radar signal processing method according to any one of claims 1 to 3 when executing the machine executable program.

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