Multi-target detection method and device, equipment and storage medium

Abstract

The invention discloses a multi-target detection method, device and equipment and a storage medium, and relates to the technical field of data processing, and the method comprises the steps: generating a current distance-Doppler information matrix according to a receiving signal of detection equipment; determining a current time-frequency signal according to the current distance-Doppler information matrix, and determining detection information of the first target object; performing orthogonal projection on the received signal on the current time-frequency signal, and generating a target distance-Doppler information matrix according to a target signal orthogonal to the current time-frequency signal; and determining detection information of the second target object according to the target distance-Doppler information matrix. Through the above mode, after the detection information of the first target object is obtained, the receiving signal is subjected to orthogonal projection on the current time-frequency signal, and the detection information of other target objects is determined according to the orthogonal target signal, so that the detection of multiple target objects can be realized, the multi-target detection capability in a multipath environment is improved, and the detection efficiency is improved. And the dependence on hardware is reduced.

Description

Technical Field

[0001] The present application relates to the field of data processing technology, and in particular to a multi-target detection method, apparatus, device, and storage medium. Background Art

[0002] Radar vital sign monitoring involves continuous, non-contact monitoring of a target's respiration, heart rate, and other parameters. Commonly used radars include, but are not limited to, millimeter-wave (MMW) radar, continuous-wave (CW) radar, and pulsed ultra-wideband (IR-UWB) radar. In real-world scenarios, reflected signals from multiple targets experience mutual interference and multipath effects, making multi-target detection highly dependent on hardware and systems. Detecting multiple targets typically requires increasing hardware freedom, such as multi-antenna arrays and multiple radars. Traditional methods cannot detect multiple targets when hardware resources are limited.

[0003] The above content is only used to assist in understanding the technical solution of this application and does not constitute an admission that the above content is prior art. Summary of the Invention

[0004] The main purpose of this application is to provide a multi-target detection method, device, equipment and storage medium, aiming to solve the technical problem that the existing technology cannot detect multiple target objects when hardware resources are limited.

[0005] To achieve the above objectives, the present application proposes a multi-target detection method, which includes: generating a current range-Doppler information matrix based on a received signal of a detection device; determining a current time-frequency signal of a first target object according to the current range-Doppler information matrix, and obtaining detection information of the first target object according to the current time-frequency signal; orthogonally projecting the received signal onto the current time-frequency signal, and generating a target range-Doppler information matrix according to a target signal orthogonal to the current time-frequency signal; Detection information of a second target object is determined according to the target range-Doppler information matrix.

[0006] In one embodiment, the step of determining a current time-frequency signal of the first target object according to the current range-Doppler information matrix, and obtaining detection information of the first target object according to the current time-frequency signal includes: Obtaining a cell index of the current range-Doppler information matrix according to the energy target value; Based on a target search algorithm, searching for a first target object in the current range-Doppler information matrix according to the cell index and the index of the first target object; determining a current time-frequency signal of the first target object according to the current range-Doppler information matrix; A detection information extraction dimension is determined, and target information is extracted from the current time-frequency signal according to the detection information extraction dimension to obtain detection information of the first target object.

[0007] In one embodiment, the step of performing an orthogonal projection of the received signal on the current time-frequency signal and generating a target range-Doppler information matrix based on a target signal orthogonal to the current time-frequency signal includes: The step of performing orthogonal projection of the received signal on the current time-frequency signal and generating a target range-Doppler information matrix according to a target signal orthogonal to the current time-frequency signal comprises: orthogonally projecting the received signal onto the current time-frequency signal according to a target projection matrix to obtain a target signal orthogonal to the current time-frequency signal; A target range-Doppler information matrix is generated according to the target signal orthogonal to the current time-frequency signal.

[0008] In one embodiment, the step of performing orthogonal projection of the received signal on the current time-frequency signal according to a target projection matrix to obtain a target signal orthogonal to the current time-frequency signal includes: Determine the conjugate transpose; generating a target projection matrix according to the conjugate transpose and the current time-frequency signal; Performing orthogonal projection of the received signal on the current time-frequency signal according to the target projection matrix; A target signal orthogonal to the current time-frequency signal is obtained according to the orthogonal projection signal and the received signal.

[0009] In one embodiment, the step of determining the detection information of the second target object according to the target range-Doppler information matrix includes: Based on a target search algorithm, searching for a second target object in the target range-Doppler information matrix according to a cell index and an index of the second target object; Determine the time-frequency signal in the subspace according to the target range-Doppler information matrix; Target information is extracted from the time-frequency signal in the subspace according to the detection information extraction dimension to obtain detection information of the second target object.

[0010] In one embodiment, after the step of determining the detection information of the second target object according to the target range-Doppler information matrix, the method further includes: generating a current detection information matrix according to the detection information of the first target object and the detection information of the second target object; Normalizing the current detection information matrix to obtain a target detection information matrix; Predicting a risk matrix corresponding to the target detection information matrix based on a risk prediction model; When there are abnormal values in the risk matrix, an early warning is issued to the target object corresponding to the abnormal value.

[0011] In one embodiment, the step of generating a current range-Doppler information matrix based on a received signal of the detection device includes: Performing a Fourier transform of the first time dimension on the received signal of the detection device to obtain a range image matrix; performing a Fourier transform of a second time dimension on a received signal of the detection device; Perform spectrum centering on the transformed received signal to obtain current spectrum information; A current range-Doppler information matrix is generated according to the range image matrix and the current spectrum information.

[0012] In addition, to achieve the above objectives, the present application also proposes a multi-target detection device, which includes: A generating module, configured to generate a current range-Doppler information matrix based on a received signal of a detection device; a determination module, configured to determine a current time-frequency signal of a first target object according to the current range-Doppler information matrix, and obtain detection information of the first target object according to the current time-frequency signal; an orthogonal projection module, configured to perform an orthogonal projection of the received signal on the current time-frequency signal, and generate a target range-Doppler information matrix based on a target signal orthogonal to the current time-frequency signal; The determination module is further configured to determine detection information of a second target object according to the target range-Doppler information matrix.

[0013] In addition, to achieve the above-mentioned purpose, the present application also proposes a multi-target detection device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the multi-target detection method as described above.

[0014] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the multi-target detection method described above are implemented.

[0015] One or more technical solutions proposed in this application have at least the following technical effects: generating a current range-Doppler information matrix based on the received signal of the detection device; determining the current time-frequency signal of the first target object based on the current range-Doppler information matrix, and obtaining the detection information of the first target object based on the current time-frequency signal; orthogonally projecting the received signal on the current time-frequency signal, and generating a target range-Doppler information matrix based on the target signal orthogonal to the current time-frequency signal; and determining the detection information of the second target object based on the target range-Doppler information matrix. Through the above method, after obtaining the detection information of the first target object based on the received signal of the detection device, orthogonally projecting the received signal on the current time-frequency signal, and then determining the detection information of other target objects based on the target signal orthogonal to the current time-frequency signal, it is possible to detect multiple target objects, improve the multi-target detection capability in a multipath environment, and reduce the dependence on hardware. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0018] Figure 1 A flowchart of the first embodiment of the multi-target detection method of this application is provided; Figure 2 A flowchart of the second embodiment of the multi-target detection method of this application is provided; Figure 3 This is a schematic diagram of the module structure of the multi-target detection device according to an embodiment of the present application; Figure 4 Schematic diagram of the device structure of the hardware operating environment involved in the multi-target detection method in the embodiment of the present application.

[0019] The purpose, features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0020] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, mobile phone, etc., or an electronic device capable of implementing the above functions, a multi-target detection device, etc. The following uses the multi-target detection device as an example to illustrate this embodiment and the following embodiments.

[0021] Based on this, the present invention provides a multi-target detection method. Figure 1 , Figure 1 This is a flowchart of the first embodiment of the multi-target detection method of this application.

[0022] In this embodiment, the multi-target detection method includes steps S10 to S40: Step S10: generating a current range-Doppler information matrix according to the received signal of the detection device.

[0023] It should be noted that the detection device refers to a device that performs multi-target detection in a multipath environment. The detection device can be a radar. The number of target objects for multi-target detection is greater than or equal to 2, for example, a first target object and a second target object. The current range-Doppler information matrix can represent multiple dimensions of information, such as distance, speed, and frequency, where the range-Doppler information matrix can be expressed as range-dopper.

[0024] Furthermore, step S10 includes: performing a Fourier transform of a first time dimension on a received signal of the detection device to obtain a range image matrix; performing a Fourier transform of a second time dimension on the received signal of the detection device; performing spectral centering on the transformed received signal to obtain current spectrum information; and generating a current range-Doppler information matrix based on the range image matrix and the current spectrum information.

[0025] It should be understood that after obtaining the receiving signal of the detection device, the receiving signal is Fourier transformed in different time dimensions, where the first time dimension can be a fast time dimension and the second time dimension can be a slow time dimension. In order to move the zero-frequency component of the Doppler spectrum to the center to facilitate the observation of positive and negative velocity components, after the Fourier transform of the second time dimension, the spectrum of the transformed receiving signal will also be centered, that is, the positive frequency indicates that the target object is close to the detection device, and the negative frequency indicates that it is far away from the detection device. Then, the current distance-Doppler information matrix is generated by combining the range image matrix and the current spectrum information.

[0026] Step S20 : determining a current time-frequency signal of the first target object according to the current range-Doppler information matrix, and obtaining detection information of the first target object according to the current time-frequency signal.

[0027] It can be understood that the first target object refers to the first target object to be detected, and the current time-frequency signal refers to the time-frequency signal that changes with time.

[0028] Furthermore, step S20 includes: obtaining a cell index of the current range-Doppler information matrix through an energy target value; searching for a first target object in the current range-Doppler information matrix according to the cell index and the index of the first target object based on a target search algorithm; determining a current time-frequency signal of the first target object according to the current range-Doppler information matrix; determining a detection information extraction dimension, and performing target information extraction on the current time-frequency signal according to the detection information extraction dimension to obtain detection information of the first target object.

[0029] It should be understood that the energy target value can be the maximum energy value. After determining the energy target value, the unit index of the current range-Doppler information matrix is obtained through the energy target value. When performing multi-target detection, it is necessary to determine the object to be detected, for example, the first target object. Based on the target search algorithm, the first target object is searched in the current range-Doppler information matrix according to the matching of the unit index and the index of the first target object. At this time, the single attribute information of the first target object can be traversed from the current range-Doppler information matrix, and the current time-frequency signal of the first target object can be constructed based on the single attribute information.

[0030] Step S30: performing orthogonal projection on the received signal on the current time-frequency signal, and generating a target range-Doppler information matrix according to a target signal orthogonal to the current time-frequency signal.

[0031] It should be understood that in order to enable the detection device to detect multiple target objects when the number of array elements is limited, the received signal is processed by orthogonal projection, that is, the received signal is orthogonally projected onto the time-frequency signal. The target range-Doppler information matrix refers to the range-Doppler information matrix for multi-target detection in the time-frequency signal within the subspace.

[0032] Step S40: determining detection information of a second target object according to the target range-Doppler information matrix.

[0033] It will be understood that the second target object refers to the target object remaining after the first detection. The target range-Doppler information matrix can be generated based on the target signal orthogonal to the received signal. The detection information of the second target object can have the same dimensions as the detection information of the first target object. If there are other target objects that need to be detected, the above steps are repeated until all target objects have been detected.

[0034] Furthermore, step S40 includes: based on the target search algorithm, searching for the second target object in the target range-Doppler information matrix according to the unit index and the index of the second target object; determining the time-frequency signal in the subspace according to the target range-Doppler information matrix; performing target information extraction on the time-frequency signal in the subspace according to the detection information extraction dimension to obtain detection information of the second target object.

[0035] It should be understood that since this embodiment targets the detection of multiple targets, after detecting the first target, it is necessary to search for the second target within the target range-Doppler information matrix using an index. Similarly, after traversing the single attribute information of the second target, the time-frequency signal within the subspace is determined, and then the detection information of the second target is extracted from the time-frequency signal within the subspace, thereby improving the multi-target detection capability in a multipath environment and reducing the dependence on hardware.

[0036] Furthermore, after the step of determining the detection information of the second target object based on the target range-Doppler information matrix, the method further includes: generating a current detection information matrix based on the detection information of the first target object and the detection information of the second target object; normalizing the current detection information matrix to obtain a target detection information matrix; predicting a risk matrix corresponding to the target detection information matrix based on a risk prediction model; and when there are abnormal values in the risk matrix, issuing an early warning to the target object corresponding to the abnormal values.

[0037] It should be understood that in order to effectively improve the accuracy and efficiency of warning risks, after generating the current detection information matrix based on the detection information of the first target object and the detection information of the second target object, the current detection information matrix is normalized into the target detection information matrix to improve the robustness and accuracy of the risk prediction model.

[0038] It can be understood that the risk prediction model refers to a model that predicts the risk value corresponding to the detection information of the target object. After determining the target detection information matrix, the target detection information matrix is input into the risk prediction model, and the risk prediction model outputs the risk matrix corresponding to the target detection information matrix, wherein the risk matrix includes but is not limited to respiratory data, heart rate data, etc. After the risk prediction model predicts the risk matrix, each data in the risk matrix is traversed, and it is determined whether there are abnormal values in the risk matrix based on the traversal results. If so, it indicates that the user's heart rate is too high, breathing is rapid, etc. At this time, it is necessary to warn the target object corresponding to the abnormal value. For example, if the second target object is breathing rapidly, an alarm prompt message needs to be played.

[0039] This embodiment generates a current range-Doppler information matrix based on the received signal of the detection device; determines the current time-frequency signal of the first target object based on the current range-Doppler information matrix, and obtains the detection information of the first target object based on the current time-frequency signal; orthogonally projects the received signal on the current time-frequency signal, and generates a target range-Doppler information matrix based on the target signal orthogonal to the current time-frequency signal; and determines the detection information of the second target object based on the target range-Doppler information matrix. Through the above method, after obtaining the detection information of the first target object based on the received signal of the detection device, orthogonally projects the received signal on the current time-frequency signal, and then determines the detection information of other target objects based on the target signal orthogonal to the current time-frequency signal, thereby enabling the detection of multiple target objects, improving the multi-target detection capability in a multipath environment, and reducing the dependence on hardware.

[0040] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above embodiment 1 can be referred to the above introduction and will not be described in detail later. Figure 2 Step S30 includes steps S301 to S302: Step S301 : performing orthogonal projection on the received signal on the current time-frequency signal according to a target projection matrix to obtain a target signal orthogonal to the current time-frequency signal.

[0041] It should be noted that the target projection matrix refers to the matrix for orthogonal projection, and the target signal refers to the signal that has an orthogonal relationship with the current time-frequency signal of the first target object. After determining the current time-frequency signal of the first target object, the received signal is orthogonally projected according to the target projection matrix.

[0042] Furthermore, step S301 includes: determining a conjugate transpose; generating a target projection matrix based on the conjugate transpose and the current time-frequency signal; orthogonally projecting the received signal onto the current time-frequency signal based on the target projection matrix; and obtaining a target signal orthogonal to the current time-frequency signal based on the orthogonal projection signal and the received signal.

[0043] It should be understood that after determining the conjugate transpose, the target projection matrix is generated in combination with the current time-frequency signal, which is specifically expressed as: .

[0044] in, represents the target projection matrix, represents the current time-frequency signal, represents the conjugate transpose.

[0045] It can be understood that after the target projection matrix is generated, the received signal is orthogonally projected onto the current time-frequency signal according to the target projection matrix, which is specifically expressed as: .

[0046] in, Represents the orthogonal projection signal of the received signal on the current time-frequency signal, represents the target projection matrix, Indicates receiving a signal.

[0047] It should be understood that after obtaining the orthogonal projection signal, a difference calculation is performed between the received signal and the orthogonal projection signal to obtain a target signal orthogonal to the current time-frequency signal of the first target object, which is specifically expressed as: .

[0048] in, represents the target signal orthogonal to the received signal, Indicates receiving signal, Represents the orthogonal projection signal of the received signal on the current time-frequency signal.

[0049] Step S302: Generate a target range-Doppler information matrix according to the target signal orthogonal to the current time-frequency signal.

[0050] It can be understood that the target range-Doppler information matrix refers to the range-Doppler information matrix for multi-target detection in the time-frequency signal in the subspace. After obtaining the target signal orthogonal to the received signal, the target range-Doppler information matrix is generated by combining Fourier transform and spectrum centering.

[0051] In this embodiment, the received signal is orthogonally projected onto the current time-frequency signal based on a target projection matrix to obtain a target signal orthogonal to the current time-frequency signal; and a target range-Doppler information matrix is generated based on the target signal orthogonal to the current time-frequency signal. Through the above method, after generating the target projection matrix based on the conjugate transpose and the current time-frequency signal, the received signal is orthogonally projected based on the target projection matrix, and a target range-Doppler information matrix is generated based on the target signal orthogonal to the current time-frequency signal. This effectively improves the efficiency of generating the target range-Doppler information matrix, thereby achieving the purpose of overcoming multipath effects.

[0052] This application also provides a multi-target detection device, please refer to Figure 3 , the multi-target detection device comprises: The generating module 10 is configured to generate a current range-Doppler information matrix according to a received signal of the detection device.

[0053] The determination module 20 is configured to determine a current time-frequency signal of the first target object according to the current range-Doppler information matrix, and obtain detection information of the first target object according to the current time-frequency signal.

[0054] The orthogonal projection module 30 is configured to perform orthogonal projection on the received signal on the current time-frequency signal, and generate a target range-Doppler information matrix according to a target signal orthogonal to the current time-frequency signal.

[0055] The determination module 20 is further configured to determine detection information of a second target object according to the target range-Doppler information matrix.

[0056] This embodiment generates a current range-Doppler information matrix based on the received signal of the detection device; determines the current time-frequency signal of the first target object based on the current range-Doppler information matrix, and obtains the detection information of the first target object based on the current time-frequency signal; orthogonally projects the received signal on the current time-frequency signal, and generates a target range-Doppler information matrix based on the target signal orthogonal to the current time-frequency signal; and determines the detection information of the second target object based on the target range-Doppler information matrix. Through the above method, after obtaining the detection information of the first target object based on the received signal of the detection device, orthogonally projects the received signal on the current time-frequency signal, and then determines the detection information of other target objects based on the target signal orthogonal to the current time-frequency signal, thereby enabling the detection of multiple target objects, improving the multi-target detection capability in a multipath environment, and reducing the dependence on hardware.

[0057] The multi-target detection device provided in this application, utilizing the multi-target detection method described in the aforementioned embodiments, can address the technical issue of existing technologies being unable to detect multiple targets when hardware resources are limited. Compared to existing technologies, the multi-target detection device provided in this application achieves the same beneficial effects as the multi-target detection method described in the aforementioned embodiments. Other technical features of the multi-target detection device are the same as those disclosed in the aforementioned embodiments and are not further elaborated upon here.

[0058] In one embodiment, the generation module 10 is further used to perform a Fourier transform of a first time dimension on a received signal of the detection device to obtain a range image matrix; perform a Fourier transform of a second time dimension on the received signal of the detection device; perform spectral centering on the transformed received signal to obtain current spectrum information; and generate a current range-Doppler information matrix based on the range image matrix and the current spectrum information.

[0059] In one embodiment, the determination module 20 is further used to obtain a cell index of the current range-Doppler information matrix through an energy target value; based on a target search algorithm, search for a first target object in the current range-Doppler information matrix according to the cell index and the index of the first target object; determine a current time-frequency signal of the first target object according to the current range-Doppler information matrix; determine a detection information extraction dimension, and perform target information extraction on the current time-frequency signal according to the detection information extraction dimension to obtain detection information of the first target object.

[0060] In one embodiment, the determination module 20 is further used to search for the second target object in the target range-Doppler information matrix based on the target search algorithm according to the unit index and the index of the second target object; determine the time-frequency signal in the subspace according to the target range-Doppler information matrix; and extract target information from the time-frequency signal in the subspace according to the detection information extraction dimension to obtain detection information of the second target object.

[0061] In one embodiment, the determination module 20 is also used to generate a current detection information matrix based on the detection information of the first target object and the detection information of the second target object; normalize the current detection information matrix to obtain a target detection information matrix; predict the risk matrix corresponding to the target detection information matrix based on a risk prediction model; when there are abnormal values in the risk matrix, issue an early warning to the target object corresponding to the abnormal value.

[0062] In one embodiment, the orthogonal projection module 30 is further used to perform orthogonal projection on the received signal on the current time-frequency signal according to the target projection matrix to obtain a target signal orthogonal to the current time-frequency signal; and generate a target range-Doppler information matrix based on the target signal orthogonal to the current time-frequency signal.

[0063] In one embodiment, the orthogonal projection module 30 is further used to determine a conjugate transpose; generate a target projection matrix based on the conjugate transpose and the current time-frequency signal; perform an orthogonal projection on the received signal on the current time-frequency signal based on the target projection matrix; and obtain a target signal orthogonal to the current time-frequency signal based on the orthogonal projection signal and the received signal.

[0064] The present application provides a multi-target detection device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the multi-target detection method in the above-mentioned embodiment 1.

[0065] Reference below Figure 4, which shows a schematic diagram of the structure of a multi-target detection device suitable for implementing the embodiments of the present application. The multi-target detection device in the embodiments of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), in-vehicle terminals (such as in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 4 The multi-target detection device shown is only an example and should not limit the functions and scope of use of the embodiments of the present application.

[0066] like Figure 4 As shown, the multi-target detection device may include a processing device 1001 (e.g., a central processing unit, graphics processing unit, etc.), which can perform various appropriate actions and processes based on programs stored in ROM (Read Only Memory) 1002 or programs loaded from storage device 1003 into RAM (Random Access Memory) 1004. RAM 1004 also stores various programs and data required for the operation of the multi-target detection device. Processing device 1001, ROM 1002, and RAM 1004 are interconnected via bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input device 1007, such as a touch screen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output device 1008, such as a liquid crystal display (LCD), speaker, vibrator, etc.; storage device 1003, such as a magnetic tape or hard disk; and communication device 1009. Communication device 1009 can allow the multi-target detection device to communicate wirelessly or wired with other devices to exchange data. Although the figure shows a multi-target detection device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or provided instead.

[0067] In particular, according to the embodiments disclosed herein, the processes described above with reference to the flowcharts can be implemented as computer software programs. The computer programs contain program code for executing the methods shown in the flowcharts. In such embodiments, the computer programs can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer programs are executed by processing device 1001, the above-described functions defined in the methods of the embodiments disclosed herein are performed.

[0068] The multi-target detection device provided in this application, utilizing the multi-target detection method described in the aforementioned embodiments, can address the technical issue of existing technologies being unable to detect multiple targets when hardware resources are limited. Compared to existing technologies, the multi-target detection device provided in this application achieves the same beneficial effects as the multi-target detection method described in the aforementioned embodiments. Other technical features of the multi-target detection device are the same as those disclosed in the aforementioned embodiments and are not further elaborated upon here.

[0069] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0070] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0071] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, a computer program) stored thereon, the computer-readable program instructions being used to execute the multi-target detection method in the above-mentioned embodiment.

[0072] The computer-readable storage medium provided herein may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems, or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including, but not limited to, wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0073] The computer-readable storage medium may be included in the multi-target detection device, or may exist independently without being incorporated into the multi-target detection device.

[0074] Computer program code for performing the operations of the present application may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages such as Java, Smalltalk, C++, and conventional procedural programming languages such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0075] The flow charts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems and methods according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, program segment, or a part of code, and the module, program segment, or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0076] The modules described in the embodiments of the present application may be implemented in software or hardware, wherein the name of a module does not necessarily limit the unit itself.

[0077] The computer-readable storage medium provided in this application stores computer-readable program instructions (i.e., a computer program) for executing the multi-target detection method described above. This computer-readable storage medium can address the technical problem of the prior art being unable to detect multiple targets when hardware resources are limited. Compared to the prior art, the beneficial effects of the computer-readable storage medium provided in this application are similar to those of the multi-target detection method provided in the aforementioned embodiments and are not further elaborated here.

[0078] The above description is only part of the embodiments of the present application and does not limit the patent scope of the present application. All equivalent structural transformations made by using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A multi-target detection method, characterized in that: The method comprises: generating a current range-Doppler information matrix based on a received signal of a detection device; determining a current time-frequency signal of a first target object according to the current range-Doppler information matrix, and obtaining detection information of the first target object according to the current time-frequency signal; orthogonally projecting the received signal onto the current time-frequency signal, and generating a target range-Doppler information matrix according to a target signal orthogonal to the current time-frequency signal; Detection information of a second target object is determined according to the target range-Doppler information matrix.

2. The method according to claim 1, wherein The step of determining a current time-frequency signal of the first target object according to the current range-Doppler information matrix, and obtaining detection information of the first target object according to the current time-frequency signal includes: Obtaining a cell index of the current range-Doppler information matrix according to the energy target value; Based on a target search algorithm, searching for a first target object in the current range-Doppler information matrix according to the cell index and the index of the first target object; determining a current time-frequency signal of the first target object according to the current range-Doppler information matrix; A detection information extraction dimension is determined, and target information is extracted from the current time-frequency signal according to the detection information extraction dimension to obtain detection information of the first target object.

3. The method according to claim 1, wherein The step of performing orthogonal projection of the received signal on the current time-frequency signal and generating a target range-Doppler information matrix according to a target signal orthogonal to the current time-frequency signal comprises: orthogonally projecting the received signal onto the current time-frequency signal according to a target projection matrix to obtain a target signal orthogonal to the current time-frequency signal; A target range-Doppler information matrix is generated according to the target signal orthogonal to the current time-frequency signal.

4. The method according to claim 3, wherein The step of performing orthogonal projection of the received signal on the current time-frequency signal according to the target projection matrix to obtain a target signal orthogonal to the current time-frequency signal includes: Determine the conjugate transpose; generating a target projection matrix according to the conjugate transpose and the current time-frequency signal; Performing orthogonal projection of the received signal on the current time-frequency signal according to the target projection matrix; A target signal orthogonal to the current time-frequency signal is obtained according to the orthogonal projection signal and the received signal.

5. The method according to claim 1, wherein The step of determining the detection information of the second target object according to the target range-Doppler information matrix includes: Based on a target search algorithm, searching for a second target object in the target range-Doppler information matrix according to a cell index and an index of the second target object; Determine the time-frequency signal in the subspace according to the target range-Doppler information matrix; Target information is extracted from the time-frequency signal in the subspace according to the detection information extraction dimension to obtain detection information of the second target object.

6. The method according to any one of claims 1 to 5, characterized in that After the step of determining the detection information of the second target object according to the target range-Doppler information matrix, the method further includes: generating a current detection information matrix according to the detection information of the first target object and the detection information of the second target object; Normalizing the current detection information matrix to obtain a target detection information matrix; Predicting a risk matrix corresponding to the target detection information matrix based on a risk prediction model; When there are abnormal values in the risk matrix, an early warning is issued to the target object corresponding to the abnormal value.

7. The method according to claim 1, wherein The step of generating a current range-Doppler information matrix according to the received signal of the detection device includes: Performing a Fourier transform of the first time dimension on the received signal of the detection device to obtain a range image matrix; performing a Fourier transform of a second time dimension on a received signal of the detection device; Perform spectrum centering on the transformed received signal to obtain current spectrum information; A current range-Doppler information matrix is generated according to the range image matrix and the current spectrum information.

8. A multi-target detection device, characterized in that: The device comprises: A generating module, configured to generate a current range-Doppler information matrix based on a received signal of a detection device; a determination module, configured to determine a current time-frequency signal of a first target object according to the current range-Doppler information matrix, and obtain detection information of the first target object according to the current time-frequency signal; an orthogonal projection module, configured to perform an orthogonal projection of the received signal on the current time-frequency signal, and generate a target range-Doppler information matrix based on a target signal orthogonal to the current time-frequency signal; The determination module is further configured to determine detection information of a second target object according to the target range-Doppler information matrix.

9. A multi-target detection device, characterized in that: The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the multi-target detection method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the multi-target detection method according to any one of claims 1 to 7 are implemented.

Images