A radar-free data extraction method, device, equipment and medium

Abstract

The application discloses a radar data extraction method and device, equipment and medium, and relates to the technical field of data extraction. The method uses the characteristics of radar data, classifies and displays data through a UI interface, and quickly extracts targets by using characteristic values. Meanwhile, the workload can be effectively reduced. The method can extract targets from 100,000 or 1,000,000 frames of data, and the time is shortened from one day or more to only a few minutes. In addition, the method improves the accuracy of extracted data.

Description

Technical Field

[0001] This invention relates to the field of data extraction technology, and in particular to a method, apparatus, equipment and medium for extracting radar-free data based on the visual multi-dimensional representation of original radar target data. Background Technology

[0002] Anti-drone radar monitors the position, speed, altitude, and other information of aerial drones in real time by transmitting and receiving electromagnetic wave signals. After receiving the electromagnetic wave signals, the radar system processes them through a DSP and converts them into digital signals. This data contains numerous false targets, clutter signals, and other data, ranging from hundreds of thousands to millions of data points. This makes it difficult to quickly and completely extract target points during subsequent data analysis.

[0003] During the commissioning of anti-navigation radar, accurate target data extraction is crucial for evaluating radar performance, optimizing parameters, and subsequent data analysis. However, target extraction during anti-navigation radar commissioning faces the following challenges:

[0004] 1. The raw radar data contains a large amount of noise and clutter signals. These interference signals can mask the target echo, making it more difficult to accurately identify and extract the target from the massive amount of data.

[0005] 2. Different models of UAVs have significantly different target characteristics, and their echo features are complex and varied. Traditional manual target extraction methods are difficult to adapt to the diverse target features, resulting in insufficient accuracy and completeness of the extracted targets.

[0006] 3. The real-time requirements cannot be met during the debugging process. The existing data extraction methods are too complex to meet the need to quickly obtain target data from massive amounts of data.

[0007] It is evident that existing data extraction methods often employ single feature extraction and manual screening, which has the following drawbacks:

[0008] 1. The data volume is large, and the extraction is difficult.

[0009] 2. Insufficient data extraction completeness.

[0010] 3. It takes a long time and cannot meet the need for quickly obtaining the target. Summary of the Invention

[0011] In view of the above problems, the present invention provides a method, apparatus, device and medium for extracting radar-free data to overcome or at least partially solve the above problems.

[0012] This invention provides the following solution:

[0013] A method for extracting radar-free data includes:

[0014] Acquire raw data from the radar-free system, including frame number, range, azimuth, and Doppler readings;

[0015] The first frame number and distance graph, the first frame number and azimuth graph, the first frame number and Doppler graph, and the first azimuth and distance graph are constructed using the original data.

[0016] By using the first frame number and azimuth graph, data that differs from the predicted azimuth is removed, and the first frame number and distance graph, the first frame number and azimuth graph, the first frame number and Doppler graph, and the first azimuth and distance graph are updated to obtain the second frame number and distance graph, the second frame number and azimuth graph, the second frame number and Doppler graph, and the second azimuth and distance graph.

[0017] By using the second frame number and Doppler pattern, data that differs from the target motion Doppler are removed, and the second frame number and distance pattern, the second frame number and orientation pattern, the second frame number and Doppler pattern, and the second orientation and distance pattern are updated to obtain the third frame number and distance pattern, the third frame number and orientation pattern, the third frame number and Doppler pattern, and the third orientation and distance pattern.

[0018] By using the third frame number and distance graph, data that differs from the target's motion trajectory is removed, and the third frame number and distance graph, the third frame number and orientation graph, the third frame number and Doppler graph, and the third orientation and distance graph are updated to obtain the target frame number and distance graph, the target frame number and orientation graph, the target frame number and Doppler graph, and the target orientation and distance graph.

[0019] Preferably: Eliminating data with locations different from the predicted locations using the first frame number and the orientation map includes:

[0020] Delete all data between 0-20° and 30°-360°.

[0021] Preferably: Eliminating data that differs from the target motion Doppler using the second frame number and Doppler pattern includes:

[0022] Delete the data corresponding to Doppler velocity values ​​10-15 and 105-110, and delete the data corresponding to other Doppler velocity values.

[0023] Preferably, the process of eliminating data that differs from the target motion trajectory using the third frame number and distance graph includes:

[0024] Delete data where the frame number and distance data are inconsistent.

[0025] Preferably, the raw data of the anti-radar system is obtained from memory.

[0026] A radar-free data extraction device is used to perform the above-described radar-free data extraction method, the device comprising:

[0027] The data acquisition unit is used to acquire raw data from the anti-radar system, including frame number, range, azimuth, and Doppler.

[0028] The graph construction unit is used to construct, through the original data, a first frame number and distance graph, a first frame number and orientation graph, a first frame number and Doppler graph, and a first orientation and distance graph.

[0029] The frame number and orientation extraction unit is used to remove data that is different from the predicted orientation through the first frame number and orientation graphic, and update the first frame number and distance graphic, the first frame number and orientation graphic, the first frame number and Doppler graphic, and the first orientation and distance graphic to obtain the second frame number and distance graphic, the second frame number and orientation graphic, the second frame number and Doppler graphic, and the second orientation and distance graphic.

[0030] The frame number and Doppler extraction unit is used to remove data that is different from the target motion Doppler by using the second frame number and Doppler image, and update the second frame number and distance image, the second frame number and orientation image, the second frame number and Doppler image, and the second orientation and distance image to obtain the third frame number and distance image, the third frame number and orientation image, the third frame number and Doppler image, and the third orientation and distance image.

[0031] The frame number and distance extraction unit is used to remove data that is different from the target motion trajectory through the third frame number and distance graphic, and update the third frame number and distance graphic, the third frame number and orientation graphic, the third frame number and Doppler graphic, and the third orientation and distance graphic to obtain the target frame number and distance graphic, the target frame number and orientation graphic, the target frame number and Doppler graphic, and the target orientation and distance graphic.

[0032] A radar-free data extraction device, the device comprising a processor and a memory:

[0033] The memory is used to store program code and transmit the program code to the processor;

[0034] The processor is used to execute the above-described anti-radar-free data extraction method according to the instructions in the program code.

[0035] A computer-readable storage medium for storing program code for executing the above-described anti-radar-free data extraction method.

[0036] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0037] This application provides a method, apparatus, device, and medium for extracting radar-free data. It utilizes the characteristics of radar data, classifies and displays the data through a UI interface, and quickly extracts targets using feature values. Simultaneously, it effectively reduces workload; this method can extract targets from hundreds of thousands or millions of frames of data, shortening the extraction time from a day or more to just a few minutes. Furthermore, this method improves the accuracy of data extraction.

[0038] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0040] Figure 1 This is a flowchart of a radar-free data extraction method provided in an embodiment of the present invention;

[0041] Figure 2 This is a layout diagram of the data extraction software interface provided in an embodiment of the present invention;

[0042] Figure 3 This is a data extraction flowchart provided in an embodiment of the present invention;

[0043] Figure 4 This is a schematic diagram of the first frame number and distance pattern a1, the first frame number and orientation pattern b1, the first frame number and Doppler pattern c1, and the first orientation and distance pattern d1 provided in the embodiments of the present invention;

[0044] Figure 5 This is a schematic diagram comparing the first frame number and orientation graphic before processing with the second frame number and orientation graphic after processing, provided in an embodiment of the present invention.

[0045] Figure 6 This is a schematic diagram of the second frame number and distance pattern a2, the second frame number and orientation pattern b2, the second frame number and Doppler pattern c2, and the second orientation and distance pattern d2 provided in the embodiments of the present invention;

[0046] Figure 7 This is a schematic diagram illustrating the relationship between frame number and Doppler image provided in an embodiment of the present invention;

[0047] Figure 8 This is a schematic diagram of the Doppler value deletion region provided in an embodiment of the present invention;

[0048] Figure 9 This is a schematic diagram of the third frame number and distance pattern a3, the second frame number and orientation pattern b3, the third frame number and Doppler pattern c3, and the third orientation and distance pattern d3 provided in the embodiments of the present invention;

[0049] Figure 10 This is a schematic diagram of the frame number and distance deletion area provided in an embodiment of the present invention;

[0050] Figure 11 This is a schematic diagram of the target frame number and distance pattern a4, the target frame number and azimuth pattern b4, the target frame number and Doppler pattern c4, and the target azimuth and distance pattern d4 provided in the embodiments of the present invention.

[0051] Figure 12 This is a schematic diagram of a radar-free data extraction device provided in an embodiment of the present invention;

[0052] Figure 13 This is a schematic diagram of a radar-free data extraction device provided in an embodiment of the present invention. Detailed Implementation

[0053] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention are within the scope of protection of the present invention.

[0054] See Figure 1 This invention provides a method for extracting radar-free data, such as... Figure 1 As shown, the method may include:

[0055] S101: Acquire the raw data of the anti-drone radar, which includes frame number, range, azimuth, and Doppler. Specifically, this application can provide the raw data of the anti-drone radar acquired from memory. Anti-drone radar, also known as anti-drone radar, is a radar system specifically designed for detecting, tracking, and locating drones. The frame number refers to a unique identifier assigned to each digital signal after DSP data processing. Azimuth refers to the target's azimuth relative to the radar's center coordinates; range refers to the target's distance relative to the radar's center coordinates; and Doppler refers to the Doppler velocity generated by the target's movement.

[0056] S102: Construct the first frame number and distance pattern a1, the first frame number and orientation pattern b1, the first frame number and Doppler pattern c1, and the first orientation and distance pattern d1 using the original data;

[0057] S103: Using the first frame number and orientation graph, remove data that differs from the predicted orientation, and update the first frame number and distance graph a1, the first frame number and orientation graph b1, the first frame number and Doppler graph c1, and the first orientation and distance graph d1 to obtain the second frame number and distance graph a2, the second frame number and orientation graph b2, the second frame number and Doppler graph c2, and the second orientation and distance graph d2; In specific implementation, embodiments of this application can provide the deletion of all data between 0-20° and 30°-360°.

[0058] S104: Using the second frame number and Doppler pattern, remove data that differs from the target motion Doppler, and update the second frame number and distance pattern a2, the second frame number and orientation pattern b2, the second frame number and Doppler pattern c2, and the second orientation and distance pattern d2 to obtain the third frame number and distance pattern a3, the third frame number and orientation pattern b3, the third frame number and Doppler pattern c3, and the third orientation and distance pattern d3; In specific implementation, embodiments of this application may provide data corresponding to Doppler velocity values ​​other than those corresponding to Doppler velocity values ​​10-15 and Doppler velocity values ​​105-110.

[0059] S105: Using the third frame number and distance graph, remove data that differs from the target's motion trajectory, and update the third frame number and distance graph a3, the third frame number and orientation graph b3, the third frame number and Doppler graph c3, and the third orientation and distance graph d3 to obtain the target frame number and distance graph a4, the target frame number and orientation graph b4, the target frame number and Doppler graph c4, and the target orientation and distance graph d4. In specific implementations, embodiments of this application can provide the deletion of data where the frame number and distance data are inconsistent.

[0060] The radar-free data extraction method provided in this application utilizes the characteristics of radar data, classifies and displays the data through a UI interface, and quickly extracts target data using feature values. Simultaneously, it effectively reduces workload; this method can extract targets from hundreds of thousands or millions of frames of data, shortening the extraction time from a day or more to just a few minutes. Furthermore, this method improves the accuracy of data extraction.

[0061] The method provided in this application will be described in detail below.

[0062] 1. Design the UI interface using the MATLAB platform, such as... Figure 2 As shown, it includes a graphical display interface, a data display interface, and a graphical control interface.

[0063] A. Graphical display interface: Used to display the required data graphics.

[0064] B. Data display interface: Used to display the current data.

[0065] C. Graphical Control Interface: Used for data import and graphical display control. Graphical display control includes graphs of frame number and distance, graphs of frame number and azimuth, graphs of frame number and Doppler, and graphs of azimuth and distance.

[0066] 2. Design a shortcut key "Ctrl + Left Mouse Button" to select data in batches.

[0067] 3. Design the shortcut key "Ctrl+Z" to undo the previous batch deletion.

[0068] 4. Import the data into memory using the data import button.

[0069] 5. By using the frame number and orientation graph, remove data that do not match the predicted orientation.

[0070] 6. By using the frame number and distance graph, remove data that does not match the target's motion trajectory.

[0071] 7. By using the frame number and Doppler graph, eliminate data that do not match the target motion Doppler.

[0072] 8. Repeat steps 5 to 7 to complete the extraction of the target data.

[0073] It is understood that the data extraction method provided in this application embodiment uses a UI interface with graphics to classify and display data, and uses feature values ​​to quickly extract target data. This method utilizes the function of graphical manipulation of background data, which is key to its simplicity and data removal. Furthermore, this method can also be used in other data analysis applications.

[0074] like Figure 3 As shown, this example illustrates the extraction of data from a total of 110,000 frames of data from the target:

[0075] 1. The raw data from the anti-radar sensor is read into memory using the data reading function. This raw data includes frame number, range, azimuth, and Doppler data, such as... Figure 4 As shown, observable first frame number and distance graph a1, first frame number and orientation graph b1, first frame number and Doppler graph c1, and first orientation and distance graph d1 are constructed. It can be seen that the first frame number and distance graph a1, first frame number and orientation graph b1, first frame number and Doppler graph c1, and first orientation and distance graph d1 cannot identify the target.

[0076] 2. Process the first frame number and azimuth map. Based on previous observations, the target's azimuth is approximately between 20° and 30°. Select and delete all data between 0-20° and 30°-360° using Ctrl + left mouse button. Compare the first frame number and azimuth map before processing with the second frame number and azimuth map after processing. Figure 5 As shown. Then update to obtain as follows. Figure 6 The second frame number and distance graph a2, the second frame number and orientation graph b2, the second frame number and Doppler graph c2, and the second orientation and distance graph d2 are shown. The graphs are displayed after the first frame number and orientation graph has been processed. The target distance trajectory in the frame number and distance graph and the target Doppler attribute in the frame number and Doppler graph can be vaguely seen.

[0077] 3. Process frame numbers and Doppler patterns, such as... Figure 7 As shown, observing the frame number and Doppler image here, the target's Doppler features are obvious, corresponding to Doppler velocity values ​​of approximately 13 and 109. The Doppler velocity differs when moving away and returning; when the drone is moving away, the Doppler channel is around 109, and when the drone is moving closer, the Doppler channel is around 13. Therefore, when extracting the frame number and Doppler image, as... Figure 8 As shown, delete all Doppler velocity values ​​except those corresponding to 10-15 and 105-110, leaving only the data within the box. Then update to obtain... Figure 9 The diagram shows the third frame number and distance pattern a3, the second frame number and orientation pattern b3, the third frame number and Doppler pattern c3, and the third orientation and distance pattern d3.

[0078] 4. Process frame numbers and distance images, such as... Figure 10 As shown, delete data where the frame number and distance data are inconsistent. Then update to obtain the following: Figure 11 The target frame number and distance graph a4, the target frame number and azimuth graph b4, the target frame number and Doppler graph c4, and the target azimuth and distance graph d4 are shown.

[0079] 5. Here it can be observed that the data has been completely extracted. If, in special circumstances, the data has not been completely extracted, steps 2 to 4 can be repeated.

[0080] This method mainly combines a graphical interface with data features to quickly and accurately extract target data from the raw data of anti-radar radar.

[0081] See Figure 12 This application embodiment can also provide a radar-free data extraction device, such as... Figure 12 As shown, the apparatus for performing the above-described anti-radar-free data extraction method may include:

[0082] The data acquisition unit 1201 is used to acquire raw data from the anti-radar system, including frame number, range, azimuth, and Doppler.

[0083] The graphics construction unit 1202 is used to construct and obtain the first frame number and distance graphics, the first frame number and orientation graphics, the first frame number and Doppler graphics, and the first orientation and distance graphics through the original data.

[0084] The frame number and orientation extraction unit 1203 is used to remove data that is different from the predicted orientation through the first frame number and orientation graphic, and update the first frame number and distance graphic, the first frame number and orientation graphic, the first frame number and Doppler graphic, and the first orientation and distance graphic to obtain the second frame number and distance graphic, the second frame number and orientation graphic, the second frame number and Doppler graphic, and the second orientation and distance graphic.

[0085] The frame number and Doppler extraction unit 1204 is used to remove data that is different from the target motion Doppler by using the second frame number and Doppler image, and update the second frame number and distance image, the second frame number and orientation image, the second frame number and Doppler image, and the second orientation and distance image to obtain the third frame number and distance image, the third frame number and orientation image, the third frame number and Doppler image, and the third orientation and distance image.

[0086] The frame number and distance extraction unit 1205 is used to remove data that is different from the target motion trajectory through the third frame number and distance graphic, and update the third frame number and distance graphic, the third frame number and orientation graphic, the third frame number and Doppler graphic, and the third orientation and distance graphic to obtain the target frame number and distance graphic, the target frame number and orientation graphic, the target frame number and Doppler graphic, and the target orientation and distance graphic.

[0087] This application embodiment can also provide a radar-free data extraction device, the device including a processor and a memory:

[0088] The memory is used to store program code and transmit the program code to the processor;

[0089] The processor is used to execute the steps of the above-described anti-radar-free data extraction method according to the instructions in the program code.

[0090] like Figure 13 As shown in the figure, an anti-radar-free data extraction device provided in this application embodiment may include: a processor 10, a memory 11, a communication interface 12, and a communication bus 13. The processor 10, memory 11, and communication interface 12 all communicate with each other through the communication bus 13.

[0091] In this embodiment, the processor 10 may be a central processing unit (CPU), a graphics processing unit (GPU), an application-specific integrated circuit, a digital signal processor, a field-programmable gate array, or other programmable logic devices.

[0092] The processor 10 can call the program stored in the memory 11. Specifically, the processor 10 can execute the operations in the embodiment of the anti-radar-free data extraction method.

[0093] The memory 11 is used to store one or more programs. The programs may include program code, which includes computer operation instructions. In this embodiment, the memory 11 stores at least a program for implementing the following functions:

[0094] Acquire raw data from the radar-free system, including frame number, range, azimuth, and Doppler readings;

[0095] The first frame number and distance graph, the first frame number and azimuth graph, the first frame number and Doppler graph, and the first azimuth and distance graph are constructed using the original data.

[0096] By using the first frame number and azimuth graph, data that differs from the predicted azimuth is removed, and the first frame number and distance graph, the first frame number and azimuth graph, the first frame number and Doppler graph, and the first azimuth and distance graph are updated to obtain the second frame number and distance graph, the second frame number and azimuth graph, the second frame number and Doppler graph, and the second azimuth and distance graph.

[0097] By using the second frame number and Doppler pattern, data that differs from the target motion Doppler are removed, and the second frame number and distance pattern, the second frame number and orientation pattern, the second frame number and Doppler pattern, and the second orientation and distance pattern are updated to obtain the third frame number and distance pattern, the third frame number and orientation pattern, the third frame number and Doppler pattern, and the third orientation and distance pattern.

[0098] By using the third frame number and distance graph, data that differs from the target's motion trajectory is removed, and the third frame number and distance graph, the third frame number and orientation graph, the third frame number and Doppler graph, and the third orientation and distance graph are updated to obtain the target frame number and distance graph, the target frame number and orientation graph, the target frame number and Doppler graph, and the target orientation and distance graph.

[0099] In one possible implementation, the memory 11 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function (such as file creation or data read / write). The data storage area may store data created during use, such as initialization data.

[0100] In addition, memory 11 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device or other volatile solid-state storage device.

[0101] Communication interface 12 can be an interface for a communication model, used to connect with other devices or systems.

[0102] Of course, it should be noted that, Figure 13 The structure shown does not constitute a limitation on the anti-radar-free data extraction device in the embodiments of this application. In practical applications, the anti-radar-free data extraction device may include devices that are more advanced than those described above. Figure 13 More or fewer components as shown, or combinations of certain components.

[0103] This application embodiment may also provide a computer-readable storage medium for storing program code for executing the steps of the above-described anti-radar-free data extraction method.

[0104] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0105] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0106] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and relevant parts can be referred to the descriptions in the method embodiments. The systems and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0107] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A method for extracting radar-free data, characterized in that, include: Acquire raw data from the radar-free system, including frame number, range, azimuth, and Doppler readings; The first frame number and distance graph, the first frame number and azimuth graph, the first frame number and Doppler graph, and the first azimuth and distance graph are constructed using the original data. By using the first frame number and azimuth graph, data that differs from the predicted azimuth is removed, and the first frame number and distance graph, the first frame number and azimuth graph, the first frame number and Doppler graph, and the first azimuth and distance graph are updated to obtain the second frame number and distance graph, the second frame number and azimuth graph, the second frame number and Doppler graph, and the second azimuth and distance graph. By using the second frame number and Doppler pattern, data that differs from the target motion Doppler are removed, and the second frame number and distance pattern, the second frame number and orientation pattern, the second frame number and Doppler pattern, and the second orientation and distance pattern are updated to obtain the third frame number and distance pattern, the third frame number and orientation pattern, the third frame number and Doppler pattern, and the third orientation and distance pattern. By using the third frame number and distance graph, data that differs from the target's motion trajectory is removed, and the third frame number and distance graph, the third frame number and orientation graph, the third frame number and Doppler graph, and the third orientation and distance graph are updated to obtain the target frame number and distance graph, the target frame number and orientation graph, the target frame number and Doppler graph, and the target orientation and distance graph. Based on the first frame number and the orientation map, data that differs from the predicted orientation is removed, including: Delete all data between 0-20° and 30°-360°; Using the second frame number and Doppler pattern, data that differs from the target motion Doppler is eliminated, including: Delete the data corresponding to Doppler velocity values ​​10-15 and the data corresponding to Doppler velocity values ​​other than 105-110; Using the third frame number and distance graph, data that differs from the target's motion trajectory is eliminated, including: Delete data where the frame number and distance data are inconsistent.

2. The anti-radar-free data extraction method according to claim 1, characterized in that, The raw data of the anti-radar system is retrieved from memory.

3. A radar-free data extraction device, characterized in that, The apparatus for performing the anti-radar-free data extraction method according to any one of claims 1-2, the apparatus comprising: The data acquisition unit is used to acquire raw data from the anti-radar system, including frame number, range, azimuth, and Doppler. The graph construction unit is used to construct, through the original data, a first frame number and distance graph, a first frame number and orientation graph, a first frame number and Doppler graph, and a first orientation and distance graph. The frame number and orientation extraction unit is used to remove data that is different from the predicted orientation through the first frame number and orientation graphic, and update the first frame number and distance graphic, the first frame number and orientation graphic, the first frame number and Doppler graphic, and the first orientation and distance graphic to obtain the second frame number and distance graphic, the second frame number and orientation graphic, the second frame number and Doppler graphic, and the second orientation and distance graphic. The frame number and Doppler extraction unit is used to remove data that is different from the target motion Doppler by using the second frame number and Doppler image, and update the second frame number and distance image, the second frame number and orientation image, the second frame number and Doppler image, and the second orientation and distance image to obtain the third frame number and distance image, the third frame number and orientation image, the third frame number and Doppler image, and the third orientation and distance image. The frame number and distance extraction unit is used to remove data that is different from the target motion trajectory through the third frame number and distance graphic, and update the third frame number and distance graphic, the third frame number and orientation graphic, the third frame number and Doppler graphic, and the third orientation and distance graphic to obtain the target frame number and distance graphic, the target frame number and orientation graphic, the target frame number and Doppler graphic, and the target orientation and distance graphic.

4. A radar-free data extraction device, characterized in that, The device includes a processor and a memory: The memory is used to store program code and transmit the program code to the processor; The processor is used to execute the anti-radar-free data extraction method according to any one of claims 1-2 according to the instructions in the program code.

5. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store program code for executing the anti-radar-free data extraction method according to any one of claims 1-2.

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