Multi-target ranging method and millimeter wave detector during high-speed flight

Abstract

The present application relates to a multi-target ranging method and millimeter wave detector during high-speed flight. The method comprises transmitting a millimeter detection wave to a required area and receiving a millimeter feedback wave generated based on the millimeter detection wave, wherein the millimeter detection wave and the millimeter feedback wave have the same polarization direction; obtaining movement parameters of the millimeter wave detector during a time period corresponding to a detection phase; calculating target distances using the millimeter feedback wave parameters and the millimeter detection wave parameters, wherein the calculation methods include a pulse ranging method, a frequency-modulated continuous wave ranging method, and a phase ranging method; after determining the target, assigning a tracking frequency to the obtained target and continuously tracking the target, wherein the tracking frequency of each target is different; the multi-target ranging method and millimeter wave detector during high-speed flight disclosed in the present application remove background interference by combining a targeted acquisition method for the target area, and simultaneously separate and complete the movement trajectories of multiple targets, thereby improving ranging accuracy during multi-target ranging.

Description

Technical Field

[0001] The present application relates to the field of data processing technology, and in particular to a multi-target ranging method and millimeter wave detector during high-speed flight. Background Art

[0002] Millimeter wave detectors have shown significant advantages in the field of multi-target tracking. These advantages are mainly reflected in:

[0003] Millimeter-wave wavelengths (1-10 mm) lie between microwaves and infrared rays, and possess strong penetrability. Compared to microwave detectors (which have longer wavelengths and lower resolution), millimeter-wave wavelengths are shorter and offer higher spatial resolution. Millimeter waves can accurately measure target speed through the Doppler effect, and high-precision ranging can be achieved by combining time or phase differences. The millimeter-wave frequency band (30-300 GHz) is less susceptible to interference from civilian communication signals than microwaves, and beamforming technology can focus the detection area, reducing sidelobe interference and lowering the probability of misjudgment due to the overlapping of multiple target signals.

[0004] During the tracking process, environmental interference factors and the overlap of target movement trajectories will directly affect the tracking effect of multi-target tracking. This is because the uncertainty of environmental interference factors will lead to potential false targets, and the overlap of target movement trajectories will directly affect the association and trajectory continuity of the target trajectories. Summary of the Invention

[0005] The present application provides a multi-target ranging method and millimeter wave detector during high-speed flight, which combines a targeted acquisition method in the target area to remove background interference, and simultaneously separates and completes the movement trajectories of multiple targets to improve the ranging accuracy during the multi-target ranging process.

[0006] The above-mentioned purpose of this application is achieved through the following technical solutions:

[0007] In a first aspect, the present application provides a multi-target ranging method during high-speed flight, comprising:

[0008] Transmitting a millimeter detection wave to a required area and receiving a millimeter feedback wave generated based on the millimeter detection wave, wherein the millimeter detection wave and the millimeter feedback wave have the same polarization direction;

[0009] Obtaining movement parameters of the millimeter wave detector during the time period corresponding to the detection phase;

[0010] Calculate target distance using millimeter feedback wave parameters and millimeter detection wave parameters, including pulse ranging, frequency modulated continuous wave ranging, and phase ranging.

[0011] After the target is determined, a tracking frequency is assigned to the target and the target is tracked continuously. The tracking frequency of each target is different.

[0012] Among them, an isolation zone and a background detection zone are established in the surrounding area of ​​each target. The isolation zone and the background detection zone are both set around the target, and the isolation zone is located inside the background detection zone;

[0013] The feedback signal from the background detection area is used to establish a screening threshold, and the screening threshold is used to adjust the feedback signal from the area surrounding the target, thereby increasing the ratio of the millimeter feedback wave signal strength to the feedback signal signal strength.

[0014] In a possible implementation of the first aspect, using the feedback signal from the background detection zone to establish the screening threshold includes:

[0015] determining a moving direction of the target and selecting at least one isolation zone in the moving direction of the target;

[0016] Calculate the average feedback signal intensity of the selected isolation area and record it as the background signal intensity;

[0017] Use the signal background intensity as the screening threshold;

[0018] When the target's moving direction cannot be determined, the average feedback signal strength of all isolated areas is calculated, or the feedback signal strength of each isolated area is dynamically tracked, and the target's moving direction is determined based on the feedback signal strength.

[0019] In a possible implementation of the first aspect, determining the moving direction of the target according to the feedback signal strength includes:

[0020] The feedback signal strengths of the isolated areas are sorted, and the feedback signal strengths of the isolated areas are in descending order in the sequence;

[0021] Select an isolation zone adjacent to the first isolation zone on the sequential sequence as a mobile isolation zone;

[0022] The mobile isolation zone is driven to rotate and the feedback signal strength change of the mobile isolation zone is calculated, and the moving direction of the target is determined according to the feedback signal strength change.

[0023] In a possible implementation manner of the first aspect, when the difference between the screening threshold and the signal strength of the millimeter feedback wave is less than or equal to the strength difference allowable value, the signal emission strength of the millimeter detection wave is increased.

[0024] In a possible implementation of the first aspect, continuously tracking a target further includes determining a movement trajectory of the target, and when the movement trajectories of two targets appear to overlap, further including:

[0025] Determine a first target and a second target according to the distance between the targets, wherein the distance between the first target and the millimeter wave detector is smaller than the distance between the second target and the millimeter wave detector;

[0026] creating a perception area based on the first target, wherein the perception area is evenly arranged around the first target;

[0027] Continuously obtain the recognition parameters of the perception area in time series;

[0028] Compare any two recognition parameters of the same perception area in the time series to obtain the comparison result;

[0029] determining whether the recognition parameters of the perception area have changed according to the comparison result;

[0030] When the recognition parameter of the sensing area changes, the movement trajectory of the second target is completed according to the location of the sensing area where the recognition parameter changes.

[0031] In a possible implementation manner of the first aspect, the identification parameters of the sensing area include signal frequency, signal amplitude, signal waveform start time, and signal waveform end time.

[0032] In a possible implementation of the first aspect, comparing any two recognition parameters of the same perception area in a time series includes:

[0033] The reference surface is established by taking the signal frequency as the X coordinate, the signal waveform start time and the signal waveform end time as the Y coordinate, and the signal amplitude as the Z coordinate;

[0034] Place the two reference surfaces obtained into the same coordinate system;

[0035] Compute the similarity between two reference surfaces.

[0036] In a second aspect, the present application provides a multi-target ranging device during high-speed flight, comprising:

[0037] a detection unit, configured to transmit a millimeter detection wave to a required area and receive a millimeter feedback wave generated based on the millimeter detection wave, wherein the millimeter detection wave and the millimeter feedback wave have the same polarization direction;

[0038] An acquisition unit, configured to acquire movement parameters of the millimeter wave detector within a time period corresponding to the detection phase;

[0039] A calculation unit, configured to calculate the target distance using millimeter feedback wave parameters and millimeter detection wave parameters, wherein the calculation methods include pulse ranging method, frequency modulated continuous wave ranging method and phase ranging method;

[0040] The tracking unit is used to assign a tracking frequency to the target after determining the target and continuously track the target. The tracking frequency of each target is different.

[0041] Among them, an isolation zone and a background detection zone are established in the surrounding area of ​​each target. The isolation zone and the background detection zone are both set around the target, and the isolation zone is located inside the background detection zone;

[0042] The feedback signal from the background detection area is used to establish a screening threshold, and the screening threshold is used to adjust the feedback signal from the area surrounding the target, thereby increasing the ratio of the millimeter feedback wave signal strength to the feedback signal signal strength.

[0043] In a third aspect, the present application provides a millimeter wave detector system comprising:

[0044] one or more memories for storing instructions; and

[0045] One or more processors, configured to call and execute the instructions from the memory to perform the method as described in the first aspect and any possible implementation of the first aspect.

[0046] In a fourth aspect, the present application provides a computer-readable storage medium, the computer-readable storage medium comprising:

[0047] The program, when the program is executed by a processor, the method described in the first aspect and any possible implementation of the first aspect is executed.

[0048] In a fifth aspect, the present application provides a computer program product, comprising program instructions. When the program instructions are executed by a computing device, the method described in the first aspect and any possible implementation of the first aspect is executed.

[0049] In a sixth aspect, the present application provides a chip system comprising a processor for implementing the functions involved in the above aspects, such as generating, receiving, sending, or processing the data and / or information involved in the above methods.

[0050] The chip system may be composed of chips, or may include chips and other discrete devices.

[0051] In one possible design, the chip system also includes a memory for storing necessary program instructions and data. The processor and the memory can be decoupled and provided on different devices, connected via wired or wireless means, or the processor and the memory can be coupled on the same device. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1This is a schematic diagram of the steps of a multi-target ranging method during high-speed flight provided by this application.

[0053] Figure 2 This is a schematic diagram of establishing an isolation zone and a background detection zone provided by this application.

[0054] Figure 3 This is a schematic diagram of a selective mobile isolation zone provided by this application.

[0055] Figure 4 This is a schematic diagram of driving a mobile isolation zone to rotate provided by this application.

[0056] Figure 5 This is a schematic diagram of the change in feedback signal strength in a mobile isolation zone provided by this application.

[0057] Figure 6 This is a schematic diagram of the principle of completing the movement trajectory of the second target provided by this application.

[0058] Figure 7 This is a schematic diagram of the principle of calculating the similarity of two reference surfaces provided by this application. DETAILED DESCRIPTION

[0059] The technical solution in this application is further described in detail below with reference to the accompanying drawings.

[0060] This application discloses a multi-target ranging method for high-speed flight. Figure 1 In some examples, the multi-target ranging method during high-speed flight disclosed in this application includes the following steps:

[0061] S101, transmitting a millimeter detection wave to a required area and receiving a millimeter feedback wave generated based on the millimeter detection wave, wherein the millimeter detection wave and the millimeter feedback wave have the same polarization direction;

[0062] S102, obtaining movement parameters of the millimeter wave detector during a time period corresponding to the detection phase;

[0063] S103, calculating the target distance using the millimeter feedback wave parameters and the millimeter detection wave parameters, wherein the calculation method includes a pulse ranging method, a frequency modulated continuous wave ranging method, and a phase ranging method;

[0064] S104, after the target is determined, a tracking frequency is assigned to the obtained target and the target is continuously tracked, and the tracking frequency of each target is different;

[0065] Among them, an isolation zone and a background detection zone are established in the surrounding area of ​​each target. The isolation zone and the background detection zone are both set around the target, and the isolation zone is located inside the background detection zone;

[0066] The feedback signal from the background detection area is used to establish a screening threshold, and the screening threshold is used to adjust the feedback signal from the area surrounding the target, thereby increasing the ratio of the millimeter feedback wave signal strength to the feedback signal signal strength.

[0067] In general, the multi-target ranging method for high-speed flight disclosed in this application is applied to a millimeter-wave detector carried by an aircraft. The millimeter-wave detector transmits millimeter detection waves to the surrounding environment and receives millimeter feedback waves generated based on the millimeter detection waves to measure the distance to targets in the surrounding environment. It should also be noted that the purpose of ranging is to track the target. Ranging can obtain multiple discrete position points, and these position points connected in sequence are the target's movement trajectory.

[0068] In step S101 , a millimeter detection wave is first transmitted to a required area and a millimeter feedback wave generated based on the millimeter detection wave is received. Here, the millimeter detection wave and the millimeter feedback wave are required to have the same polarization direction.

[0069] It should be noted that electromagnetic waves are transverse waves. The vibration directions of their electric field intensity (E) and magnetic field intensity (H) are both perpendicular to the propagation direction, and E and H are perpendicular to each other. The polarization direction of the electromagnetic wave is usually defined by the vibration direction of the electric field intensity E.

[0070] If the polarization directions are inconsistent (for example, the detection wave is horizontally polarized and the feedback wave is vertically polarized), the millimeter wave detector can only capture part of the energy (or even be unable to receive it at all), resulting in a significant drop in signal strength. However, if the polarization directions are the same, "polarization matching" can be achieved, allowing the energy of the feedback wave to be captured more efficiently by the millimeter wave detector.

[0071] In addition, the natural environment or human factors will generate a large number of interference waves (such as stray electromagnetic waves and noise). The polarization directions of these interference waves are often chaotic. When the polarization directions of the detection wave and the feedback wave are consistent, the "polarization filtering" technology can be used to distinguish useful signals from interference.

[0072] In step S102, the movement parameters of the millimeter wave detector during the time period corresponding to the detection phase are obtained. Then, in step S103, the millimeter wave feedback wave parameters and the millimeter wave detection wave parameters are used to calculate the target distance. The calculation methods include pulse ranging, frequency modulated continuous wave ranging, and phase ranging, as follows:

[0073] Pulse ranging is a technique for calculating distance by measuring the time difference between the transmission of a pulse signal and the reception of a reflected pulse signal. The time interval between the transmission and reception of the pulse is recorded (denoted as t), and the distance is calculated according to the formula d = vt / 2, where v is the signal propagation speed.

[0074] Frequency-modulated continuous wave ranging (FMCW) transmits a continuous wave whose frequency varies linearly with time. The distance is calculated using the frequency difference between the transmitted and reflected waves. The frequency difference Δf is proportional to the time delay τ (Δf = 2d・ΔF / (v・T), where ΔF = f1 - f0 is the frequency variation range and v is the propagation speed). By measuring Δf, the distance d can be inferred.

[0075] Phase ranging calculates distance by measuring the phase difference between the transmitted and reflected waves. Utilizing the periodicity of electromagnetic waves, the relationship between phase difference and distance is Δφ = 4πd / λ (a round-trip distance of 2d corresponds to a phase change of 4πd / λ). Therefore, d = λ・Δφ / (4π).

[0076] However, since the phase difference is periodic (repeats after exceeding 2π), in practice it is necessary to combine "multi-frequency ranging" to eliminate ambiguity (using signals of multiple different frequencies to measure and solve simultaneous equations to determine the absolute distance).

[0077] Obtain the movement parameters of the millimeter wave detector during the time period corresponding to the detection phase. The movement parameters here include time, movement direction, and movement distance. Taking the pulse ranging method as an example, the millimeter wave detector is no longer in its original position when the millimeter feedback wave is received. At this time, the calculated distance needs to be corrected based on the movement distance. The other two methods also require corrections.

[0078] Finally, in step S104, after the target is determined, a tracking frequency is assigned to the obtained target and the target is tracked continuously. Here, the tracking frequency of each target needs to be different in order to avoid problems such as the difficulty in separating millimeter feedback waves caused by the same frequency.

[0079] In the above process, see Figure 2 , it is also necessary to establish an isolation zone and a background detection zone in the surrounding area of ​​each target. The isolation zone and the background detection zone are both set around the target, and the isolation zone is located inside the background detection zone. At the same time, the feedback signal of the background detection zone is used to establish a screening threshold and the screening threshold is used to adjust the feedback signal of the area around the target to increase the ratio of the millimeter feedback wave signal strength to the feedback signal signal strength.

[0080] The isolation zone is located between the target and the background detection zone. Its purpose is to prevent the target from breaking into the background detection zone, causing the background detection zone to be directly affected by the target. The feedback signal in the background detection zone represents the environmental interference. This value is expressed in signal strength and is a dynamic quantity. Therefore, it is necessary to adjust the ratio of the millimeter feedback wave signal strength to the feedback signal signal strength to increase the ratio of the millimeter feedback wave signal strength to the feedback signal signal strength.

[0081] For example, the ratio is required to be a fixed value. When the feedback signal strength changes, the millimeter feedback wave signal strength will also change synchronously, so that the millimeter feedback wave can be received.

[0082] The background detection area also has the function of separating the target movement trajectory. This is because when two targets overlap, the movement trajectory of one of the targets can be determined by the feedback signal strength of the background detection area, and then the missing part of the target movement trajectory can be filled in. This part will be further introduced in the subsequent content.

[0083] In some possible implementations, when the difference between the screening threshold and the signal strength of the millimeter feedback wave is less than or equal to the intensity difference allowable value, the signal emission intensity of the millimeter detection wave is increased to increase the probability of the millimeter feedback wave being detected.

[0084] In some examples, the feedback signal from the background detection zone is used to establish the screening threshold as follows:

[0085] S201, determining a moving direction of a target and selecting at least one isolation zone in the moving direction of the target;

[0086] S202, calculating the average feedback signal strength of the selected isolation area, and recording it as the background signal strength;

[0087] S203, using the signal background intensity as a screening threshold;

[0088] When the target's moving direction cannot be determined, the average feedback signal strength of all isolated areas is calculated, or the feedback signal strength of each isolated area is dynamically tracked, and the target's moving direction is determined based on the feedback signal strength.

[0089] In steps S201 to S203, it is first necessary to determine the target's moving direction and select at least one isolation zone in the target's moving direction. The target's moving direction is determined based on the target's moving trajectory as described above. The specific method is as follows:

[0090] Select two or more consecutive position points from the trajectory data and calculate the direction based on the position changes of these points as follows:

[0091] If two points are selected: let the position of the target at time t1 be P1(x1,y1), and the position at time t2 be P2(x2,y2), the direction of a trajectory can be preliminarily determined by these two points;

[0092] If multiple points are selected: a straight line or curve can be fitted (such as the least squares method) to more accurately reflect the target's movement trend and reduce the impact of single-point errors.

[0093] For nonlinear trajectories (such as turns and speed-changing movements), segmented calculations can be performed (dividing the trajectory into several straight line segments). The direction is calculated within each segment using the above method to reflect the target's real-time turning direction.

[0094] After selecting at least one isolation zone in the moving direction of the target, the average feedback signal intensity of the selected isolation zone is calculated and the signal background intensity is used as a screening threshold.

[0095] When the target's moving direction cannot be determined, there are two ways to handle it:

[0096] Calculate the average feedback signal strength of all isolated areas;

[0097] Dynamically track the feedback signal strength of each isolation zone and determine the target's moving direction based on the feedback signal strength.

[0098] The specific method of determining the target's moving direction based on the feedback signal strength is as follows:

[0099] The feedback signal strengths of the isolated areas are sorted, and the feedback signal strengths of the isolated areas are in descending order in the sequence;

[0100] Select an isolation zone adjacent to the first isolation zone on the sequential sequence as a mobile isolation zone;

[0101] The mobile isolation zone is driven to rotate and the feedback signal strength change of the mobile isolation zone is calculated, and the moving direction of the target is determined according to the feedback signal strength change.

[0102] Specifically, this is a method of using elimination to determine the target's moving direction. Specifically, the isolation area with the highest feedback signal strength is first regarded as the suspected area where the target exists. At this time, the direction of this isolation area is the potential moving direction of the target.

[0103] See also Figure 3 and Figure 4 , then drive the mobile isolation area to rotate and calculate the change in the feedback signal strength of the mobile isolation area and determine the moving direction of the target based on the change in the feedback signal strength.

[0104] The purpose of re-dividing is to further determine the moving direction of the target. This is because the selected isolation domain is a general direction, which is not accurate enough and the moving direction of the target needs to be further clarified.

[0105] The specific method is to select an isolation zone adjacent to the first isolation zone in the sequence as the mobile isolation zone. The suspected movement direction domain is also a fan-shaped structure, but its corresponding fan angle is smaller than the fan angle of the isolation zone. Then, the mobile isolation zone is driven to rotate. At this time, the signal strength of the mobile isolation zone will change. This is because the mobile isolation zone may touch the target or part of the target during the rotation process. In other words, in this process, the reflection of the target or part of the target is also used as background noise.

[0106] At this time, the change in the feedback signal strength of the mobile isolation zone can be represented by a curve, such as Figure 5 As shown, the direction corresponding to the highest point of the curve is the moving direction of the target.

[0107] The rotation angle of each mobile isolation zone needs to be determined according to the required accuracy. Generally speaking, the rotation angle of each time is controlled within 2-5 degrees.

[0108] In some examples, continuous target tracking also includes determining the target's movement trajectory. When the movement trajectories of two targets appear to overlap, the following steps are also performed:

[0109] S301, determining a first target and a second target based on the distance between the targets, wherein the distance between the first target and the millimeter wave detector is smaller than the distance between the second target and the millimeter wave detector;

[0110] S302, creating a perception area based on the first target, where the perception area is evenly arranged around the first target;

[0111] S303, continuously obtaining recognition parameters of the perception area in a time series;

[0112] S304, comparing any two recognition parameters of the same perception area in the time series to obtain a comparison result;

[0113] S305, determining whether the recognition parameters of the sensing area have changed according to the comparison result;

[0114] S306 , when the recognition parameter of the sensing area changes, the movement trajectory of the second target is completed according to the location of the sensing area where the recognition parameter changes.

[0115] In step 301 to step S306, the first target and the second target are first determined according to the distance between the targets. Here, the distance between the first target and the millimeter wave detector is required to be smaller than the distance between the second target and the millimeter wave detector, that is, the distance between the first target and the millimeter wave detector is closer.

[0116] Then create a perception area based on the first target, such as Figure 6As shown, the sensing area is evenly set around the first target, and then the identification parameters of the sensing area are continuously obtained in a time series. The identification parameters here include signal frequency, signal amplitude, signal waveform start time and signal waveform end time.

[0117] Then, by comparison, we determine which perception areas have changed their recognition parameters, and finally use the location of the perception area where the recognition parameters have changed to complete the movement trajectory of the second target, such as Figure 6 Here, the perception area where the recognition parameters change can be regarded as a point. By connecting these points sequentially in time, the movement trajectory of the second target can be completed.

[0118] In some possible implementations, the perception area may be divided into multiple layers, and the perception areas of each layer are evenly arranged around the first target.

[0119] In some possible implementations, the specific method of comparing any two recognition parameters of the same perception area in a time series is as follows:

[0120] The reference surface is established by taking the signal frequency as the X coordinate, the signal waveform start time and the signal waveform end time as the Y coordinate, and the signal amplitude as the Z coordinate;

[0121] Place the two reference surfaces obtained into the same coordinate system;

[0122] Compute the similarity between two reference surfaces.

[0123] Here, using three sets of parameters, namely, signal frequency, signal waveform start time, signal waveform end time, and signal amplitude, a surface is obtained. This surface may contain damaged areas, which are not involved in the process of calculating the similarity between the two reference surfaces.

[0124] The specific method of calculating the similarity of two reference surfaces is to first place the two reference surfaces in the same coordinate system, and then move the high area on the surface (signal amplitude as Z coordinate) along the Y coordinate so that the high area (signal amplitude as Z coordinate) corresponding to the Y coordinate on the two surfaces can overlap, such as Figure 7 As shown, Figure 7 The three-dimensional coordinate system is converted into a two-dimensional coordinate system for display.

[0125] The reason for the movement is that when the millimeter feedback wave is intercepted, the interval time of the millimeter feedback wave cannot be guaranteed to be determined. At the same time, the system error will directly affect the interval time of the millimeter feedback wave. The purpose of the movement is to eliminate the influence caused by the time factor.

[0126] The overlap criteria is based on the fact that when the two high-point areas are moved to overlap as much as possible, the ratio of the excess area to the overlapping area is controlled within 5%-8%. If the high-point areas on both reference surfaces overlap during matching, the similarity between the two reference surfaces is one; otherwise, the similarity is zero.

[0127] The zero similarity between the two reference surfaces indicates that the perception area is affected by the second target, which can be described as the second target entering the perception area.

[0128] The present application also provides a multi-target ranging device during high-speed flight, comprising:

[0129] a detection unit, configured to transmit a millimeter detection wave to a required area and receive a millimeter feedback wave generated based on the millimeter detection wave, wherein the millimeter detection wave and the millimeter feedback wave have the same polarization direction;

[0130] An acquisition unit, configured to acquire movement parameters of the millimeter wave detector within a time period corresponding to the detection phase;

[0131] A calculation unit, configured to calculate the target distance using millimeter feedback wave parameters and millimeter detection wave parameters, wherein the calculation methods include pulse ranging method, frequency modulated continuous wave ranging method and phase ranging method;

[0132] The tracking unit is used to assign a tracking frequency to the target after determining the target and continuously track the target. The tracking frequency of each target is different.

[0133] Among them, an isolation zone and a background detection zone are established in the surrounding area of ​​each target. The isolation zone and the background detection zone are both set around the target, and the isolation zone is located inside the background detection zone;

[0134] The feedback signal from the background detection area is used to establish a screening threshold, and the screening threshold is used to adjust the feedback signal from the area surrounding the target, thereby increasing the ratio of the millimeter feedback wave signal strength to the feedback signal signal strength.

[0135] Furthermore, establishing a screening threshold using the feedback signal from the background detection zone includes:

[0136] determining a moving direction of the target and selecting at least one isolation zone in the moving direction of the target;

[0137] Calculate the average feedback signal intensity of the selected isolation area and record it as the background signal intensity;

[0138] Use the signal background intensity as the screening threshold;

[0139] When the target's moving direction cannot be determined, the average feedback signal strength of all isolated areas is calculated, or the feedback signal strength of each isolated area is dynamically tracked, and the target's moving direction is determined based on the feedback signal strength.

[0140] Furthermore, determining the moving direction of the target according to the feedback signal strength includes:

[0141] The feedback signal strengths of the isolated areas are sorted, and the feedback signal strengths of the isolated areas are in descending order in the sequence;

[0142] Select an isolation zone adjacent to the first isolation zone on the sequential sequence as a mobile isolation zone;

[0143] The mobile isolation zone is driven to rotate and the feedback signal strength change of the mobile isolation zone is calculated, and the moving direction of the target is determined according to the feedback signal strength change.

[0144] Furthermore, when the difference between the screening threshold and the signal intensity of the millimeter feedback wave is less than or equal to the intensity difference allowable value, the signal emission intensity of the millimeter detection wave is increased.

[0145] Furthermore, when continuously tracking a target, the target's movement trajectory is determined. When the movement trajectories of two targets appear to overlap, the following steps are also performed:

[0146] Determine a first target and a second target according to the distance between the targets, wherein the distance between the first target and the millimeter wave detector is smaller than the distance between the second target and the millimeter wave detector;

[0147] creating a perception area based on the first target, wherein the perception area is evenly arranged around the first target;

[0148] Continuously obtain the recognition parameters of the perception area in time series;

[0149] Compare any two recognition parameters of the same perception area in the time series to obtain the comparison result;

[0150] determining whether the recognition parameters of the perception area have changed according to the comparison result;

[0151] When the recognition parameter of the sensing area changes, the movement trajectory of the second target is completed according to the location of the sensing area where the recognition parameter changes.

[0152] Furthermore, the identification parameters of the sensing area include signal frequency, signal amplitude, signal waveform start time and signal waveform end time.

[0153] Furthermore, comparing any two recognition parameters of the same perception area in time series includes:

[0154] The reference surface is established by taking the signal frequency as the X coordinate, the signal waveform start time and the signal waveform end time as the Y coordinate, and the signal amplitude as the Z coordinate;

[0155] Place the two reference surfaces obtained into the same coordinate system;

[0156] Compute the similarity between two reference surfaces.

[0157] In one example, the unit in any of the above devices can be one or more integrated circuits configured to implement the above method, such as: one or more application specific integrated circuits (ASICs), or, one or more digital signal processors (DSPs), or, one or more field programmable gate arrays (FPGAs), or a combination of at least two of these integrated circuit forms.

[0158] For another example, when the units in the device can be implemented in the form of a processing element scheduling program, the processing element can be a general-purpose processor, such as a central processing unit (CPU) or other processor that can call programs. For another example, these units can be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0159] Various objects such as various messages / information / equipment / network elements / systems / devices / actions / operations / processes / concepts that may appear in this application are named. It can be understood that these specific names do not constitute a limitation on the relevant objects. The names assigned may change with factors such as scenarios, contexts or usage habits. The understanding of the technical meaning of the technical terms in this application should be mainly determined from the functions and technical effects embodied / executed in the technical solutions.

[0160] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0161] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0162] The units described as separate components may or may not be physically separate, and 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 these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0163] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0164] It should also be understood that in various embodiments of this application, the terms "first," "second," and so on are merely used to indicate that multiple objects are distinct. For example, the terms "first time window" and "second time window" are merely used to indicate different time windows. They should not have any impact on the time windows themselves. The terms "first," "second," and so on should not limit the embodiments of this application in any way.

[0165] It should also be understood that in the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form new embodiments according to their internal logical relationships.

[0166] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a computer-readable storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned computer-readable storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0167] The present application also provides a millimeter wave detector system comprising:

[0168] one or more memories for storing instructions; and

[0169] One or more processors are used to call and execute the instructions from the memory to perform the method as described above.

[0170] The present application also provides a computer program product, which includes instructions. When the instructions are executed, the terminal device and the network device perform operations of the terminal device and the network device corresponding to the above method.

[0171] The present application also provides a chip system, which includes a processor for implementing the functions involved in the above content, such as generating, receiving, sending, or processing the data and / or information involved in the above method.

[0172] The chip system may be composed of chips, or may include chips and other discrete devices.

[0173] The processor mentioned in any of the above may be a CPU, a microprocessor, an ASIC, or one or more integrated circuits for executing a program for controlling the above-mentioned feedback information transmission method.

[0174] In one possible design, the chip system also includes a memory for storing necessary program instructions and data. The processor and the memory can be decoupled and provided on different devices, respectively, and connected via wired or wireless means to support the chip system in implementing the various functions of the above embodiments. Alternatively, the processor and the memory can be coupled on the same device.

[0175] Optionally, the computer instructions are stored in a memory.

[0176] Optionally, the memory is a storage unit within the chip, such as a register, cache, etc. The memory can also be a storage unit within the terminal located outside the chip, such as ROM or other types of static storage devices that can store static information and instructions, RAM, etc.

[0177] It can be understood that the memory in the present application can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories.

[0178] The non-volatile memory may be ROM, programmable ROM (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory.

[0179] Volatile memory can be RAM, which is used as an external cache memory. There are many different types of RAM, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate synchronous DRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct memory bus RAM.

[0180] The embodiments of this specific implementation method are all preferred embodiments of the present application and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A multi-target ranging method during high-speed flight, characterized in that: include: Transmitting a millimeter detection wave to a required area and receiving a millimeter feedback wave generated based on the millimeter detection wave, wherein the millimeter detection wave and the millimeter feedback wave have the same polarization direction; Obtaining movement parameters of the millimeter wave detector during the time period corresponding to the detection phase; Calculate target distance using millimeter feedback wave parameters and millimeter detection wave parameters, including pulse ranging, frequency modulated continuous wave ranging, and phase ranging. After the target is determined, a tracking frequency is assigned to the target and the target is tracked continuously. The tracking frequency of each target is different. Among them, an isolation zone and a background detection zone are established in the surrounding area of ​​each target. The isolation zone and the background detection zone are both set around the target, and the isolation zone is located inside the background detection zone; Dynamically tracking the feedback signal strength of each isolation zone, and determining the target's moving direction based on the feedback signal strength, determining the target's moving direction and selecting at least one isolation zone in the target's moving direction; Calculate the average feedback signal strength of the selected isolation zone and record it as the background signal strength. When the target's moving direction cannot be determined, calculate the average feedback signal strength of all isolation zones. Use the signal background intensity as the screening threshold; The signal emission intensity of the millimeter detection wave is adjusted using a screening threshold to increase the ratio of the millimeter feedback wave signal intensity to the feedback signal intensity of the background detection area.

2. The multi-target ranging method during high-speed flight according to claim 1, characterized in that: Determining the target's moving direction based on the feedback signal strength includes: The feedback signal strengths of the isolated areas are sorted, and the feedback signal strengths of the isolated areas are in descending order in the sequence; Select an isolation zone adjacent to the first isolation zone on the sequential sequence as a mobile isolation zone; The mobile isolation zone is driven to rotate and the feedback signal strength change of the mobile isolation zone is calculated, and the moving direction of the target is determined according to the feedback signal strength change.

3. The multi-target ranging method during high-speed flight according to claim 1 or 2, characterized in that: When the difference between the screening threshold and the signal intensity of the millimeter feedback wave is less than or equal to the intensity difference allowable value, the signal emission intensity of the millimeter detection wave is increased.

4. The multi-target ranging method during high-speed flight according to claim 1, characterized in that: When continuously tracking a target, it also includes determining the target's movement trajectory. When the movement trajectories of two targets appear to overlap, it also includes: Determine a first target and a second target according to the distance between the targets, wherein the distance between the first target and the millimeter wave detector is smaller than the distance between the second target and the millimeter wave detector; creating a perception area based on the first target, wherein the perception area is evenly arranged around the first target; Continuously obtain the recognition parameters of the perception area in time series; Compare any two recognition parameters of the same perception area in the time series to obtain the comparison result; determining whether the recognition parameters of the perception area have changed according to the comparison result; When the recognition parameter of the sensing area changes, the movement trajectory of the second target is completed according to the location of the sensing area where the recognition parameter changes.

5. The multi-target ranging method during high-speed flight according to claim 4, characterized in that: The recognition parameters of the sensing area include signal frequency, signal amplitude, signal waveform start time and signal waveform end time.

6. The multi-target ranging method during high-speed flight according to claim 5, characterized in that: Comparing any two recognition parameters of the same receptive area in time series includes: The reference surface is established by taking the signal frequency as the X coordinate, the signal waveform start time and the signal waveform end time as the Y coordinate, and the signal amplitude as the Z coordinate; Place the two reference surfaces obtained into the same coordinate system; Compute the similarity between two reference surfaces.

7. A millimeter wave detector, characterized in that: The millimeter wave detector comprises: one or more memories for storing instructions; and One or more processors, configured to call and execute the instructions from the memory to perform the method according to any one of claims 1 to 6.

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