Radar direction finding method and device

Abstract

The invention discloses a radar direction finding method and device. The method comprises the steps that a target signal, received by a radar detection device, of a target object is acquired, the radar detection device comprises a plurality of array elements, and the array elements comprise a phase reference center array element and a plurality of first array elements; the target signals comprise first target signals received by the phase reference center array element and second target signals received by the plurality of first array elements; on the basis of the first target signal and the multiple second target signals, the angle of the target object is measured in parallel through multiple threads, and multiple first angle measurement results are obtained; based on a reduction algorithm, an average value of the multiple first angle measurement results is calculated in parallel through multiple threads, and a target angle measurement result is obtained; and determining the direction of the target object based on the target angle measurement result. According to the radar direction finding method provided by the embodiment of the invention, the efficiency of testing the direction finding performance of the radar detection device can be improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of radar detection device simulation, and particularly relates to a radar direction finding method and device. BACKGROUND

[0002] The radar detection device can be installed on an aircraft for detecting and tracking a target object. With the continuous development of electronic technology, the complexity of the radar detection device is higher and higher, the implementation algorithm is more and more complex, and the price is more and more expensive, resulting in longer and longer experimental periods and higher and higher test flight costs of the aircraft. In order to better test various performance indicators of the radar detection device in a complex electromagnetic environment, such as direction finding performance, a digital simulation method can be used instead of test flight to simulate the complete process of signal receiving and processing of the radar detection device, so as to reduce the test cost of the radar detection device and reduce the test time.

[0003] However, the efficiency of testing the direction finding performance of the radar detection device is low at present. SUMMARY

[0004] Embodiments of the application provide a radar direction finding method, device, equipment, computer readable storage medium and computer program product, which can improve the efficiency of testing the direction finding performance of the radar detection device.

[0005] In a first aspect, embodiments of the application provide a radar direction finding method, which comprises:

[0006] Obtaining a target signal of a target object received by a radar detection device, the radar detection device comprising a plurality of array elements, the plurality of array elements comprising a phase reference center array element and a plurality of first array elements, the target signal comprising a first target signal received by the phase reference center array element and a second target signal received by each of the plurality of first array elements;

[0007] Based on the first target signal and the plurality of second target signals, measuring angles of the target object in parallel through a plurality of threads to obtain a plurality of first angle measurement results;

[0008] Based on a reduction algorithm, calculating an average value of the plurality of first angle measurement results in parallel through the plurality of threads to obtain a target angle measurement result;

[0009] Based on the target angle measurement result, determining a direction of the target object.

[0010] In a possible implementation manner, the plurality of first angle measurement results correspond to a plurality of angle types; and the calculating the average value of the plurality of first angle measurement results in parallel through the plurality of threads to obtain the target angle measurement result based on the reduction algorithm comprises:

[0011] For each of the angle types, based on the reduction algorithm, average values of a plurality of first angle measurement results corresponding to the angle types are calculated in parallel by a plurality of threads to obtain target angle measurement results corresponding to the plurality of angle types respectively;

[0012] The direction of the target object is determined based on the target angle measurement results.

[0013] The direction of the target object is determined based on the target angle measurement results corresponding to the plurality of angle types respectively.

[0014] In a possible implementation, the average values of the plurality of first angle measurement results are calculated in parallel by the plurality of threads based on the reduction algorithm to obtain the target angle measurement result, including:

[0015] The plurality of threads are grouped to obtain a plurality of thread groups;

[0016] Target threads in the plurality of thread groups are determined respectively to obtain a plurality of target threads;

[0017] The plurality of first angle measurement results corresponding to the plurality of target threads respectively are reduced and summed in parallel by the plurality of target threads to obtain a plurality of second angle measurement results corresponding to the plurality of target threads respectively;

[0018] The average values of the plurality of second angle measurement results are calculated to obtain the target angle measurement result.

[0019] In a possible implementation, the target signal of the target object received by the radar detection device is obtained, including:

[0020] An initial signal of the target object received by the radar detection device is obtained, and the initial signal includes a first initial signal received by the phase reference center element and a second initial signal received by each of the plurality of first elements;

[0021] Based on the first initial signal and the plurality of second initial signals, the initial signal is processed in parallel by a plurality of threads to obtain the target signal.

[0022] In a possible implementation, the initial signal is processed in parallel by the plurality of threads based on the first initial signal and the plurality of second initial signals to obtain the target signal, including:

[0023] A plurality of first sampling points are determined in the first initial signal in parallel by the plurality of threads, and a plurality of second sampling points are determined in the plurality of second initial signals respectively in parallel by the plurality of threads;

[0024] The first initial signals are subjected to Fourier transform in parallel through multiple threads to obtain first frequency domain information of the first initial signals, and the second initial signals are subjected to Fourier transform in parallel to obtain second frequency domain information corresponding to the second initial signals respectively;

[0025] The first frequency domain information is multiplied with each second frequency domain information in parallel through multiple threads to obtain target frequency domain information;

[0026] The target frequency domain information is subjected to inverse Fourier transform in parallel through multiple threads to obtain target time domain information corresponding to each target frequency domain information;

[0027] The target signal is determined based on the target time domain information.

[0028] In a possible implementation, the initial signal of the target object received by the radar detection device comprises:

[0029] The attribute information of the target object and the signal received by the radar detection device are obtained;

[0030] The target signal feature corresponding to the attribute information of the target object is determined based on a corresponding relationship between the attribute information and the signal feature;

[0031] The signal received by the radar detection device is subjected to target detection based on the target signal feature to determine the initial signal of the target object.

[0032] In a possible implementation, the angle of the target object is measured in parallel through multiple threads based on the first target signal and the second target signals to obtain multiple first angle measurement results, comprising:

[0033] The phase angle and length corresponding to multiple baselines are obtained in parallel through multiple threads based on the first target signal and the second target signals, the multiple baselines comprising distances between the multiple first array elements and the phase reference array element respectively;

[0034] The angle corresponding to the multiple first array elements is determined in parallel through multiple threads based on the wavelength of the radar, the phase angle and length corresponding to the multiple baselines respectively to obtain multiple first angle measurement results.

[0035] In a possible implementation, the phase angle corresponding to multiple baselines is obtained in parallel through multiple threads based on the first target signal and the second target signals, comprising:

[0036] The pulse pressure peak value corresponding to the first target signal and the second target signals respectively is obtained;

[0037] determine phases corresponding to the first target signal and the second target signals respectively based on the pulse pressure peak value;

[0038] convert the phase of the first target signal into an angle to obtain a first angle;

[0039] convert the phases corresponding to the second target signals into angles in parallel through multiple threads to obtain multiple second angles;

[0040] calculate the differences between the multiple second angles and the first angle in parallel through multiple threads to obtain the phase angles corresponding to the multiple baselines respectively.

[0041] In a possible implementation, the multiple baselines include a first baseline and multiple second baselines, the first baseline is the baseline with the shortest length among the multiple baselines; and before the step of determining the angles corresponding to the multiple first elements respectively based on the radar wavelength, the phase angles and lengths of the multiple baselines respectively, and obtaining multiple first angle measurement results in parallel through multiple threads, the method further includes:

[0042] perform deambiguating processing on the phase angles of the multiple second baselines in parallel through multiple threads based on the length of the first baseline, the phase angle of the first baseline, the lengths of the multiple second baselines respectively, and the phase angles of the multiple second baselines respectively, to obtain multiple deambiguating phase angles;

[0043] the step of determining the angles corresponding to the multiple first elements respectively based on the radar wavelength, the phase angles and lengths of the multiple baselines respectively, and obtaining multiple first angle measurement results in parallel through multiple threads includes:

[0044] the step of determining the angles corresponding to the multiple second elements respectively based on the radar wavelength, the phase angles and lengths of the multiple second baselines respectively, and obtaining the first angle measurement results corresponding to the multiple second elements respectively includes:

[0045] In a second aspect, an embodiment of the present application provides a radar direction finding device, which includes:

[0046] an acquisition module, configured to acquire a target signal of a target object received by a radar detection device, the radar detection device including multiple elements, the multiple elements including a phase reference center element and multiple first elements, the target signal including a first target signal received by the phase reference center element and multiple second target signals respectively received by the multiple first elements;

[0047] an angle measurement module, configured to measure, in parallel, angles of the target object based on the first target signal and the second target signals via multiple threads, to obtain multiple first angle measurement results;

[0048] a calculation module, configured to calculate, in parallel, an average of the multiple first angle measurement results based on a reduction algorithm via multiple threads, to obtain a target angle measurement result;

[0049] a determination module, configured to determine a direction of the target object based on the target angle measurement result.

[0050] In a third aspect, an electronic device is provided, which includes a processor and a memory storing computer program instructions;

[0051] The processor implements the method in any possible implementation manner of the first aspect when executing the computer program instructions.

[0052] In a fourth aspect, a computer readable storage medium is provided, which stores computer program instructions. The computer program instructions are executed by a processor to implement the method in any possible implementation manner of the first aspect.

[0053] In a fifth aspect, a computer program product is provided. Instructions in the computer program product are executed by a processor of an electronic device to cause the electronic device to perform the method in any possible implementation manner of the first aspect.

[0054] In the radar direction finding method and device, the radar detection device includes multiple array elements, the multiple array elements include a phase reference center array element and multiple first array elements, and the target signal includes a first target signal received by the phase reference center array element and multiple second target signals respectively received by the multiple first array elements. After obtaining the target signal of the target object received by the radar detection device, the angles of the target object are measured in parallel based on the first target signal and the multiple second target signals via multiple threads to obtain multiple first angle measurement results, which can improve the measurement speed of the multiple first angle measurement results. The average of the multiple first angle measurement results is calculated in parallel based on a reduction algorithm via multiple threads to obtain a target angle measurement result, which can improve the calculation speed of the target angle measurement result. Thus, the direction of the target object is determined based on the target angle measurement result, which can improve the speed of determining the direction of the target object and further improve the efficiency of testing the direction finding performance of the radar detection device. BRIEF DESCRIPTION OF DRAWINGS

[0055] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly introduced. Those drawings can help the ordinary skilled in the art to obtain other drawings without any creative effort.

[0056] Figure 1 is a flowchart of a radar direction finding method provided by the embodiments of the present application;

[0057] Figure 2 is a flowchart of a radar direction finding method provided by the embodiments of the present application;

[0058] Figure 3 is a structural diagram of a radar direction finding device provided by the embodiments of the present application;

[0059] Figure 4 is a structural diagram of an electronic device provided by the embodiments of the present application. DETAILED DESCRIPTION

[0060] The features and exemplary embodiments of various aspects of the present application will be described in detail below, in order to make the purposes, technical solutions and advantages of the present application more clear and apparent, the present application will be further described in detail below in combination with the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, but not to limit the present application. The present application can be implemented without some of these specific details by those skilled in the art. The following description of the embodiments is only to provide a better understanding of the present application by showing examples of the present application.

[0061] It should be noted that, in this paper, relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the elements defined by the statement "include" do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0062] As described in the background section, in order to solve the problems of the prior art, the embodiments of the present application provide a radar direction finding method, device, equipment, computer readable storage medium and computer program product. The radar direction finding method can be applied to the scene of simulating the direction finding of a radar side direction finding device.

[0063] Firstly, the radar direction finding method provided by the embodiments of the present application is introduced.

[0064] Figure 1 A flowchart of a radar direction finding method provided by the embodiments of the present application is shown. The radar direction finding method can be executed by a processor with computing capability. As shown in the figure, the radar direction finding method provided by the embodiments of the present application includes steps S110-S140. Figure 1

[0065] S110, obtaining a target signal of a target object received by a radar detection device, the radar detection device including a plurality of array elements, the plurality of array elements including a phase reference center array element and a plurality of first array elements, the target signal including a first target signal received by the phase reference center array element and a plurality of second target signals each received by the plurality of first array elements.

[0066] Here, the radar detection device can be installed on an aircraft for detecting and tracking the target object. The radar detection device can be, for example, a radar seeker. The radar seeker can be a passive seeker. The target object can be any object to be detected by the radar detection device. In addition, the plurality of first array elements can be the remaining array elements in the plurality of array elements except the phase reference center array element. The first target signal received by the phase reference center array element and the plurality of second target signals each received by the plurality of first array elements can be collectively determined as the target signal. The target signal can be a signal obtained after signal preprocessing of the signal received by the radar detection device. The signal preprocessing can include at least one of noise suppression, signal sorting, signal pulse compression, signal enhancement, signal filtering, etc. By performing signal preprocessing on the signal received by the radar detection device to obtain the target signal, the signal quality of the target signal can be improved.

[0067] Based on this, in order to improve the signal quality of the target signal, in some embodiments, the above S110 can specifically include:

[0068] obtaining an initial signal of the target object received by the radar detection device, the initial signal including a first initial signal received by the phase reference center array element and a plurality of second initial signals each received by the plurality of first array elements;

[0069] based on the first initial signal and the plurality of second initial signals, performing signal pulse compression processing on the initial signal in parallel through a plurality of threads to obtain the target signal.

[0070] Here, the initial signal can be a signal of the target object without signal preprocessing. The first initial signal received by the phase reference center array element and the plurality of second initial signals each received by the plurality of first array elements can collectively determine the initial signal.

[0071] ​In fact, the signal received by the radar detection device can not be all the signal of the target object. Therefore, in order to accurately determine the initial signal of the target object in the signal received by the radar detection device, as another example, the above acquiring the initial signal of the target object received by the radar detection device can specifically include:

[0072] Acquiring attribute information of the target object and the signal received by the radar detection device;

[0073] Based on the correspondence between the attribute information and the signal feature, determining the target signal feature corresponding to the attribute information of the target object;

[0074] Based on the target signal feature, performing target detection on the signal received by the radar detection device to determine the initial signal of the target object.

[0075] Here, the attribute information can include the shape, volume, material, motion speed, etc. of the object. The signal feature can include the time domain feature, frequency domain feature, Doppler feature, micro-Doppler feature, etc. of the object. The target signal feature can be the signal feature of the target object. There can be a correspondence between the attribute information and the signal feature. In this way, after acquiring the attribute information of the target object, the target signal feature corresponding to the attribute information of the target object can be determined based on the correspondence between the attribute information and the signal feature.

[0076] In addition, target detection can be used to determine the initial signal of the target object from the signal received by the radar detection device. The target detection can be implemented by a target detection algorithm. The target detection algorithm can include a moving target detection algorithm, a constant false alarm rate detection algorithm, a target detection algorithm based on deep learning, etc., which is not limited here. The input of the target detection algorithm can include the target signal feature and the signal received by the radar detection device, and the output can be the initial signal of the target object.

[0077] In this way, by first determining the target signal feature based on the attribute information of the target object, and then performing target detection on the signal received by the radar detection device based on the target signal feature, the initial signal of the target object can be accurately determined in the signal received by the radar detection device.

[0078] In addition, the signal pulse compression processing on the initial signal can specifically be signal pulse compression processing on a plurality of second initial signals by a first initial signal to obtain a plurality of second initial signals respectively corresponding to the signal pulse compression result. In addition, the first initial signal can be signal pulse compression processed, or not, which is not limited here. The plurality of signal pulse compression results can jointly determine the target signal.

[0079] A thread can be a basic unit of performing a computing task. A plurality of threads can be threads in a graphic processing unit (GPU). The number of the plurality of threads can reach thousands or even more. For example, if 256 blocks are opened in the GPU, and 1024 threads are opened in each block, there are 1024*256 threads in total, and the number is large.

[0080] Embodiments of the present application can improve the signal quality of the target signal and the efficiency of the signal pulse compression by performing the signal pulse compression on the initial signals in parallel based on thousands or even more threads to obtain the target signal.

[0081] Therefore, to improve the determination efficiency of the target signal, in some embodiments, the above performing the signal pulse compression on the initial signals in parallel based on the first initial signal and the plurality of second initial signals through the plurality of threads to obtain the target signal can specifically include:

[0082] determining a plurality of first sampling points in the first initial signal and a plurality of second sampling points in the plurality of second initial signals respectively;

[0083] performing Fourier transform on the plurality of first sampling points to obtain first frequency domain information of the first initial signal, and performing Fourier transform on the plurality of second sampling points to obtain second frequency domain information corresponding to the plurality of second initial signals respectively;

[0084] multiplying the first frequency domain information and each second frequency domain information in parallel through the plurality of threads to obtain target frequency domain information;

[0085] performing inverse Fourier transform on the plurality of target frequency domain information in parallel through the plurality of threads to obtain target time domain information corresponding to each target frequency domain information;

[0086] determining the target signal based on the plurality of target time domain information.

[0087] Here, the number of the second sampling points corresponding to the plurality of second initial signals respectively can be the same. The number of the first sampling points and the number of the second sampling points corresponding to each second initial signal can be the same. The number of the first sampling points and the number of the second sampling points corresponding to the plurality of second initial signals respectively can be a number of single-pulse sampling points, denoted as GateNum.

[0088] As an example, the embodiments of the present application can perform signal pulse compression processing through the cufftexecz2z function of the cuda cufft library. The cufftexecz2z can perform Fast Fourier Transform (FFT) or Inverse Fast Fourier Transform (IFFT) conversion of single-precision complex to single-precision complex. Specifically, the cufftexecz2z is used to perform FFT on the plurality of first sampling points and the plurality of second sampling points, respectively, to obtain first frequency domain information of the first initial signal and second frequency domain information corresponding to the plurality of second initial signals, respectively. The first frequency domain information can include frequency domain information obtained by performing FFT on the plurality of first sampling points, respectively. Each second frequency domain information can include frequency domain information obtained by performing FFT on the plurality of second sampling points, respectively.

[0089] As a more specific example, by inputting forward (for performing FFT operation), the first initial signal, the plurality of second initial signals, single pulse sampling point number, sampling interval and the like in the cufftexecz2z, a handle can be generated first, and then the FFT of the signal is performed based on the handle. If the number of array elements is denoted as SourceNum, the cufftexecz2z can perform FFT on SourceNum*GateNum sampling points. The sampling process and the FFT process can be performed by a single thread or by multiple threads in parallel, which is not limited here.

[0090] In addition, the first frequency domain information is multiplied by each second frequency domain information in parallel by multiple threads. Specifically, for each second frequency domain information, the frequency domain information corresponding to the plurality of second sampling points in the second frequency domain information is multiplied by the frequency domain information corresponding to the plurality of first sampling points in the first frequency domain information, respectively. If there are 1024*256 threads in the GPU, and the plurality of array elements correspond to SourceNum*GateNum sampling points, each thread can implement multiplication of ceil(SourceNum*GateNum / (1024*256)) frequency domain signals.

[0091] The first frequency domain information is multiplied by each second frequency domain information in parallel by multiple threads to obtain target frequency domain information, which can improve the efficiency of determining the target frequency domain information.

[0092] After the target frequency domain information is determined, the target time domain information can be obtained by performing IFFT on each target frequency domain information.

[0093] As an example, by inputting the parameter inverse and the target frequency domain information in the cufftexecz2z, the target time domain information can be obtained.

[0094] As a more specific example, the signal pulse compression of each second initial signal can be implemented by the following formula (1):

[0095]

[0096] In formula (1), S center may be a first initial signal, may be a second initial signal, S impuls may be a signal pulse compression result, i.e., target time domain information.

[0097] Embodiments of the present application perform inverse Fourier transform on multiple target frequency domain information in parallel through multiple threads to obtain target time domain information corresponding to each target frequency domain information, which can improve the efficiency of determining target time domain information, and then determine the target signal based on multiple target time domain information, which can improve the efficiency of determining the target signal.

[0098] S120, based on the first target signal and the multiple second target signals, measures the angle of the target object in parallel through multiple threads to obtain multiple first angle measurement results.

[0099] Here, the multiple threads can include threads corresponding to the multiple second target signals. That is, each first array element can correspond to a thread. For each first array element, the angle measurement calculation is performed through the corresponding thread to obtain the angle measurement result corresponding to each first array element, i.e., the first angle measurement result. After obtaining the multiple first angle measurement results, the threads are synchronized.

[0100] In addition, the types of angles measured by the multiple array elements can be the same or different, which is not limited here. For example, a part of the multiple array elements can be used to measure the pitch angle, and another part of the multiple array elements can be used to measure the azimuth angle. That is, the multiple first angle measurement results can include multiple pitch angles and multiple azimuth angles.

[0101] In order to ensure the accuracy of the first angle measurement result and improve the efficiency of determining the multiple first angle measurement results, in some embodiments, the above S120 can specifically include:

[0102] Based on the first target signal and the multiple second target signals, the phase angles and lengths corresponding to the multiple baselines are obtained in parallel through multiple threads, and the multiple baselines include distances between the multiple first array elements and the phase reference array element;

[0103] Based on the radar wavelength, the phase angles and the lengths of the plurality of baselines, the angles corresponding to the plurality of first array elements are determined in parallel through a plurality of threads, and a plurality of first angle measurement results are obtained.

[0104] Here, the baseline can be the distance between the first array element and the phase reference array element. The first array element and the baseline can be one-to-one corresponding. The length of the baseline can be determined based on any one of the time difference method, the geometric relationship method, etc., which is not limited here. Specifically, if the radar wave speed and the time difference of the signals received by two array elements are known, the length of the baseline can be calculated by the time difference method. If the coordinate positions of the two array elements are known, the length of the baseline can be obtained by calculating the Euclidean distance between the two points (i.e., the geometric relationship method).

[0105] The embodiment of the present application can improve the calculation efficiency of the baseline length by calculating the lengths of the plurality of baselines corresponding to the plurality of first array elements in parallel through the threads corresponding to the plurality of first array elements.

[0106] In addition, the phase angle of the baseline can be determined based on the phase difference between the first target signal and the second target signal. The embodiment of the present application can improve the acquisition efficiency of the phase angle by acquiring the phase angles corresponding to the plurality of baselines based on the first target signal and the plurality of second target signals in parallel through the threads corresponding to the plurality of first array elements.

[0107] For each baseline, after the phase angle and the length are determined, the first angle measurement result can be calculated based on the radar wavelength, the phase angle and the length. If the first angle measurement result is the pitch angle, the first angle measurement result can be calculated by the following formula (2):

[0108]

[0109] In formula (2), θ can be the pitch angle, may be the distance between the i th array element for measuring the pitch angle and the phase reference center array element (i.e., the length of the baseline corresponding to the i th array element), may be the phase angle corresponding to the baseline of the i th array element for measuring the pitch angle, and λ can be the radar wavelength.

[0110] If the first angle measurement result is the azimuth angle, the first angle measurement result can be calculated by the following formula (3):

[0111]

[0112] In formula (3), may be the azimuth angle, may be the distance between the i th array element for measuring the azimuth angle and the phase reference center array element (i.e., the length of the baseline corresponding to the i th array element), The baseline corresponding phase angle of the i-th array element for measuring the azimuth angle, and λ can be the radar wavelength.

[0113] The embodiment of the application can determine the angles corresponding to the plurality of first array elements in parallel based on the radar wavelength, the phase angles and lengths corresponding to the plurality of baselines, respectively, through a plurality of threads, and obtain a plurality of first angle measurement results, which can ensure the accuracy of the first angle measurement results and improve the efficiency of determining the plurality of first angle measurement results.

[0114] Therefore, in order to improve the efficiency of obtaining the phase angle, in some embodiments, the above-mentioned parallel obtaining of the phase angles corresponding to the plurality of baselines based on the first target signal and the plurality of second target signals through a plurality of threads can specifically include:

[0115] Obtaining the pulse pressure peak values corresponding to the first target signal and the plurality of second target signals, respectively;

[0116] Determining the phases corresponding to the first target signal and the plurality of second target signals based on the pulse pressure peak values;

[0117] Converting the phase of the first target signal into an angle to obtain a first angle;

[0118] Parallel converting the phases corresponding to the plurality of second target signals into angles through a plurality of threads to obtain a plurality of second angles;

[0119] Parallel calculating the differences between the plurality of second angles and the first angle through a plurality of threads to obtain the phase angles corresponding to the plurality of baselines, respectively.

[0120] Here, after obtaining the signal pulse pressure result as described above, the index of the signal pulse pressure peak value of a certain array element can be determined by using the cublasIsmax function in the cuda cublas library of the GPU. Then, based on the relative positional relationship between the plurality of array elements, the signal pulse pressure peak values of all other array elements can be obtained correspondingly to obtain the pulse pressure peak values corresponding to the first target signal and the plurality of second target signals. After obtaining the pulse pressure peak values, the phases corresponding to the first target signal and the plurality of second target signals can be determined based on the pulse pressure peak values. Then, by subtracting the plurality of second angles from the first angle through a plurality of threads, the phase angles corresponding to the plurality of baselines can be obtained.

[0121] When the phase angle is in the second quadrant, +π processing is performed, when the phase angle is in the third quadrant, -π processing is performed, and the remaining cases are not processed, which ensures that the phase angles of all baselines are in the range of (-90, 90], and then thread synchronization is performed.

[0122] The embodiment of the present application uses multiple threads to parallelly calculate the differences between multiple second angles and the first angle to obtain phase angles corresponding to multiple baselines, thereby improving the efficiency of obtaining the phase angles.

[0123] In addition, the multiple baselines may include a first baseline and multiple second baselines. The first baseline may be the shortest baseline among the multiple baselines. The multiple second baselines may be the remaining baselines among the multiple baselines except the first baseline. After the phase angle of the baseline is converted to the range of (-90, 90], the multiple second baselines all have phase ambiguity, that is, the phase angle of the second baseline differs from the actual phase angle by a multiple of 2π. Therefore, in order to ensure the accuracy of the phase angles corresponding to the multiple second baselines, the phase angles of the second baselines need to be deambiguated.

[0124] Based on this, to ensure the accuracy of the phase angles corresponding to the multiple second baselines, in some embodiments, before determining the angles corresponding to the multiple first array elements in parallel through multiple threads based on the radar wavelength, the phase angles and lengths corresponding to the multiple baselines, and obtaining the multiple first angle measurement results, the method may further include:

[0125] Based on the length of the first baseline, the phase angle of the first baseline, the lengths corresponding to the multiple second baselines, and the phase angles corresponding to the multiple second baselines, the phase angles of the multiple second baselines are defuzzified in parallel through multiple threads to obtain multiple defuzzified phase angles.

[0126] Based on this, the above method, based on the radar wavelength, the phase angles and lengths corresponding to the multiple baselines, determines the angles corresponding to the multiple first array elements in parallel through multiple threads to obtain multiple first angle measurement results, which may specifically include:

[0127] Based on the radar wavelength, the phase angles and lengths corresponding to the multiple second baselines, the angles corresponding to the multiple second array elements are determined in parallel through multiple threads to obtain the first angle measurement results corresponding to the multiple second array elements. The multiple second array elements are the array elements corresponding to the multiple second baselines.

[0128] The defuzzification process can be specifically to first calculate the number of 2π differences between the current phase angle and the actual phase angle, and then perform ±π or remain unchanged operations according to the quadrant in which it is located, so as to ensure that the angle of the second baseline is in the range of (-90+n*2π,90+n*2π], n∈z + , and get the phase angle after defuzzification.

[0129] As an example, if the first angle measurement result is a pitch angle, the number of 2π can be determined by the following formula (4):

[0130]

[0131] In the formula (4), di can be the distance from the i th array element to the phase reference center array element (i.e., the length of the second baseline corresponding to the i th array element), In the formula (4), di can be the distance from the i th array element to the phase reference center array element (i.e., the length of the second baseline corresponding to the i th array element), In the formula (4), di can be the distance from the i th array element to the phase reference center array element (i.e., the length of the second baseline corresponding to the i th array element), min In the formula (4), di can be the distance from the i th array element to the phase reference center array element (i.e., the length of the second baseline corresponding to the i th array element), min In the formula (4), di can be the distance from the i th array element to the phase reference center array element (i.e., the length of the second baseline corresponding to the i th array element),

[0132] If the first angle measurement result is the azimuth angle, the number of 2π can be determined by the following formula (5):

[0133]

[0134] In the formula (5), di can be the distance from the i th array element to the phase reference center array element (i.e., the length of the second baseline corresponding to the i th array element), In the formula (5), di can be the distance from the i th array element to the phase reference center array element (i.e., the length of the second baseline corresponding to the i th array element), In the formula (5), di can be the distance from the i th array element to the phase reference center array element (i.e., the length of the second baseline corresponding to the i th array element), min In the formula (5), di can be the distance from the i th array element to the phase reference center array element (i.e., the length of the second baseline corresponding to the i th array element), min In the formula (5), di can be the distance from the i th array element to the phase reference center array element (i.e., the length of the second baseline corresponding to the i th array element),

[0135] In this way, by using the wavelength of the radar, the phase angles and lengths of the multiple second baselines, the angles corresponding to the multiple second array elements are determined in parallel through multiple threads, and the first angle measurement results corresponding to the multiple second array elements are obtained, which can ensure the accuracy of the phase angles of the multiple second baselines.

[0136] In S130, the average of the multiple first angle measurement results is calculated in parallel through multiple threads based on the reduction algorithm, and the target angle measurement result is obtained.

[0137] Here, the target angle measurement result can be at least one of the elevation angle and the azimuth angle of the target object. If the multiple first angle measurement results are all elevation angles or azimuth angles, the average of the first angle measurement results can be calculated based on the reduction algorithm to obtain the elevation angle or the azimuth angle of the target object.

[0138] If the multiple first angle measurement results correspond to multiple angle types, that is, if the multiple first angle measurement results include multiple elevation angles and multiple azimuth angles, in order to ensure the accuracy of the target angle measurement result, in some embodiments, S130 can specifically include:

[0139] For each angle type, the average value of the plurality of first angle measurement results corresponding to the angle type is calculated in parallel by the plurality of threads based on the reduction algorithm, to obtain the target angle measurement result corresponding to each angle type.

[0140] If the plurality of angle types include the pitch angle and the azimuth angle, the plurality of pitch angles and the plurality of azimuth angles can be determined from the plurality of first angle measurement results, and then the average value of the plurality of pitch angles is calculated in parallel by the plurality of threads based on the reduction algorithm to obtain the pitch angle of the target object, and the average value of the plurality of azimuth angles is calculated in parallel by the plurality of threads based on the reduction algorithm to obtain the azimuth angle of the target object.

[0141] The embodiments of the present application can ensure the accuracy of the target angle measurement result by calculating the average value of the plurality of first angle measurement results corresponding to each angle type in parallel by the plurality of threads based on the reduction algorithm to obtain the target angle measurement result corresponding to each angle type.

[0142] Therefore, in order to improve the calculation efficiency of the target angle measurement result, in some embodiments, the S130 can specifically include:

[0143] The plurality of threads are grouped to obtain a plurality of thread groups;

[0144] The target threads in the plurality of thread groups are determined respectively to obtain a plurality of target threads;

[0145] The plurality of first angle measurement results corresponding to the plurality of target threads respectively are reduced and summed in parallel by the plurality of target threads to obtain a plurality of second angle measurement results corresponding to the plurality of target threads respectively;

[0146] The average value of the plurality of second angle measurement results is calculated to obtain the target angle measurement result.

[0147] Here, each thread can calculate a first angle measurement result. If the plurality of first angle measurement results calculated by the plurality of threads are of the same angle type, such as the pitch angle, the plurality of threads can be randomly grouped into a plurality of thread groups. For example, if there are m threads, the m threads can be divided into k thread groups, and each thread group can include m / k threads.

[0148] In addition, if the plurality of first angle measurement results calculated by the plurality of threads include a plurality of angle types, the threads corresponding to the plurality of angle types can be determined from the plurality of threads, and then the plurality of threads are grouped based on the angle type to obtain a plurality of thread groups corresponding to each angle type.

[0149] For example, if the multiple angle types include the elevation angle and the azimuth angle, the multiple elevation angles and the multiple azimuth angles can be determined in multiple threads respectively, and then the multiple threads corresponding to the multiple elevation angles are grouped to obtain multiple thread groups corresponding to the elevation angle, and the multiple threads corresponding to the multiple azimuth angles are grouped to obtain multiple thread groups corresponding to the azimuth angle.

[0150] In addition, the target thread can be any one of the multiple threads in the thread group. The number of target threads can be the same as the number of thread groups.

[0151] For each thread group, the first angle measurement result corresponding to the multiple threads in the thread group can be reduced and summed by the target thread to obtain the second angle measurement result corresponding to the target thread.

[0152] In order to improve the calculation efficiency of the second angle measurement result, the multiple first angle measurement results corresponding to the multiple target threads can be reduced and summed in parallel by the multiple target threads to obtain the second angle measurement results corresponding to the multiple target threads respectively.

[0153] After determining the multiple second angle measurement results, the average value of the multiple second angle measurement results can be calculated for each angle type to obtain the target angle measurement result.

[0154] As another example of the present application, the above S130 can specifically include:

[0155] The multiple threads are grouped two by two to obtain multiple first thread groups;

[0156] A first target thread is determined in each first thread group;

[0157] The multiple first angle measurement results corresponding to the multiple first target threads are reduced and summed in parallel by the multiple first target threads to obtain the third angle measurement results corresponding to the multiple first target threads respectively;

[0158] The multiple first target threads are grouped two by two to obtain multiple second thread groups;

[0159] A second target thread is determined in each second thread group;

[0160] The multiple third angle measurement results corresponding to the multiple second target threads are reduced and summed in parallel by the multiple second target threads to obtain the fourth angle measurement results corresponding to the multiple second target threads respectively;

[0161] The above process is repeatedly performed until a final summation result is obtained;

[0162] The average value of the summation result and the number of the original multiple threads is calculated to obtain the target angle measurement result.

[0163] The embodiments of the present application can reduce the time complexity of calculating the second angle measurement result, improve the calculation efficiency of the second angle measurement result, and further improve the calculation efficiency of the target angle measurement result, by grouping a plurality of threads first to obtain a plurality of thread groups, and then calculating the second angle measurement result corresponding to each thread group in parallel.

[0164] In S140, the direction of the target object is determined based on the target angle measurement result.

[0165] Here, the target angle measurement result can be an angle measurement result corresponding to one angle type, or can include angle measurement results corresponding to a plurality of angle types. If the target angle measurement result includes angle measurement results corresponding to a plurality of angle types, as another example of the present application, S140 can specifically include:

[0166] The direction of the target object is determined based on the target angle measurement result corresponding to each angle type.

[0167] If the plurality of angle types include the pitch angle and the azimuth angle, the direction of the target object can be determined based on the angle values of the finally calculated pitch angle and azimuth angle.

[0168] In the radar direction finding method of the embodiments of the present application, the radar detection device includes a plurality of array elements, the plurality of array elements include a phase reference center array element and a plurality of first array elements, and the reference signal includes a first target signal received by the phase reference center array element and a plurality of second target signals respectively received by the plurality of first array elements. By obtaining the target signal of the target object received by the radar detection device, and then based on the first target signal and the plurality of second target signals, the angle of the target object is measured in parallel through a plurality of threads to obtain a plurality of first angle measurement results, the measurement speed of the plurality of first angle measurement results can be improved. By calculating the average value of the plurality of first angle measurement results in parallel through a plurality of threads based on a reduction algorithm to obtain a target angle measurement result, the calculation speed of the target angle measurement result can be improved. In this way, by determining the direction of the target object based on the target angle measurement result, the speed of determining the direction of the target object can be improved, and further the efficiency of testing the direction finding performance of the radar detection device can be improved.

[0169] In order to better describe the above process of calculating the target angle measurement result in parallel through a plurality of threads, taking the target angle measurement result as an angle measurement result corresponding to one angle type as an example, some specific examples are given based on the above embodiments.

[0170] For example, a flowchart of calculating the target angle measurement result in parallel through a plurality of threads provided by the embodiments of the present application can be as shown in Figure 2 .

[0171] As shown in Figure 2 , each thread can first perform steps S21-S26, and then perform thread synchronization.

[0172] S21. Acquire a phase angle of a baseline corresponding to a first array element based on a first target signal and a plurality of second target signals;

[0173] S22, calculating the length of the baseline corresponding to the first array element;

[0174] S23, converting the phase angle of the baseline to the range of (-90, 90];

[0175] S24. If the baseline is the second baseline, defuzzification processing is performed on the phase angle of the second baseline;

[0176] S25, convert the phase angle of the second baseline to (-90+n*2π,90+n*2π], n∈z + within the scope;

[0177] S26. Calculate a first angle measurement result based on the radar wavelength, the phase angle, and the length of the baseline.

[0178] After the multiple threads are synchronized, S27 is executed to calculate the average value of the multiple first angle measurement results in parallel through the multiple threads based on a reduction algorithm to obtain a target angle measurement result.

[0179] Therefore, by computing the target angle measurement results in parallel across multiple threads, the computational efficiency of the target angle measurement results can be improved, meeting the real-time requirements of signal processing. Furthermore, as shown above, the greater the number of array elements, the more significant the acceleration in computing the target angle measurement results.

[0180] Based on the radar direction-finding method provided in the above embodiment, the present application also provides a specific implementation of a radar direction-finding device. Please refer to the following embodiment.

[0181] like Figure 3 As shown, the radar direction finding device 300 provided in the embodiment of the present application includes the following modules:

[0182] An acquisition module 310 is configured to acquire a target signal of a target object received by a radar detection device, where the radar detection device includes a plurality of array elements, the plurality of array elements including a phase reference center array element and a plurality of first array elements, and the target signal includes a first target signal received by the phase reference center array element and a second target signal received by each of the plurality of first array elements;

[0183] An angle measurement module 320 is configured to measure the angle of the target object in parallel through multiple threads based on the first target signal and the multiple second target signals to obtain multiple first angle measurement results;

[0184] A calculation module 330 is configured to calculate an average of multiple first angle measurement results in parallel using multiple threads based on a reduction algorithm to obtain a target angle measurement result;

[0185] The determining module 340 is configured to determine the direction of the target object based on the target direction finding result.

[0186] The radar direction finding device 300 is described in detail as follows:

[0187] In some embodiments, the plurality of first direction finding results correspond to a plurality of angle types. Based on this, the calculating module 330 can specifically include:

[0188] The first calculating submodule is configured to, for each angle type, calculate, based on a reduction algorithm, an average value of the plurality of first direction finding results corresponding to the angle type through the plurality of threads in parallel, to obtain the target direction finding result corresponding to each angle type.

[0189] Based on this, the determining module 340 can specifically include:

[0190] The first determining submodule is configured to determine the direction of the target object based on the target direction finding result corresponding to each angle type.

[0191] In some embodiments, the calculating module 330 can specifically include:

[0192] The grouping submodule is configured to group the plurality of threads to obtain a plurality of thread groups.

[0193] The second determining submodule is configured to determine a target thread in each thread group to obtain a plurality of target threads.

[0194] The second calculating submodule is configured to perform reduction summation on the plurality of first direction finding results corresponding to the plurality of target threads respectively through the plurality of target threads in parallel, to obtain a plurality of second direction finding results corresponding to the plurality of target threads respectively.

[0195] The third calculating submodule is configured to calculate an average value of the plurality of second direction finding results to obtain the target direction finding result.

[0196] In some embodiments, the obtaining module 310 can specifically include:

[0197] The first obtaining submodule is configured to obtain an initial signal of the target object received by the radar detection device, the initial signal including a first initial signal received by the phase reference center element and a plurality of second initial signals respectively received by the plurality of first elements.

[0198] The pulse compression submodule is configured to perform signal pulse compression processing on the initial signal through the plurality of threads in parallel based on the first initial signal and the plurality of second initial signals to obtain the target signal.

[0199] In some embodiments, the pulse compression submodule can specifically include:

[0200] The first determining unit is configured to determine a plurality of first sampling points in the first initial signal and a plurality of second sampling points in the plurality of second initial signals in parallel through the plurality of threads.

[0201] The first transforming unit is configured to perform Fourier transform on the plurality of first sampling points to obtain first frequency domain information of the first initial signal and perform Fourier transform on the plurality of second sampling points to obtain second frequency domain information corresponding to the plurality of second initial signals respectively in parallel through the plurality of threads.

[0202] The first calculating unit is configured to multiply the first frequency domain information with each second frequency domain information to obtain target frequency domain information in parallel through the plurality of threads.

[0203] The second transforming unit is configured to perform inverse Fourier transform on the plurality of target frequency domain information to obtain target time domain information corresponding to each target frequency domain information in parallel through the plurality of threads.

[0204] The second determining unit is configured to determine the target signal based on the plurality of target time domain information.

[0205] In some embodiments, the first obtaining sub-module can specifically include:

[0206] The obtaining unit is configured to obtain attribute information of the target object and a signal received by the radar detection device.

[0207] The third determining unit is configured to determine a target signal feature corresponding to the attribute information of the target object based on a corresponding relationship between the attribute information and the signal feature.

[0208] The fourth determining unit is configured to perform target detection on the signal received by the radar detection device based on the target signal feature to determine an initial signal of the target object.

[0209] In some embodiments, the angle measuring module 320 can specifically include:

[0210] The second obtaining sub-module is configured to obtain a phase angle and a length corresponding to each of a plurality of baselines in parallel through the plurality of threads based on the first target signal and the plurality of second target signals, the plurality of baselines including distances between the plurality of first array elements and the phase reference array element respectively.

[0211] The third determining sub-module is configured to determine an angle corresponding to each of the plurality of first array elements in parallel through the plurality of threads based on the radar wavelength, the phase angle and the length corresponding to each of the plurality of baselines respectively to obtain a plurality of first angle measurement results.

[0212] In some embodiments, the second obtaining sub-module can specifically include:

[0213] The acquisition unit is configured to acquire pulse pressure peak values corresponding to the first target signal and the plurality of second target signals respectively.

[0214] The fifth determination unit is configured to determine phases corresponding to the first target signal and the plurality of second target signals respectively based on the pulse pressure peak values.

[0215] The first conversion unit is configured to convert the phase of the first target signal into an angle to obtain a first angle.

[0216] The second conversion unit is configured to convert the phases corresponding to the plurality of second target signals into angles in parallel through a plurality of threads to obtain a plurality of second angles.

[0217] The second calculation unit is configured to calculate differences between the plurality of second angles and the first angle in parallel through the plurality of threads to obtain phases corresponding to the plurality of baselines respectively.

[0218] In some embodiments, the plurality of baselines includes a first baseline and a plurality of second baselines, and the first baseline is the shortest baseline in the plurality of baselines. Based on this, the angle measurement module 320 can further include:

[0219] The deambiguating submodule is configured to, before determining the angles corresponding to the plurality of first elements respectively in parallel through the plurality of threads based on the wavelength of the radar, the phases corresponding to the plurality of baselines respectively and the lengths of the plurality of baselines, perform deambiguating processing on the phases corresponding to the plurality of second baselines respectively in parallel through the plurality of threads based on the length of the first baseline, the phase corresponding to the first baseline, the lengths of the plurality of second baselines respectively and the phases corresponding to the plurality of second baselines respectively to obtain a plurality of deambiguated phases.

[0220] Based on this, the third determination submodule can specifically include:

[0221] The sixth determination unit is configured to determine the angles corresponding to the plurality of second elements respectively in parallel through the plurality of threads based on the wavelength of the radar, the phases corresponding to the plurality of second baselines respectively and the lengths of the plurality of second baselines to obtain a plurality of first angle measurement results corresponding to the plurality of second elements respectively, and the plurality of second elements are elements corresponding to the plurality of second baselines respectively.

[0222] In the radar direction finding device provided in the embodiments of the present application, the radar detection device includes a plurality of array elements, the plurality of array elements include a phase reference center array element and a plurality of first array elements, and the signal includes a first target signal received by the phase reference center array element and a plurality of second target signals each received by the plurality of first array elements. By obtaining the target signal of the target object received by the radar detection device, and based on the first target signal and the plurality of second target signals, the angle of the target object is measured in parallel through a plurality of threads to obtain a plurality of first angle measurement results, the measurement speed of the plurality of first angle measurement results can be improved. By calculating the average value of the plurality of first angle measurement results in parallel through a plurality of threads based on a reduction algorithm to obtain a target angle measurement result, the calculation speed of the target angle measurement result can be improved. In this way, the direction of the target object is determined based on the target angle measurement result, the speed of determining the direction of the target object can be improved, and the efficiency of testing the direction finding performance of the radar detection device is further improved.

[0223] Based on the radar direction finding method provided in the above embodiments, the present application further provides a specific implementation of an electronic device. Figure 4 A schematic diagram of an electronic device 400 provided in the embodiments of the present application is shown.

[0224] The electronic device 400 can include a processor 410 and a memory 420 storing computer program instructions.

[0225] Specifically, the processor 410 described above can include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or can be configured as one or more integrated circuits that implement the embodiments of the present application.

[0226] The memory 420 can include a mass storage for data or instructions. By way of example and not limitation, the memory 420 can include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. Where appropriate, the memory 420 can include removable or non-removable (or fixed) media. Where appropriate, the memory 420 can be internal or external to the electronic device 400. In certain embodiments, the memory 420 is a non-volatile solid-state memory.

[0227] The memory can include read-only memory (ROM), random-access memory (RAM), magnetic disk storage mediums devices, optical storage mediums devices, flash memory devices, electrical, optical, or other physical / tangible memory storage devices. Thus, generally, the memory includes one or more tangible (non-transitory) computer-readable storage mediums (e.g., a memory device) encoded with software that, when executed (e.g., by one or more processors), is operable to perform the operations described with reference to the method according to the first aspect of the application.

[0228] The processor 410 implements any one of the radar direction finding methods in the above embodiments by reading and executing computer program instructions stored in the memory 420.

[0229] In one example, the electronic device 400 can further include a communication interface 430 and a bus 440. As shown, the processor 410, the memory 420, and the communication interface 430 are connected through the bus 440 and complete communication with each other. Figure 4

[0230] The communication interface 430 is mainly used to realize the communication between the modules, devices, units and / or equipment in the embodiments of the application.

[0231] The bus 440 includes hardware, software or both to couple the components of the electronic device to each other. By way of example, and not limitation, the bus can include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or another suitable bus or combination of two or more of these. Where appropriate, the bus 440 can include one or more buses. Although the present application describes and illustrates a particular bus, the present application contemplates any suitable bus or interconnect.

[0232] By way of example, the electronic device 400 can be a mobile phone, a tablet computer, a notebook computer, a palm computer, a vehicle-mounted electronic device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA), etc.

[0233] The electronic device can perform the radar direction finding method in the embodiments of the application, thereby realizing the combination​Figures 1 to 2 The described radar direction finding method.

[0234] In addition, in combination with the radar direction finding method in the above-mentioned embodiments, the embodiments of the present application can provide a computer readable storage medium for implementation. The computer readable storage medium has computer program instructions stored thereon; the computer program instructions are executed by a processor to implement any one of the radar direction finding methods in the above-mentioned embodiments.

[0235] In combination with the radar direction finding method in the above-mentioned embodiments, the embodiments of the present application can provide a computer program product for implementation. The instructions in the computer program product are executed by the processor of the electronic device to implement any one of the radar direction finding methods in the above-mentioned embodiments.

[0236] It needs to be made clear that the present application is not limited to the specific configurations and processes described above and shown in the drawings. For the sake of brevity, detailed descriptions of well-known methods are omitted herein. In the above-mentioned embodiments, several specific steps are described and shown as examples. However, the method processes of the present application are not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order of the steps, after understanding the spirit of the present application.

[0237] The functional blocks shown in the structural block diagrams described above can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a functional card, etc. When implemented in software, the elements of the present application are program or code segments used to perform the required tasks. The program or code segments can be stored in a machine readable medium or transmitted through a data signal carried in a carrier wave over a transmission medium or communication link. The "machine readable medium" can include any medium capable of storing or transmitting information. Examples of the machine readable medium include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segments can be downloaded via a computer network such as the Internet, an intranet, etc.

[0238] It also needs to be made clear that the exemplary embodiments mentioned in the present application describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the above-mentioned steps, that is, the steps can be executed in the order mentioned in the embodiments, or in an order different from the embodiments, or several steps can be executed simultaneously.

[0239] The computer program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other processing device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other processing device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0240] The above description is only specific implementation of the present application. For the convenience and brevity of description, the specific working process of the above-described system, module and unit can refer to the corresponding process in the foregoing method embodiments, which will not be described herein. It should be understood that the protection scope of the present application is not limited in this way. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed in the present application, and these modifications or replacements should be covered within the protection scope of the present application.

Claims

1. A radar direction finding method, characterized in that: include: Acquiring a target signal of a target object received by a radar detection device, the radar detection device comprising a plurality of array elements, the plurality of array elements comprising a phase reference center array element and a plurality of first array elements, the target signal comprising a first target signal received by the phase reference center array element and a second target signal received by each of the plurality of first array elements; Based on the first target signal and the plurality of second target signals, measuring the angle of the target object in parallel through multiple threads to obtain a plurality of first angle measurement results; Based on a reduction algorithm, an average value of the plurality of first angle measurement results is calculated in parallel by multiple threads to obtain a target angle measurement result; Based on the target angle measurement result, the direction of the target object is determined.

2. The method according to claim 1, characterized in that The multiple first angle measurement results correspond to multiple angle types; The method of calculating the average value of the plurality of first angle measurement results in parallel through multiple threads based on a reduction algorithm to obtain a target angle measurement result includes: For each of the angle types, based on the reduction algorithm, using multiple threads, parallelly calculate the average of multiple first angle measurement results corresponding to the angle type to obtain target angle measurement results corresponding to the multiple angle types respectively; Determining the direction of the target object based on the target angle measurement result includes: The direction of the target object is determined based on the target angle measurement results corresponding to the multiple angle types.

3. The method according to claim 1 or 2, characterized in that The method of calculating the average value of the plurality of first angle measurement results in parallel through multiple threads based on a reduction algorithm to obtain a target angle measurement result includes: Grouping the multiple threads to obtain multiple thread groups; Determine target threads in the plurality of thread groups respectively to obtain a plurality of target threads; Performing reduction and summation on the first angle measurement results respectively corresponding to the multiple target threads in parallel through the multiple target threads to obtain the second angle measurement results respectively corresponding to the multiple target threads; An average value of the plurality of second angle measurement results is calculated to obtain the target angle measurement result.

4. The method according to claim 1, wherein The acquiring of a target signal of a target object received by a radar detection device comprises: Acquire an initial signal of the target object received by the radar detection device, the initial signal including a first initial signal received by the phase reference center array element and a second initial signal received by each of the plurality of first array elements; Based on the first initial signal and a plurality of the second initial signals, signal pulse compression processing is performed on the initial signals in parallel through a plurality of threads to obtain the target signal.

5. The method according to claim 4, characterized in that The step of performing signal pulse compression processing on the initial signals in parallel through multiple threads based on the first initial signal and the plurality of second initial signals to obtain the target signal includes: Determining, in parallel, a plurality of first sampling points in the first initial signal and a plurality of second sampling points in each of the plurality of second initial signals through a plurality of threads; Performing Fourier transform on the plurality of first sampling points in parallel through multiple threads to obtain first frequency domain information of the first initial signal, and performing Fourier transform on the plurality of second sampling points to obtain second frequency domain information corresponding to the plurality of second initial signals respectively; multiplying the first frequency domain information by each of the second frequency domain information in parallel through multiple threads to obtain target frequency domain information; Performing inverse Fourier transform on the plurality of target frequency domain information in parallel through multiple threads to obtain target time domain information corresponding to each target frequency domain information; The target signal is determined based on the multiple target time domain information.

6. The method according to claim 4 or 5, characterized in that The obtaining of an initial signal of a target object received by a radar detection device includes: Acquiring attribute information of the target object and the signal received by the radar detection device; Determining a target signal feature corresponding to the attribute information of the target object based on a correspondence between the attribute information and the signal feature; Based on the target signal characteristics, target detection is performed on the signal received by the radar detection device to determine the initial signal of the target object.

7. The method according to claim 1, characterized in that The method of measuring the angle of the target object in parallel based on the first target signal and the plurality of second target signals through multiple threads to obtain a plurality of first angle measurement results includes: Based on the first target signal and the plurality of second target signals, obtaining, in parallel through multiple threads, phase angles and lengths corresponding to a plurality of baselines, respectively, the plurality of baselines including a distance between each of the plurality of first array elements and the phase reference array element; Based on the radar wavelength, the phase angles and lengths respectively corresponding to the multiple baselines, the angles respectively corresponding to the multiple first array elements are determined in parallel through multiple threads to obtain multiple first angle measurement results.

8. The method according to claim 7, characterized in that The acquiring, in parallel, phase angles corresponding to a plurality of baselines respectively through a plurality of threads based on the first target signal and the plurality of second target signals includes: Obtaining pulse pressure peak values ​​corresponding to the first target signal and a plurality of the second target signals respectively; determining, based on the pulse pressure peak value, phases corresponding to the first target signal and the plurality of second target signals; Converting the phase of the first target signal into an angle to obtain a first angle; Converting phases corresponding to the plurality of second target signals into angles in parallel through a plurality of threads to obtain a plurality of second angles; The differences between each of the plurality of second angles and the first angle are calculated in parallel through multiple threads to obtain phase angles corresponding to the plurality of baselines.

9. The method according to claim 7 or 8, characterized in that The multiple baselines include a first baseline and multiple second baselines, the first baseline being the shortest baseline among the multiple baselines; and before obtaining the multiple first angle measurement results, the method further includes: determining angles corresponding to the multiple first array elements in parallel based on the radar wavelength, the phase angles, and the lengths corresponding to the multiple baselines, using multiple threads. Based on the length of the first baseline, the phase angle of the first baseline, the lengths corresponding to the multiple second baselines, and the phase angles corresponding to the multiple second baselines, defuzzifying the phase angles of the multiple second baselines in parallel through multiple threads to obtain multiple defuzzified phase angles; The method of determining the angles corresponding to the plurality of first array elements in parallel through multiple threads based on the radar wavelength and the phase angles and lengths corresponding to the plurality of baselines to obtain the plurality of first angle measurement results includes: Based on the radar wavelength and the phase angles and lengths corresponding to the multiple second baselines, the angles corresponding to the multiple second array elements are determined in parallel through multiple threads to obtain first angle measurement results corresponding to the multiple second array elements. The multiple second array elements are the array elements corresponding to the multiple second baselines.

10. A radar direction-finding device, characterized in that: The device comprises: an acquisition module, configured to acquire a target signal of a target object received by a radar detection device, the radar detection device comprising a plurality of array elements, the plurality of array elements comprising a phase reference center array element and a plurality of first array elements, the target signal comprising a first target signal received by the phase reference center array element and a second target signal received by each of the plurality of first array elements; an angle measurement module, configured to measure the angle of the target object in parallel through multiple threads based on the first target signal and the plurality of second target signals, to obtain a plurality of first angle measurement results; a calculation module, configured to calculate an average of the plurality of first angle measurement results in parallel through multiple threads based on a reduction algorithm to obtain a target angle measurement result; A determination module is used to determine the direction of the target object based on the target angle measurement result.

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