Radar direction finding method and apparatus

Abstract

The application discloses a radar direction finding method and device. The method comprises the following steps: 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; based on the first target signal and the plurality of second target signals, measuring the angle of the target object in parallel through a plurality of threads to obtain a plurality of first angle measurement results; based on a reduction algorithm, calculating the average value of the plurality of first angle measurement results in parallel through a plurality of threads to obtain a target angle measurement result; and determining the direction of the target object based on the target angle measurement result. The radar direction finding method according to the application can improve the efficiency of testing the direction finding performance of the radar detection device.

Description

Technical Field

[0001] This application belongs to the field of radar detection device simulation technology, and in particular relates to a radar direction finding method and device. Background Technology

[0002] Radar detection devices can be installed on aircraft to detect and track targets. With the continuous development of electronic technology, radar detection devices are becoming increasingly complex, their algorithms more intricate, and their prices more expensive, leading to longer testing cycles and higher flight test costs for aircraft. To better test the performance indicators of radar detection devices in complex electromagnetic environments, such as direction-finding performance, digital simulation can be used instead of flight testing. This simulation simulates the complete process of the radar detection device receiving and processing signals, reducing testing costs and time.

[0003] However, the efficiency of testing the direction-finding performance of radar detection devices is currently low. Summary of the Invention

[0004] This application provides a radar direction finding method, apparatus, device, computer-readable storage medium, and computer program product, which can improve the efficiency of testing the direction finding performance of radar detection devices.

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

[0006] Acquire target signals of target objects received by radar detection devices, wherein the radar detection devices include multiple array elements, the multiple array elements include a phase reference center array element and multiple first array elements, and the target signals include a first target signal received by the phase reference center array element and a second target signal received by each of the multiple first array elements;

[0007] Based on the first target signal and multiple second target signals, the angle of the target object is measured in parallel through multiple threads to obtain multiple first angle measurement results;

[0008] Based on the reduction algorithm, the average value of the multiple first angle measurement results is calculated in parallel using multiple threads to obtain the target angle measurement result;

[0009] Based on the target angle measurement results, the direction of the target object is determined.

[0010] In one possible implementation, the plurality of first angle measurement results correspond to multiple angle types; the step of calculating the average of the plurality of first angle measurement results in parallel using multiple threads based on a reduction algorithm to obtain the target angle measurement result includes:

[0011] For each angle type, based on the reduction algorithm, the average value of multiple first angle measurement results corresponding to the angle type is calculated in parallel using multiple threads to obtain the target angle measurement results corresponding to the multiple angle types respectively;

[0012] Determining the orientation of the target object based on the target angle measurement results includes:

[0013] Based on the target angle measurement results corresponding to the multiple angle types, the direction of the target object is determined.

[0014] In one possible implementation, the step of obtaining the target angle measurement result by calculating the average of the multiple first angle measurement results in parallel using multiple threads based on a reduction algorithm includes:

[0015] The multiple threads are grouped to obtain multiple thread groups;

[0016] The target threads in the multiple thread groups are determined respectively, resulting in multiple target threads;

[0017] By using the multiple target threads, the multiple first angle measurement results corresponding to the multiple target threads are reduced and summed in parallel to obtain the second angle measurement results corresponding to the multiple target threads.

[0018] The target angle measurement result is obtained by calculating the average of multiple second angle measurement results.

[0019] In one possible implementation, acquiring the target signal of the target object received by the radar detection device includes:

[0020] Acquire the 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;

[0021] Based on the first initial signal and multiple second initial signals, the initial signals are processed in parallel by multiple threads to obtain the target signal.

[0022] In one possible implementation, the step of performing signal pulse compression processing on the initial signals in parallel through multiple threads, based on the first initial signal and a plurality of second initial signals, to obtain the target signal includes:

[0023] Multiple threads are used to determine multiple first sampling points in the first initial signal and multiple second sampling points in the multiple second initial signals, respectively.

[0024] By using multiple threads, Fourier transforms are performed on the multiple first sampling points in parallel to obtain the first frequency domain information of the first initial signal, and Fourier transforms are performed on the multiple second sampling points to obtain the second frequency domain information corresponding to the multiple second initial signals respectively.

[0025] The first frequency domain information is multiplied by each of the second frequency domain information in parallel using multiple threads to obtain the target frequency domain information;

[0026] By using multiple threads, inverse Fourier transforms are performed in parallel on multiple target frequency domain information to obtain target time domain information corresponding to each target frequency domain information;

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

[0028] In one possible implementation, acquiring the initial signal of the target object received by the radar detection device includes:

[0029] Obtain the attribute information of the target object and the signals received by the radar detection device;

[0030] Based on the correspondence between attribute information and signal features, the target signal features corresponding to the attribute information of the target object are determined.

[0031] Based on the target signal characteristics, the radar detection device performs target detection on the signal received and determines the initial signal of the target object.

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

[0033] Based on the first target signal and multiple second target signals, the phase angle and length corresponding to multiple baselines are obtained in parallel through multiple threads. The multiple baselines include the distance between each of the multiple first array elements and the phase reference array element.

[0034] Based on the radar wavelength, the phase angle and length corresponding to the multiple baselines, the angles corresponding to the multiple first array elements are determined in parallel through multiple threads, resulting in multiple first angle measurement results.

[0035] In one possible implementation, the step of acquiring the phase angles corresponding to multiple baselines in parallel through multiple threads, based on the first target signal and multiple second target signals, includes:

[0036] Obtain the pulse pressure peak values ​​corresponding to the first target signal and the plurality of second target signals respectively;

[0037] Based on the pulse pressure peak value, determine the phase corresponding to the first target signal and the plurality of second target signals respectively;

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

[0039] Multiple threads are used to convert the phases corresponding to multiple second target signals into angles in parallel, thereby obtaining multiple second angles;

[0040] By using multiple threads, the differences between each of the multiple second angles and the first angle are calculated in parallel to obtain the phase angles corresponding to the multiple baselines.

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

[0042] Based on the length of the first baseline, the phase angle of the first baseline, the lengths of the plurality of second baselines, and the phase angles of the plurality of second baselines, the phase angles of the plurality of second baselines are deblurred in parallel through multiple threads to obtain a plurality of deblurred phase angles;

[0043] Based on the radar wavelength, the phase angles and lengths corresponding to the multiple baselines, and through multiple threads, the angles corresponding to the multiple first array elements are determined in parallel to obtain multiple first angle measurement results, including:

[0044] Based on the radar wavelength, the phase angle and length 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.

[0045] Secondly, embodiments of this application provide a radar direction-finding device, the device comprising:

[0046] The acquisition module is used to acquire the target signal of the target object received by the radar detection device. The radar detection device includes multiple array elements, including a phase reference center array element and multiple first array elements. 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 multiple first array elements.

[0047] An angle measurement module is used to measure the angle of the target object in parallel through multiple threads based on the first target signal and multiple second target signals, and obtain multiple first angle measurement results;

[0048] The calculation module is used to calculate the average value of the multiple first angle measurement results in parallel through multiple threads based on the reduction algorithm, so as to obtain the target angle measurement result;

[0049] The determination module is used to determine the orientation of the target object based on the target angle measurement results.

[0050] Thirdly, embodiments of this application provide an electronic device, which includes: a processor and a memory storing computer program instructions;

[0051] When the processor executes the computer program instructions, it implements any of the possible implementations of the first aspect described above.

[0052] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer program instructions, which, when executed by a processor, implement the method in any of the possible implementations of the first aspect described above.

[0053] Fifthly, embodiments of this application provide a computer program product in which instructions, when executed by a processor of an electronic device, cause the electronic device to perform a method as described in any of the possible implementations of the first aspect above.

[0054] In the radar direction-finding method and apparatus of this application embodiment, the radar detection device includes multiple array elements, including a phase reference center array element and multiple first array elements. 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 multiple first array elements. By acquiring the target signal of the target object received by the radar detection device, and then measuring the angle of the target object in parallel using multiple threads based on the first target signal and multiple second target signals to obtain multiple first angle measurement results, the measurement speed of the multiple first angle measurement results can be improved. By calculating the average value of the multiple first angle measurement results in parallel using multiple threads based on a reduction algorithm to obtain the target angle measurement result, the calculation speed of the target angle measurement result can be improved. Thus, 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, thereby improving the efficiency of testing the direction-finding performance of the radar detection device. Attached Figure Description

[0055] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0056] Figure 1 This is a schematic flowchart of a radar direction finding method provided in an embodiment of this application;

[0057] Figure 2 This is a flowchart illustrating a method for parallel calculation of target angle measurement results using multiple threads, as provided in an embodiment of this application.

[0058] Figure 3 This is a schematic diagram of the structure of a radar direction finding device provided in an embodiment of this application;

[0059] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0060] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0061] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

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

[0063] The radar direction finding method provided in the embodiments of this application will be introduced first below.

[0064] Figure 1 A schematic flowchart of a radar direction finding method provided in an embodiment of this application is shown. This radar direction finding method can be executed by a processor with computing power. Figure 1 As shown, the radar direction finding method provided in this application includes steps S110-S140.

[0065] S110, acquire the target signal of the target object received by the radar detection device. The radar detection device includes multiple array elements, including a phase reference center array element and multiple first array elements. 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 multiple first array elements.

[0066] Here, the radar detection device can be installed on the aircraft for detecting and tracking target objects. The radar detection device can be, for example, a radar seeker. Specifically, the radar seeker can be a passive seeker. The target object can be any object passing through the detection direction of the radar detection device. Furthermore, the multiple first array elements can be the remaining array elements excluding the phase reference center element. The first target signal received by the phase reference center element and the second target signals received by each of the multiple first array elements can be jointly determined as the target signal. The target signal can be the signal obtained after preprocessing the signal received by the radar detection device. Signal preprocessing can include at least one of noise suppression, signal sorting, signal pulse compression, signal enhancement, and signal filtering. By preprocessing the signal received by the radar detection device to obtain the target signal, the signal quality of the target signal can be improved.

[0067] Therefore, in order to improve the signal quality of the target signal, in some embodiments, the above-mentioned S110 may specifically include:

[0068] Acquire the initial signal of the target object received by the radar detection device. The initial signal includes a first initial signal received by the phase reference center array element and a second initial signal received by each of the multiple first array elements.

[0069] Based on the first initial signal and multiple second initial signals, the initial signals are processed in parallel using multiple threads to obtain the target signal.

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

[0071] In fact, the signals received by a radar detection device may not all be signals from the target object. Therefore, in order to accurately determine the initial signal of the target object from the signals received by the radar detection device, as another example, the above-mentioned acquisition of the initial signal of the target object received by the radar detection device may specifically include:

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

[0073] Based on the correspondence between attribute information and signal features, the target signal features corresponding to the attribute information of the target object are determined.

[0074] Based on the characteristics of the target signal, the radar detection device performs target detection on the signal received and determines the initial signal of the target object.

[0075] Here, attribute information can include information such as the object's shape, volume, material, and speed. Signal features can include the object's time-domain features, frequency-domain features, Doppler features, and micro-Doppler features. Target signal features can be the signal features of the target object. There can be a correspondence between attribute information and signal features. Thus, after obtaining the target object's attribute information, the target signal features corresponding to the target object's attribute information can be determined based on the correspondence between attribute information and signal features.

[0076] In addition, target detection can be used to determine the initial signal of a target object from signals received from a radar detection device. Target detection can be implemented using target detection algorithms. These algorithms can include moving target detection algorithms, constant false alarm rate (CFAR) detection algorithms, deep learning-based target detection algorithms, etc., and are not limited here. The input to a target detection algorithm can include target signal features and signals received from 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 characteristics 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 characteristics, the initial signal of the target object can be accurately determined from the signal received by the radar detection device.

[0078] Furthermore, signal pulse compression processing of the initial signal can specifically involve performing signal pulse compression processing on multiple second initial signals separately using the first initial signal to obtain signal pulse compression results corresponding to each of the multiple second initial signals. Additionally, the first initial signal can be subjected to signal pulse compression processing, or it can be left unprocessed; this is not limited here. Multiple signal pulse compression results can be used to jointly determine the target signal.

[0079] A thread can be the basic unit for performing computational tasks. Multiple threads can be threads within a Graphics Processing Unit (GPU). The number of multiple threads can reach tens of thousands. For example, if 256 blocks are created in a GPU, and 1024 threads are created in each block, then there will be a total of 1024 * 256 threads, which is a large number.

[0080] This application embodiment obtains the target signal by performing signal pulse compression processing on the initial signal in parallel using thousands of threads. This not only improves the signal quality of the target signal but also increases the efficiency of signal pulse compression. In other words, this application embodiment can improve the signal quality of the target signal while ensuring the efficiency of the direction-finding performance of the testing radar detection device.

[0081] Therefore, in order to improve the efficiency of target signal determination, in some embodiments, the above-mentioned initial signal and multiple second initial signals are processed by multiple threads in parallel to perform signal pulse compression processing on the initial signals to obtain the target signal. Specifically, this may include:

[0082] Multiple first sampling points are determined in a first initial signal, and multiple second sampling points are determined in multiple second initial signals respectively;

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

[0084] The target frequency domain information is obtained by multiplying the first frequency domain information with each second frequency domain information in parallel using multiple threads.

[0085] By using multiple threads, inverse Fourier transforms are performed on multiple target frequency domain information in parallel to obtain the target time domain information corresponding to each target frequency domain information;

[0086] The target signal is determined based on time-domain information of multiple targets.

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

[0088] As an example, this application embodiment can perform signal pulse compression processing using the `cufftexecz2z` function from the CUDA Cufft library. `cufftexecz2z` can perform a single-precision complex-to-single-precision Fourier Transform (FFT) or an Inverse Fast Fourier Transform (IFFT). Specifically, by performing Fourier transforms on multiple first sampling points and multiple second sampling points using `cufftexecz2z`, first frequency domain information of the first initial signal and second frequency domain information corresponding to multiple second initial signals can be obtained. The first frequency domain information can include the frequency domain information obtained after performing Fourier transforms on the multiple first sampling points. Each second frequency domain information can include the frequency domain information obtained after performing Fourier transforms on the multiple second sampling points.

[0089] As a more concrete example, by inputting information such as forward (for performing the FFT operation), first initial signal, multiple second initial signals, number of single-pulse sampling points, and sampling interval into cufftexecz2z, a handle can be generated first, and then the Fourier transform of the signal can be performed based on the handle. If the number of multiple array elements is denoted as SourceNum, then cufftexecz2z can perform a total of SourceNum*GateNum sampling points of FFT. The sampling process and the Fourier transform process can be executed by a single thread or by multiple threads in parallel; this is not limited here.

[0090] Furthermore, by using multiple threads, the first frequency domain information is multiplied in parallel with each second frequency domain information. Specifically, for each second frequency domain information, the frequency domain information corresponding to multiple second sampling points in the second frequency domain information is multiplied with the frequency domain information corresponding to multiple first sampling points in the first frequency domain information. If the GPU has a total of 1024*256 threads, and multiple array elements correspond to a total of SourceNum*GateNum sampling points, then each thread can perform frequency domain signal multiplication of ceil(SourceNum*GateNum / (1024*256)) sampling points.

[0091] By using multiple threads to multiply the first frequency domain information with each second frequency domain information in parallel to obtain the target frequency domain information, the efficiency of determining the target frequency domain information can be improved.

[0092] After determining the target frequency domain information, the target time domain information can be obtained by performing an inverse Fourier transform on each target frequency domain information.

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

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

[0095]

[0096] In formula (1), S center It can be the first initial signal. It can be the second initial signal, S impuls It can be the result of signal pulse compression, i.e., the target time-domain information.

[0097] This application embodiment uses multiple threads to perform inverse Fourier transform on multiple target frequency domain information in parallel to obtain target time domain information corresponding to each target frequency domain information, which can improve the efficiency of determining target time domain information. Furthermore, by determining the target signal based on multiple target time domain information, the efficiency of determining the target signal can be improved.

[0098] S120, based on the first target signal and 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, multiple threads can include threads corresponding to multiple second target signals. That is, each first array element can correspond to one thread. For each first array element, angle measurement calculations are performed through its corresponding thread to obtain the angle measurement result for each first array element, i.e., the first angle measurement result. After obtaining multiple first angle measurement results, thread synchronization is performed on the multiple threads.

[0100] Furthermore, the angle types measured by multiple array elements can be the same or different, without limitation. For example, among multiple array elements, some elements can be used to measure elevation angles, while others can be used to measure azimuth angles. That is, multiple first angle measurement results can include multiple elevation angles and multiple azimuth angles.

[0101] To ensure the accuracy of the first angle measurement result and improve the efficiency of determining multiple first angle measurement results, in some embodiments, the above-mentioned S120 may specifically include:

[0102] Based on the first target signal and multiple second target signals, the phase angle and length of multiple baselines are acquired in parallel through multiple threads. The multiple baselines include the distance between each of the multiple first array elements and the phase reference array element.

[0103] Based on the radar wavelength, the phase angle and length corresponding to multiple baselines, the angles corresponding to multiple first array elements are determined in parallel through multiple threads, resulting in multiple first angle measurement results.

[0104] Here, the baseline can be the distance between the first array element and the phase reference array element. There can be a one-to-one correspondence between the first array element and the baseline. The length of the baseline can be determined based on any of the methods such as the time difference method or the geometric method; no limitation is made here. Specifically, if the radar wave velocity and the time difference between the signals received by the two array elements are known, the baseline length can be calculated using the time difference method. If the coordinate positions of the two array elements are known, the baseline length can be obtained by calculating the Euclidean distance between the two points (i.e., the geometric method).

[0105] The embodiments of this application use threads corresponding to multiple first array elements to calculate the lengths of multiple baselines in parallel, which can improve the calculation efficiency of baseline length.

[0106] Furthermore, the phase angle of the baseline can be determined based on the phase difference between the first target signal and the second target signal. In this embodiment, multiple threads corresponding to the first array elements acquire the phase angles corresponding to multiple baselines in parallel, based on the first target signal and multiple second target signals, thereby improving the efficiency of phase angle acquisition.

[0107] For each baseline, after determining the phase angle and length, the first angle measurement result can be calculated based on the radar wavelength, phase angle, and length. If the first angle measurement result is an elevation angle, it can be calculated using the following formula (2):

[0108]

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

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

[0111]

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

[0113] This application embodiment uses multiple threads to determine the angles corresponding to multiple first array elements in parallel based on the radar wavelength, the phase angles and lengths corresponding to multiple baselines, and obtains multiple first angle measurement results. This can ensure the accuracy of the first angle measurement results and improve the efficiency of determining multiple first angle measurement results.

[0114] Therefore, in order to improve the efficiency of phase angle acquisition, in some embodiments, the phase angles corresponding to multiple baselines are acquired in parallel through multiple threads based on the first target signal and multiple second target signals. Specifically, this may include:

[0115] Obtain the peak pulse pressure corresponding to the first target signal and multiple second target signals respectively;

[0116] Based on the pulse compression peak value, determine the phase corresponding to the first target signal and multiple second target signals respectively;

[0117] The phase of the first target signal is converted into an angle to obtain the first angle;

[0118] Multiple threads are used to convert the phases of multiple second target signals into angles in parallel, thus obtaining multiple second angles.

[0119] By using multiple threads, the differences between each of the second angles and the first angle are calculated in parallel to obtain the phase angles corresponding to the multiple baselines.

[0120] Here, after obtaining the signal pulse compression result as described above, the index of the peak pulse compression value of a certain array element signal can be determined by using the `cublasIsmax` function in the GPU's CUDA CUBLAS library. Then, based on the relative positional relationships between multiple array elements, the peak pulse compression values ​​of all other array element signals can be obtained, resulting in the peak pulse compression values ​​corresponding to the first target signal and multiple second target signals. After obtaining the peak pulse compression values, the phase corresponding to the first target signal and multiple second target signals can be determined based on these values. Then, by using multiple threads to subtract each of the multiple second angles from the first angle in parallel, the phase angles corresponding to the multiple baselines can be obtained.

[0121] When the phase angle is in the second quadrant, it is processed with +π; when the phase angle is in the third quadrant, it is processed with -π; otherwise, no processing is performed, ensuring that the phase angle of all baselines is within the range of (-90, 90], and then thread synchronization is performed.

[0122] This application embodiment uses multiple threads to calculate the differences between multiple second angles and the first angle in parallel, thereby obtaining the phase angles corresponding to multiple baselines, which can improve the efficiency of phase angle acquisition.

[0123] Furthermore, the multiple baselines can include a first baseline and multiple second baselines. The first baseline can be the shortest among the multiple baselines. The multiple second baselines can be the remaining baselines other than the first baseline. After converting the phase angles of the baselines to the range of (-90, 90], phase ambiguity exists in all the second baselines, meaning the phase angles of the second baselines differ from the actual phase angles by several 2π units. Therefore, to ensure the accuracy of the phase angles corresponding to the multiple second baselines, deambiguity processing is required for the phase angles of the second baselines.

[0124] Based on this, in order 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 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 of the multiple second baselines, and the phase angles of the multiple second baselines, the phase angles of the multiple second baselines are deblurred in parallel through multiple threads to obtain multiple deblurred phase angles.

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

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

[0128] The defuzzing process can be implemented by first calculating the number of 2π differences between the current phase angle and the actual phase angle, and then adjusting the value by ±π or keeping it unchanged based on the quadrant in which it is located. This ensures that the angle of the second baseline falls within the range of (-90 + n * 2π, 90 + n * 2π], where n ∈ z. + The phase angle after deblurring is obtained.

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

[0130]

[0131] In formula (4), It can be the distance between the i-th array element used to measure the elevation angle and the phase reference center array element (i.e., the length of the second baseline corresponding to the i-th array element). It can be the phase angle corresponding to the second baseline of the i-th element used to measure the elevation angle, dz min It can be the length of the first baseline, phi min It can be the phase angle of the first baseline, and n can be the number of 2π.

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

[0133]

[0134] In formula (5), It can be the distance between the i-th array element used to measure the azimuth angle and the phase reference center array element (i.e., the length of the second baseline corresponding to the i-th array element). It can be the phase angle corresponding to the second baseline of the i-th array element used for measuring azimuth, dx min It can be the length of the first baseline, phi min It can be the phase angle of the first baseline, and n can be the number of 2π.

[0135] In this way, by using multiple threads to determine the angles corresponding to multiple second array elements in parallel based on the radar wavelength, the phase angles and lengths corresponding to multiple second baselines, the first angle measurement results corresponding to multiple second array elements are obtained. Since the multiple second array elements are array elements corresponding to multiple second baselines, the accuracy of the phase angles corresponding to multiple second baselines can be guaranteed.

[0136] S130, based on the reduction algorithm, uses multiple threads to calculate the average value of multiple first angle measurement results in parallel to obtain the target angle measurement result.

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

[0138] If multiple first angle measurement results correspond to multiple angle types, that is, if multiple first angle measurement results include multiple pitch angles and multiple azimuth angles, then in order to ensure the accuracy of the target angle measurement results, in some embodiments, the above-mentioned S130 may specifically include:

[0139] For each angle type, based on the reduction algorithm, multiple threads are used to calculate the average value of multiple first angle measurement results corresponding to the angle type in parallel, so as to obtain the target angle measurement results corresponding to multiple angle types respectively.

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

[0141] This application embodiment obtains the target angle measurement results corresponding to each angle type by using a reduction algorithm and multiple threads to calculate the average value of multiple first angle measurement results for each angle type in parallel, thereby ensuring the accuracy of the target angle measurement results.

[0142] Therefore, in order to improve the calculation efficiency of target angle measurement results, in some embodiments, the above-mentioned S130 may specifically include:

[0143] Group the multiple threads to obtain multiple thread groups;

[0144] The target threads in multiple thread groups are identified separately, resulting in multiple target threads;

[0145] By using multiple target threads, the multiple first angle measurement results corresponding to the multiple target threads are reduced and summed in parallel to obtain the second angle measurement results corresponding to the multiple target threads.

[0146] The target angle measurement result is obtained by averaging the multiple second angle measurement results.

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

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

[0149] For example, if multiple angle types include pitch and azimuth, you can first determine the threads corresponding to the multiple pitch angles and multiple azimuth angles in multiple threads, then group the multiple threads corresponding to the multiple pitch angles to obtain multiple thread groups corresponding to the pitch angles, and group the multiple threads corresponding to the multiple azimuth angles to obtain multiple thread groups corresponding to the azimuth angles.

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

[0151] For each thread group, the target thread can be used to reduce and sum the first angle measurement results corresponding to multiple threads in the thread group to obtain the second angle measurement result corresponding to the target thread.

[0152] To improve the computational efficiency of the second angle measurement result, multiple target threads can be used to perform reduction and summation on the multiple first angle measurement results corresponding to the multiple target threads in parallel, so as to obtain the second angle measurement results corresponding to the multiple target threads.

[0153] After determining multiple second angle measurement results, the target angle measurement result can be obtained by calculating the average of the multiple second angle measurement results for each angle type.

[0154] As another example of this application, the above S130 may specifically include:

[0155] Divide the multiple threads into pairs to obtain multiple first thread groups;

[0156] Determine the first target thread in each first thread group;

[0157] By using multiple first target threads, the multiple first angle measurement results corresponding to the multiple first target threads are reduced and summed in parallel to obtain the third angle measurement results corresponding to the multiple first target threads.

[0158] Multiple first target threads are grouped into pairs to obtain multiple second thread groups;

[0159] Determine the second target thread in each second thread group;

[0160] By using multiple second target threads, the multiple third angle measurement results corresponding to the multiple second target threads are reduced and summed in parallel to obtain the fourth angle measurement results corresponding to the multiple second target threads.

[0161] Repeat the above process until a final summation result is obtained;

[0162] The summation result is averaged with the initial number of threads to obtain the target angle measurement result.

[0163] This application embodiment reduces the time complexity of calculating the second angle measurement result and improves the calculation efficiency of the second angle measurement result by first grouping multiple threads into multiple thread groups and then calculating the second angle measurement result corresponding to each thread group in parallel. This improves the calculation efficiency of the target angle measurement result.

[0164] S140, based on the target angle measurement results, determine the direction of the target object.

[0165] Here, the target angle measurement result can be an angle measurement result corresponding to a single angle type, or it can include angle measurement results corresponding to multiple angle types. If the target angle measurement result includes angle measurement results corresponding to multiple angle types, then as another example of this application, the above S140 may specifically include:

[0166] The direction of the target object is determined based on the target angle measurement results corresponding to multiple angle types.

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

[0168] In the radar direction finding method of this application embodiment, the radar detection device includes multiple array elements, including a phase reference center array element and multiple first array elements. 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 multiple first array elements. By acquiring the target signal of the target object received by the radar detection device, and then measuring the angle of the target object in parallel using multiple threads based on the first target signal and multiple second target signals to obtain multiple first angle measurement results, the measurement speed of the multiple first angle measurement results can be improved. By calculating the average value of the multiple first angle measurement results in parallel using multiple threads based on a reduction algorithm to obtain the target angle measurement result, the calculation speed of the target angle measurement result can be improved. Thus, 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, thereby improving the efficiency of testing the direction finding performance of the radar detection device.

[0169] To better describe the process of calculating the target angle measurement result in parallel using multiple threads, taking the target angle measurement result as the angle measurement result corresponding to an angle type as an example, some specific examples are given based on the above embodiments.

[0170] For example, a flowchart illustrating the parallel calculation of target angle measurement results using multiple threads, as provided in this application embodiment, can be as follows: Figure 2 As shown.

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

[0172] S21. Based on the first target signal and multiple second target signals, obtain the phase angle of the baseline corresponding to the first array element;

[0173] S22. Calculate the length of the baseline corresponding to the first array element;

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

[0175] S24. If the baseline is the second baseline, then the phase angle of the second baseline is de-blurred.

[0176] S25. Transform the phase angle of the second baseline to (-90 + n * 2π, 90 + n * 2π], where n ∈ z + Within the range;

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

[0178] After multiple threads synchronize, S27 is executed. Based on the reduction algorithm, the average value of multiple first angle measurement results is calculated in parallel by multiple threads to obtain the target angle measurement result.

[0179] Therefore, by using multiple threads to calculate the target angle measurement results in parallel, the computational efficiency of the target angle measurement results can be improved, meeting the real-time requirements of signal processing. Furthermore, as mentioned above, the more array elements there are, the more significant the acceleration in calculating the target angle measurement results.

[0180] Based on the radar direction finding method provided in the above embodiments, this application also provides specific implementations of a radar direction finding device. Please refer to the following embodiments.

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

[0182] The acquisition module 310 is used to acquire the target signal of the target object received by the radar detection device. The radar detection device includes multiple array elements, including a phase reference center array element and multiple first array elements. 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 multiple first array elements.

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

[0184] The calculation module 330 is used to calculate the average value of multiple first angle measurement results in parallel through multiple threads based on the reduction algorithm to obtain the target angle measurement result;

[0185] The determination module 340 is used to determine the orientation of the target object based on the target angle measurement results.

[0186] The radar direction finding device 300 described above is described in detail below:

[0187] In some embodiments, multiple first angle measurement results correspond to multiple angle types. Based on this, the calculation module 330 may specifically include:

[0188] The first calculation submodule is used to calculate the average value of multiple first angle measurement results corresponding to each angle type in parallel using multiple threads based on a reduction algorithm, so as to obtain the target angle measurement results corresponding to each angle type.

[0189] Based on this, module 340 may specifically include:

[0190] The first determination submodule is used to determine the direction of the target object based on the target angle measurement results corresponding to multiple angle types.

[0191] In some embodiments, the computing module 330 may specifically include:

[0192] The grouping submodule is used to group multiple threads to obtain multiple thread groups;

[0193] The second determination submodule is used to determine the target threads in multiple thread groups respectively, thereby obtaining multiple target threads;

[0194] The second calculation submodule is used to perform reduction and summation on multiple first angle measurement results corresponding to multiple target threads in parallel through multiple target threads to obtain the second angle measurement results corresponding to multiple target threads.

[0195] The third calculation submodule is used to calculate the average value of multiple second angle measurement results to obtain the target angle measurement result.

[0196] In some embodiments, the acquisition module 310 may specifically include:

[0197] The first acquisition submodule is used to acquire the initial signal of the target object received by the radar detection device. The initial signal includes a first initial signal received by the phase reference center array element and a second initial signal received by each of the multiple first array elements.

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

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

[0200] The first determining unit is used to determine multiple first sampling points in a first initial signal in parallel through multiple threads, and to determine multiple second sampling points in multiple second initial signals respectively;

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

[0202] The first computing unit is used to multiply the first frequency domain information with each second frequency domain information in parallel through multiple threads to obtain the target frequency domain information;

[0203] The second transformation unit is used to perform inverse Fourier transform on multiple target frequency domain information in parallel through multiple threads to obtain the target time domain information corresponding to each target frequency domain information;

[0204] The second determining unit is used to determine the target signal based on multiple target time-domain information.

[0205] In some embodiments, the first acquisition submodule may specifically include:

[0206] The acquisition unit is used to acquire attribute information of the target object and signals received by the radar detection device.

[0207] The third determining unit is used to determine the target signal features corresponding to the attribute information of the target object based on the correspondence between attribute information and signal features;

[0208] The fourth determining unit is used to perform target detection on the signals received by the radar detection device based on the target signal characteristics, and to determine the initial signal of the target object.

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

[0210] The second acquisition submodule is used to acquire the phase angle and length of multiple baselines in parallel through multiple threads based on the first target signal and multiple second target signals. The multiple baselines include the distance between each of the multiple first array elements and the phase reference array element.

[0211] The third determination submodule is used to determine the angles corresponding to multiple first array elements in parallel through multiple threads, based on the radar wavelength, the phase angles and lengths corresponding to multiple baselines, and to obtain multiple first angle measurement results.

[0212] In some embodiments, the second acquisition submodule may specifically include:

[0213] The acquisition unit is used to acquire the pulse pressure peak values ​​corresponding to the first target signal and multiple second target signals, respectively.

[0214] The fifth determining unit is used to determine the phase corresponding to the first target signal and multiple second target signals respectively based on the pulse compression peak value;

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

[0216] The second conversion unit is used to convert the phases corresponding to multiple second target signals into angles in parallel through multiple threads to obtain multiple second angles;

[0217] The second calculation unit is used to calculate the differences between the first angle and the second angle in parallel using multiple threads, so as to obtain the phase angles corresponding to the multiple baselines.

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

[0219] The deambiguity submodule is used to perform deambiguity processing on the phase angles of multiple second baselines in parallel through multiple threads before determining the angles corresponding to multiple first array elements based on the radar wavelength, the phase angles and lengths corresponding to multiple baselines, and obtaining multiple first angle measurement results. This process is based on the length of the first baseline, the phase angle of the first baseline, the lengths and phase angles corresponding to multiple second baselines, and the phase angles corresponding to multiple second baselines, resulting in multiple deambigued phase angles.

[0220] Based on this, the third determining submodule may specifically include:

[0221] The sixth determining unit is used to determine the angles corresponding to multiple second array elements in parallel through multiple threads based on the radar wavelength, the phase angles and lengths corresponding to multiple second baselines, and to obtain the first angle measurement results corresponding to multiple second array elements. The multiple second array elements are the array elements corresponding to multiple second baselines.

[0222] In the radar direction-finding device of this application embodiment, the radar detection device includes multiple array elements, including a phase reference center array element and multiple first array elements. 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 multiple first array elements. By acquiring the target signal of the target object received by the radar detection device, and then measuring the angle of the target object in parallel using multiple threads based on the first target signal and multiple second target signals, multiple first angle measurement results can be obtained, which can improve the measurement speed of the multiple first angle measurement results. By calculating the average value of the multiple first angle measurement results in parallel using multiple threads based on a reduction algorithm, the target angle measurement result can be obtained, which can improve the calculation speed of the target angle measurement result. Thus, 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, thereby improving the efficiency of testing the direction-finding performance of the radar detection device.

[0223] Based on the radar direction finding method provided in the above embodiments, this application also provides specific implementation methods for electronic devices. Figure 4 A schematic diagram of an electronic device 400 provided in an embodiment of this application is shown.

[0224] Electronic device 400 may include processor 410 and memory 420 storing computer program instructions.

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

[0226] Memory 420 may include mass storage for data or instructions. For example, and not limitingly, memory 420 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where suitable, memory 420 may include removable or non-removable (or fixed) media. Where suitable, memory 420 may be internal or external to electronic device 400. In a particular embodiment, memory 420 is a non-volatile solid-state memory.

[0227] Memory may include read-only memory (ROM), random access memory (RAM), disk storage media devices, optical storage media devices, flash memory devices, and electrical, optical, or other physical / tangible memory storage devices. Therefore, typically, memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to the first aspect of this application.

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

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

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

[0231] Bus 440 includes hardware, software, or both, that couples components of an electronic device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel 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 other suitable buses, or combinations of two or more of these. Where appropriate, bus 440 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, this application contemplates any suitable bus or interconnect.

[0232] For example, the electronic device 400 can be a mobile phone, tablet computer, laptop computer, handheld computer, in-vehicle electronic device, ultra-mobile personal computer (UMPC), netbook, or personal digital assistant (PDA), etc.

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

[0234] Furthermore, in conjunction with the radar direction finding methods in the above embodiments, this application embodiment can provide a computer-readable storage medium for implementation. This computer-readable storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement any of the radar direction finding methods in the above embodiments.

[0235] Based on the radar direction finding methods in the above embodiments, this application can provide a computer program product to implement them. When the instructions in this computer program product are executed by the processor of an electronic device, they implement any of the radar direction finding methods in the above embodiments.

[0236] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0237] The functional blocks shown in the above-described structural diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0238] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0239] The aspects of this application have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by dedicated hardware performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0240] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A radar direction finding method, characterized in that, include: Acquire target signals of target objects received by radar detection devices, wherein the radar detection devices include multiple array elements, the multiple array elements include a phase reference center array element and multiple first array elements, and the target signals include a first target signal received by the phase reference center array element and a second target signal received by each of the multiple first array elements; Based on the first target signal and multiple second target signals, the angle of the target object is measured in parallel through multiple threads to obtain multiple first angle measurement results; Based on the reduction algorithm, the average value of the multiple first angle measurement results is calculated in parallel using multiple threads to obtain the target angle measurement result; Based on the target angle measurement results, the orientation of the target object is determined; The reduction algorithm-based method uses multiple threads to calculate the average of the multiple first angle measurement results in parallel to obtain the target angle measurement result, including: The multiple threads are grouped to obtain multiple thread groups; The target threads in the multiple thread groups are determined respectively, resulting in multiple target threads; By using the multiple target threads, the multiple first angle measurement results corresponding to the multiple target threads are reduced and summed in parallel to obtain the second angle measurement results corresponding to the multiple target threads. The target angle measurement result is obtained by calculating the average of multiple second angle measurement results.

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

3. The method according to claim 1, characterized in that, The acquisition of the target signal of the target object received by the radar detection device includes: Acquire the 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 multiple second initial signals, the initial signals are processed in parallel by multiple threads to obtain the target signal.

4. The method according to claim 3, characterized in that, The step of obtaining the target signal by performing signal pulse compression processing on the initial signals in parallel through multiple threads, based on the first initial signal and multiple second initial signals, includes: Multiple threads are used to determine multiple first sampling points in the first initial signal and multiple second sampling points in the multiple second initial signals, respectively. By using multiple threads, Fourier transforms are performed on the multiple first sampling points in parallel to obtain the first frequency domain information of the first initial signal, and Fourier transforms are performed on the multiple second sampling points to obtain the second frequency domain information corresponding to the multiple second initial signals respectively. The first frequency domain information is multiplied by each of the second frequency domain information in parallel using multiple threads to obtain the target frequency domain information; By using multiple threads, inverse Fourier transforms are performed in parallel on multiple target frequency domain information to obtain target time domain information corresponding to each target frequency domain information; The target signal is determined based on multiple target time-domain information.

5. The method according to claim 3 or 4, characterized in that, The acquisition of the initial signal of the target object received by the radar detection device includes: Obtain the attribute information of the target object and the signals received by the radar detection device; Based on the correspondence between attribute information and signal features, the target signal features corresponding to the attribute information of the target object are determined. Based on the target signal characteristics, the radar detection device performs target detection on the signal received and determines the initial signal of the target object.

6. The method according to claim 1, characterized in that, Based on the first target signal and multiple second target signals, the angles of the target object are measured in parallel through multiple threads to obtain multiple first angle measurement results, including: Based on the first target signal and multiple second target signals, the phase angle and length corresponding to multiple baselines are obtained in parallel through multiple threads. The multiple baselines include the distance between each of the multiple first array elements and the phase reference array element. Based on the radar wavelength, the phase angle and length corresponding to the multiple baselines, the angles corresponding to the multiple first array elements are determined in parallel through multiple threads, resulting in multiple first angle measurement results.

7. The method according to claim 6, characterized in that, The step of acquiring the phase angles corresponding to multiple baselines in parallel through multiple threads, based on the first target signal and multiple second target signals, includes: Obtain the pulse pressure peak values ​​corresponding to the first target signal and the plurality of second target signals respectively; Based on the pulse pressure peak value, determine the phase corresponding to the first target signal and the plurality of second target signals respectively; The phase of the first target signal is converted into an angle to obtain a first angle; Multiple threads are used to convert the phases corresponding to multiple second target signals into angles in parallel, thereby obtaining multiple second angles; By using multiple threads, the differences between each of the multiple second angles and the first angle are calculated in parallel to obtain the phase angles corresponding to the multiple baselines.

8. The method according to claim 6 or 7, characterized in that, The plurality of baselines includes a first baseline and a plurality of second baselines, wherein the first baseline is the shortest among the plurality of baselines; before determining the angles corresponding to the plurality of first array elements in parallel through multiple threads based on the radar wavelength, the phase angles and lengths corresponding to the plurality of baselines, and obtaining a plurality of first angle measurement results, the method further includes: Based on the length of the first baseline, the phase angle of the first baseline, the lengths of the plurality of second baselines, and the phase angles of the plurality of second baselines, the phase angles of the plurality of second baselines are deblurred in parallel through multiple threads to obtain a plurality of deblurred phase angles; Based on the radar wavelength, the phase angles and lengths corresponding to the multiple baselines, and through multiple threads, the angles corresponding to the multiple first array elements are determined in parallel to obtain multiple first angle measurement results, including: Based on the radar wavelength, the phase angle and length 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.

9. A radar direction finding device, characterized in that, The device includes: The acquisition module is used to acquire the target signal of the target object received by the radar detection device. The radar detection device includes multiple array elements, including a phase reference center array element and multiple first array elements. 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 multiple first array elements. An angle measurement module is used to measure the angle of the target object in parallel through multiple threads based on the first target signal and multiple second target signals, and obtain multiple first angle measurement results; The calculation module is used to calculate the average value of the multiple first angle measurement results in parallel through multiple threads based on the reduction algorithm, so as to obtain the target angle measurement result; The determining module is used to determine the orientation of the target object based on the target angle measurement results; The computing module includes: The grouping submodule is used to group the multiple threads to obtain multiple thread groups; The second determining submodule is used to determine the target thread in the plurality of thread groups respectively, thereby obtaining a plurality of target threads; The second calculation submodule is used to perform reduction and summation on the multiple first angle measurement results corresponding to the multiple target threads in parallel through the multiple target threads to obtain the second angle measurement results corresponding to the multiple target threads. The third calculation submodule is used to calculate the average value of multiple second angle measurement results to obtain the target angle measurement result.

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