Method and system for correcting radar echo azimuth deviation, and electronic device

Abstract

The application provides a radar echo azimuth deviation correction method and system and an electronic device. The radar echo azimuth deviation correction method comprises the following steps: determining a first azimuth angle corresponding to a target position; determining first echo data and a first scan code corresponding to the first echo data according to the first azimuth angle; obtaining first echo signals after a radar works for one cycle; extracting a plurality of second echo data from the first echo signals according to the first scan code; respectively calculating the correlation degrees of each second echo data and the first echo data; determining third echo data according to the plurality of correlation degrees, wherein the third echo data is the second echo data with the highest correlation degree with the first echo data; determining a second azimuth angle corresponding to the third echo data; determining an azimuth angle deviation according to the first azimuth angle and the second azimuth angle; and performing azimuth angle compensation on the first echo signals according to the azimuth angle deviation. The application realizes adaptive correction of radar echo azimuth angle deviation.

Description

Technical Field

[0001] This invention relates to the field of radar technology, and more specifically, to a method, system, and electronic device for correcting radar echo azimuth offset. Background Technology

[0002] During long-term practical operation, navigation radars may experience unstable jitter in the scanning angle of the raw radar echo due to various reasons (including hardware failure, turntable mechanical structure, environmental interference, etc.). This jitter can significantly affect the coordinate positioning accuracy of ship targets, especially for distant targets that may be hundreds of meters away. Conventional solutions typically involve adding hardware self-testing functions and optimizing turntable performance to reduce the occurrence of related problems. However, these methods cannot completely solve the problem of azimuth jitter in the radar echo and cannot identify and correct jitter caused by environmental factors. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0004] Therefore, the first aspect of the present invention proposes a method for correcting radar echo azimuth offset.

[0005] A second aspect of the present invention proposes a radar echo azimuth offset correction system.

[0006] A third aspect of the present invention provides an electronic device.

[0007] A fourth aspect of the present invention provides a storage medium.

[0008] In view of this, according to a first aspect of the present invention, a method for correcting radar echo azimuth offset is proposed, comprising: determining a first azimuth angle corresponding to a target position, wherein the target position is any position on land within the radar scanning range; determining first echo data and a first scan code corresponding to the first echo data based on the first azimuth angle, wherein the first echo data is echo data in the original echo signal, and the original echo signal is the echo signal obtained when the radar performs its first scan; acquiring the first echo signal after one radar cycle; extracting multiple second echo data from the first echo signal based on the first scan code; calculating the correlation between each second echo data and the first echo data respectively; determining third echo data based on the multiple correlations, wherein the third echo data is the second echo data with the highest correlation to the first echo data; determining a second azimuth angle corresponding to the third echo data; determining an azimuth angle deviation based on the first azimuth angle and the second azimuth angle; and compensating the first echo signal for azimuth angle deviation.

[0009] The radar echo azimuth offset correction method provided by this invention mainly includes: First, determining the first azimuth angle corresponding to the target position, wherein the target position is any position on land within the radar scanning range. Specifically, the radar is mainly a shore-based radar. Determining the first azimuth angle corresponding to the target position mainly involves first acquiring the terrain features of the shore-based radar's on-site installation location, then selecting a location with relatively obvious terrain features as the target position, and then using the azimuth angle between the target position and the radar as the first azimuth angle. After obtaining the first azimuth angle, the first echo data corresponding to the first azimuth angle is determined from the echo signal obtained during the radar's first scan, and the first scan code corresponding to the first echo data is also determined. Then, during normal radar operation, after each radar cycle, the first echo signal within that cycle is acquired. That is, the radar continuously emits electromagnetic waves and receives the reflected echoes. After completing a full rotation (i.e., scanning to cover all azimuth angles from 0° to 360°), the collected complete echo signal is the first echo signal. Then, based on the first scan code, multiple second echo data are extracted from the first echo signal. It can be understood that the scan code corresponding to the same target location in the radar echo signal remains unchanged; that is, the target location corresponding to the echo data with the same scan code is the same across multiple echo signals. Therefore, the second echo data corresponding to the target location can be determined from the first echo signal using the first scan code. Furthermore, to improve accuracy, echo data near the echo data corresponding to the first scan code can also be used as second echo data, thus obtaining multiple second echo data. Then, the correlation between each second echo data and the first echo data is calculated, resulting in multiple correlation values. The highest correlation value is then determined, and the second echo data corresponding to the highest correlation value is used as the third echo data. The third echo data is the echo data corresponding to the target location in the first echo signal. The second azimuth angle corresponding to the third echo data is then calculated, and the azimuth deviation between the first and second azimuth angles is calculated. This yields the azimuth deviation between the echo signal obtained during this radar operation and the echo signal obtained during the initial radar operation. After obtaining the azimuth deviation, the first echo signal is compensated for the azimuth deviation to complete the self-correction process. The calibrated echo signal can then be used for subsequent target recognition and tracking algorithms. This invention first determines the reference echo data and scan code of the target position in the initial echo signal. Then, based on the scan code, the corresponding actual echo data is determined from the actual echo signal obtained after one radar cycle. Subsequently, the azimuth deviation is determined based on the azimuth of the reference echo data and the azimuth of the actual echo data. Finally, the azimuth deviation is compensated for the actual echo signal, thus enabling adaptive azimuth correction. Compared with related technologies, this method does not require additional hardware or structural costs.In this invention, regardless of the cause of abnormal azimuth angle fluctuations in radar echoes, the problem can be detected and corrected in real time through self-checking of the radar echoes, thereby improving the stability and positioning accuracy of subsequent tracking of ship targets.

[0010] In some technical solutions, optionally, the step of determining the first echo data and the first scan code corresponding to the first echo data based on the first azimuth angle includes: determining the first distance between the target position and the radar; extracting the first echo data from the original echo signal based on the first distance and the first azimuth angle; and determining the first scan code based on the first echo data.

[0011] In this technical solution, the steps of determining the first echo data and the corresponding first scan code based on the first azimuth angle include: firstly, determining the first distance between the target position and the radar; then, extracting the corresponding first echo data from the original echo signal (i.e., the echo signal obtained when the radar completes its first scan) based on the first azimuth angle and the first distance. The first echo data can be the original echo data of one or more scan lines in the echo signal. After obtaining the first echo data, determining the corresponding first scan code from the original echo signal based on the first echo data. By determining the first echo data based on the distance between the target position and the radar and the azimuth angle between the target position and the radar, the acquisition of the first echo data becomes more accurate.

[0012] In some technical solutions, optionally, the step of extracting multiple second echo data from the first echo signal according to the first scan code includes: determining a first angle range; determining a fourth echo data corresponding to the first scan code in the first echo signal; and extracting multiple second echo data from the first echo signal centered on the fourth echo data according to the first angle range and a first distance.

[0013] In this technical solution, the step of extracting multiple second echo data from the first echo signal based on the first scan code includes: firstly, determining a first angle range, wherein the first angle range is a preset angle range. Then, determining the fourth echo data corresponding to the first scan code in the first echo signal, that is, extracting the fourth echo data with the same code as the first scan code from the first echo signal based on the first scan code. Then, extracting multiple second echo data from the first echo signal centered on the fourth echo data according to the first angle range and the first distance, that is, obtaining an azimuth range based on the azimuth angle corresponding to the fourth echo data and the first angle range. For example, the azimuth angle corresponding to the fourth echo data is 30°, and the first angle range is -1° to +1°. Then, all echo data with azimuth angles between 29° and 31° can be extracted from the first echo signal. Then, filtering is performed on the multiple echo data based on the first distance between the target position and the radar, and finally, the echo data with the same distance as the first distance is taken as the second echo data. By utilizing a preset angle range and the fourth echo data corresponding to the first scan code, multiple second echo data are extracted, thereby ensuring the accuracy of subsequent calculations.

[0014] In some technical solutions, the first angle range is optionally -1° to +1°.

[0015] In this technical solution, the first angle range can be -1° to +1°. It is understandable that most azimuth deviations are between -1° and +1°, so setting the first angle range to -1° to +1° can reduce the workload of calculation while ensuring the accuracy of the calculation.

[0016] In some technical solutions, optionally, the step of determining the second azimuth angle corresponding to the third echo data includes: determining the second scan code of the third echo data based on the third echo data; and determining the second azimuth angle based on the second scan code.

[0017] In this technical solution, the step of determining the second azimuth angle corresponding to the third echo data includes: firstly, determining the second scan code of the third echo data in the first echo signal based on the third echo data, and then determining the second azimuth angle of the third echo data based on the second scan code, thereby ensuring the accuracy of the second azimuth angle.

[0018] In some technical solutions, optionally, after determining the first echo data and the first scan code corresponding to the first echo data based on the first azimuth angle, the method includes: performing low-pass filtering on the first echo data.

[0019] In this technical solution, after determining the first echo data and the first scan code corresponding to the first echo data based on the first azimuth angle, the method includes: after obtaining the first echo data, it is necessary to perform low-pass filtering on the first echo data. For example, the first echo data can be processed by a zero-phase low-pass filter to achieve noise reduction of the first echo data, thereby removing the impact of high-frequency jitter of the echo data on subsequent processing.

[0020] In some technical solutions, optionally, after the step of extracting multiple second echo data from the first echo signal according to the first scan code, the method includes: performing low-pass filtering on the multiple second echo data respectively.

[0021] In this technical solution, after the step of extracting multiple second echo data from the first echo signal according to the first scan code, the method includes: after obtaining multiple second echo data, it is necessary to perform low-pass filtering processing on the multiple second echo data respectively. For example, the multiple second echo data can be processed by a zero-phase low-pass filter to achieve noise reduction of the second echo data, thereby removing the influence of high-frequency jitter of the echo data on subsequent processing.

[0022] According to a second aspect of the present invention, a radar echo azimuth offset correction system is proposed, comprising: a first determining module, configured to determine a first azimuth angle corresponding to a target position, wherein the target position is any position on land within the radar scanning range; a second determining module, configured to determine first echo data and a first scan code corresponding to the first echo data based on the first azimuth angle, wherein the first echo data is echo data in the original echo signal, and the original echo signal is the echo signal obtained when the radar performs its first scan; a first acquiring module, configured to acquire the first echo signal after one radar operating cycle; and a first extraction module, configured to... The system is configured to: extract multiple second echo data points from the first echo signal based on a first scan code; include: a first calculation module for calculating the correlation between each second echo data point and the first echo data points; a third determination module for determining a third echo data point based on multiple correlations, wherein the third echo data point is the second echo data point with the highest correlation to the first echo data point; a fourth determination module for determining the second azimuth angle corresponding to the third echo data point; a second calculation module for determining the azimuth angle deviation based on the first and second azimuth angles; and a correction module for compensating the first echo signal based on the azimuth angle deviation.

[0023] The radar echo azimuth offset correction system provided by this invention mainly includes: a first determining module, a second determining module, a first acquiring module, a first extracting module, a first calculating module, a third determining module, a fourth determining module, a second calculating module, and a correction module. The first determining module determines the first azimuth angle corresponding to the target location, where the target location is any location on land within the radar's scanning range. Specifically, the radar is primarily a shore-based radar. Determining the first azimuth angle corresponding to the target location mainly involves first acquiring the terrain features of the shore-based radar's on-site installation location, then selecting a location with relatively obvious terrain features as the target location, and finally using the azimuth angle between the target location and the radar as the first azimuth angle. After obtaining the first azimuth angle, the second determining module identifies the first echo data corresponding to the first azimuth angle from the echo signal obtained during the radar's first scan, and simultaneously determines the first scan code corresponding to the first echo data. Then, during normal radar operation, after each radar cycle, the first acquisition module acquires the first echo signal of the radar within that cycle. This means the radar continuously emits electromagnetic waves and receives the reflected echoes. After completing a full rotation (i.e., scanning to cover all azimuth angles from 0° to 360°), the collected complete echo signal is the first echo signal. Then, the first extraction module extracts multiple second echo data points from the first echo signal based on the first scan code. It can be understood that the scan code corresponding to the same target location in the radar echo signal remains unchanged. That is, the target location corresponding to the echo data with the same scan code is the same across multiple echo signals. Therefore, the second echo data corresponding to the target location can be determined from the first echo signal using the first scan code. Furthermore, to improve accuracy, echo data near the echo data corresponding to the first scan code can also be used as second echo data, thus acquiring multiple second echo data points. The first calculation module then calculates the correlation between each second echo data point and the first echo data, obtaining multiple correlation values. The third determination module then identifies the highest correlation value among these values ​​and uses the second echo data corresponding to the highest correlation value as the third echo data. This third echo data represents the target position's location within the first echo signal. The fourth determination module then calculates the second azimuth angle corresponding to the third echo data. The second calculation module then calculates the azimuth deviation between the first and second azimuth angles, thus obtaining the azimuth deviation between the echo signal obtained during this radar operation and the echo signal obtained during the initial radar operation. After obtaining the azimuth deviation, the correction module performs azimuth compensation on the first echo signal based on the azimuth deviation, completing the self-correction process. The calibrated echo signal can then be used for subsequent target identification and tracking algorithms.This invention first determines the reference echo data and scan code of the target position in the initial echo signal. Then, based on the scan code, it determines the corresponding actual echo data in the actual echo signal obtained after one radar cycle. Subsequently, it determines the azimuth deviation based on the azimuth angle of the reference echo data and the azimuth angle of the actual echo data. Finally, it compensates for the azimuth angle of the actual echo signal based on the azimuth deviation, thereby enabling adaptive azimuth correction. Compared with related technologies, this invention does not require additional hardware or structural costs. In this invention, regardless of the cause of abnormal azimuth angle jitter in the radar echo, the problem can be detected and corrected in real time through self-checking of the radar echo, improving the stability and positioning accuracy of subsequent ship target tracking.

[0024] According to a third aspect of the present invention, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the radar echo azimuth offset correction method as described above.

[0025] The electronic device provided by this invention, when the processor executes the computer program, implements the steps of the above-mentioned radar echo azimuth offset correction method, and can achieve the technical effects of any of the above technical solutions, which will not be elaborated here.

[0026] According to a fourth aspect of the invention, a storage medium is provided on which a computer program is stored, wherein when the computer program is executed by a processor, the steps of the radar echo azimuth offset correction method as described above are implemented.

[0027] The storage medium provided by this invention, when the computer program is executed by the processor, implements the steps of the above-mentioned radar echo azimuth offset correction method, and can achieve the technical effects of any of the above technical solutions, which will not be elaborated here.

[0028] Additional aspects and advantages of the invention will become apparent in the following description or may be learned by practice of the invention. Attached Figure Description

[0029] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 A schematic flowchart of a radar echo azimuth offset correction method according to an embodiment of the present invention is shown; Figure 2 The diagram illustrates a step in a radar echo azimuth offset correction method according to an embodiment of the present invention, which involves determining first echo data and a first scan code corresponding to the first echo data based on a first azimuth angle. Figure 3The diagram illustrates a step in a radar echo azimuth offset correction method according to an embodiment of the present invention: extracting multiple second echo data from a first echo signal based on a first scan code. Figure 4 A flowchart illustrating the step of determining the second azimuth angle corresponding to the third echo data in a radar echo azimuth offset correction method according to an embodiment of the present invention is shown. Figure 5 The second schematic flowchart illustrates a method for correcting radar echo azimuth offset according to an embodiment of the present invention. Figure 6 A schematic block diagram of a radar echo azimuth offset correction system according to an embodiment of the present invention is shown. Figure 7 A schematic block diagram of an electronic device according to an embodiment of the present invention is shown. Detailed Implementation

[0030] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other.

[0031] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0032] Figure 1 A schematic flowchart of a radar echo azimuth offset correction method according to an embodiment of the present invention is shown. The method includes: Step 102: Determine the first azimuth angle corresponding to the target location, where the target location is any location on land within the radar scanning range; Step 104: Determine the first echo data and the first scan code corresponding to the first echo data based on the first azimuth angle, wherein the first echo data is the echo data in the original echo signal, and the original echo signal is the echo signal obtained when the radar performs its first scan. Step 106: Acquire the first echo signal after one radar cycle; Step 108: Extract multiple second echo data from the first echo signal according to the first scan code; Step 110: Calculate the correlation between each second echo data point and the first echo data point; Step 112: Determine the third echo data based on multiple correlations, where the third echo data is the second echo data with the highest correlation to the first echo data; Step 114: Determine the second azimuth angle corresponding to the third echo data; Step 116: Determine the azimuth deviation based on the first azimuth and the second azimuth; Step 118: Perform azimuth compensation on the first echo signal based on the azimuth deviation.

[0033] The radar echo azimuth offset correction method provided by this invention mainly includes: First, determining the first azimuth angle corresponding to the target position, wherein the target position is any position on land within the radar scanning range. Specifically, the radar is mainly a shore-based radar. Determining the first azimuth angle corresponding to the target position mainly involves first acquiring the terrain features of the shore-based radar's on-site installation location, then selecting a location with relatively obvious terrain features as the target position, and then using the azimuth angle between the target position and the radar as the first azimuth angle. After obtaining the first azimuth angle, the first echo data corresponding to the first azimuth angle is determined from the echo signal obtained during the radar's first scan, and the first scan code corresponding to the first echo data is also determined. Then, during normal radar operation, after each radar cycle, the first echo signal within that cycle is acquired. That is, the radar continuously emits electromagnetic waves and receives the reflected echoes. After completing a full rotation (i.e., scanning to cover all azimuth angles from 0° to 360°), the collected complete echo signal is the first echo signal. Then, based on the first scan code, multiple second echo data are extracted from the first echo signal. It can be understood that the scan code corresponding to the same target location in the radar echo signal remains unchanged; that is, the target location corresponding to the echo data with the same scan code is the same across multiple echo signals. Therefore, the second echo data corresponding to the target location can be determined from the first echo signal using the first scan code. Furthermore, to improve accuracy, echo data near the echo data corresponding to the first scan code can also be used as second echo data, thus obtaining multiple second echo data. Then, the correlation between each second echo data and the first echo data is calculated, resulting in multiple correlation values. The highest correlation value is then determined, and the second echo data corresponding to the highest correlation value is used as the third echo data. The third echo data is the echo data corresponding to the target location in the first echo signal. The second azimuth angle corresponding to the third echo data is then calculated, and the azimuth deviation between the first and second azimuth angles is calculated. This yields the azimuth deviation between the echo signal obtained during this radar operation and the echo signal obtained during the initial radar operation. After obtaining the azimuth deviation, the first echo signal is compensated for the azimuth deviation to complete the self-correction process. The calibrated echo signal can then be used for subsequent target recognition and tracking algorithms. This invention first determines the reference echo data and scan code of the target position in the initial echo signal. Then, based on the scan code, the corresponding actual echo data is determined from the actual echo signal obtained after one radar cycle. Subsequently, the azimuth deviation is determined based on the azimuth of the reference echo data and the azimuth of the actual echo data. Finally, the azimuth deviation is compensated for the actual echo signal, thus enabling adaptive azimuth correction. Compared with related technologies, this method does not require additional hardware or structural costs.In this invention, regardless of the cause of abnormal azimuth angle fluctuations in radar echoes, the problem can be detected and corrected in real time through self-checking of the radar echoes, thereby improving the stability and positioning accuracy of subsequent tracking of ship targets.

[0034] Figure 2 The diagram illustrates a step in a radar echo azimuth offset correction method according to an embodiment of the present invention: determining first echo data and a first scan code corresponding to the first echo data based on a first azimuth angle; wherein, the step of determining the first echo data and the first scan code corresponding to the first echo data based on the first azimuth angle includes: Step 202: Determine the first distance between the target location and the radar; Step 204: Extract the first echo data from the original echo signal based on the first distance and the first azimuth angle; Step 206: Determine the first scan code based on the first echo data.

[0035] In this embodiment, the step of determining the first echo data and the corresponding first scan code based on the first azimuth angle includes: firstly, determining the first distance between the target position and the radar; then, extracting the corresponding first echo data from the original echo signal (i.e., the echo signal obtained when the radar completes its first scan) based on the first azimuth angle and the first distance. The first echo data can be the original echo data of one or more scan lines in the echo signal. After obtaining the first echo data, determining the corresponding first scan code from the original echo signal based on the first echo data. By determining the first echo data based on the distance between the target position and the radar and the azimuth angle between the target position and the radar, the acquisition of the first echo data becomes more accurate.

[0036] Figure 3 The diagram illustrates a step in a radar echo azimuth offset correction method according to an embodiment of the present invention: extracting multiple second echo data points from a first echo signal based on a first scan code. The step of extracting multiple second echo data points from the first echo signal based on the first scan code includes: Step 302: Determine the range of the first angle; Step 304: Determine the fourth echo data corresponding to the first scan code in the first echo signal; Step 306: Using the fourth echo data as the center, extract multiple second echo data from the first echo signal according to the first angle range and the first distance.

[0037] In this embodiment, the step of extracting multiple second echo data from the first echo signal according to the first scan code includes: firstly, determining a first angle range, wherein the first angle range is a preset angle range. Then, determining the fourth echo data corresponding to the first scan code in the first echo signal, that is, extracting the fourth echo data with the same code as the first scan code from the first echo signal according to the first scan code. Then, extracting multiple second echo data from the first echo signal centered on the fourth echo data according to the first angle range and the first distance, that is, obtaining an azimuth range according to the azimuth angle corresponding to the fourth echo data and the first angle range. For example, the azimuth angle corresponding to the fourth echo data is 30°, and the first angle range is -1° to +1°. Then, all echo data with azimuth angles between 29° and 31° can be extracted from the first echo signal. Then, filtering is performed on the multiple echo data according to the first distance between the target position and the radar, and finally, the echo data with the same distance as the first distance is taken as the second echo data. By utilizing a preset angle range and the fourth echo data corresponding to the first scan code, multiple second echo data are extracted, thereby ensuring the accuracy of subsequent calculations.

[0038] In some embodiments, the first angle may optionally range from -1° to +1°.

[0039] In this embodiment, the first angle range can be -1° to +1°. It is understood that most azimuth deviations are between -1° and +1°, so setting the first angle range to -1° to +1° can reduce the workload of calculation while ensuring the accuracy of the calculation.

[0040] Figure 4 A flowchart illustrating the step of determining the second azimuth angle corresponding to the third echo data in a radar echo azimuth offset correction method according to an embodiment of the present invention is shown; wherein, the step of determining the second azimuth angle corresponding to the third echo data includes: Step 402: Determine the second scan code of the third echo data based on the third echo data; Step 404: Determine the second azimuth angle based on the second scan code.

[0041] In this embodiment, the step of determining the second azimuth angle corresponding to the third echo data includes: firstly, determining the second scan code of the third echo data in the first echo signal based on the third echo data, and then determining the second azimuth angle of the third echo data based on the second scan code, thereby ensuring the accuracy of the second azimuth angle.

[0042] In some embodiments, optionally after determining the first echo data and the first scan code corresponding to the first echo data based on the first azimuth angle, the method includes: performing low-pass filtering on the first echo data.

[0043] In this embodiment, after determining the first echo data and the first scan code corresponding to the first echo data based on the first azimuth angle, the process includes: after obtaining the first echo data, it is necessary to perform low-pass filtering on the first echo data. For example, the first echo data can be processed by a zero-phase low-pass filter to denoise the first echo data, thereby removing the impact of high-frequency jitter of the echo data on subsequent processing.

[0044] In some embodiments, optionally, after the step of extracting a plurality of second echo data from the first echo signal according to the first scan code, the method includes: performing low-pass filtering on the plurality of second echo data respectively.

[0045] In this embodiment, after the step of extracting multiple second echo data from the first echo signal according to the first scan code, the method includes: after obtaining multiple second echo data, it is necessary to perform low-pass filtering processing on the multiple second echo data respectively. For example, the multiple second echo data can be processed by a zero-phase low-pass filter to achieve noise reduction of the second echo data, thereby removing the influence of high-frequency jitter of the echo data on subsequent processing.

[0046] Figure 5 A second schematic flowchart of a radar echo azimuth offset correction method according to an embodiment of the present invention is shown; wherein, the radar echo azimuth offset correction method includes: Step 502: When the radar is initially working, select the scan line id of the reference echo and the corresponding distance range according to the field environment; Step 504: Perform low-pass filtering on the echo data selected in step 502 to denoise, and obtain echo data that retains low-frequency information after denoising; Step 506: When the radar is working normally, for each 360° echo data obtained, the scan line data corresponding to ±1° is extracted according to the reference echo scan line id selected in step 502. The range selection range is consistent with step 502. Step 508: Perform low-pass filtering and denoising on all echo data selected in step 506. The denoising process is consistent with step 504. Step 510: Perform correlation calculations on all the denoised scan line data obtained in step 508 and the reference echo data obtained in step 504; Step 512: Determine the scan line ID corresponding to the result with the largest correlation coefficient, and obtain its azimuth error (Delta Azimuth) relative to the reference scan ID; Step 514: Compensate for this angle error Delta Azimuth into the echo obtained in step 506 to complete the azimuth correction and proceed with subsequent signal processing.

[0047] In this embodiment, the method for correcting radar echo azimuth offset includes: First, selecting the scan ID (scan identification) of the original echo corresponding to the azimuth angle with obvious ground features as the reference scan ID based on the terrain features of the shore-based radar's installation location. Then, based on the distance range of the echo covering the land or coastal boundary, extracting partial original echo data from one or N scan lines. In other words, during initial radar operation, the scan line ID of the reference echo (Scanning ID of Reference) and its corresponding distance range are selected based on the site environment. After the radar begins normal operation, the reference echo is selected using step 502, and zero-phase low-pass filter denoising is performed to remove the influence of high-frequency jitter in the echo on subsequent processing. The filtered data serves as the reference scan line data for subsequent comparison. During normal radar operation, after receiving raw echo data from a 360° scan by the navigation radar, echo data within 1° before and after the reference echo scan line ID (identification) selected in step 502 is extracted, with the range selection consistent with the reference data. After extracting multiple echo data, low-pass filtering and noise reduction are performed on the echo data of all extracted scan lines. Then, the correlation coefficient is calculated between each processed scan line data and the reference scan line data. The scan line data with the highest correlation coefficient is determined, and its corresponding scan line ID is obtained. The azimuth error (Delta Azimuth) compared to the reference scan line is then calculated. Finally, azimuth compensation is performed on the 360° echo data received by the radar to complete the self-correction process. The calibrated echo data is then used for subsequent target identification and tracking algorithms.

[0048] Figure 6 A schematic block diagram of a radar echo azimuth offset correction system according to an embodiment of the present invention is shown; wherein, the radar echo azimuth offset correction system 60 includes: The first determining module 602 is used to determine the first azimuth angle corresponding to the target position, wherein the target position is any position on land within the radar scanning range; The second determining module 604 is used to determine the first echo data and the first scan code corresponding to the first echo data according to the first azimuth angle, wherein the first echo data is the echo data in the original echo signal, and the original echo signal is the echo signal obtained when the radar performs the first scan. The first acquisition module 606 is used to acquire the first echo signal after one radar operating cycle. The first extraction module 608 is used to extract multiple second echo data from the first echo signal according to the first scan code. The first calculation module 610 is used to calculate the correlation between each second echo data and the first echo data respectively; The third determining module 612 is used to determine the third echo data based on multiple correlations, wherein the third echo data is the second echo data with the highest correlation to the first echo data; The fourth determining module 614 is used to determine the second azimuth angle corresponding to the third echo data; The second calculation module 616 is used to determine the azimuth deviation based on the first azimuth and the second azimuth. The correction module 618 is used to perform azimuth compensation on the first echo signal based on the azimuth deviation.

[0049] The radar echo azimuth offset correction system 60 provided by the present invention mainly includes: a first determining module 602, a second determining module 604, a first acquiring module 606, a first extracting module 608, a first calculating module 610, a third determining module 612, a fourth determining module 614, a second calculating module 616, and a correction module 618. The first determining module 602 can determine the first azimuth angle corresponding to the target position, wherein the target position is any location on land within the radar scanning range. Specifically, the radar is mainly a shore-based radar. Determining the first azimuth angle corresponding to the target position mainly involves first acquiring the terrain features of the shore-based radar's on-site installation location, then selecting a location with relatively obvious terrain features as the target position, and then using the azimuth angle between the target position and the radar as the first azimuth angle. After obtaining the first azimuth angle, the second determining module 604 determines the first echo data corresponding to the first azimuth angle from the echo signal obtained during the radar's first scan, and simultaneously determines the first scan code corresponding to the first echo data. Then, during normal radar operation, after each radar cycle, the first acquisition module 606 acquires the first echo signal of the radar within that cycle. This means the radar continuously emits electromagnetic waves and receives the reflected echoes. After completing a full rotation (i.e., scanning to cover all azimuth angles from 0° to 360°), the collected complete echo signal is the first echo signal. Then, the first extraction module 608 extracts multiple second echo data points from the first echo signal based on the first scan code. It can be understood that the scan code corresponding to the same target location in the radar echo signal remains unchanged; that is, the target location corresponding to the echo data with the same scan code is the same across multiple echo signals. Therefore, the second echo data corresponding to the target location can be determined from the first echo signal using the first scan code. Furthermore, to improve accuracy, echo data near the echo data corresponding to the first scan code can also be used as second echo data, thus acquiring multiple second echo data points. Then, the first calculation module 610 calculates the correlation between each second echo data point and the first echo data, obtaining multiple correlation values. Subsequently, the third determination module 612 determines the highest correlation value among the multiple correlation values ​​and uses the second echo data corresponding to the highest correlation value as the third echo data. The third echo data is the echo data corresponding to the target position in the first echo signal. Then, the fourth determination module 614 calculates the second azimuth angle corresponding to the third echo data. Then, the second calculation module 616 calculates the azimuth angle deviation between the first azimuth angle and the second azimuth angle, thus obtaining the azimuth angle deviation between the echo signal obtained during this radar operation and the echo signal obtained during the initial operation of the radar. After obtaining the azimuth angle deviation, the correction module 618 performs azimuth angle compensation on the first echo signal according to the azimuth angle deviation, completing the self-correction process. The calibrated echo signal can be used for subsequent target recognition and tracking algorithms.This invention first determines the reference echo data and scan code of the target position in the initial echo signal. Then, based on the scan code, it determines the corresponding actual echo data in the actual echo signal obtained after one radar cycle. Subsequently, it determines the azimuth deviation based on the azimuth angle of the reference echo data and the azimuth angle of the actual echo data. Finally, it compensates for the azimuth angle of the actual echo signal based on the azimuth deviation, thereby enabling adaptive azimuth correction. Compared with related technologies, this invention does not require additional hardware or structural costs. In this invention, regardless of the cause of abnormal azimuth angle jitter in the radar echo, the problem can be detected and corrected in real time through self-checking of the radar echo, improving the stability and positioning accuracy of subsequent ship target tracking.

[0050] In some embodiments, optionally, the second determining module 604 is specifically used to determine a first distance between the target position and the radar; extract first echo data from the original echo signal based on the first distance and the first azimuth angle; and determine a first scan code based on the first echo data.

[0051] In this embodiment, the second determining module 604 is specifically used to first determine the first distance between the target position and the radar, and then extract the corresponding first echo data from the original echo signal, i.e., the echo signal obtained when the radar completes its first scan, based on the first azimuth angle and the first distance. The first echo data can be the original echo data of one or more scan lines in the echo signal. After obtaining the first echo data, the corresponding first scan code is determined from the original echo signal based on the first echo data. By determining the first echo data based on the distance between the target position and the radar and the azimuth angle between the target position and the radar, the acquisition of the first echo data is made more accurate.

[0052] In some embodiments, optionally, the first extraction module 608 is specifically used to determine a first angle range; determine the fourth echo data corresponding to the first scan code in the first echo signal; and extract a plurality of second echo data in the first echo signal with the fourth echo data as the center according to the first angle range and the first distance.

[0053] In this embodiment, the first extraction module 608 is specifically used to first determine a first angle range, wherein the first angle range is a preset angle range. Then, it determines the fourth echo data corresponding to the first scan code in the first echo signal. That is, it extracts the fourth echo data with the same code as the first scan code in the first echo signal according to the first scan code. Then, it extracts multiple second echo data from the first echo signal centered on the fourth echo data according to the first angle range and the first distance. That is, it obtains an azimuth range according to the azimuth angle corresponding to the fourth echo data and the first angle range. For example, the azimuth angle corresponding to the fourth echo data is 30°, and the first angle range is -1° to +1°. Then, it can extract all echo data with azimuth angles between 29° and 31° from the first echo signal. Then, it filters among the multiple echo data according to the first distance between the target position and the radar, and finally, the echo data with the same distance as the first distance is taken as the second echo data. By using the preset angle range and the fourth echo data corresponding to the first scan code to extract multiple second echo data, the accuracy of subsequent calculations is ensured.

[0054] In some embodiments, the first angle may optionally range from -1° to +1°.

[0055] In this embodiment, the first angle range can be -1° to +1°. It is understood that most azimuth deviations are between -1° and +1°, so setting the first angle range to -1° to +1° can reduce the workload of calculation while ensuring calculation accuracy.

[0056] In some embodiments, optionally, the fourth determining module 614 is specifically used to determine the second scan code of the third echo data based on the third echo data; and to determine the second azimuth angle based on the second scan code.

[0057] In this embodiment, the fourth determining module 614 is specifically used to determine the second scanning code of the third echo data in the first echo signal based on the third echo data, and then determine the second azimuth angle of the third echo data based on the second scanning code, thereby ensuring the accuracy of the second azimuth angle.

[0058] In some embodiments, the radar echo azimuth offset correction system 60 may optionally include: a first processing module for performing low-pass filtering on the first echo data.

[0059] In this embodiment, the radar echo azimuth offset correction system 60 further includes a first processing module. After obtaining the first echo data, the first processing module needs to perform low-pass filtering on the first echo data. For example, a zero-phase low-pass filter can be used to process the first echo data to denoise it, thereby removing the impact of high-frequency jitter in the echo data on subsequent processing.

[0060] In some embodiments, the radar echo azimuth offset correction system 60 may optionally include a second processing module for performing low-pass filtering on multiple second echo data respectively.

[0061] In this embodiment, the radar echo azimuth offset correction system 60 further includes a second processing module. After obtaining multiple second echo data, the second processing module needs to perform low-pass filtering on each of the multiple second echo data. For example, a zero-phase low-pass filter can be used to process the multiple second echo data separately to denoise the second echo data, thereby removing the impact of high-frequency jitter in the echo data on subsequent processing.

[0062] Figure 7 A schematic block diagram of an electronic device according to an embodiment of the present invention is shown; wherein, the electronic device 70 includes a memory 702, a processor 704, and a computer program stored in the memory 702 and executable on the processor 704, wherein the processor 704 executes the computer program to implement the steps of the radar echo azimuth offset correction method as described above.

[0063] The electronic device 70 provided by the present invention, when the processor 704 executes the computer program, implements the steps of the above-described radar echo azimuth offset correction method, which can achieve the technical effects of any of the above embodiments, and will not be described again.

[0064] One embodiment of the present invention provides a storage medium storing a computer program that, when executed by a processor, implements the steps of the radar echo azimuth offset correction method as described above.

[0065] The storage medium provided by this invention, when the computer program is executed by the processor, implements the steps of the above-described radar echo azimuth offset correction method, and can achieve the technical effects of any of the above embodiments, which will not be repeated here.

[0066] In the description of this specification, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance, unless otherwise expressly specified and limited. The terms "connection," "installation," and "fixing," etc., should be interpreted broadly. For example, "connection" can mean a fixed connection, a detachable connection, or an integral connection; it can mean a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0067] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0068] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for correcting radar echo azimuth offset, characterized in that, include: Determine the first azimuth angle corresponding to the target location, wherein the target location is any location on land within the radar scanning range; The first echo data and the first scan code corresponding to the first echo data are determined based on the first azimuth angle, wherein the first echo data is the echo data in the original echo signal, and the original echo signal is the echo signal obtained when the radar performs its first scan. Acquire the first echo signal after the radar has operated for one cycle; Multiple second echo data are extracted from the first echo signal based on the first scan code; Calculate the correlation between each second echo data point and the first echo data point; The third echo data is determined based on multiple correlations, wherein the third echo data is the second echo data with the highest correlation to the first echo data; Determine the second azimuth angle corresponding to the third echo data; The azimuth deviation is determined based on the first azimuth and the second azimuth. The first echo signal is compensated for based on the azimuth deviation.

2. The method for correcting radar echo azimuth offset according to claim 1, characterized in that, The step of determining the first echo data and the first scan code corresponding to the first echo data based on the first azimuth angle includes: Determine the first distance between the target location and the radar; The first echo data is extracted from the original echo signal based on the first distance and the first azimuth angle. The first scan code is determined based on the first echo data.

3. The method for correcting radar echo azimuth offset according to claim 2, characterized in that, The step of extracting multiple second echo data from the first echo signal according to the first scan code includes: Determine the range of the first angle; The fourth echo data corresponding to the first scan code is determined from the first echo signal; Using the fourth echo data as the center, extract multiple second echo data from the first echo signal according to the first angle range and the first distance.

4. The method for correcting radar echo azimuth offset according to claim 3, characterized in that, The first angle range is -1° to +1°.

5. The method for correcting radar echo azimuth offset according to claim 1, characterized in that, The step of determining the second azimuth angle corresponding to the third echo data includes: The second scan code of the third echo data is determined based on the third echo data; The second azimuth angle is determined based on the second scan code.

6. The method for correcting radar echo azimuth offset according to any one of claims 1 to 5, characterized in that, After the step of determining the first echo data and the first scan code corresponding to the first echo data based on the first azimuth angle, the method includes: The first echo data is subjected to low-pass filtering.

7. The method for correcting radar echo azimuth offset according to any one of claims 1 to 5, characterized in that, After the step of extracting multiple second echo data from the first echo signal according to the first scan code, the method includes: Low-pass filtering is performed on multiple second echo data.

8. A radar echo azimuth offset correction system, characterized in that, include: The first determining module is used to determine the first azimuth angle corresponding to the target position, wherein the target position is any position on land within the radar scanning range; The second determining module is used to determine the first echo data and the first scan code corresponding to the first echo data based on the first azimuth angle, wherein the first echo data is the echo data in the original echo signal, and the original echo signal is the echo signal obtained when the radar performs its first scan; The first acquisition module is used to acquire the first echo signal after the radar has worked for one cycle. A first extraction module is configured to extract multiple second echo data from the first echo signal based on the first scan code. The first calculation module is used to calculate the correlation between each second echo data and the first echo data respectively; The third determining module is used to determine the third echo data based on multiple correlations, wherein the third echo data is the second echo data with the highest correlation to the first echo data; The fourth determining module is used to determine the second azimuth angle corresponding to the third echo data; The second calculation module is used to determine the azimuth deviation based on the first azimuth and the second azimuth. The correction module is used to perform azimuth compensation on the first echo signal based on the azimuth deviation.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the radar echo azimuth offset correction method as described in any one of claims 1 to 7.

10. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the radar echo azimuth offset correction method as described in any one of claims 1 to 7.

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