A planar array wideband signal three-dimensional real-time imaging method, device and equipment

Abstract

The application relates to the field of acoustic imaging, and discloses a planar array wideband signal three-dimensional real-time imaging method, device and equipment, wherein the method comprises the following steps: determining the matched filtering data of the frequency domain receiving signal of any array element in the planar array; obtaining the target spectrum value of any effective frequency point in the matched filtering data of the array element; collecting the target spectrum values of the effective frequency points of all array elements, and constructing the spatial frequency domain matrix corresponding to the effective frequency point based on the collected target spectrum values and the position information of all array elements in the planar array, and inquiring the beam forming data of the spatial frequency domain matrix corresponding to the effective frequency point; determining a plurality of beam output signals based on the beam forming data corresponding to all effective frequency points, and constructing a three-dimensional point cloud image according to the signal strength of all beam output signals. The technical scheme provided by the application can ensure the efficiency and accuracy of the three-dimensional real-time imaging of the planar array signal.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of acoustic imaging, in particular to a planar array wideband signal three-dimensional real-time imaging method, device and equipment. BACKGROUND

[0002] Acoustic three-dimensional imaging technology is widely used in many fields, including underwater detection, medical ultrasound, nondestructive testing, etc. With the continuous improvement of application requirements, the precision and real-time performance of imaging technology are increasingly required.

[0003] However, the traditional acoustic imaging method often uses time delay estimation and fixed compensation strategy when processing wideband signals, which cannot accurately compensate for the beam differences of different frequency points, resulting in blurred imaging. At the same time, the beamforming calculation amount of the existing planar array increases exponentially with the number of array elements and bandwidth, making it difficult to meet the real-time imaging requirements.

[0004] Therefore, how to improve the three-dimensional real-time imaging efficiency and accuracy of the planar array wideband signal to meet the real-time imaging requirements of the wideband signal has become the focus of research in the field of acoustic imaging. SUMMARY

[0005] The present application provides a planar array wideband signal three-dimensional real-time imaging method, device and equipment, which can ensure the efficiency and accuracy of planar array signal three-dimensional real-time imaging.

[0006] The first aspect of the present application provides a planar array wideband signal three-dimensional real-time imaging method, the planar array includes a plurality of array elements, the method comprises: for any array element in the planar array, determining the frequency domain receiving signal of the array element, and performing matched filtering on the frequency domain receiving signal to determine the matched filtering data of the array element; for any effective frequency point in a plurality of preset effective frequency points, obtaining the target spectrum value of the effective frequency point in the matched filtering data of the array element; aggregating the target spectrum values of each array element at the effective frequency point, and based on the aggregated target spectrum values and the position information of each array element in the planar array, constructing a spatial frequency domain matrix corresponding to the effective frequency point, and querying the beamforming data of the spatial frequency domain matrix corresponding to the effective frequency point; based on the beamforming data corresponding to each effective frequency point, determining a plurality of beam output signals, and constructing a three-dimensional point cloud image according to the signal strength of each beam output signal.

[0007] In one embodiment, the determining the frequency domain received signal of the array element and performing matched filtering on the frequency domain received signal to determine the matched filtering data of the array element comprises: obtaining a channel received signal of the array element, and performing frequency domain conversion on the channel received signal to obtain the frequency domain received signal of the array element; obtaining a frequency domain copy signal of a transmitted signal, and performing transform processing on the frequency domain received signal according to the frequency domain copy signal to obtain the matched filtering data corresponding to the array element.

[0008] In one embodiment, the constructing the spatial frequency domain matrix corresponding to the effective frequency point based on the aggregated target spectrum value of each frequency point and the position information of each array element in the planar array comprises: for any array element, obtaining the target spectrum value of the array element at the effective frequency point, and obtaining the position information of the array element in the planar array, the position information comprising horizontal direction information and vertical direction information; filling the target spectrum value into the corresponding position of the spatial frequency domain matrix according to the horizontal direction information and the vertical direction information, wherein the row and column indexes of the target spectrum value in the spatial frequency domain matrix match the position information.

[0009] In one embodiment, the target spectrum value is a spectrum value compensated for focal length; the obtaining the target spectrum value of the array element at the effective frequency point comprises: determining the spectrum value of the array element at the effective frequency point, and determining the focusing distance matched with the effective frequency point, determining the focusing compensation coefficient of the spectrum value according to the focusing distance and the position information of the array element; performing focusing compensation on the spectrum value according to the focusing compensation coefficient, and taking the spectrum value compensated for focusing as the target spectrum value of the effective frequency point.

[0010] In one embodiment, the querying the beamforming data of the spatial frequency domain matrix corresponding to the effective frequency point comprises: determining the beam space matrix corresponding to the effective frequency point based on the spatial frequency domain matrix, and determining a plurality of horizontal beam indexes and a plurality of vertical beam indexes corresponding to the effective frequency point in a preset mapping table; determining the beamforming data corresponding to the effective frequency point in the beam space matrix according to any horizontal beam index and any vertical beam index.

[0011] In one embodiment, the preset mapping table includes a horizontal frequency mapping table and a vertical frequency mapping table; the preset mapping table is constructed in the following manner: a plurality of horizontal beams and a plurality of vertical beams are determined, a horizontal beam angle corresponding to each of the horizontal beams is determined, and a vertical beam angle corresponding to each of the vertical beams is determined; for any of the effective frequency points, a real frequency of the effective frequency point is determined; based on the horizontal beam angle and the real frequency, a horizontal mapping index corresponding to the effective frequency point is established for each of the horizontal beams, and the horizontal mapping index is written into the horizontal frequency mapping table; and based on the vertical beam angle and the real frequency, a vertical mapping index corresponding to the effective frequency point is established for each of the vertical beams, and the vertical mapping index is written into the vertical frequency mapping table.

[0012] In one embodiment, the beamforming data includes beam data in a plurality of beam directions; based on the beamforming data corresponding to each of the effective frequency points, determining a plurality of beam output signals includes: for the beamforming data corresponding to any of the effective frequency points, performing time domain conversion on the beamforming data to obtain beam time domain data corresponding to the effective frequency point; based on a plurality of beam directions, performing data splicing on the beam time domain data corresponding to each of the effective frequency points to obtain a beam output signal of each of the beam directions.

[0013] In one embodiment, the beam output signal includes a plurality of data sampling points; constructing a three-dimensional point cloud image according to the signal intensity of each of the beam output signals includes: for any of the beam output signals, determining a target sampling point in a plurality of the data sampling points according to the signal intensity, obtaining a target signal intensity and a target sampling distance of the target sampling point; and constructing the three-dimensional point cloud image based on the target sampling distance and the target signal intensity of each of the beam output signals.

[0014] The second aspect of the present application provides a planar array wideband signal three-dimensional real-time imaging device, the device comprising: a matched filter unit, configured to determine a frequency domain receiving signal of any array element in the planar array, and perform matched filtering on the frequency domain receiving signal to determine matched filtering data of the array element; a spectrum determination unit, configured to obtain a target spectrum value of any effective frequency point in a preset plurality of effective frequency points in the matched filtering data of the array element; a beam forming unit, configured to aggregate the target spectrum values of each array element at the effective frequency point, and construct a spatial frequency domain matrix corresponding to the effective frequency point based on the aggregated target spectrum values and position information of each array element in the planar array, and query beam forming data of the spatial frequency domain matrix corresponding to the effective frequency point; and an image generation unit, configured to determine a plurality of beam output signals based on the beam forming data corresponding to each effective frequency point, and construct a three-dimensional point cloud image according to the signal intensity of each beam output signal.

[0015] The third aspect of the present application provides a computer device, comprising: a memory and a processor, which are communicatively connected with each other, and the memory stores computer instructions, and the processor executes the computer instructions to perform the planar array wideband signal three-dimensional real-time imaging method of the first aspect.

[0016] The technical scheme provided by the embodiments of the present application establishes a spatial frequency domain matrix for each effective frequency point based on the target spectrum values of each array element, and quickly obtains beam forming data according to the spatial frequency domain matrix to perform real-time imaging, thereby ensuring the efficiency and accuracy of the planar array signal three-dimensional real-time imaging. Specifically, the three-dimensional point cloud image of the wideband signal is quickly constructed through the steps of frequency domain matched filtering, selective extraction of the spectrum values of the effective frequency points, construction of the spatial frequency domain matrix, and query of the beam forming data, wherein the frequency domain matched filtering can enhance the characteristics of a specific signal, effectively solve the space-time coupling problem of the wideband signal, and improve the efficiency and accuracy of signal processing. By only focusing on the preset effective frequency points, the processing of the entire frequency band is avoided, further improving the efficiency of three-dimensional real-time imaging, and by pre-computing and storing beam mapping information, the beam forming data of multiple effective frequency points is quickly obtained, which meets the real-time imaging requirements of the wideband signal, ensures the efficiency and accuracy of imaging, more comprehensively reflects the characteristics of the overall planar array wideband signal, and improves the accuracy of the three-dimensional real-time image.

[0017] It can be seen that the technical scheme provided by the embodiments of the present application can ensure the efficiency and accuracy of the planar array signal three-dimensional real-time imaging. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the specific embodiments or the prior art, the following will briefly introduce the drawings needed to be used in the description of the specific embodiments or the prior art. Obviously, the drawings described below are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort based on these drawings.

[0019] Figure 1 A step schematic diagram of a planar array wideband signal three-dimensional real-time imaging method provided for an embodiment of the present application;

[0020] Figure 2 A method step diagram of a method for pre-constructing a preset mapping table provided for an embodiment of the present application;

[0021] Figure 3 A method step diagram of a planar array wideband signal three-dimensional real-time imaging method provided for an embodiment of the present application;

[0022] Figure 4 A structure schematic diagram of a planar array wideband signal three-dimensional real-time imaging device provided for an embodiment of the present application;

[0023] Figure 5 A structure schematic diagram of a computer device provided for an embodiment of the present application. DETAILED DESCRIPTION

[0024] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative effort fall within the scope of protection of the present application.

[0025] In addition, the description of "first", "second" and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In the description of the embodiments of the present application, unless otherwise specified, the meaning of "multiple" is two or more. In addition, the use of "based on" or "according to" means openness and inclusiveness, because the process, step, calculation or other action based on one or more described conditions or values can be based on additional conditions or values beyond the described values in practice.

[0026] With the continuous development of the communication industry, acoustic three-dimensional imaging technology has been widely applied in many fields, including underwater detection, medical ultrasound, non-destructive testing, etc. These fields have put forward higher and higher requirements for the accuracy, real-time performance and adaptability of imaging technology. For example, in underwater detection, the sonar system needs to be able to identify the position and shape of underwater objects in real time and accurately, and in medical ultrasound, the ultrasound device needs to be able to quickly generate high-resolution three-dimensional images for doctors to make accurate diagnoses.

[0027] However, since the traditional acoustic imaging method is mainly based on time-domain matched filtering and time delay beamforming, this approach is only suitable for narrowband signals or static processing scenarios, and it has some limitations in processing wideband signals. Specifically, since different frequency points covered by a wideband signal correspond to different wave number characteristics, the difference in these characteristics makes it difficult for traditional time delay estimation methods to accurately capture the real time difference of signal propagation, and fixed compensation strategies cannot flexibly adapt to the wave number changes of each frequency point, ultimately leading to deviations in the focusing positions of different frequency components on the imaging plane, resulting in blurred imaging results.

[0028] In addition, in actual operation, as the number of array elements in the planar array increases and the signal bandwidth expands, the system needs to consume a large amount of computational resources and time to complete signal processing, making it difficult to achieve real-time imaging. Especially when the application scenario involves dynamic target monitoring, the traditional scheme cannot quickly adjust the focusing parameters of the beam according to the real-time motion state or position change of the target, resulting in a significant decrease in the clarity of the target in the far-field imaging process, and thus leading to poor clarity and accuracy of three-dimensional real-time imaging.

[0029] Therefore, one or more embodiments of the present application provide a planar array wideband signal three-dimensional real-time imaging method, device and equipment, which can solve the above problems and simultaneously improve the processing efficiency and imaging accuracy of three-dimensional real-time imaging under wideband signal conditions, thereby meeting the accuracy and real-time performance requirements of wideband signal three-dimensional real-time imaging in actual applications. The planar array is a two-dimensional array composed of multiple array elements, and each array element can receive acoustic wideband signals.

[0030] Please refer to Figure 1 One embodiment of the present application provides a planar array wideband signal three-dimensional real-time imaging method, which can include the following steps:

[0031] S1: For any array element in the planar array, determine the frequency domain received signal of the array element, and perform matched filtering on the frequency domain received signal to determine the matched filtering data of the array element;

[0032] S3: obtaining a target spectrum value of any one of the preset plurality of valid frequency points in the matched filtering data of the array element;

[0033] S5: aggregating the target spectrum values of each of the array elements at the valid frequency points, and constructing a spatial frequency domain matrix corresponding to the valid frequency point based on the aggregated target spectrum values and the position information of each of the array elements in the planar array, and querying beamforming data of the spatial frequency domain matrix corresponding to the valid frequency point;

[0034] S7: determining a plurality of beam output signals based on the beamforming data corresponding to each of the valid frequency points, and constructing a three-dimensional point cloud image according to the signal strength of each of the beam output signals.

[0035] The frequency domain receiving signal is determined based on the time domain signal received by each array element, and is used for subsequent matched filtering and beamforming processing. Matched filtering in the frequency domain can enhance the characteristics of specific signals while suppressing noise, improving the signal-to-noise ratio of the signal, thereby more effectively processing wideband signals. The matched filtering data contains the signal characteristics of the array element after processing, which is used for subsequent beam imaging processing. The frequency domain receiving signal after matched filtering is used as matched filtering data, thereby solving the problem of space-time coupling of wideband signals and providing high-quality data for subsequent beamforming and imaging processing.

[0036] In acoustic imaging, only some specific frequency ranges of the wideband signal that have an important influence on the imaging quality are usually concerned, and specific frequency points in the above specific frequency ranges are used as valid frequency points. The above valid frequency points can be determined in advance according to specific application requirements and signal characteristics. By focusing only on the preset valid frequency points, unnecessary calculation amount can be reduced, and the imaging accuracy can be improved. At each valid frequency point, a target spectrum value corresponding to the valid frequency point is extracted from the matched filtering data of the current array element. The target spectrum value reflects the intensity and phase information of the signal at a specific frequency. For a certain valid frequency point, the spectrum line value at the same frequency point position is extracted from the spectrum of each array element as the target spectrum value. By selectively extracting the spectrum value of the valid frequency point, the entire frequency band is avoided, thereby significantly reducing the calculation complexity and improving the real-time performance of the system.

[0037] The aforementioned spatial frequency domain matrix reflects the spatial distribution of target spectral values ​​of different array elements at a specific frequency point. The aforementioned positional information characterizes the specific position of each array element in the planar array, including horizontal and vertical coordinates. Based on the positional information of the array elements, the target spectral values ​​of each element are filled into the corresponding positions in the spatial frequency domain matrix. The aforementioned beamforming data can be understood as the beamforming results calculated based on the target spectral values ​​in the spatial frequency domain matrix. Typically, a pre-defined mapping table or algorithm is used to determine the data related to a specific beam direction as the beamforming result based on the signal space defined by the spatial frequency domain matrix. By constructing the spatial frequency domain matrix, the signal distribution in space can be represented more accurately, thereby improving imaging accuracy. By querying the beamforming data, the direction and intensity of the signal can be determined more precisely, further improving imaging quality.

[0038] For example, for each effective frequency point Collect the target spectrum values ​​of all array elements at this frequency point. And based on the position information of each array element , target spectrum value Fill the corresponding positions in the spatial frequency domain matrix, for example, if the array elements The location is Then Placed in the matrix Location. For a given effective frequency, the beam in the horizontal direction... and vertical beam The beam output on the array can be used as beamforming data based on the spatial location indicated by the mapping table. By effectively utilizing the signal information of multiple array elements, a spatial frequency domain matrix reflecting the spatial distribution of the signal is constructed, and high-precision imaging processing is achieved by querying the beamforming data.

[0039] The aforementioned beam output signal can be understood as the signal extracted from beamforming data in each beam direction, representing the signal strength and phase information in a specific beam direction. Based on the phase information and signal strength, the beam output signal is converted into points in space to form a three-dimensional point cloud image for visualizing the imaging results and intuitively displaying the target's position and intensity distribution. By combining beamforming data from multiple effective frequency points, the characteristics of the overall planar array broadband signal can be more comprehensively reflected, thereby improving the accuracy of the three-dimensional point cloud image. Furthermore, due to the pre-calculation and storage of beam mapping information, the corresponding beamforming data can be quickly acquired, thus rapidly generating the beam output signal, meeting the real-time imaging requirements of broadband signals and ensuring the efficiency and accuracy of three-dimensional real-time imaging of planar array signals.

[0040] In the embodiment, the beamforming data is collected based on multiple beam directions to determine multiple beam output signals for constructing a three-dimensional point cloud image. Specifically, the beamforming data of each valid frequency point is integrated to obtain the beamforming data of the whole wideband signal, and the beam output signals in each beam direction are determined on the whole beamforming data. Further, the complex signal is taken modulo for each beam output signal to obtain the complex signal values at every certain distance in the current beam direction, and the three-dimensional point cloud image of the wideband signal is constructed according to the signal strength of each beam output signal.

[0041] The technical solution provided by the embodiment establishes a spatial frequency domain matrix for each valid frequency point based on the target spectrum value of each array element, and quickly acquires the beamforming data according to the spatial frequency domain matrix to perform real-time imaging, thereby ensuring the efficiency and accuracy of the three-dimensional real-time imaging of the planar array signal. Specifically, the real-time three-dimensional point cloud image of the wideband signal is quickly constructed through the steps of frequency domain matched filtering, selectively extracting the spectrum value of the valid frequency point, constructing the spatial frequency domain matrix, and querying the beamforming data, wherein the frequency domain matched filtering can enhance the characteristics of the specific signal, effectively solve the space-time coupling problem of the wideband signal, and improve the efficiency and accuracy of the signal processing. By only focusing on the preset valid frequency point, the processing of the entire frequency band is avoided, thereby further improving the efficiency of the three-dimensional real-time imaging. Moreover, the beam mapping information is pre-calculated and stored to quickly acquire the beamforming data of multiple valid frequency points, thereby meeting the real-time imaging requirement of the wideband signal, ensuring the efficiency and accuracy of the imaging, more comprehensively reflecting the characteristics of the whole planar array wideband signal, and improving the accuracy of the three-dimensional real-time image.

[0042] In one embodiment, based on the step S1, since the array element signal that can be acquired is a time domain signal, frequency domain conversion is required when determining the frequency domain received signal of the array element, and matched filtering is performed on the frequency domain received signal to determine the matched filtering data of the array element.

[0043] Specifically, the channel received signal of any array element is acquired, the channel received signal is subjected to frequency domain conversion to obtain the frequency domain received signal of the array element, the frequency domain copy signal of the transmitted signal is acquired, and the frequency domain received signal is subjected to transformation processing according to the frequency domain copy signal to obtain the matched filtering data of the corresponding array element. The channel received signal is the original time domain signal received by each array element, the transmitted signal is used to excite the target and acquire the reflected signal, and the frequency domain copy signal is the frequency domain representation of the transmitted signal and is used for comparison and processing with the frequency domain received signal in the matched filtering process. By matching the frequency domain received signal with the frequency domain copy signal as the reference signal, the characteristics of the frequency domain received signal can be enhanced and the noise can be suppressed, and the frequency domain received signal after matched filtering is used as the matched filtering data of the corresponding array element.

[0044] In this embodiment, the time-domain channel received signal is converted into a frequency-domain received signal using Fourier transform. The converted frequency-domain received signal can represent the amplitude and phase information of the signal at different frequencies. Specifically, this information is obtained from the array element receiving system. The channel received signals of each array element are subjected to Fourier transform to obtain the frequency domain received signal. , can be represented as: ,in, For channel to receive signals, , Indicates the array element number, , Indicates the first The channel received signal received by the array element. Among them, This indicates the length of the Fourier transform of the frequency domain matched filter. , , Indicates the length of the transmitted signal. This indicates the length of the signal received in the array element domain.

[0045] In this embodiment, the frequency-domain received signal and the frequency-domain copy signal are multiplied by a dot product, and then an inverse Fourier transform is performed to return to the time domain, yielding the matched-filtered signal. Specifically, the frequency-domain copy signal of the transmitted signal is calculated. , The frequency domain copy signal mentioned above can be represented as ,in, Take the conjugate operator for complex numbers. The imaginary unit, i.e. Furthermore, the frequency domain copy signal is multiplied by the frequency domain received signal, and then an inverse Fourier transform is performed to return it to the time domain. These data points represent the signal after matched filtering. , ,in, , .

[0046] The technical scheme provided by the embodiment provides channel received signal processing based on frequency domain conversion and matched filtering, for subsequent imaging processing. By matching the frequency domain copy signal and the frequency domain received signal, the characteristics of the channel received signal are effectively highlighted, noise interference is suppressed, the signal noise ratio is improved, and the matched filter signal after matched filtering retains clearer target information. Moreover, by using the frequency domain processing method, different frequency components can be directly and accurately processed, the compensation error problem caused by the wave number difference in the traditional time domain method is overcome, high complexity calculation of time domain convolution is avoided, unnecessary calculation amount is reduced, and the real-time performance of the system is improved. By performing matched filtering in the frequency domain, the efficiency of signal processing and the accuracy of three-dimensional imaging are effectively improved, and the real-time imaging demand of wideband signals is met.

[0047] In one embodiment, the arrangement of the above-mentioned spatial frequency domain matrix is the same as that of the planar array, and the row and column structures of the matrix correspond one by one to the positions of the elements of the planar array. Based on the summarized target spectrum values of each element and the position information of each element in the planar array, a spatial frequency domain matrix corresponding to the effective frequency points is constructed, so that the target spectrum values of each element are stored in the positions corresponding to the array positions in the spatial frequency domain matrix.

[0048] Specifically, for any element, the target spectrum value of the element at the effective frequency point is obtained, and the position information of the element in the planar array is obtained. The position information includes horizontal direction information and vertical direction information, i.e., horizontal coordinate information and vertical coordinate information of the element in the array. According to the horizontal direction information and the vertical direction information, the target spectrum value is filled into the corresponding position of the spatial frequency domain matrix, so as to ensure that the target spectrum value matches the position information in the row and column indexes of the spatial frequency domain matrix.

[0049] For example, a two-dimensional array is defined as , the size of the first dimension is , and the size of the second dimension is , and the numerical size is the same as the number of planar array elements, thereby defining the scale and shape of the entire matrix, and is taken as the initial spatial frequency domain matrix. If the array scale of the planar array is 2x2 (4 elements), i.e. , , when processing a certain target frequency point , for element (0,0), find its target spectrum value , and fill it into , when processing a certain target frequency point , for element (0,1), find its target spectrum value , and fill it into , when processing a certain target frequency point At the time of processing a certain target frequency point (1,0), find its target spectrum value Fill its value into At the time of processing a certain target frequency point (1,1), find its target spectrum value Fill its value into Where i represents the array element index, . .

[0050] The technical solution provided by the embodiment maps the target spectrum values of the array elements according to the physical arrangement of the planar array, which facilitates the quick positioning and calling of the spectrum information of the array elements at different positions. Specifically, by one-to-one correspondence between the matrix row-column structure and the physical position of the array element, the dispersed target spectrum values of the array elements are integrated into a matrix with spatial arrangement characteristics, which provides an intuitive spatial data carrier for subsequent beamforming, three-dimensional imaging and other processing, and reduces the complexity of data matching. At the same time, the data is filled strictly according to the array element position, avoiding the misplacement of spectrum values and spatial positions, ensuring the accuracy of subsequent calculations based on the spatial frequency domain matrix, providing a data structure foundation for high-quality three-dimensional imaging, and ensuring the efficiency and accuracy of the three-dimensional real-time imaging of the planar array signal.

[0051] In one embodiment, since the propagation of signals at different distances will cause signal attenuation and phase change, when acquiring the target spectrum value, each array element needs to take the spectrum value at the effective frequency point after focal length compensation as the target spectrum value. The focal length compensation can compensate for the attenuation and adjust the phase, so that the imaging result is more accurate. Specifically, the spectrum value of the array element at the effective frequency point is determined, and the focusing distance matching the effective frequency point is determined. The focusing compensation coefficient of the spectrum value is determined according to the focusing distance and the position information of the array element. Further, the spectrum value is focused compensated according to the focusing compensation coefficient to compensate for the difference in signal propagation at different distances. The spectrum value after focusing compensation is taken as the target spectrum value of the effective frequency point, which is used for subsequent imaging processing.

[0052] In the embodiment, due to the physical characteristics of signal propagation, signals of different frequencies will have different propagation delays during propagation. The above focusing distance can be determined according to the position of the effective frequency point in the matched filter signal. Specifically, when processing a wideband signal, the signal is usually divided into multiple overlapping data segments, each data segment containing signal information within a certain time range. Since the signal may have different frequency components and propagation characteristics within different time ranges, for example, the signal may contain more high-frequency components within certain time periods, and more low-frequency components within other time periods, therefore the focusing distance of each data segment needs to be adjusted according to its specific signal characteristics.

[0053] Exemplarily, the matched filter signal of any array element is divided into multiple data segments, so that a certain data segment contains multiple valid frequency points, and the number of valid frequency points in each data segment is wherein, denotes the number of beams, denotes the sampling frequency, denotes the bandwidth. The valid frequency points in different data segments correspond to different focusing distances, for example, the focusing distance of the nth batch of data segments is wherein, is a known distance blind area, that is, no signal is received within the distance, denotes the sound speed.

[0054] In an embodiment, each target spectrum value in the spatial frequency domain matrix is compensated. In the spatial frequency domain matrix, denotes the target spectrum value of the array element with coordinates of the rth row and the cth column, and the coordinates of the planar array are , , wherein, denotes the number of horizontal array elements of the planar array, denotes the horizontal array element spacing, denotes the number of vertical array elements of the planar array, denotes the vertical array element spacing. Specifically, the focusing compensation coefficient of the target spectrum value corresponding to a valid frequency point k in the current data segment can be obtained in the following manner: wherein, denotes the focusing compensation coefficient, , is the number of valid frequency points, is the center frequency of the transmitted signal, and the compensated target spectrum value is .

[0055] The technical solution provided by the embodiment addresses the attenuation and phase change in signal propagation and proposes a spectrum value processing based on focal length compensation, thereby improving the accuracy of the spectrum value. Specifically, the focusing compensation coefficient is determined through batch data processing and dynamic focusing distance adjustment, the attenuation and phase shift of the signal at different propagation distances are corrected through the focusing compensation coefficient, the signal distortion problem caused by the difference in propagation paths is solved, the focusing distance is dynamically adjusted according to the frequency characteristics of different data segments, the precise compensation of each frequency component in the wideband signal is realized, the limitations of the traditional fixed compensation strategy are overcome, the compensated spectrum value more truly reflects the target characteristics, and the accuracy of the three-dimensional real-time image is improved.

[0056] ​In one embodiment, a preset mapping table is provided, and based on the step S5, the beamforming data of the spatial frequency domain matrix corresponding to the effective frequency point is queried in the preset mapping table. Specifically, based on the spatial frequency domain matrix, the beam spatial matrix corresponding to the effective frequency point is determined, and the plurality of horizontal beam indexes and the plurality of vertical beam indexes corresponding to the effective frequency point are determined in the preset mapping table. Further, the beamforming data corresponding to the effective frequency point is determined in the beam spatial matrix according to any horizontal beam index and any vertical beam index.

[0057] The beam spatial matrix is a beamforming result matrix calculated based on the spatial frequency domain matrix, and represents the signal distribution in different beam directions. The horizontal beam index and the vertical beam index are the coordinate position indexes that can be queried for each effective frequency point in the preset mapping table, and are used to quickly locate the beamforming data of a specific beam direction in the beam spatial matrix. Wherein, for each effective frequency point, there are a plurality of horizontal position indexes corresponding to a plurality of horizontal beam angles, and a plurality of vertical position indexes corresponding to a plurality of vertical beam angles. By querying the plurality of horizontal beam indexes and the plurality of vertical beam indexes, the beamforming data of multiple directions can be covered, and the comprehensiveness of imaging is improved.

[0058] In one embodiment, the spatial frequency domain matrix is converted into the beam spatial matrix by two-dimensional Fourier transform. Specifically, for the spatial frequency domain matrix after focus compensation The corresponding beam spatial matrix is represented as , Wherein, represents the horizontal beam direction sequence number, represents the vertical beam direction sequence number, , .

[0059] Further, according to the position represented by the preset mapping table, the target frequency point The beam direction output in each horizontal direction and vertical direction is , , represents the frequency domain beamforming output of the target frequency point pointing to the first vertical beam and the first horizontal beam direction, and the frequency domain beamforming output is taken as the beamforming data corresponding to the effective frequency point . Wherein, represents the energy of the first horizontal beam in the row number of the matrix for the target frequency point , represents the energy of the first vertical beam in the column number the energy of a vertical beam the number of columns of the matrix.

[0060] The technical scheme provided by the embodiment of the application realizes fast positioning of target data in the beam space matrix through the preset mapping table. Specifically, the beam space matrix is generated from the spatial frequency domain matrix through two-dimensional Fourier transform, which realizes accurate mapping of the frequency domain signal and the spatial beam direction. Through querying and extracting the horizontal beam index and the vertical beam index in the preset mapping table, the accurate acquisition of the signal in a specific direction in the beam space matrix according to the beam index is further ensured, the global traversal of the beam space matrix is avoided, the extraction efficiency of the beam forming data in a specific direction is greatly improved, and the subsequent integration of multi-frequency point and multi-direction data to construct a complete three-dimensional image is facilitated, so that the real-time imaging demand of the wideband signal is met, and the three-dimensional real-time imaging efficiency and accuracy of the planar array wideband signal are also improved.

[0061] In one embodiment, referring to Figure 2 The preset mapping table includes a horizontal frequency mapping table and a vertical frequency mapping table, and the preset mapping table is constructed according to the following steps:

[0062] S61: determining a plurality of horizontal beams and a plurality of vertical beams, determining the horizontal beam angle corresponding to each horizontal beam, and determining the vertical beam angle corresponding to each vertical beam, and for any effective frequency point, determining the real frequency of the effective frequency point;

[0063] S62: based on the horizontal beam angle and the real frequency, establishing a horizontal mapping index corresponding to the effective frequency point for each horizontal beam, and writing the horizontal mapping index into the horizontal frequency mapping table;

[0064] S63: and based on the vertical beam angle and the real frequency, establishing a vertical mapping index corresponding to the effective frequency point for each vertical beam, and writing the vertical mapping index into the vertical frequency mapping table.

[0065] The real frequency can be understood as the frequency value actually used by the effective frequency point in signal processing, and the horizontal beam angle and the vertical beam angle define the direction of the beam covering different directions of the imaging area, improving the comprehensiveness of imaging. The horizontal frequency mapping table is used to store the mapping index of the horizontal beam, so as to quickly query the beam forming data in the horizontal direction. The vertical frequency mapping table is used to store the mapping index of the vertical beam, so as to quickly query the beam forming data in the vertical direction. The index established for each beam based on the beam angle and the real frequency is used to quickly locate the beam forming data.

[0066] In one embodiment, for the horizontal frequency mapping table the size of which is . The real frequency corresponding to the spectrum line is , wherein, . The real horizontal direction beam angle corresponding to the horizontal beam No. , wherein, , is a sampling frequency, is a horizontal beam number, is a parameter for representing a horizontal field of view range, and the horizontal field of view range is . Further, a horizontal frequency mapping table can be obtained wherein, .

[0067] In the embodiment, the vertical frequency mapping table has a size of . The real vertical direction pre-beam angle corresponding to the vertical beam No. , wherein, , is a parameter for representing a vertical field of view range, and the vertical field of view range is . Further, a vertical frequency mapping table can be obtained wherein, .

[0068] The technical solution provided by the embodiment of the application realizes fast indexing of beam forming data by respectively establishing horizontal and vertical direction frequency mapping tables. Specifically, the horizontal frequency mapping table and the vertical frequency mapping table directly store the corresponding indexes of effective frequency points and beam directions, avoid complex calculation during beam forming data query, greatly improve data positioning efficiency, lay a foundation for efficient processing of three-dimensional imaging, so that the real-time imaging demand of wideband signals is met, and the three-dimensional real-time imaging efficiency and accuracy of a planar array wideband signal are also improved.

[0069] In one embodiment, the beamforming data includes beam data in multiple beam directions. Based on the beam data in multiple beam directions corresponding to any one of the effective frequency points, multiple beam output signals are determined. Specifically, for the beamforming data corresponding to any effective frequency point, the beamforming data is time-domain transformed to obtain the beam time-domain data corresponding to the effective frequency point, representing the change of signal strength over time in different beam directions. Based on multiple beam directions, the beam time-domain data corresponding to each effective frequency point are stitched together, including time-series stitching and beam direction stitching, to obtain beam output signals for each beam direction, which are used for subsequent imaging processing. Each beam output signal contains complete, high-resolution range dimension information.

[0070] In one embodiment, beamforming data can be generated for each effective frequency point of a matched filter signal. First, data splicing is performed to obtain the beamforming data of the entire matched filter signal. And then Performing an inverse Fourier transform converts the signal from the frequency domain to the time domain, thus obtaining the beam time-domain data for all effective frequency points. Among them, for In each beam direction (a, b), there is a complete beam output signal. This indicates that at a distance m along the beam direction (a, b), there exists a scattering target, and the signal strength of its echo signal is... .

[0071] The technical solution provided in this embodiment generates a beam output signal for imaging by temporal transformation and stitching of beamforming data. Specifically, the frequency-domain beamforming data is converted to the time domain through inverse Fourier transform, intuitively presenting the change in signal strength with distance. This ensures that the stitched beam output signal contains complete range-dimensional information, improving the accuracy of target localization in 3D imaging. Simultaneously, beam direction stitching integrates temporal data from multiple beam directions, ensuring that imaging covers target information from all directions, enhancing the integrity and comprehensiveness of the imaging.

[0072] In one embodiment, the above beam output signal includes a plurality of data sampling points, the data sampling points representing signal sampling points at different distances in the current beam direction, and the signal strengths of different data sampling points are different. A three-dimensional point cloud image is constructed according to the signal strengths of different data sampling points of each beam output signal. Specifically, for any beam output signal, a target sampling point is determined in the plurality of data sampling points according to the signal strength, the target sampling point is usually the data sampling point with the maximum signal strength in the beam output signal, the target signal strength and the target sampling distance of the target sampling point are obtained, the signal strength of the target sampling point is taken as the target signal strength, the distance of the target sampling point from the center of the planar array in the current beam direction is taken as the target sampling distance, and a three-dimensional point cloud image is constructed based on the target sampling distances and the target signal strengths of each beam output signal. For example, by converting the target sampling point in each beam direction into a point in space, a three-dimensional point cloud image is formed, which can intuitively display the position and intensity distribution of the target, facilitating analysis and interpretation of the imaging results.

[0073] In one embodiment, the complex signal of each beam output signal needs to be first processed by complex signal modulo operation, and the complex signal (x a,b ) is converted into a real signal (x a,b ). The beam output signal sequence number is represented by x a,b, and further, the maximum value of each beam output signal is determined and the target sampling distance is recorded in the following manner: wherein, x a,b represents the target signal strength of the horizontal direction a number and the vertical direction b number beam, x a,b represents the position index of the target sampling point of the horizontal direction a number and the vertical direction b number beam, and the position index can be converted into the distance from the center of the planar array in combination with the sampling frequency f and the sound propagation speed c.

[0074] The technical scheme provided by the embodiment of the present application constructs a three-dimensional point cloud image based on each beam output signal. Specifically, the target sampling point is determined by taking the maximum signal strength, the main target in the beam direction is effectively focused, noise interference is reduced, and three-dimensional information of the beam direction, distance and signal strength is integrated into a three-dimensional point cloud image, realizing intuitive conversion from signal data to spatial target distribution, and ensuring that the three-dimensional image can truly reflect the spatial characteristics of the target.

[0075] Please refer to Figure 3 ​​​​​​This application provides an embodiment of a planar array broadband signal three-dimensional real-time imaging method as described above. In this embodiment, the matched filter data of each array element is subjected to overlapping segmentation processing. Frequency points are divided and beamforming is performed based on different data segments, and then the beamforming data of different data segments are stitched together. For imaging sonar, some regions do not meet the far-field conditions. The signals in these regions need to be focused during beamforming, i.e., phase compensation. Focusing processing is closely related to the signal distance. Therefore, segmenting the signal can improve the compensation accuracy, thereby obtaining a better focusing effect. In addition, the reason for using overlapping segmentation is that in the frequency domain beamforming method, there are inaccurate points between consecutive segments, and overlapping processing can effectively eliminate these inaccurate points, ensuring the accuracy and continuity of imaging.

[0076] In this embodiment, the number of elements in the horizontal direction of the planar array is The spacing between array elements is The horizontal field of view is The number of vertical array elements is The spacing between array elements is The horizontal field of view is The number of beams in the horizontal and vertical directions is ( Not less than and (The beam is relatively large); the horizontal and vertical pre-formed beams are uniformly distributed in the field of view; the center of the transmitted signal is... bandwidth is The speed of sound is The sampling frequency is Specifically, this embodiment is carried out according to the following steps:

[0077] S101: Pre-build preset mapping tables, including horizontal frequency mapping tables and vertical frequency mapping tables.

[0078] Specifically, the number of effective frequency points within the operating frequency band is first calculated. , And determine the actual frequency corresponding to each effective frequency point. According to the actual frequency and horizontal beam angle Establish a horizontal frequency mapping table According to the actual frequency and vertical beam angle Establish a vertical frequency mapping table .

[0079] S102: Determine the matched filter data for each array element.

[0080] Specifically, determine the Fourier transform length of the frequency domain matched filter. , calculate the frequency domain copy signal of the transmit signal , , , calculate the frequency domain receive signal of the channel receive signal , represent the array element number, , further, the frequency domain copy signal and the frequency domain receive signal are multiplied by point, and inverse Fourier transform is carried out to return to time domain to obtain matched filtering data .

[0081] S103: overlapping segmentation and frequency domain conversion are carried out on the matched filtering data of each array element, and a plurality of valid frequency points of any data segment and a plurality of target spectrum values corresponding to any valid frequency point are determined.

[0082] Specifically, the matched filtering data of each array element is segmented by overlapping, and the overlap of two adjacent data segments is set to half of the number of pre-beams, that is, , the data length is , and the number of data segments is , , the segmented data can be represented as , , wherein, represents the array element index, is the data segment number, …, is the data index of the current segment.

[0083] Further, the nth data segment is transformed from time domain to frequency domain by Fourier transform , , wherein, , is the number of valid frequency points, a plurality of valid frequency points of the current data segment are determined according to , and the target spectrum values of each array element at any valid frequency point are determined to determine a plurality of target spectrum values under the current valid frequency point.

[0084] S104: focus compensation is carried out on a plurality of target spectrum values of any valid frequency point of any data segment, and a beam space matrix of each valid frequency point is constructed to carry out beam forming of the data segment.

[0085] Specifically, the focusing distance of the current nth batch of data segments is , is the distance blind area, and the focus compensation coefficient of the target spectrum value corresponding to the valid frequency point k in the current data segment is ​, the compensated target frequency spectrum value is .

[0086] Further, a two-dimensional Fourier transform is performed on the spectrum value compensated by the distance focusing, to obtain a corresponding beam space matrix, denoted as The target frequency point is extracted from the beam space matrix The beam direction output in each horizontal direction and vertical direction is For each target frequency point, the above operation is repeated to obtain the beamformed data of all spectral line beamforming of the current data segment .

[0087] Further, an inverse Fourier transform is performed on , so that the signal is converted from the frequency domain to the time domain, i.e. the time domain signal of all beam directions of the current data segment is obtained , and the middle 50% of data points in are intercepted, so that the final beam output signal of each pre-beam direction of the segment is obtained .

[0088] S105: Based on each beam direction, the beam outputs obtained by beamforming of each data segment are signal spliced to obtain a plurality of beam output signals.

[0089] The above step S104 is repeated to obtain the result of each data segment after beamforming , and the segments of data are spliced in order, so that the beam output signal of all beams of the full range is obtained .

[0090] S106: A three-dimensional point cloud image is constructed according to the signal intensity of each beam output signal.

[0091] The beam output signal is taken as a module, the complex signal is converted into a real signal, the sampling point with the maximum signal intensity of each beam output signal is found, the sampling point is taken as a target sampling point, the position index of the current target sampling point is recorded, the distance between the target sampling point and the center of the plane array in the current beam direction is taken as a target sampling distance, and the position index is converted into the target sampling distance in combination with the sampling frequency , the sound propagation speed , and a three-dimensional point cloud image is constructed according to the target sampling distance of each beam output signal.

[0092] Please refer to Figure 4 , the application further provides a three-dimensional real-time imaging device for a wideband signal of a plane array, the device comprising:

[0093] The matched filtering unit 100 is used to determine the frequency domain received signal of any array element in the planar array, and to perform matched filtering on the frequency domain received signal to determine the matched filtering data of the array element.

[0094] The spectrum determination unit 200 is used to obtain the target spectrum value of any effective frequency point from the matched filter data of the array element for any one of a plurality of preset effective frequency points;

[0095] The beamforming unit 300 is used to summarize the target spectrum values ​​of each array element at the effective frequency point, and based on the summarized target spectrum values ​​and the position information of each array element in the planar array, construct the spatial frequency domain matrix corresponding to the effective frequency point, and query the beamforming data of the spatial frequency domain matrix corresponding to the effective frequency point.

[0096] The image generation unit 400 is used to determine multiple beam output signals based on beamforming data corresponding to each of the effective frequency points, and to construct a three-dimensional point cloud image based on the signal strength of each of the beam output signals.

[0097] in,

[0098] In one embodiment, the matched filtering unit 100 is specifically configured to, for any array element in the planar array, acquire the channel received signal of the array element, perform frequency domain conversion on the channel received signal to obtain the frequency domain received signal of the array element, acquire the frequency domain copy signal of the transmitted signal, and perform transformation processing on the frequency domain received signal according to the frequency domain copy signal to obtain the matched filtering data corresponding to the array element.

[0099] In one embodiment, the spectrum determination unit 200 is specifically used to determine the spectrum value of the array element at the effective frequency point, determine the focusing distance matching the effective frequency point, determine the focusing compensation coefficient of the spectrum value according to the focusing distance and the position information of the array element, perform focusing compensation on the spectrum value according to the focusing compensation coefficient, and use the focused compensated spectrum value as the target spectrum value of the effective frequency point.

[0100] In one embodiment, the beamforming unit 300 is specifically configured to obtain a target spectrum value of the array element at the effective frequency point and obtain position information of the array element in the planar array, the position information including horizontal direction information and vertical direction information, fill the target spectrum value into a corresponding position of the spatial frequency domain matrix according to the horizontal direction information and the vertical direction information, wherein the target spectrum value matches the position information in terms of row and column indexes of the spatial frequency domain matrix, determine a beam space matrix corresponding to the effective frequency point based on the spatial frequency domain matrix, determine a plurality of horizontal beam indexes and a plurality of vertical beam indexes corresponding to the effective frequency point in a preset mapping table, and determine beamforming data corresponding to the effective frequency point in the beam space matrix according to any horizontal beam index and any vertical beam index.

[0101] In one embodiment, the image generation unit 400 is specifically configured to perform time domain conversion on the beamforming data corresponding to any effective frequency point to obtain beam time domain data corresponding to the effective frequency point, perform data splicing on the beam time domain data corresponding to each effective frequency point based on a plurality of beam directions to obtain a beam output signal of each beam direction, determine a target sampling point in a plurality of data sampling points according to a signal strength for any beam output signal, obtain a target signal strength and a target sampling distance of the target sampling point, and construct the three-dimensional point cloud imaging based on the target sampling distance and the target signal strength of each beam output signal.

[0102] Further function descriptions of each module and unit above are the same as those of the corresponding embodiments above, and will not be repeated here.

[0103] The three-dimensional real-time imaging device for planar array broadband signals in the embodiments of the present application is presented in the form of functional units. The units herein refer to ASIC (Application Specific Integrated Circuit, Application Specific Integrated Circuit) circuits, processors and memories executing one or more software or fixed programs, or other devices that can provide the above functions.

[0104] Please refer to Figure 5 , Figure 5 is a structural schematic diagram of a computer device provided in the embodiments of the present application, as Figure 5As shown, the computer device includes one or more processors 10, memory 20, and interfaces 30 for the various components to communicate with one another. The various components communicate through one or more buses, and can be mounted on a common motherboard or in other manners as appropriate. The processor 10 can execute instructions, for example, stored in the memory 20 to display graphical information for a GUI on an external input / output device, such as a display device coupled to the interface. In some optional implementations, multiple processors and / or multiple buses can be employed as appropriate, such as about the memory 20. Also, multiple computers can be connected, with each computer providing portions of the necessary operations (e.g., as a server array or a group of blade servers, or multiple processors). Figure 5 The processor 10 is taken as an example.

[0105] The processor 10 can be a central processing unit, a network processor, or a combination thereof. The processor 10 can further include a hardware chip. The hardware chip can be an application specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device can be a complex programmable logic device, a field programmable logic device, a general array logic, or any combination thereof.

[0106] The memory 20 stores instructions that are executable by the at least one processor 10, so as to enable the at least one processor 10 to perform the method shown in the above embodiments.

[0107] The memory 20 can include a program storage area and a data storage area. The program storage area can store an operating system, application programs required by at least one function, and the like. The data storage area can store data created according to the use of the computer device, and the like. In addition, the memory 20 can include a high-speed random access memory, and can further include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state memory device. In some optional implementations, the memory 20 can optionally include a memory that is remotely arranged with respect to the processor 10, and these remote memories can be connected to the computer device through a network. Examples of the network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0108] The memory 20 can include a volatile memory, such as a random access memory, and can also include a non-volatile memory, such as a flash memory, a hard disk, or a solid state disk. The memory 20 can further include a combination of the above-mentioned kinds of memories.

[0109] The computer device further includes a communication interface 30 for the computer device to communicate with other devices or communication networks.

[0110] The apparatus, modules, or units described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer can be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0111] For the ease of description, the above apparatus is described in various units by functions. Of course, the functions of the units can be implemented in one or more software and / or hardware in the implementation of the present application.

[0112] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, apparatus, or computer device. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) containing computer-usable program code.

[0113] The present application is described with reference to the flowcharts and / or block diagrams according to the methods, apparatus, and computer devices of the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts 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, an embedded processor, or other programmable data processing devices to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a means for implementing the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in one or more flows and / or blocks Figure 1 The apparatus that implements the functions specified in one or more flows and / or blocks.

[0114] These computer program instructions can also be stored in a computer-readable memory capable of directing the computer or other programmable data processing devices to work in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction apparatus, which implements the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in one or more flows and / or blocks Figure 1 The apparatus that implements the functions specified in one or more flows and / or blocks.

[0115] These computer program instructions can also be loaded into a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 Figure 1

[0116] It should also be noted that the term "comprising" or "comprises" when used in this specification is taken to mean the term "including" or "includes" such that the process, method, article, or apparatus that comprises items includes those items but is not limited to those items.

[0117] Each of the embodiments in the present specification is described in a progressive manner, and the same or similar parts between the embodiments can be mutually referred to, and each of the embodiments mainly explains the difference from other embodiments. In particular, for the device embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the part of the method embodiments.

[0118] The above only describes the embodiments of the present application and is not intended to limit the present application. The present application can have various modifications and changes for those skilled in the art. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the scope of the claims of the present application.

[0119] Although the embodiments of the present application are described in conjunction with the drawings, various modifications and changes can be made by those skilled in the art without departing from the spirit and scope of the present application, and such modifications and changes fall within the scope defined by the appended claims.​​

Claims

1. A method for three-dimensional real-time imaging of a planar array broadband signal, characterized in that, The planar array includes a plurality of array elements, and the method includes: For any array element in the planar array, determining a frequency domain received signal of the array element, and performing matched filtering on the frequency domain received signal to determine matched filtering data of the array element; For any valid frequency point in a preset plurality of valid frequency points, obtaining a target spectrum value of the valid frequency point in the matched filtering data of the array element; Summarizing the target spectrum values of each array element at the valid frequency point, and constructing a spatial frequency domain matrix corresponding to the valid frequency point based on the summarized target spectrum values and position information of each array element in the planar array, and querying beamforming data of the spatial frequency domain matrix corresponding to the valid frequency point; Based on the beamforming data corresponding to each valid frequency point, determining a plurality of beam output signals, and constructing a three-dimensional point cloud image according to the signal strength of each beam output signal.

2. The method of claim 1, wherein, Determining the frequency domain received signal of the array element, and performing matched filtering on the frequency domain received signal to determine the matched filtering data of the array element includes: Obtaining a channel received signal of the array element, and performing frequency domain conversion on the channel received signal to obtain the frequency domain received signal of the array element; Obtaining a frequency domain copy signal of a transmitted signal, and performing transformation processing on the frequency domain received signal according to the frequency domain copy signal to obtain the matched filtering data corresponding to the array element.

3. The method of claim 1, wherein, Based on the summarized target spectrum values and the position information of each array element in the planar array, constructing the spatial frequency domain matrix corresponding to the valid frequency point includes: For any array element, obtaining a target spectrum value of the array element at the valid frequency point, and obtaining position information of the array element in the planar array, the position information including horizontal direction information and vertical direction information; According to the horizontal direction information and the vertical direction information, the target spectrum value is filled into the corresponding position of the spatial frequency domain matrix, wherein the row and column indexes of the target spectrum value in the spatial frequency domain matrix match the position information.

4. The method according to claim 1 or 3, characterized in that, The target spectrum value is a focus distance compensated spectrum value; Obtaining the target spectrum value of the array element at the valid frequency point includes: Determining a spectrum value of the array element at the valid frequency point, and determining a focusing distance matched with the valid frequency point, and determining a focusing compensation coefficient of the spectrum value according to the focusing distance and the position information of the array element; According to the focusing compensation coefficient, the spectrum value is focus compensated, and the focus compensated spectrum value is taken as the target spectrum value of the valid frequency point.

5. The method of claim 1, wherein, Querying the beamforming data of the spatial frequency domain matrix corresponding to the valid frequency point includes: Based on the spatial frequency domain matrix, determining a beam spatial matrix corresponding to the valid frequency point, and determining a plurality of horizontal beam indexes and a plurality of vertical beam indexes corresponding to the valid frequency point in a preset mapping table; According to any horizontal beam index and any vertical beam index, the beamforming data corresponding to the valid frequency point is determined in the beam spatial matrix.

6. The method of claim 5, wherein, The preset mapping table includes a horizontal frequency mapping table and a vertical frequency mapping table; the preset mapping table is constructed in the following manner: determining a plurality of horizontal beams and a plurality of vertical beams, determining a horizontal beam angle corresponding to each of the horizontal beams, and determining a vertical beam angle corresponding to each of the vertical beams, for any of the effective frequency points, determining a real frequency of the effective frequency point; based on the horizontal beam angle and the real frequency, establishing a horizontal mapping index corresponding to the effective frequency point for each of the horizontal beams, and writing the horizontal mapping index into a horizontal frequency mapping table; and based on the vertical beam angle and the real frequency, establishing a vertical mapping index corresponding to the effective frequency point for each of the vertical beams, and writing the vertical mapping index into a vertical frequency mapping table.

7. The method of claim 1, wherein, The beamforming data includes beam data in a plurality of beam directions; based on the beamforming data corresponding to each of the effective frequency points, determining a plurality of beam output signals includes: for the beamforming data corresponding to any of the effective frequency points, performing time domain conversion on the beamforming data to obtain beam time domain data corresponding to the effective frequency point; based on a plurality of beam directions, performing data splicing on the beam time domain data corresponding to each of the effective frequency points to obtain a beam output signal of each of the beam directions.

8. The method of claim 1, wherein, The beam output signal includes a plurality of data sampling points; constructing a three-dimensional point cloud image according to the signal intensity of each of the beam output signals includes: for any of the beam output signals, determining a target sampling point in a plurality of data sampling points according to signal intensity, obtaining a target signal intensity and a target sampling distance of the target sampling point; constructing the three-dimensional point cloud image based on the target sampling distance and the target signal intensity of each of the beam output signals.

9. A planar array wideband signal three-dimensional real-time imaging device, characterized in that, The device includes: a matched filter unit configured to determine a frequency domain received signal of any element in the planar array, and perform matched filtering on the frequency domain received signal to determine matched filtering data of the element; a spectrum determination unit configured to obtain a target spectrum value of any effective frequency point in a preset plurality of effective frequency points from the matched filtering data of the element; a beamforming unit configured to aggregate the target spectrum values of each of the elements at the effective frequency point, and based on the aggregated target spectrum values and position information of each of the elements in the planar array, construct a spatial frequency domain matrix corresponding to the effective frequency point, and query beamforming data of the spatial frequency domain matrix corresponding to the effective frequency point; an image generation unit configured to determine a plurality of beam output signals based on the beamforming data corresponding to each of the effective frequency points, and construct a three-dimensional point cloud image according to the signal intensity of each of the beam output signals.

10. A computer device, comprising: including: a memory and a processor, which are communicatively connected, the memory stores computer instructions, and the processor executes the computer instructions to perform the method of any one of claims 1-8.

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