Target point identification method, apparatus, computer equipment and readable storage medium

Abstract

The application relates to a target track identification method and device, computer equipment and a readable storage medium. The method comprises the following steps: if the number of target tracks in an echo signal is multiple, a main array angle estimation value set of a main array and a subarray angle estimation value set of each subarray are determined according to a preset main array and multi-subarray joint angle measurement strategy; candidate angle position vectors of the main array and each subarray are respectively determined according to the main array angle estimation value set and the subarray angle estimation value set; the candidate angle position vectors of the main array and each subarray are subjected to weighted processing to obtain a joint total candidate angle position vector, and a potential target angle set is determined according to the amplitude values of the angle position elements in the joint total candidate angle position vector; each main array target track angle estimation value in the main array angle estimation value set is identified according to the potential target angle set to obtain a corresponding identification result. The method can effectively identify target tracks and reduce the risk of false target generation.

Description

Technical Field

[0001] This application relates to the field of radar technology, and in particular to a target point identification method, apparatus, computer device, and readable storage medium. Background Technology

[0002] With the rapid development of intelligent driving technology, ADAS (Advanced Driver Assistance Systems) are becoming increasingly feature-rich, leading to ever-increasing demands on the performance of automotive millimeter-wave radar. Millimeter-wave radar has garnered significant attention due to its unique advantages, including immunity to lighting conditions, enhanced privacy protection, and superior robustness in adverse weather conditions. The primary task of automotive millimeter-wave radar is to accurately detect objects within a target area and precisely estimate key information such as their distance, speed, and angle. The estimation of the target point's angle information relies on the phase information of the radar array's echo signal.

[0003] In related technologies, the angle information of target points is estimated using superimposed phase information. However, this method cannot effectively identify target points. Summary of the Invention

[0004] Therefore, it is necessary to provide a target point identification method, apparatus, computer equipment, computer-readable storage medium, and computer program product that can effectively identify target points and reduce the risk of generating false targets, in order to address the above-mentioned technical problems.

[0005] Firstly, this application provides a method for identifying target points, including:

[0006] A heatmap of radial distance and radial relative velocity generated based on radar received signals is obtained. For each target point detected in the radial distance and radial relative velocity heatmap, the echo signal corresponding to the target point detected in the heatmap is determined.

[0007] If there are multiple target points in the echo signal, multiple subarray echo signals are determined from the echo signal;

[0008] Based on the preset joint angle measurement strategy of main array and multiple subarrays, determine the set of main array angle estimates corresponding to the main array of the echo signal and the set of subarray angle estimates corresponding to the subarray echo signal of each subarray.

[0009] Based on the preset angle parameters in the joint angle measurement strategy of the main array and multiple subarrays, the set of angle estimates of the main array and the set of angle estimates of each subarray, the candidate angle position vector of the main array and the candidate angle position vector of each subarray are determined respectively.

[0010] The candidate angle position vectors of the main array and each candidate angle position vector of the subarray are weighted to obtain a joint total candidate angle position vector. Based on the amplitude value of each angle position element in the joint total candidate angle position vector, the set of potential target angles is determined.

[0011] Based on the potential target angle set, the angle estimates of each main array target point in the main array angle estimate set are identified to obtain their respective identification results.

[0012] In one embodiment, the preset angle parameters include a preset angle measurement range, an angle interval, and an angle index value range. The step of determining the set of estimated main array angles for the main array corresponding to the echo signal and the set of estimated subarray angles for each subarray echo signal, based on a preset main array and multi-subarray joint angle measurement strategy, includes:

[0013] According to the preset joint angle measurement strategy of main array and multiple subarrays, the guiding vectors corresponding to different angles of the main array and each subarray within the preset angle measurement range are determined respectively, and the corresponding main array guiding vector and subarray guiding vector are obtained.

[0014] Determine the initial relevant information for the angle estimation of the target points of the main array corresponding to the main array, and the initial relevant information for the angle estimation of the target points of each subarray corresponding to the subarray.

[0015] Based on the main array steering vector, the steering vectors of each subarray, the initial related information of the main array target point angle estimation, and the initial related information of the subarray target point angle estimation, the echo signal and the echo signal of each subarray are subjected to a preset number of angle estimation processes to determine the set of main array angle estimation values ​​corresponding to the main array of the echo signal and the set of subarray angle estimation values ​​corresponding to the subarray of the echo signal.

[0016] In one embodiment, the initial related information for the main array target point angle estimation includes an initial set of estimated main array target point values ​​and an initial main array residual. The initial related information for the target point angle estimation of each subarray includes its corresponding initial set of estimated subarray target point values ​​and an initial subarray residual. The step of performing a preset number of angle estimation operations on the echo signal and the echo signals of each subarray based on the main array steering vector, the steering vectors of each subarray, the initial related information for the main array target point angle estimation, and the initial related information for the target point angle estimation of each subarray includes:

[0017] In the first angle estimation process, the echo power spectrum of the main array echo signal and the echo power spectrum of each subarray echo signal in the echo signal are calculated respectively to obtain the main array echo power spectrum and the echo power spectrum of each subarray; for the main array echo power spectrum, the angle corresponding to the peak value of the power spectrum is selected as the estimated angle value of the target point of the main array; for each subarray echo power spectrum, the angle corresponding to the peak value of the power spectrum is selected as the estimated angle value of the target point of the corresponding subarray.

[0018] Based on the estimated angle of the target point in the main array and the main array steering vector, update the initial main array residual to obtain the current main array residual;

[0019] Based on the estimated angle of the target point in the subarray and the subarray steering vector, update the initial subarray residual to obtain the current subarray residual;

[0020] For each angle estimation process after the second one, the current main array residual is used as the initial main array residual signal for this round, and the current subarray residual is used as the initial subarray residual signal for this round. The echo power spectrum corresponding to the initial main array residual signal and the initial subarray residual signal is calculated respectively to obtain the corresponding main array echo power spectrum and the echo power spectrum of each subarray. Based on the peak value of the power spectrum, the angle estimate of the main array target point and the angle estimate of each subarray target point are determined. The angle estimation process ends when the number of angle estimation processes is greater than the preset number of times.

[0021] Determine the set of main array angle estimates corresponding to the main array of the echo signal and the set of subarray angle estimates corresponding to the subarray echo signal of each subarray.

[0022] In one embodiment, updating the initial main array residual of the main array based on the estimated angle of the main array target point and the main array steering vector to obtain the current main array residual includes:

[0023] The currently determined main array target point trace angle estimate is added to the initial main array target point trace estimate set, and the corresponding main array steering vector is generated based on the main array target point trace angle estimate, so as to obtain the current main array target point trace estimate set and the current main array steering vector;

[0024] The initial main array residual is orthogonally projected onto the subspace spanned by the current main array guide vector to obtain the first orthogonal projection component;

[0025] The first orthogonal projection component is subtracted from the initial main array residual to update the initial main array residual, thus obtaining the current main array residual.

[0026] In one embodiment, updating the initial subarray residual of the subarray based on the estimated angle of the target point trace and the subarray steering vector to obtain the current subarray residual includes:

[0027] The subarray target point trace angle estimation values ​​of each subarray are added to their respective initial subarray target point trace estimation value sets to obtain each current subarray target point trace estimation value set. Based on the subarray target point trace angle estimation values, the corresponding subarray steering vector is determined to obtain the corresponding current subarray steering vector.

[0028] Each initial subarray residual is orthogonally projected onto the subspace spanned by the corresponding current subarray guide vector to obtain the corresponding second orthogonal projection component;

[0029] Subtract the corresponding second orthogonal projection component from each of the initial subarray residuals to update the initial subarray residuals, and obtain the current subarray residuals.

[0030] In one embodiment, the preset angle parameters include a preset angle measurement range, an angle interval, an angle index value range, and an angle selection range. The step of determining the main array candidate angle position vector of the main array and the subarray candidate angle position vectors of each subarray based on the preset angle parameters in the joint angle measurement strategy of the main array and multiple subarrays, the set of estimated angle values ​​of the main array, and the set of estimated angle values ​​of each subarray includes:

[0031] Based on the preset angle measurement range and the angle interval, the candidate angle position vectors of the main array and each candidate angle position vector of the subarray are initialized to obtain their respective initial candidate angle position vectors of the main array and initial candidate angle position vectors of the subarray; the angle position elements of the initial candidate angle position vectors of the main array and the candidate angle position vectors of the subarray have corresponding candidate angle values.

[0032] If there is a first target angle value in the angle value corresponding to the angle position in the initial main array candidate angle position vector that is equal to the set of main array angle estimates, then the angle position element corresponding to the first target angle value is set as a preset value to obtain the main array candidate angle position vector;

[0033] For each of the initial subarray candidate angle position vectors, if there is a second target angle value in the angle value corresponding to the angle position in the initial subarray candidate angle position vector that is equal to the subarray angle estimation value set, then the angle position element corresponding to the second target angle value is set as a preset value to obtain the subarray candidate angle position vector;

[0034] Based on the angle selection range, the candidate angle position vectors of the main array and each candidate angle position vector of the subarray are subjected to information expansion processing to obtain the candidate angle position vectors of the target main array and multiple candidate angle position vectors of the target subarray.

[0035] In one embodiment, the step of performing information expansion processing on the main array candidate angle position vector and each of the subarray candidate angle position vectors according to the angle selection range to obtain the target main array candidate angle position vector and multiple target subarray candidate angle position vectors includes:

[0036] Using the angle position element in the candidate angle position vector of the main array that has been set to a preset value as the center, and at the same time setting the angle position elements on the left and right sides that are located within the angle selection range to the preset value, the target main array candidate angle position vector is obtained.

[0037] For each candidate angle position vector of the subarray, take the angle position element in the candidate angle position vector of the subarray that has been set to a preset value as the center, and at the same time set the angle position elements on the left and right sides that are located in the angle selection range to the preset value, so as to obtain the candidate angle position vector of the target subarray.

[0038] In one embodiment, the weighted processing of the candidate angle position vectors of the main array and each of the candidate angle position vectors of the subarrays to obtain a joint total candidate angle position vector, and the determination of the potential target angle set based on the amplitude values ​​of each angle position element in the joint total candidate angle position vector, includes:

[0039] The candidate angle position vectors of the main array and each candidate angle position vector of the subarray are weighted to obtain the joint total candidate angle position vector.

[0040] If, in the joint total candidate angle position vector, there exists a candidate angle position element whose amplitude value is greater than or equal to a preset value, then the angle corresponding to the candidate angle position element is determined as a potential target angle, thus obtaining a set of potential target angles.

[0041] Secondly, this application also provides a target point recognition device, comprising:

[0042] The signal processing module is used to acquire a heat map of radial distance and radial relative velocity generated based on radar received signals, and for each target point detected in the heat map of radial distance and radial relative velocity, determine the echo signal corresponding to the target point detected in the heat map.

[0043] The signal extraction module is used to determine multiple subarray echo signals from the echo signal if multiple target points exist in the echo signal;

[0044] Angle estimation value determination module is used to determine the set of main array angle estimation values ​​corresponding to the main array of the echo signal and the set of subarray angle estimation values ​​corresponding to each subarray echo signal, according to a preset main array and multi-subarray joint angle measurement strategy.

[0045] An angle position vector determination module is used to determine the main array candidate angle position vector of the main array and the subarray candidate angle position vector of each subarray based on the preset angle parameters in the joint angle measurement strategy of the main array and multiple subarrays, the set of angle estimates of the main array and the set of angle estimates of each subarray.

[0046] The target angle determination module is used to perform weighted processing on the candidate angle position vector of the main array and the candidate angle position vector of each of the subarrays to obtain a joint total candidate angle position vector, and to obtain a set of potential target angles based on the angle positions of each angle position in the joint total candidate angle position vector.

[0047] The dot recognition module is used to identify the angle estimates of each main array target dot in the main array angle estimation value set according to the potential target angle set, and obtain the corresponding recognition results.

[0048] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of any of the methods described above.

[0049] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the methods described above.

[0050] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of any of the methods described above.

[0051] The aforementioned target point identification method, apparatus, computer equipment, computer-readable storage medium, and computer program product start from the source of target point generation, determine the echo signal corresponding to the detected target point based on a heat map, and when multiple target points exist in the echo signal, determine multiple subarray echo signals from the echo signal, introduce multiple subarrays, and according to a preset joint angle measurement strategy of the main array and multiple subarrays, first determine the main array angle estimation set of the main array and the subarray angle estimation set of each subarray echo signal, and on this basis, determine the main array candidate angle position vector of the main array and the subarray candidate angle position vector of each subarray. The method selects angle position vectors by weighting the candidate angle position vectors of the main array and the candidate angle position vectors of the subarray. Based on the magnitude values ​​of each candidate angle position after weighting, a set of potential target angles is determined. The set of potential target angles is then used to identify the main array angle estimates, thereby achieving the identification and suppression of multipath target points, rather than relying on the judgment of the characteristics of the generated target points. In addition, there is no need to model the multipath routes, avoiding the problem of potential model mismatch with the actual scene. While improving the quality of the output points, it also improves the applicability and can better adapt to complex multi-target point scene scenarios. Attached Figure Description

[0052] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0053] Figure 1 This is an application environment diagram of the target point recognition method in one embodiment;

[0054] Figure 2 This is a flowchart illustrating a target point identification method in one embodiment;

[0055] Figure 3 This is a flowchart illustrating step 206 in one embodiment;

[0056] Figure 4 This is a flowchart illustrating a method for determining the set of main array angle estimates and the set of subarray angle estimates in one embodiment.

[0057] Figure 5 This is a flowchart illustrating a method for determining the candidate angular position vectors of the main array and the candidate angular position vectors of the subarray in one embodiment.

[0058] Figure 6 This is a flowchart illustrating the target point identification method in another embodiment;

[0059] Figure 7 This is a schematic diagram of the actual antenna location of the MIMO radar in one embodiment;

[0060] Figure 8 This is a schematic diagram of the candidate angle position vector after the final main array information is expanded in the first specific embodiment;

[0061] Figure 9 This is a schematic diagram of the candidate angle position vector after the final first subarray information is expanded in the first specific embodiment;

[0062] Figure 10 This is a schematic diagram of the candidate angle position vector after the final second subarray information is expanded in the first specific embodiment;

[0063] Figure 11 This is a schematic diagram illustrating the relationship between angle index values ​​and amplitude values ​​in the joint candidate angle position vector in the first specific embodiment;

[0064] Figure 12 This is a schematic diagram of the candidate angle position vector after the final main array information is expanded in the second specific embodiment;

[0065] Figure 13 This is a schematic diagram of the candidate angle position vector after the final first subarray information is expanded in the second specific embodiment;

[0066] Figure 14 This is a schematic diagram of the candidate angle position vector after the final second subarray information is expanded in the second specific embodiment;

[0067] Figure 15 This is a schematic diagram illustrating the relationship between angle index values ​​and amplitude values ​​in the joint candidate angle position vector in the second specific embodiment;

[0068] Figure 16 This is a schematic diagram of the candidate angle position vector after the final main array information is expanded in the third specific embodiment;

[0069] Figure 17 This is a schematic diagram of the candidate angle position vector after the final first subarray information is expanded in the third specific embodiment;

[0070] Figure 18 This is a schematic diagram of the candidate angle position vector after the final second subarray information is expanded in the third specific embodiment;

[0071] Figure 19 This is a schematic diagram illustrating the relationship between angle index values ​​and amplitude values ​​in the joint candidate angle position vector in the third specific embodiment;

[0072] Figure 20This is a schematic diagram of the candidate angle position vector after the final main array information is expanded in the fourth specific embodiment;

[0073] Figure 21 This is a schematic diagram of the candidate angle position vector after the final first subarray information is expanded in the fourth specific embodiment;

[0074] Figure 22 This is a schematic diagram of the candidate angle position vector after the final second subarray information is expanded in the fourth specific embodiment;

[0075] Figure 23 This is a schematic diagram illustrating the relationship between angle index values ​​and amplitude values ​​in the joint candidate angle position vector in the fourth specific embodiment;

[0076] Figure 24 This is a structural block diagram of a target dot recognition device in one embodiment;

[0077] Figure 25 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0078] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0079] With the rapid development of intelligent driving technology, the functions of ADAS (Advanced Driver Assistance Systems) are becoming increasingly rich, and the demand for the performance of automotive millimeter-wave radar is also constantly increasing. Multiple-Input Multiple-Output (MIMO) technology is widely used in modern automotive millimeter-wave radar systems. MIMO technology significantly improves angular resolution by expanding the virtual aperture, and the number of virtual antennas is equal to the product of the number of transmitting antennas and receiving antennas. Through reasonable array design and angle estimation algorithms, the angle measurement performance of automotive radar can be further improved under hardware constraints (i.e., radar size), promoting the widespread application of millimeter-wave radar in the field of intelligent driving. The main task of automotive millimeter-wave radar is to accurately detect objects within the target area and accurately estimate key information such as their distance, speed, and angle.

[0080] Target trace angle estimation relies on the radar array's echo signal. Multipath scenarios are extremely common in daily life, with typical scenarios including but not limited to city streets, tunnel environments, parking lots, and highways. In multipath scenarios, the transmitted signal from the radar array's transmitting antenna is reflected, refracted, or scattered by objects in the surrounding environment (such as fences, buildings, and vehicles) during propagation, causing the target trace's echo signal to reach the radar array's receiving antenna along multiple paths. Therefore, the phase information of the echo signal received by the radar array may be the phase information of a single target trace or multiple target traces along different paths, superimposed. Directly using the superimposed phase information for angle estimation may lead to angle measurement errors, increasing the risk of false target generation and thus reducing the trace quality.

[0081] To address the above problems, the following technologies are employed in related fields:

[0082] Scene recognition-based suppression techniques filter out multipath targets by identifying reflective surfaces (such as fences, tunnels, etc.) in a specific scene. However, this approach has limited applicability and its accuracy depends on scene recognition: the technique relies on accurate identification of reflective surfaces; if reflective surfaces in the scene (such as partially occluded fences) are not identified, it cannot be effectively applied.

[0083] Suppression techniques based on target characteristics: These techniques utilize features such as the target's position, velocity, signal-to-noise ratio (SNR), and main-to-side lobe ratio to identify multipath targets. This approach is primarily designed for multipath targets with obvious anomalies, such as low SNR and low main-to-side lobe ratio, meaning its recognition capability is limited. If the judgment criteria are broadened, it may misidentify real target traces as multipath target traces, severely reducing the quality of the trace output, thus posing a risk of misidentifying real targets.

[0084] Suppression techniques based on transform angle measurement algorithm models: This method improves the angle measurement algorithm by selecting an angle estimation model applicable to the current echo signal based on a preset model judgment threshold. These models include single-target angle measurement models, dual-target angle measurement models, and multipath angle measurement models. Using a multipath model for angle measurement can reduce misjudgments of multipath targets caused by model mismatch in the angle measurement algorithm. However, this approach has high computational complexity, its accuracy depends heavily on the preset model judgment threshold, and it is highly dependent on modeling.

[0085] To address the technical problem of ineffective target point identification in related technologies, a target point identification method is proposed. This method starts from the source of target point generation, introduces multiple subarrays for angle estimation, adopts a joint angle measurement strategy of main array and multiple subarrays, and uses weighted processing to filter multipath target points. This avoids the dependence on multipath reflector identification or reflection path modeling, and utilizes point angle information for filtering. Compared with using subsequent information such as main-side lobe ratio and SNR, this method has higher information richness and accuracy, stronger identification ability, and reduces the risk of misidentification.

[0086] The target point recognition method provided in this application embodiment can be applied to, for example... Figure 1 In the application environment shown, a radar system is installed on a mobile carrier. The radar system includes a vehicle-mounted radar 102 mounted on the mobile carrier. The mobile carrier can be, for example, a vehicle 100, a drone, a boat, an airplane, a helicopter, a lawnmower, construction equipment, a robot, etc. The vehicle 100 can be of different types, and this embodiment does not impose any particular limitation. A data storage system can store the data that the radar system needs to process. The data storage system can be integrated into the radar system or placed on a cloud server or other network server.

[0087] The radar system acquires a heatmap of radial distance and radial relative velocity generated based on the radar received signals, and determines the echo signals corresponding to the detected target points in the heatmap. For each target point detected in the radial distance and radial relative velocity heatmap, the echo is extracted. If multiple target points exist in the extracted echo signals, multiple subarray echo signals are determined from the echo signals. Based on a preset joint angle measurement strategy of the main array and multiple subarrays, the system determines the set of estimated main array angles corresponding to the echo signals and the set of estimated subarray angles corresponding to the echo signals of each subarray. The system then performs joint angle measurement using the main array and multiple subarrays. The strategy uses preset angle parameters, a set of main array angle estimates, and a set of subarray angle estimates to determine the candidate angle position vectors for the main array and the candidate angle position vectors for each subarray. These candidate angle position vectors are then weighted to obtain a joint total candidate angle position vector. Based on the amplitude values ​​of each angle position element in the joint total candidate angle position vector, a set of potential target angles is determined. Finally, the angle estimates of each main array target point in the set of main array angle estimates are used to identify the potential target angles, yielding corresponding identification results.

[0088] In one exemplary embodiment, such as Figure 2 As shown, a target point trace recognition method is provided, which can be applied to... Figure 1 The following steps, 202 to 212, are used as examples to illustrate the application scenarios.

[0089] Step 202: Obtain a heat map of radial distance and radial relative velocity generated based on radar received signals, and determine the echo signal corresponding to the target point trace detected in the heat map.

[0090] For example, radar signals received by a radar array are acquired, and coherent and incoherent processing is performed on the radar signals to generate a heatmap of radial distance and radial relative velocity. For each target point detected in the radial distance and radial relative velocity heatmap, the echo signal corresponding to the detected target point in the heatmap is determined. The heatmap of radial distance and radial relative velocity can also be called a radial distance and radial relative velocity heatmap.

[0091] The radar array comprises a main array and subarrays. The radar signals received by the array can be radar signals reflected from a target object, ground reflections of radar-transmitted signals, multipath reflections that may reach the receiving antenna after multiple reflections, or interference signals from other signal sources. The specific implementation methods for generating a heatmap of radial distance and radial relative velocity through coherent and incoherent processing of the radar signals can be achieved using existing methods and will not be elaborated upon here.

[0092] Optionally, the MIMO radar system includes M transmitting antennas and The system uses a root receiving antenna. It generates a heat map of radial distance and radial relative velocity by coherently and incoherently processing the radar signals received by the radar array (i.e., radar received signals).

[0093] The method for determining the echo signal corresponding to the detected target point in the heat map can be achieved by applying detection algorithms or related technologies to determine the index values ​​of the target point in terms of radial distance and radial relative velocity, and obtaining the echo signal of the target point at that location. Further, the echo signals are sorted according to the virtual antenna position of the MIMO radar, resulting in the sorted echo signal x. It should be noted that the detection algorithm can be freely chosen according to specific requirements, and the specific implementation method can be achieved using existing methods, which will not be elaborated upon here.

[0094] It's important to note that the detected target points are identified based on both distance and velocity dimensions. Determining the number of target points involves considering the angular dimension. For example, for each target point detected in the radial distance and radial relative velocity heatmap, an echo signal can be extracted. This echo signal can then be used to determine whether single, double, or multiple target points exist. In other words, determining the number of target points in the echo signal involves assessing the number of target points at the same distance and velocity along the angular dimension.

[0095] Step 204: If there are multiple target points in the echo signal, determine multiple subarray echo signals from the echo signal.

[0096] It should be noted that the number of target points in the echo signal corresponding to the detected target points is multiple, and these multiple target points can be multiple target points at the same distance and speed. The actual number of target points in the echo signal can be determined using a signal source number estimation algorithm. Optionally, the signal source number estimation algorithm is used to determine the number of target points in the echo signal x, which is sorted according to the virtual antenna, at the radial distance index value and radial relative velocity index value of the detected target, to obtain the actual number of target points in the echo signal. The signal source number estimation algorithm can be, but is not limited to, algorithms such as the smoothed rank algorithm or the eigenvalue decomposition signal source number estimation algorithm. The choice of signal source number estimation algorithm can be freely selected according to the actual application scenario.

[0097] For example, a signal source number estimation algorithm is used to determine the number of target points in the echo signal x sorted according to the virtual antenna at the positions of the radial distance index value and radial relative velocity index value of the detected target. If there are multiple target points in the echo signal, the number is determined from the echo signal according to the subarray division. Extract the echo signal of the first subarray respectively Second subarray echo signal superscript and These represent the identifiers associated with the first and second subarrays, respectively. It is understood that this embodiment uses a two-subarray as an example for illustration. However, it should be emphasized that this technical solution is not limited to two-subarrays; the specific number of subarrays selected can be designed according to system requirements.

[0098] Step 206: Based on the preset joint angle measurement strategy of the main array and multiple subarrays, determine the set of estimated main array angles of the main array corresponding to the echo signal and the set of estimated subarray angles of the subarray corresponding to the echo signal of each subarray.

[0099] The joint angle measurement strategy of the main array and multiple subarrays includes: determining preset angle parameters for angle estimation, which may include preset angle measurement range, angle interval, angle index value range, and single-sided selection range of target point angle; determining the steering vectors corresponding to different angles of the main array and each subarray within the angle measurement range, and obtaining their respective steering vectors; initializing the target point angle estimation related information of the main array and each subarray, which includes the initial target point estimation value set and initial residual corresponding to the main array and each subarray; and performing a preset number of angle measurements on the echo signal and the echo signal of each subarray. The estimation process yields a set of estimated angle values ​​for the main array and a set of estimated angle values ​​for the subarrays corresponding to the echo signals of each subarray. Based on this, candidate angle position vectors for the main array and each subarray are initialized. The final candidate angle position vectors for the main array and each subarray are determined according to the set of estimated angle values ​​for the main array and each subarray. The set of potential target angles is determined based on the final candidate angle position vectors for the main array and each subarray. By determining whether the estimated angle values ​​of the main array target points exist in the set of potential target angles, it is identified whether the estimated angle values ​​of the main array target points are non-multipath target points.

[0100] Angle estimation can be achieved by selecting the steering vector that best explains the residuals of the current main array and each subarray in each iteration, and gradually approximating the target signal to estimate the target angle values ​​of the main array and each subarray. The preset number of iterations can be preset multiple times.

[0101] It should be noted that the guiding vectors corresponding to different angles within the angular measurement range for the main array and each subarray can be determined in advance through offline calculation.

[0102] Step 208: Based on the preset angle parameters in the joint angle measurement strategy of the main array and multiple subarrays, the set of angle estimates of the main array and the set of angle estimates of each subarray, determine the candidate angle position vector of the main array and the candidate angle position vector of each subarray.

[0103] Each element in the candidate angle position vector of the main array and the candidate angle position vector of the subarray has a corresponding angle index value and magnitude.

[0104] For example, from the preset angle parameters in the joint angle measurement strategy of the main array and multiple subarrays, a preset angle measurement range and angle interval are determined. The candidate angle position vector of the main array is initialized according to the preset angle measurement range and angle interval and the set of angle estimates of the main array, to obtain the initial candidate angle position vector of the main array. The candidate angle position vector of each subarray is initialized according to the preset angle measurement range and angle interval and the set of angle estimates of each subarray, to obtain the initial candidate angle position vector of the subarray. According to the angle selection range in the preset angle parameters, the initial candidate angle position vector of the main array and the candidate angle position vector of each subarray are subjected to information expansion processing to obtain the candidate angle position vector of the main array and the candidate angle position vector of each subarray.

[0105] Step 210: Weight the candidate angle position vectors of the main array and the candidate angle position vectors of each subarray to obtain the joint total candidate angle position vector. Based on the amplitude values ​​of each angle position element in the joint total candidate angle position vector, determine the set of potential target angles.

[0106] The weighting process can involve adding the magnitudes corresponding to the same angle index value in the candidate angle position vectors of the main array and each subarray. For example, the joint total candidate angle position vector T can be represented as:

[0107] Where s represents the candidate angle position vector of the main array, s (1) and s (2) This represents two different candidate angle position vectors for the subarray.

[0108] For example, the candidate angle position vectors of the main array and the candidate angle position vectors of each subarray are weighted to obtain a joint total candidate angle position vector. If there is an angle position element in the joint total candidate angle position vector whose amplitude value is greater than or equal to a preset amplitude value, then the angle corresponding to the amplitude value is determined as the potential target angle.

[0109] Step 212: Identify the angle estimates of each main array target point in the main array angle estimate set based on the potential target angle set, and obtain the corresponding identification results.

[0110] For example, for each target point angle estimate in the main array angle estimate set, if there is a potential target angle in the potential target angle set that matches the main array target point angle estimate, then the main array target point angle estimate is determined to be a non-multipath target point, and the point information is retained. If there is no potential target angle that matches the main array target point angle estimate, then the main array target point angle estimate is determined to be a multipath target point, and the corresponding point information is deleted. The main array angle estimate set can also be called the main array target point angle estimate set.

[0111] In the aforementioned target trace recognition method, starting from the source of target trace generation, multiple subarrays are introduced. Based on a preset joint angle measurement strategy of the main array and multiple subarrays, the method first determines the main array angle estimation set of the main array and the subarray angle estimation set of each subarray echo signal. On this basis, the main array candidate angle position vector and the subarray candidate angle position vector of each subarray are determined. By weighting the main array candidate angle position vector and the subarray candidate angle position vector, the potential target angle set is determined based on the amplitude value of each candidate angle position after weighting. The potential target angle set is used to identify the target traces in the main array angle estimation set, thereby realizing the identification and suppression of multipath target traces, rather than relying on the judgment of the characteristics of the generated target traces. In addition, there is no need to model the multipath, avoiding the problem of possible model mismatch with the actual scene. While improving the quality of the output traces, it further improves the applicability and can better adapt to complex multi-target trace scenarios.

[0112] In one exemplary embodiment, such as Figure 3 As shown, step 206 includes steps 302 to 306. Wherein:

[0113] Step 302: Based on the preset joint angle measurement strategy of the main array and multiple subarrays, determine the guiding vectors corresponding to different angles of the main array and each subarray within the preset angle measurement range, and obtain the corresponding main array guiding vector and subarray guiding vector.

[0114] For example, the angle measurement range (FOV) and angle interval are determined according to a preset joint angle measurement strategy of the main array and multiple subarrays. And determine the range of angle index values. ,in The value is determined by the field of view (FOV) and the angular interval. The guiding vectors for the main array and each subarray at different angles within the preset angular measurement range are determined separately, resulting in the corresponding main array guiding vector and subarray guiding vector. For example, calculating the guiding vectors for different angles within the FOV... Corresponding main array steering vector Based on the first subarray division, calculate different angles within the FOV (field of view) of the angle measurement range. The corresponding first subarray steering vector Based on the second subarray division, calculate different angles within the FOV (field of view) of the angle measurement range. The corresponding second subarray steering vector .

[0115] Step 304: Determine the initial relevant information for the angle estimation of the target points in the main array corresponding to the main array, and the initial relevant information for the angle estimation of the target points in each subarray corresponding to the subarray.

[0116] The initial relevant information for the angle estimation of target points in the main array includes the initial set of estimated target point values ​​for the main array and the initial main array residual. The initial relevant information for the angle estimation of target points in each subarray includes their respective initial set of estimated target point values ​​for the subarray and their initial subarray residuals. The initial set of estimated target point values ​​for the main array and the initial set of estimated target point values ​​for the subarrays are empty sets. The initial main array residual is the echo signal, and the initial subarray residual is the echo signal of its respective subarray. For example, taking a subarray consisting of a first subarray and a second subarray as an example, the initial set of estimated target point values ​​for the main array is initialized as follows: Main formation residuals Initialize the set of estimated target point traces for the first subarray. The residual of the first subarray Initialize the set of estimated target point traces for the second subarray. The residual of the second subarray .

[0117] Step 306: Based on the main array steering vector, the steering vectors of each subarray, the initial relevant information of the main array target point trace angle estimation, and the initial relevant information of the subarray target point trace angle estimation, perform a preset number of angle estimation processes on the echo signal and the echo signal of each subarray to determine the set of main array angle estimation values ​​corresponding to the main array of the echo signal and the set of subarray angle estimation values ​​corresponding to the subarray of the echo signal of each subarray.

[0118] The main array angle estimation set includes multiple main array target point angle estimates, and the subarray angle estimation set includes multiple subarray target point angle estimates. The determination principles for the main array and subarray target point angle estimates are the same: the main array target point angle estimate is determined by maximizing the main array echo power spectrum, and the subarray target point angle estimate is determined by maximizing the subarray echo power spectrum. In other words, for each angle estimation process, by maximizing either the main array echo power spectrum or the subarray echo power spectrum, the corresponding main array target point angle estimate and subarray target point angle estimate can be obtained.

[0119] It's important to understand that in the first angle estimation process, the echo power spectrum of the main array and each subarray is calculated from the original echo signal (i.e., the data received by the main array and each subarray), and the direction corresponding to the peak value of the power spectrum is selected as the target angle for the current estimation. Starting from the second angle estimation process, the input signal for calculating the power spectrum is changed to the residual signal obtained from the previous iteration update. This residual signal is obtained by subtracting the fitted signal component corresponding to the estimated direction from the input signal of the previous iteration, thus ensuring that subsequent iterations only rely on signal components not explained by the selected direction.

[0120] In this embodiment, the residual signal obtained from the previous round of angle estimation processing is used as the input signal for the current angle estimation processing. The echo power spectrum of the main array and each subarray is calculated respectively, and the direction corresponding to the peak value of the power spectrum is selected as the current target point angle estimate. This method can effectively eliminate interpreted signal components and improve the accuracy and precision of target point angle estimation.

[0121] In one exemplary embodiment, such as Figure 4 As shown, a specific method for determining the set of main array angle estimates and the set of subarray angle estimates is provided, including the following steps:

[0122] Step 402: In the first angle estimation process, the echo power spectrum of the main array echo signal and the echo power spectrum of each subarray echo signal are calculated respectively to obtain the main array echo power spectrum and the echo power spectrum of each subarray. For the main array echo power spectrum, the angle corresponding to the peak value of the power spectrum is selected as the estimated angle value of the target point of the main array; for each subarray echo power spectrum, the angle corresponding to the peak value of the power spectrum is selected as the estimated angle value of the target point of the corresponding subarray.

[0123] Step 404: Based on the estimated angle of the target point in the main array and the main array steering vector, update the initial main array residual to obtain the current main array residual.

[0124] In the first angle estimation process, the initial residual signal of the main array is the original echo signal of the main array. When updating the main array residual signal, orthogonal projection is performed on the subspace spanned by the steering vector generated from the currently determined angle estimates of the main array target points, and the projection result is removed from the initial residual signal to obtain the updated main array residual signal. The current main array steering vector is calculated based on the currently determined angle estimates of the main array target points.

[0125] Optionally, based on the estimated angle of the target point in the main array and the main array steering vector, the initial main array residual is updated to obtain the current main array residual, including:

[0126] The currently determined angle estimate of the main array target point is added to the initial set of main array target point estimates, and a corresponding main array steering vector is generated based on this angle estimate, resulting in the current set of main array target point estimates and the current main array steering vector. The initial main array residual is orthogonally projected onto the subspace spanned by the current main array steering vector to obtain the first orthogonal projection component; the first orthogonal projection component is subtracted from the initial main array residual to update the initial main array residual, resulting in the current main array residual. In other words, the currently determined angle estimate of the main array target point is added to the initial set of main array target point estimates, resulting in the current set of main array target point estimates, and the current main array steering vector is determined based on the currently determined angle estimate of the main array target point.

[0127] Step 406: Based on the estimated angle of the target point in the subarray and the subarray steering vector, update the initial subarray residual to obtain the current subarray residual.

[0128] In the first angle estimation process, the initial residual signal of each subarray is the original echo signal of that subarray. When updating the residual signal of each subarray, orthogonal projection is performed on the initial residual signal on the subspace spanned by the guide vectors generated from the currently determined target point trace angle estimates of each subarray, and the projection result is removed from the initial residual signal to obtain the updated residual signal of each subarray. The current guide vector of each subarray is calculated based on the currently determined target point trace angle estimates of each subarray.

[0129] Optionally, based on the estimated angle of the target point in the subarray and the subarray steering vector, the initial subarray residual is updated to obtain the current subarray residual, including:

[0130] The estimated angle values ​​of the target points in each subarray are added to the corresponding set of estimated target points in the initial subarray, and the corresponding subarray steering vector is generated based on the angle estimates to obtain the set of estimated target points in each current subarray and the steering vector of each current subarray. The residuals of each initial subarray are orthogonally projected onto the subspace spanned by the steering vector of the corresponding current subarray to obtain the corresponding second orthogonal projection component. The second orthogonal projection component is subtracted from the residuals of each initial subarray to update the residuals of the initial subarray and obtain the residuals of each current subarray.

[0131] Step 408: For each angle estimation process from the second time onwards, the current main array residual is used as the initial main array residual signal for this round, and the current subarray residual is used as the initial subarray residual signal for this round. The echo power spectrum corresponding to the initial main array residual signal and the initial subarray residual signal for this round is calculated respectively. The estimated angle of the main array target point and the estimated angle of each subarray target point are determined based on the peak value of the power spectrum. When the number of angle estimations performed reaches the preset number, the angle estimation process ends.

[0132] The preset number of times is determined based on the number of target points. For example, if the number of target points is 3, the preset number of times is 3; if the number of target points is 4, the preset number of times is 4.

[0133] For example, in each angle estimation process from the second to the subsequent processes, the current main array residual is used as the echo signal of the main array in this round, and the residual of each current subarray is used as the echo signal of its corresponding subarray in this round. The echo power spectrum corresponding to the echo signal of the main array in this round and the echo signal of each subarray are calculated respectively to obtain the echo power spectrum of the main array and the echo power spectrum of each subarray in the current angle estimation process. Based on the peak value of the power spectrum, the estimated angle value of the target point of the main array and the estimated angle value of the target point of each subarray are determined. When the number of angle estimations performed reaches a preset number, the angle estimation process ends.

[0134] Step 410: Determine the set of estimated main array angles corresponding to the echo signals of the main array and the set of estimated subarray angles corresponding to the echo signals of each subarray.

[0135] For example, in the During the secondary angle estimation process, the corresponding angle estimate of the target point on the main array is obtained by maximizing the power spectrum of the main array echo. The estimated angle is then stored in the main array angle estimate set. At the same time, the guide vector corresponding to this angle is stored in .

[0136] In the In the next iteration, the estimated angle of the target point in the subarray is obtained by maximizing the echo power spectrum of the first subarray. The estimated angle of the subarray is then stored in the set of estimated angles of the first subarray. At the same time, the guide vector corresponding to this angle is stored in .

[0137] In the In the next iteration, the estimated angle of the target point in the subarray is obtained by maximizing the power spectrum of the second subarray echo. The estimated angle of the subarray is then stored in the set of estimated angles of the second subarray. At the same time, the guide vector corresponding to this angle is stored in .

[0138] Calculate the residual of the main array Guide vector containing target point angle information Orthogonal projection on the generated subspace:

[0139] ;

[0140] Calculate the residual of the first subarray Guide vector containing target point angle information Orthogonal projection on the generated subspace:

[0141] ;

[0142] Calculate the residual of the second subarray Guide vector containing target point angle information Orthogonal projection on the generated subspace:

[0143] ;

[0144] Update the main formation's residuals: ;

[0145] Update the residual of the first subarray: ;

[0146] Update the residual of the second subarray: ;

[0147] Repeat the above steps until the specified number of iterations is reached. Obtain the sets of angle estimates for the main array and each subarray respectively:

[0148] Obtain the set of main array angle estimates: ;

[0149] Obtain the set of angle estimates for the first subarray: ;

[0150] Obtain the set of angle estimates for the second subarray: ;

[0151] In the above implementation, the set of angle estimates for the main array and each subarray is determined by iteratively based on the residuals of the echo signal and the echo signals of each subarray, thus ensuring the accuracy of the angle estimates.

[0152] In one exemplary embodiment, such as Figure 5 As shown, a method for determining the candidate angular position vectors of the main array and the candidate angular position vectors of the subarray is provided, including the following steps:

[0153] Step 502: Based on the preset angle measurement range and angle interval, initialize the candidate angle position vector of the main array and the candidate angle position vector of each subarray to obtain the corresponding initial candidate angle position vector of the main array and the initial candidate angle position vector of the subarray; the angle position elements of the initial candidate angle position vector of the main array and the initial candidate angle position vector of the subarray have corresponding candidate angle values.

[0154] For example, taking a subarray comprising a first subarray and a second subarray as an example, based on a preset angular measurement range (FOV) and angular interval. Initialize the candidate angle position vector of the main array for Zero-dimensional vector. Initial principal matrix candidate angle position vector. There is a one-to-one correspondence between the elements in the matrix and the candidate angle values. Initialize the candidate angle position vector of the first submatrix. for Zero-dimensional vector. Candidate angular position vector for the first initial subarray. There is a one-to-one correspondence between the elements in the matrix and the candidate angle values. Initialize the candidate angle position vector of the second subarray. for Zero-dimensional vector. Candidate angular position vector of the second initial subarray. There is a one-to-one correspondence between the elements in the array and the candidate angle values.

[0155] Step 504: If there is a first target angle value in the angle value corresponding to the angle position in the initial main array candidate angle position vector that is equal to the set of estimated main array angle values, then set the angle position element corresponding to the first target angle value to a preset value to obtain the main array candidate angle position vector.

[0156] The preset value can be, but is not limited to, 1.

[0157] Optionally, if and only if the estimated value of the main array angle is... There exists a first target angle value, which is related to the initial main array candidate angle position vector. Zhong Mou Each angle position When the corresponding angle values ​​are equal, let This yields the candidate angle position vectors for the main array.

[0158] Step 506: For each initial subarray candidate angle position vector, if there is a second target angle value in the angle value corresponding to the angle position in the initial subarray candidate angle position vector that is equal to the subarray angle estimation value set, then set the angle position element corresponding to the second target angle value to a preset value to obtain the subarray candidate angle position vector.

[0159] Optionally, if and only if the set of angle estimates for the first subarray... There exists a second target angle value, which is related to the candidate angle position vector of the first initial subarray. Zhong Mou Each angle position When the corresponding angle values ​​are equal, let This yields the candidate angle position vector for the first subarray.

[0160] If and only if the set of angle estimates of the second subarray There exists a second target angle value, and the second initial subarray candidate angle position vector. Zhong Mou Each angle position When the corresponding angle values ​​are equal, let This yields the candidate angular position vectors for the second subarray.

[0161] Step 508: Based on the angle selection range, perform information expansion processing on the candidate angle position vectors of the main array and the candidate angle position vectors of each subarray to obtain the candidate angle position vectors of the target main array and multiple candidate angle position vectors of the target subarray.

[0162] The information expansion process involves taking the element already set to 1 in the initial candidate angle position vector of the main array as the center, setting the corresponding elements on both sides of this center within the angle selection range to 1, and setting the other elements to 0. Angle selection range It was determined in advance based on actual needs.

[0163] Optionally, information expansion processing is performed on the candidate angle position vectors of the main array and each candidate angle position vector of the subarray according to the angle selection range to obtain the candidate angle position vectors of the target main array and multiple candidate angle position vectors of the target subarray, including:

[0164] Using the angle position element with a preset value in the candidate angle position vector of the main array as the center, and setting the angle position elements on the left and right sides corresponding to the angle selection range as preset values, the target main array candidate angle position vector is obtained; for each candidate angle position vector of the subarray, using the angle position element with a preset value in the candidate angle position vector of the subarray as the center, and setting the angle position elements on the left and right sides corresponding to the angle selection range as preset values, the target subarray candidate angle position vector is obtained.

[0165] For example, using the candidate angular position vector of the main array Centered on the element that has been set to 1, and with the left and right sides within the angle selection range... The corresponding element is set to 1 to determine the candidate angle position vector after the final main array information is expanded. , which is the candidate angle position vector of the target main array.

[0166] Candidate angle position vector of the first subarray Centered on the element that has been set to 1, and with the left and right sides within the angle selection range... The corresponding element is set to 1 to determine the candidate angle position vector after the first subarray information is expanded. , that is, the candidate angular position vector of the first target subarray.

[0167] Using the candidate angle position vector of the second subarray Centered on the element that has been set to 1, and with the left and right sides within the angle selection range... The corresponding element is set to 1 to determine the candidate angle position vector after the final second subarray information is expanded. , that is, the candidate angular position vector of the second target subarray.

[0168] In this embodiment, by using a preset joint angle measurement strategy of main array and multiple subarrays, the estimated angle values ​​of the target points in the main array and the target points in the subarrays are first determined. Based on these, the initial candidate angle position vectors of the corresponding main array / subarray are expanded according to the two determined angle estimates. Then, all potential target angles can be determined based on the candidate angle position vectors expanded by the final main array information and the candidate angle position vectors expanded by the subarray information. This can reduce the problem of estimation deviation of the real target angle caused by angle measurement deviation introduced by hardware-related factors (such as antenna processing, antenna amplitude and phase inconsistency, etc.).

[0169] Understandably, in order to achieve greater filtering capability and flexibility for target points in complex scenarios, a scoring system is adopted to relax the judgment conditions for multipath target points.

[0170] In an exemplary embodiment, the candidate angle position vectors of the main array and the candidate angle position vectors of each subarray are weighted to obtain a joint total candidate angle position vector. Based on the amplitude values ​​of each angle position element in the joint total candidate angle position vector, a set of potential target angles is determined, including: weighting the candidate angle position vectors of the main array and the candidate angle position vectors of each subarray to obtain a joint total candidate angle position vector; if there is a candidate angle position element in the joint total candidate angle position vector with an amplitude value greater than or equal to a preset value, then the angle corresponding to the candidate angle position element is determined as a potential target angle, thus obtaining a set of potential target angles.

[0171] Optionally, the candidate angle position vector is expanded based on the final main array information. The candidate angle position vector after the first subarray information is expanded. And the candidate angle position vector after the final second subarray information expansion. Determine the joint candidate angle position vector:

[0172] ;

[0173] Joint candidate angle position vector The amplitude values ​​of the elements in the matrix are not less than a preset value, which can be a component level. The selection of the preset value depends on the number of subarrays selected. Generally, the component level of the preset value can be equal to the number of subarrays selected, i.e., the component level. The set of potential target angles is defined as the total number of angles corresponding to the positions of the subarray. In one exemplary embodiment, the component level may be, but is not limited to, 2.

[0174] In this approach, by introducing multiple subarrays to participate in the angle evaluation, and by adopting a scoring system to relax the judgment conditions for multi-path target traces in the case of multiple target traces, the strictness of intersection operation is alleviated, making it more capable of filtering and more flexible in complex scenarios, and better able to adapt to complex multi-target trace scenarios.

[0175] In one exemplary embodiment, such as Figure 6 As shown, a method for recognizing multiple target points is provided, which includes the following:

[0176] The system acquires radar signals received from the radar array, performs coherent and incoherent processing on the radar signals, and generates a heatmap of radial distance and radial relative velocity. It then determines the echo signals corresponding to the detected target points in the heatmap. If multiple target points exist in the echo signals, the system extracts the corresponding subarray echo signals from the echo signals based on the subarray division. Finally, it determines preset angle parameters for target point identification, including a preset angle measurement range, angle interval, angle index value range, and a single-sided selection range for the target point angle.

[0177] A set of steering vectors corresponding to the main array and each subarray is pre-constructed, and the set of target point trace angle estimates for the main array and each subarray is initialized to empty, while the loop count is initialized to 0. During each loop, the echo power spectrum corresponding to the residuals of the main array and each subarray is calculated, and the angle corresponding to the peak value of the power spectrum is selected as the target point trace angle estimate for the main array and each subarray. The main array residual is orthogonally projected onto the subspace spanned by the set of steering vectors generated by the selected target point trace angle estimates of the main array, and the main array residual is updated according to the projection result. The subarray residual is orthogonally projected onto the subspace spanned by the set of steering vectors generated by the selected target point trace angle estimates of each subarray, and the corresponding subarray residual is updated according to the projection result. The loop count is incremented by 1. When the loop count reaches the number of target points J, the set of target point trace angle estimates for the main array and each subarray is output.

[0178] Based on the previous processing results, the candidate angle position vectors of the main array and each subarray are initialized respectively, and the final candidate angle position vectors of the main array and each subarray are determined. Then, the potential target angle set is determined by the scoring system. For the target point angle estimate value of each main array in the main array angle estimate value set, it is determined whether the target point angle estimate value of the main array is an element in the potential target angle set, and the target point recognition result is obtained.

[0179] It should be noted that the specific implementation of this example can be achieved using the methods defined above, and will not be elaborated upon here.

[0180] The following are examples of application scenarios based on the above methods, including:

[0181] Example 1: All target traces are multipath target traces, exhibiting a significant difference between the radar's transmitted signal angle to the target and the target's received signal angle to the radar. The radar's transmitted signal angle to the target and the target's received signal angle to the radar for target trace 1 are respectively... and The angles of the radar's transmitted signal to the target and the angles of the radar's received signal corresponding to target point 2 are respectively... and The radar transmission angle and the radar reception angle corresponding to target point 3 are respectively... and .

[0182] S10. MIMO radar system includes root transmitting antenna and The virtual antenna position of the MIMO radar is as follows: Figure 7 As shown, for each target point detected in the radial distance and radial relative velocity heatmap, the echo signals are sorted, and the sorted echo signals are denoted as... .

[0183] S20. Employ the characteristic decomposition signal source number estimation algorithm based on the echo signal. Determine the number of target points .

[0184] S30. Due to The target point trace recognition technical solution described above specifically includes:

[0185] S301 - Example 1. Extracting echo signals from each subarray:

[0186] According to such Figure 7 The subarray division shown is based on the echo signal. Extract the echo signal of the first subarray respectively Second subarray echo signal superscript and These represent the identifiers associated with the first and second subarrays, respectively.

[0187] S302 - Example 1. Determining the parameters used in the scheme:

[0188] Determine the FOV (Field of View) for angle measurement: angular interval .

[0189] Determine the range of angle index values ,in The value is determined by the field of view (FOV) and the angular interval:

[0190] ;

[0191] Determine the single-sided selection range of the target point's trace angle. :when Other angles .

[0192] S303 - Example 1. Calculate the steering vectors corresponding to the main array and each subarray respectively:

[0193] Calculate different angles within the FOV (field of view) of the angle measurement. Corresponding main array steering vector .

[0194] Based on the first subarray division, calculate different angles within the FOV (field of view) of the angle measurement range. The corresponding first subarray steering vector .

[0195] Based on the second subarray division, calculate different angles within the FOV (field of view) of the angle measurement range. The corresponding second subarray steering vector .

[0196] S304 - Example 1. Initialize the target point trace angle estimation information for the main array and each subarray respectively:

[0197] Initialize the set of estimated target point traces for the main array. Main formation residuals .

[0198] Initialize the set of estimated target point traces for the first subarray The residual of the first subarray .

[0199] Initialize the set of estimated target point traces for the second subarray The residual of the second subarray .

[0200] S305 - Example 1. Obtain and record the corresponding angle information by maximizing the echo power spectrum of the main array and each subarray:

[0201] In the In the next iteration, the target point trace angle estimate is obtained by maximizing the power spectrum of the main array echo. The angle estimates are then stored in the main array angle estimate set. At the same time, the guide vector corresponding to this angle is stored in .

[0202] In the In the next iteration, the target point trace angle estimate is obtained by maximizing the echo power spectrum of the first subarray. The angle estimates are then stored in the first subarray angle estimate set. At the same time, the guide vector corresponding to this angle is stored in .

[0203] In the In the next iteration, the target point trace angle estimate is obtained by maximizing the echo power spectrum of the second subarray. The angle estimates are then stored in the second subarray angle estimate set. At the same time, the guide vector corresponding to this angle is stored in .

[0204] S306 - Example 1. Calculate the orthogonal projection of the residuals of the main array and each subarray onto the subspace generated by the guide vector containing the target point trace angle information:

[0205] Calculate the residual of the main array Guide vector containing target point angle information Orthogonal projection on the generated subspace:

[0206] ;

[0207] Calculate the residual of the first subarray Guide vector containing target point angle information Orthogonal projection on the generated subspace:

[0208] ;

[0209] Calculate the residual of the second subarray Guide vector containing target point angle information Orthogonal projection on the generated subspace:

[0210] ;

[0211] S307 - Example 1. Update the residuals of the main array and each subarray separately:

[0212] Update the main formation's residuals:

[0213] ;

[0214] Update the residual of the first subarray:

[0215] ;

[0216] Update the residual of the second subarray:

[0217] ;

[0218] S308 - Example 1. Repeat steps S305 to S307 until the specified number of cycles is reached. Obtain the sets of angle estimates for the main array and each subarray respectively:

[0219] Obtain the set of main array angle estimates: ;

[0220] Obtain the set of angle estimates for the first subarray: ;

[0221] Obtain the set of angle estimates for the second subarray: ;

[0222] S309 - Example 1. Initialize the candidate angle position vectors of the main array and each subarray respectively:

[0223] Based on the preset angle measurement range (FOV) and angle interval Initialize the candidate angle position vector of the main array for Zero-dimensional vector. Candidate angular position vector of the principal matrix. There is a one-to-one correspondence between the elements in the matrix and the candidate angle values. This is because the estimated values ​​of the multi-target points in the main array... Therefore ,the remaining .

[0224] Based on the preset angle measurement range (FOV) and angle interval Initialize the candidate angle position vector of the first subarray for Zero-dimensional vector. Candidate angular position vector of the first subarray. There is a one-to-one correspondence between the elements in the matrix and the candidate angle values. This is because the first candidate submatrix contains multi-target point trace angle estimates. Therefore ,the remaining .

[0225] Based on the preset angle measurement range (FOV) and angle interval Initialize the candidate angle position vector of the second subarray for Zero-dimensional vector. Candidate angular position vector of the second subarray. There is a one-to-one correspondence between the elements in the matrix and the candidate angle values. This is because the second candidate submatrix contains multi-target point trace angle estimates. Therefore ,the remaining .

[0226] 310 - Example 1. Determine the final main array and candidate angle position vectors for each subarray:

[0227] Using the candidate angle position vector of the main array Centered on the element that has been set to 1, and with the left and right sides within the angle selection range... The corresponding element is set to 1, that is Determine the candidate angle position vector after expanding the final main array information. ,like Figure 8 The diagram shown is a schematic of the candidate angle position vector after the final main array information is expanded in the first specific embodiment.

[0228] Candidate angle position vector of the first subarray Centered on the element that has been set to 1, and with the left and right sides within the angle selection range... The corresponding element is set to 1, that is Determine the candidate angle position vector after expanding the information of the final first subarray. ,like Figure 9 The diagram shown is a schematic diagram of the candidate angle position vector after the final first subarray information is expanded in the first specific embodiment.

[0229] Using the candidate angle position vector of the second subarray Centered on the element that has been set to 1, and with the left and right sides within the angle selection range... The corresponding element is set to 1, that is Determine the candidate angle position vector after expanding the information of the final second subarray. ,like Figure 10 The diagram shown is a schematic of the candidate angle position vector after the final second subarray information is expanded in the first specific embodiment.

[0230] 311-Example 1. Determining the set of potential target angles using a scoring system:

[0231] Determine the total candidate angle position vector:

[0232] ;

[0233] Joint candidate angle position vector The relationship between the mid-angle index value and the amplitude value is as follows: Figure 11 The diagram shown illustrates the relationship between angle index values ​​and amplitude values ​​in the joint candidate angle position vector in the first specific embodiment. Based on the total candidate angle position vector... The amplitude value of the element in the score is not less than the order of magnitude of the score. The angle corresponding to the position is defined as the potential target angle set. .

[0234] S312 - Example 1. Determining the estimated angle of the main array target point. Is it a set of potential target angles? Elements in:

[0235] Due to the estimated angle of the main array target point Not part of the potential target angle set The elements in the array are used to determine that all multi-target points in the main array are multipath target points, and the multi-target point information is deleted.

[0236] S40. Traverse all the target points detected in the radial distance and radial relative velocity heatmap, perform the above judgment, and finally output the target points.

[0237] Scheme Example 2: The multi-target trace consists of two multipath target traces and one non-multipath target trace. For the multipath target trace, there is a significant difference between the radar's transmitted signal angle to the target and the target's received signal angle to the radar. For one of the target traces, the radar's transmitted signal angle to the target and the target's received signal angle to the radar are respectively... and The angles of the radar's transmitted signal to the target and the angles of the target's received signal to the radar corresponding to the other target point are respectively... and For non-multipath target points, the corresponding angle is... .

[0238] S10. MIMO radar system includes root transmitting antenna and The virtual antenna position of the MIMO radar is as follows: Figure 7 As shown, for each target point detected in the radial distance and radial relative velocity heatmap, the echo signals are sorted, and the sorted echo signals are denoted as... .

[0239] S20. Employ the characteristic decomposition signal source number estimation algorithm based on the echo signal. Determine the number of target points .

[0240] S30. Due to The technical solution employing multiple target points specifically includes:

[0241] S301 - Example 2. Extracting the echo signals of each subarray:

[0242] According to such Figure 7 The subarray division shown is based on the echo signal. Extract the echo signal of the first subarray respectively Second subarray echo signal superscript and These represent the identifiers associated with the first and second subarrays, respectively.

[0243] S302 - Example 2. Determining the parameters used in the solution:

[0244] Determine the FOV (Field of View) for angle measurement: angular interval .

[0245] Determine the range of angle index values ,in The value is determined by the field of view (FOV) and the angular interval:

[0246] ;

[0247] Determine the single-sided selection range of the target point's trace angle. :when Other angles .

[0248] S303 - Example 2. Calculate the steering vectors corresponding to the main array and each subarray respectively:

[0249] Calculate different angles within the FOV (field of view) of the angle measurement. Corresponding main array steering vector .

[0250] Based on the first subarray division, calculate different angles within the FOV (field of view) of the angle measurement range. The corresponding first subarray steering vector .

[0251] Based on the second subarray division, calculate different angles within the FOV (field of view) of the angle measurement range. The corresponding second subarray steering vector .

[0252] S304 - Example 2. Initialize the target point trace angle estimation information for the main array and each subarray respectively:

[0253] Initialize the set of estimated target point traces for the main array. Main formation residuals .

[0254] Initialize the set of estimated target point traces for the first subarray The residual of the first subarray .

[0255] Initialize the set of estimated target point traces for the second subarray The residual of the second subarray .

[0256] S305 - Example 2. Obtain and record the corresponding angle information by maximizing the echo power spectrum of the main array and each subarray:

[0257] In the In the next iteration, the target point trace angle estimate is obtained by maximizing the power spectrum of the main array echo. The angle estimates are then stored in the main array angle estimate set. At the same time, the guide vector corresponding to this angle is stored in .

[0258] In the In the next iteration, the target point trace angle estimate is obtained by maximizing the echo power spectrum of the first subarray. The angle estimates are then stored in the first subarray angle estimate set. At the same time, the guide vector corresponding to this angle is stored in .

[0259] In the In the next iteration, the target point trace angle estimate is obtained by maximizing the echo power spectrum of the second subarray. The angle estimates are then stored in the second subarray angle estimate set. At the same time, the guide vector corresponding to this angle is stored in .

[0260] S306 - Example 2. Calculate the orthogonal projection of the residuals of the main array and each subarray onto the subspace generated by the guide vector containing the target point trace angle information:

[0261] Calculate the residual of the main array Guide vector containing target point angle information Orthogonal projection on the generated subspace:

[0262] ;

[0263] Calculate the residual of the first subarray Guide vector containing target point angle information Orthogonal projection on the generated subspace:

[0264] ;

[0265] Calculate the residual of the second subarray Guide vector containing target point angle information Orthogonal projection on the generated subspace:

[0266] ;

[0267] S307 - Example 2. Update the residuals of the main array and each subarray separately:

[0268] Update the main formation's residuals:

[0269] ;

[0270] Update the residual of the first subarray:

[0271] ;

[0272] Update the residual of the second subarray:

[0273] ;

[0274] S308 - Example 2. Repeat steps S305 to S307 until the specified number of cycles is reached. Obtain the sets of angle estimates for the main array and each subarray respectively:

[0275] Obtain the set of main array angle estimates: ;

[0276] Obtain the set of angle estimates for the first subarray: ;

[0277] Obtain the set of angle estimates for the second subarray: ;

[0278] S309 - Example 2. Initialize the candidate angle position vectors of the main array and each subarray respectively:

[0279] Based on the preset angle measurement range (FOV) and angle interval Initialize the candidate angle position vector of the main array for Zero-dimensional vector. Candidate angular position vector of the principal matrix. There is a one-to-one correspondence between the elements in the matrix and the candidate angle values. This is because the estimated values ​​of the multi-target points in the main array... Therefore ,the remaining .

[0280] Based on the preset angle measurement range (FOV) and angle interval Initialize the candidate angle position vector of the first subarray for Zero-dimensional vector. Candidate angular position vector of the first subarray. There is a one-to-one correspondence between the elements in the matrix and the candidate angle values. This is because the first candidate submatrix contains multi-target point trace angle estimates. Therefore ,the remaining .

[0281] Based on the preset angle measurement range (FOV) and angle interval Initialize the candidate angle position vector of the second subarray for Zero-dimensional vector. Candidate angular position vector of the second subarray. There is a one-to-one correspondence between the elements in the matrix and the candidate angle values. This is because the second candidate submatrix contains multi-target point trace angle estimates. Therefore ,the remaining .

[0282] 310 - Example 2. Determine the final main array and candidate angle position vectors for each subarray:

[0283] Using the candidate angle position vector of the main array Centered on the element that has been set to 1, and with the left and right sides within the angle selection range... The corresponding element is set to 1, that is Determine the candidate angle position vector after expanding the final main array information. ,like Figure 12 The diagram shown is a schematic of the candidate angle position vector after the final main array information is expanded in the second specific embodiment.

[0284] Candidate angle position vector of the first subarray Centered on the element that has been set to 1, and with the left and right sides within the angle selection range... The corresponding element is set to 1, that is Determine the candidate angle position vector after expanding the information of the final first subarray. ,like Figure 13 The diagram shown is a schematic of the candidate angle position vector after the final first subarray information is expanded in the second specific embodiment.

[0285] Using the candidate angle position vector of the second subarray Centered on the element that has been set to 1, and with the left and right sides within the angle selection range... The corresponding element is set to 1, that is Determine the candidate angle position vector after expanding the information of the final second subarray. ,like Figure 14 The diagram shown is a schematic of the candidate angle position vector after the final second subarray information is expanded in the second specific embodiment.

[0286] 311-Example 2. Determining the set of potential target angles using a scoring system:

[0287] Determine the total candidate angle position vector:

[0288] ;

[0289] Joint candidate angle position vector The relationship between the mid-angle index value and the amplitude value is as follows: Figure 15 The diagram shown illustrates the relationship between angle index values ​​and amplitude values ​​in the joint candidate angle position vector in the second specific embodiment. Based on the total candidate angle position vector... The amplitude value of the element in the score is not less than the order of magnitude of the score. The angle corresponding to the position is defined as the potential target angle set. .

[0290] S312 - Example 2. Determining the estimated angle of the main array target point. Is it a set of potential target angles? Elements in:

[0291] Due to the estimation value of multiple target points in the main array middle, and If a target point is identified as a multipath target, the corresponding point information is deleted. If a point is determined to be a non-multipath target, its information is retained.

[0292] S40. Traverse all the target points detected in the radial distance and radial relative velocity heatmap, perform the above judgment, and finally output the target points.

[0293] Scheme Example 3: The multi-target trace consists of one multipath target trace and two non-multipath target traces. For the multipath target trace, there is a significant difference between the radar's transmitted signal angle to the target and the target's received signal angle to the radar. The radar's transmitted signal angle to the target and the target's received signal angle to the radar corresponding to the target trace are respectively... and For non-multipath target points, one of the target points corresponds to an angle of... The angle corresponding to the other target point is .

[0294] S10. MIMO radar system includes root transmitting antenna and The virtual linear position of the root receiving antenna and MIMO radar is as follows: Figure 7 As shown, for each target point detected in the radial distance and radial relative velocity heatmap, the echo signals are sorted, and the sorted echo signals are denoted as... .

[0295] S20. Employ the characteristic decomposition signal source number estimation algorithm based on the echo signal. Determine the number of target points .

[0296] S30. Due to The technical solution employing multiple target points specifically includes:

[0297] S301 - Example 3. Extracting the echo signals of each subarray:

[0298] According to such Figure 7 The subarray division shown is based on the echo signal. Extract the echo signal of the first subarray respectively Second subarray echo signal superscript and These represent the identifiers associated with the first and second subarrays, respectively.

[0299] S302 - Example 3. Determining the parameters used in the scheme:

[0300] Determine the FOV (Field of View) for angle measurement: angular interval .

[0301] Determine the range of angle index values ,in The value is determined by the field of view (FOV) and the angular interval:

[0302] ;

[0303] Determine the single-sided selection range of the target point's trace angle. :when Other angles .

[0304] S303 - Example 3. Calculate the steering vectors corresponding to the main array and each subarray respectively:

[0305] Calculate different angles within the FOV (field of view) of the angle measurement. Corresponding main array steering vector .

[0306] Based on the first subarray division, calculate different angles within the FOV (field of view) of the angle measurement range. The corresponding first subarray steering vector .

[0307] Based on the second subarray division, calculate different angles within the FOV (field of view) of the angle measurement range. The corresponding second subarray steering vector .

[0308] S304 - Example 3. Initialize the target point trace angle estimation information for the main array and each subarray respectively:

[0309] Initialize the set of estimated target point traces for the main array. Main formation residuals .

[0310] Initialize the set of estimated target point traces for the first subarray The residual of the first subarray .

[0311] Initialize the set of estimated target point traces for the second subarray The residual of the second subarray .

[0312] S305 - Example 3. Obtain and record the corresponding angle information by maximizing the echo power spectrum of the main array and each subarray:

[0313] In the In the next iteration, the target point trace angle estimate is obtained by maximizing the power spectrum of the main array echo. The angle estimates are then stored in the main array angle estimate set. At the same time, the guide vector corresponding to this angle is stored in .

[0314] In the In the next iteration, the target point trace angle estimate is obtained by maximizing the echo power spectrum of the first subarray. The angle estimates are then stored in the first subarray angle estimate set. At the same time, the guide vector corresponding to this angle is stored in .

[0315] In the In the next iteration, the target point trace angle estimate is obtained by maximizing the echo power spectrum of the second subarray. The angle estimates are then stored in the second subarray angle estimate set. At the same time, the guide vector corresponding to this angle is stored in .

[0316] S306 - Example 3. Calculate the orthogonal projection of the residuals of the main array and each subarray onto the subspace generated by the guide vector containing the target point trace angle information:

[0317] Calculate the residual of the main array Guide vector containing target point angle information Orthogonal projection on the generated subspace:

[0318] ;

[0319] Calculate the residual of the first subarray Guide vector containing target point angle information Orthogonal projection on the generated subspace:

[0320] ;

[0321] Calculate the residual of the second subarray Guide vector containing target point angle information Orthogonal projection on the generated subspace:

[0322] ;

[0323] S307 - Example 3. Update the residuals of the main array and each subarray separately:

[0324] Update the initial residuals of the main formation:

[0325] ;

[0326] Update the initial residual of the first subarray:

[0327] ;

[0328] Update the initial residual of the second subarray:

[0329] ;

[0330] S308 - Example 3. Repeat steps S305 to S307 until the specified number of cycles is reached. Obtain the sets of angle estimates for the main array and each subarray respectively:

[0331] Obtain the set of main array angle estimates: ;

[0332] Obtain the set of angle estimates for the first subarray: ;

[0333] Obtain the set of angle estimates for the second subarray: ;

[0334] S309 - Example 3. Initialize the candidate angle position vectors of the main array and each subarray respectively:

[0335] Based on the preset angle measurement range (FOV) and angle interval Initialize the candidate angle position vector of the main array for Zero-dimensional vector. Candidate angular position vector of the principal matrix. There is a one-to-one correspondence between the elements in the matrix and the candidate angle values. This is because the estimated values ​​of the multi-target points in the main array... Therefore ,the remaining .

[0336] Based on the preset angle measurement range (FOV) and angle interval Initialize the candidate angle position vector of the first subarray for Zero-dimensional vector. Candidate angular position vector of the first subarray. There is a one-to-one correspondence between the elements in the matrix and the candidate angle values. This is because the first candidate submatrix contains multi-target point trace angle estimates. Therefore ,the remaining .

[0337] Based on the preset angle measurement range (FOV) and angle interval Initialize the candidate angle position vector of the second subarray for Zero-dimensional vector. Candidate angular position vector of the second subarray. There is a one-to-one correspondence between the elements in the matrix and the candidate angle values. This is because the second candidate submatrix contains multi-target point trace angle estimates. Therefore ,the remaining .

[0338] 310 - Example 3. Determine the final main array and candidate angle position vectors for each subarray:

[0339] Using the candidate angle position vector of the main array Centered on the element that has been set to 1, and with the left and right sides within the angle selection range... The corresponding element is set to 1, that is Determine the candidate angle position vector after expanding the final main array information. ,like Figure 16 The diagram shown is a schematic of the candidate angle position vector after the final main array information is expanded in the third specific embodiment.

[0340] Candidate angle position vector of the first subarray Centered on the element that has been set to 1, and with the left and right sides within the angle selection range... The corresponding element is set to 1, that is Determine the candidate angle position vector after expanding the information of the final first subarray. ,like Figure 17 The diagram shown is a schematic diagram of the candidate angle position vector after the final first subarray information is expanded in the third specific embodiment.

[0341] Using the candidate angle position vector of the second subarray Centered on the element that has been set to 1, and with the left and right sides within the angle selection range... The corresponding element is set to 1, that is Determine the candidate angle position vector after expanding the information of the final second subarray. ,like Figure 18 The diagram shown is a schematic of the candidate angle position vector after the final second subarray information is expanded in the third specific embodiment.

[0342] 311-Example 3. Determining the set of potential target angles using a scoring system:

[0343] Determine the total candidate angle position vector:

[0344] ;

[0345] Joint candidate angle position vector The relationship between the mid-angle index value and the amplitude value is as follows: Figure 19 The diagram shown illustrates the relationship between angle index values ​​and amplitude values ​​in the joint candidate angle position vector in the third specific embodiment. Based on the total candidate angle position vector... The amplitude value of the element in the score is not less than the order of magnitude of the score. The angle corresponding to the position is defined as the potential target angle set. .

[0346] S312 - Example 3. Determining the estimated angle of the main array target point. Is it a set of potential target angles? Elements in:

[0347] Due to the estimation value of multiple target points in the main array middle, If the target point is identified as a multipath target, delete the point information. and If a point is identified as a non-multipath target, its corresponding point information is retained.

[0348] S40. After traversing all target points, the final target point is output.

[0349] Scheme Example 4: The multi-target point traces are non-multipath target point traces, and the corresponding angles are respectively , and .

[0350] The S10 MIMO radar system includes root transmitting antenna and The virtual antenna position of the MIMO radar is as follows: Figure 7 As shown, for each target point detected in the radial distance and radial relative velocity heatmap, the echo signals are sorted, and the sorted echo signals are denoted as... .

[0351] S20. Employ the characteristic decomposition signal source number estimation algorithm based on the echo signal. Determine the number of target points .

[0352] S30. Due to The technical solution employing multiple target points specifically includes:

[0353] S301 - Example 4. Extracting the echo signals of each subarray:

[0354] According to such Figure 7 The subarray division shown is based on the echo signal. Extract the echo signal of the first subarray respectively Second subarray echo signal superscript and These represent the identifiers associated with the first and second subarrays, respectively.

[0355] S302 - Example 4. Determining the parameters used in the solution:

[0356] Determine the FOV (Field of View) for angle measurement: angular interval .

[0357] Determine the range of angle index values ,in The value is determined by the field of view (FOV) and the angular interval:

[0358] ;

[0359] Determine the single-sided selection range of the target point's trace angle. :when Other angles .

[0360] S303 - Example 4. Calculate the steering vectors corresponding to the main array and each subarray respectively:

[0361] Calculate different angles within the FOV (field of view) of the angle measurement. Corresponding main array steering vector .

[0362] Based on the first subarray division, calculate different angles within the FOV (field of view) of the angle measurement range. The corresponding first subarray steering vector .

[0363] Based on the second subarray division, calculate different angles within the FOV (field of view) of the angle measurement range. The corresponding second subarray steering vector .

[0364] S304 - Example 4. Initialize the target point trace angle estimation information for the main array and each subarray respectively:

[0365] Initialize the set of estimated target point traces for the main array. Main formation residuals .

[0366] Initialize the set of estimated target point traces for the first subarray The residual of the first subarray .

[0367] Initialize the set of estimated target point traces for the second subarray The residual of the second subarray .

[0368] S305 - Example 4. Obtain and record the corresponding angle information by maximizing the echo power spectrum of the main array and each subarray:

[0369] In the In the next iteration, the target point trace angle estimate is obtained by maximizing the power spectrum of the main array echo. The angle estimates are then stored in the main array angle estimate set. At the same time, the guide vector corresponding to this angle is stored in .

[0370] In the In the next iteration, the target point trace angle estimate is obtained by maximizing the echo power spectrum of the first subarray. The angle estimates are then stored in the first subarray angle estimate set. At the same time, the guide vector corresponding to this angle is stored in .

[0371] In the In the next iteration, the target point trace angle estimate is obtained by maximizing the echo power spectrum of the second subarray. The angle estimates are then stored in the second subarray angle estimate set. At the same time, the guide vector corresponding to this angle is stored in .

[0372] S306 - Example 4. Calculate the orthogonal projection of the residuals of the main array and each subarray onto the subspace generated by the guide vector containing the target point trace angle information:

[0373] Calculate the residual of the main array Guide vector containing target point angle information Orthogonal projection on the generated subspace:

[0374] ;

[0375] Calculate the residual of the first subarray Guide vector containing target point angle information Orthogonal projection on the generated subspace:

[0376] ;

[0377] Calculate the residual of the second subarray Guide vector containing target point angle information Orthogonal projection on the generated subspace:

[0378] ;

[0379] S307 - Example 4. Update the residuals of the main array and each subarray separately:

[0380] Update the main formation's residuals:

[0381] ;

[0382] Update the residual of the first subarray:

[0383] ;

[0384] Update the residual of the second subarray:

[0385] ;

[0386] S308 - Example 4. Repeat steps S305 to S307 until the specified number of cycles is reached. Obtain the sets of angle estimates for the main array and each subarray respectively:

[0387] Obtain the set of main array angle estimates: ;

[0388] Obtain the set of angle estimates for the first subarray: ;

[0389] Obtain the set of angle estimates for the second subarray: ;

[0390] S309 - Example 4. Initialize the candidate angle position vectors of the main array and each subarray respectively:

[0391] Based on the preset angle measurement range (FOV) and angle interval Initialize the candidate angle position vector of the main array for Zero-dimensional vector. Candidate angular position vector of the principal matrix. There is a one-to-one correspondence between the elements in the matrix and the candidate angle values. This is because the estimated values ​​of the multi-target points in the main array... Therefore ,the remaining .

[0392] Based on the preset angle measurement range (FOV) and angle interval Initialize the candidate angle position vector of the first subarray for Zero-dimensional vector. Candidate angular position vector of the first subarray. There is a one-to-one correspondence between the elements in the matrix and the candidate angle values. This is because the first candidate submatrix contains multi-target point trace angle estimates. Therefore ,the remaining .

[0393] Based on the preset angle measurement range (FOV) and angle interval Initialize the candidate angle position vector of the second subarray for Zero-dimensional vector. Candidate angular position vector of the second subarray. There is a one-to-one correspondence between the elements in the matrix and the candidate angle values. This is because the second candidate submatrix contains multi-target point trace angle estimates. Therefore ,the remaining .

[0394] 310 - Example 4. Determine the final main array and candidate angle position vectors for each subarray:

[0395] Using the candidate angle position vector of the main array Centered on the element that has been set to 1, and with the left and right sides within the angle selection range... The corresponding element is set to 1, that is Determine the candidate angle position vector after expanding the final main array information. ,like Figure 20 The diagram shown is a schematic diagram of the candidate angle position vector after the final main array information is expanded in the fourth specific embodiment.

[0396] Candidate angle position vector of the first subarray Centered on the element that has been set to 1, and with the left and right sides within the angle selection range... The corresponding element is set to 1, that is Determine the candidate angle position vector after expanding the information of the final first subarray. ,like Figure 21 The diagram shown is a schematic of the candidate angle position vector after the final first subarray information is expanded in the fourth specific embodiment.

[0397] Using the candidate angle position vector of the second subarray Centered on the element that has been set to 1, and with the left and right sides within the angle selection range... The corresponding element is set to 1, that is Determine the candidate angle position vector after expanding the information of the final second subarray. ,like Figure 22 The diagram shown is a schematic diagram of the candidate angle position vector after the final second subarray information is expanded in the fourth specific embodiment.

[0398] 311-Example 4. Determining the set of potential target angles using a scoring system:

[0399] Determine the total candidate angle position vector:

[0400] ;

[0401] Joint candidate angle position vector The relationship between the mid-angle index value and the amplitude value is as follows: Figure 23 The diagram shown illustrates the relationship between angle index values ​​and amplitude values ​​in the joint candidate angle position vector in the fourth specific embodiment. Based on the total candidate angle position vector... The amplitude value of the element in the score is not less than the order of magnitude of the score. The angle corresponding to the position is defined as the potential target angle set. .

[0402] S312 - Example 4. Determining the estimated angle of the main array target point. Is it a set of potential target angles? Elements in:

[0403] Due to the estimation value of multiple target points in the main array The angle estimate for each target point is... The elements in, i.e. , and Therefore, the corresponding target point is determined to be a non-multipath target point, and the corresponding point information is retained.

[0404] S40. Traverse all the target points detected in the radial distance and radial relative velocity heatmap, perform the above judgment, and finally output the target points.

[0405] The aforementioned target point recognition methods, starting from the source of target point generation, all employ a joint angle measurement strategy using a main array and multiple subarrays, along with a scoring-based judgment method, to filter multipath target points. Even if the characteristics of multipath target points do not meet traditional judgment conditions, multipath target point recognition and suppression can still be achieved. This effectively adapts to both simple and complex scenarios, further expanding the scope of application. Simultaneously, the implementation of these methods does not require modeling of multipath routes, avoiding potential mismatches between the model and the actual scene. This improves both the quality of the output points and the applicability.

[0406] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0407] Based on the same inventive concept, this application also provides a target point trace recognition device for implementing the target point trace recognition method described above. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations of one or more target point trace recognition device embodiments provided below can be found in the limitations of the target point trace recognition method above, and will not be repeated here.

[0408] In one exemplary embodiment, such as Figure 24 As shown, a target dot recognition device is provided, comprising: a signal processing module 2402, a signal extraction module 2406, an angle estimation value determination module 2408, an angle position vector determination module 2410, a target angle determination module 2412, and a dot recognition module 2414, wherein:

[0409] The signal processing module 2402 is used to acquire a heat map of radial distance and radial relative velocity generated based on radar received signals, and to determine the echo signal corresponding to each target point detected in the heat map of radial distance and radial relative velocity.

[0410] The signal extraction module 2406 is used to determine multiple subarray echo signals from the echo signal if there are multiple target points in the echo signal.

[0411] The angle estimation value determination module 2408 is used to determine the set of main array angle estimates corresponding to the main array and the set of subarray angle estimates corresponding to the subarray echo signals of each subarray according to the preset main array and multi-subarray joint angle measurement strategy.

[0412] The angle position vector determination module 2410 is used to determine the main array candidate angle position vector of the main array and the subarray candidate angle position vector of each subarray based on the preset angle parameters in the joint angle measurement strategy of the main array and multiple subarrays, the set of angle estimates of the main array and the set of angle estimates of each subarray.

[0413] The target angle determination module 2412 is used to perform weighted processing on the candidate angle position vector of the main array and the candidate angle position vector of each subarray to obtain the joint total candidate angle position vector, and obtain the potential target angle set based on the angle position of each angle in the joint total candidate angle position vector.

[0414] The dot recognition module 2414 is used to identify the angle estimates of each main array target dot in the main array angle estimate set based on the potential target angle set, and obtain the corresponding recognition results.

[0415] In the aforementioned target point recognition devices, starting from the source of target point generation, a joint angle measurement strategy using a main array and multiple subarrays, along with a scoring-based judgment method, is employed to filter multipath target points. Even if the characteristics of multipath target points do not meet traditional judgment conditions, multipath target point recognition and suppression can still be achieved. This effectively adapts to both simple and complex scenarios, further expanding the scope of application. Simultaneously, the implementation of this method does not require modeling of multipath routes, avoiding the potential mismatch between the model and the actual scene. This improves both the quality of the output points and the applicability.

[0416] In an exemplary embodiment, the angle estimation value determination module 2408 is used to determine the guiding vectors corresponding to different angles of the main array and each subarray within the preset angle measurement range according to the preset main array and multi-subarray joint angle measurement strategy, so as to obtain the corresponding main array guiding vector and subarray guiding vector.

[0417] Determine the initial relevant information for the angle estimation of the target points in the main array corresponding to the main array, and the initial relevant information for the angle estimation of the target points in each subarray corresponding to the subarray.

[0418] Based on the main array steering vector, the steering vectors of each subarray, the initial relevant information for the angle estimation of the target point trace of the main array, and the initial relevant information for the angle estimation of the target point trace of each subarray, the echo signal and the echo signal of each subarray are processed by a preset number of angle estimation operations to determine the set of main array angle estimation values ​​corresponding to the main array of the echo signal and the set of subarray angle estimation values ​​corresponding to the subarray of the echo signal of each subarray.

[0419] In an exemplary embodiment, the angle estimation value determination module 2408 is used to calculate the echo power spectrum of the main array echo signal and the echo power spectrum of each subarray echo signal in the first angle estimation process, to obtain the main array echo power spectrum and the echo power spectrum of each subarray; for the main array echo power spectrum, the angle corresponding to the peak value of the power spectrum is selected as the angle estimation value of the target point of the main array; for each subarray echo power spectrum, the angle corresponding to the peak value of the power spectrum is selected as the angle estimation value of the target point of the corresponding subarray.

[0420] Based on the estimated angle of the target point in the main array and the main array steering vector, update the initial main array residual to obtain the current main array residual;

[0421] Based on the estimated angle of the target point in the subarray and the subarray steering vector, update the initial subarray residual to obtain the current subarray residual;

[0422] In each angle estimation process from the second to the subsequent iterations, the current main array residual is used as the initial main array residual signal for this round, and the current subarray residuals are used as the initial subarray residual signals for this round. The echo power spectra corresponding to the initial main array residual signals and the initial subarray residual signals are calculated respectively, and the estimated angle values ​​of the target points in the main array and the target points in each subarray are determined based on the peak values ​​of the power spectra. When the number of angle estimations performed reaches the preset number, the angle estimation process ends.

[0423] Determine the set of main array angle estimates corresponding to the echo signals of the main array and the set of subarray angle estimates corresponding to the echo signals of each subarray.

[0424] In an exemplary embodiment, the angle estimation value determination module 2408 is used to add the currently determined angle estimation value of the main array target point to the initial set of main array target point estimation values, and generate the corresponding main array steering vector based on the angle estimation value of the main array target point, so as to obtain the current set of main array target point estimation values ​​and the current main array steering vector.

[0425] The initial main array residual is orthogonally projected onto the subspace spanned by the current main array guide vector to obtain the first orthogonal projection component;

[0426] Subtract the first orthogonal projection component from the initial main array residual to update the initial main array residual and obtain the current main array residual.

[0427] In an exemplary embodiment, the angle estimation value determination module 2408 is used to add the angle estimation values ​​of the target points of each subarray to their respective initial subarray target point estimation value sets to obtain the current subarray target point estimation value sets, and determine the corresponding subarray guiding vector based on the angle estimation values ​​of the target points of each subarray to obtain the corresponding current subarray guiding vector.

[0428] Each initial subarray residual is orthogonally projected onto the subspace spanned by the current subarray steering vector to obtain the corresponding second orthogonal projection component;

[0429] Subtract the corresponding second orthogonal projection component from the residuals of each initial subarray to update the residuals of the initial subarrays, and obtain the residuals of each current subarray.

[0430] In an exemplary embodiment, the angle position vector determination module 2410 is used to initialize the main array candidate angle position vector and each subarray candidate angle position vector based on a preset angle measurement range and angle interval, so as to obtain their respective initial main array candidate angle position vector and initial subarray candidate angle position vector; the angle position elements of the initial main array candidate angle position vector and the subarray candidate angle position vector have corresponding candidate angle values.

[0431] If there is a first target angle value in the angle value corresponding to the angle position in the initial main array candidate angle position vector that is equal to the set of main array angle estimates, then the angle position element corresponding to the first target angle value is set as the preset value to obtain the main array candidate angle position vector;

[0432] For each initial subarray candidate angle position vector, if there is a second target angle value in the angle value corresponding to the angle position in the initial subarray candidate angle position vector that is equal to the subarray angle estimation value set, then the angle position element corresponding to the second target angle value is set as a preset value to obtain the subarray candidate angle position vector;

[0433] Based on the angle selection range, the candidate angle position vectors of the main array and the candidate angle position vectors of each subarray are subjected to information expansion processing to obtain the candidate angle position vectors of the target main array and multiple candidate angle position vectors of the target subarrays.

[0434] In an exemplary embodiment, the angle position vector determination module 2410 is used to take the angle position element that has been set to a preset value in the main array candidate angle position vector as the center, and at the same time set the angle position elements on the left and right sides that are located in the angle selection range to preset values, so as to obtain the target main array candidate angle position vector.

[0435] For each candidate angle position vector of a subarray, take the angle position element in the candidate angle position vector of the subarray that has been set to a preset value as the center, and at the same time set the angle position elements on the left and right sides that are located within the angle selection range to the preset value, so as to obtain the candidate angle position vector of the target subarray.

[0436] In an exemplary embodiment, the target angle determination module 2412 is used to perform weighted processing on the candidate angle position vector of the main array and the candidate angle position vector of each subarray to obtain a joint total candidate angle position vector.

[0437] If, in the joint total candidate angle position vector, there exists a candidate angle position element whose amplitude value is greater than or equal to a preset value, then the angle corresponding to the candidate angle position element is determined as the potential target angle, thus obtaining the potential target angle set.

[0438] Each module in the aforementioned target point recognition device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0439] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 25 As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When executed by the processor, the computer program implements a target dot recognition method. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0440] Those skilled in the art will understand that Figure 25 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0441] In one embodiment, a chip is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0442] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0443] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0444] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0445] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0446] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0447] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0448] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A target track identification method, characterized by, The method comprises: acquiring a radial distance and radial relative velocity heat map generated based on a radar received signal, determining, for each detected target track in the radial distance and radial relative velocity heat map, an echo signal corresponding to the detected target track in the heat map; if there are multiple target tracks in the echo signal, determining multiple subarray echo signals from the echo signal; determining, according to a preset main array and multiple subarray joint angle measurement strategy, a main array angle estimation value set of a main array corresponding to the echo signal and a subarray angle estimation value set of a subarray corresponding to each subarray echo signal; determining, according to a preset angle parameter in the main array and multiple subarray joint angle measurement strategy, the main array angle estimation value set and the subarray angle estimation value set, a main array candidate angle position vector of the main array and a subarray candidate angle position vector of each subarray, respectively; performing weighted processing on the main array candidate angle position vector and each subarray candidate angle position vector to obtain a joint total candidate angle position vector, and determining a potential target angle set according to the amplitude values of the angle position elements in the joint total candidate angle position vector; identifying each main array target track angle estimation value in the main array angle estimation value set according to the potential target angle set to obtain a corresponding identification result.

2. The method of claim 1, wherein, The preset angle parameter comprises a preset angle measurement range, an angle interval and an angle index value range, and the determination of the main array angle estimation value set of the main array corresponding to the echo signal and the subarray angle estimation value set of the subarray corresponding to each subarray echo signal according to the preset main array and multiple subarray joint angle measurement strategy comprises: determining, according to the preset main array and multiple subarray joint angle measurement strategy, a steering vector corresponding to each angle within the preset angle measurement range for the main array and each subarray to obtain a corresponding main array steering vector and subarray steering vector; determining main array target track angle estimation initial related information corresponding to the main array and subarray target track angle estimation initial related information corresponding to each subarray; performing preset number of times of angle estimation processing on the echo signal and each subarray echo signal according to the main array steering vector, each subarray steering vector, the main array target track angle estimation initial related information and each subarray target track angle estimation initial related information to determine the main array angle estimation value set of the main array corresponding to the echo signal and the subarray angle estimation value set of the subarray corresponding to each subarray echo signal.

3. The method of claim 2, wherein, The main array target track angle estimation initial related information comprises an initial main array target track estimation value set and an initial main array residual, and each subarray target track angle estimation initial related information comprises a corresponding initial subarray target track estimation value set and an initial subarray residual. The preset number of times of angle estimation processing on the echo signal and the subarray echo signals according to the main array steering vector, the subarray steering vectors, the initial main array target track angle estimation information and the initial subarray target track angle estimation information, and determining the main array angle estimation value set corresponding to the main array of the echo signal and the subarray angle estimation value set corresponding to the subarray of each subarray echo signal, comprises: In the first angle estimation processing, the echo power spectrum of the main array echo signal in the echo signal and the echo power spectrum of each subarray echo signal are calculated respectively to obtain the main array echo power spectrum and the subarray echo power spectrum; the angle corresponding to the power spectrum peak value of the main array echo power spectrum is selected as the main array target track angle estimation value, and the angle corresponding to the power spectrum peak value of each subarray echo power spectrum is selected as the subarray target track angle estimation value of the corresponding subarray; According to the main array target track angle estimation value and the main array steering vector, the initial main array residual error of the main array is updated to obtain the current main array residual error; According to the subarray target track angle estimation value and the subarray steering vector, the initial subarray residual error of the subarray is updated to obtain the current subarray residual error; For each angle estimation processing from the second time and the following times, the current main array residual error is taken as the initial main array residual error signal of this round, and each current subarray residual error is taken as the initial subarray residual error signal of this round, the echo power spectrum corresponding to the initial main array residual error signal and each initial subarray residual error signal of this round is calculated to obtain the main array echo power spectrum and each subarray echo power spectrum, and the main array target track angle estimation value and each subarray target track angle estimation value are determined according to the power spectrum peak value of the main array echo power spectrum and each subarray echo power spectrum until the number of angle estimation processing is greater than the preset number of times, and the angle estimation processing is ended; The main array angle estimation value set corresponding to the main array of the echo signal and the subarray angle estimation value set corresponding to the subarray of each subarray echo signal are determined.

4. The method of claim 3, wherein, The initial main array residual error of the main array is updated according to the main array target track angle estimation value and the main array steering vector to obtain the current main array residual error, which comprises: adding the main array target track angle estimation value currently determined into the initial main array target track estimation value set, generating the corresponding main array steering vector based on the main array target track angle estimation value, obtaining the current main array target track estimation value set and the current main array steering vector; The initial main array residual error is orthogonally projected on the subspace spanned by the current main array steering vector to obtain a first orthogonal projection component; The first orthogonal projection component is subtracted from the initial main array residual error to update the initial main array residual error and obtain the current main array residual error.

5. The method of claim 3, wherein, The initial subarray residual error of the subarray is updated according to the subarray target track angle estimation value and the subarray steering vector to obtain the current subarray residual error, which comprises: The subarray target track angle estimation value of each subarray is added to the initial subarray target track estimation value set corresponding to each subarray respectively to obtain a current subarray target track estimation value set, and a subarray steering vector corresponding to each subarray target track angle estimation value is determined to obtain a current subarray steering vector corresponding to each subarray; Each initial subarray residual is orthogonally projected on a subspace spanned by the current subarray steering vector corresponding to the initial subarray residual to obtain a second orthogonal projection component corresponding to the initial subarray residual; The second orthogonal projection component corresponding to each initial subarray residual is subtracted from the initial subarray residual to update the initial subarray residual and obtain a current subarray residual.

6. The method of claim 1, wherein, The preset angle parameters include a preset angle measurement range, an angle interval, an angle index value range, and an angle selection range. The preset angle parameters, the main array angle estimation value set, and the subarray angle estimation value set are used to determine a main array candidate angle position vector of the main array and a subarray candidate angle position vector of each subarray, which includes: The main array candidate angle position vector and the subarray candidate angle position vector are initialized based on the preset angle measurement range and the angle interval to obtain an initial main array candidate angle position vector and an initial subarray candidate angle position vector corresponding to each subarray. The angle position elements of the initial main array candidate angle position vector and the subarray candidate angle position vector have corresponding candidate angle values. If there is a first target angle value equal to the main array angle estimation value set in the angle values corresponding to the angle position elements of the initial main array candidate angle position vector, the angle position element corresponding to the first target angle value is set to a preset value to obtain a main array candidate angle position vector. For each initial subarray candidate angle position vector, if there is a second target angle value equal to the subarray angle estimation value set in the angle values corresponding to the angle position elements of the initial subarray candidate angle position vector, the angle position element corresponding to the second target angle value is set to a preset value to obtain a subarray candidate angle position vector. The main array candidate angle position vector and the subarray candidate angle position vector are subjected to information expansion processing according to the angle selection range to obtain a target main array candidate angle position vector and a plurality of target subarray candidate angle position vectors.

7. The method of claim 6, wherein, The main array candidate angle position vector and the subarray candidate angle position vector are subjected to information expansion processing according to the angle selection range to obtain a target main array candidate angle position vector and a plurality of target subarray candidate angle position vectors, which includes: The angle position element of the main array candidate angle position vector that has been set to the preset value is taken as the center, and the angle position elements on the left and right sides within the angle selection range are set to the preset value to obtain a target main array candidate angle position vector. For each of the subarray candidate angle position vectors, centering on the angle position element in the subarray candidate angle position vector that has been set to the preset value, while setting the angle position elements on the left and right sides within the corresponding angle selection range to the preset value, a target subarray candidate angle position vector is obtained.

8. The method of claim 1, wherein, The weighting processing on the main array candidate angle position vector and each of the subarray candidate angle position vectors obtains a joint total candidate angle position vector, and according to the amplitude values of the angle position elements in the joint total candidate angle position vector, a potential target angle set is determined, including: The weighting processing on the main array candidate angle position vector and each of the subarray candidate angle position vectors obtains a joint total candidate angle position vector; If there is an amplitude value of a candidate angle position element in the joint total candidate angle position vector that is greater than or equal to a preset value, the angle corresponding to the candidate angle position element is determined as a potential target angle, and a potential target angle set is obtained.

9. A target track identification device, characterized by comprising: The device comprises: A signal processing module is configured to obtain a radial distance and radial relative velocity heat map generated based on a radar received signal, and for each target point track detected in the radial distance and radial relative velocity heat map, determine an echo signal corresponding to the detected target point track in the heat map; A signal extraction module is configured to determine a plurality of subarray echo signals from the echo signal if there are a plurality of target point tracks in the echo signal; An angle estimate value determination module is configured to determine a main array angle estimate value set of a main array corresponding to the echo signal and a subarray angle estimate value set of a subarray corresponding to each of the subarray echo signals according to a preset main array and multi-subarray joint angle measurement strategy; An angle position vector determination module is configured to determine a main array candidate angle position vector of the main array and a subarray candidate angle position vector of each of the subarrays according to preset angle parameters in the main array and multi-subarray joint angle measurement strategy, the main array angle estimate value set, and the subarray angle estimate value set; A target angle determination module is configured to perform weighting processing on the main array candidate angle position vector and each of the subarray candidate angle position vectors to obtain a joint total candidate angle position vector, and according to each angle position in the joint total candidate angle position vector, a potential target angle set is obtained; A point track identification module is configured to identify each main array target point track angle estimate value in the main array angle estimate value set according to the potential target angle set to obtain a corresponding identification result. 10.A computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the computer device is configured to perform the method according to any one of claims 1-9. The processor executes the computer program to implement the steps of the method of any one of claims 1 to 8.

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