Multi-task sonar signal processing system, method and equipment capable of being modularly combined and medium

Abstract

The invention discloses a modularly combinable multi-task sonar signal processing system, method and device and a medium, and relates to the technical field of sonar signal processing, the system comprises a data access layer used for selectively receiving sonar data of a multi-source device through a communication interface; and / or optionally calling different types of data reading functions to read off-line data files of the marine environment data; the sonar signal processing algorithm layer comprises a sonar signal processing algorithm library and is used for storing and managing a plurality of standardized underwater acoustic signal processing basic algorithm functions; the underwater acoustic signal processing basic algorithm function is stored, newly added, deleted and / or called in the form of a dynamic library file; and the multi-task module combination layer comprises a multi-task sonar signal processing flow configuration container and is used for visually calling and combining the underwater acoustic signal processing basic algorithm functions so as to build and execute a sonar signal processing task flow in a self-defined manner. The flexibility and the expandability of the sonar signal processing system are improved.

Description

Technical Field

[0001] This invention relates to the field of sonar signal processing technology, and in particular to a modularly combinable multi-task sonar signal processing system, method, device and medium. Background Technology

[0002] Underwater communication and detection primarily rely on various sonar devices. However, underwater acoustic propagation channels are complex, exhibiting characteristics such as non-real-time, nonlinearity, and non-stationarity. Due to the complexity of underwater acoustic propagation, underwater acoustic signal processing systems face a wide variety of signals and channels, leading to the development of diverse signal processing directions and algorithms. Often, even for the same type or the same signal, different algorithms are required to achieve better processing results due to different propagation paths and times. Therefore, it is difficult to use a single, relatively fixed method or approach for underwater acoustic signal processing systems to meet the needs of complex underwater signal processing. Furthermore, with the development trend of combined applications of various operating frequency bands, active and passive detection, multi-site detection, and network detection sonar, existing sonar signal processing systems typically employ fixed hardware architectures and processing algorithms, resulting in numerous limitations such as single signal processing methods, difficulty in updating algorithms, high system upgrade and maintenance costs, and incompatibility with different types of sonar devices. Summary of the Invention

[0003] This invention provides a modularly combinable multi-task sonar signal processing system, device, equipment, and medium, which solves the problems of insufficient flexibility and scalability in sonar signal processing systems.

[0004] To achieve the above objectives, this application adopts the following technical solution: Firstly, a modularly combinable multi-task sonar signal processing system is provided, comprising: The data access layer is used to optionally receive sonar data from multiple sources via a communication interface; and / or optionally call different types of data reading functions to read offline data files of marine environmental data; The sonar signal processing algorithm layer includes a sonar signal processing algorithm library for storing and managing multiple standardized basic underwater acoustic signal processing algorithm functions; these basic underwater acoustic signal processing algorithm functions are saved, added, deleted, and / or called in the form of dynamic library files. The multi-task module combination layer includes a multi-task sonar signal processing flow configuration container, which is used to visually call and combine the basic underwater acoustic signal processing algorithm functions to customize the construction and execution of sonar signal processing task flows.

[0005] Furthermore, the data access layer includes: The data interface layer includes an interface configuration module and a data reading module. The interface configuration module includes multiple configurable communication interfaces of different types, which can be used to selectively receive online data from sonar devices through the communication interfaces. The data reading module includes an extensible data reading function library, which can be used to selectively call different types of data reading functions to read offline data files of marine environmental data. A data caching layer is used to temporarily store data received from the data interface layer and record data reception logs; The data parsing and storage layer includes a data parsing management container and a data parsing function library. The data parsing management container is used to select and call data parsing functions in the data parsing function library to parse the observation data of the data cache layer and store it in a specified database. The data parsing functions are saved, added, deleted and / or called in the form of dynamic library files.

[0006] Furthermore, the data parsing and management container is configured as follows: Create and manage a separate, multi-threaded, parallel data parsing thread for each type of observation device; The data cache layer is monitored by listening, and when new data is detected, a corresponding data parsing thread is configured to process it.

[0007] Furthermore, in the data parsing thread, the data parsing function is configured to perform the following operations sequentially: Identify and verify the data frame header to determine whether the data to be parsed is the device data corresponding to the function; After successful frame header verification, the data content is parsed according to the device's data protocol; the specific values ​​of the observed object are then parsed from the observation data. The parsed data is assigned values ​​according to the structure of the target database table; Write the assigned data to the specified database table.

[0008] Furthermore, the data access layer also includes a data cleaning layer, which performs time alignment, interpolation fitting and / or resampling operations on the parsed multi-source data to achieve spatiotemporal unification of multi-source data, and stores the processed data in a data cache according to a preset standard format.

[0009] Furthermore, the basic algorithm functions for underwater acoustic signal processing are configured with a standardized structure, including: The system includes an input signal data matrix, a processing parameter structure, a data processing algorithm unit, a processing result data matrix, and a visualization display data unit.

[0010] Furthermore, the process of executing the sonar signal processing task includes: Multiple custom sonar signal processing tasks are executed in parallel on the same sonar data stream to compare the results; Alternatively, the custom sonar signal processing task can be executed in parallel on different sonar data and the results can be fused.

[0011] Secondly, a modularly combinable multi-task sonar signal processing method is provided, including: Optionally, it can receive sonar data from multiple sources via a communication interface; and / or optionally, it can call different types of data reading functions to read offline data files of marine environmental data; The sonar signal processing algorithm library stores and manages multiple standardized basic underwater acoustic signal processing algorithm functions; these basic underwater acoustic signal processing algorithm functions are saved, added, deleted, and / or called in the form of dynamic library files; The multi-task sonar signal processing workflow configuration container allows for the visual invocation and combination of the underlying underwater acoustic signal processing algorithm functions to customize and execute sonar signal processing task workflows.

[0012] Thirdly, an electronic device is provided, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the modularly combinable multi-task sonar signal processing method as described in the second aspect.

[0013] Fourthly, a readable storage medium is provided, on which a program or instructions are stored, which, when executed by a processor, implement the steps of the modularly combinable multi-task sonar signal processing method as described in the second aspect. Attached Figure Description

[0014] Figure 1 A schematic diagram of the architecture of a modularly combinable multi-task sonar signal processing system provided in this application embodiment; Figure 2 A schematic diagram of a standard structure for a data parsing function provided in an embodiment of this application; Figure 3 A diagram illustrating a standard structure of an underwater acoustic signal processing function provided in an embodiment of this application; Figure 4 A schematic diagram of a sonar signal processing task flow provided in an embodiment of this application; Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0015] To further illustrate the technical means and effects adopted by the present invention to achieve its intended purpose, the technical solutions in the embodiments of this application are clearly described. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art are within the scope of protection of this application.

[0016] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0017] The steps described in the specification and the flowcharts in the accompanying drawings of this invention are not necessarily strictly executed according to the step numbers; the execution order of the method steps can be changed. Furthermore, certain steps can be omitted, multiple steps can be combined into one step, and / or one step can be broken down into multiple steps.

[0018] This specification provides a modularly combinable multi-task sonar signal processing system, a modularly combinable multi-task sonar signal processing method, a computer device, and a computer-readable storage medium. The following describes each item in detail with reference to the accompanying drawings and preferred embodiments.

[0019] Please see Figure 1 This application provides a modularly combinable multi-task sonar signal processing system, such as... Figure 1 As shown, it includes: The data access layer is used to optionally receive sonar data from multiple sources via a communication interface; and / or optionally call different types of data reading functions to read offline data files of marine environmental data; The sonar signal processing algorithm layer includes a sonar signal processing algorithm library for storing and managing multiple standardized basic underwater acoustic signal processing algorithm functions; these basic underwater acoustic signal processing algorithm functions are saved, added, deleted, and / or called in the form of dynamic library files. The multi-task module combination layer includes a multi-task sonar signal processing flow configuration container, which is used to visually call and combine the basic underwater acoustic signal processing algorithm functions to customize the construction and execution of sonar signal processing task flows.

[0020] This application adopts a three-layer architecture to construct a modular, online-combinable multi-task underwater acoustic signal processing system. The first layer is the data access layer, the second layer is the sonar signal processing algorithm library, and the third layer is the multi-task module combination layer. In order to realize the access of multi-source sonar and marine environmental data, the three-layer architecture of this sonar signal processing system is designed to be open, and modular addition, configuration and deletion are possible. This forms a modularly combinable multi-task sonar processing system centered on the underwater acoustic signal processing algorithm library. It can not only configure multiple signal processing modules for the same sonar device, but also cope with scenarios such as multi-base network joint detection of multiple sonars.

[0021] In some possible implementations, the data access layer includes: The data interface layer includes an interface configuration module and a data reading module. The interface configuration module includes multiple configurable communication interfaces of different types, which can be used to selectively receive online data from sonar devices through the communication interfaces. The data reading module includes an extensible data reading function library, which can be used to selectively call different types of data reading functions to read offline data files of marine environmental data. A data caching layer is used to temporarily store data received from the data interface layer and record data reception logs; The data parsing and storage layer includes a data parsing management container and a data parsing function library. The data parsing management container is used to select and call data parsing functions in the data parsing function library to parse the observation data of the data cache layer and store it in a specified database. The data parsing functions are saved, added, deleted and / or called in the form of dynamic library files.

[0022] This application constructs a multi-source data access management system with a three-layer architecture, including a data interface layer, a data cache layer, and a data parsing and storage layer, at the data access layer. This lays the foundation for the system to access multi-source marine environmental information from different sources, with different communication protocols, and data structures. Marine environmental data can be used to interpret the credibility and physical rationality of sonar data processing results.

[0023] A data interface configuration module is designed at the data interface layer. For online data, common computer communication interfaces such as TCP, UDP, and serial ports can be configured according to actual needs. For offline data, a data reading function library is provided, allowing the addition of data reading functions for different data types and formats. After selecting the offline data collection path, the operator (such as a user) can select the corresponding file format data reading function to read the file content. The configuration of the data interface layer solves the problem of reading multi-source data types, especially device-customized, non-standard online and offline data. The system can achieve the reading of various types of data by configuring the online communication interface or adding corresponding offline data reading functions.

[0024] The interface layer configuration completes the data reception (access or read), and then the data cache layer stores the data in accordance with the system standard data format and writes it to the system cache data reception log.

[0025] The data parsing and storage layer includes a data parsing function library. For different types of data, corresponding data parsing algorithms are written to parse the data content and store it in designated database tables. These data parsing algorithms are called in the form of dynamic library files, such as .dll and .so files.

[0026] Furthermore, the data parsing and management container is configured as follows: Create and manage a separate, multi-threaded, parallel data parsing thread for each type of observation device; The data cache layer is monitored by listening, and when new data is detected, a corresponding data parsing thread is configured to process it.

[0027] Furthermore, in the data parsing thread, the data parsing function is configured to perform the following operations sequentially: Identify and verify the data frame header to determine whether the data to be parsed is the device data corresponding to the function; After successful frame header verification, the data content is parsed according to the device's data protocol; the specific values ​​of the observed object are then parsed from the observation data. The parsed data is assigned values ​​according to the structure of the target database table; Write the assigned data to the specified database table.

[0028] In this step, to enable the information management system to parse data from multiple sources, the application embodiment designs a multi-threaded data parsing program runtime management container. After selecting a data parsing function, it connects the data receiving cache table and the parsing data storage table path, creating a data parsing thread for each type of online observation device. The data parsing management container listens to the data receiving cache table using a listening method. After detecting that the data receiving cache table has received new data, it calls the data parsing thread to process the data in the data receiving cache. Please refer to [link to previous document]. Figure 2This application's embodiments design a standardized data parsing function structure, including data frame header recognition, data content parsing, data table structure assignment, and database table writing units. The data parsing thread first verifies the data, that is, it performs data frame header recognition on the data content to be parsed. Only the corresponding data parsing program can recognize the data from the corresponding device, and only after successful recognition will the data parsing operation begin. Secondly, according to the device's uploaded or offline data protocol and structure, it parses the data of different observation objects. Next, according to the data structure requirements of the information storage table in the information management database, it writes the data structure for data storage. Finally, according to the storage object path of the database table (transmitted by the management software), it calls the database operation command to complete the data storage operation.

[0029] In some possible implementations, the data access layer further includes a data cleaning layer, which performs time alignment, interpolation fitting and / or resampling operations on the parsed multi-source data to achieve spatiotemporal unification of the multi-source data, and stores the processed data in a data cache according to a preset standard format.

[0030] Data cleaning addresses the issues of inconsistent spatiotemporal communication, sampling frequency, and accuracy among multi-source data. Through operations such as data and data-time alignment, interpolation fitting, and resampling, spatiotemporal uniformity of multi-source data can be achieved, laying the foundation for multi-source information fusion processing. Subsequently, the data is stored in the data cache according to the system's standard data format and written to the system's cached data reception log.

[0031] Further, see Figure 3 The basic algorithm functions for underwater acoustic signal processing are configured with a standardized structure, including: Input signal data matrix, used for the data to be processed; The parameter processing structure is used to configure and pass the various parameters required for the algorithm to execute; The data processing algorithm unit is used to perform the set underwater acoustic signal processing operations; The processing result data matrix is ​​used to output the processed result data; The data visualization unit is used to generate formatted data that corresponds to the processing results and is suitable for display in a graphical interface.

[0032] For example, the basic algorithm functions for underwater acoustic signal processing include: sonar data resampling algorithm, sound velocity gradient interpolation algorithm, time-domain filter design algorithm, beam domain filtering algorithm, wavelet denoising algorithm, feature extraction algorithm, array signal processing algorithm and / or target recognition algorithm, etc.

[0033] In this embodiment, the system classifies and constructs a basic algorithm library for underwater signal processing. The algorithms for each stage of underwater acoustic signal processing are decomposed into the most basic algorithm functions. A standard structure for the basic algorithm functions is designed, consistent with the function input / output interface data format, laying the foundation for modular assembly of a multi-task sonar expert system. The basic algorithm functions for underwater acoustic signal processing can also be saved, added, deleted, and / or called in the form of dynamic library files.

[0034] See Figure 1 and 4 Based on a sonar signal processing algorithm library, this application presents a multi-task sonar signal processing flow configuration container. This container can be graphically or script-based to call and combine customized sonar signal processing task flows, exemplarily including: linear array signal processing, circular array signal processing, multi-base signal processing, multi-node network detection, and target recognition expert systems. Signal simulation analysis and evaluation can then be performed for flow optimization, and the signal processing flow can be stored after design completion.

[0035] Furthermore, the process of executing the sonar signal processing task includes: Multiple custom sonar signal processing tasks are executed in parallel on the same sonar data stream to compare the results; Alternatively, the custom sonar signal processing task can be executed in parallel on different sonar data and the results can be fused.

[0036] Therefore, the system can not only meet the needs of multiple signal processing combinations for a single sonar, but also handle various joint application scenarios such as multi-sonar, multi-platform distributed integration, networking, and detection result correlation and discrimination.

[0037] Users can customize and combine sonar signal processing flows to enable access to and modular processing of multi-source sonar and marine environmental data, realizing flexible combination and application of sonar systems and greatly improving the multi-scenario adaptability of sonar systems.

[0038] Corresponding to the above-described modularly combinable multi-task sonar signal processing system embodiments, this application provides a modularly combinable multi-task sonar signal processing method, including: Step 1: Optionally receive sonar data from multiple sources via the communication interface; and / or optionally call different types of data reading functions to read offline data files of marine environmental data; Step 2: Store and manage multiple standardized basic underwater acoustic signal processing algorithm functions based on the sonar signal processing algorithm library; the basic underwater acoustic signal processing algorithm functions are saved, added, deleted, and / or called in the form of dynamic library files; Step 3: Configure the multi-task sonar signal processing flow container to visually call and combine the basic underwater acoustic signal processing algorithm functions to customize and execute the sonar signal processing task flow.

[0039] The above-described modularly combinable multi-task sonar signal processing method implements the steps and processes of the above-described modularly combinable multi-task sonar signal processing system embodiment, and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0040] See Figure 5 Corresponding to the above-described modularly combinable multi-task sonar signal processing method embodiments, this application provides an electronic device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, it implements the steps and processes of the above-described modularly combinable multi-task sonar signal processing method embodiments and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0041] The memory 1009 can be used to store software programs and various data. The memory 1009 may primarily include a first storage area for storing programs or instructions and a second storage area for storing data. The first storage area may store the operating system, application programs or instructions required for at least one function (such as sound playback function, image playback function, etc.). Furthermore, the memory 1009 may include volatile memory or non-volatile memory, or both. The non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct memory bus RAM (DRRAM). The memory 1009 in the embodiments of this application includes, but is not limited to, these and any other suitable types of memory.

[0042] The processor 1010 may include one or more processing units; optionally, the processor 1010 integrates an application processor and a modem processor, wherein the application processor mainly handles operations involving the operating system, user interface, and applications, and the modem processor mainly handles wireless communication signals, such as a baseband processor. It is understood that the aforementioned modem processor may also not be integrated into the processor 1010.

[0043] Corresponding to the above-described modularly combinable multi-task sonar signal processing method embodiments, this application embodiment also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the steps and processes of the above-described modularly combinable multi-task sonar signal processing method embodiments and achieve the same technical effects. To avoid repetition, these will not be described again here.

[0044] The processor is the processor in the electronic device described in the above embodiments of this application. The readable storage medium includes a computer-readable storage medium, such as a computer read-only memory (ROM), random access memory (RAM), a magnetic disk, or an optical disk.

[0045] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0046] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0047] It is understood that the embodiments of this application have been described above in conjunction with the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. As those skilled in the art will know, various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the invention. Furthermore, those skilled in the art, under the guidance or instruction of this application, can modify these features and embodiments to adapt to specific situations and materials without departing from the spirit and scope of the invention. Therefore, this invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the protection scope of this invention.

Claims

1. A multi-task sonar signal processing system that is modularly combinable, characterized by, Comprise: a data access layer for optionally receiving sonar data of multi-source devices through a communication interface; and / or optionally calling different types of data reading functions to read offline data files of marine environment data; a sonar signal processing algorithm layer comprising a sonar signal processing algorithm library for storing and managing a plurality of standardized underwater acoustic signal processing basic algorithm functions; the underwater acoustic signal processing basic algorithm functions are saved, added, deleted and / or called in the form of dynamic library files; a multi-task module combination layer comprising a multi-task sonar signal processing flow configuration container for visually calling and combining the underwater acoustic signal processing basic algorithm functions to custom-build and execute a sonar signal processing task flow.

2. The multi-task sonar signal processing system according to claim 1, wherein the data access layer comprises: a data interface layer comprising an interface configuration module and a data reading module; the interface configuration module comprises a plurality of different types of configurable communication interfaces for optionally receiving online data of sonar devices through the communication interfaces; the data reading module comprises an extensible data reading function library for optionally calling different types of data reading functions to read offline data files of marine environment data; a data cache layer for temporarily storing data received from the data interface layer and recording data receiving logs; a data parsing and storage layer comprising a data parsing management container and a data parsing function library; the data parsing management container is used to select and call data parsing functions in the data parsing function library to parse observation data of the data cache layer and store them into a designated database; wherein the data parsing functions are saved, added, deleted and / or called in the form of dynamic library files.

3. The multi-task sonar signal processing system according to claim 2, wherein the data parsing management container is configured to: create and manage one independent multi-threaded parallel data parsing thread for each type of observation device; monitor the data cache layer in a listening manner, and when new data is detected to be stored, configure the corresponding data parsing thread for processing.

4. The multi-task sonar signal processing system according to claim 3, wherein in the data parsing thread, the data parsing function is configured to sequentially perform the following operations: identify and verify the data frame header to determine whether the data to be parsed is the device data corresponding to the function; after successful frame header verification, parse the data content according to the data protocol of the device; parse the specific numerical value of the observation object from the observation data; assign the parsed data according to the structure of the target database table; write the assigned data into the designated database table.

5. The multi-task sonar signal processing system according to claim 2, wherein The data access layer further comprises a data cleaning layer for performing time alignment, interpolation fitting and / or resampling operation on the parsed multi-source data to realize spatio-temporal unification of the multi-source data, and storing the processed data in the data cache area according to a preset standard format.

6. The modularly combinable multi-task sonar signal processing system according to claim 1, wherein the execution of the sonar signal processing task flow comprises: performing a plurality of customized sonar signal processing task flows on the same sonar data in parallel to compare results; or performing customized sonar signal processing task flows on different sonar data in parallel and performing fusion processing on the results.

7. The modularly combinable multi-task sonar signal processing system according to claim 1, wherein the execution of the sonar signal processing task flow comprises: performing a plurality of customized sonar signal processing task flows on the same sonar data in parallel to compare results; or performing customized sonar signal processing task flows on different sonar data in parallel and performing fusion processing on the results. including: receiving sonar data of a multi-source device through a communication interface; and / or calling different types of data reading functions to read offline data files of marine environment data; 8. The modularly-combinable multi-mission sonar signal processing method of claim 1, wherein, storing and managing a plurality of standardized underwater acoustic signal processing basic algorithm functions based on a sonar signal processing algorithm library; the underwater acoustic signal processing basic algorithm functions are saved, added, deleted and / or called in the form of dynamic library files; configuring a multi-task sonar signal processing flow container to visually call and combine the underwater acoustic signal processing basic algorithm functions to customize and execute a sonar signal processing task flow. The electronic device comprises a memory, a processor and a computer program stored on the memory and executable on the processor, and the computer program, when executed by the processor, implements the steps of the modularly combinable multi-task sonar signal processing method according to claim 8. The readable storage medium stores a program or instructions, and the program or instructions, when executed by the processor, implement the steps of the modularly combinable multi-task sonar signal processing method according to claim 8. ​ 9. An electronic device, comprising: ​ 10. A readable storage medium, characterized by, ​

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