Radar echo image processing method, device and equipment

Abstract

The invention provides a radar echo image processing method, device and equipment. The method comprises the following steps: acquiring initial radar echo data; performing mean value compression on the initial radar echo data according to a preset mean value compression ratio to obtain first radar echo data; performing hierarchical association on the first radar echo data according to a preset inter-frame correlation number to obtain second radar echo data; according to a line loss judgment result, carrying out line loss repair on the second radar echo data to obtain third radar echo data; and performing adaptive filtering processing on the third radar echo data according to a preset filtering parameter to obtain target radar echo data. According to the method, the echo stability and the contour roundness of radar echo image processing can be improved.

Description

Technical Field

[0001] This invention relates to the field of data signal processing technology, and in particular to a radar echo image processing method, apparatus, and device. Background Technology

[0002] The X-band radar echo processing scheme for maritime observation is essentially a basic processing system "centered on target detection." Its technical means focus on solving the problem of "whether a target can be detected." However, in the two core dimensions of echo display quality, namely stability and roundness, it has limitations that do not match the actual needs of maritime observation, as follows: First, the echo stability is poor, making it difficult to adapt to the dynamic marine environment. In marine observation, the periodic fluctuations of ocean waves and local disturbances of ocean currents cause periodic fluctuations in sea clutter intensity. Even after clutter suppression processing, the echo data still retains this "background fluctuation." Simultaneously, atmospheric turbulence, raindrop scattering, and other interferences can cause instantaneous jumps in the echo. The fixed-parameter mean filtering used in existing solutions cannot distinguish between the "actual motion of the target" and "environmentally induced fluctuations": if the filter strength is too strong, it will smooth the echo of a slowly moving small vessel into "background fluctuations," leading to target loss; if the filter strength is insufficient, the echo image will exhibit "brightness and darkness flickering" with the wave cycle, and the position of targets such as ships will appear "shaky" on the image, making it difficult for observers to accurately determine the target's true trajectory. For example, in sea state 5, the echo image processed by existing solutions exhibits an overall brightness fluctuation every 2-3 seconds, and the echo position deviation of small fishing boats can reach 3-5 pixels, severely affecting tracking accuracy.

[0003] Second, the echo contours are coarse, resulting in weak target detail representation. One of the core requirements of marine observation is to distinguish target types (such as cargo ships, fishing boats, and sea ice), which relies on the accurate representation of echo contours. While existing neighborhood filling and mean filtering algorithms can eliminate isolated noise points in the echoes, they can cause "jagged" distortion in the target contours: the echo boundaries of large ships form irregular protrusions due to pixel-level filling, failing to reflect the actual length-to-width ratio of the ship; the edges of sea ice will merge with the surrounding sea clutter due to filtering, making it difficult to distinguish the degree of sea ice breakage and its extent; the echoes of small targets (such as life rafts) may even be "swallowed up" by smoothing, leading to missed detections. In addition, the transition area between the echoes of waves and ships will present "blocky segmentation," failing to reflect the spatial relationship between the target and the ocean background, limiting the judgment of the target's navigation status.

[0004] Existing X-band radar echo processing solutions for maritime observation can perform basic target detection and image output, but due to the design concept of "emphasizing detection and neglecting display", they have significant deficiencies in echo stability and contour roundness, and cannot meet the needs of scenarios such as maritime search and rescue, ship traffic management, and sea ice early warning for refined and highly reliable echo images. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a radar echo image processing method, apparatus, and device. This can improve the echo stability and contour smoothness of radar echo image processing.

[0006] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows: A radar echo image processing method, comprising: Acquire initial radar echo data; The initial radar echo data is compressed by means according to a preset mean compression ratio to obtain the first radar echo data. According to a preset inter-frame correlation number, the first radar echo data is hierarchically correlated to obtain the second radar echo data; Based on the line loss judgment result, the second radar echo data is repaired to obtain the third radar echo data; The third radar echo data is adaptively filtered according to preset filtering parameters to obtain the target radar echo data.

[0007] Optionally, the initial radar echo data is subjected to mean compression according to a preset mean compression ratio to obtain first radar echo data, including: The initial radar echo data are superimposed on each compressed window at the current azimuth angle to obtain the window superposition result; The window overlay result is calculated with a preset average compression rate to obtain the first radar echo data.

[0008] Optionally, the process of determining the preset inter-frame correlation number includes: The frame correlation coefficient is obtained based on the first radar echo data and the radar echo data of the previous frame. Based on the comparison between the frame correlation coefficient and the second threshold, a preset inter-frame correlation number is determined.

[0009] Optionally, the first radar echo data is hierarchically correlated according to a preset inter-frame correlation number to obtain the second radar echo data, including: The second radar echo data is obtained by fusing the first radar echo data with the radar echo data of the previous frame with a preset inter-frame correlation number.

[0010] Optionally, based on the line loss judgment result, the second radar echo data is repaired to obtain the third radar echo data, including: The azimuth of the second radar echo data is compared with the azimuth of the processed scan lines to obtain the line loss judgment result; If the result of the line loss judgment is a line loss, then the previous frame of data in the same azimuth corresponding to the second radar echo data will be used as the third radar echo data. If the result of the line loss determination is no line loss, then the second radar echo data is used as the third radar echo data.

[0011] Optionally, the third radar echo data is adaptively filtered according to preset filtering parameters to obtain target radar echo data, including: Based on the edge sharpness and noise intensity of the third radar echo data, preset filtering parameters are determined; the preset filtering parameters include filter type, filter operator, and operator value; According to the preset filtering parameters, adaptive filtering is performed using the neighboring pixel data of the third radar echo data to obtain the target radar echo data.

[0012] Embodiments of the present invention also provide a radar echo image processing apparatus, comprising: The acquisition module is used to acquire initial radar echo data; The processing module is used to perform mean compression on the initial radar echo data according to a preset mean compression rate to obtain first radar echo data; to perform hierarchical association on the first radar echo data according to a preset inter-frame correlation number to obtain second radar echo data; to perform line loss repair on the second radar echo data according to the line loss judgment result to obtain third radar echo data; and to perform adaptive filtering on the third radar echo data according to preset filtering parameters to obtain target radar echo data.

[0013] Embodiments of the present invention also provide a computing device, including: one or more processors; and a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the radar echo image processing method of the present invention.

[0014] Embodiments of the present invention also provide a computer-readable storage medium storing a program that, when executed by a processor, implements the radar echo image processing method of the present invention.

[0015] The above-described technical solution of the present invention has at least the following technical effects: The radar echo image processing method of the present invention involves: acquiring initial radar echo data; compressing the initial radar echo data according to a preset mean compression rate to obtain first radar echo data; hierarchically associating the first radar echo data according to a preset inter-frame correlation number to obtain second radar echo data; repairing lost lines in the second radar echo data based on the line loss judgment result to obtain third radar echo data; and adaptively filtering the third radar echo data according to preset filtering parameters to obtain target radar echo data. This improves the echo stability and contour smoothness of radar echo image processing. Attached Figure Description

[0016] Figure 1 This is a flowchart illustrating the radar echo image processing method of the present invention; Figure 2 This is a schematic diagram of the execution logic of the radar echo image processing method of the present invention; Figure 3 This is a schematic diagram of a circular operator with an operator value of 1 in the radar echo image processing method of the present invention. Figure 4 This is a schematic diagram of a circular operator with an operator value of 2 in the radar echo image processing method of the present invention. Figure 5 This is a schematic diagram of a cross operator with an operator value of 1 in the radar echo image processing method of the present invention. Figure 6 This is a schematic diagram of a cross operator with an operator value of 2 in the radar echo image processing method of the present invention. Figure 7 This is a schematic diagram of the radar echo image processing device of the present invention. Detailed Implementation

[0017] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0018] like Figure 1 As shown, an embodiment of the present invention proposes a radar echo image processing method, including: Step S1: Acquire initial radar echo data; Step S2: Perform mean compression on the initial radar echo data according to the preset mean compression ratio to obtain the first radar echo data; Step S3: According to the preset inter-frame correlation number, the first radar echo data is hierarchically correlated to obtain the second radar echo data; Step S4: Based on the line loss judgment result, perform line loss repair on the second radar echo data to obtain the third radar echo data; Step S5: Perform adaptive filtering on the third radar echo data according to preset filtering parameters to obtain target radar echo data.

[0019] In this embodiment, as Figure 1 , Figure 2 As shown, in the radar echo image processing method, the initial radar echo data is first acquired. The initial radar echo data is in the X-band. Due to its advantages such as short wavelength (usually 2.5cm-4cm), high spatial resolution, and sensitivity to small targets, X-band radar has become the core equipment in the field of marine observation and is widely used in key scenarios such as wave monitoring, sea ice identification, ship tracking, maritime search and rescue, and port security. Global variables S, F, M, D, E, N, and A are defined, where S is the mean compression ratio, F is the inter-frame correlation number, M is the number of correlated scan lines, D is the filter operator type, E is the filter type, N is the filter operator size, and A is the mean filter weight. A variable-scene mapping table is established, such as for near-shore high-noise scenarios and far-sea low-interference scenarios, with adaptive global variables set according to different application scenarios. This adaptive global variable approach overcomes the limitations of fixed variables, achieving adaptive "scene-parameter" matching and avoiding the performance limitations of single parameters in complex environments. For example, strong compression and multi-frame correlation are used in near-shore high-noise scenarios, while detail preservation strategies are adopted in far-sea scenarios. A circular buffer matrix is ​​constructed to store the acquired initial radar echo data. This circular buffer matrix can cyclically overwrite and avoid... To prevent memory overflow, the following methods are implemented: Sweep[i][j] is the current frame's two-dimensional image matrix, storing the real-time received radar echo data; LastSweep[i][j] is the previous frame's two-dimensional image matrix, caching the complete data with timestamps from the previous scan cycle; Last2Sweep[i][j] is the two-dimensional image matrix from the previous two frames, caching the data from the previous two scan cycles, retaining only the valid azimuth segments; i represents the azimuth (0-4095), and j represents the range; after processing each scan line, the index pointers of the three matrices are automatically updated to ensure time alignment of data between frames; the circular cache design retains only the core data of the three frames, reducing memory usage, and the timestamps and valid azimuth segment markers provide accurate data anchors for subsequent inter-frame correlations, avoiding errors caused by invalid data participating in calculations.

[0020] Then, the initial radar echo data is compressed by means according to the preset mean compression ratio to obtain the first radar echo data; Next, according to the preset inter-frame correlation number, the first radar echo data is hierarchically correlated to obtain the second radar echo data; Next, based on the line loss judgment result, the second radar echo data is repaired to obtain the third radar echo data; Next, the third radar echo data is adaptively filtered according to preset filtering parameters to obtain the target radar echo data.

[0021] The present invention employs a dual correlation processing technique of inter-frame correlation and line correlation to improve echo stability; it also employs a two-dimensional filtering system combining multiple operators and adaptive weighting, using circular filtering operators, cross filtering operators, weighted filtering, and maximum value filtering techniques to improve the smoothness of the echo. In an optional embodiment of the present invention, step S2, performing mean compression on the initial radar echo data according to a preset mean compression ratio to obtain first radar echo data, includes: Step S21: Superimpose the initial radar echo data on each compressed window at the current azimuth angle to obtain the window superposition result; Step S22: Calculate the window overlay result with the preset average compression rate to obtain the first radar echo data.

[0022] In this embodiment, the formula for mean compression is: DownpSweep1[bearing][j]=(pSweep[bearing][j]+pSweep[bearing][j+1]+...+pSweep[bearing][j+n]) / S Where pSweep[bearing][j] is the initial radar echo data received at the moment, S is the mean compression ratio, n is the number of distance points in the compression window, bearing is the azimuth index of the current data, and DownpSweep[bearing][j] is the mean compressed data, i.e. the first radar echo data.

[0023] In an optional embodiment of the present invention, step S3, the process of determining the preset inter-frame correlation number includes: Step S31: Obtain the frame correlation coefficient based on the first radar echo data and the radar echo data of the previous frame; Step S32: Determine the preset inter-frame correlation number based on the comparison result between the frame correlation coefficient and the second threshold.

[0024] In this embodiment, for the first radar echo data DownpSweep1[bearing][j], the frame correlation coefficient R between it and the corresponding position in the previous frame is calculated: R = Cov(DownpSweep1[bearing][j], LastSweep[bearing][j]) / (Std(DownpSweep1[bearing][j]) * Std(LastSweep[bearing][j])) Among them, R represents the frame correlation coefficient, Cov represents covariance, and Std represents standard deviation; If the frame correlation coefficient R is greater than or equal to the second threshold R_th, R ≥ R_th, it is determined that the target is moving continuously, and multi-frame association needs to be performed. The preset inter-frame correlation number F is set to 2, that is, F = 2; the second threshold R_th can be configured according to the situation, and the preferred threshold R_th = 0.7; If the frame correlation coefficient R is less than the second threshold R_th, R < R_th, it is determined that there is interference fluctuation, and few-frame association needs to be performed. The preset inter-frame correlation number F is set to 1, that is, F = 1.

[0025] In an optional embodiment of the present invention, in step S3, according to the preset inter-frame correlation number, the first radar echo data is hierarchically associated to obtain the second radar echo data, including: Step S33, obtaining the second radar echo data according to the fusion result of the first radar echo data and the radar echo data of the previous frame corresponding to the preset inter-frame correlation number.

[0026] In this embodiment, when the inter-frame correlation number F = 1, the calculation expression of the second radar echo data is: DownpSweep2[bearing][j] = (DownpSweep1[bearing][j] + LastSweep[bearing][j]) / (F + 1) When the inter-frame correlation number F = 2, the calculation expression of the second radar echo data is: DownpSweep2[bearing][j] = (DownpSweep1[bearing][j] + LastSweep[bearing][j] + Last2Sweep1[bearing][j]) / (F + 2) Among them, LastSweep[bearing][j] is the radar echo data of the previous frame, and Last2Sweep[bearing][j] is the radar echo data of the previous two frames.

[0027] In this embodiment, the correlation threshold grading is used to replace the fixed F value, accurately distinguishing the real movement of the target (high correlation, multi-frame fusion) from the interference fluctuation (low correlation, few-frame fusion), not only suppressing random interference but also avoiding the lag of the target movement trajectory, and improving the echo stability in the time dimension.

[0028] In an optional embodiment of the present invention, in step S4, according to the line loss judgment result, the line loss of the second radar echo data is repaired to obtain third radar echo data, including: Step S41: Compare the azimuth of the second radar echo data with the azimuth of the processed scan line to obtain a line loss judgment result; Step S42: If the line loss judgment result is line loss, use the previous frame of data with the same azimuth corresponding to the second radar echo data as the third radar echo data; Step S43: If the line loss judgment result is no line loss, use the second radar echo data as the third radar echo data.

[0029] In this embodiment, based on the azimuth ilast of the processed scan line (the initial value is 0), calculate the difference between the current azimuth bearing and ilast: If bearing = ilast + 1: no line loss, directly retain the data after frame - to - frame association; If ilast + 1 < bearing: it is determined as local line loss, and the number of lost lines is bearing - ilast - 1; If bearing ≥ ilast + M: it is determined as large - scale line loss, and re - initialization is triggered to avoid the accumulation of repair errors; If bearing = ilast + 2, the line loss judgment result is single line loss. At this time, directly reuse the data of the previous frame with the same azimuth, and the expression is: DownpSweep3[bearing][j]=LastSweep[bearing][j] The line loss repair accurately repairs the scan line gap in the spatial dimension, ensures the spatial continuity of the radar scan line, and avoids the target breakage caused by line loss.

[0030] In an optional embodiment of the present invention, in step S5, according to the preset filtering parameters, the third radar echo data is adaptively filtered to obtain target radar echo data, including: Step S51: Determine the preset filtering parameters according to the edge sharpness and noise intensity of the third radar echo data; the preset filtering parameters include filtering type, filtering operator, and operator value; Step S52: According to the preset filtering parameters, use the adjacent pixel data of the third radar echo data for adaptive filtering to obtain target radar echo data.

[0031] In this embodiment, preset filtering parameters are determined based on the edge sharpness E_edge and noise intensity N_intensity of the third radar echo data. The preset filtering parameters include filter type, filter operator, and operator value. The filter type includes weighted average filtering and maximum value filtering, and the filter operator includes circular operator and cross operator, such as... Figures 3 to 6 As shown; When the weighted average filtering method is used, and the circular operator is used with an operator value of 1, the calculation expression for the target radar echo data is as follows: DownpSweep4[bearing][j]=( DownpSweep3[bearing][j]+DownpSweep3[bearing][j+1]+DownpSweep3[bearing][j-1])*A / (N+2)+(DownpSweep3[bearing-1][j]+DownpSweep3[bearing-1][j+1]+DownpSweep3[bearing-1][j-1]+DownpSweep3 [bearing+1][j]+DownpSweep3[bearing+1][j+1]+DownpSweep3[bearing+1][j-1]) *(1-A) / (2*N+4) When the weighted average filtering method is used, and the cross operator is used as the filtering operator with a value of 1, the calculation expression for the target radar echo data is as follows: DownpSweep4[bearing][j]=(DownpSweep3[bearing][j]+DownpSweep3[bearing][j+1]+DownpSweep3[bearing][j-1])*A / (N+2)+(DownpSweep3[bearing-1][j]+DownpSweep3[bearing+1][j])*(1-A) / (N+1) When the maximum value filter is used, if the filter operator is a circular operator and the operator value is 1, the calculation expression for the target radar echo data is as follows: DownpSweep4[bearing][j]=Max(DownpSweep3[bearing][j]+DownpSweep3[bearing][j+1]+DownpSweep3[bearing] [j-1]+DownpSweep3[bearing-1][j]+DownpSweep3[bearing-1][j+1]+DownpSweep3[bearing-1][j-1]+DownpSweep3 [bearing+1][j]+DownpSweep3[bearing+1][j+1]+DownpSweep3[bearing+1][j-1]) When the maximum value filter is used, if the cross operator is used as the filter operator and the operator value is 1, the calculation expression for the target radar echo data is as follows: DownpSweep4[bearing][j]=Max(DownpSweep3[bearing][j]+DownpSweep3[bearing][j+1]+DownpSweep3[bearing][j-1]+DownpSweep3[bearing-1][j]+DownpSweep3 [bearing+1][j]) By triggering filter parameters based on echo characteristics, adaptive matching of "operator-type-size" is achieved: weighted mean filtering utilizes gradient smoothing properties to make the echo edges more rounded and suppress high-frequency noise; maximum value filtering preserves the strong reflection characteristics of the target and avoids the target being weakened by smoothing; circular / cross operator switching, the circular operator enhances all-round smoothing, and the cross operator preserves the edge features of linear targets (such as ships and coastlines) to improve the recognition of different types of targets.

[0032] For example: when the edge sharpness is high and the noise is low, the edge sharpness E_edge>0.8 and the noise N_intensity<0.3. In this case, the parameters are selected as D=2 (cross operator), E=1 (weighted mean filter), and N=1 (small operator, preserve the edge). When the edge sharpness is low and the noise is high, with edge sharpness E_edge < 0.5 and noise N_intensity > 0.6, the parameters D=1 (circular operator), E=2 (maximum value filtering), and N=2 (large operator, strong noise reduction) are selected. When the edge sharpness and noise are moderate, select parameters D=1 (circular operator), E=1 (weighted mean filter), and N=1 (balance effect). After completing the entire process of each scan line (bearing) (compression → inter-frame correlation → line correlation → filtering), update the global variable ilast=bearing as the reference benchmark for the next scan line; The present invention utilizes a dual correlation processing technique of "inter-frame correlation + line correlation". Inter-frame correlation takes the time series as the dimension and distinguishes the actual target motion from interference fluctuations through correlation analysis of continuous frame echo data. Line correlation takes the spatial distribution as the dimension and focuses on the echo continuity of radar scan lines (azimuth lines / range lines), which can accurately repair lost line data and improve the stability of the echo.

[0033] By utilizing a two-dimensional filtering system of "multi-operator combination + adaptive weighting", the shape optimization capabilities of circular and cross filtering operators are integrated, and the gradient smoothing characteristics of weighted filtering and the target feature retention advantages of maximum value filtering are combined to improve the roundness of the echo.

[0034] like Figure 7 As shown, embodiments of the present invention also provide a radar echo image processing apparatus 70, comprising: Acquisition module 71 is used to acquire initial radar echo data; The processing module 72 is used to perform mean compression on the initial radar echo data according to a preset mean compression rate to obtain first radar echo data; to perform hierarchical association on the first radar echo data according to a preset inter-frame correlation number to obtain second radar echo data; to perform line loss repair on the second radar echo data according to the line loss judgment result to obtain third radar echo data; and to perform adaptive filtering on the third radar echo data according to preset filtering parameters to obtain target radar echo data.

[0035] Optionally, the initial radar echo data is subjected to mean compression according to a preset mean compression ratio to obtain first radar echo data, including: The initial radar echo data are superimposed on each compressed window at the current azimuth angle to obtain the window superposition result; The window overlay result is calculated with a preset average compression rate to obtain the first radar echo data.

[0036] Optionally, the process of determining the preset inter-frame correlation number includes: The frame correlation coefficient is obtained based on the first radar echo data and the radar echo data of the previous frame. Based on the comparison between the frame correlation coefficient and the second threshold, a preset inter-frame correlation number is determined.

[0037] Optionally, the first radar echo data is hierarchically correlated according to a preset inter-frame correlation number to obtain the second radar echo data, including: The second radar echo data is obtained by fusing the first radar echo data with the radar echo data of the previous frame with a preset inter-frame correlation number.

[0038] Optionally, based on the line loss judgment result, the second radar echo data is repaired to obtain the third radar echo data, including: The azimuth of the second radar echo data is compared with the azimuth of the processed scan lines to obtain the line loss judgment result; If the result of the line loss judgment is a line loss, then the previous frame of data in the same azimuth corresponding to the second radar echo data will be used as the third radar echo data. If the result of the line loss determination is no line loss, then the second radar echo data is used as the third radar echo data.

[0039] Optionally, the third radar echo data is adaptively filtered according to preset filtering parameters to obtain target radar echo data, including: Based on the edge sharpness and noise intensity of the third radar echo data, preset filtering parameters are determined; the preset filtering parameters include filter type, filter operator, and operator value; According to the preset filtering parameters, adaptive filtering is performed using the neighboring pixel data of the third radar echo data to obtain the target radar echo data.

[0040] It should be noted that all implementation methods in the above method embodiments are applicable to the embodiments of this device and can achieve the same technical effect.

[0041] Embodiments of the present invention also provide a computing device, including: one or more processors; and a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the radar echo image processing method of the present invention. All implementations in the above method embodiments are applicable to the embodiments of this computing device and can achieve the same technical effects.

[0042] Embodiments of the present invention also provide a computer-readable storage medium storing a program that, when executed by a processor, implements the radar echo image processing method described in this invention. All implementations in the above method embodiments are applicable to the embodiments of this computer-readable storage medium and achieve the same technical effects.

[0043] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0044] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0045] In the embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0046] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0047] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0048] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0049] Furthermore, it should be noted that in the apparatus and method of the present invention, it is obvious that the components or steps can be decomposed and / or recombined. These decompositions and / or recombinations should be considered equivalent solutions of the present invention. Moreover, the steps performing the above series of processes can naturally be executed in the order described, but are not necessarily required to be executed in chronological order; some steps can be executed in parallel or independently of each other. Those skilled in the art will understand that all or any step or component of the method and apparatus of the present invention can be implemented in any computing device (including processors, storage media, etc.) or network of computing devices, in hardware, firmware, software, or a combination thereof. This is something that those skilled in the art can achieve by using their basic programming skills after reading the description of the present invention.

[0050] Therefore, the object of the present invention can also be achieved by running a program or a set of programs on any computing device. The computing device can be a known general-purpose device. Therefore, the object of the present invention can also be achieved simply by providing a program product containing program code for implementing the method or apparatus. That is, such a program product also constitutes the present invention, and the storage medium storing such a program product also constitutes the present invention. Obviously, the storage medium can be any known storage medium or any storage medium developed in the future. It should also be noted that in the apparatus and method of the present invention, it is obvious that the components or steps can be decomposed and / or recombined. These decompositions and / or recombinations should be considered equivalent to the present invention. Furthermore, the steps for performing the above series of processes can naturally be performed in the order described, but are not necessarily required to be performed in chronological order. Some steps can be performed in parallel or independently of each other.

[0051] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A radar echo image processing method, characterized in that, include: Acquire initial radar echo data; The initial radar echo data is compressed by means according to a preset mean compression ratio to obtain the first radar echo data. According to a preset inter-frame correlation number, the first radar echo data is hierarchically correlated to obtain the second radar echo data; Based on the line loss judgment result, the second radar echo data is repaired to obtain the third radar echo data; The third radar echo data is adaptively filtered according to preset filtering parameters to obtain the target radar echo data.

2. The radar echo image processing method according to claim 1, characterized in that, The initial radar echo data is compressed according to a preset average compression ratio to obtain first radar echo data, including: The initial radar echo data are superimposed on each compressed window at the current azimuth angle to obtain the window superposition result; The window overlay result is calculated with a preset average compression rate to obtain the first radar echo data.

3. The radar echo image processing method according to claim 1, characterized in that, The process of determining the preset inter-frame correlation number includes: The frame correlation coefficient is obtained based on the first radar echo data and the radar echo data of the previous frame. Based on the comparison between the frame correlation coefficient and the second threshold, a preset inter-frame correlation number is determined.

4. The radar echo image processing method according to claim 1, characterized in that, According to a preset inter-frame correlation number, the first radar echo data is hierarchically correlated to obtain the second radar echo data, including: The second radar echo data is obtained by fusing the first radar echo data with the radar echo data of the previous frame with a preset inter-frame correlation number.

5. The radar echo image processing method according to claim 1, characterized in that, Based on the line loss assessment result, the second radar echo data is repaired to obtain the third radar echo data, including: The azimuth of the second radar echo data is compared with the azimuth of the processed scan lines to obtain the line loss judgment result; If the result of the line loss judgment is a line loss, then the previous frame of data in the same azimuth corresponding to the second radar echo data will be used as the third radar echo data. If the result of the line loss determination is no line loss, then the second radar echo data is used as the third radar echo data.

6. The radar echo image processing method according to claim 1, characterized in that, Adaptive filtering is performed on the third radar echo data according to preset filtering parameters to obtain target radar echo data, including: Based on the edge sharpness and noise intensity of the third radar echo data, preset filtering parameters are determined; the preset filtering parameters include filter type, filter operator, and operator value; According to the preset filtering parameters, adaptive filtering is performed using the neighboring pixel data of the third radar echo data to obtain the target radar echo data.

7. A radar echo image processing device, characterized in that, include: The acquisition module is used to acquire initial radar echo data; The processing module is used to perform mean compression on the initial radar echo data according to a preset mean compression rate to obtain first radar echo data; perform hierarchical association on the first radar echo data according to a preset inter-frame correlation number to obtain second radar echo data; and perform line loss repair on the second radar echo data according to the line loss judgment result to obtain third radar echo data. The third radar echo data is adaptively filtered according to preset filtering parameters to obtain the target radar echo data.

8. A computing device, characterized in that, include: One or more processors; A storage device for storing one or more programs that, when executed by one or more processors, cause the one or more processors to implement the method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a program that, when executed by a processor, implements the method as described in any one of claims 1 to 6.

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