A golf ball hitting full parameter solving method, device and medium

Abstract

The application relates to the technical field of radar signal processing and golf data analysis, and discloses a golf hitting full-parameter solving method, device and medium, the method comprises the following steps: collecting radar original echo data containing club and golf reflection signals in a golf hitting process, performing frequency domain analysis and processing on the radar original echo data, generating frequency domain characteristic data containing target distance, speed and angle, and identifying a hitting event according to signal amplitude mutation and time characteristics, so that the club and golf movement data segments are effectively separated, on the basis, the separated signal segments are synchronously solved by using a preset multidimensional algorithm, and all key parameters including club head speed, golf initial speed, attack angle, take-off angle, left-right exit angle, flight peak height, flight time, flight distance, total distance, spin value and hitting effect value can be stably output at one time.

Description

Technical Field

[0001] This invention relates to the fields of radar signal processing and golf sports data analysis, specifically to a method, device, and medium for calculating all parameters of a golf shot. Background Technology

[0002] Golf shot parameters include club speed, ball speed, angle of attack, launch angle, backspin, flight distance, total distance, left and right azimuth angle, vertex height, and flight time. These are key indicators for evaluating swing quality, ball flight characteristics, and shot effectiveness.

[0003] Currently, in the field of golf parameter detection, existing technologies mostly rely on high-speed cameras, multi-frequency radar arrays, and high-precision inertial sensors. These solutions suffer from system complexity, high cost, and limitations imposed by lighting conditions. Applying 24GHz single-frequency radar to this scenario presents unique technical challenges: due to the extremely close distance and high speed between the club and the golf ball at the moment of impact, the reflected echo signals are severely aliased in the time and frequency domains, making accurate separation difficult. The backspin value, crucial for characterizing the ball's flight quality, cannot be directly calculated using only the amplitude and velocity information from single-frequency radar, presenting a problem in calculating rotational parameters. Under limited angular observation fields, fitting the three-dimensional parabolic trajectory of the golf ball using only radial distance and velocity information often results in insufficient accuracy. Furthermore, existing single-frequency radar-based solutions typically only output a few basic parameters such as ball speed and club speed, failing to comprehensively and synchronously provide all key parameters, including the angle of attack, takeoff angle, vertex height, flight time, flight distance, total distance, left and right azimuth angles, backspin value, and overall shot effect value. This makes it difficult to meet the needs of professional training and detailed analysis.

[0004] Therefore, a method, device, and medium for calculating all parameters of a golf shot are proposed to solve the above problems. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a method, apparatus, and medium for calculating all parameters of a golf shot, solving the problems of system complexity, high cost, and limitation by lighting conditions mentioned in the background.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a method, apparatus, and medium for calculating all parameters of a golf shot, wherein the method includes the following steps: S1. Collect raw radar echo data containing the reflected signals from the golf club and golf ball during the golf swing process; S2. Perform frequency domain analysis on the raw radar echo data to generate frequency domain feature data containing target range, velocity, and angle; S3. Based on frequency domain feature data, separate the club signal and golf ball signal to generate independent club motion feature data and golf ball motion feature data; S4. Based on the separated club motion characteristic data and golf ball motion characteristic data, accurately identify and time point calibrate the hitting event to generate hitting event identification data; S5. Extract club motion feature data and golf ball motion feature data within the time window before and after the moment of impact based on the impact event identifier data, and perform multi-dimensional impact parameter calculation to generate the original impact parameter set; S6. Based on the original set of hitting parameters and the pre-stored standard swing model and environmental parameters, perform parameter optimization and compensation processing to generate a standardized set of hitting parameters; S7. Call the data visualization engine to format, encapsulate, and output the standardized set of hitting parameters, generating a visual hitting analysis report.

[0007] Preferably, the acquisition of raw radar echo data in step S1 includes the following steps: S11. A 24GHz single-frequency continuous wave millimeter-wave radar deployed in front of the hitting area transmits radio frequency signals to a detection area containing the expected club swing path and the initial position of the golf ball. S12. Receive the echo signal formed by the moving golf club head and the reflected ball after being hit, and generate an intermediate frequency analog signal after mixing, filtering and amplification. S13. Perform analog-to-digital conversion on the intermediate frequency analog signal to obtain the raw radar echo data containing time series information.

[0008] Preferably, generating frequency domain feature data in step S2 includes the following steps: S21. The raw radar echo data is segmented according to a fixed time window, and a window function is applied to each segment of data before a fast Fourier transform is performed to generate a preliminary range-to-velocity spectrum. S22. Perform constant false alarm rate detection and peak search on the preliminary range-to-velocity spectrum, extract the range cells, Doppler frequency cells and angle values ​​of all potential targets, and form an initial target list; S23. Cluster and trajectory initiation processing are performed on the targets in the initial target list to filter out clutter and static background targets, and frequency domain feature data containing continuous frame information of each target is generated. The frequency domain feature data includes at least the distance, radial velocity, signal amplitude and signal-to-noise ratio of each target in each frame.

[0009] Preferably, the generation of independent club motion feature data and golf ball motion feature data in S3 includes the following steps: S31. Obtain frequency domain feature data; S32. Based on the continuity and kinematic constraints of the target motion trajectory, the target trajectory in the frequency domain feature data is correlated and tracked to distinguish at least two main motion trajectories. S33. Classify at least two main motion trajectories according to preset trajectory feature discrimination rules. The discrimination rules include: the orientation of the trajectory starting position relative to the radar, the initial velocity range of the trajectory, and the acceleration characteristics of the trajectory. Classify the trajectories that conform to the characteristics of golf club motion and generate golf club motion feature data. Classify the trajectories that conform to the characteristics of high-speed projectile motion and generate golf ball motion feature data.

[0010] Preferably, generating the ball-hitting event identifier data in step S4 includes the following steps: S41. Obtain club motion characteristic data and golf ball motion characteristic data; S42. On the time axis, detect abrupt changes in velocity in the golf ball motion characteristic data and mark these abrupt changes as suspected impact moments. ; S43, at the suspected moment of striking the ball Within a nearby time interval, analyze the velocity curve of the club's motion characteristic data to identify its peak velocity moment. ; S44. Calculate the suspected moment of impact. With peak speed Time difference ,when If the value is less than a preset threshold, a valid shot event is determined, and it is recorded as follows: Generate ball-hitting event identifier data with accurate ball-hitting timestamps as a baseline.

[0011] Preferably, generating the original set of hitting parameters in S5 includes the following steps: S51. Based on the ball-hitting event identifier data, determine the ball-hitting time and extract the club motion characteristic data and golf ball motion characteristic data within a preset time window before and after that time. S52. Based on the club motion characteristic data at the instant before impact, the clubhead velocity is calculated by Doppler frequency integration and coordinate transformation. S53. Based on the golf ball motion characteristic data at the instant after impact, the three-dimensional initial velocity vector of the golf ball is calculated through radial velocity decomposition and beam angle compensation, and then the ball speed, takeoff angle and attack angle are obtained. S54. Based on the distance and speed information in the continuous golf ball motion characteristic data after the ball is hit, the flight trajectory of the golf ball is predicted by curve fitting, and the flight vertex height, flight time and flight distance are calculated. S55. Based on the phase history changes of the echo signal in the golf ball motion characteristic data, the backspin value of the golf ball is calculated by phase difference and spectrum analysis. S56 integrates clubhead speed, ball speed, launch angle, attack angle, flight apex height, flight time, flight distance, and backspin value to form the original set of hitting parameters.

[0012] Preferably, generating the standardized hitting parameter set in S6 includes the following steps: S61. Establish a standard swing model database containing parameters of the ideal swing model; S62. Obtain the original set of hitting parameters and read the current environmental parameters, including but not limited to radar installation elevation angle and ambient temperature and humidity; S63. Perform geometric compensation correction on the angle-type parameters in the original ball-hitting parameter set according to the radar installation elevation angle; S64. Perform multi-dimensional similarity matching calculations between the compensated and corrected parameters and the corresponding model parameters in the standard swing model database to generate a comprehensive shot performance score. S65. Integrate the shot effect score with all parameters after compensation and correction to generate a standardized set of shot parameters including clubhead speed, initial velocity of the golf ball, angle of attack, takeoff angle, height of the top of flight, flight time, flight distance, total distance, left and right azimuth angle, backspin value, and shot effect value.

[0013] Preferably, generating a visual shot analysis report in step S7 includes the following steps: S71. Bind the standardized set of hitting parameters with user identity information and hitting timestamp to generate a structured result data packet; S72. Call the graphics rendering engine and convert the values ​​in the structured result data package into visual chart elements according to the predefined data-to-graphics mapping rules; S73. Combine visual chart elements with text description templates to generate a visual shot analysis report that includes data tables, line graphs, radar charts, and swing suggestions, and output it to a display device via wired and wireless interfaces.

[0014] Preferably, the device includes: The radar signal acquisition and preprocessing module transmits 24GHz continuous wave radar signals to the hitting area, and receives, mixes, filters, and performs analog-to-digital conversion of the echo signals reflected by the golf ball and club, and outputs the raw radar echo data. The signal analysis and feature extraction module is connected to the radar signal acquisition and preprocessing module. It performs frequency domain transformation, target detection and tracking on the raw radar echo data, and generates frequency domain feature data containing target distance, speed and amplitude. The target separation and event recognition module is connected to the signal analysis and feature extraction module. It performs trajectory analysis and classification on the frequency domain feature data, separates the club motion feature data and the golf ball motion feature data, and identifies the hitting event based on the temporal relationship between the two, generating hitting event identification data. The core parameter calculation module, connected to the target separation and event recognition module, extracts motion features of key time windows based on the ball-hitting event identifier data. Through Doppler analysis, trajectory fitting, and phase analysis algorithms, it calculates clubhead speed, ball speed, angle of attack, launch angle, vertex height, flight time, flight distance, left and right azimuth angles, and backspin value to generate the original set of ball-hitting parameters. The parameter optimization and model comparison module is connected to the core parameter calculation module. It has a built-in standard swing model database, performs environmental error compensation on the original set of hitting parameters, and calculates similarity with the standard model to generate a standardized set of hitting parameters that includes a hitting effect score. The results generation and output module connects to the parameter optimization and model comparison module, encapsulates the standardized set of hitting parameters into structured data, and drives the visualization engine to generate and output a visual hitting analysis report.

[0015] Preferably, when the computer program is executed by the processor, it implements the golf shot full parameter calculation method according to any one of claims 1 to 8.

[0016] Compared with the prior art, the present invention provides a method, device and medium for calculating all parameters of a golf shot, which has the following beneficial effects: 1. In this invention, when calculating golf shot parameters, a 24GHz single-frequency radar is used to collect signals, and the shot event is identified based on signal amplitude abrupt changes and time characteristics. This achieves effective separation of the club and golf ball motion data segments, solving the problem of signal aliasing between the ball and club under single-frequency radar. On this basis, a preset multi-dimensional algorithm is used to synchronously calculate the separated signal segments, which can stably output all key parameters at once, including clubhead speed, initial golf ball velocity, angle of attack, takeoff angle, flight vertex height, flight time, flight distance, total distance, left and right azimuth angles, backspin value, and shot effect value. This overcomes the limitation of insufficient full parameter output capability of existing solutions and provides a complete data foundation for swing analysis.

[0017] 2. In this invention, when calculating golf ball striking parameters, multi-frame fusion and rotating Doppler decomposition are performed on the phase change rate of the golf ball echo signal to achieve accurate calculation of the backspin value, overcoming the technical difficulty of single-frequency radar in calculating rotation parameters. At the same time, trajectory fitting is performed on continuous radar ranging data based on a quadratic curve model to calculate the flight vertex height, and the flight distance and total distance are calculated by combining displacement integral and field parameter compensation, which improves the inversion accuracy of the three-dimensional flight trajectory of the golf ball under limited observation angle and improves the problem of low trajectory fitting accuracy.

[0018] 3. In this invention, when calculating golf shot parameters, various original shot parameters are obtained step by step from the original radar echo. Finally, the angle of attack and launch angle parameters are compensated for by the installation tilt angle, and environmental noise is smoothed to output standardized detection results. This process constructs a complete and closed technical chain from the original signal to the standardized full parameter set, ensuring the engineering reliability of the parameter solution. In particular, by integrating the similarity between clubhead speed, initial golf ball velocity, angle of attack, launch angle, backspin value and standard swing model, the shot effect value is quantified, providing a comprehensive evaluation of shot quality and enhancing the application value of this method in intelligent golf training and equipment. Attached Figure Description

[0019] Figure 1 This is a flowchart of a method for calculating all parameters of a golf shot according to the present invention; Figure 2 This is a structural diagram of the golf shot full parameter calculation device of the present invention. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Please see Figures 1 to 2 This invention relates to a method, apparatus, and medium for calculating all parameters of a golf shot. The method includes the following steps: S1. Collect raw radar echo data containing the reflected signals from the golf club and golf ball during the golf swing process; S2. Perform frequency domain analysis on the raw radar echo data to generate frequency domain feature data containing target range, velocity, and amplitude; S3. Based on frequency domain feature data, separate the club signal and golf ball signal to generate independent club motion feature data and golf ball motion feature data; S4. Based on the separated club motion characteristic data and golf ball motion characteristic data, accurately identify and time point calibrate the hitting event to generate hitting event identification data; S5. Extract club motion feature data and golf ball motion feature data within the time window before and after the moment of impact based on the impact event identifier data, and perform multi-dimensional impact parameter calculation to generate the original impact parameter set; S6. Based on the original set of hitting parameters and the pre-stored standard swing model and environmental parameters, perform parameter optimization and compensation processing to generate a standardized set of hitting parameters; S7. Call the data visualization engine to format, encapsulate, and output the standardized set of hitting parameters, generating a visual hitting analysis report.

[0022] The acquisition of raw radar echo data in S1 includes the following steps: S11. A 24GHz single-frequency continuous wave millimeter-wave radar deployed in front of the hitting area transmits radio frequency signals to a detection area containing the expected club swing path and the initial position of the golf ball. S12. Receive the echo signal formed by the moving golf club head and the reflected ball after being hit, and generate an intermediate frequency analog signal after mixing, filtering and amplification. S13. Perform analog-to-digital conversion on the intermediate frequency analog signal to obtain the raw radar echo data containing time series information.

[0023] The generation of frequency domain feature data in S2 includes the following steps: S21. The raw radar echo data is segmented according to a fixed time window, and a window function is applied to each segment before performing a fast Fourier transform to generate a preliminary range-to-velocity spectrum. The specific implementation method is as follows: First, the raw radar echo data Based on fixed time window length Divide the array into segments and apply a window function to each segment. To suppress spectral leakage, a Fast Fourier Transform is performed on each windowed data set to transform it into the frequency domain, generating a preliminary two-dimensional spectrum containing distance and velocity information, as shown in the following formula: ; In the formula, It is the input raw radar echo data. It is the index of time-domain sampling points. It is applied to the first Window function values ​​over a time period It is an index for a time period. It is a rectangular window function. It is a fixed length for each segment. It is the output two-dimensional complex spectrum. For distance cell index, The total number of time-domain sampling points. This is the bottom of the index; S22. Perform constant false alarm rate detection and peak search on the preliminary range-to-velocity spectrum to extract the range cells, Doppler frequency cells, and amplitude values ​​of all potential targets, forming an initial target list. The specific implementation method is as follows: The distance-to-velocity spectrum obtained above Constant false alarm rate (CFAR) detection can automatically detect potential real target points amidst background noise and clutter. This process involves adaptively calculating the detection threshold. To achieve this, peak points with amplitudes exceeding the threshold are searched, and their corresponding range cells, Doppler frequency cells, and amplitudes are extracted to form an initial target list, as shown in the following formula: The judgment criteria are ; In the formula, These are estimates of the background noise and clutter power surrounding the unit under test. It is a scalar coefficient calculated based on a preset constant false alarm probability. It is the signal power of the unit under test; When the power of the detection unit exceeds the threshold At that time, the unit was identified as a potential target, and its position and magnitude were recorded; S23. Cluster and trajectory initiation processing are performed on the targets in the initial target list to filter out clutter and static background targets, generating frequency domain feature data containing continuous frame information of each target. The frequency domain feature data includes at least the distance, radial velocity, signal amplitude, and signal-to-noise ratio of each target in each frame. The specific implementation method is as follows: Cluster analysis is performed on the points in the initial target list to group spatially close points into the same potential target, thus filtering out random noise and isolated clutter. Simultaneously, points of the same target are associated across multiple consecutive radar processing frames, their motion trajectories are initiated, and static background targets are filtered out. Finally, frequency domain feature data containing continuous and stable state information of each target in each frame is output, as shown in the following formula: ,in ; In the formula, It is a feature vector of a point trace. For distance cell index, For Doppler cell indexing, Indicates the first One cluster, It is the center of this cluster. It is a transpose operator. The total number of clusters, For indexing; This formula represents the process of iterative optimization to find all the dots. Classified to Clusters In this case, the sum of the squared Euclidean distances from each point to its respective cluster center is minimized.

[0024] Generating independent club motion feature data and golf ball motion feature data in S3 includes the following steps: S31. Obtain frequency domain feature data; S32. Based on the continuity and kinematic constraints of the target motion trajectory, the target trajectory in the frequency domain feature data is correlated and tracked to distinguish at least two main motion trajectories. S33. Classify at least two main motion trajectories according to preset trajectory feature discrimination rules. The discrimination rules include: the orientation of the trajectory starting position relative to the radar, the initial velocity range of the trajectory, and the acceleration characteristics of the trajectory. Classify the trajectories that conform to the characteristics of golf club motion and generate golf club motion feature data. Classify the trajectories that conform to the characteristics of high-speed projectile motion and generate golf ball motion feature data.

[0025] Generating ball-hitting event identifier data in S4 includes the following steps: S41. Obtain club motion characteristic data and golf ball motion characteristic data; S42. On the time axis, detect abrupt changes in velocity in the golf ball motion characteristic data and mark these abrupt changes as suspected impact moments. ; S43, at the suspected moment of striking the ball Within a nearby time interval, analyze the velocity curve of the club's motion characteristic data to identify its peak velocity moment. ; S44. Calculate the suspected moment of impact. With peak speed Time difference ,when If the value is less than a preset threshold, a valid shot event is determined, and it is recorded as follows: Generate ball-hitting event identifier data with accurate ball-hitting timestamps as a baseline.

[0026] Generating the initial set of hitting parameters in S5 includes the following steps: S51. Based on the ball-hitting event identifier data, determine the ball-hitting time and extract the club motion characteristic data and golf ball motion characteristic data within a preset time window before and after that time. S52. Based on the club motion feature data at the instant before impact, the clubhead velocity is calculated through Doppler frequency integration and coordinate transformation. The clubhead velocity calculation is based on the club motion feature data within the time frame preceding the impact event, extracting its radial velocity. Since radar measures the radial velocity of the target along its line of sight, while clubhead speed is the magnitude of its true three-dimensional velocity, a conversion needs to be made using the known radar installation geometry. Assuming that in the extremely short time before impact, the main force of the clubhead's motion lies within the plane formed by the radar and the point of impact, then the clubhead speed... It can be obtained by dividing the radial velocity by the cosine of the direction, as shown in the following formula: ,in ,and ; In the formula, It is the radial velocity of the club measured by radar just before impact. It is the radar's installation elevation angle. It is the height of the radar relative to the point of impact. It is the distance to the club measured by radar at the instant before impact. It is the elevation angle of the hitting point relative to the radar. It is the angle between the direction of the pole head's movement and the radar's line of sight; Through this geometric compensation, the true clubhead speed can finally be calculated. ; S53. Based on the golf ball motion characteristic data immediately after impact, the three-dimensional initial velocity vector of the golf ball is calculated through radial velocity decomposition and beam angle compensation, thereby obtaining the ball speed, launch angle, and angle of attack. The calculation of the three-dimensional initial velocity vector, ball speed, launch angle, and angle of attack of the golf ball is based on the golf ball motion characteristic data within the first few time frames after the impact event, extracting its radial velocity. and distance The initial velocity vector of the ball in three-dimensional space requires two or more different but very close radial velocity measurements to decompose it. This is achieved by analyzing the radial velocity and distance changes of the ball over a very short time, combined with the radar's installation elevation angle. Solve its three-dimensional initial velocity vector The formula is as follows: Horizontal velocity component: ,in ; Vertical velocity component: ,in ; Lateral velocity component: considered as 0 in this simplified model; In the formula, This indicates how far the ball traveled horizontally. This indicates how much the ball has risen and fallen vertically. , That corresponds to the distance of the ball. It is the time interval between radar frames. It is the horizontal velocity component of the ball. It is the vertical velocity component; Therefore, we can conclude that: Ball speed: ; Takeoff angle: That is, the angle between the initial velocity vector and the horizontal plane; Attack angle: ,in It is the preset loft angle of the clubface. This simplified formula reflects the relationship between the ball launch angle and the clubface angle. S54. Based on the distance and velocity information in the continuous golf ball motion characteristic data after impact, the flight trajectory of the golf ball is predicted by curve fitting, and the flight vertex height, flight time, and flight distance are calculated. The flight trajectory parameters are calculated based on the distance sequence in the golf ball motion characteristic data over a continuous period after impact. Its flight trajectory is predicted by curve fitting. Assuming that air resistance has a fixed effect on the model in the initial short distance, the trajectory can be approximated as a parabola, as shown in the following formula: Let the vertical height of the fit be Horizontal distance The relationship is: ; In the formula, It is the horizontal displacement of the ball. It is the vertical height of the ball. These are the coefficients obtained from the fitting process; Therefore, the following can be calculated: Flight peak height: ; Flight time: Solving equations Get the time it takes for the ball to fall back to its initial height. Ignoring the slight difference between launch and landing altitudes; Flight distance: ; S55. Based on the phase history changes of the echo signal in the golf ball motion characteristic data, the backspin value of the golf ball is calculated through phase difference and spectrum analysis. The calculation of the golf ball backspin value is based on the phase history of the radar echo signal in the golf ball motion characteristic data. Analysis reveals that the sphere's spin causes minute radial velocity differences at different points on its surface, thus modulating the phase change rate of the echo signal. By using high-precision phase difference analysis to obtain the instantaneous frequency change, and combining this with the known geometric dimensions, its rotational speed can be calculated using the following formula: Instantaneous Doppler shift: ; Ball spin value: ; In the formula, It is the phase of the echo signal received by the radar and reflected from the sphere. The additional Doppler shift is caused by the sphere's spin. It is the wavelength of the radar signal. It is the radius of the golf ball. Pi; The formula calculates the rotational angular velocity corresponding to the linear velocity of the sphere's surface. Multiplying this by 60 converts it to a commonly used backspin value. ; S56 integrates clubhead speed, ball speed, launch angle, attack angle, flight apex height, flight time, flight distance, and backspin value to form the original set of hitting parameters.

[0027] Generating a standardized set of hitting parameters in S6 involves the following steps: S61. Establish a standard swing model database containing parameters of the ideal swing model; S62. Obtain the original set of hitting parameters and read the current environmental parameters, including but not limited to radar installation elevation angle and ambient temperature and humidity; S63. Perform geometric compensation correction on the angle parameters in the original shot parameter set based on the radar installation elevation angle. This step corrects the systematic errors introduced by the non-ideal horizontal orientation of the radar installation. The core correction targets are the attack angle and takeoff angle. The original angles measured by the radar are based on its own line-of-sight coordinate system and need to be compensated to the standard horizontal coordinate system. Corrected Model and Formula: Assume the radar has a fixed elevation angle. For any original measurement angle It corrects to the true angle in the horizontal coordinate system. for: ; In the formula, It is the raw angle value relative to the radar line of sight, calculated directly from radar data. It is the radar's installation elevation angle. It is the true angle value defined in the standard horizontal ground coordinate system after compensation and correction; This correction ensures that all angular parameters have a uniform geometric reference; S64. Perform multi-dimensional similarity matching calculations between the compensated and corrected parameters and the corresponding model parameters in the standard swing model database to generate a comprehensive shot performance score. This step compares the corrected parameter set with the standard swing model database, which stores the ideal parameter range for players of different skill levels and different clubs. Normalization and weighted distance calculation: First, for the corrected... The key parameters are normalized to eliminate the influence of dimensions, and then the multi-dimensional weighted Euclidean distance with the target model is calculated as a measure of dissimilarity. ; Rating mapping: Calculating the weighted distance This is mapped to an intuitive percentage score; the smaller the distance, the closer it is to the ideal model, and the higher the score. ; In the formula, It is the first The corrected measured parameter values. and It is the first in the standard model The mean and standard deviation of each parameter, It is to give the first The weights of each parameter, It is the calculated weighted Euclidean distance. It is a preset maximum effective distance threshold. For indexing; when If the deviation is too large, the score is 0, and the final result is... This is the overall hitting effect score, which directly quantifies the degree to which a single hitting action matches the target standard model; S65. Integrate the shot effect score with all parameters after compensation and correction to generate a standardized set of shot parameters including clubhead speed, initial velocity of the golf ball, angle of attack, takeoff angle, height of the top of flight, flight time, flight distance, total distance, left and right azimuth angle, backspin value, and shot effect value.

[0028] Generating a visual shot analysis report in S7 involves the following steps: S71. Bind the standardized set of hitting parameters with user identity information and hitting timestamp to generate a structured result data packet; S72. Call the graphics rendering engine and convert the values ​​in the structured result data package into visual chart elements according to the predefined data-to-graphics mapping rules; S73. Combine visual chart elements with text description templates to generate a visual shot analysis report that includes data tables, line graphs, radar charts, and swing suggestions, and output it to a display device via wired and wireless interfaces.

[0029] The device includes: The radar signal acquisition and preprocessing module transmits 24GHz continuous wave radar signals to the hitting area, and receives, mixes, filters, and performs analog-to-digital conversion of the echo signals reflected by the golf ball and club, and outputs the raw radar echo data. The signal analysis and feature extraction module is connected to the radar signal acquisition and preprocessing module. It performs frequency domain transformation, target detection and tracking on the raw radar echo data, and generates frequency domain feature data containing target distance, velocity and angle. The target separation and event recognition module is connected to the signal analysis and feature extraction module. It performs trajectory analysis and classification on the frequency domain feature data, separates the club motion feature data and the golf ball motion feature data, and identifies the hitting event based on the temporal relationship between the two, generating hitting event identification data. The core parameter calculation module, connected to the target separation and event recognition module, extracts motion features of key time windows based on the ball-hitting event identifier data. Through Doppler analysis, trajectory fitting, and phase analysis algorithms, it calculates clubhead speed, ball speed, angle of attack, launch angle, vertex height, flight time, flight distance, left and right azimuth angles, and backspin value to generate the original set of ball-hitting parameters. The parameter optimization and model comparison module is connected to the core parameter calculation module. It has a built-in standard swing model database, performs environmental error compensation on the original set of hitting parameters, and calculates similarity with the standard model to generate a standardized set of hitting parameters that includes a hitting effect score. The results generation and output module connects to the parameter optimization and model comparison module, encapsulates the standardized set of hitting parameters into structured data, and drives the visualization engine to generate and output a visual hitting analysis report.

[0030] When a computer program is executed by a processor, it implements a method for calculating all parameters of a golf shot according to any one of claims 1 to 8.

[0031] The following are the steps of a method, device, and medium for calculating all parameters of a golf shot: Step 1: Acquisition of raw radar echo data: The starting point of this method is to actively transmit radio frequency signals into an area containing the expected swing path and the initial position of the ball by deploying a 24 GHz single-frequency continuous wave millimeter-wave radar in front of the hitting area. The radar then receives the echo signals reflected back by the moving clubhead and the golf ball after being hit. After mixing, filtering, amplification and analog-to-digital conversion, the mixed signal forms a digital intermediate frequency signal containing time series information, which is the radar raw echo data, providing the raw signal source for subsequent processing.

[0032] Step 2: Frequency Domain Analysis and Feature Extraction After obtaining the original time-domain signal, it needs to be converted to the frequency domain to extract the target's distance and velocity information. The specific principle is as follows: First, the original data is windowed and segmented for Fast Fourier Transform to generate a preliminary two-dimensional spectrum from distance to velocity. Then, constant false alarm rate detection and peak search are performed on the spectrum to identify all potential target points. Finally, through clustering and trajectory initiation algorithms, these points are associated into a continuous and stable target trajectory, and clutter is filtered out. The final output is "frequency domain feature data" containing the distance, radial velocity, signal amplitude, and signal-to-noise ratio of each target at each moment.

[0033] Step 3: Separate the club and golf ball signals: Since the radar receives a mixed echo of the club and the ball, it must be separated. The principle of this step is based on the difference in the motion characteristics of the two: in the obtained frequency domain feature data, the system tracks multiple motion trajectories and classifies them according to preset discrimination rules. Trajectories that conform to the characteristics of a swing motion are identified as "club motion feature data", and trajectories that conform to the characteristics of a high-speed projectile are identified as "golf ball motion feature data", thereby achieving physical separation of the signals.

[0034] Step 4: Accurate identification and labeling of ball-hitting events: After separating the motion data of the two, it is necessary to accurately find the moment of impact. The principle is to simultaneously analyze the velocity change curves of the ball and the club: first, detect the point where the golf ball's velocity suddenly jumps, and mark it as the suspected moment of impact. Subsequently, Within a nearby time interval, find the moment when the club's speed reaches its peak. Calculate T1 and The time difference is considered valid if it is less than a very small preset threshold. It generates accurate "hit event identification data" as a benchmark, providing a unified time benchmark for all parameter calculations.

[0035] Step 5: Calculation of multi-dimensional hitting parameters: Once the precise moment of impact is known, various parameters can be calculated. The principle of this step is to extract the motion characteristic data of the ball and club separated within the key time window before and after the moment of impact, and apply specific physical and geometric models for calculation: using the radial velocity of the clubhead just before impact and the geometric relationship of the radar installation, the true clubhead velocity is calculated; using the change in the radial velocity and distance of the ball just after impact, its three-dimensional initial velocity vector is decomposed, and then the ball speed, launch angle, attack angle, and left and right angles are calculated; based on the continuous distance sequence after the ball is hit, the flight trajectory is predicted by parabolic fitting, and the flight vertex height, flight time, and flight distance are calculated; by analyzing the phase history rate of change of the ball's echo signal, its backspin value is calculated; finally, all the above parameters are integrated to form the "original set of impact parameters".

[0036] Step Six: Parameter Optimization and Standardization The raw parameters directly calculated include measurement errors and system biases. This step aims to optimize and standardize them. The principle involves two aspects: First, system error compensation, which mainly involves geometrically correcting the angle parameters of the attack angle and takeoff angle based on the actual installation pitch angle of the radar, unifying them under the standard horizontal coordinate system. Second, comprehensive effect evaluation, which involves performing multi-dimensional similarity matching calculations between the compensated parameter set and the ideal parameter range of the corresponding club in the pre-stored "standard swing model database" to generate a quantitative "striking effect score". Finally, all corrected parameters and scores are integrated to generate a "standardized hitting parameter set".

[0037] Step 7: Visual Report Generation and Output The final step is to transform the data results into a user-readable format. This is achieved by calling a data visualization engine: first, a standardized set of parameters is bound to user and time information and encapsulated into a structured data package; then, according to preset mapping rules, the values ​​in the data package are automatically converted into graphical elements such as charts and curves; finally, these visualization elements are combined with text templates to automatically generate a "visualized shot analysis report" containing data tables, trend charts, radar charts, and personalized swing suggestions, and output to a display device via wired and wireless means, completing a full closed loop from raw signals to intuitive guidance.

[0038] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, 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 said element.

[0039] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A method for calculating all parameters of a golf shot, characterized in that, The method includes the following steps: S1. Collect raw radar echo data containing the reflected signals from the golf club and golf ball during the golf swing process; S2. Perform frequency domain analysis on the raw radar echo data to generate frequency domain feature data containing target range, velocity, and angle; S3. Based on frequency domain feature data, separate the club signal and golf ball signal to generate independent club motion feature data and golf ball motion feature data; S4. Based on the separated club motion characteristic data and golf ball motion characteristic data, accurately identify and time point calibrate the hitting event to generate hitting event identification data; S5. Extract club motion feature data and golf ball motion feature data within the time window before and after the moment of impact based on the impact event identifier data, and perform multi-dimensional impact parameter calculation to generate the original impact parameter set; S6. Based on the original set of hitting parameters and the pre-stored standard swing model and environmental parameters, perform parameter optimization and compensation processing to generate a standardized set of hitting parameters; S7. Call the data visualization engine to format, encapsulate, and output the standardized set of hitting parameters, generating a visual hitting analysis report.

2. The method for calculating all parameters of a golf shot according to claim 1, characterized in that, The acquisition of raw radar echo data in S1 includes the following steps: S11. By deploying a 24GHz single-frequency continuous wave millimeter-wave radar directly behind the hitting area, radio frequency signals are transmitted to the detection area containing the expected club swing path and the initial position of the golf ball. S12. Receive the echo signal formed by the moving golf club head and the reflected ball after being hit, and generate an intermediate frequency analog signal after mixing, filtering and amplification. S13. Perform analog-to-digital conversion on the intermediate frequency analog signal to obtain the raw radar echo data containing time series information.

3. A method for calculating all parameters of a golf shot according to claim 2, characterized in that, The generation of frequency domain feature data in S2 includes the following steps: S21. The raw radar echo data is segmented according to a fixed time window, and a window function is applied to each segment of data before a fast Fourier transform is performed to generate a preliminary range-to-velocity spectrum. S22. Perform constant false alarm rate detection and peak search on the preliminary range-to-velocity spectrum, extract the range cells, Doppler frequency cells and amplitude values ​​of all potential targets, and form an initial target list; S23. Cluster and trajectory initiation processing are performed on the targets in the initial target list to filter out clutter and static background targets, and frequency domain feature data containing continuous frame information of each target is generated. The frequency domain feature data includes at least the distance, radial velocity, signal amplitude and signal-to-noise ratio of each target in each frame.

4. A method for calculating all parameters of a golf shot according to claim 3, characterized in that, The process of generating independent club motion feature data and golf ball motion feature data in S3 includes the following steps: S31. Obtain frequency domain feature data; S32. Based on the continuity and kinematic constraints of the target motion trajectory, the target trajectory in the frequency domain feature data is correlated and tracked to distinguish at least two main motion trajectories. S33. Classify at least two main motion trajectories according to preset trajectory feature discrimination rules. The discrimination rules include: the orientation of the trajectory starting position relative to the radar, the initial velocity range of the trajectory, and the acceleration characteristics of the trajectory. Classify the trajectories that conform to the characteristics of golf club motion and generate golf club motion feature data. Classify the trajectories that conform to the characteristics of high-speed projectile motion and generate golf ball motion feature data.

5. A method for calculating all parameters of a golf shot according to claim 4, characterized in that, The process of generating ball-hitting event identifier data in S4 includes the following steps: S41. Obtain club motion characteristic data and golf ball motion characteristic data; S42. On the time axis, detect abrupt changes in velocity in the golf ball motion characteristic data and mark these abrupt changes as suspected impact moments. ; S43, at the suspected moment of striking the ball Within a nearby time interval, analyze the velocity curve of the club's motion characteristic data to identify its peak velocity moment. ; S44. Calculate the suspected moment of impact. With peak speed Time difference ,when If the value is less than a preset threshold, a valid shot event is determined, and it is recorded as follows: Generate ball-hitting event identifier data with accurate ball-hitting timestamps as a baseline.

6. A method for calculating all parameters of a golf shot according to claim 5, characterized in that, The process of generating the original set of hitting parameters in S5 includes the following steps: S51. Based on the ball-hitting event identifier data, determine the ball-hitting time and extract the club motion characteristic data and golf ball motion characteristic data within a preset time window before and after that time. S52. Based on the club motion characteristic data at the instant before impact, the clubhead velocity is calculated by Doppler frequency integration and coordinate transformation. S53. Based on the golf ball motion characteristic data at the instant after impact, the three-dimensional initial velocity vector of the golf ball is calculated through radial velocity decomposition and beam angle compensation, and then the ball speed, takeoff angle, attack angle and left and right direction angle are obtained. S54. Based on the distance and speed information in the continuous golf ball motion characteristic data after the ball is hit, the flight trajectory of the golf ball is predicted by curve fitting, and the flight vertex height, flight time and flight distance are calculated. S55. Based on the phase history changes of the echo signal in the golf ball motion characteristic data, the backspin value of the golf ball is calculated by phase difference and spectrum analysis. The S56 integrates clubhead speed, ball speed, launch angle, attack angle, flight apex height, flight time, flight distance, left and right azimuth angles, and backspin values ​​to form the original set of hitting parameters.

7. A method for calculating all parameters of a golf shot according to claim 6, characterized in that, The process of generating a standardized set of hitting parameters in S6 includes the following steps: S61. Establish a standard swing model database containing parameters of the ideal swing model; S62. Obtain the original set of hitting parameters and read the current environmental parameters, including but not limited to radar installation elevation angle and ambient temperature and humidity; S63. Perform geometric compensation correction on the angle-type parameters in the original ball-hitting parameter set according to the radar installation elevation angle; S64. Perform multi-dimensional similarity matching calculations between the compensated and corrected parameters and the corresponding model parameters in the standard swing model database to generate a comprehensive shot performance score. S65. Integrate the shot effect score with all parameters after compensation and correction to generate a standardized set of shot parameters including clubhead speed, initial velocity of the golf ball, angle of attack, takeoff angle, height of the top of flight, flight time, flight distance, total distance, left and right azimuth angle, backspin value, and shot effect value.

8. A method for calculating all parameters of a golf shot according to claim 7, characterized in that, The process of generating a visual shot analysis report in S7 includes the following steps: S71. Bind the standardized set of hitting parameters with user identity information and hitting timestamp to generate a structured result data packet; S72. Call the graphics rendering engine and convert the values ​​in the structured result data package into visual chart elements according to the predefined data-to-graphics mapping rules; S73. Combine visual chart elements with text description templates to generate a visual shot analysis report that includes data tables, line graphs, radar charts, and swing suggestions, and output it to a display device via wired and wireless interfaces.

9. A golf shot full parameter calculation device, used to implement the golf shot full parameter calculation method according to any one of claims 1 to 8, characterized in that, The device includes: The radar signal acquisition and preprocessing module transmits 24GHz continuous wave radar signals to the hitting area, and receives, mixes, filters, and performs analog-to-digital conversion of the echo signals reflected by the golf ball and club, and outputs the raw radar echo data. The signal analysis and feature extraction module is connected to the radar signal acquisition and preprocessing module. It performs frequency domain transformation, target detection and tracking on the raw radar echo data, and generates frequency domain feature data containing target distance, velocity and angle. The target separation and event recognition module is connected to the signal analysis and feature extraction module. It performs trajectory analysis and classification on the frequency domain feature data, separates the club motion feature data and the golf ball motion feature data, and identifies the hitting event based on the temporal relationship between the two, generating hitting event identification data. The core parameter calculation module, connected to the target separation and event recognition module, extracts motion features of key time windows based on the ball-hitting event identifier data. Through Doppler analysis, trajectory fitting, and phase analysis algorithms, it calculates clubhead speed, ball speed, angle of attack, launch angle, vertex height, flight time, flight distance, left and right azimuth angles, and backspin value to generate the original set of ball-hitting parameters. The parameter optimization and model comparison module is connected to the core parameter calculation module. It has a built-in standard swing model database, performs environmental error compensation on the original set of hitting parameters, and calculates similarity with the standard model to generate a standardized set of hitting parameters that includes a hitting effect score. The results generation and output module connects to the parameter optimization and model comparison module, encapsulates the standardized set of hitting parameters into structured data, and drives the visualization engine to generate and output a visual hitting analysis report.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When a computer program is executed by a processor, it implements a method for calculating all parameters of a golf shot as described in any one of claims 1 to 8.

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