Signal processing method, device, storage medium, and electronic terminal

Abstract

The present invention discloses a signal processing method, device, storage medium and electronic terminal, the signal processing method includes the steps of obtaining a scanned target set and a plurality of initial targets, dividing them into a plurality of clusters, and performing SNR statistical analysis and false target statistical analysis for each first cluster in the plurality of clusters, and removing the initial targets and false targets with unqualified SNR. According to the signal processing method, the initial targets and false targets with unqualified SNR can be identified and removed.

Description

[Technical Field]

[0001] The present invention relates to the technical field of radar, and in particular to a signal processing method, device, storage medium and electronic terminal. [Background technology]

[0002] Radar is an electronic device that uses electromagnetic waves to detect an initial target, transmits electromagnetic waves to illuminate the initial target, and receives the echo to obtain information such as the distance, speed, and direction from the initial target to the point where the electromagnetic waves were transmitted.

[0003] Modern radar countermeasure systems are divided into two types: active and passive, depending on the source of interference energy. When a radar is interfered with, it can be understood that the initial targets it identifies will include both true and false initial targets. Therefore, when a radar is interfered with, how to distinguish between true and false initial targets becomes an urgent problem to be solved. Summary of the Invention

[0004] In view of the above, a primary object of the present invention is to provide a signal processing method, device, storage medium and electronic terminal.

[0005] In order to achieve the above objectives, the technical solution of the present invention is realized as follows: A signal processing method for a radar system includes: a step of acquiring a scanned target set including Num1 initial targets and Num1 attribute values ​​corresponding to them one-to-one, controlling the radar system so that the radar system performs a single scanning operation, and acquiring Num2 initial targets and Num2 attribute values ​​corresponding to them one-to-one based on radar echo signals, wherein the attribute values ​​include at least an azimuth AZ of the initial targets, an appearance time of the initial targets, an amplitude of the radar echo signal, and an S / N value S_N of the radar echo signal, and Num1 and Num2 are both natural numbers; Copying the Num1 initial targets to Num1 waiting targets in one-to-one correspondence, copying the Num2 initial targets to Num2 waiting targets in one-to-one correspondence, and dividing the Num1+Num2 waiting targets into multiple clusters based on a clustering algorithm and the azimuths AZ of the Num1+Num2 waiting targets; For each second cluster among the plurality of clusters, if the signal-to-noise ratio value S_N of the target to be processed in the second cluster does not satisfy a predetermined condition, deleting the second cluster; For each first cluster within the plurality of clusters, the number M of awaiting processing targets in the first cluster for which the absolute value of the difference between the appearance time and the current time is smaller than a first predetermined time threshold ΔTime1 is counted, and if M > the first predetermined number threshold, the M awaiting processing targets are divided into N small clusters in each of which the absolute value of the difference in amplitude between any two awaiting processing targets is smaller than a predetermined amplitude threshold, and for each small cluster, if the number of awaiting processing targets contained therein is greater than a second predetermined number threshold, the small cluster is deleted. For each remaining small cluster, if |azimuth AZ of first awaiting processing target - azimuth AZ of second awaiting processing target| < azimuth difference threshold ΔAZ, the first, The method includes a step of performing a second process in which the second target awaiting processing is considered to be the same, and if |azimuth AZ of the first target awaiting processing - azimuth AZ of any one of the Num1 initial targets|≧azimuth difference threshold ΔAZ, the first target awaiting processing is any one of the small clusters, the second target awaiting processing is any one of the Num1 initial targets, M and N are both natural numbers and N≦M, and thereafter, if there is a small cluster on which the second process has not been performed, the second process is performed again, and thereafter, if there is a first cluster on which the first process has not been performed, the first process is performed again.

[0006] In an improved embodiment of the present invention, the step of "dividing Num1+Num2 targets waiting to be processed into a plurality of clusters based on a clustering algorithm and the azimuths AZ of the Num1+Num2 targets waiting to be processed" may include selecting an unprocessed third target waiting to be processed from the Num1+Num2 targets waiting to be processed until all of the Num1+Num2 targets waiting to be processed have been processed, generating a cluster including only the third target waiting to be processed, and marking the third target waiting to be processed as having been processed; then, for each fourth target waiting to be processed among the Num1+Num2 targets waiting to be processed, determining whether a fourth initial target is unprocessed and |(azimuth AZ of the third target waiting to be processed - average value of the azimuths AZ of all targets waiting to be processed in the cluster)<the azimuth difference threshold ΔAZ; and if true, adding the fourth target waiting to be processed to the cluster and marking the fourth target waiting to be processed as having been processed.

[0007] In an improved embodiment of the present invention, the step of "deleting the second cluster if the SNR value S_N of the target awaiting processing in the second cluster does not satisfy a predetermined condition" includes obtaining the number of the fifth target awaiting processing in the second cluster, Counter1, and the number of the sixth target awaiting processing, Counter2, and deleting the second cluster if |appearance time of the fifth target awaiting processing-current time|≦first predetermined time threshold ΔTime1, |SNR value S_N of the sixth target awaiting processing-predetermined SNR value|≦predetermined SNR threshold ΔS_N, and Counter2 / Ccounter1>predetermined percentage value.

[0008] In a refinement of the present embodiment, the predetermined percentage value = 90% is.

[0009] In an improved embodiment of the present invention, the step of "deleting the second cluster if the SNR value S_N of the target to be processed in the second cluster does not satisfy a predetermined condition" includes deleting the second cluster and adjusting the rotation speed and transmission frequency of the radar system if the SNR value S_N of the target to be processed in the second cluster does not satisfy a predetermined condition.

[0010] In an improved embodiment of the present invention, the step of "determining that the first and second pending targets are the same if |azimuth AZ of the first pending target - azimuth AZ of the second pending target|< azimuth difference threshold ΔAZ" includes determining that the first and second pending targets are the same if |azimuth AZ of the first pending target - azimuth AZ of the second pending target|< azimuth difference threshold ΔAZ, and updating the attribute value of the seventh pending target in the scanned target set with the attribute value of the first pending target, where the contents of the second pending target and the seventh pending target are the same; The step of "if |azimuth AZ of the first target to be processed - azimuth AZ of any one of the Num1 initial targets|≧azimuth difference threshold ΔAZ, then consider the first target to be a new target" includes considering the first target to be a new target and adding the first target to the scanned target set if |azimuth AZ of the first target to be processed - azimuth AZ of any one of the Num1 initial targets|≧azimuth difference threshold ΔAZ.

[0011] An improved embodiment of the present invention further includes a step of performing, for each initial target in the scanned target set, a process of removing the initial target from the scanned target set if |the most recent appearance time of the initial target-current time|<second predetermined time threshold ΔTime2.

[0012] An embodiment of the present invention provides a signal processing apparatus for a radar system, the signal processing apparatus comprising: a data acquisition module used to acquire a scanned target set including Num1 initial targets and Num1 attribute values ​​corresponding to them one-to-one, control the radar system so that the radar system performs one scanning operation, and acquire Num2 initial targets and Num2 attribute values ​​corresponding to them one-to-one based on radar echo signals, wherein the attribute values ​​include at least an azimuth AZ of the initial targets, an appearance time of the initial targets, an amplitude of the radar echo signal, and an S / N value S_N of the radar echo signal, where Num1 and Num2 are both natural numbers; a cluster module used to copy the Num1 initial targets into Num1 pending targets in one-to-one correspondence, copy the Num2 initial targets into Num2 pending targets in one-to-one correspondence, and divide the Num1+Num2 pending targets into multiple clusters based on a clustering algorithm and the azimuths AZ of the Num1+Num2 pending targets; a noise processing module that executes a process of deleting each second cluster from the plurality of clusters when the signal-to-noise ratio value S_N of the target to be processed in the second cluster does not satisfy a predetermined condition; For each first cluster in the plurality of clusters, the number M of awaiting processing targets in the first cluster for which the absolute value of the difference between the appearance time and the current time is smaller than a first predetermined time threshold ΔTime1 is counted, and if M > the first predetermined number threshold, the M awaiting processing targets are divided into N small clusters in each of which the absolute value of the difference in amplitude between any two awaiting processing targets is smaller than a predetermined amplitude threshold, and for each small cluster, if the number of awaiting processing targets contained therein is greater than a second predetermined number threshold, the small cluster is deleted. For each remaining small cluster, if |azimuth AZ of first awaiting processing target - azimuth AZ of second awaiting processing target| < azimuth difference threshold ΔAZ, the first and second awaiting processing targets are deleted. and a processing module for executing a second process of determining that the first target awaiting processing is the same as the first target awaiting processing and determining that the first target awaiting processing is a new target if |azimuth AZ of the first target awaiting processing - azimuth AZ of any one of the Num1 initial targets| ≧ azimuth difference threshold ΔAZ, wherein the first target awaiting processing is any one of the clusters and the second target awaiting processing is any one of the Num1 initial targets, M and N are both natural numbers and N≦M, and thereafter, if a small cluster on which the second process has not been performed exists, the second process is performed again, and thereafter, if a first cluster on which the first process has not been performed exists, the first process is performed again.

[0013] An embodiment of the present invention provides a storage medium having stored thereon program instructions, the program instructions being operable, when executed, to implement the signal processing method described above.

[0014] An embodiment of the present invention provides an electronic terminal comprising a processor and a memory device storing program instructions, wherein the electronic terminal realizes the above-described signal processing method when the processor executes the program instructions.

[0015] The signal processing method, device, storage medium, and electronic terminal provided by the embodiments of the present invention have the following advantages: The embodiments of the present invention disclose a signal processing method, device, storage medium, and electronic terminal, which includes the steps of obtaining a scanned target set and a plurality of initial targets and dividing them into a plurality of clusters, and performing an SNR statistical analysis and a false target statistical analysis for each first cluster in the plurality of clusters, and removing initial targets and false targets having unqualified SNRs (not meeting the criteria), and the signal processing method can identify and remove the initial targets and false targets having unqualified SNRs. [Brief explanation of the drawings]

[0016] [Figure 1] 1 is a structural diagram of a radar provided by an embodiment of the present invention; [Figure 2] 1 is a structural diagram of a signal processing method provided by an embodiment of the present invention; [Figure 3] 1 is a diagram illustrating the principle of a signal processing method according to an embodiment of the present invention; [Figure 4] 1 is a diagram illustrating the principle of a signal processing method according to an embodiment of the present invention; [Figure 5] 1 is a diagram illustrating the principle of a signal processing method according to an embodiment of the present invention; DETAILED DESCRIPTION OF THE INVENTION

[0017] The present invention will be described in detail below with reference to the embodiments shown in the drawings. However, these embodiments are not intended to limit the present invention, and any structural, method or functional modifications made by those skilled in the art based on these embodiments will fall within the protection scope of the present invention.

[0018] The following description and the accompanying drawings fully explain specific embodiments of the present specification, enabling those skilled in the art to practice the present invention. Portions and features of some embodiments may be included in or substituted by portions and features of other embodiments. The scope of the embodiments of the present invention includes not only the full scope of the claims but also all available equivalents of the claims. In the present invention, the terms "first" and "second" are used merely to distinguish one element from another and do not require or imply a physical relationship or order between these elements. In fact, a first element may also be referred to as a second element, and vice versa. Furthermore, the terms "comprise," "contain," or other variations thereof are intended to cover a non-exclusive inclusion of a structure, device, or apparatus that includes a set of elements, such that the structure, device, or apparatus includes not only those elements but also other indefinitely listed elements or inherent elements of such structure, device, or apparatus. Unless further limited, an element defined with the phrase "comprises" does not exclude the presence of other identical elements in a structure, apparatus, or device that includes such elements. Various embodiments of the present invention will be described progressively, with each embodiment focusing on differences from other embodiments, and references made to identical and similar parts between the various embodiments.

[0019] In the present invention, the orientations or positional relationships indicated by terms such as "vertical," "horizontal," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer" are merely orientations or positional relationships based on the drawings and are used solely for the purpose of explaining and simplifying the present invention. They do not necessarily indicate or imply that such apparatus or devices have a specific orientation or are configured and operated in a specific orientation, and therefore should not be understood as limitations of the present invention. In the description of the present invention, unless otherwise expressly specified or limited, terms such as "attached," "coupled," and "connected" should be understood broadly. For example, they may refer to mechanical connection, electrical connection, internal communication between two devices, direct connection, or indirect connection via an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0020] As shown in Figure 1, the radar system mainly consists of units such as a main processor unit, a signal generating unit, a signal amplifying unit, a transmission / reception control unit, an antenna and a servo control unit. The processing process of the radar system is as follows: If the transmission power of the radar transmitter is Pt and the antenna gain is G, the unit solid angle transmission power of the radar is

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[0021] External interference to radar mainly comes in two forms: noise and spoofing. Noise mainly acts on the radar's receiver unit, reducing the signal-to-noise ratio so that the radar cannot identify the target. Spoofing mainly acts on the radar's signal processing unit, creating false targets so that the radar cannot distinguish between the real and false targets, thereby achieving the purpose of protecting the radar itself.

[0022] A first embodiment of the present invention provides a signal processing method for a radar system, where the radar system can execute the signal processing method at predetermined time intervals. Optionally, a main processor of the radar system executes the signal processing method, as shown in FIG. 2, including the following steps:

[0023] Step 201: Obtain a scanned target set. The scanned target set includes Num1 initial targets and Num1 attribute values ​​corresponding to them one-to-one. Then, the radar system is controlled to perform a scanning operation once, and Num2 initial targets and Num2 attribute values ​​corresponding to them one-to-one are obtained based on radar echo signals. Here, the attribute values ​​include at least the azimuth AZ of the initial targets, the appearance time of the initial targets, the amplitude of the radar echo signals, and the signal-to-noise ratio value S_N of the radar echo signals. Num1 and Num2 are both natural numbers. Here, when performing the scanning operation, trace point information of the initial targets is first obtained based on the radar echo signals, and then the initial targets and corresponding attribute values ​​are obtained. For each initial target, at least the following attribute values ​​are obtained: (1) The azimuth AZ of the initial target relative to the radar system in this scanning operation; (2) The current distance distance between the radar system and the initial target in this scanning operation; (3) The amplitude pa of the initial target echo signal in this scanning operation; (4) The velocity velocity of the initial target in this scanning operation; and (5) The appearance time appearTime of the initial target. Since it is understood that the same initial target may be scanned several times, an array can be used to store the appearanceTime, and the array contains all the appearanceTimes from when the initial target was discovered until the current scan. (6) the disappearance time of the initial target, disappearTime. Because the same initial target may be scanned several times and disappear several times, an array can be used to store the disappearTime, which stores all the disappearTimes from when the initial target is discovered to when it is scanned this time; (7) the signal-to-noise ratio value, S_N. Because the same initial target may be scanned several times and the signal-to-noise ratio value of the radar echo signal of the initial target can be obtained each time it is scanned, an array can be used to store S_N, which stores all the S_Ns from when the initial target is discovered to when it is scanned this time.

[0024] Here, in actual programming, the architecture is used to store attribute values ​​corresponding to the initial target. Typedef struct StatAnalyzeStru { int AZ, int distance, int pa, int velocity, int appearTimeCnt; / / appearTimeCnt is the number of times the same initial target has been scanned int appearTime

[1024] ; int disappearTimeCnt; / / disappearTimeCnt is the number of times the same initial target disappears int disappearTime

[1024] ; int S_N

[1024] ; } Here, after the previous execution of the signal processing method, Num1 initial targets are obtained, and a total of Num2 initial targets are discovered in the current scanning operation. Therefore, (1) some initial targets among the Num1 initial targets and the Num2 initial targets overlap, and since initial targets (e.g., aircraft, etc.) usually move, the attribute values ​​of the same initial target in the previous scanning and the current scanning are usually not the same (e.g., the azimuth AZ, current distance distance, etc. are different), and it is highly unlikely that they are the same, and (2) some initial targets among the Num2 initial targets are new, i.e., not among the Num1 initial targets, and some false initial targets exist among these new initial targets.

[0025] Step 202: The Num1 initial targets are copied to Num1 waiting targets in a one-to-one correspondence, and the Num2 initial targets are copied to Num2 waiting targets in a one-to-one correspondence. Based on the clustering algorithm and the azimuths AZ of the Num1+Num2 waiting targets, the Num1+Num2 waiting targets are divided into multiple clusters. Here, the initial targets and the waiting targets have a one-to-one correspondence, and the contents of the corresponding initial targets and waiting targets are the same but independent values. That is, changing the contents of the initial targets does not affect the contents of the waiting targets, and similarly, changing the contents of the waiting targets does not affect the contents of the initial targets.

[0026] Here, the Num1+Num2 targets to be processed are obtained by merging the Num1 targets to be processed and the Num2 targets to be processed. Here, the clustering algorithm classifies targets to be processed with similar AZ orientations into the same cluster, and it can be understood that there will be some false initial targets among multiple initial targets with similar AZ orientations.

[0027] Step 203: For each second cluster in the plurality of clusters, if the S / N ratio value S_N of the target waiting to be processed in the second cluster does not satisfy a predetermined condition, the second cluster is deleted. If the S / N ratio value of a certain cluster does not satisfy the requirement, the cluster can be deleted. As the predetermined condition, if the S / N ratio value S_N of any target waiting to be processed in the second cluster does not satisfy the requirement, the predetermined condition is not satisfied, or if the S / N ratio values ​​S_N of all targets waiting to be processed in the second cluster do not satisfy the requirement, the predetermined condition is not satisfied. If the S / N ratio value S_N of the target waiting to be processed in the second cluster does not satisfy the predetermined condition, it can be considered that the S / N ratio of the radar system has deteriorated and there is a large error in the collected signal.

[0028] Step 204: The following first process is performed for each first cluster in the plurality of clusters: In the first cluster, the number M of targets waiting to be processed for which the absolute value of the difference between the appearance time and the current time is smaller than a first predetermined time threshold ΔTime1 is counted, and if M > the first predetermined number threshold, the M targets waiting to be processed are divided into N small clusters in each of which the absolute value of the difference in amplitude between any two targets waiting to be processed is smaller than a predetermined amplitude threshold, and for each small cluster, if the number of targets waiting to be processed contained therein is greater than a second predetermined number threshold, the small cluster is deleted. Here, the number M of pending targets whose absolute value of the difference between the appearance time and the current time is smaller than a first predetermined time threshold ΔTime1 (it can be understood that pending targets that meet this condition are additional targets) is counted, and when M>the first predetermined number threshold, these additional targets may be false targets, so the amplitudes of the additional targets need to be statistically analyzed; when the number of pending targets in one small cluster>the second predetermined number threshold, the pending targets in the small cluster are related to each other in the time domain, the space domain, and the amplitude, are transmitted from the same transmitter, are false targets, and the flag needs to be removed.

[0029] The following second process is performed for each remaining cluster. If |azimuth AZ of the first target waiting for processing - azimuth AZ of the second target waiting for processing|< azimuth difference threshold ΔAZ, the first and second targets waiting for processing are considered to be the same. If |azimuth AZ of the first target waiting for processing - azimuth AZ of any one of the Num1 initial targets| ≥ azimuth difference threshold ΔAZ, the first target waiting for processing is considered to be a new target. Here, the first target waiting for processing is one of the small clusters, and the second target waiting for processing is one of the Num1 initial targets, where M and N are both natural numbers and N ≤ M. If there is a small cluster on which the second process has not been performed, the second process is performed again. If there is a first cluster on which the first process has not been performed, the first process is performed again. Here, the first predetermined number threshold may be 10, and the second predetermined number threshold may be 10.

[0030] Spoofing interference can be divided into active and passive interference. Active interference involves delaying the radar signal before transmitting it to the radar, creating numerous false targets that the radar can track while protecting the real target. Creating numerous false targets can also saturate the radar's data processing system to the point where it can no longer function properly. Passive interference involves throwing metal foil or firing tracer bullets in front of the target, preventing the radar from detecting the real target and providing protection.

[0031] Regarding active interference, we first analyze the effect model. Figure 3 shows the radar antenna direction diagram. Here, the direction of the strong signal is the main lobe direction, and the direction of the weak signal is the minor lobe direction. The main and minor lobes receive signals simultaneously. When the enemy performs interference, as shown in Figure 4, multiple target signals are intercepted from a certain azimuth region. Time-domain statistical analysis shows that there are multiple new targets at the same moment, and new and old targets coexist. New targets appear at sensitive moments such as confrontation exercises, standoffs, and wartime situations. Space-domain statistical analysis shows that new and old targets coexist in the same direction, and false targets are transmitted from the same transmitter, so their amplitudes are nearly identical. That is, there is a correlation between their amplitudes. Actual combat experience has shown that the sudden addition of a large number of targets at sensitive moments in the same direction and with a correlation between their amplitudes is clearly contrary to the actual situation on the battlefield. Therefore, the appearance of a large number of new targets is likely to be intended to cover old targets, and can be identified as false targets.

[0032] In passive interference, the interferer throws a metal foil or tracer projectile in front of the target, so the radar only detects the foil and not the interferer itself, thereby providing protection. The interference effect is shown in Figure 5. Time-domain statistical analysis shows that a new target appears and the old target disappears at the same instant, and there is a correlation in the time domain. Space-domain statistical analysis shows that the new and old targets are in the same position, with the new target closer to the radar and the old target farther away. True radar targets must be continuous in both the time and space domains; no jumps or alternations in the time domain are possible. In the space domain, they are in the same position, with one before and one after the other. Therefore, the new target is intended to cover the old target, and the new target must be a false target.

[0033] In this embodiment, the step of "dividing Num1+Num2 targets to be processed into multiple clusters based on a clustering algorithm and the azimuths AZ of the Num1+Num2 targets to be processed" specifically includes the following:

[0034] The following process is performed on the Num1+Num2 targets waiting to be processed until all of the Num1+Num2 targets waiting to be processed are processed, where before all of the processes are performed, the Num1+Num2 initial targets are unprocessed by default, and each time the process is performed, a number of initial targets are added to a new cluster and all initial targets in the new cluster are flagged as processed.

[0035] Specifically, the processing includes selecting an unprocessed third target awaiting processing from the Num1+Num2 targets awaiting processing, generating a cluster including only the third target awaiting processing, and flagging the third target awaiting processing as processed, and then, for each fourth target awaiting processing among the Num1+Num2 targets awaiting processing, determining whether the fourth initial target is unprocessed and whether |(azimuth AZ of the third target awaiting processing) - (average value of the azimuths AZ of all targets awaiting processing in the cluster)<the azimuth difference threshold ΔAZ, and if true, adding the fourth target awaiting processing to the cluster and flagging the fourth target awaiting processing as processed.

[0036] Here, each time this process is executed, a first initial target that has not been added to any of the existing clusters is selected from the Num1+Num2 initial targets, then a new cluster (this cluster includes only the first initial target) is generated, then a second initial target that has not been added to either the existing cluster or the new cluster (i.e., the second initial target is unprocessed) is selected from the Num1+Num2 initial targets, then the average value m_azAverage of the azimuths AZ of all the initial targets in the new cluster is calculated, and if |azimuth AZ of second initial target - m_azAverage| < the azimuth difference threshold ΔAZ, the second initial target and all the initial targets in the cluster are in the same azimuth region, then the second initial target is added to the cluster, a processed flag is set for the second initial target, and if the same initial target exists in the Num1 initial targets and the Num2 initial targets, they are classified into the same cluster.

[0037] It should be understood that by repeatedly performing this process, all of the initial targets in the Num1+Num2 initial targets will be classified into a unique cluster, and furthermore, the orientations of all of the initial targets in the unique cluster will be similar.

[0038] Here, in practical programming, assuming that the Num1 initial targets are specifically StatAnalyzeStruts[1, ..., Num1] and the Num2 initial targets are specifically StatAnalyzeStruts[Num1+1, ..., Num1+Num2], the scan time in StatAnalyzeStruts[Num2] is entered into appearTime[0] and the value of appearTimeCnt is set to 1.

[0039] Then, a shaping array m_arrayCluster[Num1+Num2] is defined, a counter m_iCounter is defined with an initial value of 0, an analysis flag array m_arraypAnaFlag[Num1+Num2] is defined and all of them are set to 0, i.e., unprocessed, and a shaping variable m_azAverage is defined.

[0040] Then, the ordinal number i for which the value of the flag array m_arraypAnaFlag is 0 is searched for, and the ordinal number i is entered into m_arrayCluster[m_iCounter], and then m_iCounter++, m_azAverage=StatAnalyzeStruts[i].AZ, and m_arraypAnaFlag[i]=1 are set.

[0041] Then, using m_azAverage as the base, find the ordinal number j that satisfies the following condition: |m_arraypAnaFlag[j].AZ-m_azAverage|<ΔAZ, then enter the ordinal number j into m_arrayCluster[m_iCounter], then set m_iCounter++, m_azAverage=(m_azAverage*m_iCounter+m_arraypAnaFlag[j].AZ) / (m_iCounter+1), and m_arraypAnaFlag[j]=1.

[0042] Repeat the above steps until m_arraypAnaFlag[1, ..., Num1+Num2] is all 1.

[0043] In this embodiment, the step of "deleting the second cluster if the SNR value S_N of the target waiting to be processed in the second cluster does not satisfy a predetermined condition" specifically includes obtaining the number of the fifth target waiting to be processed (Counter1) and the sixth target waiting to be processed (Counter2) in the second cluster. Here, if |the appearance time of the fifth target waiting to be processed minus the current time|≦first predetermined time threshold ΔTime1, |the SNR value S_N of the sixth target waiting to be processed minus the predetermined SNR value|≦predetermined SNR threshold ΔS_N, and Counter2 / Ccounter1>a predetermined percentage, the second cluster is deleted. Here, if Counter2 / Ccounter1>a predetermined percentage, it can be assumed that the SNR of the radar system has deteriorated and that the collected signals have a large error.

[0044] In this embodiment, the predetermined percentage value = 90% is.

[0045] In this embodiment, the step of "deleting the second cluster if the S / N ratio value S_N of the target awaiting processing in the second cluster does not satisfy the predetermined condition" specifically includes deleting the second cluster and adjusting the rotation speed and transmission frequency of the radar system if the S / N ratio value S_N of the target awaiting processing in the second cluster does not satisfy the predetermined condition.

[0046] Here, adjusting the rotation speed and transmission frequency of the radar system specifically includes obtaining the magnitude m_rotateVelocity of the period of the current rotation speed of the radar system and the adjustment start time m_rotateTime of the rotation speed period; if |m_rotateTime-current time|<3*m_rotateVelocity, it indicates that the rotation speed has just been adjusted and returns without operating for further observation; if 3*m_rotateVelocity≦|m_rotateTime-current time|<100*m_rotateVelocity, it indicates that the rotation speed has been adjusted but the effect is not ideal and the radar transmission frequency needs to be changed to the next frequency; otherwise, it repeatedly adjusts to the next rotation speed and returns.

[0047] Here, noise interference experienced by radar systems can be divided into same-frequency noise interference, swept-frequency noise interference, frequency-hopping noise interference, swept-frequency interference, and FM interference (also known as intermittent interference). If interference is constantly present, the radar antenna rotation speed can be changed to determine whether it is same-frequency noise interference or intermittent interference. If it is intermittent interference, the radar rotation speed must be the same frequency or frequency doubled as the interference period in that direction, which will manifest as continuous interference. In this case, the antenna rotation speed can be adjusted to avoid the same frequency or frequency doubled, eliminating the need to change the radar transmission parameters and allowing the radar to perform "hidden" work in that direction. If it is same-frequency noise interference, it can be eliminated by changing the radar transmission frequency.

[0048] In an embodiment of the present invention, the step of "if |azimuth AZ of first target awaiting processing - azimuth AZ of second target awaiting processing|< azimuth difference threshold ΔAZ, the first and second targets awaiting processing are the same" specifically includes the following: if |azimuth AZ of first target awaiting processing - azimuth AZ of second target awaiting processing|< azimuth difference threshold ΔAZ, the first and second targets awaiting processing are considered to be the same, and in the scanned target set, the attribute value of the seventh target awaiting processing is updated with the attribute value of the first target awaiting processing, where the contents of the second target awaiting processing and the seventh target awaiting processing are the same,

[0049] The step of "if |azimuth AZ of the first target to be processed - azimuth AZ of any one of the Num1 initial targets|≧azimuth difference threshold ΔAZ, consider the first target to be a new target" specifically includes: if |azimuth AZ of the first target to be processed - azimuth AZ of any one of the Num1 initial targets|≧azimuth difference threshold ΔAZ, consider the first target to be a new target, and add the first target to the scanned target set.

[0050] In an embodiment of the present invention, the following steps are further included: For each initial target in the scanned target set, if |the most recent appearance time of the initial target--the current time|<a second predetermined time threshold ΔTime2, then the initial target is removed from the scanned target set.

[0051] A second embodiment of the present invention provides a signal processing device for a radar system, which includes: a data acquisition module, a cluster module, a noise processing module, and a processing module.

[0052] The data acquisition module is used to acquire a scanned target set including Num1 initial targets and Num1 attribute values ​​corresponding one-to-one, control the radar system so that the radar system performs one scanning operation, and acquire Num2 initial targets and Num2 attribute values ​​corresponding one-to-one based on radar echo signals, where the attribute values ​​include at least an azimuth AZ of the initial targets, an appearance time of the initial targets, an amplitude of the radar echo signal, and an SNR value S_N of the radar echo signal, and Num1 and Num2 are both natural numbers.

[0053] The cluster module copies the Num1 initial targets to Num1 waiting targets that correspond one-to-one, copies the Num2 initial targets to Num2 waiting targets that correspond one-to-one, and divides the Num1+Num2 waiting targets into multiple clusters based on a clustering algorithm and the azimuths AZ of the Num1+Num2 waiting targets.

[0054] The noise processing module executes a process for each second cluster in the plurality of clusters, in which if the signal-to-noise ratio value S_N of the target to be processed in the second cluster does not satisfy a predetermined condition, the second cluster is deleted.

[0055] The processing module executes a first process for each first cluster within the plurality of clusters: counting M targets awaiting processing in the first cluster for which the absolute value of the difference between the appearance time and the current time is smaller than a first predetermined time threshold ΔTime1; if M > the first predetermined number threshold, dividing the M targets awaiting processing into N small clusters in each of which the absolute value of the difference in amplitude between any two targets awaiting processing is smaller than a predetermined amplitude threshold; and for each small cluster, deleting the small cluster if the number of targets awaiting processing contained therein > the second predetermined number threshold; and for each remaining small cluster, executing a second process for each of the remaining small clusters: if |azimuth AZ of first target awaiting processing - azimuth AZ of second target awaiting processing| < azimuth difference threshold ΔAZ, the first and second targets awaiting processing are considered to be the same; and if |azimuth AZ of first target awaiting processing - azimuth AZ of any one of the Num1 initial targets| ≥ the azimuth difference threshold ΔAZ, determining the first target awaiting processing as a new target. Here, the first target awaiting processing is any one of the clusters, and the second target awaiting processing is any one of the Num1 initial targets, where M and N are both natural numbers and N≦M. Thereafter, if there is a small cluster on which the second processing has not been performed, the second processing is performed again, and thereafter, if there is a first cluster on which the first processing has not been performed, the first processing is performed again.

[0056] A third embodiment of the present invention provides a storage medium storing program instructions, which, when executed, realizes the signal processing method of the first embodiment.

[0057] A third embodiment of the present invention provides an electronic terminal comprising a processor and a storage device storing program instructions, wherein the electronic terminal realizes the signal processing method of the first embodiment when the processor executes the program instructions.

[0058] It should be noted that although this specification has been described in the order of the embodiments, each embodiment does not include only one independent technical solution, and the description method of the specification is used for the purpose of clarity only. Those skilled in the art should understand the specification as a whole, and those skilled in the art can also combine the technical solutions in each embodiment to form other embodiments.

[0059] The above content specifically describes the feasible embodiments of the present invention, and is not intended to limit the protection scope of the present invention, and any equivalent embodiments or modifications made without departing from the spirit of the present invention shall be included within the protection scope of the present invention.

Claims

1. 1. A signal processing method for a radar system, comprising: a step of acquiring a scanned target set including scanned Num1 initial targets and Num1 attribute values ​​corresponding one-to-one to the Num1 initial targets, controlling the radar system so that the radar system performs a scanning operation once, and acquiring Num2 initial targets and Num2 attribute values ​​corresponding one-to-one to the Num2 initial targets based on radar echo signals, wherein the attribute values ​​include at least an azimuth AZ of the initial targets, an appearance time of the initial targets, an amplitude of the radar echo signal, and a signal-to-noise ratio value S_N of the radar echo signal, where Num1 and Num2 are both natural numbers; Copying the Num1 initial targets to Num1 waiting targets in one-to-one correspondence, copying the Num2 initial targets to Num2 waiting targets in one-to-one correspondence, and dividing the Num1+Num2 waiting targets into a plurality of clusters according to a clustering algorithm and the azimuths AZ of the Num1+Num2 waiting targets; a cluster deletion step of deleting a cluster when an S / N ratio value S_N of a target to be processed in each of the plurality of clusters does not satisfy a predetermined condition; For any one of the remaining clusters that were not deleted in the cluster deletion step among the plurality of clusters, a number M of processing awaiting targets in that cluster for which the absolute value of the difference between the appearance time and the current time is smaller than a first predetermined time threshold ΔTime1 is counted, and if M > the first predetermined number threshold, the M processing awaiting targets are divided into N small clusters, which are the smallest natural number less than or equal to M, that satisfy the condition that the absolute value of the difference in amplitude between any two processing awaiting targets in each small cluster is smaller than a predetermined amplitude threshold, and for each small cluster, if the number of processing awaiting targets contained therein is greater than a second predetermined number threshold, the processing awaiting targets contained in that small cluster are deemed to be false targets and the small cluster is deleted, and for each remaining small cluster, a first determination process is performed to determine whether any processing awaiting targets in that small cluster are false targets and delete the small cluster. and a step of performing a second determination process for all the first targets awaiting processing, in which, when a target is designated as a first target awaiting processing, if |azimuth AZ of first target awaiting processing - azimuth AZ of second target awaiting processing| < azimuth difference threshold ΔAZ for any one of the Num1 initial targets, the first and second targets awaiting processing are determined to be the same, and if |azimuth AZ of first target awaiting processing - azimuth AZ of second target awaiting processing| ≥ azimuth difference threshold ΔAZ for all of the Num1 initial targets, the first target awaiting processing is determined to be a new target, and then performing the first determination process and the second determination process again until there are no remaining clusters on which the first determination process and the second determination process have not been performed.

2. The step of "dividing the Num1+Num2 targets to be processed into a plurality of clusters based on a clustering algorithm and the azimuths AZ of the Num1+Num2 targets to be processed" includes: When any one of the Num1+Num2 targets waiting to be processed is set as a third target waiting to be processed, and any one of the Num1+Num2 targets waiting to be processed is set as a fourth target waiting to be processed, 2. The signal processing method according to claim 1, further comprising the steps of: selecting one awaiting processing target that does not have a processed flag attached from the Num1+Num2 awaiting processing targets as a third awaiting processing target; generating a cluster including only the third awaiting processing target; attaching a processed flag to the third awaiting processing target; and then, for a fourth awaiting processing target that is one awaiting processing target selected from the Num1+Num2 awaiting processing targets, determining whether the fourth initial target does not have a processed flag attached and whether |azimuth AZ of the third awaiting processing target - average value of the azimuths AZ of all awaiting processing targets in the cluster| < the azimuth difference threshold ΔAZ; and if true, adding the fourth awaiting processing target to the cluster and attaching a processed flag to the fourth awaiting processing target, repeating this process until all of the Num1+Num2 awaiting processing targets have been attached with processed flags.

3. The cluster deletion step of "deleting a cluster when the S / N ratio value S_N of the target to be processed in each cluster does not satisfy a predetermined condition" includes: The signal processing method of claim 1, further comprising: acquiring a number Counter1 of fifth processing awaiting targets that are processing awaiting targets that satisfy |the appearance time of the fifth processing awaiting target−current time|≦first predetermined time threshold ΔTime1 within each cluster; and acquiring a number Counter2 of sixth processing awaiting targets that are processing awaiting targets that satisfy |the S / N ratio value S_N of the sixth processing awaiting target−predetermined S / N ratio value|≦predetermined S / N ratio threshold ΔS_N within each cluster; and deleting the cluster if Counter2 / Ccounter1>predetermined percentage value.

4. 4. The signal processing method of claim 3, wherein the predetermined percentage value is 90%.

5. The cluster deletion step of "deleting a cluster when the S / N ratio value S_N of the target to be processed in each cluster does not satisfy a predetermined condition" includes:

4. The signal processing method according to claim 3, further comprising: deleting a cluster when the signal-to-noise ratio value S_N of a target waiting to be processed in each cluster does not satisfy a predetermined condition; and adjusting the rotation speed and transmission frequency of the radar system.

6. The step of "if |azimuth AZ of first target awaiting processing - azimuth AZ of second target awaiting processing| < azimuth difference threshold ΔAZ, the first and second targets awaiting processing are determined to be the same" is If |azimuth AZ of the first target awaiting processing - azimuth AZ of the second target awaiting processing| < azimuth difference threshold ΔAZ, the first and second targets awaiting processing are considered to be the same, and in the scanned target set, the attribute value of the seventh target awaiting processing is updated with the attribute value of the first target awaiting processing, where the contents of the second target awaiting processing and the seventh target awaiting processing are the same; The step of "determining that the first target to be processed is a new target if |azimuth AZ of the first target to be processed - azimuth AZ of the second target to be processed|≧the azimuth difference threshold ΔAZ" includes:

2. The signal processing method of claim 1, further comprising: if |azimuth AZ of first target to be processed - azimuth AZ of second target to be processed|≧the azimuth difference threshold ΔAZ, then determining that the first target to be processed is a new target and adding the first target to the scanned target set.

7. The signal processing method of claim 6, further comprising the step of, for each initial target in the scanned target set, removing the initial target from the scanned target set if |the most recent appearance time of the initial target-current time|<second predetermined time threshold ΔTime2.

8. 1. A signal processing device for a radar system, comprising: a data acquisition module used to acquire a scanned target set including scanned Num1 initial targets and Num1 attribute values ​​corresponding one-to-one to the Num1 initial targets, control the radar system so that the radar system performs a single scanning operation, and acquire Num2 initial targets and Num2 attribute values ​​corresponding one-to-one to the Num2 initial targets based on radar echo signals, wherein the attribute values ​​include at least an azimuth AZ of the initial targets, an appearance time of the initial targets, an amplitude of the radar echo signal, and a signal-to-noise ratio value S_N of the radar echo signal, where Num1 and Num2 are both natural numbers; a cluster module used to copy the Num1 initial targets into Num1 pending targets in one-to-one correspondence, copy the Num2 initial targets into Num2 pending targets in one-to-one correspondence, and divide the Num1+Num2 pending targets into a plurality of clusters based on a clustering algorithm and the azimuths AZ of the Num1+Num2 pending targets; a noise processing module that executes a cluster deletion process to delete a cluster when an S / N ratio value S_N of a target to be processed in each of the plurality of clusters does not satisfy a predetermined condition; For any one of the remaining clusters that were not deleted in the cluster deletion process within the plurality of clusters, a number M of targets awaiting processing in which the absolute value of the difference between the appearance time and the current time is smaller than a first predetermined time threshold ΔTime1 is counted, and if M > the first predetermined number threshold, the M targets awaiting processing are divided into N small clusters, which are the smallest natural number less than or equal to M, that satisfy the condition that the absolute value of the difference in amplitude between any two targets awaiting processing in each small cluster is smaller than the predetermined amplitude threshold, and for each small cluster, if the number of targets awaiting processing contained therein is greater than the second predetermined number threshold, the awaiting processing targets included in the small cluster are deemed to be false targets and the small cluster is deleted, and for each remaining small cluster, any target awaiting processing in the small cluster is deleted. and a processing module for executing a second determination process for all first targets awaiting processing, in which, when a target is a first target, if |azimuth AZ of first target awaiting processing - azimuth AZ of second target awaiting processing| < azimuth difference threshold ΔAZ, the first and second targets awaiting processing are determined to be the same, and, for all second targets awaiting processing that are initial targets, if |azimuth AZ of first target awaiting processing - azimuth AZ of second target awaiting processing| ≥ azimuth difference threshold ΔAZ, the first target awaiting processing is determined to be a new target, and then executing the first determination process and the second determination process again until there are no more first clusters for which the first determination process and the second determination process have not been performed.

9. A storage medium storing program instructions, the program instructions being executed to implement the signal processing method according to any one of claims 1 to 7.

10. An electronic terminal comprising a processor and a storage device storing program instructions, wherein when the processor executes the program instructions, the electronic terminal realizes the signal processing method according to any one of claims 1 to 7.

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