CN106483506A - A kind of cognition type self-adapting interference suppression method - Google Patents
A kind of cognition type self-adapting interference suppression method Download PDFInfo
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Abstract
The invention discloses a kind of cognition type self-adapting interference suppression method, it is characterized in that, first array received to signal pass through digital beam froming and obtain the output of required wave beam, extract part accessory channel to disturbing number to judge；The analysis of first time interference characteristic is completed after digital beam froming；According to different interference types, using different interference cancellation methods.The beneficial effect that the present invention is reached：This method establishes the thought that interference describing word is selected with adaptive strategy, so that radar can be rapidly completed interference characteristic analysis, by intelligent cognition technology is effectively combined with Anti-Jamming Technique, the feature of interference is judged, after digital beam froming and pulse compression, multiple interference types are identified respectively, build one kind and there is intelligentized adaptive strategy center module, in the interference cancellation method of adaptive strategy center module scheduling coupling, thus realizing the Anti-Jamming Technique of cognitive type.
Description
Technical field
The present invention relates to a kind of cognition type self-adapting interference suppression method, belong to Digital Array Radar technical field.
Background technology
Electromagnetic environment is increasingly complicated, needs radar that the perception of environment is improved constantly.The complexity of electromagnetic interference and
Multiformity can lead to the target detection capabilities degradation of radar.Interference can be divided into polytype, such as continuous wave CO_2 laser, turns
Hairdo interference and impulse disturbances etc..When continuous wave CO_2 laser enter from secondary lobe fashionable, frequently with Adaptive Sidelobe Canceling (SLC) technology suppression
System interference；When impulse disturbances enter from secondary lobe fashionable, using sidelobe blanking technology suppression.But, sidelobe blanking easily causes target
Loss.And routine sidelobe cancellation algorithm cannot complete interference sample effectively.Repeating jamming obtains larger in pulse compression
Gain, using the sidelobe cancellation before traditional pulse compression after completing to offset, part interference is still under noise.Cause
This, need to carry out offseting process after pulse compression, after pulse pressure, sidelobe cancellation is referred to as PC-SLC.Since interference cancellation needs pin
To different interference using the different methods that offsets, then need to realize the effective cognition to interference, thus selecting corresponding interference
Suppressor mode.
Due to conventional radar systems cannot effective cognition to interference environment, lead to radar automatically cannot distinguish interference type,
Take corresponding means suppression interference.Under battlefield surroundings complicated and changeable, manual anti-interference mode can not have been tackled quickly
The interference environment of change, conventional Anti-Jamming Technique cannot tackle complicated and diversified interference mode.
Content of the invention
For solving the deficiencies in the prior art, it is an object of the invention to provide a kind of cognition type adaptive interference mitigation side
Method, intelligent cognition technology is effectively combined with Anti-Jamming Technique, by the feature judgement to interference, respectively in digital beam froming
(DBF) and after pulse compression, multiple interference types are identified, build one kind and there is intelligentized adaptive strategy center module,
In the interference cancellation method of adaptive strategy center module scheduling coupling, thus realizing the Anti-Jamming Technique of cognitive type.
In order to realize above-mentioned target, the present invention adopts the following technical scheme that：
A kind of cognition type self-adapting interference suppression method, is characterized in that, comprise the steps：
1) by array received to signal by digital beam froming obtain required for wave beam after export；
2) extract part accessory channel interference number is judged, accessory channel is selected according to the interference number drawing
Number；This step is to determine the accessory channel number that sidelobe cancellation adopts, simplified self-adaptive AF panel amount of calculation, needing
Interference number is judged.
3) carry out interference characteristic analysis, image parameter is pulse envelope in its time domain, pulsewidth and pulse spacing, by these
Parameter combines to form cognitive describing word；
4) according to step 3) result the type of all kinds of wave beams is differentiated, be delivered to and select after adaptive strategy center module
Select appropriate anti-interference mode, judgment criterion is as follows：
If continuous wave CO_2 laser, signal sampling point chooses the moment before transmitting, and open a window 1024 sampled points of length, using adaptive
Sidelobe cancellation afterpulse is answered to compress；
If impulse disturbances, realize interference sample within the frame data cycle of reception, interference sample intercepts at 2048 points, adopt
Adaptive Sidelobe Canceling afterpulse compresses；
If repeating jamming, directly carry out pulse compression；
5) for step 4) process after interference carry out interference characteristic analysis, and judge treatment effect：
For continuous wave CO_2 laser and impulse disturbances, if interference signal envelope is less than threshold value set in advance and no spike arteries and veins
Punching, then prove that interference is effectively suppressed；
For repeating jamming, determine interference envelope, pulse width and pulse spacing, interference characteristic is delivered to self adaptation
Processed using Adaptive Sidelobe Canceling suppression conflicting mode after Strategy Center's module, carry out interference characteristic afterwards again and divide
Analysis, if interference envelope, pulse width and pulse spacing all exceed setting value and produce spike, extracts spike sample and counts
Calculate sidelobe cancellation weight vector, interference is suppressed.
Further, described step 1) in concretely comprise the following steps：For the radar uniform line-array array of M unit, if i-th
Channel receiving signal is xiK (), k represents discrete time, if signal beam is oriented to θ, a (θ) is input signal steering vector, meter
Calculating formula isIn formula, j represents imaginary number, and d is array element distance, and λ is ripple
Long, []TRepresent transposition；After array beamses form weighting, it is output asIn formula ()*Represent conjugation,
wiFor i-th passage DBF weights.
Further, described step 2) concretely comprise the following steps：
21) set the data following X of composition extracting N number of accessory channels(k)=[x1(k),x2(k),…,xN(k)]T；
22) ask for accessory channel covariance matrix RXX=Xs(k)Xs H(k), ()HRepresent conjugate transpose；
23) Eigenvalues Decomposition λ is carried out to covariance matrixi=eig [RXX], i=1,2 ..., N, in formula, eig [] represents
Characteristic root analytic function, λiIt is expressed as ith feature root, wherein smallest real eigenvalue is expressed as λmin=min { λ1,λ2,…,λN}；
24) calculate the ratio of further feature root and smallest real eigenvalue, be designated as
25) defined variable Λ=[δ1,δ2,…,δN], when with threshold value ρ0When relatively, more than the characteristic root number of threshold value
It is exactly corresponding interference number, accessory channel number is chosen according to interference number.
Further, described step 4) in for the judgment criterion of parameters object be：
I) pulsewidth is utilized to differentiate：For trying to achieve output signal pulses width, need to each disturbing pulse rising edge and trailing edge
Judged；The rising edge obtaining is marked with trailing edge sampled point, using rising edge and the trailing edge of same pulse
Mathematic interpolation pulse width, the following PW=T of computing formulasNs, T in formulasFor sampling period, NsFor rising edge and trailing edge difference
Sampling number；
If σPW1For pulsewidth threshold value, when signal pulsewidth is more than σPW1When it can be determined that interference signal be pulse signal；Work as letter
Width of feeling the pulse is less than σPW1When, then may determine that interference signal is continuous wave signal；
II) pulse envelope is utilized to differentiate：After digital beam froming, ask for the envelope of required beamformer output signalY in formulaI(k) and yQK () is real part and the imaginary part of beam signal y (k)；
After digital beam froming, threshold value σ is taken to the signal envelope in a certain momentPA1If signal envelope is more than threshold value
σPA1Then it is assumed that interference exists, otherwise it is assumed that not interfering with；
III) pulse spacing is utilized to differentiate：After digital beam froming, waveform pulse is spaced and sets threshold value σPR1, when
Signal pulse interval is more than σPR1It can be determined that interference signal is impulse disturbances；When signal recurrence interval is less than σPR1, then can sentence
Disconnected interference signal is continuous wave CO_2 laser.
The beneficial effect that the present invention is reached：This method establishes the thought that interference describing word is selected with adaptive strategy,
So that radar can be rapidly completed interference characteristic analysis, by being effectively combined intelligent cognition technology with Anti-Jamming Technique, right
The feature of interference judges, after digital beam froming (DBF) and pulse compression, multiple interference types is identified respectively, builds one
Plant and there is intelligentized adaptive strategy center module, in the interference cancellation method of adaptive strategy center module scheduling coupling,
Thus realizing the Anti-Jamming Technique of cognitive type.
Brief description
Fig. 1 is the theory diagram of this method；
Fig. 2 is the continuous wave CO_2 laser signal time domain modulus value of embodiment 1；
Fig. 3 is the AF panel result that embodiment 1 uses this method；
Fig. 4 is the continuous wave CO_2 laser suppression afterpulse compression result of embodiment 1；
Fig. 5 is the pulse interference signal time domain modulus value of embodiment 2；
Fig. 6 is the AF panel result that embodiment 2 uses this method；
Fig. 7 is the pulse interference suppression afterpulse compression result of embodiment 2；
Fig. 8 is the repeating jamming signal amplitude of embodiment 3；
Fig. 9 is the repeating jamming pulse compression of embodiment 3；
Figure 10 be embodiment 3 pulse pressure after signal pulse width；
Figure 11 be embodiment 3 pulse pressure after signal repetition rate；
Figure 12 is the AF panel result that embodiment 3 uses this method.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following examples are only used for clearly illustrating the present invention
Technical scheme, and can not be limited the scope of the invention with this.
In conjunction with accompanying drawing 1, the principle of this method is：The output of target observation wave beam, afterwards, root are realized using digital beam froming
Realize different Adaptive Sidelobe Canceling according to interference type.
Interference cognition is divided into three steps to carry out：Interference number is determined using accessory channel, after digital beam froming and arteries and veins
Interference temporal signatures are extracted respectively after punching press contracting.The interference characteristic obtaining is delivered to adaptive strategy center module, completes
Feature analysiss to interference, distinguish continuous wave CO_2 laser, impulse disturbances and repeating jamming.If disturb for continuous wave CO_2 laser with
Impulse disturbances, switch 1 connection a end, carry out Adaptive Sidelobe Canceling before the compression of DBF afterpulse.If disturb done for relay type
Disturb, after digital beam froming, switch 1 connection b end, carries out pulse compression closure switch 2 to signal, carry out the self adaptation after pulse pressure
Sidelobe cancellation.Actually namely according to different interference types, to determine the use of pulse compression and Adaptive Sidelobe Canceling
Tandem.
Interference characteristic after DBF is extracted, the present invention was mainly to pulse envelope, pulsewidth, pulse spacing in its time domain
It is analyzed Deng characteristic parameter, these parameters are combined to form cognitive describing word (RDW), can efficiently complete to characteristic parameter
Statistics, the quick classification realized to interference and identification, but the selection of characteristic parameter can also be carried out according to the actual needs
With analysis.
Divided by interference characteristic being carried out to interference signal envelope, pulse width and pulse spacing after DBF in the method
Analysis, can tell continuous wave CO_2 laser and impulse disturbances.Select appropriate anti-interference after being delivered to adaptive strategy center module
Mode, so using Adaptive Sidelobe Canceling suppression interference.
Adaptive Sidelobe Canceling is by weighting to auxiliary channel signal, subtract each other with main channel signal reach suppressed sidelobes do
The purpose disturbed.Main processes of calculation is as follows：
Calculate accessory channel covariance matrix RXX=Xs(k)Xs HK (), calculates major-minor passage cross-correlation vector PXy=Xs(k)
y*K (), calculates adaptive weighted W in sidelobe cancellations=RXX -1PXy, in formula, []-1Representing matrix inversion operation, ()*Represent
Conjugation.Weighting output z of the wave beam after offseting (k) is：Z (k)=y (k)-Ws *(k)Xs(k), ()*Represent conjugation.
Using pulse compression in the present invention, for continuous wave CO_2 laser and impulse disturbances, Adaptive Sidelobe Canceling afterpulse pressure
The purpose of contracting is to detect whether interference is suppressed.
For repeating jamming, in the compression of digital beam froming afterpulse, complete the detection to interference signal.
Pulse compression is by transmitting wider width and the relatively low pulse compression of peak power, obtains narrower width, peak value
The detection performance of power and range resolution ratio.It is exactly substantially that optimum filtering is carried out to echo-signal.Generally have time domain related and
Frequency domain fast Fourier transform (FFT) two methods：
Time domain is related to be exactly to carry out convolution algorithm to radar echo signal, and computing formula is p (k)=r (k) * h (k), formula
Middle * represents convolution, and r (k) is the echo-signal after A/D sampling, the impulse response that h (k) filters for pulse pressure；P (k) is letter after pulse pressure
Number output.
Frequency domain method is then that echo-signal FFT is calculated with frequency spectrum R (ω), then frequency response H (ω) phase with pulse pressure filtering
Take advantage of, finally complete Fast Fourier Transform Inverse (IFFT), you can obtain pulse pressure result.Computing formula is p (k)=IFFT [R (ω)
H (ω)]=IFFT { FFT [r (k)] FFT [h (k)] }, because convolution is equivalent to frequency domain multiplication product, is same in two ways
One concept.When signal is for big Timed automata, typically adopt frequency domain FFT method.
Interference characteristic is extracted after pulse pressure for repeating jamming identical with the method extracting interference characteristic after DBF.For
Continuous wave CO_2 laser and impulse disturbances, extract interference characteristic after pulse compression, if interference signal envelope is less than threshold value σPA2, then
Prove that interference is effectively suppressed.For repeating jamming, extract interference characteristic after pulse compression, determine interference envelope, pulse
Width and pulse spacing, interference characteristic is delivered to adaptive strategy center module.Complete relay type is done by policy selection
Disturb suppression.
(8) adaptive strategy center module
When interference mode is different, anti-interference mode changes therewith, both is mapped and constitutes adaptive strategy center
Module.This module refers to the interference identifying according to interference characteristic, chooses one or several corresponding antijamming measures complete
Become AF panel, so that the interference free performance of radar system reaches optimum.Compared with traditional anti-interference mechanism method, dry
Complete the cognition to interference before and after disturbing suppression, more effectively improve Radar cross-section redaction level.Particular content is as shown in the table：
Table 1 is interference cognitive strategy table
Wherein, pulse width is designated as PA, and pulse amplitude is designated as PW, and the subscript that the pulse spacing is designated as in PR form represents
The value that one/secondary interference characteristic extracts, threshold value σPA1, σPW1, σPR1, σPA2, σPW2, σPR2Empirically value is chosen.
Embodiment
Complete three kinds of interference signals by Computer Simulation the method for the present invention is verified.Assume that the radar of Unit 1 is equal
Even linear array, unit interval is half-wavelength, and signal to noise ratio takes 20dB.
Wherein, the interference signal in embodiment 1 is noise FM continuous wave CO_2 laser.
Interference signal in embodiment 2 is impulse disturbances.
Interference signal in embodiment 3 is repeating jamming.
Respectively three kinds of interference signals are verified with interference characteristic extracting method, jamming exposure area and the suppression of final adaptive disturbance
Performance processed.
Give in table 2 three kinds interference after DBF with pulse compression after interference characteristic parameter.If interference characteristic after DBF
Signal envelope thresholding σPA1For 60, pulse width thresholding σPW1Take 20 μ s, pulse spacing thresholding σPR1For 200 sampled points.Pulse compression
Interference characteristic signal envelope thresholding σ afterwardsPA2For 80dB, pulsewidth thresholding σPW2For 0.3 μ s, pulse spacing thresholding σPR1For 1000 samplings
Point.
Interference characteristic parameter after table 3DBF and pulse pressure
Embodiment 1：
Interference signal is noise FM continuous wave, and interference is located at -45 °, and signal is located at 30 °.Interference and noise before pulse pressure
Ratio takes 30dB.The time domain modulus value of interference is as shown in Figure 2.The present embodiment during interference characteristic, arranges interference signal after analyzing DBF
Envelope value PA1For 150, pulse width values PW1For 40 μ s, pulse spacing PR1For 0.As can be seen from Figure 2, continuous wave CO_2 laser amplitude is more than
Threshold value σPA1.Interference signal pulsewidth is more than pulsewidth threshold value σPW1, interference signal pulse interval is less than threshold value σPR1.The present invention
It is suppressed afterpulse compression pulse pressure effect in continuous wave CO_2 laser as shown in figure 4, making interference obtain very well using the method for the present invention
Ground suppression.
Schemed from embodiment 1, after DBF, interference signal envelope is more than thresholding 60, pulse width is more than thresholding 20 μ s,
Repetition rate is less than at 200 points.Cancellation ratio that AF panel is obtained using the given method of the present invention is 15.25dB.Pulse compression
Afterwards, interference signal does not produce obvious spike, then prove that interference is effectively suppressed.So can be told continuously by the present invention
Interference wave signal.
Embodiment 2
The impulse disturbances that interference signal is 50% for dutycycle, interference is located at -45 °, and interference takes 30dB with the ratio of noise.
The time domain modulus value of interference is as shown in Figure 5.AF panel performance is obtained using the method for the present invention as shown in fig. 6, interference obtains very
Suppress well.It is as shown in Figure 7 that the present invention is suppressed afterpulse compression pulse pressure effect in impulse disturbances.
Schemed from embodiment 2, be more than thresholding 60 in DBF afterpulse interference signal envelope, pulse width is less than thresholding
20 μ s, repetition rate is more than at 200 points.Cancellation ratio that AF panel is obtained using the given method of the present invention is 11.43dB.Pulse
After compression, signal envelope is less than threshold value and no spike, then prove that interference is effectively suppressed.So can be divided by the present invention
Do not go out pulse interference signal.
Embodiment 3
Interference signal is repeating jamming, and interference is located at -45 °, and interference takes 30dB with the ratio of noise.Interference is in time domain
Amplitude as shown in Figure 8.Pulse compression pulse pressure effect of the present invention is as shown in figure 9, analyze interference characteristic after pulse compression, pulse width
Degree and repetition rate are as shown in Figure 10,11.Using method of the present invention AF panel performance as shown in figure 12, again Figure 12 is entered
Row supplementary notes, in actual emulation, picture is really colour picture, can be best seen in demarcating, in the middle of data
It is to have echo signal, but be not it is clear that being still suppressed from both sides this it appears that disturbing when being changed to completely black,
Interference is suppressed well.
Schemed from embodiment 3, after DBF, repeating jamming signal envelope is more than thresholding 60, pulse width is more than door
Limit 20 μ s, repetition rate is less than at 200 points.After pulse compression, interference signal envelope is more than threshold value 80, and pulse width is more than thresholding
0.3 μ s, repetition rate is 2000 points and produces spike.After extracting spike, calculate sidelobe cancellation weights, to interference letter
It is 9.87dB that number suppression obtains cancellation ratio.So repeating jamming signal can be gone out respectively by the present invention.
The above is only the preferred embodiment of the present invention it is noted that ordinary skill people for the art
For member, on the premise of without departing from the technology of the present invention principle, some improvement can also be made and deform, these improve and deform
Also should be regarded as protection scope of the present invention.
Claims (4)
1. a kind of cognition type self-adapting interference suppression method, is characterized in that, comprise the steps：
1) by array received to signal by digital beam froming obtain required for wave beam after export；
2) extract part accessory channel interference number is judged, the individual of accessory channel is selected according to the interference number drawing
Number；
3) carry out interference characteristic analysis, image parameter is pulse envelope in its time domain, pulsewidth and pulse spacing, by these parameters
Combine to form cognitive describing word；
4) according to step 3) result the type of all kinds of wave beams is differentiated, be delivered to and select just after adaptive strategy center module
When anti-interference mode, judgment criterion is as follows：
If continuous wave CO_2 laser, signal sampling point chooses the moment before transmitting, and open a window 1024 sampled points of length, by self adaptation
Lobe offsets afterpulse compression；
If impulse disturbances, realize interference sample within the frame data cycle of reception, interference sample intercepts at 2048 points, using adaptive
Sidelobe cancellation afterpulse is answered to compress；
If repeating jamming, directly carry out pulse compression；
5) for step 4) process after interference carry out interference characteristic analysis, and judge treatment effect：
For continuous wave CO_2 laser and impulse disturbances, if interference signal envelope is less than threshold value set in advance and no spike,
Then prove that interference is effectively suppressed；
For repeating jamming, determine interference envelope, pulse width and pulse spacing, interference characteristic is delivered to adaptive strategy
Processed using Adaptive Sidelobe Canceling suppression conflicting mode after center module, carried out interference characteristic analysis again afterwards, if
Interference envelope, pulse width and pulse spacing all exceed setting value and produce spike, then extract spike sample and calculate side
Lobe offsets weight vector, and interference is suppressed.
2. a kind of cognition type self-adapting interference suppression method according to claim 1, is characterized in that, described step 1) middle tool
Body step is：
For the radar uniform line-array array of M unit, if i-th channel receiving signal is xiK (), k represents discrete time, if letter
Number beam position is θ, and a (θ) is input signal steering vector, and computing formula is
In formula, j represents imaginary number, and d is array element distance, and λ is wavelength, []TRepresent transposition；
Weighting is formed to array beamses, is output asIn formula ()*Represent conjugation, wiFor i-th passage
DBF weights.
3. according to claim 1 a kind of cognition type self-adapting interference suppression method, it is characterized in that, described step 2) tool
Body step is：
21) set the data following X of composition extracting N number of accessory channels(k)=[x1(k),x2(k),…,xN(k)]T；
22) ask for accessory channel covariance matrix RXX=Xs(k)Xs H(k), ()HRepresent conjugate transpose；
23) Eigenvalues Decomposition λ is carried out to covariance matrixi=eig [RXX], i=1,2 ..., N, in formula, eig [] represents feature
Root analytic function, λiIt is expressed as ith feature root, wherein smallest real eigenvalue is expressed as λmin=min { λ1,λ2,…,λN}；
24) calculate the ratio of further feature root and smallest real eigenvalue, be designated as
25) defined variable Λ=[δ1,δ2,…,δN], when with threshold value ρ0When relatively, more than the characteristic root number of threshold value it is exactly
Corresponding interference number, chooses accessory channel number according to interference number.
4. according to claim 1 a kind of cognition type self-adapting interference suppression method, it is characterized in that, described step 4) in right
Judgment criterion in parameters object is：
I) pulsewidth is utilized to differentiate：For trying to achieve output signal pulses width, need each disturbing pulse rising edge and trailing edge are carried out
Judge；The rising edge obtaining is marked with trailing edge sampled point, using the rising edge of same pulse and the difference of trailing edge
Calculate pulse width, the following PW=T of computing formulasNs, T in formulasFor sampling period, NsSample with trailing edge difference for rising edge
Points；If σPW1For pulsewidth threshold value, when signal pulsewidth is more than σPW1When it can be determined that interference signal be pulse signal；Work as signal
Pulsewidth is less than σPW1When, then may determine that interference signal is continuous wave signal；
II) pulse envelope is utilized to differentiate：After digital beam froming, ask for the envelope of required beamformer output signalY in formulaI(k) and yQK () is real part and the imaginary part of beam signal y (k)；
After digital beam froming, threshold value σ is taken to the signal envelope in a certain momentPA1If signal envelope is more than threshold value σPA1, then
Think that interference exists, otherwise it is assumed that not interfering with；
III) pulse spacing is utilized to differentiate：After digital beam froming, waveform pulse is spaced and sets threshold value σPR1, work as signal
Pulse spacing is more than σPR1It can be determined that interference signal is impulse disturbances；When signal recurrence interval is less than σPR1, then may determine that dry
Disturbing signal is continuous wave CO_2 laser.
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| CN110518922A (en) * | 2019-08-29 | 2019-11-29 | 成都精位科技有限公司 | Reception gain adjusting method, device and wireless receiver |
| CN111245455A (en) * | 2020-02-19 | 2020-06-05 | 北京紫光展锐通信技术有限公司 | Dynamic interference suppression method for receiver, receiver system and storage medium |
| CN111337886A (en) * | 2020-03-23 | 2020-06-26 | 中国人民解放军空军工程大学 | Radar interference suppression method and device based on channel ratio function and electronic equipment |
| CN113050045A (en) * | 2021-02-09 | 2021-06-29 | 中国人民解放军空军研究院战略预警研究所 | Intelligent comprehensive main and side lobe interference resisting system and method |
| CN117289276A (en) * | 2023-11-24 | 2023-12-26 | 航天宏图信息技术股份有限公司 | SAR image processing method and device, electronic equipment and storage medium |
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| CN111337886B (en) * | 2020-03-23 | 2022-01-25 | 中国人民解放军空军工程大学 | Radar interference suppression method and device based on channel ratio function and electronic equipment |
| CN113050045A (en) * | 2021-02-09 | 2021-06-29 | 中国人民解放军空军研究院战略预警研究所 | Intelligent comprehensive main and side lobe interference resisting system and method |
| CN117289276A (en) * | 2023-11-24 | 2023-12-26 | 航天宏图信息技术股份有限公司 | SAR image processing method and device, electronic equipment and storage medium |
| CN117289276B (en) * | 2023-11-24 | 2024-02-27 | 航天宏图信息技术股份有限公司 | SAR image processing method and device, electronic equipment and storage medium |
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