CN108680918B - Speed measuring method and device applied to radar and electronic equipment - Google Patents
Speed measuring method and device applied to radar and electronic equipment Download PDFInfo
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- CN108680918B CN108680918B CN201810482839.1A CN201810482839A CN108680918B CN 108680918 B CN108680918 B CN 108680918B CN 201810482839 A CN201810482839 A CN 201810482839A CN 108680918 B CN108680918 B CN 108680918B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/588—Velocity or trajectory determination systems; Sense-of-movement determination systems deriving the velocity value from the range measurement
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Abstract
The invention is suitable for the technical field of radars, and provides a speed measuring method, a speed measuring device, electronic equipment and a computer readable storage medium applied to radars, wherein the speed measuring method comprises the following steps: calculating the distance change rate of the target based on the track information of the target; calculating a velocity blur multiple of the velocity measurement of the target based on the range rate; and carrying out speed deblurring according to the speed fuzzy multiple to obtain the real speed of the target. The invention can effectively improve the speed measurement range of the radar and meet the application requirement of the vehicle-mounted radar.
Description
Technical Field
The invention belongs to the technical field of radars, and particularly relates to a speed measuring method, a speed measuring device, electronic equipment and a computer readable storage medium applied to radars.
Background
Currently, in the civil direction, radar has been increasingly used in automobiles or other ground motor vehicles for implementing driving assistance functions such as obstacle finding, collision prediction, adaptive cruise control, etc., wherein the implementation of speed measurement of objects in the vicinity of the vehicle by radar is an important application direction.
However, in the radar system, data signals are acquired through an analog-to-digital converter, and due to the limitation of the sampling rate of the analog-to-digital converter, when the sampling interval is too wide, the frequency spectrum is overlapped, so that the radar can confuse the measurement of the target speed. Therefore, the speed measurement range of the radar is limited, and the requirement of an actual application scene is difficult to meet.
Disclosure of Invention
In view of this, the invention provides a speed measurement method, a speed measurement device, an electronic device and a computer readable storage medium applied to a radar, which can effectively improve the speed measurement range of the radar and meet the application requirements of a vehicle-mounted radar.
The first aspect of the present invention provides a speed measurement method applied to a radar, where the speed measurement method includes:
calculating the distance change rate of the target based on the track information of the target;
calculating a velocity blur multiple of the velocity measurement of the target based on the range rate;
and carrying out speed deblurring according to the speed fuzzy multiple to obtain the real speed of the target.
Based on the first aspect of the present invention, in a first possible implementation manner of the first aspect, the calculating a range rate of the target based on the track information of the target includes:
calculating a distance predicted value of the target under preset different speed fuzzy values at the current moment based on the track information of the target;
associating the distance measurement value of the target at the current moment with the distance prediction value to determine the distance prediction value corresponding to the distance measurement value;
correcting the distance measurement value through the determined distance prediction value corresponding to the distance measurement value to obtain the real distance value of the target at the current moment;
calculating the distance change rate of the target based on the real distance value of the target at the current moment and the real distance value of the target at the previous moment, wherein the real distance value of the target at the previous moment is obtained based on the track information of the target.
Based on the first possible implementation manner of the first aspect of the present invention, in a second possible implementation manner, after obtaining the real distance value of the target at the current time, the method further includes:
and updating the track information of the target according to the real distance value of the target at the current moment.
Based on the first aspect of the present invention and any one of the foregoing possible implementation manners of the first aspect, in a third possible implementation manner, the calculating a distance change rate of the target based on the track information of the target includes:
calculating the distance change rate of the target according to a preset first formula, wherein the first formula is as follows:
wherein, the
Representing said objectRate of change of distance, said RnRepresents tnAt the moment of the target position, RmRepresents tmThe location of the target at the moment.
Based on the first aspect of the present invention and any one of the foregoing possible implementation manners of the first aspect, in a fourth possible implementation manner, the calculating a speed ambiguity multiple of the speed measurement value of the target based on the distance change rate includes:
calculating a speed fuzzy multiple of the speed measurement value of the target according to a preset second formula, wherein the second formula is as follows:
wherein N represents a velocity blur multiple of a velocity measurement of the target, N is an integer, v represents a range rate of the target, and v represents a velocity blur rate of the target0A velocity measurement, said v, representing said targetunambiRepresenting the maximum unambiguous speed of the radar.
Based on the first aspect of the present invention and any one of the foregoing possible implementation manners of the first aspect, in a fifth possible implementation manner, the performing speed deblurring according to the speed blur multiple to obtain a true speed of the target includes:
and performing speed ambiguity resolution according to a preset third formula to obtain the real speed of the target, wherein the third formula is as follows:
v′＝N×vunambi+v0
wherein v' represents the real velocity of the target, N represents the velocity ambiguity multiple of the velocity measurement of the target, N is an integer, vunambiRepresents the maximum unambiguous velocity of the radar, said v0A velocity measurement of the target is represented.
A second aspect of the present invention provides a velocity measurement device applied to a radar, the velocity measurement device including:
the first calculation unit is used for calculating the distance change rate of the target based on the track information of the target;
a second calculation unit configured to calculate a velocity blur multiple of the velocity measurement value of the target based on the distance change rate of the target calculated by the first calculation unit;
and the third calculating unit is used for carrying out speed deblurring according to the speed fuzzy multiple calculated by the second calculating unit to obtain the real speed of the target.
Based on the second aspect of the present invention, in a first possible implementation manner of the second aspect, the speed measuring device further includes:
the fourth calculation unit is used for calculating a distance predicted value of the target under preset different speed fuzzy values at the current moment based on the track information of the target;
the distance correlation unit is used for correlating the distance measurement value of the target at the current moment with the distance prediction value calculated by the fourth calculation unit so as to determine the distance prediction value corresponding to the distance measurement value;
the correction unit is used for correcting the distance measurement value through the distance prediction value which is determined by the distance correlation unit and corresponds to the distance measurement value to obtain the real distance value of the target at the current moment;
the first calculating unit is specifically configured to calculate a distance change rate of the target based on the real distance value of the target at the current time obtained by the correcting unit and the real distance value of the target at the previous time, where the real distance value of the target at the previous time is obtained based on the track information of the target.
A third aspect of the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method for measuring speed applied to radar according to any one of the above items when executing the computer program.
A fourth aspect of the present invention provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of the method for measuring velocity applied to a radar.
Compared with the prior art, the invention has the following beneficial effects:
the method comprises the steps of calculating the distance change rate of a target through track information based on the target; the track information of the target reflects the motion track of the target, so that the distance change rate of the target calculated based on the track information can reflect whether the speed measurement value of the target by the radar is a value with speed fuzziness to a certain extent; then, based on the range rate, a velocity blur multiple of the velocity measurement of the target may be calculated; the speed ambiguity resolution of the radar on the speed measurement value of the target can be carried out through the speed ambiguity multiple, so that the real speed of the target can be obtained; therefore, the method and the device can convert the speed measurement value after the speed ambiguity is generated into the real speed value of the target, thereby effectively improving the speed measurement range of the radar and meeting the application requirement of the vehicle-mounted radar.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a flowchart of an implementation of a speed measurement method applied to a radar according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a speed measuring device applied to a radar according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an electronic device provided in an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the following description is made by way of specific embodiments with reference to the accompanying drawings.
Referring to fig. 1, it shows a flowchart of an implementation of a speed measurement method applied to a radar according to an embodiment of the present invention, which is detailed as follows:
In the embodiment of the present invention, the target refers to anything of which the radar is interested in the state, for example, the radar is applied to a vehicle-mounted radar which tracks and measures things in a certain range near a vehicle, the state of the target is a variable, and generally comprises components such as position, speed and acceleration, which are all functions changing with time and follow a dynamic law, and the embodiment of the present invention is directed to the speed variable of the target.
In the embodiment of the invention, the track refers to a measured value sequence which is judged by a radar and is from the same target, specifically, the radar sends an electromagnetic wave signal and receives a returned electromagnetic wave signal, the returned electromagnetic wave signal is firstly input into a signal processor to be processed to form measured value point track data, then the measured value point track data is subjected to gate judgment and data association to obtain the track information of the target, wherein the target refers to the same target.
In the embodiment of the invention, the measured values refer to observed quantities related to a target state, which are sent from the radar sensor, generally subjected to noise pollution and possibly have errors or fuzziness.
It should be noted that the track information of the target may reflect a change in the position of the target, and the change in the position may reflect a change in the distance from the target to the radar, so that the distance change rate of the target may be obtained by calculation based on the positions of the target at different times.
Optionally, in step 101, the distance change rate of the target may be calculated according to a preset first formula, where the first formula is:
wherein, the
Represents a rate of change of distance of the target, the RnRepresents tnAt the moment of the target position, RmRepresents tmThe location of the target at the moment.
In one embodiment, t isnThe time represents the current time, tmThe time represents the time immediately preceding the current time, and is calculated according to the first formula
I.e. the rate of change of the distance of the object at the current time relative to the previous time.
Optionally, the implementation process of step 101 may further include the following steps:
and A, calculating a distance predicted value of the target at the current moment under preset different speed fuzzy values based on the track information of the target.
According to Nyquist sampling theorem, there exists a range of sampling data (measurement values) of the radar, for example, when the radar measures speed, the speed measurement value does not exceed a range, and if the projection component of the actual speed (real speed) of the target in the radial direction exceeds the range, speed ambiguity occurs, that is, the radial speed observed by the radar is not the actual radial speed of the target, where the maximum radial speed obtained by the radar is referred to as the maximum unambiguous speed. The actual radial velocity of the target and the observed radial velocity meet a certain relation, different sampling frequencies can correspond to different velocity fuzzy values, and in the embodiment of the invention, velocity measurement results under the +1 velocity fuzzy value, the 0 velocity fuzzy value and the-1 velocity fuzzy value are processed, so that the velocity measurement range of the radar can be improved by three times. Wherein, the speed measurement result is not generated with speed fuzzy under the speed fuzzy value of '0', and the speed measurement value reflects the real speed of the target to a certain extent (excluding interference) in the situation; the speed measurement result is shown to generate speed fuzziness under the speed fuzziness value of +1, and the speed measurement result needs to be corrected by adding 1 time of maximum unfuzziness speed; the "-1" velocity ambiguity value indicates that the velocity measurement produced a velocity ambiguity, and that its velocity measurement needs to be corrected by subtracting 1 times the maximum unambiguous velocity.
For example, assuming that the actual speed measurement range of the radar is-50 m/s to +50m/s, the maximum unambiguous speed is 100 m/s; if the real speed of the target is +10m/s, the radar does not generate speed ambiguity on the speed measurement of the target because the target is within the actual speed measurement range of the radar, and the speed measurement result is +10m/s, which belongs to the measurement result under the speed ambiguity value of '0'; when the actual speed of the target is 110m/s, the speed measurement of the target by the radar generates speed ambiguity, the speed measurement result is also +10m/s, and the situation belongs to the measurement result under the speed ambiguity value of + 1; at the actual speed of the target of-90 m/s, the speed measurement of the target by the radar will produce a speed ambiguity, the speed measurement of which is also +10m/s, which is the case for measurements at a-1 "speed ambiguity value.
In the process of acquiring the track information of the target, the state variable of the target needs to be filtered through a recursive linear filter. The state transition equation and the observation equation of the kalman filter are statistical models, the state transition equation may describe a change in the position (distance) of the target over time, i.e., a state prediction process, and the observation equation may give a relationship between an observed value and a state variable of the target, i.e., a state update process.
In the embodiment of the invention, in the state prediction process of Kalman filtering, the distance prediction results under the conditions of three speeds (speed fuzzy values are +1, 0 and-1) are calculated so as to correct and update the distance measurement value of the target by the radar.
And step B, correlating the distance measurement value of the target at the current moment with the distance prediction value to determine the distance prediction value corresponding to the distance measurement value.
In the embodiment of the present invention, in the data association process between the current time detection result and the previous time track filtering result, the distance prediction value calculated by three speeds is used for distance association to determine the distance prediction result corresponding to the current time distance measurement value.
In the embodiment of the invention, the nearest data association algorithm can be adopted to realize the distance association between the distance measurement value at the current moment and the distance predicted value calculated by three speeds.
Step C, correcting the distance measurement value through the determined distance prediction value corresponding to the distance measurement value to obtain the real distance value of the target at the current moment;
in the embodiment of the invention, the distance predicted value corresponding to the distance measured value can be determined through distance correlation, and the distance measured value of the target by the radar at the current moment is corrected, so that the real distance of the target at the current moment can be obtained, and the track information of the target can be updated according to the real distance of the target at the current moment.
And D, calculating the distance change rate of the target based on the real distance value of the target at the current moment and the real distance value of the target at the previous moment.
In the embodiment of the invention, the actual distance change rate of the target at the current moment can be determined according to the actual distance of the target at the current moment and the actual distance of the target at the previous moment. The real distance value of the target at the previous moment can be reflected in the track information of the target.
In the embodiment of the present invention, the real distance value is relative to the distance measurement value of the radar to the target, and refers to an actual distance obtained by updating and correcting the measurement value of the radar to the target.
Optionally, after obtaining the real distance value of the target at the current time, the method further includes: and updating the track information of the target according to the real distance value of the target at the current moment.
In the embodiment of the invention, in the state updating process of Kalman filtering, the state optimization result under the three speeds (the speed fuzzy value is +1, 0 and-1) needs to be calculated, so that the track information of the target is updated, and the system can predict the state of the target at the next moment according to the track information.
102, calculating a speed fuzzy multiple of the speed measurement value of the target based on the distance change rate;
in the embodiment of the invention, after the range change rate of the target is obtained, the speed fuzzy multiple of the radar to the speed measurement value of the target at the current moment can be calculated according to the range change rate of the target, that is, whether the speed measurement value of the radar to the target at the current moment generates the speed fuzzy is determined, and if the speed fuzzy is generated, the generated speed fuzzy multiple can be determined.
Optionally, the step 102 may be implemented by:
calculating a speed fuzzy multiple of the speed measurement value of the target according to a preset second formula, wherein the second formula is as follows:
wherein N represents a velocity ambiguity multiple of a velocity measurement of the target, N being an integer, the method further comprising
Represents a rate of change of distance, said v, of said target0A velocity measurement, said v, representing said targetunambiRepresenting the maximum unambiguous speed of the radar.
In the embodiment of the invention, the maximum unambiguous velocity of the radar is related to the wavelength and the pulse repetition frequency of the radar, and particularly, the maximum unambiguous velocity v of the radarunambiWavelength lambda of radar and pulse repetition frequency fPRThe relationship of (a) to (b) is as follows:
it should be noted that, when the distance change rate of the target current time is equal to the speed measurement value of the target current time, it indicates that there is no speed ambiguity in the speed measurement value of the current time, that is, in this case, the speed ambiguity multiple of the speed measurement value of the target is 0.
And 103, carrying out speed deblurring according to the speed fuzzy multiple to obtain the real speed of the target.
In the embodiment of the invention, after the speed fuzzy multiple of the speed measurement value of the radar degree target at the current moment is determined, the speed of the radar on the speed measurement value of the target can be deblurred according to the speed fuzzy multiple, so that the real speed of the target is obtained.
In the embodiment of the present invention, the real speed represents an actual speed of the target, that is, a speed measurement value of the radar to the target without generating speed ambiguity, or a speed of the target after correcting the speed measurement value of the radar when the radar generates speed ambiguity to the speed measurement value of the target.
Optionally, the step 103 may be implemented by:
and performing speed ambiguity resolution according to a preset third formula to obtain the real speed of the target, wherein the third formula is as follows:
v′＝N×vunambi+v0
wherein v' represents the real velocity of the target, N represents the velocity ambiguity multiple of the velocity measurement of the target, N is an integer, vunambiRepresents the maximum unambiguous velocity of the radar, said v0A velocity measurement representing the targetMagnitude.
According to the method, the distance change rate of the target is calculated based on the track information of the target; the track information of the target reflects the motion track of the target, so that the distance change rate of the target calculated based on the track information can reflect whether the speed measurement value of the target by the radar is a value with speed fuzziness to a certain extent; then, based on the range rate, a velocity blur multiple of the velocity measurement of the target may be calculated; the speed ambiguity resolution of the radar on the speed measurement value of the target can be carried out through the speed ambiguity multiple, so that the real speed of the target can be obtained; therefore, the method and the device can convert the speed measurement value after the speed ambiguity is generated into the real speed value of the target, thereby effectively improving the speed measurement range of the radar and meeting the application requirement of the vehicle-mounted radar.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
The following are embodiments of the apparatus of the invention, reference being made to the corresponding method embodiments described above for details which are not described in detail therein.
Fig. 2 shows a schematic structural diagram of a speed measuring device applied to a radar according to an embodiment of the present invention, and for convenience of description, only the parts related to the embodiment of the present invention are shown, and detailed descriptions are as follows:
as shown in fig. 2, the speed measuring device 2 includes: a first calculation unit 21, a second calculation unit 22 and a third calculation unit 23.
A first calculation unit 21 configured to calculate a range rate of a target based on track information of the target;
a second calculation unit 22 for calculating a velocity blur multiple of the velocity measurement value of the target based on the distance change rate of the target calculated by the first calculation unit 21;
and the third calculating unit 23 is configured to perform speed deblurring according to the speed blur multiple calculated by the second calculating unit 22 to obtain the real speed of the target.
Optionally, the speed measuring device 2 further includes:
the fourth calculation unit is used for calculating a distance predicted value of the target under preset different speed fuzzy values at the current moment based on the track information of the target;
the distance correlation unit is used for correlating the distance measurement value of the target at the current moment with the distance prediction value calculated by the fourth calculation unit so as to determine the distance prediction value corresponding to the distance measurement value;
the correction unit is used for correcting the distance measurement value through the distance prediction value which is determined by the distance correlation unit and corresponds to the distance measurement value to obtain the real distance value of the target at the current moment;
the first calculating unit 21 is specifically configured to calculate a distance change rate of the target based on the real distance value of the target at the current time obtained by the correcting unit and the real distance value of the target at the previous time, where the real distance value of the target at the previous time is obtained based on the track information of the target.
Optionally, the speed measuring device 2 further includes an updating unit, configured to update the track information of the target according to the real distance value of the target at the current time after the real distance value of the target at the current time is obtained.
Optionally, the first calculating unit 21 is specifically configured to calculate the distance change rate of the target according to a preset first formula, where the first formula is:
wherein, the
Represents a rate of change of distance of the target, the RnRepresents tnAt the moment of the target position, RmRepresents tmThe location of the target at the moment.
Optionally, the second calculating unit 22 is specifically configured to calculate a speed fuzzy multiple of the speed measurement value of the target according to a preset second formula, where the second formula is:
wherein N represents a velocity ambiguity multiple of a velocity measurement of the target, N being an integer, the method further comprising
Represents a rate of change of distance, said v, of said target0A velocity measurement, said v, representing said targetunambiRepresenting the maximum unambiguous speed of the radar.
Optionally, the third calculating unit 23 is specifically configured to perform speed deblurring according to a preset third formula to obtain the real speed of the target, where the third formula is:
v′＝N×vunambi+v0
wherein v' represents the real velocity of the target, N represents the velocity ambiguity multiple of the velocity measurement of the target, N is an integer, vunambiRepresents the maximum unambiguous velocity of the radar, said v0A velocity measurement of the target is represented.
According to the method, the distance change rate of the target is calculated based on the track information of the target; the track information of the target reflects the motion track of the target, so that the distance change rate of the target calculated based on the track information can reflect whether the speed measurement value of the target by the radar is a value with speed fuzziness to a certain extent; then, based on the range rate, a velocity blur multiple of the velocity measurement of the target may be calculated; the speed ambiguity resolution of the radar on the speed measurement value of the target can be carried out through the speed ambiguity multiple, so that the real speed of the target can be obtained; therefore, the method and the device can convert the speed measurement value after the speed ambiguity is generated into the real speed value of the target, thereby effectively improving the speed measurement range of the radar and meeting the application requirement of the vehicle-mounted radar.
Fig. 3 is a schematic diagram of an electronic device according to an embodiment of the present invention. As shown in fig. 3, the electronic apparatus 3 of this embodiment includes: a processor 30, a memory 31 and a computer program 32 stored in said memory 31 and executable on said processor 30. The processor 30 executes the computer program 32 to implement the above steps in each embodiment of the velocity measurement method applied to radar, such as the steps 101 to 103 shown in fig. 1. Alternatively, the processor 30, when executing the computer program 32, implements the functions of the modules/units in the above-mentioned device embodiments, such as the functions of the units 21 to 23 shown in fig. 2.
Illustratively, the computer program 32 may be partitioned into one or more modules/units that are stored in the memory 31 and executed by the processor 30 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 32 in the electronic device 3. For example, the computer program 32 may be divided into a first computing unit, a second computing unit and a third computing unit, each unit having the following specific functions:
the first calculation unit is used for calculating the distance change rate of the target based on the track information of the target;
a second calculation unit configured to calculate a velocity blur multiple of the velocity measurement value of the target based on the distance change rate of the target calculated by the first calculation unit;
and the third calculating unit is used for carrying out speed deblurring according to the speed blurring multiple to obtain the real speed of the target.
The electronic device 3 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The electronic device may include, but is not limited to, a processor 30, a memory 31. It will be appreciated by those skilled in the art that fig. 3 is merely an example of the electronic device 3, and does not constitute a limitation of the electronic device 3, and may include more or less components than those shown, or combine certain components, or different components, for example, the electronic device may also include input output devices, network access devices, buses, etc.
The Processor 30 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 31 may be an internal storage unit of the electronic device 3, such as a hard disk or a memory of the electronic device 3. The memory 31 may also be an external storage device of the electronic device 3, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the electronic device 3. Further, the memory 31 may also include both an internal storage unit and an external storage device of the electronic device 3. The memory 31 is used for storing the computer program and other programs and data required by the electronic device. The memory 31 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/electronic device and method may be implemented in other ways. For example, the above-described apparatus/electronic device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media which may not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (8)
1. A speed measurement method applied to a radar is characterized by comprising the following steps:
calculating the distance change rate of the target based on the track information of the target;
calculating a velocity blur multiple of the velocity measurement of the target based on the range rate;
performing speed deblurring according to the speed fuzzy multiple to obtain the real speed of the target;
calculating the distance change rate of the target based on the track information of the target, wherein the distance change rate of the target comprises the following steps:
calculating a distance predicted value of the target under preset different speed fuzzy values at the current moment based on the track information of the target;
associating the distance measurement value of the target at the current moment with the distance prediction value to determine the distance prediction value corresponding to the distance measurement value;
correcting the distance measurement value through the determined distance prediction value corresponding to the distance measurement value to obtain the real distance value of the target at the current moment;
calculating the distance change rate of the target based on the real distance value of the target at the current moment and the real distance value of the target at the previous moment, wherein the real distance value of the target at the previous moment is obtained based on the track information of the target.
2. The method for measuring speed applied to radar according to claim 1, wherein after obtaining the real distance value of the target at the current time, the method further comprises:
and updating the track information of the target according to the real distance value of the target at the current moment.
3. The method according to any one of claims 1 to 2, wherein the calculating a range rate of the target based on the track information of the target comprises:
calculating the distance change rate of the target according to a preset first formula, wherein the first formula is as follows:
wherein, the
Represents a rate of change of distance of the target, the RnRepresents tnAt the moment of the target position, RmRepresents tmThe location of the target at the moment.
4. The method according to any one of claims 1 to 2, wherein the calculating a speed ambiguity multiple of the speed measurement value of the target based on the range rate comprises:
calculating a speed fuzzy multiple of the speed measurement value of the target according to a preset second formula, wherein the second formula is as follows:
wherein N represents a velocity ambiguity multiple of a velocity measurement of the target, N being an integer, the method further comprising
Represents a rate of change of distance, said v, of said target0A velocity measurement, said v, representing said targetunambiRepresenting maximum ambiguity of the radarSpeed.
5. The method according to any one of claims 1 to 2, wherein the performing speed deblurring according to the speed blur multiple to obtain the true speed of the target includes:
and performing speed ambiguity resolution according to a preset third formula to obtain the real speed of the target, wherein the third formula is as follows:
v’＝N×vunambi+v0
wherein v' represents the real velocity of the target, N represents the velocity ambiguity multiple of the velocity measurement of the target, N is an integer, vunambiRepresents the maximum unambiguous velocity of the radar, said v0A velocity measurement of the target is represented.
6. A speed measuring device applied to radar, characterized in that, the speed measuring device includes:
the first calculation unit is used for calculating the distance change rate of the target based on the track information of the target;
a second calculation unit configured to calculate a velocity blur multiple of the velocity measurement value of the target based on the distance change rate of the target calculated by the first calculation unit;
the third calculating unit is used for carrying out speed deblurring according to the speed fuzzy multiple calculated by the second calculating unit to obtain the real speed of the target;
the speed measuring device further comprises:
the fourth calculation unit is used for calculating a distance predicted value of the target under preset different speed fuzzy values at the current moment based on the track information of the target;
the distance correlation unit is used for correlating the distance measurement value of the target at the current moment with the distance prediction value calculated by the fourth calculation unit so as to determine the distance prediction value corresponding to the distance measurement value;
the correction unit is used for correcting the distance measurement value through the distance prediction value which is determined by the distance correlation unit and corresponds to the distance measurement value to obtain the real distance value of the target at the current moment;
the first calculating unit is specifically configured to calculate a distance change rate of the target based on the real distance value of the target at the current time obtained by the correcting unit and the real distance value of the target at the previous time, where the real distance value of the target at the previous time is obtained based on the track information of the target.
7. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the steps of the method according to any of claims 1 to 5 are implemented when the computer program is executed by the processor.
8. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.
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| CN109917341B (en) * | 2019-03-08 | 2021-07-30 | 森思泰克河北科技有限公司 | Radar moving target tracking performance test method, terminal equipment and storage medium |
| CN110286363B (en) * | 2019-06-27 | 2022-05-17 | 中国航空工业集团公司雷华电子技术研究所 | Target long-time tangential flight track speed difference re-correction method |
| CN110646798B (en) * | 2019-09-23 | 2021-09-28 | 森思泰克河北科技有限公司 | Target track association method, radar and terminal equipment |
| CN110901384B (en) * | 2019-12-05 | 2021-03-30 | 北京京东乾石科技有限公司 | Unmanned vehicle control method, device, medium and electronic equipment |
| US20230258766A1 (en) * | 2020-02-28 | 2023-08-17 | Calterah Semiconductor Technology (Shanghai) Co., Ltd. | Method for improving target detection accuracy, and integrated circuit, and radio device |
| CN112098987B (en) * | 2020-07-21 | 2022-08-09 | 安徽博微长安电子有限公司 | Method and device for improving target speed estimation precision and readable storage medium |
| CN113820687A (en) * | 2021-10-19 | 2021-12-21 | 中安锐达(北京)电子科技有限公司 | Radar point track correlation algorithm considering first-order velocity ambiguity |
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