CN110488242A - Echo signal processing method and device, radar and storage device - Google Patents
Echo signal processing method and device, radar and storage device Download PDFInfo
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- 230000011664 signaling Effects 0.000 description 29
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Classifications
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/491—Details of non-pulse systems
- G01S7/493—Extracting wanted echo signals
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
This application provides a kind of echo signal processing method and device, radar and storage devices, echo signal processing method includes: to obtain the reference inflection point of echo-signal, wherein, echo-signal is to be generated due to detectable signal that detector emit, is at least partly inflection point of echo-signal with reference to inflection point；The Gaussian component parameter of echo-signal is determined using location information of the reference inflection point in echo-signal.By the above-mentioned means, the application can guarantee accuracy of the echo-signal when decomposing.
Description
Technical field
This application involves field of radar, more particularly to echo signal processing method and device, radar and storage device.
Background technique
Radar is by transmitting laser pulse and to return to pulse as a kind of active contemporary optics remote sensing equipment
Mode, to obtain high-precision space structure and terrain information.With the raising of data storage capacities and processing speed, radar
Entire return pulse, these returns changed over time can be sequentially recorded and stored with the time interval of very little at present
Pulse can also be referred to as echo-signal.The key technology that processing analysis is carried out to echo-signal is divided echo-signal
Simulated radar echo is the superposition of Gauss wavelet by the characteristics of solution, decomposition is for echo-signal.
When decomposing to echo-signal, the accuracy of decomposition is not able to satisfy to be wanted existing echo signal processing method
It asks.
Summary of the invention
The application provides a kind of echo signal processing method and device, radar and storage device, can guarantee echo-signal
Accuracy when decomposing.
In order to solve the above technical problems, the technical solution that the application uses is: providing a kind of echo signal processing side
Method, this method comprises: obtaining the reference inflection point of echo-signal, wherein echo-signal is the detectable signal emitted due to detector
And generate, it is at least partly inflection point of echo-signal with reference to inflection point；Utilize location information of the reference inflection point in echo-signal
Determine the Gaussian component parameter of echo-signal.
In order to solve the above technical problems, another technical solution that the application uses is: providing a kind of echo signal processing
Device, the echo signal processing equipment include processor and memory connected to the processor, and memory is for storing computer
Program, processor is for calling computer program to realize the above method.
In order to solve the above technical problems, another technical solution that the application uses is: providing a kind of radar, the radar packet
Include above-mentioned echo signal processing equipment.
In order to solve the above technical problems, another technical solution that the application uses is: providing a kind of storage device, this is deposited
Storage device is stored with computer program, which can be performed to realize the above method.
It is in contrast to the prior art, the application echo signal processing method includes: that the reference of acquisition echo-signal is turned
Point, wherein echo-signal is to be generated due to detectable signal that detector emit, is at least portion of echo-signal with reference to inflection point
Divide inflection point；The Gaussian component parameter of echo-signal is determined using location information of the reference inflection point in echo-signal.Due to being this
Application is that the Gaussian component parameter of echo-signal is determined by the reference inflection point in echo-signal, thereby may be ensured that echo-signal
Accuracy when waveform decomposes.
Detailed description of the invention
Fig. 1 is the flow diagram of the application first embodiment echo signal processing method；
Fig. 2 is the flow diagram of step S11 in the application first embodiment；
Fig. 3 is the flow diagram of the application second embodiment echo signal processing method；
Fig. 4 is the flow diagram of step S23 in the application second embodiment；
Fig. 5 is the flow diagram of the application 3rd embodiment echo signal processing method；
Fig. 6 is the hardware structural diagram of the embodiment of the present application echo signal processing equipment；
Fig. 7 is the structural schematic diagram of the embodiment of the present application radar；
Fig. 8 is the schematic diagram of the embodiment of the present application storage device.
Specific embodiment
It is understandable to enable the above objects, features, and advantages of the application to become apparent, with reference to the accompanying drawing, to the application
Specific embodiment be described in detail.It is understood that specific embodiment described herein is only used for explaining this Shen
Please, rather than the restriction to the application.It also should be noted that illustrating only for ease of description, in attached drawing and the application
Relevant part rather than entire infrastructure.Based on the embodiment in the application, those of ordinary skill in the art are not making creation
Property labour under the premise of all other embodiment obtained, shall fall in the protection scope of this application.
Term " first ", " second " in the application etc. be for distinguishing different objects, rather than it is specific suitable for describing
Sequence.In addition, term " includes " and " having " and their any deformations, it is intended that cover and non-exclusive include.Such as comprising
The process, method, system, product or equipment of a series of steps or units are not limited to listed step or unit, and
It is optionally further comprising the step of not listing or unit, or optionally further comprising for these process, methods, product or equipment
Intrinsic other step or units.
Referenced herein " embodiment " is it is meant that a particular feature, structure, or characteristic described can wrap in conjunction with the embodiments
It is contained at least one embodiment of the application.Each position in the description occur the phrase might not each mean it is identical
Embodiment, nor the independent or alternative embodiment with other embodiments mutual exclusion.Those skilled in the art explicitly and
Implicitly understand, embodiment described herein can be combined with other embodiments.
Referring to Fig. 1, Fig. 1 is the flow diagram of the application first embodiment echo signal processing method.
S11: obtain the reference inflection point of echo-signal, wherein echo-signal be due to detectable signal that detector emits and
It generates, is at least partly inflection point of echo-signal with reference to inflection point.
In the present embodiment, detector is radar, and detector may include transmitter and receiver, and transmitter is for emitting
Laser pulse, receiver are used to receive echo-signal caused by the laser pulse emitted as transmitter.In the present embodiment,
Echo-signal is discrete signal.
In order to guarantee integrality when echo-signal Gauss Decomposition, this can be all paddy in echo-signal with reference to inflection point
Point or all peak dots, or be all valley points and peak dot.
For example, can be all valley points in echo-signal with reference to inflection point in the present embodiment.
Further, in order to improve robustness of the echo-signal in processing, if the first and/or end of echo-signal
Inflection point is peak dot, then using first in echo-signal/end signaling point as the valley point of echo-signal, for example, when echo-signal
When first inflection point is peak dot, then using signaling point first in echo-signal as the valley point of echo-signal；Or when echo-signal
When the last one inflection point is peak dot, then using the last one signaling point in echo-signal as the valley point of echo-signal.It is being returned
It, can be using valley point all in echo-signal as with reference to inflection point when the reference inflection point of wave signal.
The method of the specific reference inflection point for obtaining echo-signal please refers to following S111 to S125.
It in another embodiment, can be all peak dots in echo-signal with reference to inflection point.
Similarly, in order to improve robustness of the echo-signal in processing, if the first and/or end of echo-signal is turned
Point is valley point, then using first in the corresponding echo-signal in valley point/end signaling point as the peak dot of echo-signal.Obtaining echo
It, can be using peak dot all in echo-signal as with reference to inflection point when the reference inflection point of signal.Specific method can with it is following
S111's to S125 is similar, and the application will not be described in great detail.
In another embodiment, it can be all inflection points in echo-signal with reference to inflection point, i.e., can be back with reference to inflection point
All valley points and peak dot in wave signal.
S12: the Gaussian component parameter of echo-signal is determined using location information of the reference inflection point in echo-signal.
Since echo-signal is receiver collected pulse signal whithin a period of time, echo-signal include with
Multiple signaling points of time change, each signaling point correspond to a position in echo-signal, therefore, each to refer to inflection point
In corresponding echo-signal a position.Such as echo-signal can be expressed as BackNoiseResult (i), i indicates echo
I-th of signaling point in signal, BackNoiseResult (i) indicate the amplitude of i-th of signaling point.
Gaussian component parameter includes center, half-breadth and the amplitude of Gauss wavelet signal, each Gaussian component parameter
Determine a Gauss wavelet, so embodied by least one Gauss wavelet receiver received echo-signal feature.
In the present embodiment, the Gaussian component of echo-signal is determined using location information of the reference inflection point in echo-signal
Parameter, comprising: using location information of each group of neighboring reference inflection point in echo-signal, obtain the Gauss of echo-signal
The center of wave signal, half-breadth；The center of Gauss wavelet signal is rounded to obtain center rounding position, by echo-signal
Middle corresponding center is rounded amplitude of the amplitude of position as Gauss wavelet signal.Wherein, Gaussian component parameter include center,
Half-breadth and amplitude.Specifically obtain the method for the center of a Gauss wavelet signal of echo-signal, half-breadth and amplitude
Please refer to the description of the application second embodiment.
Referring to Fig. 2, Fig. 2 is the flow diagram of step S11 in the application first embodiment.In the present embodiment, join
Examining inflection point is all valley points in echo-signal.In other embodiments, when reference inflection point is all peak dots or all inflection points
When, also it is referred to following step.
S111: the amplitude of each signaling point and the amplitude of the next signaling point adjacent with the signaling point in echo-signal are calculated
Difference S (i), i=1, j=1.
Echo-signal in the present embodiment may include n signaling point, and n signaling point can be according to the sequencing of time
Arrangement, can also be arranged according to following by pretreated sequence.Specifically, echo-signal may include the 1st signal
The amplitude of point be BackNosieResult (1) ..., the amplitude BackNoiseResult (i) of i-th signaling point ..., the
The amplitude BackNoiseResult (n) of n signaling point.
It can obtain difference S (i)=BackNoiseResult (i)-BackNoiseResult (i+1), wherein i=
1,2,…,n-1。
Before carrying out following step, 1 value is first assigned to i.In addition, a parameter j is defined in order to count the quantity of valley point,
1 value is also first assigned to j in the present embodiment saving the quantity of valley point to j.
S112: judge whether i is greater than n-2.
Wherein, n is the quantity of signaling point in echo-signal.
As i > n-2, S120 is jumped to.
As i≤n-2, S113 is jumped to.
S113: S1=S (i), S2=S (i+1) are enabled.
Jump to S114.
S114: judging whether S1 × S2 is less than or equal to 0, and whether S1 is not equal to whether 0 and S2 is not equal to 0.
If above-mentioned judging result is all i.e. S1 × S2≤0, and S1 ≠ 0 when being, S2 ≠ 0, then it represents that i+1 signal
Point is inflection point, jumps to S116；Otherwise, 115 are jumped to.
S115: i is assigned the value of i+1.
S112 is jumped to, to carry out judging whether it is inflection point to next signal point.
S116: whether the value for judging j is 1, and whether S1 is less than 0 and whether S2 is greater than 0.
If the two is all when being, to jump to S117；
If have at least one for it is no when, jump to S118.
S117: it by 1 assignment in Lresult (j), and assigns j+1 to j, jumps to S118.
Wherein, 1 assignment is represented into the 1st valley point on the 1st signaling point of echo-signal in Lresult (1).
S118: judge whether S1 is greater than or equal to whether 0 and S2 is less than or equal to 0.
When the two, which is all, is, i.e. S1 >=0 and S2≤0, then i+1 signaling point is valley point, jumps to S119.
If have in the two at least one for it is no when, S112 is jumped to, to judge whether next signal is valley point.
S119: it assigns the value of i to Lresult (j), and assigns j+1 to j.
Wherein, it assigns the value of i to Lresult (j) and represents j-th of valley point on i-th of signaling point.S112 is jumped to, with
Judge whether next signal is valley point.
S120: the value of Lresult (j-1) is assigned to i.
Jump to S121.
S121: judge i whether > n-2.
If when, jump to S125；When if not, S122 is jumped to.
S122: S1=S (i), S (2)=S (i+1) are enabled.
Jump to S123.
S123: judging whether S1 × S2 is less than or equal to 0, and whether S1 is not equal to whether 0 and S2 is not equal to 0.
When three, which is, is, i.e. S1 × S2≤0, and S1 ≠ 0, S2 ≠ 0, then it represents that i+1 signaling point is inflection point,
By n assignment in Lresult (j), and enable j+1 assignment in j.Jump to S125.Wherein n assignment represents j-th in Lresult (j)
Valley point is on n-th of signaling point.
If three have at least one for it is no when, jump to S124.
S124: by i+1 assignment in i.
Jump to S121.
S125: the number with reference to inflection point is that num1 is j-1, and the position of j-th of inflection point is in Lresult (j).
It, can when the reference inflection point, specially all valley points of echo-signal of the echo-signal obtained through the above way
Meet the requirement of robustness with the infull situation of last bit signaling point, the inflection point made in view of omitting due to initial signal.
Referring to Fig. 3, Fig. 3 is the flow diagram of the application second embodiment echo signal processing method.The present embodiment
It is to be further expanded to first embodiment echo signal processing method, same part is not repeated herein, this implementation
Example echo signal processing method the following steps are included:
S21: receives echo-signal.
Wherein, the executing subject of S21 can be processor.Specifically, the receiver of radar is receiving echo-signal
Afterwards, echo-signal is transmitted to processor, processor receives echo-signal.
S22: the reference inflection point of echo-signal is obtained.
The specific reference inflection point for obtaining echo-signal please refers to description above, and details are not described herein again.
S23: reference inflection point is screened.
Specifically: carrying out screening to reference inflection point may include: to obtain in echo-signal corresponding one with reference to the of inflection point
One amplitude, and to its previous the second amplitude with reference to inflection point；It calculates and refers to inflection point and its previous centre with reference between inflection point
Position, and obtain the third amplitude that middle position is corresponded in echo-signal；If between first amplitude, the second amplitude and third amplitude
Relationship meet preset relation, then will with reference to inflection point reject.
Preset relation can only include the first preset relation, can also only include the second preset relation, can also include the
One preset relation and the second preset relation.In the embodiment of the present application, preset relation includes that the first preset relation and second are default
Relationship.
Wherein, the first preset relation are as follows: first amplitude and the second amplitude at least one be greater than third amplitude；
Second preset relation are as follows: the absolute value of the difference between first amplitude and the second amplitude no more than first amplitude and is preset
Product between constant, and the absolute value of the difference between the second amplitude and third amplitude is less than between the second amplitude and preset constant
Product.
In addition, to the specific method that reference inflection point is screened, the associated description of figure hereinafter S231 to S245 is please referred to.
S24: the Gauss point of echo-signal is determined using location information of the reference inflection point in echo-signal after screening
Measure parameter.
Wherein, the Gauss point of echo-signal is determined using location information of the reference inflection point in echo-signal after screening
Measuring parameter may include: to be obtained using each group of adjacent location information of the reference inflection point in echo-signal after screening
The center of one Gauss wavelet signal of echo-signal, half-breadth；It is rounded the center of Gauss wavelet signal to obtain center
It is rounded position, the center that will correspond in echo-signal is rounded the amplitude of position as the amplitude of Gauss wavelet signal.
Specifically: when the number of the reference inflection point obtained by S22 or S125 is num1, the reference after screening is turned
The number of point is num2, and wherein the value of num2 is less than or equal to the value of num1.Wherein, the reference inflection point after screening can be used
BackNoiseResult (1) ..., BackNoiseResult (k) ..., BackNoiseResult (num2) are indicated.And
BackNoiseResult (k) is the amplitude of k-th of reference inflection point after screening.
Center P (k) can be obtained by formula (1):
Wherein, P (k) is the center of k-th of reference inflection point after screening after screening；Lresult (k+1) is
Kth+1 position with reference to inflection point in echo-signal after screening；Lresult (k) is that k-th of reference after screening is turned
Position of the point in echo-signal；K is integer, and k is more than or equal to 1 and is less than or equal to num2-1.
Half-breadth W (k) can be obtained by formula (2):
Wherein, W (k) is k-th after the screening half-breadth with reference to inflection point；Lresult (k+1) be kth after screening+
1 position with reference to inflection point in echo-signal；Lresult (k) is k-th of reference inflection point after screening in echo-signal
Position；K integer, and k is more than or equal to 1 and is less than or equal to num2-1.
Amplitude Am (k) can be obtained by formula (3):
Am (k)=BackNosieResult (floor (P (k))) (3)
Wherein, Am (k) is k-th after the screening amplitude with reference to inflection point, is referred to as k-th of Gauss wavelet signal
Amplitude, P (k) is k-th after the screening center with reference to inflection point；Floor (P (k)) is P (k) to minus infinity
The position that direction is rounded, i.e., when P (k)=A+ δ, A is integer, and δ is the number greater than 0 and less than 1, floor (P (k))=A；
The amplitude of position floor (P (k)) is rounded centered on BackNosieResult (floor (P (k))).
In other embodiments, floor (P (k)) can use fix (P (k)), round (P (k)) or ceil (P (k)) generation
It replaces, the value being rounded to zero direction that wherein fix (P (k)) is P (k), round (P (k)) is being rounded to nearest direction for P (k)
Value, that is, the value after rounding up, ceil (P (k)) be P (k) to positive infinity direction be rounded value.fix(P(k)),
The specific application method of round (P (k)) and ceil (P (k)) is detailed in relevant technical data, and the application does not repeat.
S25: by the amplitude of Gauss wavelet signal and default amplitude com parison, and retain the height whether amplitude is greater than default amplitude
This wavelet signal.
After by step S24, the amplitude of num2-1 Gauss wavelet signal is obtained, these amplitudes can be accorded with mathematics
It number shows, it may be assumed that BackNoiseResult (1) ..., BackNosieResult (floor (P (k))) ...
BackNoiseResult(num2-1)。
Judge whether the amplitude of Gauss wavelet signal is greater than default amplitude and is specifically as follows: judging num2-1 Gauss wavelet
Whether the amplitude of each Gauss wavelet signal of signal is greater than default amplitude.
Wherein, default amplitude can be determines according to actual conditions.In this application, presetting amplitude is 3Deta, wherein
The 3rd embodiment that the circular of Deta is seen below.The application is not construed as limiting the specific value of default amplitude.
Specifically: judging whether the amplitude of Gauss wavelet signal is greater than default amplitude can be judgement
Whether BackNosieResult (floor (P (k))) is greater than 3Deta.
When the amplitude of Gauss wavelet signal is greater than default amplitude, that is, the BackNosieResult (floor (P that determines
(k))) when > 3Deta, which is retained, i.e., k-th of Gauss wavelet will be retained.
When the amplitude of Gauss wavelet signal is less than or equal to default amplitude, that is, the BackNosieResult that determines
When (floor (P (k)))≤3Deta, which is removed, i.e., is removed k-th Gauss wavelet, and is continued pair
The amplitude of next Gauss wavelet signal judges, that is, judges whether BackNosieResult (floor (P (k+1))) is greater than
3·Deta。
S26: the amplitude that the amplitude that will acquire is greater than the Gauss wavelet signal of default amplitude carries out sequence from small to large
It is ranked up, to obtain the Gaussian component parameter after echo-signal is decomposed.
For example, having obtained num3 Gauss wavelet after S25, it should be appreciated that the value of num3 is less than or equal to above-mentioned
The value of num2-1 sorts from small to large to the amplitude of num3 obtained Gauss wavelet, specifically, to obtaining
BackNoiseResult (1) ..., BackNoiseResult (l) ..., BackNoiseResult (num3) are carried out from small to large
Sequence., it is understood that it is more important then to represent first of Gauss wavelet when the value of BackNoiseResult (l) is bigger.
Optionally, carrying out sequence from small to large to the amplitude of num3 obtained Gauss wavelet can be to be arranged using Xi Er
Sequence, bubble sort or method of quicksort etc..Sort method in the present embodiment is the method for bubble sort.In other realities
It applies in example, sort method can be not construed as limiting the method for sequence for other methods, the present embodiment, as long as can be high by num3
The amplitude of this wavelet sort from small to large.
By the above-mentioned means, since the present embodiment screens obtained reference inflection point, the ginseng enabled to
Examining inflection point not includes pseudo- inflection point, to improve the accuracy of finally obtained Gaussian component parameter.
Referring to Fig. 4, Fig. 4 is the flow diagram of step S23 in the application second embodiment.
In the present embodiment, the method screened to reference inflection point may comprise steps of:
S231: j=2, Yita=0.05 are enabled.
Wherein, j can represent its position in reference inflection point, wherein with reference to inflection point can from above-mentioned S125, S11 or
Obtained in person S22, such as j=5 is with reference to the 5th valley point in inflection point.
In other embodiments, Yita can be other values, such as 0.03,0.08 or 0.4 etc., the application is to Yita
Value with no restriction.
S232: judge whether j is less than or equal to num1.
Wherein, num1 is the total number of valley point in the reference inflection point obtained through S125.
When j is less than or equal to num1, S233 is jumped to.
When j is greater than num1, S245 is jumped to.
S233: the intermediate amplitude for being rounded position between -1 valley point of jth and j-th of valley point is calculated.
Specifically: the corresponding amplitude in -1 valley point of jth is M1=BackNoiseResult (Lresult (j-1)), jth
The corresponding amplitude in a valley point is M2=BackNoiseResult (Lresult (j)).Wherein, M1 can correspond to the first above-mentioned width
Value, M2, which can correspond to the second above-mentioned amplitude and following Mid, can correspond to above-mentioned third amplitude.
The amplitude that centre is rounded position can use formula (4) acquisition:
Wherein, Mid is the intermediate amplitude for being rounded position；Lresult (j) is that j-th of valley point is believed in echo
Position in number；Lresult (j-1) is position of -1 valley point of jth in echo-signal,Intermediate rounding position between -1 valley point of jth and j-th of valley point.
Similarly,It can use OrInstead of this
Place no longer repeats one by one.
Jump to S234.
S234: judge whether M2 is greater than whether Mid or M1 is greater than Mid.
When the two has one to meet, then it represents that j-th of valley point is first kind puppet valley point, jumps to S235.
When the two is not satisfied, then it represents that j-th of valley point is not first kind puppet valley point, continues to judge that j-th of valley point is
It is not the second class puppet valley point.Jump to S239.
S235: k=1, num2=num1 are enabled.
Jump to S236.
S236: judge whether k is less than or equal to num2.
If k is less than or equal to num2, S237 is jumped to.
If k is greater than num2, S238 is jumped to.
S237: it assigns the value of Lresult (k) to Lresult (k-1), and assigns the value of k+1 to k.
Jump to S236.By S235 to S237, removed when can be pseudo- valley point by j-th of valley point.
Wherein, S236 to S237 is represented when first kind puppet valley point is in (i-1)-th valley point, and (i-1)-th valley point is removed, and
Valley point behind is forward along shifting.
S238: the value of num2-1 is assigned to num2.
Jump to S232.Few 1 when S238 represents the quantity of the valley point after screening at this time than not screening.
S239: judgement | M1-M2 | whether it is less than or equal to M1 × Yita, and | M2-Mid | whether it is less than N2 × Yita.
If the two is all when being, then it represents that+1 valley point of jth is the second class puppet valley point, jumps to S240.
If the two have one be it is no when, then it represents that+1 valley point of jth is not the second class puppet valley point, jumps to S244.
S240: the value of j+1 is assigned to k.
Jump to S241.
S241: judge whether j is less than or equal to num2.
When j is less than or equal to num2, S242 is jumped to.
When j is greater than num2, S243 is jumped to.
S242: it assigns the value of Lresult (k) to Lresult (k-1), and assigns the value of k+1 to k.
Jump to S241.
S243: the value of num2-1 is assigned to num2.
Jump to S232.
S244: the value of j+1 is assigned to j.
Jump to S232.To continue to judge whether next valley point is first kind puppet valley point and the second class puppet valley point.
S245: the quantity for obtaining the inflection point after screening is num2, and the reference inflection point after screening is in Lresult (k)
In.
By the above-mentioned means, can be screened to the valley point obtained by S125, by first kind puppet valley point and second
The removal of class puppet valley point produces the result of finally obtained Gaussian component parameter to avoid first kind puppet valley point or the second class puppet valley point
It is raw to influence, to improve the accuracy of the final Gaussian component parameter obtained.
Referring to Fig. 5, Fig. 5 is the flow diagram of the application 3rd embodiment echo signal processing method.The present embodiment
It is to be further expanded to second embodiment echo signal processing method, same part is not repeated herein, this implementation
Example echo signal processing method the following steps are included:
S31: receives echo-signal.
S32: the echo-signal received is pre-processed.
Wherein, pretreatment includes at least one of filtering and denoising.In the present embodiment, it pre-processes to filter and denoising.
In other embodiments, pretreatment can be filtering, denoising or other pretreatments.
In the present embodiment, carrying out pretreatment to the echo-signal received includes: the echo-signal that will be received and height
This convolution kernel function carries out convolution, and chooses from convolution results and be located at the intermediate and sampling quantity phase with the echo-signal received
Same result data is used as through filtered echo-signal.Pretreatment herein is filtering.In other embodiments, can pass through
Other methods are filtered the echo-signal received, for example, being filtered by filter to the echo-signal received
Wave, filter include but is not limited to one kind of Butterworth filter, Bessel filter and Chebyshev filter.
The echo-signal received and Gaussian convolution kernel function are subjected to convolution, specifically: the echo-signal received can
To be indicated with f (x), x=1,2 ..., n, g (y), y=1,2 ..., m are Gaussian convolution kernel function, in the present embodiment, m's
Value can be 0.08 × n, and in other embodiments, the value of n can be other numerical value, and the value of the present embodiment m is not construed as limiting.
It should be noted that when the result of 0.08 × n is decimal, the result for coping with 0.08 × n does integer processing, at integer
Reason can be to carry out integer or other way using floor (0.08 × n), and details are not described herein again.
The concrete form of Gaussian convolution kernel function can be indicated with formula (5):
Wherein, g (y) is Gaussian convolution kernel function, and the 0.015n in formula (5) can be indicated with m/2.
Convolution results can be obtained using formula (6):
After obtaining convolution results, is chosen from convolution results and be located at the intermediate and sampling quantity with the echo-signal received
Identical result data is used as through filtered echo-signal, specifically: convolution results include (1) Smooth, Smooth
(2) ..., Smooth (n+m-1) this n+m-1 in n+m-1 result as a result, choose n intermediate result as smooth knot
Fruit, for through filtered echo-signal.In other embodiments, the convolution results positioned at edge can be chosen, or choose it
The convolution results of its number, for example, z (z ≠ n) a convolution results at group edge can be selected as sharpening result.
The echo-signal received is pre-processed further include: the echo-signal received is pre-processed and is also wrapped
It includes: obtaining mean value and variance through part echo signal in filtered echo-signal；Using mean value and variance to through filtering
Echo-signal afterwards is denoised, and the echo-signal after filtering and denoising is obtained.
Specifically: the quantity of signaling point can be AverageNum in part echo signal, in this embodiment,
The value of AverageNum is 0.08 × n；In other embodiments, the value of AverageNum can be other numerical value, herein no longer
It repeats.Similarly, when 0.08 × n is decimal, integer processing can be carried out to 0.08 × n.
In the present embodiment, part echo signal can be for through 0.08 × n signal before in filtered n signaling point
Point.In other embodiments, part signal point can in other positions, such as middle position 0.08 × n signaling point or after
0.08 × n signaling point.
Mean value can be obtained by formula (7):
Wherein, Average is the mean value of the amplitude through filtered part echo signal；Smooth (i) is after filtering
Echo-signal in each signaling point amplitude；AverageNum is the quantity of signaling point in part echo signal.
Variance can be obtained by formula (8):
Wherein, Deta is the variance of the amplitude through filtered part echo signal.
It is obtaining utilizing above-mentioned mean value and side after the mean value and variance of part echo signal in filtered echo-signal
Difference is denoised to through filtered echo-signal, obtains the echo-signal after filtering and denoising.
Wherein, it is denoised using mean value and variance to through filtered echo-signal, comprising: obtain filtered time
The amplitude of each position subtracts mean value and subtracts the difference of the variance of presupposition multiple in wave signal；If difference, will less than zero
Zero amplitude as the echo-signal corresponding position after denoising；If difference is not less than zero, take the difference as after denoising
The amplitude of echo-signal corresponding position.
In the present embodiment, presupposition multiple 3.In other embodiments, presupposition multiple can be other values, such as 2,4
Or 5 etc., the present embodiment is not construed as limiting this.
Specifically: above-mentioned difference can use formula (9) acquisition:
BackNoiseResult (i)=Smooth (i)-Average-3Deta (9)
Wherein, BackNoiseResult (i) is above-mentioned difference；Smooth (i) is through each in filtered echo-signal
The amplitude of signaling point；Average is the mean value of the amplitude through filtered part echo signal；Deta is through filtered part
The variance of the amplitude of echo-signal.
After obtaining above-mentioned difference, the positive negativity of difference can be judged.When difference is positive value, by the difference
Amplitude as the echo-signal corresponding position after denoising；In the difference less than zero, then by zero as the echo after denoising
The amplitude of signal corresponding position.
In the present embodiment, the echo-signal obtained after pretreatment can use formula (10) expression:
S33: the reference inflection point of echo-signal after pretreatment is obtained.
S34: reference inflection point is screened.
S35: the Gauss point of echo-signal is determined using location information of the reference inflection point in echo-signal after screening
Measure parameter.
S36: by the amplitude of Gauss wavelet signal and default amplitude com parison, and retain the height whether amplitude is greater than default amplitude
This wavelet signal.
S37: the amplitude that the amplitude that will acquire is greater than the Gauss wavelet signal of default amplitude carries out sequence from small to large
It is ranked up, to obtain the Gaussian component parameter after echo-signal is decomposed.
Referring to Fig. 6, Fig. 6 is the hardware structural diagram of the embodiment of the present application echo signal processing equipment.
Echo signal processing equipment 60 includes processor 61, bus 62, the storage being connect with processor 61 by bus 62
Device 63, memory 63 is for storing computer program, and processor 61 is for calling computer program to execute above-mentioned any one reality
Apply the echo signal processing method of example.In other embodiments, processor 61 and memory can not also be connected by bus 62, therefore
It is not limited here.
Referring to Fig. 7, Fig. 7 is the structural schematic diagram of the embodiment of the present application radar.
Radar 70 in the present embodiment includes echo signal processing equipment 71, and radar can also include transmitter 72 and receive
Device 73, transmitter and receiver connect 71 with echo signal processing equipment, specially and in echo signal processing equipment 71
Processor 711 connects.Transmitter 72 is used to receive the laser emitted due to transmitter 72 for emitting laser pulse, receiver 73
Echo-signal caused by pulse.Echo signal processing equipment 71 in the present embodiment can be with the echo signal processing in Fig. 6
Device 60 is identical, and processor 711 can be identical as the processor 61 in Fig. 6.
Referring to Fig. 8, Fig. 8 is the schematic diagram of the embodiment of the present application storage device.
Storage device 80 is stored with computer program, which can be performed to realize above-mentioned any one implementation
The echo signal processing method of example.
Optionally, storage device 80 can for USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory),
Random access memory (RAM, Random Access Memory), magnetic disk, CD or server etc. are various to can store journey
The medium of sequence code.
Optionally, which can also be the memory 63 in above-described embodiment.
It is in contrast to the prior art, the application echo signal processing method includes: that the reference of acquisition echo-signal is turned
Point, wherein echo-signal is to be generated due to detectable signal that detector emit, is at least portion of echo-signal with reference to inflection point
Divide inflection point；The Gaussian component parameter of echo-signal is determined using location information of the reference inflection point in echo-signal.Due to being this
Application is that the Gaussian component parameter of echo-signal is determined by the reference inflection point in echo-signal, thereby may be ensured that echo-signal
Accuracy when waveform decomposes.
The foregoing is merely presently filed embodiments, are not intended to limit the scope of the patents of the application, all to utilize this
Equivalent structure or equivalent flow shift made by application specification and accompanying drawing content is applied directly or indirectly in other relevant
Technical field similarly includes in the scope of patent protection of the application.
Claims (14)
1. a kind of echo signal processing method, which is characterized in that the described method includes:
Obtain reference the inflection point of echo-signal, wherein the echo-signal is generates due to detectable signal that detector emits
, it is described with reference to inflection point be the echo-signal at least partly inflection point；
Utilize the Gaussian component parameter that the echo-signal is determined with reference to location information of the inflection point in the echo-signal.
2. the method according to claim 1, wherein the reference inflection point for obtaining echo-signal, comprising:
If the first and/or end inflection point of the echo-signal is peak dot, by first in the echo-signal/end signal
Valley point of the point as the echo-signal；
Obtain reference inflection point of all valley points in the echo-signal as the echo-signal.
3. according to the method described in claim 2, it is characterized in that, it is described obtain echo-signal reference inflection point after, institute
State method further include:
It is screened to described with reference to inflection point；
It is described to obtain the Gaussian component parameter of the echo-signal with reference to inflection point using described, comprising:
Utilize the height that the echo-signal is determined with reference to location information of the inflection point in the echo-signal after screening
This component parameters.
4. according to the method described in claim 3, it is characterized in that, described screen to described with reference to inflection point, comprising:
The second amplitude of corresponding reference inflection point in the echo-signal is obtained, and to its previous the first width with reference to inflection point
Value；
Calculate it is described with reference to inflection point and its described previous middle position with reference between inflection point, and obtain it is right in the echo-signal
Answer the third amplitude in the middle position；
If the relationship between the first amplitude, the second amplitude and third amplitude meets preset relation, inflection point is referred to by described
It rejects.
5. according to the method described in claim 4, it is characterized in that, the preset relation comprises at least one of the following:
First amplitude and the second amplitude at least one be greater than the third amplitude；
Absolute value of the difference between first amplitude and the second amplitude is not more than the product between first amplitude and preset constant, and described
Absolute value of the difference between second amplitude and the third amplitude is less than the product between second amplitude and the preset constant.
6. the method according to claim 1, wherein it is described obtain echo-signal reference inflection point before, it is described
Method further include:
The echo-signal received is pre-processed；Wherein, the pretreatment includes at least one of filtering and denoising；
The reference inflection point for obtaining echo-signal, comprising:
Obtain the reference inflection point of the echo-signal after pretreatment.
7. according to the method described in claim 6, it is characterized in that, the echo-signal is discrete signal；Described pair receives
Echo-signal carry out pretreatment include:
The echo-signal received and Gaussian convolution kernel function are subjected to convolution, and choose from convolution results be located at it is intermediate and with
The identical result data of sampling quantity of the echo-signal received is used as through the filtered echo-signal.
8. according to the method described in claim 6, it is characterized in that, the described pair of echo-signal received is pre-processed and is also wrapped
It includes:
Obtain the mean value and variance through part echo signal in filtered echo-signal；
It is denoised to described through filtered echo-signal using the mean value and the variance, obtains being filtered and being denoised
The echo-signal afterwards.
9. according to the method described in claim 8, it is characterized in that, described utilize the mean value and the variance to the warp
Filtered echo-signal is denoised, comprising:
The amplitude for obtaining each position in the filtered echo-signal subtracts the mean value and subtracts the institute of presupposition multiple
State the difference of variance；
If the difference is less than zero, by zero amplitude as the echo-signal corresponding position after denoising；
If the difference is not less than zero, the amplitude of the echo-signal corresponding position after denoising is taked the difference as.
10. the method according to claim 1, wherein the Gaussian component parameter includes Gauss wavelet signal
Center, half-breadth and amplitude；
It is described to utilize the Gaussian component that the echo-signal is determined with reference to location information of the inflection point in the echo-signal
Parameter, comprising:
Using location information of each group of neighboring reference inflection point in the echo-signal, a Gauss of the echo-signal is obtained
The center of wavelet signal, half-breadth；
The center of the Gauss wavelet signal is rounded to obtain center rounding position, described in corresponding in the echo-signal
Center is rounded amplitude of the amplitude of position as the Gauss wavelet signal.
11. according to the method described in claim 10, it is characterized in that, described utilize the reference inflection point in the echo-signal
In location information determine the Gaussian component parameter of the echo-signal, further includes:
Judge whether the amplitude of the Gauss wavelet signal is greater than default amplitude；
When the amplitude of the Gauss wavelet signal is greater than the default amplitude, the Gauss wavelet signal is retained；And institute
When stating the amplitude of Gauss wavelet signal less than or equal to the default amplitude, the Gauss wavelet signal is removed.
12. a kind of echo signal processing equipment, which is characterized in that the echo signal processing equipment include processor and with it is described
The memory of processor connection, the memory are used for computer program, and the processor is for calling the computer program
Method described in 1-11 any one is required with perform claim.
13. a kind of radar, which is characterized in that including echo signal processing equipment described in claim 12.
14. a kind of storage device, which is characterized in that the storage device is stored with computer program, the computer program energy
It is enough performed to realize method described in claim 1-11 any one.
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