CN116660845A - Compensation speed obtaining method, compensation speed obtaining device, electronic equipment and readable storage medium - Google Patents

Compensation speed obtaining method, compensation speed obtaining device, electronic equipment and readable storage medium Download PDF

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Publication number
CN116660845A
CN116660845A CN202310609773.9A CN202310609773A CN116660845A CN 116660845 A CN116660845 A CN 116660845A CN 202310609773 A CN202310609773 A CN 202310609773A CN 116660845 A CN116660845 A CN 116660845A
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Prior art keywords
speed
echo data
value
compensation
historical
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Inventor
吴浩天
李�灿
林靖
何禹涛
王刚
隆易城
张祥鑫
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Beijing Tiandiyige Technology Co ltd
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Beijing Tiandiyige Technology Co ltd
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Priority to CN202310609773.9A priority Critical patent/CN116660845A/en
Publication of CN116660845A publication Critical patent/CN116660845A/en
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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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4021—Means for monitoring or calibrating of parts of a radar system of receivers
    • 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
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The embodiment of the application provides a compensation speed obtaining method, a compensation speed obtaining device, electronic equipment and a readable storage medium, and relates to the technical field of radars. The method comprises the following steps: when the echo data of the current frame are obtained, judging whether the total number of times of currently received echo data is larger than a preset value or not; if the number of times of the historical speed estimation values in the speed set is larger than the preset value, obtaining a first speed compensation value calculated according to the historical speed estimation values in the speed set, wherein the historical speed estimation values in the speed set are the speed estimation values corresponding to the multi-frame historical frame echo data respectively, and when the total number of times is larger than the preset value, the number of the historical speed estimation values in the speed set is not smaller than the preset value, and the first speed compensation value is used for compensating the current frame echo data. In this way, a speed value for compensation with small error can be obtained, thereby improving ranging accuracy.

Description

Compensation speed obtaining method, compensation speed obtaining device, electronic equipment and readable storage medium
Technical Field
The present application relates to the field of radar technologies, and in particular, to a compensation speed obtaining method, a compensation speed obtaining device, an electronic device, and a readable storage medium.
Background
The effect of motion on the frequency step signal is mainly that a primary and a secondary phase error are formed. The primary phase error causes time shift of the output result, and the secondary phase error causes waveform divergence and peak reduction of the synthesized result. The primary phase error will affect the radar range accuracy and the secondary phase error will distort the resultant one-dimensional range profile in addition to the range resolution, so that when the resultant output has waveform divergence due to the design of the radar system and the target motion, this problem must be solved to obtain a meaningful resultant output. Speed estimation is currently generally performed and then compensated for using the estimated speed to alleviate the above. However, only distance information exists in the one-dimensional distance image finally output by the frequency stepping signal, and the imaging effect has a close relationship with the accuracy of speed compensation. Therefore, how to estimate the speed affecting the ranging accuracy without speed measurement information has become a technical problem to be solved by those skilled in the art.
Disclosure of Invention
The embodiment of the application provides a compensation speed obtaining method, a compensation speed obtaining device, electronic equipment and a readable storage medium, which can obtain a speed value with small error for compensation and can improve the ranging accuracy.
Embodiments of the application may be implemented as follows:
in a first aspect, an embodiment of the present application provides a compensation speed obtaining method, including:
when the echo data of the current frame are obtained, judging whether the total number of times of currently received echo data is larger than a preset value or not;
if the number of times of the total speed is larger than the preset value, obtaining a first speed compensation value calculated according to the historical speed estimated value in the speed set, wherein the historical speed estimated value in the speed set is the speed estimated value corresponding to each multi-frame historical frame echo data, and when the total number of times of the total speed is larger than the preset value, the number of the historical speed estimated values in the speed set is not smaller than the preset value, and the first speed compensation value is used for compensating the current frame echo data.
In a second aspect, an embodiment of the present application provides a compensation speed obtaining apparatus, including:
the judging module is used for judging whether the total number of times of currently received echo data is larger than a preset value when the echo data of the current frame is obtained;
the compensation speed obtaining module is configured to obtain a first speed compensation value calculated according to a historical speed estimation value in a speed set when the total number of times is greater than the preset value, where the historical speed estimation value in the speed set is a speed estimation value corresponding to each of multi-frame historical frame echo data, and when the total number of times is greater than the preset value, the number of historical speed estimation values in the speed set is not less than the preset value, and the first speed compensation value is used for compensating the current frame echo data.
In a third aspect, an embodiment of the present application provides an electronic device, including a processor and a memory, where the memory stores machine executable instructions executable by the processor, where the processor may execute the machine executable instructions to implement the compensation speed obtaining method described in the foregoing embodiment.
In a fourth aspect, an embodiment of the present application provides a readable storage medium having stored thereon a computer program which, when executed by a processor, implements the compensation speed obtaining method described in the foregoing embodiments.
According to the compensation speed obtaining method, the device, the electronic equipment and the readable storage medium, when the echo data of the current frame are obtained, whether the total number of times of currently received echo data is larger than a preset value is determined, and when the total number of times of currently received echo data is larger than the preset value, a first speed compensation value which is calculated based on a historical speed estimated value in a speed set and used for compensating the echo data of the current frame is obtained. The historical speed estimated value in the speed set is the speed estimated value corresponding to each of the multi-frame historical frame echo data. And when the total times are larger than the preset value, the number of the historical speed estimated values in the speed set is not smaller than the preset value. In this way, a speed value for compensation with small error can be obtained, thereby improving ranging accuracy.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic block diagram of an electronic device according to an embodiment of the present application;
FIG. 2 is a schematic flow chart of a compensation speed obtaining method according to an embodiment of the present application;
FIG. 3 is a second flowchart of a compensation speed obtaining method according to an embodiment of the present application;
FIG. 4 is a third flow chart of a compensation speed obtaining method according to an embodiment of the present application;
FIG. 5 is a schematic diagram of velocity compensation using a conventional time domain correlation method;
FIG. 6 is a diagram showing the comparison of the compensation speed obtained by the compensation speed obtaining method according to the embodiment of the present application with the true value;
FIG. 7 is a block diagram of a compensation speed obtaining device according to an embodiment of the present application;
fig. 8 is a block diagram of a compensation speed obtaining device according to an embodiment of the application.
Icon: 100-an electronic device; 110-memory; a 120-processor; 130-a communication unit; 200-compensation speed obtaining means; 210-a judging module; 220-a compensation speed obtaining module; 230-a processing module.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present application.
It is noted that relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The accuracy of the speed for compensation directly influences the accuracy of the final imaging result of the frequency stepping signal, and meanwhile, the speed information of the target cannot be directly obtained in the one-dimensional range profile, so that the speed is difficult to accurately estimate. The speed value for compensation is generally estimated in several ways.
In the first mode, a group of comb filters with different center frequencies can be designed to measure the speed of targets with different speeds because of different Doppler frequencies generated by different movement speeds. When using frequency stepping signals, the equivalent pulse repetition period of a set of frequency stepping pulse sets is long, so that the measured speed is not in a very small fuzzy range, and accurate speed is difficult to measure.
The second mode is a frequency domain correlation method, which calculates the target speed by using the measure of the cross correlation of the baseband phases of the echo signals of two adjacent imaging pulse groups before and after the same target. Due to the phase range of [ -pi, +pi]The non-blurring speed range isWith the pulse number N=50, the pulse repetition period T r =40 us, carrier frequency f 0 For example, the frequency step Δf=5 MHz is 35GHz, and the range of the non-blurring speed is ±2.1m/s, so the range of the non-blurring speed is very small.
The third mode is a time domain correlation method, which calculates the target speed by using the number of changes of the distance resolution unit after two front and back adjacent imaging pulse group echo signals are subjected to IFFT (Inverse Fast Fourier Transform ). In this way, the speed is estimated by the number of changes of the distance resolution unit, so that the speed measurement accuracy is not high under the influence of the measurement accuracy of the distance unit.
Mode four is a minimum entropy method based on the principle that the entropy value of imaging is minimum when it is best focused. Entropy is a measure of the degree of confusion, with larger entropy values representing poorer focusing of the image. When the radial velocity is estimated and used to compensate for the phase, the entropy begins to decrease, and ideally, the minimum entropy is obtained when the estimated value coincides with the actual value. Because the entropy of the minimum entropy method is defined as a time domain normalized range profile, the speed measurement accuracy is not high as that of the time domain correlation method.
In view of the above, the embodiments of the present application provide a method, an apparatus, an electronic device, and a readable storage medium for obtaining a compensation speed, which obtain a speed estimation value for compensation based on a speed estimation value corresponding to each of echo data of a plurality of frames of historical frames, so that a speed estimation error can be reduced, thereby improving ranging accuracy. It should be noted that, the above solutions have all the drawbacks that the inventors have obtained after practice and careful study, and thus the discovery process of the above problems and the solutions presented below by the embodiments of the present application for the above problems should be all contributions to the present application by the inventors during the present application.
Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.
Referring to fig. 1, fig. 1 is a block diagram of an electronic device 100 according to an embodiment of the application. The electronic device 100 may be, but is not limited to, a computer, a server, etc. The electronic device 100 may include a memory 110, a processor 120, and a communication unit 130. The memory 110, the processor 120, and the communication unit 130 are electrically connected directly or indirectly to each other to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines.
Wherein the memory 110 is used for storing programs or data. The Memory 110 may be, but is not limited to, random access Memory (Random Access Memory, RAM), read Only Memory (ROM), programmable Read Only Memory (Programmable Read-Only Memory, PROM), erasable Read Only Memory (Erasable Programmable Read-Only Memory, EPROM), electrically erasable Read Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc.
The processor 120 is used to read/write data or programs stored in the memory 110 and perform corresponding functions. For example, the memory 110 stores therein a compensation speed obtaining device 200, and the compensation speed obtaining device 200 includes at least one software function module that may be stored in the memory 110 in the form of software or firmware (firmware). The processor 120 executes various functional applications and data processing by running software programs and modules stored in the memory 110, such as the compensation speed obtaining device 200 in the embodiment of the present application, that is, implements the compensation speed obtaining method in the embodiment of the present application.
The communication unit 130 is configured to establish a communication connection between the electronic device 100 and other communication terminals through a network, and is configured to transmit and receive data through the network.
It should be understood that the structure shown in fig. 1 is merely a schematic diagram of the structure of the electronic device 100, and that the electronic device 100 may further include more or fewer components than those shown in fig. 1, or have a different configuration than that shown in fig. 1. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.
Referring to fig. 2, fig. 2 is a flow chart of a compensation speed obtaining method according to an embodiment of the application. The method is applicable to the electronic device 100. The specific flow of the compensation speed obtaining method is explained in detail below. In this embodiment, the method may include step S110 and step S140.
Step S110, when the echo data of the current frame is obtained, judging whether the total number of times of currently receiving the echo data is larger than a preset value.
If so, step S140 is performed.
Step S140, obtaining a first velocity compensation value calculated from the historical velocity estimation values in the velocity set.
In this embodiment, the current frame echo data is the latest frame echo data currently acquired. The total number of times echo data is currently received indicates how many frames of echo data have been received altogether up to now. The speed set of the electronic device 100 includes a historical speed estimation value, where the historical speed estimation value in the speed set is a speed estimation value corresponding to each of multiple frames of historical frame echo data, and the historical frame echo data is one frame of echo data that is received before the current frame echo data and can determine the corresponding speed estimation value. When the total number of times is greater than the preset value, the number of the historical speed estimated values in the speed set is not less than the preset value, and the preset value can be specifically set in combination with actual requirements, for example, set to be 5 or 100.
When it is determined that the total number of times is greater than the preset value, a speed value calculated based on the historical speed estimation value included in the speed set may be obtained as the first speed compensation value. The first speed compensation value is used for compensating the current frame echo data.
Wherein optionally, when the total number of times of receiving the current frame echo data is determined to be greater than a preset value, the speed set may be read, and the first speed compensation value may be calculated according to a historical speed estimation value included in the speed set. The method may further include calculating a velocity value from a velocity estimation value in a velocity set obtained after the echo data is processed last time as a velocity compensation value used in the next received echo data compensation process after the velocity compensation value is determined to be calculated next time based on the velocity set after the received echo data is obtained last time, and thus, when the total number of times is determined to be greater than a preset value, the velocity value serving as the first velocity compensation value may be directly read. That is, the first speed compensation value may be calculated after step S110, or may be calculated before step S110, and may be specifically set in combination with the actual requirement.
Alternatively, the average value of the number of history speed estimates closest to the current preset number in the speed set may be taken as the first speed compensation value, or the calculated average value may be multiplied by a preset number of times, and the obtained result may be taken as the first speed compensation value, or the like.
According to the embodiment of the application, the speed information which is measured at present and possibly has precision errors is subjected to smoothing processing by setting the speed set, so that the speed estimation errors are reduced, the ranging accuracy is improved, and the ranging accuracy can be improved.
Referring to fig. 3, fig. 3 is a second flowchart of a compensation speed obtaining method according to an embodiment of the application. In this embodiment, when the total number of times is not greater than the preset value, step S120 may be performed.
Step S120, taking the preset speed as a second speed compensation value.
In this embodiment, when the total number of times is greater than the preset value, a speed compensation value for compensating the current frame echo data is not obtained according to the speed set, but a preset speed is directly used as the speed compensation value for compensating the current frame echo data. The preset speed may be specifically set in connection with actual demands, and is not specifically limited herein. Optionally, the preset speed may also be stored as a speed estimation value corresponding to the current frame echo data into the speed set.
Referring to fig. 3 again, in the present embodiment, after step S120, the method may further include step S130.
And step S130, processing the echo data of the current frame according to the second speed compensation value, and storing the preset speed as a speed estimated value corresponding to the echo data of the current frame into the speed set.
In this embodiment, when the total number of times is not greater than the preset value, the preset speed is taken as the second speed compensation value. And then, compensating the echo data of the current frame by using the second speed compensation value, thereby obtaining a one-dimensional range profile corresponding to the echo data of the current frame. The specific compensation mode and the means for obtaining the one-dimensional range profile can be determined according to actual requirements, and are not particularly limited herein. The preset speed may be saved as a speed estimation value corresponding to the current frame echo data to the speed set under the condition of determining the second speed compensation value or after obtaining a one-dimensional range profile, that is, the preset speed is saved as a historical speed estimation value to the speed set.
In case the total number of times is larger than a preset value, as a possible implementation, an average value of the historical speed estimation values in the speed set may be calculated and taken as the first speed compensation value. Thus, the speed information which is measured currently and possibly has precision errors can be subjected to smooth average processing by utilizing the speed set, so that the speed estimation errors are reduced, and the ranging accuracy is improved.
Referring to fig. 4, fig. 4 is a third flowchart of a compensation speed obtaining method according to an embodiment of the application. In this embodiment, in the case that the first speed compensation value is obtained based on the speed set, the method may further include step S150.
And step S150, compensating the echo data of the current frame according to the first speed compensation value to obtain a first one-dimensional range profile.
In this embodiment, in the process of obtaining the one-dimensional range profile based on the current frame echo data, the current frame echo data may be compensated by using the first speed compensation value, so as to obtain a first one-dimensional range profile. The specific means for compensating in step S130 and step S150 to obtain the one-dimensional range profile may be the same, and is not specifically limited herein.
Referring to fig. 4 again, in the present embodiment, after step S150, the method may further include step S160 and step S170.
Step S160, calculating to obtain a speed estimated value corresponding to the current frame echo data according to a second one-dimensional distance image obtained based on the previous frame echo data and the first one-dimensional distance image.
In this embodiment, when the first one-dimensional distance image is obtained based on the first velocity compensation value, the velocity estimation value corresponding to the current frame echo data may be obtained according to analysis of the adjacent first one-dimensional distance image and second one-dimensional distance image. The second one-dimensional range profile is a one-dimensional range profile obtained based on echo data of a previous frame.
Alternatively, a first distance resolution unit where a peak value in the first one-dimensional range profile is located and a second distance resolution unit where a peak value in the second one-dimensional range profile is located may be first analyzed and determined. And then, obtaining the unit change quantity according to the first position information of the first distance resolution unit in the first one-dimensional distance image and the second position information of the second distance resolution unit in the second one-dimensional distance image. For example, if the number of the first distance resolution unit in the first one-dimensional range profile is 10 and the number of the second distance resolution unit in the second one-dimensional range profile is 12, the number of unit changes may be determined to be 2.
And then, calculating to obtain a speed estimated value corresponding to the current frame echo data according to the time difference between the previous frame echo data and the current frame echo data, the distance resolution unit and the unit change quantity. The time difference may be described by a difference between the time of acquiring the echo data of the previous frame and the time of acquiring the echo data of the current frame, or may be described by other times, so long as the change time corresponding to the unit change number can be represented. The speed estimation value corresponding to the current frame echo data can be obtained by calculation in the following way:
wherein V is e Represents the speed estimation value, ΔL represents the unit change amount, R S Represents the distance resolution unit and Δt represents the time difference between two adjacent frames of echo data.
Step S170, storing the velocity estimation value corresponding to the current frame echo data as a historical velocity estimation value in the velocity set.
Alternatively, as a possible implementation manner, in the case of calculating the velocity estimation value corresponding to the current frame echo data, the velocity estimation value may be directly stored as a historical velocity estimation value into the velocity set. When new echo data is received, a speed compensation value required to be used by the new echo data can be calculated based on all the updated speed estimated values in the speed set, and then the one-dimensional range profile is obtained through processing.
Optionally, as another possible implementation, the number of historical speed estimates in the speed set is equal to the preset value. In this mode, when the velocity estimation value corresponding to the current frame echo data is calculated, the current frame echo data is the most distant from the current frame echo dataAnd deleting the historical speed estimated value corresponding to the long-term echo data, and storing the speed estimated value corresponding to the echo data of the current frame into the speed set. That is, the update manner of the speed set is: buf [ N ]]＝V e ，buf[N-1]＝buf[N]，…，buf[1]＝buf[2]N represents the preset value. In this way, the space occupied by the speed set is conveniently reduced, and the first speed compensation value is conveniently and quickly calculated. When new echo data is received, a speed compensation value required to be used by the new echo data can be calculated based on N speed estimated values in the updated speed set, and then a one-dimensional range profile is obtained through processing.
Therefore, under the moving platform, the influence of speed estimation errors caused by the measurement accuracy of the distance resolution unit can be reduced by combining the time domain correlation method with tracking filtering.
The above-described compensation speed obtaining method is exemplified below.
Creating a buffer buf N with length N]For storing velocity estimates per frame of echo data, it is assumed that n=5, i.e. the velocity set stores a maximum of 5 velocity estimates. The initial movement speed cannot be measured, and a preset speed V can be used d To perform speed compensation.
When the echo data is received for the 1 st time, the preset speed V is directly set because 1 is smaller than N d Velocity compensation value V to be used as current frame echo data c I.e. V c ＝V d Further, a one-dimensional distance image P1 can be obtained by processing. There may be a large error in the preset speed at this time. Will V d Save to buffer, i.e. buf [1 ]]＝V d . I.e. after the first compensation process the velocity set is [ V ] d ]。
Similarly, when the echo data is received for the 2 nd time, the preset speed V is directly set because 2 is smaller than N d Velocity compensation value V to be used as current frame echo data c I.e. V c ＝V d Further, a one-dimensional distance image P2 can be obtained by processing. And V is combined with d Save to buffer, i.e. buf 2]＝V d . I.e. after the second compensation process, the velocity set is [ V ] d ,V d ]。
When the 3 rd, 4 th and 5 th times of receiving the echo data, the preset speed V is still directly reached because the times are not more than N d Velocity compensation value V to be used as current frame echo data c I.e. V c ＝V d Further, a one-dimensional distance image P can be obtained by processing. And V is combined with d Saving in the buffer, at this time, buf [ n ]]＝V d N=1, 2, …, N. I.e. after the 5 th compensation process, the velocity set is [ V d ,V d ,V d ,V d ,V d ]. The one-dimensional distance lower image P5 is obtained based on the echo data received at the 5 th time.
Since 6 is greater than 5 when echo data is received at the 6 th time, the current velocity set V is calculated at this time d ,V d ,V d ,V d ,V d ]The average value of (2) is used as a speed compensation value used in the 6 th compensation processing, and a one-dimensional range profile P6 is obtained based on the current frame echo data processing. According to the one-dimensional distance images P5 and P6, calculating to obtain a speed estimated value V corresponding to the 6 th received echo data e1 . The velocity estimation value V e1 Saving the speed set, wherein the updated speed set is [ V ] d ,V d ,V d ,V d ,V e1 ]。
At the 7 th time of receiving echo data, since 7 is greater than 5, the current velocity set [ V ] is calculated at this time d ,V d ,V d ,V d ,V e1 ]The average value of (2) is used as a speed compensation value used in the 7 th compensation processing, and a one-dimensional range profile P7 is obtained based on the current frame echo data processing. According to the one-dimensional distance images P6 and P7, calculating to obtain a speed estimated value V corresponding to the 7 th received echo data e2 . The velocity estimation value V e1 Saving the speed set, wherein the updated speed set is [ V ] d ,V d ,V d ,V e1 ,V e2 ]。
And then so on until the reception of echo data is stopped.
In the above example, the preset speed V was used in the first 6 treatments d Proceeding withCompensation, in which the distance measurement is inaccurate, the amount of change in the distance resolution unit of the adjacent processing interval (i.e., the adjacent frame echo data) will be a fixed value. The smaller the change in adjacent intervals is for that value used for velocity compensation, the higher the accuracy of the velocity measurement, thus deferring until V is used in the velocity set after the 6 th process e This is to make the amount of change in the velocity compensation small after averaging. Wherein V is e Representing the velocity estimation value obtained in the case where the average value is calculated from the buffer. In addition, a V does not appear in the speed set until after the 6 th processing e Rather than a few V e Also, in order to avoid that the change amount of the distance resolution unit of the adjacent processing interval (i.e., the adjacent frame echo data) suddenly increases.
The effects of the conventional time domain correlation method and the compensation speed obtaining method provided by the present application are described in comparison with fig. 5 and 6.
In the conventional time domain correlation method, due to the limitation of the size of the distance resolution unit, a velocity measurement error occurs when the velocity is estimated between the coherent frames (i.e., echo data frames) according to the unit variation of the distance resolution unit, and the velocity estimation value is used for compensation, so that the distance resolution unit walk caused by the current existing velocity compensation error is amplified, thereby further deteriorating the next velocity measurement.
By adopting the method provided by the embodiment of the application, the speed measurement error can be reduced by times by calculating the average value of the estimated speed information in the buffer area, so as to reduce the distance walk caused by the speed estimation error, thereby ensuring the accuracy of the speed measurement.
The size of the distance resolution unit in the synthesized one-dimensional distance image is as follows:
ΔR＝c/(2ΔfN)
where c represents the speed of light, Δf represents the frequency hopping interval, and N represents the number of points at which IFFT is performed.
Therefore, the speed measurement precision is as follows:
where T represents the total time of a set of frequency stepped bursts.
When the speed compensation has errors, the position of the target peak value after IFFT processing moves relative to the real position, the speed measurement error value is substituted, and the number of distance units for moving is calculated as follows:
wherein T is r Representing pulse repetition period, f c Represents the carrier frequency and M represents the number of pulses within the pulse group.
Assuming a distance resolution cell size of 0.4688m, the target initial distance is 3300m, approaching at a speed of 300 m/s. In the conventional time domain correlation method, the sequence number of the delay cell, the measured distance, the speed information, etc. of each frame peak are shown in fig. 5. Wherein the symbols in the measured velocity in fig. 5 represent the direction of the velocity, e.g. -304.6875m/s represent the movement towards the direction approaching the target and the velocity is 304.6875m/s. As can be seen from fig. 5, due to the existence of the speed measurement precision error, the following distance measurement has a large error, the speed estimation result diverges rapidly, and the use requirement of the system cannot be satisfied.
By adopting the compensation speed obtaining method provided by the embodiment of the application, taking the setting of the buffer length as 100 as an example, for the same scene, the actual speed and the compensation speed as shown in fig. 6 can be obtained. As can be seen from fig. 6, it can be seen that the influence of the speed measurement accuracy error after smoothing is reduced, and the speed measurement accuracy is greatly improved.
In order to perform the corresponding steps in the above embodiments and the various possible ways, an implementation of the compensation speed obtaining device 200 is given below, and alternatively, the compensation speed obtaining device 200 may use the device structure of the electronic apparatus 100 shown in fig. 1. Further, referring to fig. 7, fig. 7 is a block diagram of a compensation speed obtaining apparatus 200 according to an embodiment of the application. It should be noted that, the basic principle and the technical effects of the compensation speed obtaining device 200 provided in this embodiment are the same as those of the foregoing embodiment, and for brevity, reference should be made to the corresponding content in the foregoing embodiment. In this embodiment, the compensation speed obtaining device 200 may include: the judging module 210 and the compensation speed obtaining module 220.
The determining module 210 is configured to determine, when the current frame of echo data is obtained, whether the total number of times of currently receiving the echo data is greater than a preset value.
The compensation speed obtaining module 220 is configured to obtain a first speed compensation value calculated according to a historical speed estimation value in a speed set when the total number of times is greater than the preset value, where the historical speed estimation value in the speed set is a speed estimation value corresponding to each of multiple frames of historical frame echo data, and when the total number of times is greater than the preset value, the number of historical speed estimation values in the speed set is not less than the preset value, and the first speed compensation value is used for compensating for the current frame echo data.
Optionally, in this embodiment, the compensation speed obtaining module 220 is specifically configured to: and calculating an average value of the historical speed estimated values in the speed set, and taking the obtained average value as the first speed compensation value.
Referring to fig. 8, fig. 8 is a block diagram of a compensation speed obtaining apparatus 200 according to an embodiment of the application. In this embodiment, the compensation speed obtaining device 200 may further include a processing module 230, where the processing module 230 is specifically configured to: and compensating the echo data of the current frame according to the first speed compensation value to obtain a first one-dimensional range profile.
Optionally, in this embodiment, the processing module 230 is further configured to: according to a second one-dimensional distance image obtained based on the echo data of the previous frame and the first one-dimensional distance image, calculating to obtain a speed estimated value corresponding to the echo data of the current frame; and saving the speed estimated value corresponding to the echo data of the current frame as a historical speed estimated value into the speed set.
Optionally, in this embodiment, the number of historical speed estimation values in the speed set is equal to the preset value, and the processing module 230 is specifically configured to: and deleting the historical speed estimated value corresponding to the echo data which is the longest from the current time, and storing the speed estimated value corresponding to the echo data of the current frame into the speed set.
Optionally, in this embodiment, the processing module 230 is specifically configured to: determining a first distance resolution unit where a peak value in the first one-dimensional range profile is located and a second distance resolution unit where a peak value in the second one-dimensional range profile is located; obtaining the unit change quantity according to the first position information of the first distance resolution unit in the first one-dimensional range profile and the second position information of the second distance resolution unit in the second one-dimensional range profile; and calculating to obtain a speed estimated value corresponding to the current frame echo data according to the time difference between the previous frame echo data and the current frame echo data, a distance resolution unit and the unit change quantity.
Optionally, in this embodiment, the compensation speed obtaining module 220 is further configured to: and when the total times are not greater than the preset value, taking the preset speed as a second speed compensation value. The processing module 230 is further configured to: and processing the current frame echo data according to the second speed compensation value, and storing the preset speed as a speed estimated value corresponding to the current frame echo data into the speed set.
Alternatively, the above modules may be stored in the memory 110 shown in fig. 1 or solidified in an Operating System (OS) of the electronic device 100 in the form of software or Firmware (Firmware), and may be executed by the processor 120 in fig. 1. Meanwhile, data, codes of programs, and the like, which are required to execute the above-described modules, may be stored in the memory 110.
The embodiment of the application also provides a readable storage medium, on which a computer program is stored, which when being executed by a processor, implements the compensation speed obtaining method.
In summary, the embodiments of the present application provide a method, an apparatus, an electronic device, and a readable storage medium for obtaining a compensation speed, when obtaining echo data of a current frame, determining whether a total number of times of currently received echo data is greater than a preset value, and when the total number of times of currently received echo data is greater than the preset value, obtaining a first speed compensation value for compensating the echo data of the current frame, which is calculated based on a historical speed estimation value in a speed set. The historical speed estimated value in the speed set is the speed estimated value corresponding to each of the multi-frame historical frame echo data. And when the total times are larger than the preset value, the number of the historical speed estimated values in the speed set is not smaller than the preset value. In this way, a speed value for compensation with small error can be obtained, thereby improving ranging accuracy.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, of the flowcharts and block diagrams in the figures that illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above description is only of alternative embodiments of the present application and is not intended to limit the present application, and various modifications and variations will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (10)

1. A compensation speed obtaining method, characterized in that the method comprises:
when the echo data of the current frame are obtained, judging whether the total number of times of currently received echo data is larger than a preset value or not;
if the number of times of the total speed is larger than the preset value, obtaining a first speed compensation value calculated according to the historical speed estimated value in the speed set, wherein the historical speed estimated value in the speed set is the speed estimated value corresponding to each multi-frame historical frame echo data, and when the total number of times of the total speed is larger than the preset value, the number of the historical speed estimated values in the speed set is not smaller than the preset value, and the first speed compensation value is used for compensating the current frame echo data.
2. The method of claim 1, wherein the obtaining a first velocity compensation value calculated from historical velocity estimates in a velocity set comprises:
and calculating an average value of the historical speed estimated values in the speed set, and taking the obtained average value as the first speed compensation value.
3. The method according to claim 1, wherein the method further comprises:
and compensating the echo data of the current frame according to the first speed compensation value to obtain a first one-dimensional range profile.
4. A method according to claim 3, characterized in that the method further comprises:
according to a second one-dimensional distance image obtained based on the echo data of the previous frame and the first one-dimensional distance image, calculating to obtain a speed estimated value corresponding to the echo data of the current frame;
and saving the speed estimated value corresponding to the echo data of the current frame as a historical speed estimated value into the speed set.
5. The method of claim 4, wherein the number of historical speed estimates in the speed set is equal to the preset value, and wherein storing the speed estimate corresponding to the current frame echo data as a historical speed estimate in the speed set comprises:
and deleting the historical speed estimated value corresponding to the echo data which is the longest from the current time, and storing the speed estimated value corresponding to the echo data of the current frame into the speed set.
6. The method according to claim 4, wherein calculating a velocity estimation value corresponding to the current frame echo data according to the second one-dimensional distance image obtained based on the previous frame echo data and the first one-dimensional distance image includes:
determining a first distance resolution unit where a peak value in the first one-dimensional range profile is located and a second distance resolution unit where a peak value in the second one-dimensional range profile is located;
obtaining the unit change quantity according to the first position information of the first distance resolution unit in the first one-dimensional range profile and the second position information of the second distance resolution unit in the second one-dimensional range profile;
and calculating to obtain a speed estimated value corresponding to the current frame echo data according to the time difference between the previous frame echo data and the current frame echo data, a distance resolution unit and the unit change quantity.
7. The method according to any one of claims 1-6, further comprising:
if not, taking the preset speed as a second speed compensation value;
and processing the current frame echo data according to the second speed compensation value, and storing the preset speed as a speed estimated value corresponding to the current frame echo data into the speed set.
8. A compensation speed obtaining device, characterized in that the device comprises:
the judging module is used for judging whether the total number of times of currently received echo data is larger than a preset value when the echo data of the current frame is obtained;
the compensation speed obtaining module is configured to obtain a first speed compensation value calculated according to a historical speed estimation value in a speed set when the total number of times is greater than the preset value, where the historical speed estimation value in the speed set is a speed estimation value corresponding to each of multi-frame historical frame echo data, and when the total number of times is greater than the preset value, the number of historical speed estimation values in the speed set is not less than the preset value, and the first speed compensation value is used for compensating the current frame echo data.
9. An electronic device comprising a processor and a memory, the memory storing machine executable instructions executable by the processor to implement the compensation speed obtaining method of any one of claims 1-7.
10. A readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the compensation speed obtaining method according to any one of claims 1-7.
CN202310609773.9A 2023-05-26 2023-05-26 Compensation speed obtaining method, compensation speed obtaining device, electronic equipment and readable storage medium Pending CN116660845A (en)

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