WO2022226948A1

WO2022226948A1 - Target feature extraction method and apparatus

Info

Publication number: WO2022226948A1
Application number: PCT/CN2021/091195
Authority: WO
Inventors: 黄磊; 王犇; 赵博; ***; 陈佳民; 潘天伦
Original assignee: 华为技术有限公司
Priority date: 2021-04-29
Filing date: 2021-04-29
Publication date: 2022-11-03
Also published as: CN113490949A

Abstract

A target feature extraction method and apparatus, relating to the technical field of radars. The method comprises: determining single-bit sample data of at least one channel of a first radar (201); performing static target elimination according to the single-bit sample data of each of the at least one channel to obtain HRRP data of the at least one channel (202); determining a first correspondence set according to the HRRP data of the at least one channel (203), the first correspondence set being used for representing the correspondence between the speed of at least one moving target and the distance from the first radar, any moving target comprising at least one sub-target; and determining a micro-Doppler feature of the at least one target according to the first correspondence set (204). The method can be applied to fields of the Internet of vehicles such as vehicle to everything (V2X), long term evolution-vehicle to X (LTE-V), and vehicle to vehicle (V2V), and can accurately determine a micro-Doppler feature of a moving target.

Description

一种目标的特征提取方法及装置A target feature extraction method and device

技术领域technical field

本申请涉及雷达技术领域，尤其涉及一种目标的特征提取方法及装置。The present application relates to the field of radar technology, and in particular, to a method and device for extracting features of a target.

背景技术Background technique

随着技术的发展，各类雷达都在向着高宽带、高精度、大数据的方向发展。单比特量化采样架构在提高数据吞吐量，减少计算量上潜力巨大，近年来已成为雷达信号处理上的研究热点。With the development of technology, all kinds of radars are developing in the direction of high bandwidth, high precision and big data. The single-bit quantized sampling architecture has great potential in improving data throughput and reducing computational complexity, and has become a research hotspot in radar signal processing in recent years.

目前，如何在雷达的目标探测识别领域引入单比特量化采样架构，采取单比特雷达(即单比特量化采样架构的雷达)进行目标的分类识别，是一个很有应用前景的方向。而目标识别的先决条件是特征提取。然而，目前采用传统的方法进行目标的特征提取时，例如时频分析类算法等，处理过程比较复杂，且可能会导致目标的信息丢失，而导致目标的特征提取不准确。At present, how to introduce a single-bit quantized sampling architecture in the field of radar target detection and identification, and adopt single-bit radar (that is, a radar with a single-bit quantized sampling architecture) to classify and identify targets is a promising direction. The prerequisite for target recognition is feature extraction. However, when traditional methods are used for target feature extraction, such as time-frequency analysis algorithms, the processing process is relatively complicated, and the information of the target may be lost, resulting in inaccurate feature extraction of the target.

发明内容SUMMARY OF THE INVENTION

本申请提供一种目标的特征提取方法及装置，用以提出一种基于单比特雷达的微多普勒特征提取方法，实现方法比较简单，可以有效得到目标的微多普勒特征，使目标的特征提取比较准确。The present application provides a feature extraction method and device for a target, which is used to propose a micro-Doppler feature extraction method based on a single-bit radar. The implementation method is relatively simple, and the micro-Doppler features of the target can be effectively obtained, so that the Feature extraction is more accurate.

第一方面，本申请提供了一种目标的特征提取方法，可应用于目标的特征提取装置，目标的特征提取装置的芯片或芯片***或一个功能模块等。该方法具体可以包括：确定第一雷达的至少一个通道的单比特采样数据；根据所述至少一个通道中的每一个通道的单比特采样数据进行静止目标消除，得到所述至少一个通道的高分辨距离像(high resolution range profile，HRRP)数据；根据所述至少一个通道的HRRP数据确定第一对应关系集合，所述第一对应关系集合用于表征至少一个运动目标的速度以及与所述第一雷达的距离的对应关系；任一个运动目标包括至少一个子目标；根据所述第一对应关系集合确定至少一个运动目标的微多普勒特征；所述单比特采样数据为数字信号。In a first aspect, the present application provides a feature extraction method of a target, which can be applied to a feature extraction device of a target, a chip or a chip system or a functional module of the feature extraction device of the target, and the like. The method may specifically include: determining single-bit sampling data of at least one channel of the first radar; performing stationary target elimination according to the single-bit sampling data of each channel in the at least one channel, to obtain a high-resolution image of the at least one channel Distance image (high resolution range profile, HRRP) data; determine a first correspondence set according to the HRRP data of the at least one channel, and the first correspondence set is used to characterize the speed of at least one moving target and the relationship with the first The correspondence between the distances of the radar; any moving target includes at least one sub-target; the micro-Doppler feature of the at least one moving target is determined according to the first correspondence set; the single-bit sampling data is a digital signal.

通过上述方法，结合雷达的单比特采样数据进行处理，可以实现基于单比特雷达的微多普勒特征提取，并且实现方法比较简单，既利用了单比特雷达精简的***架构，又能有效得到分离的微多普勒特征，使目标的特征提取比较准确，为构建低成本、高感知的识别雷达***提供一定的技术支撑。Through the above method, combined with the single-bit sampling data of the radar for processing, the micro-Doppler feature extraction based on the single-bit radar can be realized, and the implementation method is relatively simple. The micro-Doppler characteristics of the target can make the feature extraction of the target more accurate, and provide certain technical support for the construction of a low-cost, high-aware recognition radar system.

在一个可能的设计中，根据所述至少一个通道中的每一个通道的单比特采样数据进行静止目标消除，得到所述至少一个通道的HRRP数据，具体方法可以为：对所述至少一个通道中的每一个通道的单比特采样数据进行快时间域上的快速傅里叶变换，得到所述每一个通道的第一HRRP数据；根据所述每一个通道的第一HRRP数据进行静止目标消除，得到所述每一个通道的第二HRRP数据；根据所述每一个通道的第二HRRP数据确定所述至少一个通道的HRRP数据。这样可以准确地得到至少一个通道的HRRP数据，以使后续准确地确定至少一个运动目标的微多普勒特征。In a possible design, static target elimination is performed according to the single-bit sampling data of each channel in the at least one channel to obtain HRRP data of the at least one channel, and the specific method may be: The single-bit sampled data of each channel is subjected to fast Fourier transform on the fast time domain to obtain the first HRRP data of each channel; According to the first HRRP data of each channel, static target elimination is performed to obtain the second HRRP data of each channel; the HRRP data of the at least one channel is determined according to the second HRRP data of each channel. In this way, HRRP data of at least one channel can be accurately obtained, so that the micro-Doppler feature of at least one moving target can be accurately determined subsequently.

在一个可能的设计中，根据所述每一个通道的第一HRRP数据进行静止目标消除，得到所述每一个通道的第二HRRP数据，具体方法可以为：根据所述每一个通道的第一HRRP数据确定所述每一个通道对应的m个回波中连续每两个回波对应的HRRP数据差；根据所述每一个通道对应的m个回波中连续每两个回波对应的HRRP数据差中大于第一阈值的数据，确定所述第二HRRP数据；其中m为大于或者等于1的整数。这样可以通过静止目标消除来增强运动目标信息的信噪比，可以有效抑制单比特雷达多普勒特征的衰减问题。In a possible design, static target elimination is performed according to the first HRRP data of each channel to obtain the second HRRP data of each channel. The specific method may be: according to the first HRRP data of each channel The data determines the HRRP data difference corresponding to every two consecutive echoes in the m echoes corresponding to each channel; according to the HRRP data difference corresponding to each two consecutive echoes in the m echoes corresponding to each channel Among the data greater than the first threshold, determine the second HRRP data; where m is an integer greater than or equal to 1. In this way, the signal-to-noise ratio of moving target information can be enhanced by eliminating stationary targets, and the attenuation problem of single-bit radar Doppler features can be effectively suppressed.

在一个可能的设计中，根据所述至少一个通道的HRRP数据确定第一对应关系集合，具体方法可以为：将所述至少一个通道的HRRP数据融合，得到第二对应关系集合；对所述第二对应关系集合进行慢时间域上的快速傅里叶变换，得到所述第一对应关系集合。这样可以准确地得到表征运动目标的速度-距离的对应关系集合，以进一步确定至少一个运动目标的微多普勒特征。In a possible design, the first set of correspondences is determined according to the HRRP data of the at least one channel, and the specific method may be: fusing the HRRP data of the at least one channel to obtain a second set of correspondences; The two sets of correspondences are subjected to fast Fourier transform in the slow time domain to obtain the first set of correspondences. In this way, a set of correspondences representing the velocity-distance of the moving object can be accurately obtained, so as to further determine the micro-Doppler feature of at least one moving object.

在一个可能的设计中，将所述至少一个通道的HRRP数据融合，得到第二对应关系集合，具体方法可以为：将所述至少一个通道的HRRP数据进行累加，得到所述第二对应关系集合；或者，将所述至少一个通道的HRRP数据进行加权累加，得到所述第二对应关系集合。这样可以通过通道融合来增强运动目标信息的信噪比，可以有效抑制单比特雷达多普勒特征的衰减问题。In a possible design, the HRRP data of the at least one channel is fused to obtain a second set of correspondences. The specific method may be: accumulating the HRRP data of the at least one channel to obtain the second set of correspondences or, performing weighted accumulation on the HRRP data of the at least one channel to obtain the second correspondence set. In this way, the signal-to-noise ratio of moving target information can be enhanced through channel fusion, and the attenuation problem of single-bit radar Doppler features can be effectively suppressed.

在一个可能的设计中，根据所述第一对应关系集合确定至少一个运动目标的微多普勒特征，具体方法可以为：在所述第一对应关系集合中确定所述至少一个运动目标的位置信息；根据所述至少一个运动目标的位置信息，在所述第二对应关系集合中确定所述至少一个运动目标中每一个运动目标包括的至少一个子目标的位置；对所述每一个运动目标包括的至少一个子目标在所述第二对应关系集合中的位置，进行慢时间上的位置累加，得到第一特征向量；根据所述第一特征向量确定所述至少一个运动目标的微多普勒特征。这样可以有效分离占据不同位置的不同运动目标的微多普勒特征，提高特征提取效率。In a possible design, the micro-Doppler feature of at least one moving object is determined according to the first correspondence set, and a specific method may be: determining the position of the at least one moving object in the first correspondence set information; according to the position information of the at least one moving target, determine the position of at least one sub-target included in each moving target in the at least one moving target in the second correspondence set; for each moving target The position of the included at least one sub-target in the second correspondence set is accumulated in slow time to obtain a first eigenvector; the micro-Doppler of the at least one moving target is determined according to the first eigenvector Le feature. In this way, the micro-Doppler features of different moving objects occupying different positions can be effectively separated, and the feature extraction efficiency can be improved.

在一个可能的设计中，根据所述第一特征向量确定所述至少一个运动目标的微多普勒特征，具体方法可以为：对所述第一特征向量进行时频分析，得到所述至少一个运动目标的微多普勒特征。这样可以准确地得到至少一个运动目标的微多普勒特征。In a possible design, the micro-Doppler feature of the at least one moving target is determined according to the first feature vector, and a specific method may be: performing time-frequency analysis on the first feature vector to obtain the at least one moving target. Micro-Doppler signatures of moving targets. In this way, the micro-Doppler feature of at least one moving target can be accurately obtained.

在一个可能的设计中，确定所述第一雷达的所述至少一个通道的单比特采样数据，具体方法可以为：对所述至少一个通道中每一个通道接收的至少一个回波与所述第一雷达的发射信号进行混频处理，得到所述每一个通道的第一信号；对所述每一个通道的第一信号进行单比特采样，得到所述至少一个通道的单比特采样数据。这样可以准确地得到所述第一雷达的至少一个通道的单比特采样数据，实现比较简单。In a possible design, the single-bit sampling data of the at least one channel of the first radar is determined, and a specific method may be: comparing at least one echo received by each channel in the at least one channel with the first echo. A radar transmit signal is subjected to frequency mixing processing to obtain the first signal of each channel; single-bit sampling is performed on the first signal of each channel to obtain single-bit sampling data of the at least one channel. In this way, the single-bit sampling data of at least one channel of the first radar can be accurately obtained, and the implementation is relatively simple.

在一个可能的设计中，所述每一个通道的第一信号可以符合以下公式：In a possible design, the first signal of each channel may conform to the following formula:

其中，

为所述第一信号；t _x为慢时间，x＝1，2，……；

为快时间；A为回波幅值；

f _c为中心频率；T _p为脉宽；γ为线性调频LFM信号的调频率； c为光速；R _i为目标到第i个接收通道的距离，i大于或者等于1；R _t为目标到发射通道的距离；R _ref为所述每一个通道到所述第一雷达的距离；R _Δ＝R _t-R _ref。 in,

is the first signal; t _x is the slow time, x=1, 2, ...;

is the fast time; A is the echo amplitude;

f _c is the center frequency; T _p is the pulse width; γ is the modulation frequency of the LFM signal; c is the speed of light; R _i is the distance from the target to the ith receiving channel, i is greater than or equal to 1; R _t is the target to The distance of the transmit channel; R _ref is the distance from each channel to the first radar; R _Δ =R _t -R _ref .

在一个可能的设计中，对所述每一个通道的第一信号进行单比特采样，具体方法可以为：当所述每一个通道的第一信号大于0或者为第一值时，将回波存储为1；当所述每一个通道的第一信号小于或等于0或者为第二值时，将回波存储为0。这样可以提高采样率，并可以节省数据存储开销，且计算复杂度较低。In a possible design, single-bit sampling is performed on the first signal of each channel, and the specific method may be: when the first signal of each channel is greater than 0 or has a first value, store the echo is 1; when the first signal of each channel is less than or equal to 0 or the second value, the echo is stored as 0. This increases the sampling rate and saves data storage overhead with lower computational complexity.

第二方面，本申请还提供了一种目标的特征提取装置，所述目标的特征提取装置具有实现上述第一方面或第一方面的各个可能的设计示例中的功能。所述功能可以通过硬件实现，也可以通过硬件执行相应的软件实现。所述硬件或软件包括一个或多个与上述功能相对应的模块。In a second aspect, the present application further provides an apparatus for feature extraction of a target, and the apparatus for feature extraction of a target has the functions of implementing the above-mentioned first aspect or each possible design example of the first aspect. The functions can be implemented by hardware, or can be implemented by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions.

在一个可能的设计中，所述目标的特征提取装置的结构中包括确定单元和处理单元，这些单元可以执行上述第一方面或第一方面的各个可能的设计示例中的相应功能，具体参见方法示例中的详细描述，此处不做赘述。In a possible design, the structure of the feature extraction device of the target includes a determination unit and a processing unit, and these units can perform the corresponding functions in the first aspect or each possible design example of the first aspect. For details, refer to the method The detailed description in the example will not be repeated here.

在一个可能的设计中，所述目标的特征提取装置的结构中包括存储器和处理器，所述处理器被配置为支持所述目标的特征提取装置执行上述第一方面或第一方面的各个可能的设计示例中的相应的功能。所述存储器与所述处理器耦合，其保存所述目标的特征提取装置必要的程序指令和数据。In a possible design, the structure of the feature extraction apparatus of the target includes a memory and a processor, and the processor is configured to support the feature extraction apparatus of the target to perform the first aspect or each possibility of the first aspect. The corresponding function in the design example of . The memory is coupled to the processor and holds program instructions and data necessary for the feature extraction device of the target.

第三方面，本申请实施例提供的一种雷达，所述雷达可以包括上述提及的目标的特征提取装置。In a third aspect, an embodiment of the present application provides a radar, where the radar may include the above-mentioned feature extraction device for the target.

第四方面，本申请实施例提供的一种移动设备，所述移动设备可以包括上述提及的目标的特征提取装置。示例性地，所述移动设备可以为车辆等。In a fourth aspect, an embodiment of the present application provides a mobile device, where the mobile device may include the above-mentioned feature extraction apparatus for the target. Illustratively, the mobile device may be a vehicle or the like.

第五方面，本申请实施例提供的一种计算机可读存储介质，该计算机可读存储介质存储有程序指令，当程序指令在计算机上运行时，使得计算机执行本申请实施例第一方面及其任一可能的设计中所述的方法。示例性的，计算机可读存储介质可以是计算机能够存取的任何可用介质。以此为例但不限于：计算机可读介质可以包括非瞬态计算机可读介质、随机存取存储器(random-access memory，RAM)、只读存储器(read-only memory，ROM)、电可擦除可编程只读存储器(electrically EPROM，EEPROM)、CD-ROM或其他光盘存储、磁盘存储介质或者其他磁存储设备、或者能够用于携带或存储具有指令或数据结构形式的期望的程序代码并能够由计算机存取的任何其他介质。In a fifth aspect, a computer-readable storage medium provided by an embodiment of the present application, the computer-readable storage medium stores a program instruction, and when the program instruction is executed on a computer, makes the computer execute the first aspect of the embodiment of the present application and its contents. method described in any of the possible designs. Illustratively, a computer-readable storage medium can be any available medium that can be accessed by a computer. Taking this as an example but not limited to: computer readable media may include non-transitory computer readable media, random-access memory (RAM), read-only memory (ROM), electrically erasable Except programmable read only memory (electrically EPROM, EEPROM), CD-ROM or other optical disk storage, magnetic disk storage medium or other magnetic storage device, or capable of carrying or storing desired program code in the form of instructions or data structures and capable of Any other media accessed by a computer.

第六方面，本申请实施例提供一种包括计算机程序代码或指令的计算机程序产品，当其在计算机上运行时，使得计算机实现上述第一方面或第一方面任一种可能的设计中所述的方法。In a sixth aspect, the embodiments of the present application provide a computer program product including computer program codes or instructions, which, when run on a computer, enable the computer to implement the first aspect or any of the possible designs of the first aspect. Methods.

第七方面，本申请还提供了一种芯片，包括处理器，所述处理器与存储器耦合，用于读取并执行所述存储器中存储的程序指令，以使所述芯片实现上述第一方面或第一方面任一种可能的设计中所述的方法。In a seventh aspect, the present application further provides a chip, including a processor, which is coupled to a memory and configured to read and execute program instructions stored in the memory, so that the chip implements the above-mentioned first aspect Or the method described in any of the possible designs of the first aspect.

上述第二方面至第七方面中的各个方面以及各个方面可能达到的技术效果请参照上述针对第一方面或第一方面中的各种可能方案可以达到的技术效果说明，这里不再重复赘述。For each aspect of the above-mentioned second aspect to the seventh aspect and the possible technical effect achieved by each aspect, please refer to the above description of the technical effect achieved by the first aspect or various possible solutions in the first aspect, which will not be repeated here.

附图说明Description of drawings

图1为本申请提供的一种应用场景示意图；1 is a schematic diagram of an application scenario provided by the present application;

图1a为本申请提供的一种雷达的示意图；1a is a schematic diagram of a radar provided by the application;

图2为本申请提供的一种目标的特征提取方法的流程图；Fig. 2 is the flow chart of the feature extraction method of a kind of target provided by this application;

图3为本申请提供的一种第一雷达的通道示意图；3 is a schematic diagram of a channel of a first radar provided by the present application;

图4为本申请提供的一种得到第一对应关系集合的过程的示意图；4 is a schematic diagram of a process for obtaining a first correspondence set provided by the present application;

图5为本申请提供的一种至少一个运动目标的定位示意图；5 is a schematic diagram of the positioning of at least one moving target provided by the application;

图6为本申请提供的一种确定运动目标的微多普勒特征的示意图；6 is a schematic diagram of determining the micro-Doppler feature of a moving target provided by the application;

图7为本申请提供的一种目标的特征提取装置得到运动目标的微多普勒特征的整体过程的示意图；7 is a schematic diagram of the overall process of obtaining a micro-Doppler feature of a moving target by a feature extraction device of a target provided by the application;

图8为本申请提供的一种行人和自行车的R-V对应关系集合；FIG. 8 is a set of R-V correspondences of pedestrians and bicycles provided by the present application;

图9为本申请提供的一种一个通道情况下行人的微多普勒特征；Fig. 9 is a kind of micro-Doppler characteristics of pedestrians in a channel situation provided by the application;

图10为本申请提供的一种一个通道情况下自行车的微多普勒特征；10 is a micro-Doppler feature of a bicycle under a single channel provided by the application;

图11为本申请提供的一种多个通道情况下行人的微多普勒特征；FIG. 11 is a micro-Doppler feature of a pedestrian under a multiple channel situation provided by the application;

图12为本申请提供的一种多个通道情况下自行车的微多普勒特征；FIG. 12 is a micro-Doppler feature of a bicycle under the condition of a plurality of channels provided by the application;

图13为本申请提供的一种目标的特征提取装置的结构示意图；13 is a schematic structural diagram of a target feature extraction device provided by the application;

图14为本申请提供的一种目标的特征提取装置的结构图。FIG. 14 is a structural diagram of a target feature extraction apparatus provided by the present application.

具体实施方式Detailed ways

下面将结合附图，对本申请实施例进行详细描述。The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

本申请实施例提供一种目标的特征提取方法及装置，用以提出一种基于单比特雷达的微多普勒特征提取方法，实现方法比较简单，既利用了单比特雷达精简的***架构，又能有效得到分离的微多普勒特征，使目标的特征提取比较准确，为构建低成本、高感知的识别雷达***提供一定的技术支撑。其中，本申请所述方法和装置基于同一技术构思，由于方法及装置解决问题的原理相似，因此装置与方法的实施可以相互参见，重复之处不再赘述。The embodiments of the present application provide a method and device for extracting features of a target, which are used to propose a method for extracting micro-Doppler features based on single-bit radar. The implementation method is relatively simple, which not only utilizes the simplified system architecture of single-bit radar, but also The separated micro-Doppler features can be effectively obtained, so that the feature extraction of the target is more accurate, and it provides certain technical support for the construction of a low-cost, high-perception recognition radar system. The methods and devices described in this application are based on the same technical concept. Since the methods and devices have similar principles for solving problems, the implementations of the devices and methods can be referred to each other, and repeated descriptions will not be repeated here.

本申请中所涉及的至少一个是指一个或多个；多个，是指两个或两个以上。In this application, at least one refers to one or more; multiple refers to two or more.

在本申请的描述中，“第一”、“第二”等词汇，仅用于区分描述的目的，而不能理解为指示或暗示相对重要性，也不能理解为指示或暗示顺序。In the description of this application, words such as "first" and "second" are only used for the purpose of distinguishing and describing, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or implying order.

图1示出了本申请实施例提供的一种可能的应用场景示意图。该场景中，雷达传感器可以被安装在车辆上，例如，本申请中的传感器可应用于高级驾驶辅助***(advanced driving assistant system，ADAS)(例如自动驾驶)、机器人、无人机、网联车、安防监控等领域。该场景中，雷达传感器可被安装在移动设备上，例如，雷达传感器可以安装在机动车辆(例如无人车、智能车、电动车、数字汽车等)上，用作车载雷达；再比如雷达可以安装在无人机上，作为机载雷达，等等。图1以将雷达传感器部署于车辆前端为例示出，部署于车辆前端的雷达传感器可感知如实线框所示的扇形区域，该扇形区域可以为雷达感知区域，当雷达传感器感知到雷达感知区域中存在目标时，将雷达信号信息传输至处理模块，由处理模块进行进一步处理。处理模块在接收到雷达传感器的信息后，输出目标雷达的测量信息(例如，目标对象的相对距离、角度、相对速度)。需要说明的是，此处中的处理模块既可以是独立于雷达传感器的计算机或计算机中的软件模块，还可以是部署于雷达传感器中的计算机或计算机中的软件模块，此处不作限定。FIG. 1 shows a schematic diagram of a possible application scenario provided by an embodiment of the present application. In this scenario, radar sensors can be installed on vehicles, for example, the sensors in this application can be applied to advanced driving assistance systems (ADAS) (such as autonomous driving), robots, drones, connected vehicles , security monitoring and other fields. In this scenario, radar sensors can be installed on mobile devices. For example, radar sensors can be installed on motor vehicles (such as unmanned vehicles, smart vehicles, electric vehicles, digital vehicles, etc.) to be used as in-vehicle radars; for example, radars can be Mounted on drones, as airborne radar, etc. Figure 1 shows the deployment of the radar sensor at the front end of the vehicle as an example. The radar sensor deployed at the front end of the vehicle can perceive the fan-shaped area shown by the solid line frame. The fan-shaped area can be the radar sensing area. When the radar sensor perceives the radar sensing area When there is a target, the radar signal information is transmitted to the processing module for further processing. After receiving the information from the radar sensor, the processing module outputs the measurement information of the target radar (for example, the relative distance, angle, and relative speed of the target object). It should be noted that the processing module here may be a computer independent of the radar sensor or a software module in the computer, or may be a computer deployed in the radar sensor or a software module in the computer, which is not limited here.

可见，将上述传感器安装在车身上，可以实时或周期性地获取传感器感测到车辆的经纬度、速度、朝向、周围物体的距离等测量信息，再根据这些测量信息实现车辆的辅助驾驶或无人驾驶。例如，利用经纬度确定车辆的位置，或利用速度和朝向确定车辆在未来一段时间的行驶方向和目的，或利用周围物体的距离确定车辆周围的障碍物数量、密度等。It can be seen that by installing the above sensors on the vehicle body, measurement information such as the latitude and longitude, speed, orientation, and distance of surrounding objects sensed by the sensor can be obtained in real time or periodically, and then assisted driving or unmanned driving of the vehicle can be realized according to these measurement information. drive. For example, use the latitude and longitude to determine the position of the vehicle, or use the speed and orientation to determine the direction and purpose of the vehicle in the future, or use the distance of surrounding objects to determine the number and density of obstacles around the vehicle.

需要说明的是，图1仅仅是一种示例，并不作为对本申请实施例的应用场景作为限定。It should be noted that FIG. 1 is only an example, and is not intended to limit the application scenarios of the embodiments of the present application.

在本申请以下的描述中，雷达传感器可以简称为雷达进行描述。In the following description of the present application, the radar sensor may be simply referred to as radar for description.

示例性的，图1a示出了一种雷达的结构示意图，所述雷达可以包括压控振荡器(voltage controlled oscillator，VCO)、功率分配单元、发射端和接收端；其中，发射端可以包括至少一个发射(transmit，TX)通路，如图1a中TX-1、Tx-2……TX-W。接收端可以包括至少一个接收(receive，RX)通路，如图1a中RX-1、Rx-2……RX-F。Exemplarily, FIG. 1a shows a schematic structural diagram of a radar, the radar may include a voltage controlled oscillator (VCO), a power distribution unit, a transmitter and a receiver; wherein the transmitter may include at least A transmit (transmit, TX) channel, such as TX-1, Tx-2...TX-W in Figure 1a. The receiving end may include at least one receive (receive, RX) path, such as RX-1, Rx-2...RX-F in Fig. 1a.

扫频信号从VCO中产生，经过功率分配单元之后一部分输出到发射通路，一部分输出到接收端用作混频参考信号。输出到发射通路的信号经过放大器(amplifier，PA)从TX天线发射出去，到达目标。The swept frequency signal is generated from the VCO, and after passing through the power distribution unit, part of it is output to the transmit path, and part of it is output to the receiving end as a mixing reference signal. The signal output to the transmit path is transmitted from the TX antenna through an amplifier (PA) and reaches the target.

从目标返回的回波信号经低噪声放大器(low noise amplifier，LNA)放大后，各自通过混频器(mixer)混频，经选择(switcher)通道、低通滤波器(low-pass filter，LPF)滤波后变成中频(Intermediate Frequency，IF)信号输出到采样器进行单比特采样。After the echo signal returned from the target is amplified by a low noise amplifier (LNA), it is mixed by a mixer, and then a switcher channel, a low-pass filter (LPF) and a low-pass filter (LPF) are selected. ) is filtered into an intermediate frequency (Intermediate Frequency, IF) signal and output to the sampler for single-bit sampling.

其中，在发射端也可以每一发射通路都设置LPF、采样器。Wherein, at the transmitting end, LPF and sampler may also be set for each transmitting channel.

需要说明的是，所述VOC和所述功率分配单元也可以理解为属于所述发射端，本申请对此不作限定。It should be noted that, the VOC and the power distribution unit may also be understood as belonging to the transmitting end, which is not limited in this application.

随着技术的发展，各类雷达***都在向着高宽带、高精度、大数据的方向发展。而1比特(1-bit)架构(也即单比特架构)在提高数据吞吐量，减少计算量上潜力巨大，近年来已成为雷达信号处理上的研究热点。制约单比特雷达发展的主要原因在于对雷达回波进行了一比特量化后，高次谐波的混叠特性会带来性能的衰减。With the development of technology, all kinds of radar systems are developing in the direction of high bandwidth, high precision and big data. The 1-bit (1-bit) architecture (that is, the single-bit architecture) has great potential to improve data throughput and reduce the amount of computation, and has become a research hotspot in radar signal processing in recent years. The main reason that restricts the development of single-bit radar is that after the radar echo is quantized by one bit, the aliasing characteristics of high-order harmonics will bring about the attenuation of performance.

微多普勒特征指除目标主体运动外，其各部件微动均会对雷达回波产生差异性多普勒调制，雷达回波中蕴含微动特征将反应目标的几何结构和运动特征，这被认为是雷达目标所具有的独一无二的运动特征。分析目标的微多普勒效应并提取微多普勒信号中蕴含的特征信息，能够更好的分辨目标的属性类型和运动意图。有效的微多普勒特征提取和分析将为雷达目标分类识别提供新途径。The micro-Doppler feature refers to that in addition to the movement of the target body, the micro-motion of its components will produce differential Doppler modulation on the radar echo. The micro-motion features contained in the radar echo will reflect the geometric structure and motion characteristics of the target. It is considered to be a unique motion characteristic of radar targets. By analyzing the micro-Doppler effect of the target and extracting the characteristic information contained in the micro-Doppler signal, the attribute type and motion intention of the target can be better distinguished. Effective micro-Doppler feature extraction and analysis will provide a new approach for radar target classification and recognition.

目前单比特雷达(即单比特量化采样架构的雷达)一般是应用于合成孔径雷达(synthetic aperture radar，SAR)成像，在阵列雷达、监控雷达等领域还有着很大发展空间。因此，如何在雷达目标探测识别领域引入单比特架构，采取单比特雷达进行目标的分类识别，是一个很有应用前景的方向。而目标识别的先决条件是特征提取，基于上述微多普勒特征的优异特性，研究一种基于单比特雷达的微多普勒特征提取方法，有着很大的现实意义。At present, single-bit radar (that is, radar with single-bit quantized sampling architecture) is generally used in synthetic aperture radar (SAR) imaging, and there is still a lot of room for development in the fields of array radar and surveillance radar. Therefore, how to introduce a single-bit architecture in the field of radar target detection and recognition, and adopt single-bit radar for target classification and identification, is a very promising direction. The prerequisite for target recognition is feature extraction. Based on the excellent characteristics of the above-mentioned micro-Doppler features, it is of great practical significance to study a single-bit radar-based micro-Doppler feature extraction method.

基于此，本申请提出一种目标的特征提取方法及装置，以提供一种基于单比特雷达的微多普勒特征提取方法，既利用了单比特雷达精简的***架构，又能有效得到分离的微多普勒特征，为构建低成本、高感知的识别雷达***提供一定的技术支撑。Based on this, the present application proposes a target feature extraction method and device, so as to provide a single-bit radar-based micro-Doppler feature extraction method, which not only utilizes the simplified system architecture of single-bit radar, but also effectively obtains separated The micro-Doppler feature provides certain technical support for the construction of a low-cost, high-aware recognition radar system.

需要说明的是，在本申请实施例中可实现目标的特征提取操作的可以是目标的特征提取装置，或者是目标的特征提取装置中的处理器，或者是芯片或者芯片***，或者是一个功能模块等。其中，目标的特征提取装置可以是雷达，也可以部署于雷达中的装置，或者是独立于雷达单独部署的装置等。在以下的实施例中，以目标的特征提取装置为例对本申请提供的目标的特征提取方法进行详细说明，但对本申请并不作为限定。It should be noted that, in this embodiment of the present application, the feature extraction operation of the target can be implemented by the target feature extraction device, or the processor in the target feature extraction device, or a chip or a chip system, or a function modules etc. Among them, the feature extraction device of the target may be a radar, a device deployed in the radar, or a device deployed independently of the radar, or the like. In the following embodiments, the target feature extraction method provided by the present application is described in detail by taking the target feature extraction apparatus as an example, but the present application is not limited.

基于以上描述，本申请实施例提供的一种目标的特征提取方法，适用于图1所示的场景。参阅图2所示，该方法的具体流程可以包括：Based on the above description, a target feature extraction method provided by an embodiment of the present application is applicable to the scenario shown in FIG. 1 . Referring to Figure 2, the specific flow of the method may include:

步骤201：目标的特征提取装置确定第一雷达的至少一个通道的单比特采样数据，其中，单比特采样数据为数字信号。Step 201: The feature extraction device of the target determines single-bit sampling data of at least one channel of the first radar, wherein the single-bit sampling data is a digital signal.

其中，第一雷达为单比特量化采样架构的雷达，也即第一雷达为单比特雷达。The first radar is a radar with a single-bit quantization sampling architecture, that is, the first radar is a single-bit radar.

具体的，第一雷达的至少一个通道的个数与第一雷达的发射通道的个数T和接收通道的个数R相关，其中T为大于或者等于1的整数，R为大于或者等于1的整数。具体的，至少一个通道的个数为T*R个。Specifically, the number of at least one channel of the first radar is related to the number T of transmitting channels and the number R of receiving channels of the first radar, where T is an integer greater than or equal to 1, and R is greater than or equal to 1. Integer. Specifically, the number of at least one channel is T*R.

例如，图3示出了一种可能的第一雷达的通道示意图，其中图3中以一发四收均匀线性阵的雷达为例示出。图3所示的第一雷达包括一个发射(transmit，TX)通路(即T为1)和四个接收(receive，RX)通路(即R为4)，因此，该第一雷达的通道个数为1*4＝4个。For example, FIG. 3 shows a schematic diagram of a possible first radar channel, where FIG. 3 takes a radar with one transmitter and four receivers uniform linear array as an example. The first radar shown in FIG. 3 includes one transmit (TX) channel (ie, T is 1) and four receive (RX) channels (ie, R is 4). Therefore, the number of channels of the first radar is is 1*4=4.

在一种可选的实施方式中，目标的特征提取装置确定第一雷达的至少一个通道的单比特采样数据，具体方法可以为：目标的特征提取装置对至少一个通道中每一个通道接收的至少一个回波与第一雷达的发射信号进行混频处理，得到每一个通道的第一信号；然后目标的特征提取装置对每一个通道的第一信号进行单比特采样，得到至少一个通道的单比特采样数据。In an optional implementation manner, the feature extraction device of the target determines the single-bit sampling data of at least one channel of the first radar, and the specific method may be: One echo is mixed with the transmitted signal of the first radar to obtain the first signal of each channel; then the feature extraction device of the target performs single-bit sampling on the first signal of each channel to obtain the single-bit signal of at least one channel sample data.

示例性的，目标的特征提取装置对至少一个通道中每一个通道接收的回波与第一雷达的发射信号进行混频处理得到每一个通道的第一信号时，可以先对每一个通道接收的回波进行低噪放大，然后将低噪放大后的回波与发射信号进行混频处理，再将混频处理后的信号进行中频放大得到对应的第一信号。Exemplarily, when the feature extraction device of the target performs frequency mixing processing on the echo received by each channel in the at least one channel and the transmitted signal of the first radar to obtain the first signal of each channel, it may The echo is subjected to low-noise amplification, and then the low-noise amplified echo and the transmitted signal are subjected to frequency mixing processing, and the frequency-mixed signal is subjected to intermediate frequency amplification to obtain a corresponding first signal.

例如，第一雷达采用解线性调频体制(Dechirp)，发射信号为线性调频信号，上述混频处理即进行解线性调频。例如，图3所示的第一雷达，TX发射线性调频信号，RX1～RX4同时接收回波，回波分别进行低噪放大后与发射信号(即线性调频信号)相混频，即进行解线性调频。后续4个通道经过适当中频放大得到对应的第一信号后即可分别进行一比特采样(也即单比特采样)。For example, the first radar adopts a dechirp system (Dechirp), the transmitted signal is a chirp signal, and the above-mentioned frequency mixing process is performed to dechirp. For example, in the first radar shown in Figure 3, TX transmits a chirp signal, RX1 to RX4 receive echoes at the same time, and the echoes are respectively subjected to low-noise amplification and then mixed with the transmit signal (ie, the chirp signal), that is, delinearization is performed. FM. One-bit sampling (ie, single-bit sampling) can be performed on the subsequent four channels after appropriate intermediate frequency amplification to obtain the corresponding first signal.

在一种可选的实施方式中，每一个通道的第一信号可以符合以下公式一：In an optional implementation manner, the first signal of each channel may conform to the following formula 1:

其中，

为第一信号；t _x为慢时间，t _x＝xT，x＝0，1，2，……；

为快时间；A为回波幅值；

f _c为中心频率；T _p为脉宽；γ为线性调频(linear frequency modulation，LFM)信号的调频率；c为光速；R _i为目标到第i个接收通道的距离，i大于或者等于1；R _t为目标到发射通道的距离；R _ref为所述每一个通道到所述第一雷达的距离；R _Δ＝R _t-R _ref。 in,

is the first signal; t _x is the slow time, t _x =xT, x=0, 1, 2, ...;

is the fast time; A is the echo amplitude;

f _c is the center frequency; T _p is the pulse width; γ is the modulation frequency of the linear frequency modulation (LFM) signal; c is the speed of light; R _i is the distance from the target to the ith receiving channel, and i is greater than or equal to 1 ; R _t is the distance from the target to the transmitting channel; R _ref is the distance from each channel to the first radar; R _Δ =R _t -R _ref .

上述第一信号在快时间域里为频率f _i与R _Δ成正比的单频脉冲，其中，

The above-mentioned first signal is a single-frequency pulse whose frequency f _i is proportional to R _Δ in the fast time domain, wherein,

具体的，上述第一信号为时域信号。目标的特征提取装置对每一个通道的第一信号进行单比特采样，具体方法可以为：当每一个通道的第一信号大于0或者为第一值时，将回波存储为1；当每一个通道的第一信号小于或等于0或者为第二值时，将回波存储为0。Specifically, the above-mentioned first signal is a time domain signal. The feature extraction device of the target performs single-bit sampling on the first signal of each channel, and the specific method may be: when the first signal of each channel is greater than 0 or is the first value, the echo is stored as 1; When the first signal of the channel is less than or equal to 0 or the second value, the echo is stored as 0.

需要说明的是，由于第一信号是复信号，包括实部和虚部，在单比特采样时要对第一信号的实部和虚部分别量化。It should be noted that, since the first signal is a complex signal, including a real part and an imaginary part, the real part and the imaginary part of the first signal need to be quantized respectively during single-bit sampling.

上述单比特采样的方法，采样率可更高；在数据存储上，1位的回波存储节省了数据存储开销。当然，应理解，上述单比特采样的方法仅仅是一种示例，还可以通过其他单比特雷达回波量化方法实现，本申请对此不作限定。In the above single-bit sampling method, the sampling rate can be higher; in terms of data storage, 1-bit echo storage saves data storage overhead. Of course, it should be understood that the above single-bit sampling method is only an example, and can also be implemented by other single-bit radar echo quantization methods, which are not limited in this application.

步骤202：目标的特征提取装置根据至少一个通道中的每一个通道的单比特采样数据进行静止目标消除，得到至少一个通道的HRRP数据。Step 202: The feature extraction device of the target performs static target elimination according to the single-bit sampling data of each channel in the at least one channel, and obtains HRRP data of the at least one channel.

在一种可选的实施方式中，目标的特征提取装置根据至少一个通道中的每一个通道的单比特采样数据进行静止目标消除，得到至少一个通道的HRRP数据，具体方法可以为：目标的特征提取装置对至少一个通道中的每一个通道的单比特采样数据进行快时间域上的快速傅里叶变换(fast fourier transform，FFT)，得到每一个通道的第一HRRP数据；然后目标的特征提取装置根据每一个通道的第一HRRP数据进行静止目标消除，得到每一个通道的第二HRRP数据；最后根据每一个通道的第二HRRP数据确定至少一个通道的HRRP数据。In an optional embodiment, the feature extraction device of the target performs static target elimination according to the single-bit sampling data of each channel in the at least one channel, and obtains HRRP data of at least one channel. The specific method may be: the feature of the target The extraction device performs a fast Fourier transform (fast fourier transform, FFT) on the single-bit sampling data of each channel in the at least one channel to obtain the first HRRP data of each channel; then the feature extraction of the target The device performs static target elimination according to the first HRRP data of each channel, and obtains the second HRRP data of each channel; and finally determines HRRP data of at least one channel according to the second HRRP data of each channel.

例如，假设至少一个通道的单比特采样数据分别为：S ₁(m)，S ₂(m)，S ₃(m)，……，S _k(m)，其中，m＝1，2，……，M+1，M+1为慢时间域上的回波总数；k为至少一个通道的个数，k为大于或者等于1的整数。 For example, it is assumed that the single-bit sample data of at least one channel are respectively: S ₁ (m), S ₂ (m), S ₃ (m), ..., _Sk (m), where m=1, 2, ... ..., M+1, M+1 is the total number of echoes in the slow time domain; k is the number of at least one channel, and k is an integer greater than or equal to 1.

示例性的，目标的特征提取装置对至少一个通道中的每一个通道的单比特采样数据进行快时间域上的快速傅里叶变换得到每一个通道的第一HRRP数据，可以符合以下公式二：Exemplarily, the feature extraction device of the target performs fast Fourier transform on the single-bit sampled data of each channel in the at least one channel to obtain the first HRRP data of each channel, which may conform to the following formula 2:

HRRP _k(m)＝FFT(s _k(m)) 公式二。 HRRP _k (m)=FFT(s _k (m)) Formula two.

其中HRRP _k(m)为第k个通道的第一HRRP数据。 where HRRP _k (m) is the first HRRP data of the kth channel.

第一HRRP数据包含的频点信息与目标距离相对应。因为静止目标距离不变，因此可以在第一HRRP数据中进行静止目标消除。具体的，目标的特征提取装置根据每一个通道的第一HRRP数据进行静止目标消除，得到每一个通道的第二HRRP数据，具体方法可以为：目标的特征提取装置根据每一个通道的第一HRRP数据确定每一个通道对应的m个回波中连续每两个回波对应的HRRP数据差；然后根据每一个通道对应的m个回波中连续每两个回波对应的HRRP数据差中大于第一阈值的数据，确定所述第二HRRP数据。The frequency point information included in the first HRRP data corresponds to the target distance. Because the stationary target distance does not change, stationary target cancellation can be performed in the first HRRP data. Specifically, the target feature extraction device performs static target elimination according to the first HRRP data of each channel, and obtains the second HRRP data of each channel. The specific method may be: the target feature extraction device is based on the first HRRP data of each channel. The data determines the HRRP data difference corresponding to every two consecutive echoes in the m echoes corresponding to each channel; A threshold of data to determine the second HRRP data.

示例性的，目标的特征提取装置根据每一个通道的第一HRRP数据进行静止目标消除，得到每一个通道的第二HRRP数据，可以符合以下公式三：Exemplarily, the feature extraction device of the target performs static target elimination according to the first HRRP data of each channel, and obtains the second HRRP data of each channel, which may conform to the following formula 3:

HRRPi _k(m)＝HRRP _k(m+1)-HRRP _k(m) 公式三。 HRRPi _k (m)=HRRP _k (m+1)-HRRP _k (m) Formula three.

其中，在上述公式三中，第k个通道的第二HRRP数据HRRPi _k(m)，为前后两个回波之差得到的，第二HRRP数据中保留了运动目标信息，消除了静止杂波，即实现了静止目标消除。 Among them, in the above formula 3, the second HRRP data HRRPi _k (m) of the kth channel is obtained by the difference between the two echoes before and after, and the moving target information is retained in the second HRRP data, eliminating static clutter , that is, the static target elimination is achieved.

具体的，由于m的最大值为M+1，也就是说每个通道的第二HRRP数据中包含M个静止杂波消除的HRRP数据。进一步地，目标特征的提取装置根据每一个通道的第二HRRP数据确定至少一个通道的HRRP数据，可以得到T*R*M个静止杂波消除的HRRP数据构成的数据矩阵：HRRPi ₁～HRRPi _k。 Specifically, since the maximum value of m is M+1, that is to say, the second HRRP data of each channel includes M pieces of HRRP data for static clutter elimination. Further, the device for extracting the target feature determines the HRRP data of at least one channel according to the second HRRP data of each channel, and can obtain a data matrix composed of T*R*M HRRP data for static clutter elimination: HRRPi ₁ ～HRRPi _k .

例如，若第一雷达为图3所示，有4个通道的情况下，可以得到4*M个静止杂波消除的HRRP数据构成的数据矩阵：HRRPi ₁～HRRPi ₄。 For example, if the first radar is shown in FIG. 3 and has 4 channels, a data matrix composed of 4*M HRRP data for static clutter cancellation can be obtained: HRRPi ₁ to HRRPi ₄ .

步骤203：目标的特征提取装置根据至少一个通道的HRRP数据确定第一对应关系集合，第一对应关系集合用于表征至少一个运动目标的速度以及与第一雷达的距离的对应关系；其中，任一个运动目标包括至少一个子目标。Step 203: The feature extraction device of the target determines a first correspondence set according to the HRRP data of at least one channel, and the first correspondence set is used to characterize the correspondence between the speed of at least one moving target and the distance from the first radar; A moving target includes at least one sub-target.

在一种可选的实施方式中，目标的特征提取装置根据至少一个通道的HRRP数据确定第一对应关系集合，具体方法可以为：目标的特征提取装置将至少一个通道的HRRP数据融合，得到第二对应关系集合，并对第二对应关系集合进行慢时间域上的快速傅里叶变换得到第一对应关系集合。In an optional embodiment, the feature extraction device of the target determines the first correspondence set according to the HRRP data of at least one channel. The specific method may be as follows: the feature extraction device of the target fuses the HRRP data of at least one channel to obtain the first set of correspondence Two sets of correspondences, and performing fast Fourier transform on the second set of correspondences in the slow time domain to obtain the first set of correspondences.

示例性的，目标的特征提取装置将至少一个通道的HRRP数据融合，得到第二对应关系集合，具体可以包括以下两种方法：Exemplarily, the target feature extraction device fuses HRRP data of at least one channel to obtain a second set of correspondences, which may specifically include the following two methods:

方法a1：目标的特征提取装置将至少一个通道的HRRP数据进行累加，得到第二对应关系集合。在该方法a1中也即将数据矩阵HRRPi ₁～HRRPi _k进行累加融合得到第二对应关系集合。 Method a1: The feature extraction device of the target accumulates the HRRP data of at least one channel to obtain a second set of correspondences. In the method a1, the data matrices HRRPi ₁ -HRRPi _k are also accumulated and fused to obtain a second set of correspondences.

方法a2：目标的特征提取装置将至少一个通道的HRRP数据进行加权累加，得到第二对应关系集合。在该方法a2中也即将数据矩阵HRRPi ₁～HRRPi _k进行分别加权累加融合得到第二对应关系集合。可选的，在方法a2中，加权累加的权值可以采用波束赋形(Beamforming)等权值系数。 Method a2: The feature extraction device of the target performs weighted accumulation of HRRP data of at least one channel to obtain a second set of correspondences. In the method a2, the data matrices HRRPi ₁ ˜HRRPi _k are respectively weighted, accumulated and fused to obtain a second set of correspondences. Optionally, in the method a2, the weights for weighted accumulation may adopt weight coefficients such as beamforming (Beamforming).

通过上述方法a1和方法a2，通过对至少一个通道的HRRP数据融合，得到的第二对应关系集合可以是一帧通道增强的距离-慢时间域图像HRRPi。Through the above method a1 and method a2, by fusing the HRRP data of at least one channel, the obtained second correspondence set may be a frame of channel-enhanced distance-slow time domain image HRRPi.

第一对应关系集合可以为表征至少一个运动目标的速度以及与第一雷达的距离的对应关系的图像，进而第一对应关系集合可以称之为距离-多普勒图像(也即R-V图)，在第一对应关系集合中，一个运动目标将被压缩在对应关系集合一个集中区域，该区域中心的位置对应该运动目标的距离和速度信息。The first correspondence set may be an image representing the correspondence between the speed of at least one moving target and the distance to the first radar, and the first correspondence set may be referred to as a range-Doppler image (that is, an R-V map), In the first correspondence set, a moving object will be compressed into a concentrated area of the correspondence set, and the position of the center of the area corresponds to the distance and speed information of the moving object.

例如，上述得到第一对应关系集合的过程的示意图可以如图4所示。For example, a schematic diagram of the above process of obtaining the first correspondence set may be as shown in FIG. 4 .

由于单比特量化会导致回波幅值丢失和谐波干扰的问题，可能会导致目标的微多普勒特征出现不同程度的衰减，通过上述步骤202中涉及的静止目标消除和步骤203涉及的通道融合的方法来增强回波动目标信息的信噪比，可以有效抑制单比特雷达微多普勒特征的衰减问题。Since single-bit quantization will lead to the loss of echo amplitude and harmonic interference, the micro-Doppler characteristics of the target may be attenuated to different degrees. The fusion method is used to enhance the signal-to-noise ratio of the fluctuating target information, which can effectively suppress the attenuation of single-bit radar micro-Doppler features.

步骤204：目标的特征提取装置根据第一对应关系集合确定至少一个运动目标的微多普勒特征。Step 204: The feature extraction device of the target determines the micro-Doppler feature of at least one moving target according to the first correspondence set.

在一种可选的实施方式中，目标的特征提取装置根据第一对应关系集合确定至少一个运动目标的微多普勒特征，具体方法可以为：目标的特征提取装置在第一对应关系集合中确定至少一个运动目标的位置信息；然后根据至少一个运动目标的位置信息，在第二对应关系集合中确定至少一个运动目标中每一个运动目标包括的至少一个子目标的位置；之后对每一个运动目标包括的至少一个子目标在第二对应关系集合中的位置，进行慢时间上的位置累加，得到第一特征向量；最后根据第一特征向量确定至少一个运动目标的微多普勒特征。In an optional implementation manner, the feature extraction device of the target determines the micro-Doppler feature of at least one moving target according to the first correspondence set, and the specific method may be as follows: the feature extraction device of the target is in the first correspondence set Determine the position information of at least one moving target; then according to the position information of at least one moving target, determine the position of at least one sub-target included in each moving target in the at least one moving target in the second correspondence set; The position of at least one sub-target included in the target in the second correspondence set is accumulated in slow time to obtain a first feature vector; finally, the micro-Doppler feature of at least one moving target is determined according to the first feature vector.

在步骤203中得到的第一对应关系集合(例如R-V图)可以得到至少一个运动目标的距离速度信息。通常情况下，可以先对第一对应关系集合进行恒虚警处理(constant false alarm rate，CFAR)或适当的图像形态学处理之后，再在第一对应关系集合中确定至少一个运动目标的位置信息。The first correspondence set (eg, R-V diagram) obtained in step 203 can obtain the distance and speed information of at least one moving object. Usually, the first correspondence set can be subjected to constant false alarm rate (CFAR) or appropriate image morphological processing, and then the position information of at least one moving target can be determined in the first correspondence set. .

具体的，目标的特征提取装置在第一对应关系集合中确定至少一个运动目标的位置信息，具体可以采用滑动窗口检测整个第一对应关系集合，可标定得到至少一个运动目标的区域位置(即位置信息)。Specifically, the feature extraction device of the target determines the position information of at least one moving object in the first correspondence set. Specifically, a sliding window may be used to detect the entire first correspondence set, and the regional position (ie the position of the at least one moving object) can be obtained by calibration. information).

因为第一对应关系集合尺寸与第二对应关系集合(例如距离-慢时间域图像(HRRPi))的尺寸是一致的，因此可根据检测到的至少一个目标的位置信息在HRRPi(第二对应关系集合)中进行定位，也即目标的特征提取装置根据至少一个运动目标的位置信息，在第二对应关系集合中确定至少一个运动目标中每一个运动目标包括的至少一个子目标的位置。例如，上述过程可以如图5示出的至少一个运动目标的定位示意图所示。Because the size of the first correspondence set is consistent with the size of the second correspondence set (eg, the distance-slow time domain image (HRRPi)), the HRRPi (the second correspondence Set), that is, the feature extraction device of the target determines the position of at least one sub-target included in each moving target in the at least one moving target in the second correspondence set according to the position information of the at least one moving target. For example, the above process may be shown in the schematic diagram of the positioning of at least one moving object shown in FIG. 5 .

示例性的，根据在第二对应关系集合中确定至少一个运动目标中每一个运动目标包括的至少一个子目标的位置，可以对原第二对应关系集合(即HRRPi)进行裁剪，可以得到不同运动目标(也即至少一个运动目标中不同子目标)的HRRPi片段，例如图6所示，以目标1和目标2的HRRPi片段为例示出。不同的HRRPi片段占据不同的距离单元，距离单元的范围也是随着目标特性的不同而不同。因此，目标的特征提取装置对每一个运动目标包括的至少一个子目标在第二对应关系集合中的位置，进行慢时间上的位置累加，即针对每一个运动目标，在每一个慢时间上的所有距离单元进行累加。得到的每一个运动目标的第一特征向量为1*M的特征向量，如图6所示。Exemplarily, according to determining the position of at least one sub-object included in each of the at least one moving object in the second correspondence set, the original second correspondence set (that is, HRRPi) can be cropped, and different motions can be obtained. The HRRPi segments of the target (that is, different sub-targets in at least one moving target), for example, as shown in FIG. 6 , are shown by taking the HRRPi segments of the target 1 and the target 2 as examples. Different HRRPi fragments occupy different distance units, and the range of distance units varies with the characteristics of the target. Therefore, the feature extraction device of the target performs position accumulation in slow time for the position of at least one sub-target included in each moving target in the second correspondence set, that is, for each moving target, the position in each slow time is accumulated. All distance units are accumulated. The obtained first eigenvector of each moving target is a 1*M eigenvector, as shown in FIG. 6 .

在一种可选的实施方式中，目标的特征提取装置根据第一特征向量确定至少一个运动目标的微多普勒特征，具体方法可以为：目标的特征提取装置对每一个运动目标的第一特征向量进行时频分析，得到至少一个运动目标的微多普勒特征。例如图6得到目标1和目标2的微多普勒特征的示意图所示。In an optional implementation manner, the feature extraction device of the target determines the micro-Doppler feature of at least one moving object according to the first feature vector, and the specific method may be: The time-frequency analysis is performed on the feature vector to obtain the micro-Doppler feature of at least one moving target. For example, Fig. 6 is a schematic diagram of obtaining the micro-Doppler features of target 1 and target 2.

示例性的，微多普勒特征可以体现为微多普勒特征图像，微多普勒特征图像还可以称之为微动特征图像，本申请对此不作限定。Exemplarily, the micro-Doppler feature may be embodied as a micro-Doppler feature image, and the micro-Doppler feature image may also be referred to as a micro-motion feature image, which is not limited in this application.

通过上述步骤即可以得到任一个运动目标的微多普勒特征。Through the above steps, the micro-Doppler feature of any moving target can be obtained.

示例性的，基于上述步骤，目标的特征提取装置得到运动目标的微多普勒特征的整体过程，可以如图7所示的流程示意图所示。Exemplarily, based on the above steps, the overall process of obtaining the micro-Doppler feature of the moving target by the device for feature extraction of the target may be shown in the schematic flowchart shown in FIG. 7 .

采用本申请实施例提供的目标特征的提取方法，可以实现基于单比特雷达的微多普勒特征提取，并且实现方法比较简单，既利用了单比特雷达精简的***架构，又能有效得到分离的微多普勒特征，使目标的特征提取比较准确，为构建低成本、高感知的识别雷达***提供一定的技术支撑。By using the target feature extraction method provided by the embodiment of the present application, the single-bit radar-based micro-Doppler feature extraction can be realized, and the implementation method is relatively simple, which not only utilizes the simplified system architecture of the single-bit radar, but also can effectively obtain separate The micro-Doppler feature makes the feature extraction of the target more accurate, and provides certain technical support for the construction of a low-cost, high-aware recognition radar system.

基于上述实施例，在一种具体的场景中，例如雷达作为车载雷达安装在车辆上的场景中，采用上述图2所示的方法得到运动目标(例如行人和自行车)的微多普勒特征。Based on the above embodiment, in a specific scenario, such as a scenario in which a radar is installed on a vehicle as a vehicle-mounted radar, the method shown in FIG. 2 is used to obtain the micro-Doppler features of moving objects (eg pedestrians and bicycles).

假设雷达的工作频段为77千兆赫(Ghz)，共8路回波，有效带宽为960兆赫兹(Mhz)，采样率为48Mhz，脉冲重复频率为6250赫兹(Hz)。例如，运动目标为一个远离雷达的行人和一辆驶向雷达的自行车。通过上述图2所述的实施例中的方法得到的行人和自行车的R-V对应关系集合(也即第一对应关系集合)可以如图8所示。Assume that the radar operates in a frequency band of 77 gigahertz (Ghz), with a total of 8 echoes, an effective bandwidth of 960 megahertz (Mhz), a sampling rate of 48Mhz, and a pulse repetition frequency of 6250 hertz (Hz). For example, moving objects are a pedestrian away from the radar and a bicycle heading towards the radar. The set of R-V correspondences (ie, the first set of correspondences) of pedestrians and bicycles obtained by the method in the embodiment described in FIG. 2 may be as shown in FIG. 8 .

当雷达为一个通道时，通过上述图2所述的实施例中的方法得到行人和自行车的微多普勒特征可以分别如图9和图10所示。When the radar is one channel, the micro-Doppler features of pedestrians and bicycles obtained by the method in the embodiment described in FIG. 2 may be shown in FIG. 9 and FIG. 10 , respectively.

当雷达为多个通道时，通过上述图2所述的实施例中的方法进行了多通道融合增强处理后，得到的行人和自行车的微多普勒特征可以分别如图11和图12所示。When the radar has multiple channels, after multi-channel fusion and enhancement processing is performed by the method in the embodiment described in FIG. 2 , the obtained micro-Doppler features of pedestrians and bicycles can be shown in FIG. 11 and FIG. 12 , respectively. .

通过分别对比行人、自行车的结果，可以看到经通道融合的数据中运动目标信号强度更好，容易被检测到，防止虚警、漏警的情况出现。By comparing the results of pedestrians and bicycles respectively, it can be seen that the signal strength of the moving target in the data fused by the channel is better, and it is easy to be detected, preventing the occurrence of false alarms and missed alarms.

基于以上实施例，本申请实施例还提供了一种目标的特征提取装置。参阅图13所示，所述目标的特征提取装置1300可以包括确定单元1301和处理单元1302。具体的，所述目标的特征提取装置1300可以实现图2所示的目标的特征提取方法。具体的：Based on the above embodiments, the embodiments of the present application further provide a target feature extraction apparatus. Referring to FIG. 13 , the feature extraction apparatus 1300 of the target may include a determination unit 1301 and a processing unit 1302 . Specifically, the target feature extraction apparatus 1300 can implement the target feature extraction method shown in FIG. 2 . specific:

所述确定单元1301可以用于确定第一雷达的至少一个通道的单比特采样数据，所述单比特采样数据为数字信号；所述处理单元1302可以用于根据所述至少一个通道中的每一个通道的单比特采样数据进行静止目标消除，得到所述至少一个通道的高分辨距离像HRRP数据；以及根据所述至少一个通道的HRRP数据确定第一对应关系集合，所述第一对应关系集合用于表征至少一个运动目标的速度以及与所述第一雷达的距离的对应关系；任一个运动目标包括至少一个子目标；以及根据所述第一对应关系集合确定至少一个运动目标的微多普勒特征。The determining unit 1301 may be configured to determine the single-bit sampling data of at least one channel of the first radar, and the single-bit sampling data is a digital signal; the processing unit 1302 may be configured to The single-bit sampling data of the channel is subjected to static target elimination to obtain the high-resolution range image HRRP data of the at least one channel; and a first correspondence set is determined according to the HRRP data of the at least one channel, and the first correspondence set uses to characterize the speed of at least one moving target and the corresponding relationship with the distance to the first radar; any moving target includes at least one sub-target; and determine the micro-Doppler of at least one moving target according to the first set of correspondences feature.

可选的，所述处理单元1302在根据所述至少一个通道中的每一个通道的单比特采样数据进行静止目标消除，得到所述至少一个通道的HRRP数据时，具体可以用于：对所述至少一个通道中的每一个通道的单比特采样数据进行快时间域上的快速傅里叶变换，得到所述每一个通道的第一HRRP数据；根据所述每一个通道的第一HRRP数据进行静止目标消除，得到所述每一个通道的第二HRRP数据；根据所述每一个通道的第二HRRP数据确定所述至少一个通道的HRRP数据。Optionally, when the processing unit 1302 performs static target elimination according to the single-bit sampling data of each channel in the at least one channel to obtain the HRRP data of the at least one channel, the processing unit 1302 can be specifically configured to: Perform fast Fourier transform on the single-bit sampling data of each channel in the at least one channel to obtain the first HRRP data of each channel; perform static according to the first HRRP data of each channel The target is eliminated, and the second HRRP data of each channel is obtained; the HRRP data of the at least one channel is determined according to the second HRRP data of each channel.

在一种可选的实施方式中，所述处理单元1302在根据所述每一个通道的第一HRRP数据进行静止目标消除，得到所述每一个通道的第二HRRP数据时，具体可以用于：根据所述每一个通道的第一HRRP数据确定所述每一个通道对应的m个回波中连续每两个回波对应的HRRP数据差；根据所述每一个通道对应的m个回波中连续每两个回波对应的HRRP数据差中大于第一阈值的数据，确定所述第二HRRP数据；其中m为大于或者等于1的整数。In an optional implementation manner, when the processing unit 1302 performs stationary target elimination according to the first HRRP data of each channel to obtain the second HRRP data of each channel, the processing unit 1302 may be specifically used for: Determine the HRRP data difference corresponding to every two consecutive echoes among the m echoes corresponding to each channel according to the first HRRP data of each channel; In the HRRP data difference corresponding to every two echoes, the data is greater than the first threshold, and the second HRRP data is determined; where m is an integer greater than or equal to 1.

示例性地，所述处理单元1302在根据所述至少一个通道的HRRP数据确定第一对应关系集合时，具体可以用于：将所述至少一个通道的HRRP数据融合，得到第二对应关系集合；对所述第二对应关系集合进行慢时间域上的快速傅里叶变换，得到所述第一对应关系集合。Exemplarily, when determining the first correspondence set according to the HRRP data of the at least one channel, the processing unit 1302 may be specifically configured to: fuse the HRRP data of the at least one channel to obtain a second correspondence set; Perform a fast Fourier transform on the second correspondence set in the slow time domain to obtain the first correspondence set.

一种实施例中，所述处理单元1302在将所述至少一个通道的HRRP数据融合，得到第二对应关系集合时，具体可以用于：将所述至少一个通道的HRRP数据进行累加，得到所述第二对应关系集合；或者，将所述至少一个通道的HRRP数据进行加权累加，得到所述第二对应关系集合。In an embodiment, when the processing unit 1302 fuses the HRRP data of the at least one channel to obtain the second set of correspondences, the processing unit 1302 may be specifically configured to: accumulate the HRRP data of the at least one channel to obtain the The second correspondence set; or, weighted accumulation is performed on the HRRP data of the at least one channel to obtain the second correspondence set.

在一种可选的实施方式中，所述处理单元1302在根据所述第一对应关系集合确定至少一个运动目标的微多普勒特征时，具体可以用于：在所述第一对应关系集合上确定所述至少一个运动目标的位置信息；根据所述至少一个运动目标的位置信息，在所述第二对应关系集合中确定所述至少一个运动目标中每一个运动目标包括的至少一个子目标的位置；对所述每一个运动目标包括的至少一个子目标在所述第二对应关系集合中的位置，进行慢时间上的位置累加，得到第一特征向量；根据所述第一特征向量确定所述至少一个运动目标的微多普勒特征。In an optional implementation manner, when the processing unit 1302 determines the micro-Doppler feature of at least one moving target according to the first correspondence set, the processing unit 1302 may be specifically configured to: in the first correspondence set Determine the position information of the at least one moving target; according to the position information of the at least one moving target, determine in the second correspondence set at least one sub-target included in each moving target in the at least one moving target position; for the position of at least one sub-target included in each moving target in the second correspondence set, perform position accumulation in slow time to obtain a first feature vector; determine according to the first feature vector Micro-Doppler signatures of the at least one moving object.

示例性地，所述处理单元1302在根据所述第一特征向量确定所述至少一个运动目标的微多普勒特征时，具体可以用于：对所述第一特征向量进行时频分析，得到所述至少一个运动目标的微多普勒特征。Exemplarily, when determining the micro-Doppler feature of the at least one moving target according to the first feature vector, the processing unit 1302 may be specifically configured to: perform time-frequency analysis on the first feature vector to obtain: Micro-Doppler signatures of the at least one moving object.

在一种可选的实施方式中，所述确定单元1301在确定所述第一雷达的所述至少一个通道的单比特采样数据时，具体可以用于：对所述至少一个通道中每一个通道接收的至少一个回波与所述第一雷达的发射信号进行混频处理，得到所述每一个通道的第一信号；对所述每一个通道的第一信号进行单比特采样，得到所述至少一个通道的单比特采样数据。In an optional implementation manner, when determining the single-bit sampling data of the at least one channel of the first radar, the determining unit 1301 may be specifically configured to: determine the data for each channel of the at least one channel. The received at least one echo is mixed with the transmitted signal of the first radar to obtain the first signal of each channel; single-bit sampling is performed on the first signal of each channel to obtain the at least one channel. Single-bit sample data for one channel.

示例性地，所述每一个通道的第一信号可以符合以下公式：Exemplarily, the first signal of each channel may conform to the following formula:

其中，

为所述第一信号；t _x为慢时间，x＝1，2，……；

为快时间；A为回波幅值；

f _c为中心频率；T _p为脉宽；γ为线性调频LFM信号的调频率；c为光速；R _i为目标到第i个接收通道的距离，i大于或者等于1；R _t为目标到发射通道的距离；R _ref为所述每一个通道到所述第一雷达的距离；R _Δ＝R _t-R _ref。 in,

is the first signal; t _x is the slow time, x=1, 2, ...;

is the fast time; A is the echo amplitude;

f _c is the center frequency; T _p is the pulse width; γ is the modulation frequency of the LFM signal; c is the speed of light; R _i is the distance from the target to the i-th receiving channel, i is greater than or equal to 1; R _t is the target to The distance of the transmit channel; R _ref is the distance from each channel to the first radar; R _Δ =R _t -R _ref .

在一种具体的实施方式中，所述确定单元1301在对所述每一个通道的第一信号进行单比特采样时，具体可以用于：当所述每一个通道的第一信号大于0或者为第一值时，将回波存储为1；当所述每一个通道的第一信号小于或等于0或者为第二值时，将回波存储为0。In a specific implementation manner, when the determining unit 1301 performs single-bit sampling on the first signal of each channel, it can be specifically configured to: when the first signal of each channel is greater than 0 or is When the first value is the first value, the echo is stored as 1; when the first signal of each channel is less than or equal to 0 or the second value, the echo is stored as 0.

需要说明的是，本申请实施例中对单元的划分是示意性的，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式。在本申请的实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。It should be noted that the division of units in the embodiments of the present application is schematic, and is only a logical function division, and other division methods may be used in actual implementation. Each functional unit in the embodiments of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.

所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(processor)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(read-only memory，ROM)、随机存取存储器(random access memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。The integrated unit, if implemented in the form of a software functional unit and sold or used as an independent product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the present application can be embodied in the form of software products in essence, or the parts that contribute to the prior art, or all or part of the technical solutions, and the computer software products are stored in a storage medium , including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk and other media that can store program codes .

基于以上实施例，本申请实施例还提供了一种目标的特征提取装置。参阅图14所示，目标的特征提取装置1400可以包括处理器1401和存储器1402。其中，处理器1401可以是中央处理器(central processing unit，CPU)，网络处理器(network processor，NP)或者CPU和NP的组合。处理器1401还可以进一步包括硬件芯片。上述硬件芯片可以是专用集成电路(application-specific integrated circuit，ASIC)，可编程逻辑器件(programmable logic device，PLD)或其组合。上述PLD可以是复杂可编程逻辑器件(complex programmable logic device，CPLD)，现场可编程逻辑门阵列(field-programmable gate array，FPGA)，通用阵列逻辑(generic array logic，GAL)或其任意组合。处理器1401在实现上述功能时，可以通过硬件实现，当然也可以通过硬件执行相应的软件实现。Based on the above embodiments, the embodiments of the present application further provide a target feature extraction apparatus. Referring to FIG. 14 , the target feature extraction apparatus 1400 may include a processor 1401 and a memory 1402 . The processor 1401 may be a central processing unit (CPU), a network processor (NP), or a combination of CPU and NP. The processor 1401 may further include a hardware chip. The above-mentioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The above-mentioned PLD can be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a general-purpose array logic (generic array logic, GAL) or any combination thereof. When the processor 1401 realizes the above functions, it can be realized by hardware, and of course, it can also be realized by executing corresponding software by hardware.

存储器1402可以是易失性存储器或非易失性存储器，或可包括易失性和非易失性存储器两者。其中，非易失性存储器可以是只读存储器(read-only memory，ROM)、可编程只读存储器(programmable ROM，PROM)、可擦除可编程只读存储器(erasable PROM，EPROM)、电可擦除可编程只读存储器(electrically EPROM，EEPROM)或闪存。易失性存储器可以是随机存取存储器(random access memory，RAM)，其用作外部高速缓存。通过示例性但不是限制性说明，许多形式的RAM可用，例如静态随机存取存储器(static RAM，SRAM)、动态随机存取存储器(dynamic RAM，DRAM)、同步动态随机存取存储器(synchronous DRAM，SDRAM)、双倍数据速率同步动态随机存取存储器(double data rate SDRAM，DDR SDRAM)、增强型同步动态随机存取存储器(enhanced SDRAM，ESDRAM)、同步连接动态随机存取存储器(synchlink DRAM，SLDRAM)和直接内存总线随机存取存储器(direct rambus RAM，DR RAM)。 Memory 1402 may be volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically programmable Erase programmable read-only memory (electrically EPROM, EEPROM) or flash memory. Volatile memory may be random access memory (RAM), which acts as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (double data rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (enhanced SDRAM, ESDRAM), synchronous link dynamic random access memory (synchlink DRAM, SLDRAM) ) and direct memory bus random access memory (direct rambus RAM, DR RAM).

可选的，目标的特征提取装置1400还可以包括总线1403。其中，处理器1401和存储器1402通过总线1403进行通信，也可以通过无线传输等其他手段实现通信。可选的，总线1403可以是外设部件互连标准(Peripheral Component Interconnect，PCI)总线或扩展工业标准结构(Extended Industry Standard Architecture，EISA)总线等。总线可以分为地址总线、数据总线、控制总线等。为便于表示，图14中仅用一条粗线表示，但并不表示仅有一根总线或一种类型的总线。Optionally, the target feature extraction apparatus 1400 may further include a bus 1403 . The processor 1401 and the memory 1402 communicate through the bus 1403, and the communication can also be realized through other means such as wireless transmission. Optionally, the bus 1403 may be a peripheral component interconnect standard (Peripheral Component Interconnect, PCI) bus or an Extended Industry Standard Architecture (Extended Industry Standard Architecture, EISA) bus or the like. The bus can be divided into address bus, data bus, control bus and so on. For ease of presentation, only one thick line is shown in FIG. 14, but it does not mean that there is only one bus or one type of bus.

具体的，该存储器1402用于存储程序，该处理器1401用于执行该存储器1402存储的程序。该存储器1402存储程序，且处理器1401可以调用存储器1402中存储的程序实现目标的特征提取方法。Specifically, the memory 1402 is used for storing programs, and the processor 1401 is used for executing the programs stored in the memory 1402 . The memory 1402 stores programs, and the processor 1401 can call the programs stored in the memory 1402 to realize the feature extraction method of the target.

在一个实施例中，目标的特征提取装置1400在用于实现上述图2所述的实施例中目标的特征提取装置的功能时，处理器1401可以调用存储器1402中存储的程序执行图2所示的实施例中目标的特征提取装置执行的操作，具体的相关描述可以参见上述图2所示的实施例中的相关描述，此处不再详细介绍。In one embodiment, when the target feature extraction apparatus 1400 is used to implement the function of the target feature extraction apparatus in the embodiment described in FIG. 2 , the processor 1401 may call the program stored in the memory 1402 to execute the program shown in FIG. 2 . For operations performed by the target feature extraction apparatus in the embodiment of FIG. 2 , for specific related descriptions, refer to the related descriptions in the embodiment shown in FIG. 2 above, which will not be described in detail here.

基于以上描述，本申请实施例还提供一种雷达，可以包括上述涉及的目标的特征提取装置，以实现上述方法实施例提供的目标的特征提取方法。Based on the above description, the embodiments of the present application further provide a radar, which may include the above-mentioned apparatus for extracting the characteristics of the target, so as to realize the method for extracting the characteristics of the target provided by the above-mentioned method embodiments.

本申请实施例还提供一种移动设备，可以包括上述涉及的目标的特征提取装置，以实现上述方法实施例提供的目标的特征提取方法。所述移动设备可以为车辆、无人机等。Embodiments of the present application further provide a mobile device, which may include the above-mentioned apparatus for extracting the characteristics of the target, so as to realize the method for extracting the characteristics of the target provided by the above-mentioned method embodiments. The mobile device may be a vehicle, a drone, or the like.

本申请实施例还提供一种计算机可读存储介质，所述计算机可读存储介质用于存储计算机程序，该计算机程序被计算机执行时，所述计算机可以实现上述方法实施例提供的目标的特征提取方法。Embodiments of the present application further provide a computer-readable storage medium, where the computer-readable storage medium is used to store a computer program, and when the computer program is executed by a computer, the computer can implement the feature extraction of the target provided by the above method embodiments method.

本申请实施例还提供一种计算机程序产品，所述计算机程序产品用于存储计算机程序，该计算机程序被计算机执行时，所述计算机可以实现上述方法实施例提供的目标的特征提取方法。Embodiments of the present application further provide a computer program product, which is used to store a computer program, and when the computer program is executed by a computer, the computer can implement the feature extraction method of the target provided by the above method embodiments.

本申请实施例还提供一种芯片，可以包括处理器，所述处理器与存储器耦合，用于调用所述存储器中的程序使得所述芯片实现上述方法实施例提供的目标的特征提取方法。Embodiments of the present application further provide a chip, which may include a processor, which is coupled to a memory and configured to invoke a program in the memory so that the chip implements the target feature extraction method provided by the above method embodiments.

本领域内的技术人员应明白，本申请的实施例可提供为方法、***、或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。As will be appreciated by those skilled in the art, the embodiments of the present application may be provided as a method, a system, or a computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

本申请是参照根据本申请的方法、设备(***)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to the present application. It will be understood that each process and/or block in the flowchart illustrations and/or block diagrams, and combinations of processes and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to the processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing device to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing device produce Means for implementing the functions specified in a flow or flow of a flowchart and/or a block or blocks of a block diagram.

这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory result in an article of manufacture comprising instruction means, the instructions The apparatus implements the functions specified in the flow or flow of the flowcharts and/or the block or blocks of the block diagrams.

这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。These computer program instructions can also be loaded on a computer or other programmable data processing device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process such that The instructions provide steps for implementing the functions specified in the flow or blocks of the flowcharts and/or the block or blocks of the block diagrams.

显然，本领域的技术人员可以对本申请进行各种改动和变型而不脱离本申请的保护范围。这样，倘若本申请的这些修改和变型属于本申请权利要求及其等同技术的范围之内，则本申请也意图包含这些改动和变型在内。Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the protection scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

一种目标的特征提取方法，其特征在于，包括：A feature extraction method for a target, comprising:

确定第一雷达的至少一个通道的单比特采样数据，所述单比特采样数据为数字信号；determining single-bit sampling data of at least one channel of the first radar, where the single-bit sampling data is a digital signal;

根据所述至少一个通道中的每一个通道的单比特采样数据进行静止目标消除，得到所述至少一个通道的高分辨距离像HRRP数据；Perform static target elimination according to the single-bit sampling data of each channel in the at least one channel to obtain high-resolution range image HRRP data of the at least one channel;

根据所述至少一个通道的HRRP数据确定第一对应关系集合，所述第一对应关系集合用于表征至少一个运动目标的速度以及与所述第一雷达的距离的对应关系；任一个运动目标包括至少一个子目标；A first set of correspondences is determined according to the HRRP data of the at least one channel, and the first set of correspondences is used to characterize the correspondence between the speed of at least one moving target and the distance from the first radar; any moving target includes at least one subgoal;

根据所述第一对应关系集合确定所述至少一个运动目标的微多普勒特征。Micro-Doppler features of the at least one moving target are determined according to the first set of correspondences.
如权利要求1所述的方法，其特征在于，根据所述至少一个通道中的每一个通道的单比特采样数据进行静止目标消除，得到所述至少一个通道的HRRP数据，包括：The method according to claim 1, wherein the static target elimination is performed according to the single-bit sampling data of each channel in the at least one channel, and the HRRP data of the at least one channel is obtained, comprising:

对所述至少一个通道中的每一个通道的单比特采样数据进行快时间域上的快速傅里叶变换，得到所述每一个通道的第一HRRP数据；performing fast Fourier transform on the single-bit sampling data of each channel in the at least one channel to obtain the first HRRP data of each channel;

根据所述每一个通道的第一HRRP数据进行静止目标消除，得到所述每一个通道的第二HRRP数据；Perform static target elimination according to the first HRRP data of each channel to obtain the second HRRP data of each channel;

根据所述每一个通道的第二HRRP数据确定所述至少一个通道的HRRP数据。The HRRP data of the at least one channel is determined according to the second HRRP data of each channel.
如权利要求2所述的方法，其特征在于，根据所述每一个通道的第一HRRP数据进行静止目标消除，得到所述每一个通道的第二HRRP数据，包括：The method of claim 2, wherein the static target elimination is performed according to the first HRRP data of each channel to obtain the second HRRP data of each channel, comprising:

根据所述每一个通道的第一HRRP数据确定所述每一个通道对应的m个回波中连续每两个回波对应的HRRP数据差；Determine the HRRP data difference corresponding to every two consecutive echoes among the m echoes corresponding to each channel according to the first HRRP data of each channel;

根据所述每一个通道对应的m个回波中连续每两个回波对应的HRRP数据差中大于第一阈值的数据，确定所述第二HRRP数据；Determine the second HRRP data according to the data that is greater than the first threshold in the HRRP data difference corresponding to every two consecutive echoes in the m echoes corresponding to each channel;

其中m为大于或者等于1的整数。where m is an integer greater than or equal to 1.
如权利要求1-3任一项所述的方法，其特征在于，根据所述至少一个通道的HRRP数据确定所述第一对应关系集合，包括：The method according to any one of claims 1-3, wherein determining the first correspondence set according to HRRP data of the at least one channel, comprising:

将所述至少一个通道的HRRP数据融合，得到第二对应关系集合；Fusing the HRRP data of the at least one channel to obtain a second set of correspondences;

对所述第二对应关系集合进行慢时间域上的快速傅里叶变换，得到所述第一对应关系集合。Perform a fast Fourier transform on the second correspondence set in the slow time domain to obtain the first correspondence set.
如权利要求4所述的方法，其特征在于，将所述至少一个通道的HRRP数据融合，得到所述第二对应关系集合，包括：The method of claim 4, wherein the HRRP data of the at least one channel is fused to obtain the second set of correspondences, comprising:

将所述至少一个通道的HRRP数据进行累加，得到所述第二对应关系集合；或者Accumulate the HRRP data of the at least one channel to obtain the second set of correspondences; or

将所述至少一个通道的HRRP数据进行加权累加，得到所述第二对应关系集合。The HRRP data of the at least one channel is weighted and accumulated to obtain the second correspondence set.
如权利要求4或5所述的方法，其特征在于，根据所述第一对应关系集合确定至少一个运动目标的微多普勒特征，包括：The method according to claim 4 or 5, wherein determining the micro-Doppler feature of at least one moving target according to the first correspondence set, comprising:

在所述第一对应关系集合中确定所述至少一个运动目标的位置信息；determining the position information of the at least one moving object in the first correspondence set;

根据所述至少一个运动目标的位置信息，在所述第二对应关系集合中确定所述至少一个运动目标中每一个运动目标包括的至少一个子目标的位置；According to the position information of the at least one moving target, the position of at least one sub-target included in each moving target in the at least one moving target is determined in the second correspondence set;

对所述每一个运动目标包括的至少一个子目标在所述第二对应关系集合中的位置，进行慢时间上的位置累加，得到第一特征向量；For the position of the at least one sub-target included in each moving target in the second correspondence set, the position accumulation in slow time is performed to obtain the first feature vector;

根据所述第一特征向量确定所述至少一个运动目标的微多普勒特征。A micro-Doppler feature of the at least one moving object is determined according to the first feature vector.
如权利要求6所述的方法，其特征在于，根据所述第一特征向量确定所述至少一个运动目标的微多普勒特征，包括：The method of claim 6, wherein determining the micro-Doppler feature of the at least one moving target according to the first feature vector comprises:

对所述第一特征向量进行时频分析，得到所述至少一个运动目标的微多普勒特征。Time-frequency analysis is performed on the first feature vector to obtain the micro-Doppler feature of the at least one moving target.
如权利要求1-7任一项所述的方法，其特征在于，确定所述第一雷达的所述至少一个通道的单比特采样数据，包括：The method according to any one of claims 1-7, wherein determining the single-bit sampling data of the at least one channel of the first radar comprises:

对所述至少一个通道中每一个通道接收的至少一个回波与所述第一雷达的发射信号进行混频处理，得到所述每一个通道的第一信号；Mixing at least one echo received by each channel in the at least one channel and the transmit signal of the first radar to obtain the first signal of each channel;

对所述每一个通道的第一信号进行单比特采样，得到所述至少一个通道的单比特采样数据。Single-bit sampling is performed on the first signal of each channel to obtain single-bit sampling data of the at least one channel.
如权利要求8所述的方法，其特征在于，所述每一个通道的第一信号符合以下公式：The method of claim 8, wherein the first signal of each channel conforms to the following formula:

其中，
为所述第一信号；t _x为慢时间，x＝1，2，……；
为快时间；A为回波幅值；
f _c为中心频率；T _p为脉宽；γ为线性调频LFM信号的调频率；c为光速；R _i为目标到第i个接收通道的距离，i大于或者等于1；R _t为目标到发射通道的距离；R _ref为所述每一个通道到所述第一雷达的距离；R _Δ＝R _t-R _ref。 in,
is the first signal; t _x is the slow time, x=1, 2, ...;
is the fast time; A is the echo amplitude;
f _c is the center frequency; T _p is the pulse width; γ is the modulation frequency of the LFM signal; c is the speed of light; R _i is the distance from the target to the i-th receiving channel, i is greater than or equal to 1; R _t is the target to The distance of the transmit channel; R _ref is the distance from each channel to the first radar; R _Δ =R _t -R _ref .
一种目标的特征提取装置，其特征在于，包括：A feature extraction device for a target, comprising:

确定单元，用于确定第一雷达的至少一个通道的单比特采样数据，所述单比特采样数据为数字信号；a determining unit, configured to determine single-bit sampling data of at least one channel of the first radar, where the single-bit sampling data is a digital signal;

处理单元，用于根据所述至少一个通道中的每一个通道的单比特采样数据进行静止目标消除，得到所述至少一个通道的高分辨距离像HRRP数据；以及a processing unit, configured to perform stationary target elimination according to the single-bit sampling data of each channel in the at least one channel, to obtain high-resolution range image HRRP data of the at least one channel; and

根据所述至少一个通道的HRRP数据确定第一对应关系集合，所述第一对应关系集合用于表征运动目标的速度以及与所述第一雷达的距离的对应关系；任一个运动目标包括至少一个子目标；以及A first correspondence set is determined according to the HRRP data of the at least one channel, and the first correspondence set is used to characterize the correspondence between the speed of the moving target and the distance from the first radar; any moving target includes at least one subgoals; and

根据所述第一对应关系集合确定至少一个运动目标的微多普勒特征。Micro-Doppler features of at least one moving target are determined according to the first correspondence set.
如权利要求10所述的装置，其特征在于，所述处理单元在根据所述至少一个通道中的每一个通道的单比特采样数据进行静止目标消除，得到所述至少一个通道的HRRP数据时，具体用于：The device according to claim 10, wherein, when the processing unit performs static target elimination according to the single-bit sampling data of each channel in the at least one channel to obtain the HRRP data of the at least one channel, Specifically for:

对所述至少一个通道中的每一个通道的单比特采样数据进行快时间域上的快速傅里叶变换，得到所述每一个通道的第一HRRP数据；performing fast Fourier transform on the single-bit sampling data of each channel in the at least one channel to obtain the first HRRP data of each channel;

根据所述每一个通道的第一HRRP数据进行静止目标消除，得到所述每一个通道的第二HRRP数据；Perform static target elimination according to the first HRRP data of each channel to obtain the second HRRP data of each channel;

根据所述每一个通道的第二HRRP数据确定所述至少一个通道的HRRP数据。The HRRP data of the at least one channel is determined according to the second HRRP data of each channel.
如权利要求11所述的装置，其特征在于，所述处理单元在根据所述每一个通道的第一HRRP数据进行静止目标消除，得到所述每一个通道的第二HRRP数据时，具体用于：The apparatus according to claim 11, wherein, when the processing unit performs static target elimination according to the first HRRP data of each channel to obtain the second HRRP data of each channel, the processing unit is specifically configured to: :

根据所述每一个通道的第一HRRP数据确定所述每一个通道对应的m个回波中连续每两个回波对应的HRRP数据差；Determine the HRRP data difference corresponding to every two consecutive echoes among the m echoes corresponding to each channel according to the first HRRP data of each channel;

根据所述每一个通道对应的m个回波中连续每两个回波对应的HRRP数据差中大于第一阈值的数据，确定所述第二HRRP数据；Determine the second HRRP data according to the data that is greater than the first threshold in the HRRP data difference corresponding to every two consecutive echoes in the m echoes corresponding to each channel;

其中m为大于或者等于1的整数。where m is an integer greater than or equal to 1.
如权利要求10-12任一项所述的装置，其特征在于，所述处理单元在根据所述至少一个通道的HRRP数据确定第一对应关系集合时，具体用于：The apparatus according to any one of claims 10-12, wherein when the processing unit determines the first correspondence set according to the HRRP data of the at least one channel, the processing unit is specifically configured to:

将所述至少一个通道的HRRP数据融合，得到第二对应关系集合；Fusing the HRRP data of the at least one channel to obtain a second set of correspondences;

对所述第二对应关系集合进行慢时间域上的快速傅里叶变换，得到所述第一对应关系集合。Perform a fast Fourier transform on the second correspondence set in the slow time domain to obtain the first correspondence set.
如权利要求13所述的装置，其特征在于，所述处理单元在将所述至少一个通道的HRRP数据融合，得到第二对应关系集合时，具体用于：The apparatus according to claim 13, wherein when the processing unit fuses the HRRP data of the at least one channel to obtain the second set of correspondences, the processing unit is specifically configured to:

将所述至少一个通道的HRRP数据进行累加，得到所述第二对应关系集合；或者Accumulate the HRRP data of the at least one channel to obtain the second set of correspondences; or

将所述至少一个通道的HRRP数据进行加权累加，得到所述第二对应关系集合。The HRRP data of the at least one channel is weighted and accumulated to obtain the second correspondence set.
如权利要求13或14所述的装置，其特征在于，所述处理单元在根据所述第一对应关系集合确定至少一个运动目标的微多普勒特征时，具体用于：The apparatus according to claim 13 or 14, wherein when the processing unit determines the micro-Doppler feature of at least one moving target according to the first correspondence set, the processing unit is specifically configured to:

在所述第一对应关系集合中确定所述至少一个运动目标的位置信息；determining the position information of the at least one moving object in the first correspondence set;

根据所述至少一个运动目标的位置信息，在所述第二对应关系集合中确定所述至少一个运动目标中每一运动个目标包括的至少一个子目标的位置；According to the position information of the at least one moving target, the position of at least one sub-target included in each moving target in the at least one moving target is determined in the second correspondence set;

对所述每一个运动目标包括的至少一个子目标在所述第二对应关系集合中的位置，进行慢时间上的位置累加，得到第一特征向量；For the position of the at least one sub-target included in each moving target in the second correspondence set, the position accumulation in slow time is performed to obtain the first feature vector;

根据所述第一特征向量确定所述至少一个运动目标的微多普勒特征。A micro-Doppler feature of the at least one moving object is determined according to the first feature vector.
如权利要求15所述的装置，其特征在于，所述处理单元在根据所述第一特征向量确定所述至少一个运动目标的微多普勒特征时，具体用于：The apparatus according to claim 15, wherein when the processing unit determines the micro-Doppler feature of the at least one moving target according to the first feature vector, the processing unit is specifically configured to:

对所述第一特征向量进行时频分析，得到所述至少一个运动目标的微多普勒特征。Time-frequency analysis is performed on the first feature vector to obtain the micro-Doppler feature of the at least one moving target.
如权利要求10-16任一项所述的装置，其特征在于，所述确定单元，在确定所述第一雷达的所述至少一个通道的单比特采样数据时，具体用于：The device according to any one of claims 10-16, wherein when determining the single-bit sampling data of the at least one channel of the first radar, the determining unit is specifically configured to:

对所述至少一个通道中每一个通道接收的至少一个回波与所述第一雷达的发射信号进行混频处理，得到所述每一个通道的第一信号；Mixing at least one echo received by each channel in the at least one channel and the transmit signal of the first radar to obtain the first signal of each channel;

对所述每一个通道的第一信号进行单比特采样，得到所述至少一个通道的单比特采样数据。Single-bit sampling is performed on the first signal of each channel to obtain single-bit sampling data of the at least one channel.
如权利要求17所述的装置，其特征在于，所述每一个通道的第一信号符合以下公式：The apparatus of claim 17, wherein the first signal of each channel conforms to the following formula:

其中，
为所述第一信号；t _x为慢时间，x＝1，2，……；
为快时间；A为回波幅值；
f _c为中心频率；T _p为脉宽；γ为线性调频LFM信号的调频率；c为光速；R _i为目标到第i个接收通道的距离，i大于或者等于1；R _t为目标到发射通道的距离；R _ref为所述每一个通道到所述第一雷达的距离；R _Δ＝R _t-R _ref。 in,
is the first signal; t _x is the slow time, x=1, 2, ...;
is the fast time; A is the echo amplitude;
f _c is the center frequency; T _p is the pulse width; γ is the modulation frequency of the LFM signal; c is the speed of light; R _i is the distance from the target to the i-th receiving channel, i is greater than or equal to 1; R _t is the target to The distance of the transmit channel; R _ref is the distance from each channel to the first radar; R _Δ =R _t -R _ref .
一种目标的特征提取装置，其特征在于，包括存储器和处理器，其中：A feature extraction device for a target, comprising a memory and a processor, wherein:

所述存储器用于存储计算机指令；the memory for storing computer instructions;

所述处理器与存储器耦合，用于调用所述存储器中的计算机指令使得所述目标的特征提取装置执行如权利要求1-9任一项所述的方法。The processor is coupled to a memory for invoking computer instructions in the memory to cause the feature extraction apparatus of the target to perform the method of any one of claims 1-9.
一种雷达，其特征在于，包括如权利要求10-18任一项所述的目标的特征提取装置，或包括如权利要求19所述的目标的特征提取装置。A radar, characterized in that it comprises the feature extraction device for a target as claimed in any one of claims 10 to 18 , or the feature extraction device for a target as claimed in claim 19 .
一种移动设备，其特征在于，包括如权利要求10-18任一项所述的目标的特征提取装置，或包括如权利要求19所述的目标的特征提取装置。A mobile device is characterized in that it comprises the feature extraction apparatus of the target according to any one of claims 10-18 , or the feature extraction apparatus of the target according to claim 19 .
一种计算机可读存储介质，其特征在于，所述计算机可读存储介质中存储有计算机可执行指令，所述计算机可执行指令在被所述计算机调用时用于使所述计算机执行上述权利要求1-9中任一项所述的方法。A computer-readable storage medium, characterized in that the computer-readable storage medium stores computer-executable instructions, which, when invoked by the computer, are used to cause the computer to execute the above claims The method of any one of 1-9.