CN114200420B

CN114200420B - Method, device, electronic device and storage medium for detecting and processing static targets

Info

Publication number: CN114200420B
Application number: CN202111457932.5A
Authority: CN
Inventors: 蒋闻涛
Original assignee: Shanghai Zhenfu Intelligent Technology Co ltd
Current assignee: Shanghai Zhenfu Intelligent Technology Co ltd
Priority date: 2021-12-01
Filing date: 2021-12-01
Publication date: 2025-02-14
Anticipated expiration: 2041-12-01
Also published as: CN114200420A

Abstract

The invention provides a detection processing method, a device, electronic equipment and a storage medium for a static target, wherein the method comprises the steps of acquiring a plurality of groups of sampling data, acquiring and extracting corresponding target sampling data for a plurality of times or even stepwise and multiple times based on the time redundancy of detected samples of the static target; and determining detection information of the position point of the static target based on partial or all sampling data of the position point of the static target.

Description

Method and device for detecting and processing static target, electronic equipment and storage medium

Technical Field

The invention relates to the detection field, in particular to a method and a device for detecting and processing a static target by a microwave sensor, electronic equipment and a storage medium.

Background

There are many detection applications for microwave radars, for detecting distance and speed of objects, for positioning, for detecting cloud weather, for detecting underground structures, etc.

It is currently popular in the industry to utilize the microwave frequency band to achieve microwave target detection.

The microwave sensor has a plurality of advantages on the perception of the target and the environment, besides the good detection of the distance and the moving speed of the moving object, the detection of the target is not easy to be influenced by external factors such as illumination, climate and the like, and is an environment and target detection sensor in the current industry.

However, when the microwave sensor is used for detection, only dynamic objects are usually detected, and a detection means for static objects is lacking, so that the requirement of high-performance environment sensing cannot be met.

Disclosure of Invention

The invention provides a method and a device for detecting and processing a static object, electronic equipment and a storage medium, which are used for solving the problem of lack of detection means for the static object. Because the static target is to be detected, the sensor is fixedly arranged at a position, the system fully utilizes the characteristic of the static object target to reflect millimeter wave signals, focuses on the static target reflected signals when echo signals are processed, acquires information by utilizing a processing method of insensitivity of the static target detection on a time axis so as to repeatedly sample and make signal iteration accumulation and the like, filters interference signals (random noise/background noise and the like) and signals brought by moving targets (non-corresponding static target signals), finely adjusts the configuration of the transmitted signals to acquire more relevant effective information through the relevance data mining of the signals, equivalently increases the sampling point number, the sampling channel number and the accuracy of the targets, improves the detection accuracy (comprising the distance detection accuracy and the space angle positioning detection accuracy of the targets), and also utilizes the redundancy (insensitivity) of the static target to time to capture access and processing of the target reflected signals, gradually subdivides each captured frame or each pulse signal (chi) into parts (sub-units) to capture and store and transmit the signals step by step, then carries out the relevance data mining of the signals into the relevant effective information of the signals, further improves the relevance data of the static target to the detection accuracy of the targets, further improves the microwave noise detection accuracy of the target, and further improves the system to recover the relevance of the received signal to the static target detection accuracy, the method realizes the high-precision detection of the static target in the target environment.

According to a first aspect of the present invention, there is provided a method for detecting and processing a static target by a microwave sensor, including:

acquiring a plurality of groups of sampling data;

the multi-group sampling data are sampling data corresponding to the reflected signals when the microwave sensor emits signals for a plurality of times, wherein the sampling data comprise frequency information and phase information corresponding to intermediate frequency signals;

Determining whether the position point is the position point of the static target or not based on sampling data of the same position point in the detection range at different times;

And determining detection information of the position points of the static target based on part or all of sampling data of the position points of the static target, wherein the detection information comprises the distance of the corresponding position points and/or the spatial angle of the position of the static target.

Optionally, when the microwave sensor transmits signals, the signals are transmitted according to corresponding transmission configuration parameters, wherein the transmission configuration parameters comprise the initial frequency, initial phase, radar modulation slope of frequency modulation continuous wave and signal bandwidth of the transmitted signals;

The plurality of sets of sample data includes sample data corresponding to when signals are transmitted with different transmission configuration parameters for the same location point.

Optionally, the plurality of groups of sampling data comprise arbitrary first sampling data and second sampling data, wherein the first sampling data corresponds to sampling data of a reflected signal when the microwave sensor transmits signals with a first transmission configuration parameter for a plurality of times, and the second sampling data corresponds to sampling data of the reflected signal when the microwave sensor transmits signals with a second transmission configuration parameter;

correspondingly, based on sampling data of the same position point in the detection range at different times, determining whether the position point is the position point of the static target comprises the following steps:

For any first position point, comparing the first sampling data and the second sampling data of the first position point, and adjusting the cumulative probability information of the first position point as the static target position point based on the comparison result, wherein the cumulative probability information characterizes the possibility of the corresponding position point as the static target position point.

The term "first position point" is used herein to refer to a point where a microwave sensor can detect one or more target position points at the same time each time a signal is transmitted and received, and for the simultaneous detection of a plurality of target position points, we can mark them as "first position point" and "second position point", respectively.

Optionally, the radar modulation slope in the first transmission configuration parameter is a first slope, the corresponding transmission signal is a first transmission signal, the radar modulation slope in the second transmission configuration parameter is a second slope, the corresponding transmission signal is a second transmission signal, and the first slope and the second slope are different slopes;

Comparing the first sampling data and the second sampling data of the first position point, and adjusting the cumulative probability information of the first position point as a static target position point based on the comparison result, wherein the method comprises the following steps:

Converting the second sampled data into equivalent sampled data based on a difference between the first slope and the second slope, the equivalent sampled data characterizing that if the second transmit signal is transmitted with the first slope, the corresponding sampled data;

and if the equivalent sampled data is the same as or similar to the first sampled data, the cumulative probability information is improved.

Optionally, the initial phase in the first transmission configuration parameter is a first phase, and the initial phase in the second transmission configuration parameter is a second phase;

and if the first sampling data is the same as or similar to the second sampling data, increasing the accumulated probability information.

Optionally, the multiple groups of sampling data comprise any third sampling data and fourth sampling data;

The third sampling data are sampling data corresponding to the reflected signal when the microwave sensor transmits signals with a third transmission configuration parameter for a plurality of times, and the fourth sampling data are sampling data corresponding to the reflected signal when the microwave sensor transmits signals with a fourth transmission configuration parameter;

The initial frequency in the third transmission configuration parameter is the first frequency, and the initial frequency in the fourth transmission configuration parameter is the second frequency;

Determining detection information of the position point of the static target based on part or all of sampling data of the position point of the static target, wherein the detection information comprises;

for any one of the second location points of the static target, determining a distance of the second location point based on a phase difference in the third and fourth sampled data.

Optionally, the plurality of groups of sampling data comprise any fifth sampling data and a plurality of groups of sixth sampling data;

The fifth sampling data is sampling data corresponding to a reflected signal when the microwave sensor transmits a signal to a third position point, and the sixth sampling data is sampling data corresponding to the reflected signal when the microwave sensor transmits a signal to a fourth position point;

the detection method further comprises the following steps:

And judging whether the third position point and the fourth position point are in a static target of the same continuum or not based on the difference between the fifth sampling data and the sixth sampling data.

Optionally, determining whether the location point is the location point of the static target based on sampling data of different times of the same location point in the detection range includes:

And filtering each sampled data of the same position point by using a preset filtering algorithm.

Optionally, when the microwave sensor receives and samples signals, the signals are received and sampled according to corresponding receiving and sampling configuration parameters;

The plurality of groups of sampling data comprise sampling data corresponding to the same position point when signals are received and sampled by different receiving sampling configuration parameters.

The plurality of groups of sampling data comprise seventh sampling data corresponding to the same position point when signals are transmitted by the same transmission configuration parameters;

Based on the sampling data of different sampling times of the same position point in the detection range, determining whether the position point is the position point of the static target comprises the following steps:

And comparing the seventh sampling data of different times for the same position point, and adjusting the cumulative probability information of the position point according to the comparison result, wherein the cumulative probability information characterizes the possibility that the corresponding position point is a static target position point.

Optionally, the microwave sensor uses the redundancy (insensitivity) of the static target to time to divide each captured frame or each pulse signal (chirp) into parts (sub-units) one by one and even further for step transmission, receiving, processing and storage, then re-aggregating the signals processed by each part into a complete received signal unit, and then performing subsequent signal processing and target detection, so that the system breaks through the hardware limitation (the limitation of data memory capacity, the limitation of sensor data bandwidth, the limitation of sensor local data processing calculation force and the like) of the edge side (the sensor module side), and the effective acquisition of a large amount of sampling data of the target signal is realized based on the small-memory small-bandwidth system;

Alternatively, if the detection method is applied to a server (a scenario where the sensor connection servers work together), then:

acquiring multiple sets of sample data, comprising:

Receiving a plurality of data units which are sequentially uploaded by the microwave sensor according to a stipulated sequence, wherein the plurality of data units are formed by dividing the sampling data by the microwave sensor;

And recombining the plurality of data units to obtain the plurality of groups of sampling data.

Optionally, the method for detecting and processing the static target by the microwave sensor further comprises a method for uploading data of the microwave sensor, which comprises the following steps:

Dividing the sampled data into a plurality of data units;

and uploading the plurality of data units to the server so that the server executes the detection processing method.

According to a second aspect of the present invention, there is provided a detection processing apparatus for a static target by a microwave sensor, comprising:

The acquisition module is used for acquiring a plurality of groups of sampling data;

the static target determining module is used for determining whether the position point is the position point of the static target or not based on sampling data of the same position point in the detection range at different times;

The detection information determining module is used for determining detection information of the position points of the static target based on part or all of sampling data of the position points of the static target, wherein the detection information comprises distances of the corresponding position points and/or space angles of the positions of the static target.

According to a third aspect of the present invention, there is provided an electronic device comprising a memory and a processor:

the memory is used for storing codes;

the processor is configured to execute the code in the memory to implement the method according to the first aspect and its alternatives.

According to a fourth aspect of the present invention there is provided a storage medium having stored thereon a program, characterized in that the program when executed by a processor implements the method of the first aspect and alternatives thereof.

The invention provides a method, a device, an electronic device and a storage medium for detecting and processing a static target, wherein the method, the device, the electronic device and the storage medium are used for detecting the position points in the target environment for multiple times, and the position points of the static target can be accurately determined by using sampling data at different times as a basis and using processing methods such as repeated sampling, signal iteration accumulation and the like to acquire information because the phase, the frequency and the like of an intermediate frequency signal generated by a continuous frequency modulation signal mixer of a reflected signal of the static target are unchanged or accord with a certain rule. On the basis, the invention can determine the detection information of the position point of the static target based on the sampling data of the static target, realize the detection of the static target and is beneficial to meeting the requirement of high-performance energy environment perception.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained according to these drawings without inventive faculty for a person skilled in the art.

FIG. 1 is a flow chart of a method for detecting and processing a static object according to an embodiment of the invention;

FIG. 2 is a schematic diagram of a radar pulse signal in accordance with an embodiment of the present invention;

FIG. 3 is a schematic diagram of a combination of radar ranging Bin in an embodiment of the present invention;

FIG. 4 is a schematic diagram of a plurality of pulse signals combined into a larger bandwidth pulse signal according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a device for detecting a static target according to an embodiment of the invention;

Fig. 6 is a schematic diagram of the configuration of an electronic device in an embodiment of the invention.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The technical scheme of the invention is described in detail below by specific examples. The following embodiments may be combined with each other, and some embodiments may not be repeated for the same or similar concepts or processes.

Referring to fig. 1 to 4, a method for detecting and processing a static target by a microwave sensor includes:

S11, acquiring a plurality of groups of sampling data;

S12, determining whether the position point is the position point of the static target or not based on sampling data of the same position point in the detection range at different times;

s13, determining detection information of the position points of the static targets based on part or all of sampling data of the position points of the static targets.

The detection information includes a distance between corresponding location points (i.e., a distance between the corresponding location points and the microwave sensor) and/or a spatial angle of a location where the static target is located, which is not limited by the embodiment of the present invention, no matter what the detection information is, if the detection information is obtained based on data during sampling.

In step S11, the corresponding intermediate frequency signal is generated by sampling the reflected signal after the processing of the mixer, and thus, if the intermediate frequency signal is obtained as the reflected signal of the static target, the phase, frequency, etc. thereof are unchanged or regular.

Therefore, based on sampling data at different times, the position point of the static target can be accurately determined, and interference (such as interference brought by a dynamic target) is filtered. On the basis, the invention can realize the detection of the static target to obtain corresponding detection information, and compared with the scheme for only detecting the dynamic target, the invention can meet the requirement of high-performance environment perception through comprehensive perception if the dynamic target is perceived simultaneously.

When the microwave sensor transmits signals, the signals are transmitted according to corresponding transmission configuration parameters, wherein the transmission configuration parameters comprise the initial frequency, the initial phase, the radar modulation slope of the frequency modulation continuous wave and the signal bandwidth of the transmitted signals, and any other parameters related to the waveform of the Chirp signal (i.e. pulse signal), such as the frequency modulation rate, the signal bandwidth and the like, and the pulse signal can be understood by referring to fig. 2.

The microwave sensor can also receive and sample signals by corresponding receiving and sampling configuration parameters, and the plurality of groups of sampling data comprise corresponding sampling data when receiving and sampling signals by different receiving and sampling configuration parameters aiming at the same position point.

It can be seen that, by using the time redundancy of the sampling of the sensor to the static target, abundant sampling data can be formed by adjusting the configuration of each signal transmitting and receiving sampling (i.e. the transmitting configuration parameter and the receiving sampling configuration parameter), for example, by setting different Chirp signal waveforms (adjusting FMCW CHIRPS fm rate, signal bandwidth, frequency spectrum splitting and combining, etc.) and the data sampling processing setting of the received signal (for example, adjusting the sampling start time, the number of signal sampling points, the sampling frequency, etc.), and then accumulating and recording the data sampled each time for unified processing to increase the capability of signal detection (ranging accuracy, distance resolution) to the static target.

In one embodiment, in step S12, each sampled data of the same location point may be filtered by using a preset filtering algorithm.

It can be seen that for the collected sampled data, a large amount of sampled data can be obtained by accumulating the received data through multiple samplings, then noise and moving objects can be filtered out by using a mathematical method, for example, repeated accumulated records of a period of time are used for capturing the sampled data (for example, repeated sampling is performed 100 times or more and the data of each sampling are accumulated and recorded), and further data processing is performed, and because of the effective accumulated data combination, algorithms such as a filtering threshold, covariance matrix processing and the like can be established based on the sampled data to further filter out the sampled data of a non-static target and random interference noise.

In addition, for definition and filtering of radar moving targets, the two-dimensional FFT operation can be carried out on the targets based on the radar traditional algorithm to obtain speed dimension data of potential targets, the targets (reflection points) with speed moving characteristics are defined as moving targets, when the moving targets appear, the current (instant) sampled data are discarded, the sampling operation is repeated by the system, and the sampled data are stored as effective data records by the system after no moving targets (reflection points) are detected.

Further, first sample data, second sample data, third sample data, fourth sample data, fifth sample data, sixth sample data, seventh sample data, and the like mentioned later may be sample data remaining after the above-described process is filtered.

In one embodiment, in order to provide a quantifiable basis for determining a static target location point, the probability that a location point belongs to a static target may be represented by using cumulative probability information (also known as a confirmation probability value) of the location point, that is, the cumulative probability information characterizes the probability that the corresponding location point is the static target location point. Since the data amount of the sampling data is large, the cumulative probability information is a cumulative amount, and may be, for example, a cumulative amount, a weighted cumulative amount, or the like. This way of accumulating will be illustrated later in connection with specific examples when using accumulated probability information. Further, in step S12, the cumulative probability information may be adjusted by comparing sampling data at different times of the same location point in the detection range, and then, based on the final adjusted cumulative probability information, it is determined whether the location point is the location point of the static target, for example, if the probability represented by the cumulative probability information is higher than a first threshold value, it is determined that the location point is the location point of the static target.

Any mathematical or statistical means in the art may be applied to process the cumulative probability information without departing from the scope of the embodiments of the present invention.

Therefore, the insensitivity of the static object detection on the time axis is utilized to repeatedly sample and process signal iteration accumulation to obtain information, and the interference (such as random noise, background noise and the like) and the sampling data (i.e. the sampling data caused by the non-static object) caused by the moving object are filtered, so that the position point of the static object can be accurately identified, namely the sampling data of the static object can be accurately extracted, thereby being used for determining detection information and guaranteeing the accuracy of static object detection.

In one embodiment, the plurality of sets of sampling data comprise sampling data corresponding to when signals are transmitted with different transmission configuration parameters for the same location point;

The different emission configuration parameters refer to that a group of emission configuration parameters are adopted correspondingly when emission signals are sent out, and one or more emission configuration parameters are different between two groups of emission configuration parameters of different emission signals.

Furthermore, the number and the accuracy of sampling points of the target (such as a static target) are equivalently increased by fine adjustment of the emission configuration parameters, so that the detection accuracy of the target (such as the static target), such as the distance detection accuracy of the static target and the spatial angle positioning detection accuracy, are improved.

The plurality of groups of sampling data comprise arbitrary first sampling data and second sampling data;

The first sampling data are sampling data corresponding to a reflected signal when the microwave sensor transmits signals with a first transmission configuration parameter for a plurality of times, and the second sampling data are sampling data corresponding to the reflected signal when the microwave sensor transmits signals with a second transmission configuration parameter;

Correspondingly, step S12 may include:

For any one of the first position points, comparing the difference between the first sampling data and the second sampling data of the first position point, and adjusting the cumulative probability information of the first position point as the static target position point based on the comparison result.

In an example, when the first sampling data and the second sampling data (or the converted sampling data) are the same or similar, the accumulated probability information of the corresponding position point is overlapped by a number greater than 0 or multiplied by a number greater than 1 to improve the accumulated probability information of the corresponding position point, and in a specific example, a preset weighting value can be multiplied on the basis of the number;

In another example, when the first sampled data and the second sampled data (or the converted sampled data) are dissimilar, the cumulative probability information of the corresponding position point is reduced, for example, a number greater than 0 is subtracted or a number greater than 1 is divided, so as to reduce the cumulative probability information of the corresponding position point, and in a specific example, a preset weighting value can be multiplied on the basis of the number.

The lifting in the similar situation and the lowering in the dissimilar situation can be realized alternatively or simultaneously.

Furthermore, the above is merely one example of the processing of cumulative probability information, and no matter how such accumulation is implemented, it is within the scope of embodiments of the present invention.

The radar modulation slope in the first transmission configuration parameter is a first slope, the corresponding transmission signal is a first transmission signal, the radar modulation slope in the second transmission configuration parameter is a second slope, the corresponding transmission signal is a second transmission signal, and the first slope and the second slope are different slopes;

based on the difference between the first sampling data and the second sampling data of the first position point, adjusting the cumulative probability information of the first position point as a static target position point comprises:

The process of converting the radar modulation signal into the equivalent sampling data may be, for example, restoring the radar modulation signal to the mixed equivalent intermediate frequency signal value (i.e., equivalent sampling protector, including frequency and phase information) corresponding to the preset original slope parameter (i.e., first slope) in two ways:

1) Time axis conversion (conversion according to different slopes between chirp)

2) The time axis is unchanged, the intermediate frequency sampling signal is directly converted (mapped) to chirp corresponding to different slopes to be converted, and direct numerical value corresponding conversion of the intermediate frequency signal is carried out.

Wherein, adjusting the radar modulation slope can also improve the range resolution. The distance resolution is equal to the propagation speed of the radar signal divided by twice the bandwidth of the radar pulse signal, the distance resolution represents the capability of the radar to distinguish two close-Range targets, namely, the distance measurement precision between two position points is improved by improving the distance resolution, when the radar modulation slope is adjusted, the effective sampling data of the corresponding position points are equivalently increased, namely, the effective sampling data of each pulse signal are increased, more radar distance Range Bin is correspondingly and effectively divided, and the distance resolution between the two position points is improved by taking the Range Bin as a unit in a detection area set by the radar.

It can be seen that when the slope parameters of the transmitted signal are adjusted to repeatedly capture the signal, the signal reflection information data of the transmitted signal (Chirp) can be repeatedly captured by adjusting the slope parameters of the transmitted signal, and then the corresponding received signal data value is converted into the sampling data corresponding to the slope parameters of the previous Chirp, and then signal analysis is performed, namely if two signals (or multiple signals) are identical or similar, the signal is the improvement of the 'confirmation probability value' of the effective reflection signal of the target. Further, the target signal can be identified and extracted in this way and interference and background noise filtered (interference and background noise signals are random with substantially no probability of having repeated associated values, which can be filtered out in this way).

In one example, as shown in fig. 3 and 4, the range resolution may also be increased by increasing the bandwidth of the radar signal. For example, the radar chip only supports signal bandwidth up to 2Ghz, 4-Chirps splice is utilized, chirp 1 is set to 60Ghz-62Ghz (2 Ghz bandwidth), chirp 2 is set to 62Ghz-64Ghz (2 Ghz bandwidth), chirp 3 is set to 64Ghz-66Ghz (2 Ghz bandwidth), chirp 4 is set to 66Ghz-68Ghz (2 Ghz bandwidth), the radar chip only supports signal bandwidth up to 2Ghz, multiple groups Chirps are spliced according to the adjustment of the initial frequency, and the sampled data of multiple components in different frequency ranges are synthesized into a new large-bandwidth Chirp, namely 60GHz-68Ghz (8 Ghz bandwidth) pulse signal. The bandwidth of the pulse signal is increased, the distance resolution is also improved, and the ranging accuracy of the system is also improved.

In one embodiment, the initial phase in the first transmission configuration parameter is a first phase, and the initial phase in the second transmission configuration parameter is a second phase;

It can be seen that, in addition to adjusting the slope parameter, it is also possible to determine whether the received signal is a static target reflected signal or a random disturbance or background by adjusting the initial phase of the transmitted signal between different signal transmit pulses (chirp) and then using the comparison of the intermediate frequency signal after the received signal has passed through the continuous frequency modulation signal Mixer (FMCW SIGNAL Mixer) based on the target detection time adequacy with detection of the static target.

The amplitude and phase of an intermediate frequency Signal (IF Signal) generated after the reflected Signal of the static target passes through the continuous frequency modulation Signal mixer are unchanged after the phase of the transmitted Signal is changed. Based on the method, the static target reflected signals can be detected through repeated comparison of multiple groups of signals, and the more the repeated comparison times of the signals are, the higher the confidence of the detected static target reflected signals is, and the static target reflected signals can be represented by accumulated probability information. In one embodiment, the plurality of sets of sample data includes any third sample data and fourth sample data;

The third sampling data are sampling data corresponding to the reflected signal when the microwave sensor transmits signals with a third transmission configuration parameter, and the fourth sampling data are sampling data corresponding to the reflected signal when the microwave sensor transmits signals with a fourth transmission configuration parameter;

It can be seen that the correlation of the phases of the reflected signals is very valuable (the phases of the sampled data of the reflection points in continuous space are continuous), and the correlation of the phases is utilized to improve the defect and the challenge of the target space positioning caused by the insufficient angular resolution of the radar.

Specifically, the static target is composed of one or more surfaces, the detected surface is composed of a plurality of target reflection points, a plurality of reflection points of the static target are detected by the microwave radar, the phase continuity relation among the reflection points is contained in sampling data of the reflection points, when the spatial distance of the detected reflection points is in a half wavelength range, the signal phase difference of the reflection signals after passing through the mixer is continuously distributed within 360 degrees, and for the distance detection of the reflection points, the phase information of the reflection signals can be obtained based on the sampling data, and the phase information (the received reflection signal phase difference) of the reflection signals is utilized for precise positioning, so that the distance measurement accuracy is improved to be on the order of magnitude of microwave wavelength.

The method comprises the following steps of fixing the difference of received signals of reflecting targets at the same position point between two or more groups of different set transmitting signals within one or a plurality of wavelengths lambda by fine tuning the transmitting signals, and periodically changing the phase of a reflecting echo of the transmitting signals with the wavelength change (the phase phi of the reflecting echo has a function relation with the target distance d and the radar signal wavelength lambda) at the position point of the same static target. In this way, the distance of the related measured object is accurately positioned by utilizing the data analysis of the phase difference correlation of the static object to the reflected signals with different frequencies, so that the distance measurement precision of the related measured object is further improved to the wavelength magnitude (millimeter) of microwaves. The same approach can be used in both the horizontal and vertical phases, so the accuracy of the detection distance of the system to a static target can be improved to the millimeter level (one tenth or one hundredth of a millimeter).

In one embodiment, the plurality of sets of sample data includes a plurality of sets of fifth sample data and a plurality of sets of sixth sample data;

the detection method further comprises the following steps:

and judging whether the third position point and the fourth position point are in the same static target or not based on the difference between the fifth sampling data and the sixth sampling data.

It can be seen that by fine adjustment of the transmission configuration parameters of the transmitted signal, more relevant effective information can be obtained by utilizing the correlation data mining of the signal, for example, whether the same static target is located can be judged here. Furthermore, due to the spatial continuity of the static object (composition of one or several facets), this situation (scene) can be exploited to correlate the attribution of reflected signals (whether these are coming from the same object or from different objects).

In one embodiment, the plurality of sets of sampling data includes seventh sampling data corresponding to when signals are transmitted with the same transmission configuration parameters for the same location point;

Based on the difference of the sampling data of the same position point in the detection range, determining whether the position point is the position point of the static target comprises the following steps:

The cumulative probability information is preset for the position points, the position points are repeatedly detected for a plurality of times by adjusting radar modulation slope, starting frequency, starting phase, radar signal bandwidth and the like, and the cumulative probability information after each detection is correspondingly modified, so that whether the detected position points are the position points of the static targets can be accurately judged.

Since we repeat the signal sampling process of target detection and make fine adjustment of the signal to iterate the sampling, we will accumulate a lot of signal raw sampling data and intermediate processing data during the signal sampling and analysis process, which requires a relatively large data storage space. However, due to the consideration of system cost control, the radar sensor will not set a larger data memory on the edge side (radar sensor system side), and the data memory (RAM) capacity of the radar sensor will become a factor that hinders the implementation of the improved algorithm. In order to solve the problem, the redundancy mechanism (time insensitivity) of the data sampling of the static target detection in the time dimension is also utilized, the sampling information of the target detection can be used for uploading signal sampling data to a server in batches by a mode of dividing and then recombining and aggregating, then the data is processed after recombining and aggregating, the powerful processing capacity of the server and rich memory space are utilized for processing the data, and the data transmission method of the recombination and recombining after dividing the sampling information of the target detection does not influence the detection of the static target.

Thus, in one embodiment, if the detection method is applied to a server, then:

acquiring multiple sets of sample data, comprising:

Correspondingly, the embodiment of the invention provides a data uploading method of a microwave sensor, which comprises the following steps:

Dividing the sampled data into a plurality of data units;

In one example, the acquired sampling data is divided in units of frames and/or pulse signals, and then the divided sampling data is uploaded to a server for accumulation in batches through a network, the processing capacity of the server is utilized to process the sampling data, and the abundant memory space of the server is utilized to store the data.

The data is cut and then uploaded to the server in a fixed sequence, and when the cut data is still limited by the transmission bandwidth, the sampled data of each frame and/or pulse signal is finely divided.

In another example, an ADC sampling time window may be divided into a plurality of ADC sampling time sub-windows, and then the sampling data of the ADC sampling time sub-windows are uploaded to a server for sampling data accumulation, and the server receives the divided signals and then recombines to restore the effective sampling data of a complete ADC sampling time window.

Specifically, the ADC sampling time window of each frame/pulse signal is divided into a plurality of ADC sampling time sub-windows in the radar sensor module, the radar sensor further uses each sub-window (even can use the Range Bin of each Range as a unit) as a basic unit to repeat the detection process of the static target, and analysis and filtration are carried out on the sampled data after multiple times of sampling and effective sampling data are extracted, wherein the analysis and filtration comprise noise filtering, random sampling errors and interference signals reflected by a moving object.

Also, since static targets need to be extracted, redundancy in the time dimension can be fully utilized to effectively extract signals and accumulate signals in stages. For the static target extraction process, the system is dynamically configured in a mode that facilitates static target detection without having to mind signal configuration setting constraints on the capture quality of the dynamic target.

The microwave sensor utilizes the redundancy (insensitivity) of a static target to time, each captured frame or each pulse signal (chirp) is singly and even subdivided into parts (subunits) for step-by-step transmission, reception, processing and storage, then the signals processed by the parts are recombined and restored into a complete receiving signal unit for subsequent signal processing and target detection, and the method can also be applied to the inside of the microwave sensor unit, and the data acquisition, storage and processing are divided into the parts (subunits) for step-by-step time-sharing processing, so that the system breaks through the hardware limit (the limit of the local data memory capacity of the sensor, the limit of the data bandwidth of the sensor, the limit of the local data processing calculation force of the sensor and the like) of the edge side (the sensor module side), and the method can also realize the effective acquisition of a large amount of sampling data of the target signal based on the small-memory and small-bandwidth microwave sensor system;

In addition, radar ranging Bin can be refined, for example, the method is corresponding to the limitation of system hardware (sampling chip and the like) design technology and system cost in the current industry, each signal pulse is commonly divided into 512/1024 Rangbin, and the method can be refined and improved to more times to refine the ranging process of the radar (the method is also based on the premise that the target and the radar are relatively static, and the aim is achieved by utilizing the characteristic of insensitivity of time allowance). Further, by fine-tuning the initial setup time of signal ADC sampling between chirps, the sampling time of each set of each point reflected signal is finely shifted (shifted in the time domain) between different chirps, and thus, when the integration processing of the plurality Chirps of collected sampled signals is completed and recombined, the number of effective sampling points of each Chirp is increased proportionally.

The new Chirp mode in which a plurality of chirps are combined into a larger bandwidth may be shown in fig. 4, for example.

Besides, the radar wave patterns of different transmission signal (chirp) slopes (i.e. slope parameters) can be repeatedly sampled for multiple times by dynamically adjusting the slope parameters of the transmission signal chirp, and then each group of received signals is converted into the mixed equivalent intermediate frequency signal values (including frequency and phase information) corresponding to the radar modulation signals corresponding to the preset original slope parameters by a numerical conversion method, namely, the formation of the equivalent sampled data mentioned above, so that the equivalent sampled data can also be used as new sampled data to participate in processing. In this way, we further refine radar ranging based on time insensitivity of static target detection, equivalently increase the effective sampling number of each radar pulse signal (Chirp), and break through the limitation that the target range resolution obtained by the current method based on equidistant sampling of radar signals and limited by Nyquist sampling theorem is equal to C/2B (C: propagation speed of radar signals; B: bandwidth of radar pulse signals).

Fig. 3 shows a typical ranging Range Bin combination mode of the current radar (radar sets a detection area, and uses distance as a unit to partition, scans and transmits (uploads) sampling original data (raw data) area by area), and increases the effective sampling number of each Chirps by using the various methods mentioned above, which is equivalent to completing the improvement of the ranging precision of the system, and can effectively divide more ranging bins for improving the ranging precision of the system.

The radar sets detection areas, and divides the detection areas by distance, scans (uploads) the sampling original data (raw data) area by area, and transmits the sampling original data (raw data). The advantage of taking the distance as a unit is that in order to improve the distance resolution of the radar, parameters such as chirp slope, signal ADC sampling start time and sampling interval can be dynamically adjusted to meet the requirement of improving the distance measurement precision.

FIG. 5 is a schematic diagram of a device for detecting a static target according to an embodiment of the invention.

Referring to fig. 5, a detection processing device 200 for a static target, applied to a server or a microwave sensor, includes:

an acquisition module 201, configured to acquire multiple sets of sampling data;

a static target determining module 202, configured to determine whether the location point is a location point of a static target based on differences of sampling data of different times of the same location point in the detection range;

the detection information determining module 203 is configured to determine detection information of a location point of a static target based on part or all of sampling data of the location point of the static target, where the detection information includes a distance of a corresponding location point.

Optionally, the plurality of groups of sampling data comprise arbitrary first sampling data and second sampling data;

The first sampling data are sampling data corresponding to the reflected signal when the microwave sensor transmits signals with a first transmission configuration parameter for a plurality of times, and the second sampling data are sampling data corresponding to the reflected signal when the microwave sensor transmits signals with a second transmission configuration parameter;

correspondingly, the static target determining module 202 is specifically configured to:

the static target determining module 202 is specifically configured to:

Optionally, the plurality of groups of sampling data comprise arbitrary fifth sampling data and sixth sampling data;

The detection device further includes:

And the same static target judging module is used for judging whether the third position point and the fourth position point are in the same static target or not based on the difference between the fifth sampling data and the sixth sampling data.

Optionally, the static target determining module 202 is specifically configured to:

the plurality of groups of sampling data comprise sampling data corresponding to the same position point when signals are received and sampled by different receiving sampling configuration parameters. 10. The alternative according to claim 1,

When the microwave sensor transmits signals, the signals are transmitted according to corresponding transmission configuration parameters, wherein the transmission configuration parameters comprise the initial frequency, initial phase, radar modulation slope of frequency modulation continuous wave and signal bandwidth of the transmitted signals;

based on sampling data of the same position point in the detection range at different times, determining whether the position point is the position point of the static target comprises the following steps:

Alternatively to this, the method may comprise,

If the detection method is applied to the server, then:

The acquisition module is specifically configured to:

In summary, the invention provides a method, a device, an electronic device and a storage medium for detecting and processing a static target, wherein the position point of the static target can be accurately determined based on sampling data at different times because the phase, the frequency and the like of an intermediate frequency signal generated by a continuous frequency modulation signal mixer of a reflection signal of the static target are unchanged or accord with a certain rule through detecting the position point in a target environment for multiple times. On the basis, the invention can determine the detection information of the position point of the static target based on the sampling data of the static target, realize the detection of the static target and is beneficial to meeting the requirement of high-performance energy environment perception. In addition, the cut signals are uploaded to the server or calculated on the side edge of the module through the cutting processing of the signals, and the memory and the calculating capacity of the server and the side edge of the module are fully utilized to complete the data processing, so that the configuration of the optimal cost of the system is achieved.

Referring to fig. 6, there is provided an electronic device 30 including:

A processor 31, and

A memory 32 for storing executable commands of the processor;

wherein the processor 31 is configured to perform the above-mentioned method via execution of the executable instructions.

The processor 31 is capable of communicating with the memory 32 via a bus 33.

The present embodiment also provides a computer-readable storage medium, on which a computer program is stored which, when executed by a processor, implements the above-mentioned method.

Those of ordinary skill in the art will appreciate that all or a portion of the steps of implementing the various method embodiments described above may be implemented by hardware associated with program instructions. The foregoing program may be stored in a computer readable storage medium. The program, when executed, performs the steps comprising the method embodiments described above, and the storage medium described above includes various media capable of storing program code, such as ROM, RAM, magnetic or optical disk.

It should be noted that the above embodiments are merely for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that the technical solution described in the above embodiments may be modified or some or all of the technical features may be equivalently replaced, and these modifications or substitutions do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the present invention.

Claims

1. The method for detecting and processing the static target by the microwave sensor is applied to a server or the microwave sensor and is characterized by comprising the following steps:

acquiring a plurality of groups of sampling data;

determining detection information of the position points of the static target based on part or all of sampling data of the position points of the static target, wherein the detection information comprises the distance of the corresponding position points and/or the spatial angle of the position of the static target;

when the microwave sensor transmits signals, the signals are transmitted by corresponding transmission configuration parameters, wherein the transmission configuration parameters comprise the initial frequency, initial phase, radar modulation slope of frequency modulation continuous wave and signal bandwidth of the transmitted signals;

the plurality of groups of sampling data comprise corresponding sampling data when signals are transmitted by different transmission configuration parameters aiming at the same position point;

wherein the plurality of groups of sampling data comprise any at least first sampling data and second sampling data;

2. The detection processing method according to claim 1, wherein,

3. The detection processing method according to claim 1, wherein,

The initial phase in the first transmission configuration parameter is a first phase, and the initial phase in the second transmission configuration parameter is a second phase;

4. The detection processing method according to claim 1, wherein,

The plurality of groups of sampling data comprise any at least third sampling data and fourth sampling data;

5. The detection processing method according to claim 1, wherein,

The plurality of groups of sampling data comprise arbitrary at least fifth sampling data and sixth sampling data;

the detection method further comprises the following steps:

6. A process according to claim 1, wherein,

7. A process according to claim 1, wherein,

When the microwave sensor receives the sampling signal, the sampling signal is received by the corresponding receiving sampling configuration parameter;

8. A process according to claim 1, wherein,

When the microwave sensor transmits signals, the signals are transmitted according to corresponding transmission configuration parameters;

The microwave sensor divides each frame or pulse signal into parts for step-by-step transmitting, receiving, processing and storing, and then re-aggregates the signals processed by the parts into complete received signal units for subsequent signal processing and target detection.

9. The detection processing method according to claim 1, wherein,

If the detection method is applied to the server, then:

acquiring multiple sets of sample data, comprising:

10. A detection processing apparatus, comprising:

The detection information determining module is used for determining detection information of the position points of the static target based on part or all of sampling data of the position points of the static target, wherein the detection information comprises the distance of the corresponding position points and/or the spatial angle of the position of the static target;

11. An electronic device comprising a memory, a processor and a program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method of any of claims 1-9 when the program is executed by the processor.

12. A storage medium having a program stored thereon, which when executed by a processor, implements the steps of the method of any of claims 1-9.