CN114578312B - False target suppression method and device based on random elimination - Google Patents
False target suppression method and device based on random elimination Download PDFInfo
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Abstract
The disclosure provides a false target suppression method and device based on random elimination. The method estimates the authenticity of the target by counting the target elimination frequency when multiple rounds of sequence random elimination are carried out, sequentially retains the targets with the strongest authenticity in the sequence from the authenticity to the authenticity from strong to weak, eliminates false targets generated by aliasing of high SNR signals, and realizes effective suppression of the false targets. The problem of false target suppression failure caused by aliasing of high SNR signals when the number of radars is small in the traditional method is solved.
Description
Technical Field
The disclosure belongs to the technical field of radar signal processing, and particularly relates to a false target suppression method and device based on random elimination.
Background
The rasterization joint detection is a radar multi-channel signal fusion detection method, which divides a space into a plurality of grid areas, matches each channel echo signal distance unit to each space grid according to the relative radar position of each grid area and the signal two-way delay condition, completes signal registration fusion, and further detects a target according to each grid fusion signal, thereby completing joint detection.
The radar signal space is spread in a divergent mode, the same distance unit is registered to a plurality of grid areas, and the distribution is wide. In the rasterization detection process of a detection system consisting of a few radars, due to the fact that positions and visual angles of the radars are different, target distribution conditions are complex, and coverage ranges of target echo distance units at different positions are mutually overlapped, a plurality of false targets are contained in a rasterization detection result.
False target suppression is a key technology in radar rasterization joint detection processing, the existing false target suppression method is characterized by multiple radar signal-to-noise ratios (SNR) and amplitudes to perform target authenticity identification, and a high-SNR-value grid is taken as a real target. However, under the condition of a small number of system radars, part of false targets are formed by aliasing of high-SNR signals of targets at different positions and have high SNR amplitudes, and the existing false target suppression method cannot adapt to the situation, so that the false target suppression performance is reduced.
Disclosure of Invention
The present disclosure is directed to at least one of the technical problems in the prior art, and provides a false target suppression method and apparatus based on random elimination.
In one aspect of the present disclosure, a false target suppression method based on random elimination is provided, where the method includes:
step S110, presetting random elimination times, establishing a three-dimensional space grid, and registering each radar channel signal to a corresponding grid;
step S120, calculating a single signal-to-noise ratio of each channel signal of each grid and a total signal-to-noise ratio of all channel signals according to a signal registration result;
step S130, according to a preset total signal-to-noise ratio threshold, each single signal-to-noise ratio threshold and a channel number threshold, screening a target grid meeting the requirement from the grids to form a target grid array;
step S140, screening out representative grids from the target grid array, taking other grids in the target grid array as an elimination grid array, and storing Echo data of each channel to an Echo array;
step S150, randomly selecting an elimination grid from the elimination grid array, storing grid information into a frequency array, acquiring distance unit information of the elimination grid relative to each radar node according to the position information stored in the elimination grid, resetting each corresponding radar Echo value in the Echo array, and eliminating the elimination grid information from the elimination grid array;
step S160, calculating a single signal-to-noise ratio of each channel signal of each elimination grid and a total signal-to-noise ratio of all channel signals according to the Echo array;
s170, screening a target elimination grid meeting the requirement from the elimination grid array according to a preset total signal-to-noise ratio threshold, each single signal-to-noise ratio threshold and a channel number threshold;
step S180, judging whether the elimination grid array is an empty array, if not, repeatedly executing the step S150, and if so, reducing the random elimination times by one;
step S190, judging whether the random elimination times are larger than zero, if so, repeatedly executing the step S130, otherwise, counting the occurrence frequency of each grid in the frequency array, and sequencing the elements in the target grid according to a frequency descending order;
s200, storing first grid information in the target grids sorted in descending order of the true degree into a target array, clearing radar Echo values of all channels in an Echo array corresponding to the grids, and clearing the grid information from the target grids;
step S210, calculating a single signal-to-noise ratio of each channel signal of each target grid and a total signal-to-noise ratio of all channel signals according to the Echo array;
s220, screening final target grids meeting requirements from the target grids to form a final target grid array according to a preset total signal-to-noise ratio threshold, each single signal-to-noise ratio threshold and a channel number threshold;
and step S230, judging whether the final target grid array is a null array, if not, executing the step S200, if so, determining that grid position information in the target array is estimated real target information, and finishing false target suppression.
In some embodiments, the screening, according to a preset total snr threshold, each single snr threshold, and a threshold of the number of channels, a target grid meeting requirements from the grids to form a target grid array includes:
comparing the single signal-to-noise ratio of each channel signal of the grid with preset single signal-to-noise ratio thresholds, and counting the number of channel signals passing the thresholds;
comparing the total signal-to-noise ratio of the grid with a preset total signal-to-noise ratio threshold;
comparing the threshold number of channel signals to the channel number threshold;
and selecting a target grid of which the number of the channel signals passing the threshold is not less than the threshold of the number of the channels and the total signal-to-noise ratio is not less than the threshold of the total signal-to-noise ratio, and storing the target grid as the target grid array.
In some embodiments, the screening a satisfactory target elimination grid from the elimination grid array according to a preset total snr threshold, each single snr threshold and a channel number threshold includes:
comparing the single signal-to-noise ratio of each channel signal of the elimination grid with preset single signal-to-noise ratio thresholds, and counting the number of channel signals passing the thresholds;
comparing the total signal-to-noise ratio of the elimination grid with a preset total signal-to-noise ratio threshold;
comparing the threshold number of channel signals to the channel number threshold;
and selecting a cancellation grid of which the number of the channel signals passing the threshold is not less than the threshold of the number of the channels and the total signal-to-noise ratio is not less than the threshold of the total signal-to-noise ratio, and storing the cancellation grid as the target cancellation grid.
In some embodiments, the selecting, according to a preset total snr threshold, each single snr threshold, and a threshold of a number of channels, a final target grid meeting requirements from the target grids to form a final target grid array includes:
comparing the single signal-to-noise ratio of each channel signal of the target grid with preset single signal-to-noise ratio thresholds, and counting the number of the channel signals passing the thresholds;
comparing the total signal-to-noise ratio of the target grid with a preset total signal-to-noise ratio threshold;
comparing the threshold number of channel signals to the channel number threshold;
and selecting a final target grid with the number of the channel signals passing the threshold not less than the threshold of the number of the channels and the total signal-to-noise ratio not less than the threshold of the total signal-to-noise ratio, and storing the final target grid array.
In some embodiments, the establishing a three-dimensional spatial grid, registering each radar channel signal to a corresponding grid, includes:
dividing the common visual area space into the three-dimensional space grids according to preset longitude intervals, latitude intervals and altitude intervals;
and calculating radar signal distance units corresponding to the grids according to the azimuth angle, the pitch angle and the distance of each grid corresponding to each radar node, and finishing the registration of each radar channel signal and the corresponding grid.
In some embodiments, the screening out a representative grid from the target grid array, and using other grids in the target grid array as a cancellation grid array, and storing the Echo data of each channel to the Echo array includes:
screening grids with the same total signal-to-noise ratio in each group in the target grid array, and selecting a grid closest to the centroid from the grids as the representative grid;
removing other grids in the target grid array except the representative grid to obtain the elimination grid array;
and storing the Echo data of each channel to the Echo array.
In another aspect of the present disclosure, there is provided a false target suppression device based on random elimination, the device including:
the registration module is used for presetting random elimination times, establishing a three-dimensional space grid and registering each radar channel signal to a corresponding grid;
the calculation module is used for calculating the single signal-to-noise ratio of each channel signal of each grid and the total signal-to-noise ratio of all channel signals according to the signal registration result;
the screening module is used for screening target grids meeting the requirements from the grids according to a preset total signal-to-noise ratio threshold, each single signal-to-noise ratio threshold and a channel number threshold to form a target grid array;
the screening module is further used for screening out representative grids from the target grid array, taking other grids in the target grid array as an elimination grid array, and storing Echo data of each channel to an Echo array;
the processing module is used for randomly selecting an elimination grid from the elimination grid array, storing grid information to a frequency array, acquiring distance unit information of the elimination grid relative to each radar node according to the position information stored in the elimination grid, resetting each corresponding radar Echo value in the Echo array, and eliminating the elimination grid information from the elimination grid array;
the calculation module is further configured to calculate a single signal-to-noise ratio of each channel signal of each cancellation grid and a total signal-to-noise ratio of all channel signals according to the Echo array;
the screening module is further used for screening a target elimination grid meeting the requirements from the elimination grid array according to a preset total signal-to-noise ratio threshold, each single signal-to-noise ratio threshold and a channel number threshold;
the judging module is used for judging whether the elimination grid array is a null array, if not, the step of eliminating the grid is repeatedly executed, and if so, the random elimination times are reduced by one;
the judgment module is further used for judging whether the random elimination times are larger than zero, if so, the step of screening the target grids is executed repeatedly, otherwise, the occurrence frequency of each grid in the frequency array is counted, and the elements in the target grids are sorted according to the descending order of the frequency;
the processing module is further configured to store first grid information in the target grids sorted in descending order of the degree of truth to a target array, clear radar Echo values of channels in an Echo array corresponding to the grid to zero, and clear the grid information from the target grids;
the calculation module is further configured to calculate a single signal-to-noise ratio of each channel signal of each target grid and a total signal-to-noise ratio of all channel signals according to the Echo array;
the screening module is further used for screening final target grids meeting requirements from the target grids to form a final target grid array according to a preset total signal-to-noise ratio threshold, each single signal-to-noise ratio threshold and a channel number threshold;
the judging module is further configured to judge whether the final target grid array is an empty array, execute the target grid processing step if the final target grid array is not an empty array, and if the final target grid array is an empty array, determine that grid position information in the target array is estimated real target information, and complete suppression of the false target.
In some embodiments, the screening module is further specifically configured to:
comparing the single signal-to-noise ratio of each channel signal of the grid with preset single signal-to-noise ratio thresholds, and counting the number of channel signals passing the thresholds;
comparing the total signal-to-noise ratio of the grid with a preset total signal-to-noise ratio threshold;
comparing the number of threshold-crossing channel signals to the channel number threshold;
selecting a target grid with the number of the channel signals passing the threshold not less than the threshold of the number of the channels and the total signal-to-noise ratio not less than the total signal-to-noise ratio threshold, and storing the target grid as the target grid array.
In another aspect of the present disclosure, an electronic device is provided, including:
one or more processors;
a storage unit for storing one or more programs which, when executed by the one or more processors, enable the one or more processors to implement the method according to the preceding description.
In another aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored, which, when being executed by a processor, is adapted to carry out the method according to the above.
According to the false target suppression method and device based on random elimination, the authenticity of the target is estimated by counting the elimination frequency of the target during multiple rounds of sequential random elimination, the strongest authenticity target is sequentially reserved in the order from strong authenticity to weak authenticity, the false target generated by aliasing of high SNR signals is eliminated, effective suppression of the false target is achieved, and the problem that the suppression of the false target is invalid when the number of radars is small in the traditional method is solved.
Drawings
FIG. 1 is a block diagram illustrating an electronic device according to an embodiment of the disclosure
FIG. 2 is a flow chart of a false target suppression method based on random cancellation according to another embodiment of the disclosure;
fig. 3 is a schematic structural diagram of a false target suppression device based on random elimination according to another embodiment of the present disclosure.
Detailed Description
For a better understanding of the technical aspects of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.
First, an example electronic device for implementing the apparatus and method of the embodiments of the present disclosure is described with reference to fig. 1.
As shown in FIG. 1, electronic device 100 includes one or more processors 110, one or more memory devices 120, one or more input devices 130, one or more output devices 140, and the like, interconnected by a bus system 150 and/or other form of connection mechanism. It should be noted that the components and structures of the electronic device shown in fig. 1 are exemplary only, and not limiting, and the electronic device may have other components and structures as desired.
Processor 110 may be a Central Processing Unit (CPU), or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in electronic device 100 to perform desired functions.
Storage 120 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. On which one or more computer program instructions may be stored that a processor may execute to implement the client functionality (implemented by the processor) in the disclosed embodiments described below and/or other desired functionality. Various applications and various data, such as various data used and/or generated by the applications, may also be stored in the computer-readable storage medium.
The input device 130 may be a device used by a user to input instructions, and may include one or more of a keyboard, a mouse, a microphone, a touch screen, and the like.
The output device 140 may output various information (e.g., images or sounds) to an outside (e.g., a user), and may include one or more of a display, a speaker, and the like.
In the following, a false target suppression method based on random elimination according to the present disclosure will be described with reference to fig. 2, the method comprising:
and S110, presetting random elimination times, establishing a three-dimensional space grid, and registering each radar channel signal to a corresponding grid.
Specifically, in this step, a plurality of rounds of random elimination times m are set, a common visual area space is divided into 3-dimensional space grids according to preset longitude intervals Δ Lon, latitude intervals Δ Lat and altitude intervals Δ Alt, radar signal distance units corresponding to the grids are calculated according to azimuth angles θ, pitch angles Φ and distances R corresponding to the 3-dimensional grids and radar nodes, and registration of the radar channel signals and the grids is completed.
And step S120, calculating the single signal-to-noise ratio of each channel signal of each grid and the total signal-to-noise ratio of all channel signals according to the signal registration result.
Specifically, in this step, the single signal-to-noise ratio and the aggregate signal-to-noise ratio may be calculated according to the following relations:
wherein the SNR channel For a single signal-to-noise ratio, SNR, of the signals of the channels of each of said grids sum For the total signal-to-noise ratio of each of said grids, A signal Is the signal amplitude, A noise Is the noise amplitude.
And S130, screening target grids meeting the requirements from the grids according to a preset total signal-to-noise ratio threshold, each single signal-to-noise ratio threshold and a channel number threshold to form a target grid array.
Specifically, in this step, the SNR is set in advance sum Threshold Th sum SNR of each channel signal channel Threshold TH channel And a channel number threshold Th Num And screening target grids meeting the requirements from the grids to form a target grid array.
In one embodiment, the screening of the satisfactory target grid may include the following specific steps:
(1) SNR of each channel signal of the grid channel TH of preset channel signals channel Comparing, counting the number Num of the channel signals passing the threshold channel 。
(2) SNR of the grid sum And preset Th sum A comparison is made.
(3) Will be provided withThe number Num of the threshold-crossing channel signals channel And the channel number threshold Th Num A comparison is made.
(4) Selecting Num channel ≥Th sum And the SNR sum ≥Th sum The target Grid of (2) is stored as the Grid array of the target Grid 3d 。
Wherein,ifor array index, Lon is grid center longitude, Lat is grid center latitude, and Alt is grid center height.
And S140, screening out representative grids from the target grid array, taking other grids in the target grid array as an elimination grid array, and storing Echo data of each channel to an Echo array.
Specifically, in this step, each group in the screening target grid array has the same SNR sum And selecting a group of grids, wherein the Grid closest to the centroid is taken as a representative Grid, and removing Grid 3d The other grids except the representative grid store the Echo data of each channel to an Echo array, and the method comprises the following steps:
(1) selecting the Grid of the target Grid array 3d Medium SNR sum Same point, for SNR sum Counting the centroids of the same points, selecting the Grid closest to the centroids as the representative Grid, and removing Grid 3d And Grid the other grids than the representative Grid 3d And storing data in the array into the elimination grid array Remove.
Wherein,jis an array index.
(2) And reading Echo data of each channel and storing the Echo data into an Echo array.
And S150, randomly selecting an elimination grid from the elimination grid array, storing grid information into a frequency array, acquiring distance unit information of the elimination grid relative to each radar node according to the position information stored in the elimination grid, clearing each corresponding radar Echo value in the Echo array, and eliminating the elimination grid information from the elimination grid array.
Specifically, in this step, a grid is randomly selected from the elimination grid array Remove, the grid information is stored to the Frequency array Frequency,
wherein,kis an array index.
And acquiring distance unit information of the grid relative to each radar node according to the position information Lon, Lat and Alt stored in the grid, further clearing each corresponding radar Echo value in the Echo array, and eliminating the grid information from the elimination grid array Remove.
And step S160, calculating the single signal-to-noise ratio of each channel signal of each elimination grid and the total signal-to-noise ratio of all channel signals according to the Echo array.
Specifically, in this step, the SNR in each cancellation grid Remove is re-counted according to the Echo array channel And SNR sum 。
And S170, screening a target elimination grid meeting the requirement from the elimination grid array according to a preset total signal-to-noise ratio threshold, each single signal-to-noise ratio threshold and a channel number threshold.
Specifically, in this step, the SNR is set in advance sum Threshold Th sum SNR of each channel signal channel Threshold TH channel And a channel number threshold Th Num And screening the elimination grids meeting the requirements. The method specifically comprises the following steps:
(1) SNR of each channel signal of the cancellation grid channel TH of preset channel signals channel Comparing, counting the passing thresholdNumber of channel signals Num channel 。
(2) SNR of the cancellation grid sum And preset Th sum A comparison is made.
(3) The number Num of the threshold-crossing channel signals channel And the channel number threshold Th Num A comparison is made.
(4) Selecting Num channel ≥Th sum And the SNR sum ≥Th sum The erase grid of (1) is stored as an erase grid array Remove.
And step S180, judging whether the elimination grid array Remove is an empty array, if not, repeatedly executing the step S150, and if so, reducing the random elimination times by one, wherein the random elimination times m = m-1.
And S190, judging the condition of the value m, if m is larger than 0, repeatedly executing the step S130, if m is smaller than or equal to 0, counting the occurrence frequency of each grid in the frequency array, and sequencing the elements in the target grid according to the descending order of the frequency.
Specifically, in this step, the Frequency of occurrence of each Grid in the Frequency array Frequency is counted, and as the Frequency reflects the true degree of the target, Grid of the target Grid array is sorted in descending order of Frequency 3d And (4) sorting the medium elements.
And S200, storing the first grid information in the target grids sorted in descending order of the true degree into a target array, clearing radar Echo values of all channels in an Echo array corresponding to the grid, and clearing the grid information from the target grids.
Specifically, in this step, to suppress false targets, the target grids Grid sorted in descending order of true degree 3d The first grid information in (1) is stored to the Target array Target,
wherein, target m The number of the mth target in the array is M, and M is the number of the targets.
And clearing the radar Echo value of each channel in the Echo array corresponding to the Grid to zero, and starting from the Grid of the target Grid 3d The raster information is cleared.
Step S210, calculating the single signal-to-noise ratio of each channel signal of each target grid and the total signal-to-noise ratio of all channel signals according to the Echo array.
Specifically, in this step, the Grid of each target Grid is counted again according to the Echo array 3d SNR in (1) channel And SNR sum 。
And S220, screening final target grids meeting the requirements from the target grids to form a final target grid array according to a preset total signal-to-noise ratio threshold, each single signal-to-noise ratio threshold and a channel number threshold.
Specifically, in this step, the SNR is set in advance sum Threshold Th sum SNR of each channel signal channel Threshold TH channel And a channel number threshold Th Num And screening a final target grid meeting the requirement from the target grids. The method specifically comprises the following steps:
(1) SNR of each channel signal of the target grid channel TH of preset channel signals channel Comparing, counting the number Num of the channel signals passing the threshold channel 。
(2) SNR of the target grid sum And preset Th sum A comparison is made.
(3) The number Num of the threshold-crossing channel signals channel And the channel number threshold Th Num A comparison is made.
(4) Selecting Num channel ≥Th sum And the SNR sum ≥Th sum The final target Grid of (1) is stored as the Grid array of the final target Grid 3d 。
Step S230, judging Grid of the final target Grid array 3d Whether it is a null array or not, if notAnd if the target array is empty, executing the step S200, and if the target array is empty, the grid position information in the target array is estimated real target information, and finishing the suppression of the false target.
The false target suppression method based on random elimination estimates the authenticity of the target by counting the elimination frequency of the target during multiple rounds of sequential random elimination, sequentially retains the targets with the strongest authenticity in the order from the strong authenticity to the weak authenticity, eliminates the false target generated by aliasing of high SNR signals, realizes effective suppression of the false target, and solves the problem that the suppression of the false target is invalid when the number of radars is small in the traditional method.
In another aspect of the present disclosure, as shown in fig. 3, a false target suppression device 300 based on random elimination is provided, and the device 300 may be applied to the method described above, and specifically refer to the related description, which is not repeated herein. The apparatus 300 comprises:
the registration module 310 is configured to preset random elimination times, establish a three-dimensional space grid, and register each radar channel signal to a corresponding grid;
a calculating module 320, configured to calculate a single signal-to-noise ratio of each channel signal of each grid and a total signal-to-noise ratio of all channel signals according to a signal registration result;
the screening module 330 is configured to screen a target grid meeting requirements from the grids according to a preset total signal-to-noise ratio threshold, each single signal-to-noise ratio threshold, and a channel number threshold, so as to form a target grid array;
the screening module 330 is further configured to screen a representative grid from the target grid array, use other grids in the target grid array as an elimination grid array, and store Echo data of each channel to the Echo array;
the processing module 340 is configured to randomly select an elimination grid from the elimination grid array, store grid information into a frequency array, obtain distance unit information of the elimination grid relative to each radar node according to position information stored in the elimination grid, clear each radar Echo value corresponding to the Echo array, and eliminate the elimination grid information from the elimination grid array;
the calculating module 320 is further configured to calculate a single signal-to-noise ratio of each channel signal of each cancellation grid and a total signal-to-noise ratio of all channel signals according to the Echo array;
the screening module 330 is further configured to screen a target elimination grid meeting requirements from the elimination grid array according to a preset total signal-to-noise ratio threshold, each single signal-to-noise ratio threshold, and a channel number threshold;
a determining module 350, configured to determine whether the elimination grid array is an empty array, repeat the step of eliminating the grid if the elimination grid array is not an empty array, and reduce the number of times of elimination by one if the elimination grid array is an empty array;
the determining module 350 is further configured to determine whether the eliminated frequency is greater than zero, if so, repeat the step of screening the target grid, otherwise, count the occurrence frequency of each grid in the frequency array, and sort the elements in the target grid in a frequency descending order;
the processing module 340 is further configured to store the first grid information in the target grids sorted in descending order of the degree of truth to a target array, clear each radar Echo value of each channel in the Echo array corresponding to the grid, and clear the grid information from the target grid;
the calculating module 320 is further configured to calculate a single signal-to-noise ratio of each channel signal of each target grid and a total signal-to-noise ratio of all channel signals according to the Echo array;
the screening module 330 is further configured to screen final target grids meeting requirements from the target grids to form a final target grid array according to a preset total signal-to-noise ratio threshold, each single signal-to-noise ratio threshold, and a channel number threshold;
the determining module 350 is further configured to determine whether the final target grid array is empty, execute the target grid processing step if the final target grid array is not empty, and if the final target grid array is empty, determine that grid position information in the target array is estimated real target information, and complete suppression of the false target.
The false target suppression device based on random elimination estimates the authenticity of a target by counting the elimination frequency of the target during multiple rounds of sequence random elimination, sequentially keeps the target with the strongest authenticity in the order from strong to weak, eliminates the false target generated by aliasing of a high SNR signal, realizes effective suppression of the false target, and solves the problem that the suppression of the false target fails when the number of radars is small in the traditional method.
In some embodiments, the screening module 330 is further specifically configured to:
comparing the single signal-to-noise ratio of each channel signal of the grid with preset single signal-to-noise ratio thresholds, and counting the number of channel signals passing the thresholds;
comparing the total signal-to-noise ratio of the grid with a preset total signal-to-noise ratio threshold;
comparing the threshold number of channel signals to the channel number threshold;
and selecting a target grid of which the number of the channel signals passing the threshold is not less than the threshold of the number of the channels and the total signal-to-noise ratio is not less than the threshold of the total signal-to-noise ratio, and storing the target grid as the target grid array.
In another aspect of the disclosure, an electronic device is provided that includes one or more processors; a storage unit for storing one or more programs which, when executed by the one or more processors, enable the one or more processors to implement the method according to the preceding description.
In another aspect of the disclosure, a computer-readable storage medium is provided, on which a computer program is stored, which, when being executed by a processor, is adapted to carry out the method according to the above.
The computer readable storage medium may be any tangible medium that can contain or store a program, and may be an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, device, more specific examples include but are not limited to: a portable computer diskette, a hard disk, an optical fiber, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The computer-readable storage medium may also include a propagated data signal with computer-readable program code embodied therein, for example, in baseband or as part of a carrier wave, including without limitation electromagnetic signals, optical signals, or any suitable combination thereof.
It is to be understood that the above embodiments are merely exemplary embodiments that are employed to illustrate the principles of the present disclosure, and that the present disclosure is not limited thereto. It will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the disclosure, and these are to be considered as the scope of the disclosure.
Claims (10)
1. A false target suppression method based on random elimination, the method comprising:
step S110, presetting random elimination times, establishing a three-dimensional space grid, and registering each radar channel signal to a corresponding grid;
step S120, calculating a single signal-to-noise ratio of each channel signal of each grid and a total signal-to-noise ratio of all channel signals according to a signal registration result;
step S130, according to a preset total signal-to-noise ratio threshold, each single signal-to-noise ratio threshold and a channel number threshold, screening a target grid meeting the requirement from the grids to form a target grid array;
step S140, screening out representative grids from the target grid array, taking other grids in the target grid array as an elimination grid array, and storing Echo data of each channel to an Echo array;
step S150, randomly selecting an elimination grid from the elimination grid array, storing grid information into a frequency array, acquiring distance unit information of the elimination grid relative to each radar node according to the position information stored in the elimination grid, resetting each corresponding radar Echo value in the Echo array, and eliminating the elimination grid information from the elimination grid array;
step S160, calculating a single signal-to-noise ratio of each channel signal of each elimination grid and a total signal-to-noise ratio of all channel signals according to the Echo array;
step S170, according to a preset total signal-to-noise ratio threshold, each single signal-to-noise ratio threshold and a channel number threshold, screening target elimination grids meeting requirements from the elimination grid array to form a new elimination grid array;
step S180, judging whether the new elimination grid array is an empty array, if not, repeatedly executing the step S150, and if so, reducing the random elimination times by one;
step S190, judging whether the random elimination times are larger than zero, if so, repeatedly executing the step S130, otherwise, counting the occurrence frequency of each grid in the frequency array, and sequencing the elements in the target grid according to a frequency descending order;
s200, storing first grid information in the target grid sorted according to the descending order of frequency to a target array, clearing radar Echo values of all channels in an Echo array corresponding to the grid to zero, and removing the grid information from the target grid;
step S210, calculating a single signal-to-noise ratio of each channel signal of each target grid and a total signal-to-noise ratio of all channel signals according to the Echo array;
step S220, screening final target grids meeting requirements from the target grids to form a final target grid array according to a preset total signal-to-noise ratio threshold, each single signal-to-noise ratio threshold and a channel number threshold;
and step S230, judging whether the final target grid array is a null array, if not, executing the step S200, if so, determining that grid position information in the target array is estimated real target information, and finishing false target suppression.
2. The method of claim 1, wherein the selecting a desired target grid from the grids according to a preset total snr threshold, each single snr threshold and a channel number threshold to form a target grid array comprises:
comparing the single signal-to-noise ratio of each channel signal of the grid with preset single signal-to-noise ratio thresholds, and counting the number of channel signals passing the thresholds;
comparing the total signal-to-noise ratio of the grid with a preset total signal-to-noise ratio threshold;
comparing the threshold number of channel signals to the channel number threshold;
and selecting a target grid of which the number of the channel signals passing the threshold is not less than the threshold of the number of the channels and the total signal-to-noise ratio is not less than the threshold of the total signal-to-noise ratio, and storing the target grid as the target grid array.
3. The method of claim 1, wherein the selecting a satisfactory target cancellation grid from the cancellation grid array according to a preset total snr threshold, single snr thresholds and channel number threshold comprises:
comparing the single signal-to-noise ratio of each channel signal of the elimination grid with preset single signal-to-noise ratio thresholds, and counting the number of channel signals passing the thresholds;
comparing the total signal-to-noise ratio of the elimination grid with a preset total signal-to-noise ratio threshold;
comparing the threshold number of channel signals to the channel number threshold;
and selecting a cancellation grid of which the number of the channel signals passing the threshold is not less than the threshold of the number of the channels and the total signal-to-noise ratio is not less than the threshold of the total signal-to-noise ratio, and storing the cancellation grid as the target cancellation grid.
4. The method of claim 1, wherein the selecting a final target grid meeting requirements from the target grids to form a final target grid array according to a preset total snr threshold, each single snr threshold and a channel number threshold comprises:
comparing the single signal-to-noise ratio of each channel signal of the target grid with preset single signal-to-noise ratio thresholds, and counting the number of the channel signals passing the thresholds;
comparing the total signal-to-noise ratio of the target grid with a preset total signal-to-noise ratio threshold;
comparing the threshold number of channel signals to the channel number threshold;
and selecting a final target grid of which the number of the channel signals passing the threshold is not less than the threshold of the number of the channels and the total signal-to-noise ratio is not less than the threshold of the total signal-to-noise ratio, and storing the final target grid as a final target grid array.
5. The method of any one of claims 1 to 4, wherein the establishing a three-dimensional spatial grid, registering each radar channel signal to a corresponding grid, comprises:
dividing the common visual area space into the three-dimensional space grids according to preset longitude intervals, latitude intervals and altitude intervals;
and calculating radar signal distance units corresponding to the grids according to the azimuth angle, the pitch angle and the distance of each grid corresponding to each radar node, and finishing the registration of each radar channel signal and the corresponding grid.
6. The method according to any one of claims 1 to 4, wherein the step of screening out a representative grid from the target grid array, using other grids in the target grid array as a cancellation grid array, and storing Echo data of each channel to an Echo array comprises:
screening grids with the same total signal-to-noise ratio in each group in the target grid array, and selecting a grid closest to the centroid from a group of grids as the representative grid;
removing other grids in the target grid array except the representative grid to obtain the elimination grid array;
and storing the Echo data of each channel to the Echo array.
7. A false target suppression device based on random elimination, the device comprising:
the registration module is used for presetting random elimination times, establishing a three-dimensional space grid and registering each radar channel signal to a corresponding grid;
the calculation module is used for calculating the single signal-to-noise ratio of each channel signal of each grid and the total signal-to-noise ratio of all channel signals according to the signal registration result;
the screening module is used for executing the steps of screening the target grids, and specifically comprises the following steps: screening target grids meeting the requirements from the grids according to a preset total signal-to-noise ratio threshold, each single signal-to-noise ratio threshold and a channel number threshold to form a target grid array;
the screening module is further used for screening out representative grids from the target grid array, taking other grids in the target grid array as an elimination grid array, and storing Echo data of each channel to an Echo array;
a processing module, configured to execute a step of grid elimination processing, specifically: randomly selecting an elimination grid from the elimination grid array, storing grid information into a frequency array, acquiring distance unit information of the elimination grid relative to each radar node according to position information stored in the elimination grid, resetting each corresponding radar Echo value in the Echo array, and eliminating the elimination grid information from the elimination grid array;
the calculation module is further configured to calculate a single signal-to-noise ratio of each channel signal of each cancellation grid and a total signal-to-noise ratio of all channel signals according to the Echo array;
the screening module is further used for screening target elimination grids meeting requirements from the elimination grid array according to a preset total signal-to-noise ratio threshold, each single signal-to-noise ratio threshold and a channel number threshold to form a new elimination grid array;
the judging module is used for judging whether the new elimination grid array is an empty array, if not, the processing module is triggered repeatedly to execute the step of eliminating the grid array, and if the new elimination grid array is empty, the random elimination frequency is reduced by one;
the judging module is further configured to judge whether the random elimination frequency is greater than zero, if so, repeatedly trigger the screening module to perform the step of screening the target grid, otherwise, count the occurrence frequency of each grid in the frequency array, and sort the elements in the target grid in a frequency descending order;
the processing module is further configured to execute a step of target grid processing, specifically: storing first grid information in the target grid sorted according to the descending order of frequency to a target array, clearing radar Echo values of all channels in an Echo array corresponding to the grid to zero, and clearing the grid information from the target grid;
the calculation module is further configured to calculate a single signal-to-noise ratio of each channel signal of each target grid and a total signal-to-noise ratio of all channel signals according to the Echo array;
the screening module is further used for screening final target grids meeting requirements from the target grids to form a final target grid array according to a preset total signal-to-noise ratio threshold, each single signal-to-noise ratio threshold and a channel number threshold;
the judging module is further configured to judge whether the final target grid array is empty, if not, trigger the processing module to execute the target grid processing step, and if so, the grid position information in the target array is the estimated real target information, and the suppression of the false target is completed.
8. The apparatus of claim 7, wherein the screening module is further configured to:
comparing the single signal-to-noise ratio of each channel signal of the grid with preset single signal-to-noise ratio thresholds, and counting the number of channel signals passing the thresholds;
comparing the total signal-to-noise ratio of the grid with a preset total signal-to-noise ratio threshold;
comparing the threshold number of channel signals to the channel number threshold;
selecting a target grid with the number of the channel signals passing the threshold not less than the threshold of the number of the channels and the total signal-to-noise ratio not less than the total signal-to-noise ratio threshold, and storing the target grid as the target grid array.
9. An electronic device, comprising:
one or more processors;
a storage unit to store one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1 to 6.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, is able to carry out a method according to any one of claims 1 to 6.
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