CN-116660845-B - Compensation speed obtaining method, compensation speed obtaining device, electronic equipment and readable storage medium

CN116660845BCN 116660845 BCN116660845 BCN 116660845BCN-116660845-B

Abstract

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

Inventors

WU HAOTIAN
LI CAN
LIN JING
HE YUTAO
WANG GANG
LONG YICHENG
ZHANG XIANGXIN

Assignees

北京天地一格科技有限公司

Dates

Publication Date: 20260505
Application Date: 20230526

Claims (10)

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

Description

Compensation speed obtaining method, compensation speed obtaining device, electronic equipment and readable storage medium Technical Field The present application relates to the field of radar technologies, and in particular, to a compensation speed obtaining method, a compensation speed obtaining device, an electronic device, and a readable storage medium. Background The effect of motion on the frequency step signal is mainly that a primary and a secondary phase error are formed. The primary phase error causes time shift of the output result, and the secondary phase error causes waveform divergence and peak reduction of the synthesized result. The primary phase error will affect the radar range accuracy and the secondary phase error will distort the resultant one-dimensional range profile in addition to the range resolution, so that when the resultant output has waveform divergence due to the design of the radar system and the target motion, this problem must be solved to obtain a meaningful resultant output. Speed estimation is currently generally performed and then compensated for using the estimated speed to alleviate the above. However, only distance information exists in the one-dimensional distance image finally output by the frequency stepping signal, and the imaging effect has a close relationship with the accuracy of speed compensation. Therefore, how to estimate the speed affecting the ranging accuracy without speed measurement information has become a technical problem to be solved by those skilled in the art. Disclosure of Invention The embodiment of the application provides a compensation speed obtaining method, a compensation speed obtaining device, electronic equipment and a readable storage medium, which can obtain a speed value with small error for compensation and can improve the ranging accuracy. Embodiments of the application may be implemented as follows: in a first aspect, an embodiment of the present application provides a compensation speed obtaining method, including: When the echo data of the current frame are obtained, judging whether the total number of times of currently received echo data is larger than a preset value or not; If the number of times of the total speed is larger than the preset value, obtaining a first speed compensation value calculated according to the historical speed estimated value in the speed set, wherein the historical speed estimated value in the speed set is the speed estimated value corresponding to each multi-frame historical frame echo data, and when the total number of times of the total speed is larger than the preset value, the number of the historical speed estimated values in the speed set is not smaller than the preset value, and the first speed compensation value is used for compensating the current frame echo data. In a second aspect, an embodiment of the present application provides a compensation speed obtaining apparatus, including: The judging module is used for judging whether the total number of times of currently received echo data is larger than a preset value when the echo data of the current frame is obtained; The compensation speed obtaining module is configured to obtain a first speed compensation value calculated according to a historical speed estimation value in a speed set when the total number of times is greater than the preset value, where the historical speed estimation value in the speed set is a speed estimation value corresponding to each of multi-frame historical frame echo data, and when the total number of times is greater than the preset value, the number of historical speed estimation values in the speed set is not less than the preset value, and the first speed compensation value is used for compensating the current frame echo data. In a third aspect, an embodiment of the present application provides an electronic device, including a processor and a memory, where the memory stores machine executable instructions executable by the processor, where the processor may execute the machine executable instructions to implement the compensation speed obtaining method described in the foregoing embodiment. In a fourth aspect, an embodiment of the present application provides a readable storage medium having stored thereon a computer program which, when executed by a processor, implements the compensation speed obtaining method described in the foregoing embodiments. According to the compensation speed obtaining method, the device, the electronic equipment and the readable storage medium, when the echo data of the current frame are obtained, whether the total number of times of currently received echo data is larger than a preset value is determined, and when the total number of times of currently received echo data is larger than the preset value, a first speed compensation value which is calculated based on a historical speed estimated value in a speed set and used for compensating the echo data of the current frame is o