CN115291185B - Parameter detection method, device and electronic equipment of a radar target - Google Patents

The invention provides a method, a device and electronic equipment for detecting parameters of a radar target, wherein a radar transmits a carrier frequency signal and receives a corresponding echo signal, a sub-band signal is separated, a single-bit sampling sub-band signal obtains a sampling signal, and a corresponding single-bit quantization value is determined; discretizing the detection range of the radar into a distance grid, and sparsely representing a sampling signal by adopting a coarse range gate indication vector; according to the single-bit quantized value, solving a coarse distance gate indication vector by adopting a convex optimization algorithm, and determining a target coarse distance gate where a target to be detected is located; respectively discretizing the range of various parameters to be measured of the target to be measured into corresponding sub-grids aiming at the target coarse distance gate, and sparsely representing a sampling signal by adopting a target indication vector; and recovering a target indication vector from the single-bit quantized value by adopting an iterative algorithm, and determining an actual parameter value according to the target indication vector. The accuracy of target parameter monitoring can be improved, the power consumption in the radar signal processing process is reduced, and the cost of a radar system is saved.

一种雷达目标的参数检测方法、装置及电子设备Parameter detection method, device and electronic equipment of a radar target

技术领域technical field

本公开涉及雷达测量技术领域，具体而言，涉及一种雷达目标的参数检测方法、装置及电子设备。The present disclosure relates to the technical field of radar measurement, in particular, to a parameter detection method, device and electronic equipment of a radar target.

背景技术Background technique

频率捷变雷达（FAR）是近几年雷达系统中发展较新的技术，它的载波频率会随着雷达脉冲之间随即发生变化，载频的捷变性能够为雷达系统带来很多优点，这些优点包括出色的电子对抗特性，良好的电磁兼容性能以及能够实现通过发射窄带信号就能合成大而有效的频带，从而提高了频谱效率。多输入多输出（MIMO）雷达系统的发射天线可以同时发射不同的雷达波形，且发射波形之间互相独立满足正交性，同时利用接受端的多天线来接收反射回来的回波信号。利用发射端与接受端的多天线特性，MIMO阵列可以利用较少的天线构成一个大规模的虚拟阵列。在抑制衰减、分辨率增强以及干扰抑制中，MIMO雷达都表现出良好的性能。Frequency Agile Radar (FAR) is a relatively new technology developed in radar systems in recent years. Its carrier frequency will change with the radar pulses. The agility of carrier frequency can bring many advantages to radar systems. These The advantages include excellent electronic countermeasure characteristics, good electromagnetic compatibility performance, and the ability to synthesize large and effective frequency bands by transmitting narrowband signals, thereby improving spectral efficiency. The transmitting antenna of the multiple-input multiple-output (MIMO) radar system can simultaneously transmit different radar waveforms, and the transmitting waveforms are independent of each other to meet the orthogonality, and at the same time, multiple antennas at the receiving end are used to receive the reflected echo signals. Using the multi-antenna characteristics of the transmitter and receiver, the MIMO array can use fewer antennas to form a large-scale virtual array. In suppressing fading, enhancing resolution and suppressing interference, MIMO radar shows good performance.

在雷达信号处理的应用中，采样和量化是对回波信号处理的第一步，目前现有的目标参数检测过程中，例如将MIMO阵列、载波捷变雷达相结合，同时发射端采用稀疏阵列，即每一次脉冲发射都随机选择若干个发射天线，首先对回波采样信号使用逆傅里叶变换(IDFT)进行脉冲压缩得到粗距离门(CRRP)，然后在每一个粗距离门采用系数重构算法估计出目标的距离、速度和角度等方式，对信号幅度进行高精度量化是基于无限精确采样这个假设前提之下，其检测到的参数与目标实际情况之间存在一定误差，并且在实际应用中，当信号带宽比较大时，通常的模数转换（ADC）器件要实现高速采样和高精度量化则需要很大的功耗和成本。In the application of radar signal processing, sampling and quantization are the first steps in echo signal processing. At present, in the process of target parameter detection, for example, MIMO arrays and carrier agility radars are combined, and sparse arrays are used at the transmitter. , that is, several transmitting antennas are randomly selected for each pulse transmission. Firstly, pulse compression is performed on the echo sampling signal using the inverse Fourier transform (IDFT) to obtain a coarse range gate (CRRP). The construction algorithm estimates the distance, speed and angle of the target, and the high-precision quantification of the signal amplitude is based on the assumption of infinitely accurate sampling. There is a certain error between the detected parameters and the actual situation of the target, and in the actual situation. In applications, when the signal bandwidth is relatively large, the usual analog-to-digital conversion (ADC) device needs a lot of power consumption and cost to achieve high-speed sampling and high-precision quantization.

发明内容Contents of the invention

本公开实施例至少提供一种雷达目标的参数检测方法、装置及电子设备，可以提升雷达目标参数监测的准确性，同时降低雷达信号处理过程中的功耗，并节约雷达系统成本。Embodiments of the present disclosure at least provide a radar target parameter detection method, device, and electronic equipment, which can improve the accuracy of radar target parameter monitoring, reduce power consumption during radar signal processing, and save radar system costs.

本公开实施例提供了一种雷达目标的参数检测方法，所述方法包括：An embodiment of the present disclosure provides a parameter detection method of a radar target, the method comprising:

控制雷达发射载频信号并接收对应的回波信号；Control the radar to transmit the carrier frequency signal and receive the corresponding echo signal;

在所述回波信号中分离出去调频后的子带信号，单比特采样所述子带信号得到采样信号，确定所述采样信号对应的单比特量化值；separating the frequency-modulated sub-band signal from the echo signal, sampling the sub-band signal with a single bit to obtain a sampling signal, and determining a single-bit quantization value corresponding to the sampling signal;

将所述雷达的探测范围离散化为距离网格，采用粗距离门指示向量稀疏表示所述采样信号；discretizing the detection range of the radar into a range grid, and using a coarse range gate indicator vector to sparsely represent the sampling signal;

根据所述单比特量化值，采用凸优化算法求解所述粗距离门指示向量，确定待测目标所处的目标粗距离门；According to the single-bit quantization value, a convex optimization algorithm is used to solve the coarse range gate indicator vector, and determine the target coarse range gate where the target to be measured is located;

针对所述目标粗距离门，分别将所述待测目标的多种待测参数的范围离散化为对应的子网格，采用指示所述待测参数的实际参数值的目标指示向量，稀疏表示所述采样信号；For the target coarse-range gate, discretize the ranges of various parameters to be measured of the target to be measured into corresponding sub-grids, and use a target indicator vector indicating the actual parameter value of the parameter to be measured, and sparsely represent said sampling signal;

采用迭代算法从所述目标粗距离门对应的所述单比特量化值中恢复出所述目标指示向量，根据所述目标指示向量，确定所述实际参数值。Using an iterative algorithm to restore the target indicator vector from the single-bit quantized value corresponding to the target coarse-range gate, and determine the actual parameter value according to the target indicator vector.

一种可选的实施方式中，所述将所述雷达的探测范围离散化为距离网格，采用粗距离门指示向量稀疏表示所述采样信号，具体包括：In an optional implementation manner, the discretizing the detection range of the radar into a range grid, and using a coarse range gate indicator vector to sparsely represent the sampling signal specifically includes:

将所述雷达的探测范围离散化为距离网格，根据所述采样信号构建指示所述目标粗距离门位置的所述粗距离门指示向量；discretizing the detection range of the radar into a range grid, and constructing the coarse range gate indication vector indicating the position of the target coarse range gate according to the sampled signal;

在快时间域上构建所述子带信号对应的频率网格，根据所述频率网格中的元素构建字典矩阵；Constructing a frequency grid corresponding to the subband signal in the fast time domain, and constructing a dictionary matrix according to elements in the frequency grid;

采用所述字典矩阵以及所述粗距离门指示向量表示所述采样信号，其中，所述粗距离门指示向量为稀疏向量。The sample signal is represented by using the dictionary matrix and the coarse range gate indicator vector, where the coarse range gate indicator vector is a sparse vector.

一种可选的实施方式中，所述根据所述单比特量化值，采用凸优化算法求解所述粗距离门指示向量，确定待测目标所处的目标粗距离门，具体包括：In an optional implementation manner, according to the single-bit quantization value, the convex optimization algorithm is used to solve the coarse range gate indicator vector, and determine the target coarse range gate where the target to be measured is located, specifically including:

根据所述单比特量化值以及稀疏表示后的所述采样信号，构建第一单比特压缩感知模型；Constructing a first single-bit compressed sensing model according to the single-bit quantized value and the sparsely represented sampled signal;

采用凸优化算法求解所述第一单比特压缩感知模型，从所述单比特量化值中恢复出所述粗距离门指示向量；solving the first single-bit compressed sensing model by using a convex optimization algorithm, and recovering the coarse range gate indicator vector from the single-bit quantized value;

将所述粗距离门指示向量进行取模，确定所述粗距离门指示向量取模后的峰值所指示的目标位置，其中，所述目标位置即为所述目标粗距离门对应的粗距离门位置；Taking the modulus of the coarse-range gate indicator vector, and determining the target position indicated by the peak value after the modulus of the coarse-range gate indicator vector, wherein the target position is the coarse-range gate corresponding to the target coarse-range gate Location;

根据所述粗距离门位置，在所述距离网格中，确定出所述目标粗距离门。The target coarse-range gate is determined in the distance grid according to the position of the coarse-range gate.

一种可选的实施方式中，所述针对所述目标粗距离门，分别将所述待测目标的多种待测参数的范围离散化为对应的子网格，采用指示所述待测参数的实际参数值的目标指示向量，稀疏表示所述采样信号，具体包括：In an optional implementation manner, for the target coarse-range gate, the ranges of various parameters to be measured of the target to be measured are respectively discretized into corresponding sub-grids, and the ranges indicating the parameters to be measured are used The target indicator vector of the actual parameter value, sparsely represents the sampled signal, specifically includes:

针对每个所述子网格，确定所述采样信号对应的归一化反射因子，以及在所述目标粗距离门处，所述采样信号对应的目标粗距离频率；For each of the sub-grids, determine a normalized reflection factor corresponding to the sampled signal, and at the target coarse-range gate, a target coarse-range frequency corresponding to the sampled signal;

由所述归一化反射因子、所述目标粗距离频率所述采样信号对应的频率分量构建所述目标指示向量；Constructing the target indicator vector from the normalized reflection factor, the frequency component corresponding to the sampled signal of the target coarse-range frequency;

采用所述目标指示向量稀疏表示所述采样信号。The sampled signal is sparsely represented by the target indicator vector.

一种可选的实施方式中，所述采用迭代算法从所述目标粗距离门对应的所述单比特量化值中恢复出所述目标指示向量，具体包括：In an optional implementation manner, the recovering the target indicator vector from the single-bit quantized value corresponding to the target coarse-range gate by using an iterative algorithm specifically includes:

将所述单比特量化值的实部与虚部合并生成单比特量化向量；combining the real part and the imaginary part of the single-bit quantized value to generate a single-bit quantized vector;

根据所述采样信号在所述目标粗距离门处对应的向量，构建所述采样信号对应的观测矩阵，根据所述采样信号中的噪声分量，构建所述采样信号对应的噪声矩阵；Constructing an observation matrix corresponding to the sampling signal according to a vector corresponding to the sampling signal at the target coarse range gate, and constructing a noise matrix corresponding to the sampling signal according to a noise component in the sampling signal;

构建以所述目标指示向量为元素的重构指示向量矩阵；Constructing a reconstructed indicator vector matrix with the target indicator vector as an element;

基于所述单比特量化向量、所述重构指示向量矩阵、所述观测矩阵以及所述噪声矩阵，构建针对所述重构指示向量矩阵中的重构指示向量的第二单比特压缩感知模型；Constructing a second single-bit compressed sensing model for a reconstructed indicator vector in the reconstructed indicator vector matrix based on the single-bit quantization vector, the reconstructed indicator vector matrix, the observation matrix, and the noise matrix;

采用二进制软阈值算法求解所述第二单比特压缩感知模型，确定所述采样信号在所述目标粗距离门处对应的最优重构指示向量；Solving the second single-bit compressed sensing model by using a binary soft threshold algorithm, and determining an optimal reconstruction indicator vector corresponding to the sampled signal at the target coarse range gate;

由所述最优重构指示向量表示所述目标指示向量的实部以及虚部，确定出所述目标指示向量。The target indicator vector is determined by representing the real part and the imaginary part of the target indicator vector by the optimal reconstructed indicator vector.

一种可选的实施方式中，所述根据所述目标指示向量，确定所述实际参数值，具体包括：In an optional implementation manner, the determining the actual parameter value according to the target indicator vector specifically includes:

确定所述目标指示向量中最大元素对应的目标参数索引；determining the target parameter index corresponding to the largest element in the target indicator vector;

针对每个所述子网格，将该子网格中所述目标参数索引对应的参数值，作为该子网格对应的待测参数类型的参数值。For each subgrid, the parameter value corresponding to the target parameter index in the subgrid is used as the parameter value of the parameter type to be measured corresponding to the subgrid.

本公开实施例还提供一种雷达目标的参数检测装置，所述装置包括：An embodiment of the present disclosure also provides a parameter detection device for a radar target, the device comprising:

发射与接收模块，用于控制雷达发射载频信号并接收对应的回波信号；The transmitting and receiving module is used to control the radar to transmit the carrier frequency signal and receive the corresponding echo signal;

单比特采样模块，用于在所述回波信号中分离出去调频后的子带信号，单比特采样所述子带信号得到采样信号，确定所述采样信号对应的单比特量化值；A single-bit sampling module, configured to separate the frequency-modulated sub-band signal from the echo signal, single-bit sample the sub-band signal to obtain a sampling signal, and determine a single-bit quantization value corresponding to the sampling signal;

距离网格划分模块，用于将所述雷达的探测范围离散化为距离网格，采用粗距离门指示向量稀疏表示所述采样信号；A range grid division module, configured to discretize the detection range of the radar into a range grid, and use a coarse range gate indicator vector to sparsely represent the sampled signal;

粗距离门确定模块，用于根据所述单比特量化值，采用凸优化算法求解所述粗距离门指示向量，确定待测目标所处的目标粗距离门；A coarse range gate determination module, configured to use a convex optimization algorithm to solve the coarse range gate indicator vector according to the single-bit quantized value, and determine the target coarse range gate where the target to be measured is located;

子网格划分模块，用于针对所述目标粗距离门，分别将所述待测目标的多种待测参数的范围离散化为对应的子网格，采用指示所述待测参数的实际参数值的目标指示向量，稀疏表示所述采样信号；The sub-grid division module is configured to discretize the ranges of various parameters to be measured of the target to be measured into corresponding sub-grids for the coarse-range gate of the target, and use actual parameters indicating the parameters to be measured a target indicator vector of values, sparsely representing said sampled signal;

参数确定模块，用于采用迭代算法从所述目标粗距离门对应的所述单比特量化值中恢复出所述目标指示向量，根据所述目标指示向量，确定所述实际参数值。A parameter determination module, configured to use an iterative algorithm to restore the target indicator vector from the single-bit quantization value corresponding to the target coarse-range gate, and determine the actual parameter value according to the target indicator vector.

一种可选的实施方式中，所述距离网格划分模块具体用于：In an optional implementation manner, the distance grid division module is specifically used for:

将所述雷达的探测范围离散化为距离网格，根据所述采样信号构建指示所述目标粗距离门位置的所述粗距离门指示向量；discretizing the detection range of the radar into a range grid, and constructing the coarse range gate indication vector indicating the position of the target coarse range gate according to the sampled signal;

在快时间域上构建所述子带信号对应的频率网格，根据所述频率网格中的元素构建字典矩阵；Constructing a frequency grid corresponding to the subband signal in the fast time domain, and constructing a dictionary matrix according to elements in the frequency grid;

采用所述字典矩阵以及所述粗距离门指示向量表示所述采样信号，其中，所述粗距离门指示向量为稀疏向量。The sample signal is represented by using the dictionary matrix and the coarse range gate indicator vector, where the coarse range gate indicator vector is a sparse vector.

一种可选的实施方式中，所述粗距离门确定模块具体用于：In an optional implementation manner, the coarse-range gate determination module is specifically used for:

根据所述单比特量化值以及稀疏表示后的所述采样信号，构建第一单比特压缩感知模型；Constructing a first single-bit compressed sensing model according to the single-bit quantized value and the sparsely represented sampled signal;

采用凸优化算法求解所述第一单比特压缩感知模型，从所述单比特量化值中恢复出所述粗距离门指示向量；solving the first single-bit compressed sensing model by using a convex optimization algorithm, and recovering the coarse range gate indicator vector from the single-bit quantized value;

将所述粗距离门指示向量进行取模，确定所述粗距离门指示向量取模后的峰值所指示的目标位置，其中，所述目标位置即为所述目标粗距离门对应的粗距离门位置；Taking the modulus of the coarse-range gate indicator vector, and determining the target position indicated by the peak value after the modulus of the coarse-range gate indicator vector, wherein the target position is the coarse-range gate corresponding to the target coarse-range gate Location;

根据所述粗距离门位置，在所述距离网格中，确定出所述目标粗距离门。The target coarse-range gate is determined in the distance grid according to the position of the coarse-range gate.

一种可选的实施方式中，所述子网格划分模块具体用于：In an optional implementation manner, the sub-grid division module is specifically used for:

针对每个所述子网格，确定所述采样信号对应的归一化反射因子，以及在所述目标粗距离门处，所述采样信号对应的目标粗距离频率；For each of the sub-grids, determine a normalized reflection factor corresponding to the sampled signal, and at the target coarse-range gate, a target coarse-range frequency corresponding to the sampled signal;

由所述归一化反射因子、所述目标粗距离频率构建所述目标指示向量；Constructing the target indication vector from the normalized reflection factor and the target coarse-range frequency;

采用所述目标指示向量稀疏表示所述采样信号。The sampled signal is sparsely represented by the target indicator vector.

一种可选的实施方式中，所述参数确定模块具体用于：In an optional implementation manner, the parameter determination module is specifically used for:

将所述单比特量化值的实部与虚部合并生成单比特量化向量；combining the real part and the imaginary part of the single-bit quantized value to generate a single-bit quantized vector;

根据所述采样信号在所述目标粗距离门处对应的向量，构建所述采样信号对应的观测矩阵，根据所述采样信号中的噪声分量，构建所述采样信号对应的噪声矩阵；Constructing an observation matrix corresponding to the sampling signal according to a vector corresponding to the sampling signal at the target coarse range gate, and constructing a noise matrix corresponding to the sampling signal according to a noise component in the sampling signal;

构建以所述目标指示向量为元素的重构指示向量矩阵；Constructing a reconstructed indicator vector matrix with the target indicator vector as an element;

基于所述单比特量化向量、所述重构指示向量矩阵、所述观测矩阵以及所述噪声矩阵，构建针对所述重构指示向量矩阵中的重构指示向量的第二单比特压缩感知模型；Constructing a second single-bit compressed sensing model for a reconstructed indicator vector in the reconstructed indicator vector matrix based on the single-bit quantization vector, the reconstructed indicator vector matrix, the observation matrix, and the noise matrix;

采用二进制软阈值算法求解所述第二单比特压缩感知模型，确定所述采样信号在所述目标粗距离门处对应的最优重构指示向量；Solving the second single-bit compressed sensing model by using a binary soft threshold algorithm, and determining an optimal reconstruction indicator vector corresponding to the sampled signal at the target coarse range gate;

由所述最优重构指示向量表示所述目标指示向量的实部以及虚部，确定出所述目标指示向量。The target indicator vector is determined by representing the real part and the imaginary part of the target indicator vector by the optimal reconstructed indicator vector.

一种可选的实施方式中，所述参数确定模块具体还用于：In an optional implementation manner, the parameter determination module is specifically further configured to:

确定所述目标指示向量中最大元素对应的目标参数索引；determining the target parameter index corresponding to the largest element in the target indicator vector;

针对每个所述子网格，将该子网格中所述目标参数索引对应的参数值，作为该子网格对应的待测参数类型的参数值。For each subgrid, the parameter value corresponding to the target parameter index in the subgrid is used as the parameter value of the parameter type to be measured corresponding to the subgrid.

本公开实施例还提供一种电子设备，包括：处理器、存储器和总线，所述存储器存储有所述处理器可执行的机器可读指令，当电子设备运行时，所述处理器与所述存储器之间通过总线通信，所述机器可读指令被所述处理器执行时执行上述雷达目标的参数检测方法，或上述雷达目标的参数检测方法中任一种可能的实施方式中的步骤。An embodiment of the present disclosure also provides an electronic device, including: a processor, a memory, and a bus, the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the The memory communicates with each other through a bus, and the machine-readable instructions are executed by the processor to execute the above-mentioned radar target parameter detection method, or the steps in any possible implementation of the above-mentioned radar target parameter detection method.

本公开实施例还提供一种计算机可读存储介质，该计算机可读存储介质上存储有计算机程序，该计算机程序被处理器运行时执行上述雷达目标的参数检测方法，或上述雷达目标的参数检测方法中任一种可能的实施方式中的步骤。An embodiment of the present disclosure also provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is run by a processor, the above-mentioned radar target parameter detection method, or the above-mentioned radar target parameter detection method is executed. A step in any possible implementation of the method.

本公开实施例提供的一种雷达目标的参数检测方法、装置及电子设备，通过控制雷达发射载频信号并接收对应的回波信号；在回波信号中分离出去调频后的子带信号，单比特采样子带信号得到采样信号，确定采样信号对应的单比特量化值；将雷达的探测范围离散化为距离网格，采用粗距离门指示向量稀疏表示采样信号；根据单比特量化值，采用凸优化算法求解粗距离门指示向量，确定待测目标所处的目标粗距离门；针对目标粗距离门，分别将待测目标的多种待测参数的范围离散化为对应的子网格，采用指示待测参数的实际参数值的目标指示向量，稀疏表示采样信号；采用迭代算法从目标粗距离门对应的单比特量化值中恢复出目标指示向量，根据目标指示向量，确定实际参数值。可以提升雷达目标参数监测的准确性，同时降低雷达信号处理过程中的功耗，并节约雷达系统成本。A radar target parameter detection method, device, and electronic equipment provided by the embodiments of the present disclosure control the radar to transmit carrier frequency signals and receive corresponding echo signals; separate the frequency-modulated sub-band signals from the echo signals, and single Bit-sampled sub-band signals to obtain sampling signals, and determine the corresponding single-bit quantization value of the sampling signal; discretize the detection range of the radar into a distance grid, and use the rough range gate to indicate the vector to sparsely represent the sampling signal; according to the single-bit quantization value, use convex The optimization algorithm solves the coarse-range gate indicator vector, and determines the target coarse-range gate where the target to be measured is located; for the target coarse-range gate, the ranges of various parameters to be measured of the target to be measured are discretized into corresponding sub-grids, using The target indicator vector indicating the actual parameter value of the parameter to be measured sparsely represents the sampling signal; an iterative algorithm is used to recover the target indicator vector from the single-bit quantization value corresponding to the target coarse range gate, and the actual parameter value is determined according to the target indicator vector. The accuracy of radar target parameter monitoring can be improved, the power consumption in the radar signal processing process can be reduced, and the cost of the radar system can be saved.

为使本公开的上述目的、特征和优点能更明显易懂，下文特举较佳实施例，并配合所附附图，作详细说明如下。In order to make the above-mentioned objects, features and advantages of the present disclosure more comprehensible, preferred embodiments will be described in detail below together with the accompanying drawings.

附图说明Description of drawings

为了更清楚地说明本公开实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，此处的附图被并入说明书中并构成本说明书中的一部分，这些附图示出了符合本公开的实施例，并与说明书一起用于说明本公开的技术方案。应当理解，以下附图仅示出了本公开的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。In order to illustrate the technical solutions of the embodiments of the present disclosure more clearly, the following will briefly introduce the accompanying drawings used in the embodiments. The accompanying drawings here are incorporated into the specification and constitute a part of the specification. The drawings show the embodiments consistent with the present disclosure, and are used together with the description to explain the technical solution of the present disclosure. It should be understood that the following drawings only show some embodiments of the present disclosure, and therefore should not be regarded as limiting the scope. For those skilled in the art, they can also make From these drawings other related drawings are obtained.

图1示出了本公开实施例所提供的一种雷达目标的参数检测方法的流程图；FIG. 1 shows a flowchart of a method for detecting parameters of a radar target provided by an embodiment of the present disclosure;

图2示出了本公开实施例所提供的另一种雷达目标的参数检测方法的流程图；FIG. 2 shows a flow chart of another radar target parameter detection method provided by an embodiment of the present disclosure;

图3示出了本公开实施例所提供的一种雷达目标的参数检测装置的示意图；FIG. 3 shows a schematic diagram of a radar target parameter detection device provided by an embodiment of the present disclosure;

图4示出了本公开实施例所提供的一种电子设备的示意图。Fig. 4 shows a schematic diagram of an electronic device provided by an embodiment of the present disclosure.

具体实施方式detailed description

为使本公开实施例的目的、技术方案和优点更加清楚，下面将结合本公开实施例中附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本公开一部分实施例，而不是全部的实施例。通常在此处附图中描述和示出的本公开实施例的组件可以以各种不同的配置来布置和设计。因此，以下对在附图中提供的本公开的实施例的详细描述并非旨在限制要求保护的本公开的范围，而是仅仅表示本公开的选定实施例。基于本公开的实施例，本领域技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都属于本公开保护的范围。In order to make the purpose, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only It is a part of the embodiments of the present disclosure, but not all of them. The components of the disclosed embodiments generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Accordingly, the following detailed description of the embodiments of the present disclosure provided in the accompanying drawings is not intended to limit the scope of the claimed disclosure, but merely represents selected embodiments of the present disclosure. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without creative effort shall fall within the protection scope of the present disclosure.

应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。It should be noted that like numerals and letters denote similar items in the following figures, therefore, once an item is defined in one figure, it does not require further definition and explanation in subsequent figures.

本文中术语“和/或”，仅仅是描述一种关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中术语“至少一种”表示多种中的任意一种或多种中的至少两种的任意组合，例如，包括A、B、C中的至少一种，可以表示包括从A、B和C构成的集合中选择的任意一个或多个元素。The term "and/or" in this article only describes an association relationship, which means that there can be three kinds of relationships, for example, A and/or B can mean: there is A alone, A and B exist at the same time, and B exists alone. situation. In addition, the term "at least one" herein means any one of a variety or any combination of at least two of the more, for example, including at least one of A, B, and C, which may mean including from A, Any one or more elements selected from the set formed by B and C.

经研究发现，目前现有的目标参数检测过程中，例如将MIMO阵列、载波捷变雷达相结合，同时发射端采用稀疏阵列，即每一次脉冲发射都随机选择若干个发射天线，首先对回波采样信号使用逆傅里叶变换(IDFT)进行脉冲压缩得到粗距离门(CRRP)，然后在每一个粗距离门采用系数重构算法估计出目标的距离、速度和角度等方式，对信号幅度进行高精度量化是基于无限精确采样这个假设前提之下，在实际应用中，当信号带宽比较大时，通常的模数转换（ADC）器件要实现高速采样和高精度量化则需要很大的功耗和成本。After research, it is found that in the current target parameter detection process, for example, MIMO arrays and carrier agility radars are combined, and at the same time, sparse arrays are used at the transmitting end, that is, several transmitting antennas are randomly selected for each pulse transmission. The sampled signal is pulse-compressed by inverse Fourier transform (IDFT) to obtain a coarse range gate (CRRP), and then the coefficient reconstruction algorithm is used to estimate the distance, speed and angle of the target at each coarse range gate, and the signal amplitude is High-precision quantization is based on the assumption of infinitely accurate sampling. In practical applications, when the signal bandwidth is relatively large, the usual analog-to-digital conversion (ADC) device requires a lot of power consumption to achieve high-speed sampling and high-precision quantization. and cost.

基于上述研究，本公开提供了一种雷达目标的参数检测方法、装置及电子设备，通过控制雷达发射载频信号并接收对应的回波信号；在回波信号中分离出去调频后的子带信号，单比特采样子带信号得到采样信号，确定采样信号对应的单比特量化值；将雷达的探测范围离散化为距离网格，采用粗距离门指示向量稀疏表示采样信号；根据单比特量化值，采用凸优化算法求解粗距离门指示向量，确定待测目标所处的目标粗距离门；针对目标粗距离门，分别将待测目标的多种待测参数的范围离散化为对应的子网格，采用指示待测参数的实际参数值的目标指示向量，稀疏表示采样信号；采用迭代算法从目标粗距离门对应的单比特量化值中恢复出目标指示向量，根据目标指示向量，确定实际参数值。可以提升雷达目标参数监测的准确性，同时降低雷达信号处理过程中的功耗，并节约雷达系统成本。Based on the above research, this disclosure provides a radar target parameter detection method, device and electronic equipment, by controlling the radar to transmit carrier frequency signals and receive corresponding echo signals; the frequency-modulated sub-band signals are separated from the echo signals , the single-bit sampling sub-band signal obtains the sampling signal, and determines the corresponding single-bit quantization value of the sampling signal; the detection range of the radar is discretized into a distance grid, and the coarse range gate indicator vector is used to sparsely represent the sampling signal; according to the single-bit quantization value, Use the convex optimization algorithm to solve the coarse distance gate indicator vector, and determine the target coarse distance gate where the target is located; for the target coarse distance gate, discretize the range of various parameters to be measured for the target to be measured into corresponding sub-grids , use the target indicator vector indicating the actual parameter value of the parameter to be measured to sparsely represent the sampling signal; use an iterative algorithm to restore the target indicator vector from the single-bit quantization value corresponding to the target coarse range gate, and determine the actual parameter value according to the target indicator vector . The accuracy of radar target parameter monitoring can be improved, the power consumption in the radar signal processing process can be reduced, and the cost of the radar system can be saved.

为便于对本实施例进行理解，首先对本公开实施例所公开的一种雷达目标的参数检测方法进行详细介绍，本公开实施例所提供的雷达目标的参数检测方法的执行主体一般为具有一定计算能力的计算机设备，该计算机设备例如包括：终端设备或服务器或其它处理设备，终端设备可以为用户设备（User Equipment，UE）、移动设备、用户终端、终端、蜂窝电话、无绳电话、个人数字助理（Personal Digital Assistant，PDA）、手持设备、计算设备、车载设备、可穿戴设备等。在一些可能的实现方式中，该雷达目标的参数检测方法可以通过处理器调用存储器中存储的计算机可读指令的方式来实现。In order to facilitate the understanding of this embodiment, a parameter detection method for a radar target disclosed in the embodiment of the present disclosure is firstly introduced in detail. The executor of the parameter detection method for a radar target provided by the embodiment of the present disclosure generally has a certain computing power computer equipment, the computer equipment includes, for example: terminal equipment or server or other processing equipment, the terminal equipment can be user equipment (User Equipment, UE), mobile equipment, user terminal, terminal, cellular phone, cordless phone, personal digital assistant ( Personal Digital Assistant, PDA), handheld devices, computing devices, automotive devices, wearable devices, etc. In some possible implementation manners, the method for detecting parameters of a radar target may be implemented in a manner in which a processor invokes computer-readable instructions stored in a memory.

参见图1所示，为本公开实施例提供的一种雷达目标的参数检测方法的流程图，所述方法包括步骤S101~S106，其中：Referring to FIG. 1 , it is a flowchart of a radar target parameter detection method provided by an embodiment of the present disclosure, the method includes steps S101 to S106, wherein:

S101、控制雷达发射载频信号并接收对应的回波信号。S101. Control the radar to transmit a carrier frequency signal and receive a corresponding echo signal.

在具体实施中，雷达的发射端向待测目标发射载频信号，载频信号在到达待测目标之后被待测目标反射后变为回波信号，进而被雷达的接收端接收到，通过分析回波信号，即可得到待测目标对应的距离、运动速度以及方向角度等参数信息。In the specific implementation, the transmitting end of the radar transmits a carrier frequency signal to the target to be measured. After the carrier frequency signal reaches the target to be measured, it is reflected by the target to be measured and becomes an echo signal, which is then received by the receiving end of the radar. Through analysis The echo signal can be used to obtain parameter information such as the distance, movement speed and direction angle of the target to be measured.

具体的，雷达系统可以采用MIMO阵列，发射端可以为一个具有多根天线的均匀线性阵列，接收端也为具有多根天线的均匀线性阵，每根发射天线上发射不同载频信号，载频信号所选择的载频随着脉冲变化而随机改变。Specifically, the radar system can use a MIMO array. The transmitting end can be a uniform linear array with multiple antennas, and the receiving end can also be a uniform linear array with multiple antennas. Each transmitting antenna transmits different carrier frequency signals, and the carrier frequency The carrier frequency selected by the signal changes randomly as the pulse changes.

这里，雷达发射的载频信号对应的基带信号可以为调频连续波（FrequencyModulated Continuous Wave，FMCW），可以通过如下公式表示：Here, the baseband signal corresponding to the carrier frequency signal transmitted by the radar can be Frequency Modulated Continuous Wave (FMCW), which can be expressed by the following formula:

其中，

代表矩形函数，当

时，

，否则

；

代表FMCW的频率调制率，

，其中

代表基带信号带宽，

代表脉冲宽度。in,

represents a rectangular function, when

hour,

,otherwise

;

represents the frequency modulation rate of FMCW,

,in

represents the baseband signal bandwidth,

represents the pulse width.

进一步的，定义载频集合

为：

，其中，

表示初始载频，

，即共有M个不同的载频可以选择；

表示相邻载频之间的间隔。Further, define the carrier frequency set

for:

,in,

represents the initial carrier frequency,

, that is, there are M different carrier frequencies that can be selected;

Indicates the spacing between adjacent carrier frequencies.

这里，为了保证发射的载频信号之间正交性，令

。假设雷达系统的一个相干处理间隔(Coherent Processing Interval，CPI)中包含N个脉冲，对于第n个脉冲，第p个发射天线上的发射的载频信号可以表示为：Here, in order to ensure the orthogonality between the transmitted carrier frequency signals, let

. Assuming that a coherent processing interval (Coherent Processing Interval, CPI) of the radar system contains N pulses, for the nth pulse, the transmitted carrier frequency signal on the pth transmitting antenna can be expressed as:

对应的载频可以表示为：The corresponding carrier frequency can be expressed as:

其中，

代表第n个脉冲，第p个发射天线上的发射的载频信号；

代表第n个脉冲，第p个发射天线上的发射的载频信号对应的载频；

，表示对于第n个脉冲，第p个发射天线所选择的载频所对应的索引。in,

Represents the nth pulse, the transmitted carrier frequency signal on the pth transmitting antenna;

Represents the nth pulse, the carrier frequency corresponding to the transmitted carrier frequency signal on the pth transmitting antenna;

, represents the index corresponding to the carrier frequency selected by the p-th transmit antenna for the n-th pulse.

进一步的，对于雷达系统的接收端，假设存在L个理想远场点的待测目标，第l个待测目标的距离、运动速度以及方向角度分别表示为

，对于第n个脉冲，它在第p个发射天线和第q个接收天线之间的一个回波时延可以表示为：Further, for the receiving end of the radar system, assuming that there are L targets to be measured at ideal far-field points, the distance, moving speed and direction angle of the lth target to be measured are expressed as

, for the nth pulse, its echo delay between the pth transmit antenna and the qth receive antenna can be expressed as:

其中，

代表第n个脉冲在第p个发射天线和第q个接收天线之间的一个回波时延；c代表光速；

代表雷达发射天线之间的间隔，

代表雷达接收天线之间的间隔，因此，第q个接收天线对应第n个发射脉冲的回波信号可以表示为：in,

Represents an echo delay of the nth pulse between the pth transmitting antenna and the qth receiving antenna; c represents the speed of light;

represents the spacing between radar transmitting antennas,

Represents the interval between radar receiving antennas, therefore, the echo signal of the qth receiving antenna corresponding to the nth transmit pulse can be expressed as:

其中，

代表第l个待测目标的反射因子；

代表回波信号中的加性高斯白噪声；P代表雷达发射端的天线总数。in,

Represents the reflection factor of the lth target to be measured;

Represents the additive white Gaussian noise in the echo signal; P represents the total number of antennas at the radar transmitter.

S102、在所述回波信号中分离出去调频后的子带信号，单比特采样所述子带信号得到采样信号，确定所述采样信号对应的单比特量化值。S102. Separate the frequency-modulated sub-band signal from the echo signal, single-bit sample the sub-band signal to obtain a sampling signal, and determine a single-bit quantization value corresponding to the sampling signal.

在具体实施中，雷达接收端在接收到回波信号之后，需要对回波信号进行去调频处理，然后将去调频之后的回波信号通过低通滤波器，得到分离出来的子带信号，进而在得到分离出来的子带信号之后，对子带信号进行奈奎斯特采样得到采样信号，最后针对采样信号进行单比特量化，确定出采样信号对应的单比特量化值。In the specific implementation, after the radar receiver receives the echo signal, it needs to perform de-frequency modulation processing on the echo signal, and then pass the de-frequency-modulated echo signal through a low-pass filter to obtain the separated sub-band signal, and then After obtaining the separated sub-band signals, perform Nyquist sampling on the sub-band signals to obtain sampled signals, and finally perform single-bit quantization on the sampled signals to determine a single-bit quantized value corresponding to the sampled signals.

具体的，对于第p个发射天线和第q个接收天线的之间的子带信号可以表示为：Specifically, for the subband signal between the pth transmit antenna and the qth receive antenna can be expressed as:

其中，LPF代表进行低通滤波处理，近似的，上式可以表示为：Among them, LPF stands for low-pass filtering processing. Approximately, the above formula can be expressed as:

其中，

代表第p个发射天线和第q个接收天线的之间的子带信号；

代表归一化反射因子；

分别代表归一化速度频率和归一化角度频率；

代表实际载频和初始载频之间的相对因子；

代表噪声；Q代表雷达接收端的天线总数。in,

Represents the subband signal between the pth transmit antenna and the qth receive antenna;

Represents the normalized reflection factor;

represent the normalized velocity frequency and the normalized angle frequency, respectively;

Represents the relative factor between the actual carrier frequency and the initial carrier frequency;

Represents noise; Q represents the total number of antennas at the radar receiving end.

进一步的，对子带信号

进行奈奎斯特采样得到采样信号

，其中，G代表奈奎斯特采样个数；

代表复数集合。进而第g个采样值可以表示为如下形式：Further, for the subband signal

Perform Nyquist sampling to obtain the sampled signal

, where G represents the number of Nyquist samples;

Represents a set of complex numbers. Then the gth sampling value can be expressed in the following form:

其中，

代表奈奎斯特采样的采样间隔；系统的粗距离分辨率由雷达发射端发射的基带信号的带宽决定为：

，

代表基带信号的带宽，假设待测目标为低速运动目标且发射的基带信号为窄带信号，即满足条件

和

时，由脉冲之间导致的距离偏移：

和不同接收天线导致的距离偏移：

可以忽略，因此，采样信号可以简化为：in,

Represents the sampling interval of Nyquist sampling; the coarse range resolution of the system is determined by the bandwidth of the baseband signal transmitted by the radar transmitter as:

,

Represents the bandwidth of the baseband signal, assuming that the target to be measured is a low-speed moving target and the transmitted baseband signal is a narrowband signal, that is, the condition is satisfied

with

When , the distance shift caused by the pulses:

and the distance offset caused by different receiving antennas:

can be ignored, therefore, the sampled signal can be simplified as:

进一步的，对采样信号

进行单比特量化，进而得到

，代表单比特量化值的实部，

，代表单比特量化值的虚部，其中

为符号函数，可以表示为：

，在一个CPI中共会产生NPQ对单比特量化值，通过分析NPQ对单比特量化值，即可估计出每个待测目标的

，即距离、运动速度以及方向角度三个参数。Further, for the sampled signal

Perform single-bit quantization, and then get

, representing the real part of the single-bit quantized value,

, representing the imaginary part of a single-bit quantized value, where

As a symbolic function, it can be expressed as:

, in a CPI, NPQ pairs of single-bit quantization values will be generated. By analyzing the NPQ pairs of single-bit quantization values, the value of each target to be measured can be estimated.

, that is, the three parameters of distance, movement speed and direction angle.

这样，当信号带宽比较大时，通常的模数转换（ADC）器件要实现高速采样和高精度量化则需要很大的功耗和成本，而单比特ADC只需要一个比较器就能实现信号的量化功能，在考虑功耗和成本的情况下，通过单比特采样子带信号可以降低雷达信号处理过程中的功耗，并节约雷达系统成本。In this way, when the signal bandwidth is relatively large, the usual analog-to-digital conversion (ADC) device needs a lot of power consumption and cost to achieve high-speed sampling and high-precision quantization, while a single-bit ADC only needs a comparator to realize the signal. Quantization function, considering the power consumption and cost, the power consumption in the radar signal processing process can be reduced by sampling the sub-band signal with a single bit, and the cost of the radar system can be saved.

S103、将所述雷达的探测范围离散化为距离网格，采用粗距离门指示向量稀疏表示所述采样信号。S103. Discretize the detection range of the radar into a range grid, and use a coarse range gate indicator vector to sparsely represent the sampling signal.

该步骤中，将雷达的可探测范围，也就是待测目标可能存在的距离范围，均匀的离散化为多个距离网格，每个网格点所代表的距离可以根据相邻载频之间的间隔确定，当待测目标所处的距离落在某个距离网格内时，即代表待测目标所在的位置为对应的距离门处。In this step, the detectable range of the radar, that is, the possible distance range of the target to be measured, is uniformly discretized into multiple distance grids, and the distance represented by each grid point can be calculated according to the distance between adjacent carrier frequencies The interval is determined. When the distance of the target to be measured falls within a certain distance grid, it means that the position of the target to be measured is at the corresponding range gate.

需要说明的是，粗距离门指示向量为用于指示待测目标在距离网格中所处的粗距离门位置的向量，可以由采样信号的表达式中，除噪声项之外的项构成。It should be noted that the coarse range gate indication vector is a vector used to indicate the position of the coarse range gate of the target to be measured in the range grid, and may be composed of items in the expression of the sampled signal except the noise item.

在具体实施中，将待测目标可能出现的距离范围离散成G个距离网格，距离网格中每个网格的宽度为

，第g个网格点所代表的距离

可以表示为：

，g=0代表第一个网格点，当待测目标所处距离落在

上时，表明待测目标所在位置为第g个距离门。In the specific implementation, the distance range that the target to be measured may appear is discretized into G distance grids, and the width of each grid in the distance grid is

, the distance represented by the gth grid point

It can be expressed as:

, g=0 represents the first grid point, when the distance of the target to be measured falls within

When on, it indicates that the position of the target to be measured is the gth range gate.

这里，观察步骤S102中采样信号

的表达式中频率分量

，其可以表示为

，其中

，用于表示针对待测目标的距离观测值，而

为待测目标的距离实际值，由此表明雷达系统的最大不模糊距离为

，因此只要估计出

和

就能得到待测目标的距离实际值

，进而针对采样点

的估计就转化为针对距离网格内，待测目标所处的粗距离门的估计。Here, observe the sampling signal in step S102

The frequency components in the expression of

, which can be expressed as

,in

, used to represent the distance observation value for the target to be measured, and

is the actual distance value of the target to be measured, which shows that the maximum unambiguous distance of the radar system is

, so as long as the estimated

with

The actual value of the distance to the target to be measured can be obtained

, and then for the sampling point

The estimation of is transformed into the estimation of the coarse range gate where the target to be measured is located in the distance grid.

具体的，步骤S103可以通过如下步骤S1031-步骤S1033实现：Specifically, step S103 may be implemented through the following steps S1031-step S1033:

S1031、将所述雷达的探测范围离散化为距离网格，根据所述采样信号构建指示所述目标粗距离门位置的所述粗距离门指示向量。S1031. Discretize the detection range of the radar into a range grid, and construct the coarse range gate indication vector indicating the position of the target coarse range gate according to the sampled signal.

S1032、在快时间域上构建所述子带信号对应的频率网格，根据所述频率网格中的元素构建字典矩阵。S1032. Construct a frequency grid corresponding to the subband signal in the fast time domain, and construct a dictionary matrix according to elements in the frequency grid.

S1033、采用所述字典矩阵以及所述粗距离门指示向量表示所述采样信号，其中，所述粗距离门指示向量为稀疏向量。S1033. Represent the sampling signal by using the dictionary matrix and the coarse range gate indicator vector, where the coarse range gate indicator vector is a sparse vector.

在具体实施中，针对采样信号

，其粗距离门指示向量

可以表示为：In a specific implementation, for the sampled signal

, whose rough range gate indicator vector

It can be expressed as:

其中，

代表粗距离门指示向量；进而采样信号

可以重写为：in,

Represents the coarse range gate indicator vector; and then the sampling signal

can be rewritten as:

其中，

，用于代表归一化粗距离频率。in,

, used to represent the normalized coarse-range frequency.

进一步的，构建快时间域上频率网格

，频率网格中的第g元素为：

，根据频率网格中的元素构建的字典矩阵

可以表示为：Further, construct a frequency grid in the fast time domain

, the gth element in the frequency grid is:

, a dictionary matrix constructed from elements in the frequency grid

It can be expressed as:

进一步的，采用字典矩阵

以及粗距离门指示向量

表示的采样信号可以表示为：Further, using the dictionary matrix

and the coarse-range gate indicator vector

The sampled signal represented by can be expressed as:

其中，

代表稀疏表示后的采样信号；

代表粗距离门指示向量，

；

代表字典矩阵；

代表高斯噪声。in,

Represents the sampled signal after sparse representation;

Represents the coarse range gate indicator vector,

;

Represents a dictionary matrix;

stands for Gaussian noise.

这里，当

时，

，且目标个数

，因此向量

为稀疏向量。here, when

hour,

, and the number of targets

, so the vector

is a sparse vector.

S104、根据所述单比特量化值，采用凸优化算法求解所述粗距离门指示向量，确定待测目标所处的目标粗距离门。S104. According to the single-bit quantization value, use a convex optimization algorithm to solve the coarse-range gate indicator vector, and determine the target coarse-range gate where the target to be measured is located.

在具体实施中，从采样信号对应的单比特量化值中恢复出粗距离门指示向量的问题，可以理解为一个单比特压缩感知模型问题，其求解过程可以使用凸优化算法，求解得到的粗距离门指示向量其在距离网格中所指示的位置对应的粗距离门，即为待测目标所处的目标粗距离门。In the specific implementation, the problem of recovering the coarse distance gate indicator vector from the single-bit quantization value corresponding to the sampling signal can be understood as a single-bit compressed sensing model problem, and the solution process can use the convex optimization algorithm to solve the obtained rough distance The coarse distance gate corresponding to the position indicated by the gate indication vector in the distance grid is the target coarse distance gate where the target to be measured is located.

具体的，步骤S104可以通过如下步骤S1041-步骤S1044实现：Specifically, step S104 may be implemented through the following steps S1041-step S1044:

S1041、根据所述单比特量化值以及稀疏表示后的所述采样信号，构建第一单比特压缩感知模型。S1041. Construct a first single-bit compressed sensing model according to the single-bit quantized value and the sparsely represented sampled signal.

S1042、采用凸优化算法求解所述第一单比特压缩感知模型，从所述单比特量化值中恢复出所述粗距离门指示向量。S1042. Solve the first single-bit compressed sensing model by using a convex optimization algorithm, and restore the coarse range gate indicator vector from the single-bit quantization value.

S1043、将所述粗距离门指示向量进行取模，确定所述粗距离门指示向量取模后的峰值所指示的目标位置，其中，所述目标位置即为所述目标粗距离门对应的粗距离门位置。S1043. Take the modulus of the coarse-range gate indicator vector, and determine the target position indicated by the peak value of the coarse-range gate indicator vector after modulus, where the target position is the coarse-range gate corresponding to the target coarse-range gate. Distance door position.

S1044、根据所述粗距离门位置，在所述距离网格中，确定出所述目标粗距离门。S1044. Determine the target coarse-range gate in the distance grid according to the position of the coarse-range gate.

在具体实施中，由采样信号对应的单比特量化值以及经过粗距离门指示向量稀疏表示后的采样信号，组成第一单比特压缩感知模型，采用凸优化算法求解该第一单比特压缩感知模型，即可在单比特量化值中恢复出粗距离门指示向量，进而将恢复出的粗距离门指示向量取模后，其峰值所对应的位置即为待测目标所处的粗距离门的位置，对应于距离网格中，即可得到待测目标对应的粗距离门。In a specific implementation, the first single-bit compressed sensing model is composed of the single-bit quantization value corresponding to the sampled signal and the sampled signal sparsely represented by the coarse range gate indicator vector, and the convex optimization algorithm is used to solve the first single-bit compressed sensed model. , the coarse-range gate indicator vector can be recovered from the single-bit quantization value, and then the recovered coarse-range gate indicator vector is moduloed, and the position corresponding to its peak value is the position of the coarse-range gate where the target to be measured is located , corresponding to the range grid, the coarse range gate corresponding to the target to be measured can be obtained.

具体的，针对单比特量化值：

和

，以及经过粗距离门指示向量稀疏表示后的采样信号：

，组成第一单比特压缩感知模型，并采用凸优化算法进行求解，这里，凸优化算法可以表示为如下形式：Specifically, for single-bit quantization values:

with

, and the sampled signal after coarse range gate indicator vector sparse representation:

, to form the first single-bit compressed sensing model, and use the convex optimization algorithm to solve it. Here, the convex optimization algorithm can be expressed as the following form:

其中，

代表实部；

代表虚部。in,

represents the real part;

represents the imaginary part.

S105、针对所述目标粗距离门，分别将所述待测目标的多种待测参数的范围离散化为对应的子网格，采用指示所述待测参数的实际参数值的目标指示向量，稀疏表示所述采样信号。S105. For the target coarse-range gate, respectively discretize the ranges of various parameters to be measured of the target to be measured into corresponding sub-grids, and use a target indicator vector indicating the actual parameter value of the parameter to be measured, Sparsely represents the sampled signal.

该步骤中，在确定出待测目标所处的目标粗距离门之后，针对同一粗距离门内的待测目标，将待测目标的多种待测参数可能存在的范围离散成对应的子网格，例如，针对待测目标的距离、运动速度以及方向角度三个待检测参数，分别将距离参数可能存在的范围、运动速度参数可能存在的范围、以及方向角度参数可能存在的范围离散化为距离、运动速度以及方向角度三重网格。并且采用可以在子网格中指示出待测目标对应的实际参数值的目标指示向量稀疏表示采样信号。In this step, after determining the target coarse distance gate where the target to be measured is located, for the target to be measured within the same coarse distance gate, the possible ranges of various parameters to be measured of the target to be measured are discretized into corresponding subnetworks For example, for the three parameters to be detected, the distance, motion speed, and direction angle of the target to be measured, the possible range of the distance parameter, the possible range of the motion speed parameter, and the possible range of the direction angle parameter are discretized as Triple grid of distance, movement speed, and direction angle. And the sampling signal is sparsely represented by a target indication vector that can indicate the actual parameter value corresponding to the target to be measured in the sub-grid.

在具体实施中，针对采样信号

，分别将

离散化，构成一个三重网格，网格间距分别为归一化距离分辨率、归一化速度分辨率以及归一化角度分辨率，即

，三重网格中每个子网格集合可以表示为：In a specific implementation, for the sampled signal

, respectively

Discretization forms a triple grid, and the grid spacing is normalized distance resolution, normalized velocity resolution and normalized angle resolution, namely

, each subgrid set in the triple grid can be expressed as:

，用于代表距离参数子网格；

, used to represent the distance parameter subgrid;

用于代表速度参数子网格；

Used to represent the velocity parameter subgrid;

中

用于代表角度参数子网格。

middle

Used to represent the angle parameter subgrid.

进一步的，假设L个待测目标都落在三重网格中，则可以定义一个目标指示数据块

来辅助待测参数对应的实际参数值的估计，其中的元素为：Further, assuming that all L targets to be tested fall in the triple grid, a target indication data block can be defined

To assist in the estimation of the actual parameter value corresponding to the parameter to be measured, the elements of which are:

进一步的，将目标指示数据块

矢量化，得到目标指示向量

，其中

。Further, the target indicates the data block

Vectorization, get the target indicator vector

,in

.

具体的，步骤S105可以通过如下步骤S1051-步骤S1053实现：Specifically, step S105 can be realized through the following steps S1051-step S1053:

S1051、针对每个所述子网格，确定所述采样信号对应的归一化反射因子，以及在所述目标粗距离门处，所述采样信号对应的目标粗距离频率。S1051. For each of the sub-grids, determine a normalized reflection factor corresponding to the sampled signal, and at the target coarse-range gate, a target coarse-range frequency corresponding to the sampled signal.

S1052、由所述归一化反射因子、所述目标粗距离频率构建所述目标指示向量。S1052. Construct the target indication vector from the normalized reflection factor and the target coarse-range frequency.

S1053、采用所述目标指示向量稀疏表示所述采样信号。S1053. Sparsely represent the sampling signal by using the target indicator vector.

在具体实施中，假设待测目标位于的目标粗距离门为距离网格中，第g个粗距离门中，采样信号可以表示为：In a specific implementation, assuming that the target coarse-range gate where the target to be measured is located is in a distance grid, in the g-th coarse-range gate, the sampling signal can be expressed as:

这里，由归一化反射因子

以及目标粗距离频率

构建所述目标指示向量：

，因为在每一个目标粗距离门中对目标多参数估计的处理方式相同，因此只分析单个目标粗距离门中的参数估计即可，由此可以使用

代替

，定义归一化距离频率

，采用目标指示向量稀疏表示的采样信号可以表示为：Here, by the normalized reflection factor

and the target coarse-range frequency

Construct the target indicator vector:

, because the multi-parameter estimation of the target is processed in the same way in each target coarse-range gate, so only the parameter estimation in a single target coarse-range gate is analyzed, so you can use

replace

, defining the normalized distance frequency

, the sampled signal using the sparse representation of the target indicator vector can be expressed as:

此时，问题进而描述为从目标粗距离门对应的单比特量化值中估计出

即可。At this point, the problem is further described as estimating from the single-bit quantization value corresponding to the target coarse range gate

That's it.

S106、采用迭代算法从所述目标粗距离门对应的所述单比特量化值中恢复出所述目标指示向量，根据所述目标指示向量，确定所述实际参数值。S106. Recover the target indicator vector from the single-bit quantized value corresponding to the target coarse-range gate by using an iterative algorithm, and determine the actual parameter value according to the target indicator vector.

在具体实施中，与粗距离门的估计方式类似，从所述目标粗距离门对应的所述单比特量化值中恢复出所述目标指示向量的问题可以同样理解为一个单比特压缩感知模型问题，但是由于构建的网络中包括多个子网络，因此计算复杂度较大，可以采用迭代算法进行求解。In a specific implementation, similar to the estimation method of the coarse-range gate, the problem of recovering the target indicator vector from the single-bit quantization value corresponding to the target coarse-range gate can also be understood as a single-bit compressed sensing model problem , but since the constructed network includes multiple sub-networks, the computational complexity is relatively large, and an iterative algorithm can be used to solve it.

具体的，采用迭代算法从所述目标粗距离门对应的所述单比特量化值中恢复出所述目标指示向量的方法，可以通过如图2中所示的步骤S1061-步骤S1066实现，参见图2所示，为本公开实施例提供的另一种雷达目标的参数检测方法的流程图，所述方法包括步骤S1061~S1066，其中：Specifically, the method of recovering the target indicator vector from the single-bit quantization value corresponding to the target coarse distance gate by using an iterative algorithm can be realized through steps S1061-step S1066 as shown in FIG. 2 , see FIG. 2 is a flow chart of another radar target parameter detection method provided by an embodiment of the present disclosure. The method includes steps S1061 to S1066, wherein:

S1061、将所述单比特量化值的实部与虚部合并生成单比特量化向量。S1061. Combine the real part and the imaginary part of the single-bit quantized value to generate a single-bit quantized vector.

S1062、根据所述采样信号在所述目标粗距离门处对应的向量，构建所述采样信号对应的观测矩阵，根据所述采样信号中的噪声分量，构建所述采样信号对应的噪声矩阵。S1062. Construct an observation matrix corresponding to the sampled signal according to a vector corresponding to the sampled signal at the target coarse range gate, and construct a noise matrix corresponding to the sampled signal according to a noise component in the sampled signal.

S1063、构建以所述目标指示向量为元素的重构指示向量矩阵。S1063. Construct a reconstructed indicator vector matrix with the target indicator vector as an element.

S1064、基于所述单比特量化向量、所述重构指示向量矩阵、所述观测矩阵以及所述噪声矩阵，构建针对所述重构指示向量矩阵中的重构指示向量的第二单比特压缩感知模型。S1064. Based on the single-bit quantization vector, the reconstructed indicator vector matrix, the observation matrix, and the noise matrix, construct a second single-bit compressed sensing for the reconstructed indicator vector in the reconstructed indicator vector matrix Model.

S1065、采用二进制软阈值算法求解所述第二单比特压缩感知模型，确定所述采样信号在所述目标粗距离门处对应的最优重构指示向量；S1065. Solve the second single-bit compressed sensing model by using a binary soft threshold algorithm, and determine an optimal reconstruction indicator vector corresponding to the sampled signal at the target coarse range gate;

S1066、由所述最优重构指示向量表示所述目标指示向量的实部以及虚部，确定出所述目标指示向量。S1066. Using the optimal reconstructed indicator vector to represent the real part and the imaginary part of the target indicator vector, determine the target indicator vector.

在具体实施中，首先将单比特量化值的实部

和虚部

合并成单比特量化向量：

，构建观测矩阵

，这里，观测矩阵中的元素

，为子观测矩阵，子观测矩阵A满足

，其中，

代表由NPQ个子带信号中第g个距离门，即采样信号在所述目标粗距离门处对应的向量；

代表采样信号中的高斯白噪声。In the specific implementation, the real part of the single-bit quantization value is first

and imaginary part

Combine into single-bit quantized vectors:

, to construct the observation matrix

, here, the elements in the observation matrix

, is the sub-observation matrix, and the sub-observation matrix A satisfies

,in,

Represents the g-th range gate in the NPQ sub-band signals, that is, the vector corresponding to the sampling signal at the target coarse range gate;

Represents white Gaussian noise in the sampled signal.

这里，子观测矩阵

中的元素可以表示为：Here, the subobservation matrix

The elements in can be expressed as:

其中，

。in,

.

进一步的，噪声矩阵

，所述目标指示向量为元素的重构指示向量矩阵

也遵循噪声矩阵

以及观测矩阵

的结构形式进行构建，即

，使用二进制加权软阈值迭代算法进行求解，此时，第二单比特压缩感知模型可以构建为：Further, the noise matrix

, the target indicator vector is the reconstruction indicator vector matrix of elements

Also follows the noise matrix

and the observation matrix

The structural form is constructed, that is

, using the binary weighted soft threshold iterative algorithm to solve, at this time, the second single-bit compressed sensing model can be constructed as:

其中，函数

，

表示正权重值，可以使用权重矩阵对上述表达式进行简化得到。Among them, the function

,

Indicates a positive weight value, which can be obtained by simplifying the above expression using the weight matrix.

进一步的，第二单比特压缩感知模型可以描述为：Further, the second single-bit compressed sensing model can be described as:

其中，

为对角权重矩阵，对角元素为权重值。in,

is a diagonal weight matrix, and the diagonal elements are weight values.

这里，由于求解第二单比特压缩感知模型的问题是一个非凸问题，因此需借助阈值算法求解，定义软阈值算子为：Here, since the problem of solving the second single-bit compressed sensing model is a non-convex problem, it needs to be solved with the help of threshold algorithm, and the soft threshold operator is defined as:

其中，

代表软阈值算子；

代表正则化参数，在具体实施中可以由用户根据应用场景进行确定，在此不做具体限制。in,

Represents the soft threshold operator;

Represents a regularization parameter, which can be determined by the user according to the application scenario in specific implementation, and no specific limitation is set here.

进一步的，通过软阈值算子

可以写出求解第二单比特压缩感知模型的问题的最优性条件：

，根据最优性条件推导出整个算法流程为：Further, through the soft threshold operator

The optimality condition for solving the problem of the second single-bit compressive sensing model can be written:

, according to the optimality condition, the whole algorithm flow is deduced as:

输入：

，

，

，

enter:

,

,

,

初始化：

，

initialization:

,

While

and

doWhile

and

do

计算

calculate

更新

renew

更新

renew

计算

；

calculate

;

End whileEnd while

Return

Return

具体的，针对算法参数说明：

代表步骤S1066中构建的观测矩阵；

代表单比特量化向量；

代表算法总共迭代次数；

代表正则化参数，在具体实施中可以由用户根据应用场景进行确定，在此不做具体限制；

代表误差阈值，当误差小于或等于

时停止迭代；

代表迭代次数；

代表每次迭代的误差；

是一个正常数，以保证

分母不为零。Specifically, for the algorithm parameter description:

represents the observation matrix constructed in step S1066;

Represents a single-bit quantized vector;

Represents the total number of iterations of the algorithm;

Represents the regularization parameter, which can be determined by the user according to the application scenario in specific implementation, and no specific limitation is made here;

Represents the error threshold, when the error is less than or equal to

stop iteration when

represents the number of iterations;

represents the error of each iteration;

is a constant, so that

The denominator is not zero.

进一步的，确定所述目标指示向量中最大元素对应的目标参数索引；针对每个所述子网格，将该子网格中所述目标参数索引对应的参数值，作为该子网格对应的待测参数类型的参数值。Further, determine the target parameter index corresponding to the largest element in the target indicator vector; for each of the sub-grids, use the parameter value corresponding to the target parameter index in the sub-grid as the corresponding The parameter value of the parameter type to be tested.

这里，使用二进制软阈值算法得到最优重构指示向量

后，目标指示向量

可以表示为：Here, the optimal reconstruction indicator vector is obtained by using the binary soft threshold algorithm

After that, the target indicator vector

It can be expressed as:

然后找出

中最大的数量与待测目标数量相同个数的元素的索引，从而计算得到目标的待测参数对应的实际参数值。then find out

The index of the element with the largest number equal to the number of the target to be measured, so as to calculate the actual parameter value corresponding to the measured parameter of the target.

本公开实施例提供的一种雷达目标的参数检测方法、装置及电子设备，通过控制雷达发射载频信号并接收对应的回波信号；在回波信号中分离出去调频后的子带信号，单比特采样子带信号得到采样信号，确定采样信号对应的单比特量化值；将雷达的探测范围离散化为距离网格，采用粗距离门指示向量稀疏表示采样信号；根据单比特量化值，采用凸优化算法求解粗距离门指示向量，确定待测目标所处的目标粗距离门；针对目标粗距离门，分别将待测目标的多种待测参数的范围离散化为对应的子网格，采用指示待测参数的实际参数值的目标指示向量，稀疏表示采样信号；采用迭代算法从目标粗距离门对应的单比特量化值中恢复出目标指示向量，根据目标指示向量，确定实际参数值。可以提升雷达目标参数监测的准确性，同时降低雷达信号处理过程中的功耗，并节约雷达系统成本。A radar target parameter detection method, device, and electronic equipment provided by the embodiments of the present disclosure control the radar to transmit carrier frequency signals and receive corresponding echo signals; separate the frequency-modulated sub-band signals from the echo signals, and single Bit-sampled sub-band signals to obtain sampling signals, and determine the corresponding single-bit quantization value of the sampling signal; discretize the detection range of the radar into a distance grid, and use the rough range gate to indicate the vector to sparsely represent the sampling signal; according to the single-bit quantization value, use convex The optimization algorithm solves the coarse-range gate indicator vector, and determines the target coarse-range gate where the target to be measured is located; for the target coarse-range gate, the ranges of various parameters to be measured of the target to be measured are discretized into corresponding sub-grids, using The target indicator vector indicating the actual parameter value of the parameter to be measured sparsely represents the sampling signal; an iterative algorithm is used to recover the target indicator vector from the single-bit quantization value corresponding to the target coarse range gate, and the actual parameter value is determined according to the target indicator vector. The accuracy of radar target parameter monitoring can be improved, the power consumption in the radar signal processing process can be reduced, and the cost of the radar system can be saved.

本领域技术人员可以理解，在具体实施方式的上述方法中，各步骤的撰写顺序并不意味着严格的执行顺序而对实施过程构成任何限定，各步骤的具体执行顺序应当以其功能和可能的内在逻辑确定。Those skilled in the art can understand that in the above method of specific implementation, the writing order of each step does not imply a strict execution order and constitutes any limitation on the implementation process. The specific execution order of each step should be based on its function and possible The inner logic is OK.

基于同一发明构思，本公开实施例中还提供了与雷达目标的参数检测方法对应的雷达目标的参数检测装置，由于本公开实施例中的装置解决问题的原理与本公开实施例上述雷达目标的参数检测方法相似，因此装置的实施可以参见方法的实施，重复之处不再赘述。Based on the same inventive concept, the embodiment of the present disclosure also provides a radar target parameter detection device corresponding to the radar target parameter detection method, because the problem-solving principle of the device in the present disclosure embodiment is the same as that of the above-mentioned radar target in the present disclosure embodiment The parameter detection method is similar, so the implementation of the device can refer to the implementation of the method, and the repetition will not be repeated.

请参阅图3，图3为本公开实施例提供的一种雷达目标的参数检测装置的示意图。如图3中所示，本公开实施例提供的雷达目标的参数检测装置300包括：Please refer to FIG. 3 . FIG. 3 is a schematic diagram of an apparatus for detecting parameters of a radar target provided by an embodiment of the present disclosure. As shown in FIG. 3 , the radar target parameter detection device 300 provided by the embodiment of the present disclosure includes:

发射与接收模块310，用于控制雷达发射载频信号并接收对应的回波信号；The transmitting and receiving module 310 is used to control the radar to transmit carrier frequency signals and receive corresponding echo signals;

单比特采样模块320，用于在所述回波信号中分离出去调频后的子带信号，单比特采样所述子带信号得到采样信号，确定所述采样信号对应的单比特量化值；The single-bit sampling module 320 is configured to separate the frequency-modulated sub-band signal from the echo signal, single-bit sample the sub-band signal to obtain a sampling signal, and determine a single-bit quantization value corresponding to the sampling signal;

距离网格划分模块330，用于将所述雷达的探测范围离散化为距离网格，采用粗距离门指示向量稀疏表示所述采样信号；A range grid division module 330, configured to discretize the detection range of the radar into a range grid, and use a coarse range gate indicator vector to sparsely represent the sampled signal;

粗距离门确定模块340，用于根据所述单比特量化值，采用凸优化算法求解所述粗距离门指示向量，确定待测目标所处的目标粗距离门；The coarse-range gate determination module 340 is used to solve the coarse-range gate indicator vector by using a convex optimization algorithm according to the single-bit quantized value, and determine the target coarse-range gate where the target to be measured is located;

子网格划分模块350，用于针对所述目标粗距离门，分别将所述待测目标的多种待测参数的范围离散化为对应的子网格，采用指示所述待测参数的实际参数值的目标指示向量，稀疏表示所述采样信号；The sub-grid division module 350 is configured to discretize the ranges of various parameters to be measured of the target to be measured into corresponding sub-grids for the coarse-range gate of the target, and adopt the actual grid indicating the parameter to be measured. a target indicator vector of parameter values, sparsely representing said sampled signal;

参数确定模块360，用于采用迭代算法从所述目标粗距离门对应的所述单比特量化值中恢复出所述目标指示向量，根据所述目标指示向量，确定所述实际参数值。The parameter determination module 360 is configured to use an iterative algorithm to recover the target indicator vector from the single-bit quantized value corresponding to the target coarse-range gate, and determine the actual parameter value according to the target indicator vector.

关于装置中的各模块的处理流程、以及各模块之间的交互流程的描述可以参照上述方法实施例中的相关说明，这里不再详述。For the description of the processing flow of each module in the device and the interaction flow between the modules, reference may be made to the relevant description in the above method embodiment, and details will not be described here.

本公开实施例提供的一种雷达目标的参数检测装置，通过控制雷达发射载频信号并接收对应的回波信号；在回波信号中分离出去调频后的子带信号，单比特采样子带信号得到采样信号，确定采样信号对应的单比特量化值；将雷达的探测范围离散化为距离网格，采用粗距离门指示向量稀疏表示采样信号；根据单比特量化值，采用凸优化算法求解粗距离门指示向量，确定待测目标所处的目标粗距离门；针对目标粗距离门，分别将待测目标的多种待测参数的范围离散化为对应的子网格，采用指示待测参数的实际参数值的目标指示向量，稀疏表示采样信号；采用迭代算法从目标粗距离门对应的单比特量化值中恢复出目标指示向量，根据目标指示向量，确定实际参数值。可以提升雷达目标参数监测的准确性，同时降低雷达信号处理过程中的功耗，并节约雷达系统成本。The parameter detection device of a radar target provided by an embodiment of the present disclosure controls the radar to transmit a carrier frequency signal and receives a corresponding echo signal; separates the frequency-modulated sub-band signal from the echo signal, and single-bit samples the sub-band signal Obtain the sampling signal and determine the single-bit quantization value corresponding to the sampling signal; discretize the detection range of the radar into a distance grid, and use the coarse range gate indicator vector to represent the sampling signal sparsely; according to the single-bit quantization value, use the convex optimization algorithm to solve the rough distance The gate indication vector is used to determine the target coarse distance gate where the target to be measured is located; for the target coarse distance gate, the ranges of various parameters to be measured of the target to be measured are discretized into corresponding sub-grids, and The target indicator vector of the actual parameter value sparsely represents the sampling signal; the target indicator vector is recovered from the single-bit quantization value corresponding to the target coarse-range gate by an iterative algorithm, and the actual parameter value is determined according to the target indicator vector. The accuracy of radar target parameter monitoring can be improved, the power consumption in the radar signal processing process can be reduced, and the cost of the radar system can be saved.

对应于图1与图2中的雷达目标的参数检测方法，本公开实施例还提供了一种电子设备400，如图4所示，为本公开实施例提供的电子设备400结构示意图，包括：Corresponding to the parameter detection method of the radar target in FIG. 1 and FIG. 2, the embodiment of the present disclosure also provides an electronic device 400, as shown in FIG. 4, which is a schematic structural diagram of the electronic device 400 provided by the embodiment of the present disclosure, including:

处理器41、存储器42、和总线43；存储器42用于存储执行指令，包括内存421和外部存储器422；这里的内存421也称内存储器，用于暂时存放处理器41中的运算数据，以及与硬盘等外部存储器422交换的数据，处理器41通过内存421与外部存储器422进行数据交换，当所述电子设备400运行时，所述处理器41与所述存储器42之间通过总线43通信，使得所述处理器41执行图1与图2中的雷达目标的参数检测方法的步骤。Processor 41, memory 42, and bus 43; Memory 42 is used for storing execution order, comprises memory 421 and external memory 422; Memory 421 here is also called internal memory, is used for temporarily storing the operation data in processor 41, and with The data exchanged by the external memory 422 such as hard disk, the processor 41 exchanges data with the external memory 422 through the memory 421, when the electronic device 400 is running, the processor 41 communicates with the memory 42 through the bus 43, so that The processor 41 executes the steps of the radar target parameter detection method in FIG. 1 and FIG. 2 .

本公开实施例还提供一种计算机可读存储介质，该计算机可读存储介质上存储有计算机程序，该计算机程序被处理器运行时执行上述方法实施例中所述的雷达目标的参数检测方法的步骤。其中，该存储介质可以是易失性或非易失的计算机可读取存储介质。An embodiment of the present disclosure also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is run by a processor, the method for detecting the parameter of a radar target described in the above-mentioned method embodiment is executed. step. Wherein, the storage medium may be a volatile or non-volatile computer-readable storage medium.

本公开实施例还提供一种计算机程序产品，该计算机程序产品包括有计算机指令，所述计算机指令被处理器执行时可以执行上述方法实施例中所述的雷达目标的参数检测方法的步骤，具体可参见上述方法实施例，在此不再赘述。Embodiments of the present disclosure also provide a computer program product, the computer program product includes computer instructions, and when the computer instructions are executed by a processor, the steps of the radar target parameter detection method described in the above method embodiments can be executed, specifically Reference may be made to the foregoing method embodiments, and details are not repeated here.

其中，上述计算机程序产品可以具体通过硬件、软件或其结合的方式实现。在一个可选实施例中，所述计算机程序产品具体体现为计算机存储介质，在另一个可选实施例中，计算机程序产品具体体现为软件产品，例如软件开发包（Software Development Kit，SDK）等等。Wherein, the above-mentioned computer program product may be specifically implemented by means of hardware, software or a combination thereof. In an optional embodiment, the computer program product is embodied as a computer storage medium. In another optional embodiment, the computer program product is embodied as a software product, such as a software development kit (Software Development Kit, SDK), etc. Wait.

所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的装置的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。在本公开所提供的几个实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，又例如，多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些通信接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。Those skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the device described above can refer to the corresponding process in the foregoing method embodiment, and details are not repeated here. In the several embodiments provided in the present disclosure, it should be understood that the disclosed devices and methods may be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some communication interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

另外，在本公开各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.

所述功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个处理器可执行的非易失的计算机可读取存储介质中。基于这样的理解，本公开的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备（可以是个人计算机，服务器，或者网络设备等）执行本公开各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器（Read-OnlyMemory，ROM）、随机存取存储器（Random Access Memory，RAM）、磁碟或者光盘等各种可以存储程序代码的介质。If the functions are realized in the form of software function units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium executable by a processor. Based on this understanding, the technical solution of the present disclosure is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in various embodiments of the present disclosure. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk, and other media capable of storing program codes.

最后应说明的是：以上所述实施例，仅为本公开的具体实施方式，用以说明本公开的技术方案，而非对其限制，本公开的保护范围并不局限于此，尽管参照前述实施例对本公开进行了详细的说明，本领域的普通技术人员应当理解：任何熟悉本技术领域的技术人员在本公开揭露的技术范围内，其依然可以对前述实施例所记载的技术方案进行修改或可轻易想到变化，或者对其中部分技术特征进行等同替换；而这些修改、变化或者替换，并不使相应技术方案的本质脱离本公开实施例技术方案的精神和范围，都应涵盖在本公开的保护范围之内。因此，本公开的保护范围应所述以权利要求的保护范围为准。Finally, it should be noted that: the above-mentioned embodiments are only specific implementations of the present disclosure, and are used to illustrate the technical solutions of the present disclosure, rather than limit them, and the protection scope of the present disclosure is not limited thereto, although referring to the aforementioned The embodiments have described the present disclosure in detail, and those skilled in the art should understand that any person familiar with the technical field can still modify the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present disclosure Changes can be easily imagined, or equivalent replacements can be made to some of the technical features; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure, and should be included in this disclosure. within the scope of protection. Therefore, the protection scope of the present disclosure should be defined by the protection scope of the claims.