CN121069314B - Radar data transmission methods and radar systems - Google Patents
Radar data transmission methods and radar systemsInfo
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- CN121069314B CN121069314B CN202511635676.2A CN202511635676A CN121069314B CN 121069314 B CN121069314 B CN 121069314B CN 202511635676 A CN202511635676 A CN 202511635676A CN 121069314 B CN121069314 B CN 121069314B
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Abstract
A radar data transmission method and a radar system belong to the field of radar data transmission. The method comprises the steps of S100, controlling a radar detection environment to obtain heat map data, S200, carrying out data point screening on the heat map data by a radar, wherein the operation comprises calculation of energy value and curvature value of each data point in the heat map, the selected data points comprise data points with curvature values larger than a second threshold M2 and energy values larger than a third threshold M3 in the heat map data, S300, forming a transmission data set based on the selected data points and containing coordinates and energy values of the selected data points in the heat map data, S400, sending the transmission data set to a host by the radar, and carrying out pseudo-random reconstruction on the heat map data by filling preset values with radar background noise as reference on positions of the discarded data based on the data of the received transmission data set. The invention can obviously reduce the data transmission quantity between the radar and the host machine and reduce the data throughput pressure of the radar system on the premise of ensuring the accurate transmission of the effective target data.
Description
Technical Field
The invention belongs to the technical field of radar data transmission, and particularly relates to a radar data transmission method and a radar system.
Background
Taking millimeter wave radar as an example, radar devices are rapidly spreading in everyday applications. With the enhancement of radar detection functions, the number of parameter measurement dimensions, such as the dimensions of measurement distance, speed, pitch angle, azimuth angle, and the like, is increased, the scale of transmitting heat map data from a radar to a host (host) is huge, and when the transmission bandwidth from the radar to the host is limited, the data is difficult to be timely transmitted to the host.
In order to reduce the data transmission quantity, the prior art adopts the following scheme that the laser radar point cloud is compressed through an octree compression algorithm, and only differentiated newly-added data is transmitted in an incremental transmission mode, so that the transmission efficiency is improved, but the compression algorithm adopted by the scheme is complex, and the algorithm occupies larger data processing resources of the system.
Similarly, another prior art adopts a scheme of performing fourier operation on radar antenna data to obtain difference data between each antenna of the remaining antennas and the selected antenna by taking the received data of one antenna as a reference, compressing and encoding the obtained data to transmit, and transmitting only the data and the difference data of one antenna, thereby improving transmission efficiency, but the scheme has almost no data compression capability for a region where thermal noise is distributed.
Disclosure of Invention
The invention provides a radar data transmission method and a radar system, and aims to reduce the data transmission quantity and the data throughput pressure of the radar system. The technical scheme for realizing the invention is as follows:
in a first aspect, the present invention provides a radar data transmission method, including:
s100, controlling a radar detection environment to obtain heat map data;
S200, controlling a radar to conduct data point screening on the heat map data, wherein the data point screening comprises the operation of calculating the energy value and the curvature value of each data point in the heat map, and the selected data points comprise the data points with the curvature values larger than a second threshold M2 and the energy values larger than a third threshold M3 in the heat map data;
S300, forming a transmission data set based on the selected data points, wherein the transmission data set comprises coordinates and energy values of the selected data points in heat map data;
s400, the control radar sends the transmission data set to the host, and the host performs pseudo-random reconstruction on the heat map data by filling a preset value with radar noise as a reference on the position of the discarded data based on the received data of the transmission data set.
The heat map data comprises two-dimensional, three-dimensional or four-dimensional heat map data formed by any one dimension or any combination of the four dimensions of a distance dimension, a Doppler dimension, a pitching angle dimension and an azimuth angle dimension which are obtained by a radar.
As a preferable technical scheme, in step S200, when the heat map data is screened, the selected data points also comprise a maximum value point with the energy value larger than a first threshold M1 and a plurality of points in a preset neighborhood of the maximum value point, wherein M3 is more than or equal to M1.
In step S200, when screening the heat map data, the method further includes performing inflection point identification on each data point in the heat map, and the selected data point further includes an inflection point in the heat map data with an energy value greater than a first threshold M1 and a plurality of data points in a preset neighborhood of the inflection point.
In step S200, when screening heat map data with more than two dimensions, saddle point identification is performed on each data point in the heat map, and the selected data point further includes saddle points with energy values greater than a first threshold M1 in the heat map data and a plurality of data points in a preset neighborhood of the saddle points.
In a preferred embodiment, in step S300, when the transmission data set is formed based on the selected data points, the operation of compressing the coordinates and energy value data of the selected data points in the heat map data is further included.
As a preferred technical solution, in step S400, the operation manner of performing pseudo-random reconstruction on the heat map data is as follows:
random values subject to a preset statistical distribution are filled in the positions of the discarded data points.
In step S400, the method for determining the random value of the preset statistical distribution comprises at least one of ① determining the random value by using Gaussian distribution with radar background noise energy as variance, ② determining the random value by using uniform distribution in a preset range, ③ determining the random value according to the spectral characteristics of flicker noise energy, ④ determining the random value after filtering by a Gaussian white noise, and the random value is smaller than the preset first threshold M1.
In a second aspect, the invention provides a radar system comprising a radar and a host in communication connection with the radar, wherein the radar and the host cooperate to execute the radar data transmission method.
As a preferred embodiment, the radar includes:
The heat map data acquisition module is used for detecting the environment and acquiring heat map data;
The data screening module is used for carrying out data point screening on the heat map data and comprises the operation of calculating the energy value and the curvature value of each data point in the heat map, wherein the selected data points comprise the data points with the curvature value larger than a second threshold M2 and the energy value larger than a third threshold M3 in the heat map data;
The data set generation module is used for forming a transmission data set based on the selected data points, wherein the transmission data set comprises coordinates and energy values of the selected data points in the heat map data;
a data sending module, configured to send a transmission data set to the host;
the host includes:
A data receiving module for receiving the transmission data set;
And the heat map reconstruction module performs pseudo-random reconstruction on heat map data by filling a preset value with radar noise as a reference on the position of the discarded data based on the received data of the transmission data set.
The technical scheme of the invention has the beneficial effects that the efficient radar heat map data transmission method is provided, the data processing algorithm is simpler on the premise of ensuring the accurate transmission of effective target data, the processed data volume is small, the data transmission volume between a radar and a host can be obviously reduced, and the data throughput pressure of a radar system is reduced.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a radar data transmission method according to an embodiment of the present invention.
Fig. 2 is a configuration diagram of a radar system provided in an embodiment of the present invention.
Detailed Description
In order to make the technical solution of the present invention clearer, technical advantages will become more apparent, the technical solution of the present invention will be clearly and completely described in connection with specific embodiments, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which are apparent to those of ordinary skill in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the present disclosure.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the element(s) defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other like elements in different embodiments of the application having the same meaning as may be defined by the same meaning as they are explained in this particular embodiment or by further reference to the context of this particular embodiment.
It should be understood that, although the steps in the flowcharts in the embodiments of the present application are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited in order and may be performed in other orders, unless explicitly stated herein. Moreover, at least some of the steps in the figures may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order of their execution not necessarily occurring in sequence, but may be performed alternately or alternately with other steps or at least a portion of the other steps or stages.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the invention. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the following detailed description of the embodiments of the present invention will be given with reference to the accompanying drawings.
As shown in fig. 1, as a basic implementation manner, the radar data transmission method provided in this embodiment includes:
s100, controlling a radar detection environment to obtain heat map data;
S200, controlling a radar to conduct data point screening on the heat map data, wherein the data point screening comprises the operation of calculating the energy value and the curvature value of each data point in the heat map, and the selected data points comprise the data points with the curvature values larger than a second threshold M2 and the energy values larger than a third threshold M3 in the heat map data;
S300, forming a transmission data set based on the selected data points, wherein the transmission data set comprises coordinates and energy values of the selected data points in heat map data;
s400, the control radar sends the transmission data set to the host, and the host performs pseudo-random reconstruction on the heat map data by filling a preset value with radar noise as a reference on the position of the discarded data based on the received data of the transmission data set.
In the above step S100, the radar detection environment is controlled without limitation to the working system of the radar. Taking a Frequency Modulation Continuous Wave (FMCW) radar as an example, the radar transmits a linear frequency modulation signal to detect the environment, a receiving antenna receives an environment reflection echo, and an ADC sampling data matrix acquired by each receiving antenna is obtained after deskewing receiving and analog-to-digital conversion sampling processing of the echo signal. Or taking a Step Frequency (SFCW) radar as an example, the radar transmits a frequency step waveform, and then performs corresponding receiving processing to obtain an ADC sampling data matrix.
In the above-mentioned radar data transmission method, in step S100, the heat map data is acquired as follows:
Firstly, static clutter suppression is carried out on an ADC sampling data matrix so as to remove interference caused by static objects/direct current components in the environment. The static clutter suppression alternative method comprises operations such as inter-frame difference, average value cancellation, high-pass filtering and the like.
In this embodiment, the heat map refers to a distribution map of signal echo energy in a detection environment obtained by radar processing echo signals, and measures dimensions according to parameters including a conventional two-dimensional heat map, such as a distance-speed heat map and a distance-angle heat map, a three-dimensional heat map, such as a distance-speed-pitch angle heat map and a distance-speed-azimuth angle heat map, a heat map obtained by single measurement dimension and spreading in time, such as a distance-time heat map, a distance spectrum is combined into a distance-time heat map along a time sequence, and a similar heat map formed by spreading such single measurement dimension in time, such as a speed-time heat map and an angle-time heat map, is called Shan Weire map, and further includes a four-dimensional heat map such as a distance-speed-pitch angle-azimuth angle.
The dimensions of the heat map are not distinguished or limited, and are collectively referred to as heat map data, if not necessary. That is, the heat map data comprises two-dimensional, three-dimensional or four-dimensional heat map data formed by any one dimension or any combination of four dimensions of a distance dimension, a Doppler dimension, a pitching angle dimension and an azimuth angle dimension obtained by a radar.
The following description of single, two, three and four-dimensional heat map data is provided by way of example:
① Shan Weire diagram:
for example, one data branch of the distance-time heat map at a certain moment is obtained by performing 1D-FFT processing on ADC sampling data in the distance dimension, and then, for example, one data branch of the speed-time heat map at a certain moment is obtained by performing 1D-FFT processing on ADC sampling data in the speed dimension, and then, for example, one data branch of the angle-time heat map at a certain moment is obtained by performing 1D-FFT processing on ADC sampling data in the angle dimension (pitch or azimuth).
② Two-dimensional heat map:
taking the distance-speed heat map as an example, the distance-speed heat map data is obtained by performing 2D-FFT processing on ADC sampling data, namely, performing distance dimension 1D-FFT processing firstly, and performing 1D-FFT processing on the result of the distance FFT in a slow time dimension, and taking a module or a module side of the result data.
Taking distance-angle heat maps as an example:
the method 1 comprises the steps of carrying out 1D-FFT processing on data acquired by a plurality of antenna-dimension receiving antennas in a distance dimension to obtain a distance FFT result, and carrying out 1D-FFT/2D-FFT on the antenna dimension to obtain distance-angle heat map data by taking a module or a module square of the result data.
And 2, carrying out parameter estimation by combining a super-resolution algorithm such as MUSIC, MVDR and the like with spectrum search to obtain distance-angle heat map data. The invention does not limit the super-resolution algorithm selected by the radar.
③ Three-dimensional heat map:
Taking a distance-speed-angle heat map as an example, performing 3D-FFT processing on ADC sampling data acquired by a plurality of receiving antennas, namely performing 1D-FFT on 2D-FFT results of the plurality of antennas in an antenna dimension, and obtaining distance-speed-angle heat map data by taking a model or a model square of the result data. For example, the selected antennas are arranged linearly in the horizontal direction to obtain distance-speed-azimuth heat map data, and for example, the selected antennas are arranged linearly in the vertical direction to obtain distance-speed-elevation heat map data, if the selected antennas are arranged in an area array form, 2D-FFT is performed on the 2D-FFT results of a plurality of antennas in the antenna dimension, and the obtained result data is subjected to modulo or die side to obtain distance-speed-azimuth-elevation four-dimensional heat map data.
In the above-mentioned radar data transmission method, in step S200, the heat map data is screened, which is specifically described as follows:
In a preferred embodiment, in step S200, when the heat map data is screened, the operation of calculating the energy value and the curvature value of each data point in the heat map is performed, where the selected data point includes the data points in the heat map data having the curvature value greater than the second threshold M2 and the energy value greater than the third threshold M3. Specifically, the second threshold M2 is a curvature threshold, and the third threshold M3 is a threshold for limiting the energy value intensity. According to the preferred embodiment, the energy concentration area can be more completely found out by reserving the non-extreme points with large curvature and high energy intensity, so that the omission of key data related to the target is avoided.
In the above preferred embodiment, the curvature calculating method includes calculating a one-dimensional curve curvature, a two-dimensional plane curvature, such as gaussian curvature, average curvature, principal curvature, etc., a high-dimensional risman curvature, etc., and the present invention is not limited to the specific manner of curvature calculation.
As a further preferred embodiment, in step S200, when the heat map data is screened, the selected data points further include a maximum point with an energy value greater than a first threshold M1 in the heat map data and a plurality of points in a preset neighborhood thereof, M3 is greater than or equal to M1, and unselected data points are discarded, which is specifically described as follows:
A first threshold M1 is set to limit the energy value intensity, and the first threshold M1 is set according to the radar bottom noise.
Firstly, the selected data points comprise the maximum value point with the energy value larger than the first threshold M1 in the heat map data and a plurality of points in the preset neighborhood of the maximum value point, and at the moment, the unselected data points can be discarded or can be used for further selection operation.
Specifically, taking N-dimensional heat map data as an example, a 1,a2,...an,...,aN represents coordinates of a data point a on the heat map, B 1,b2,...bn,...,bN represents coordinates of a data point B on the heat map, and if for a given value of N (n=1, 2,3,., N), i B n-an i does not exceed 1, B is a neighbor point of a in the N-th dimension of the heat map; for all n=1, 2,3,..n, |b n-an | does not exceed 1, then B is the neighbor point of a in the heatmap.
The judging method of the maximum point comprises the steps of 1) judging that a value of a certain point on the heat map is not smaller than all neighbor points on the heat map, and 2) judging that the value of the certain point on the heat map is not smaller than the neighbor points on a certain dimension of the heat map, wherein the point is the maximum point on a corresponding dimension. The maximum point can be selected from the full-dimension maximum point or the maximum point in a certain/some appointed dimension, and the maximum point in a part of appointed dimension is selected as a weakening judgment, which is helpful for reserving more data of the heat map, but can increase the data transmission quantity, and whether to select or not is determined according to the actual transmission bandwidth and the requirement.
Further, for point B, if all n=1, 2,3,..n, |b n-an | does not exceed m, then B is the point of a within the m-neighborhood, where m is an integer. In the application, a plurality of points in a preset neighborhood of a certain point on the heat map refer to all points in the m-neighborhood of the point, and the preset typical value of m is 1,2,3, and the m value is large, which is helpful for reserving more data of the heat map, but increases the data transmission quantity, and the neighborhood range needs to be preset according to the actual transmission bandwidth and the requirement, and the application is not limited.
In another preferred embodiment, in step S200, when screening the heat map data in one or two dimensions, the method further includes performing inflection point identification on each data point in the heat map, and the selected data point further includes an inflection point in the heat map data with an energy value greater than a first threshold M1 and a plurality of data points in a preset neighborhood of the inflection point. For example, for two-dimensional heat map data, selecting inflection points larger than the first threshold M1 on the heat map and all data points in a rectangular area defined by P data points extending bidirectionally along two coordinate axes by taking the inflection point coordinate position as the center, wherein typical values of P are 1,2 and 3.
In a further preferred embodiment, in step S200, when screening the heat map data with respect to heat map data with more than two dimensions, the method further includes performing saddle point identification on each data point in the heat map, and the selected data point further includes saddle points with energy values greater than the first threshold M1 in the heat map data and a plurality of data points within a preset vicinity of the saddle points. And selecting saddle points on the heat map, which are larger than a first threshold, and taking the coordinate positions of the saddle points as the center, and respectively extending all data points in a cube area defined by K data points along three coordinate axes in a bidirectional mode, wherein typical values of K are 1,2 and 3.
In the two preferred embodiments, the inflection point and the saddle point follow the definitions in the published literature, and the invention is not repeated and is not restricted.
The radar data transmission method is characterized by comprising the steps of selecting data, reserving coordinate values and energy intensity values of selected data points in a heat map as data to be transmitted, constructing a data set to be transmitted, and discarding unselected points in the heat map. The data volume transmitted to the host can be greatly reduced on the basis of keeping the required key information, and the data throughput pressure of the radar system is obviously reduced.
In addition, in the step S300 of the radar data transmission method, when the transmission data set is formed based on the selected data points, the operation of compressing the coordinates and energy value data of the selected data points in the heat map data is further included, so that the data volume can be further reduced.
Specifically, data in each maximum point (or inflection point or saddle point) and the neighborhood thereof are used as a group to be compressed, the compression scheme can select a P-order polynomial model to fit each group, a least square fitting coefficient is calculated, residual errors of the fitted data and real data are obtained, encoding compression (such as Huffman encoding, quantization into low bit width data or differential encoding) is carried out on the residual error data, and the fitting coefficient and the encoded compressed residual errors are used as corresponding transmission contents.
It will be appreciated that the data in the neighborhood has a correlation and the fit value is close to the true value, so the residual will be small. The number of bits required to encode the small residual is much less than if the original data were encoded directly. Optionally, based on the correlation of the data, a simpler differential compression scheme may be adopted, each maximum point (or inflection point, saddle point) and the data in the neighborhood thereof are taken as a packet, the maximum point (or inflection point, saddle point) is selected as a reference point, the difference between the point in the neighborhood and the reference point is calculated, the difference is encoded and compressed (such as huffman encoding, quantization into low bit width data or differential encoding), and the reference point and the compressed residual are taken as corresponding transmission contents. It should be noted that, whether the screened data is compressed or not, the transmission content needs to include the coordinates of each transmitted data point so that the host end can reconstruct the heat map, in order to further reduce the data transmission amount, the coordinates of the data point to be transmitted may be compressed, for example, only the coordinates of the reference point (i.e., the maximum point or the inflection point or the saddle point) are completely transmitted, the coordinates of the point in the neighborhood of the center point are not transmitted, but the coordinates of the point in the neighborhood are implicitly represented by defining the transmission sequence of the data with the host end in advance, i.e., the radar and the host end are defined well, in one packet, the coordinate offset of each data transmitted relative to the reference point, and the host end can calculate the coordinates of each transmitted data according to the receiving sequence of the data in the packet and the coordinates of the center point.
Finally, in step S400 of the radar data transmission method described above, reconstructing the heat map may enable the heat map to become continuous, so as to facilitate subsequent signal processing and map visualization. In step S400, the operation of reconstructing the heat map data by the host computer comprises the optional steps of filling fixed constant values in the positions of the discarded data points and/or filling random values which are subject to a preset statistical distribution and are referenced by radar noise floors in the positions of the discarded data points.
A possible method of filling fixed constant values at the positions of the discarded data points includes, for example, zero filling the heat map data in linear amplitude units, zero filling the heat map data in logarithmic power units, and filling the heat map data in the vacant positions with values 3-5 dB lower than the minimum signal power that can be detected by the radar system.
A more preferred solution for filling the positions of the discarded data points with random values subject to a preset statistical distribution is that the feasible method comprises:
① The method comprises determining random value by Gaussian distribution with radar noise energy as variance Produces a mean of 0 and a variance ofIs used to fill the mode or the mode side of the generated signal to the position of the discarded data. The random value based on Gaussian distribution is filled, compared with the constant value, the random value based on Gaussian distribution can bring pseudo-random fluctuation, data jitter caused by noise in a simulated real heat map is better in visual effect as visual display is carried out on an upper computer, the random value based on Gaussian distribution is more close to the real situation in view of the fact that the thermal noise is generally subjected to Gaussian distribution, and the random value based on Gaussian distribution is particularly suitable for scenes (determined by radar circuit characteristics) with dominant thermal noise.
② The random values are uniformly distributed in a preset range, and the specific process is that the uniformly distributed random values are generated in intervals [ A, B ], the generated values are filled in the positions of discarded data, wherein B is smaller than the preset first threshold value M1, and A is smaller than B. The random value based on uniform distribution is filled, pseudo-random fluctuation is brought compared with the constant value, data jitter caused by noise in a real heat map is simulated, visual effect is better if visual display is carried out on an upper computer, and the generation of the random number with uniform distribution is relatively simple and low in complexity.
③ Determining a random value according to the energy spectrum characteristics of the flicker noise, wherein the nature of the flicker noise is that the power spectrum density meets the requirement. The method comprises generating time domain Gaussian white noise signal, performing FFT processing on the time domain signal to obtain frequency domain Gaussian white noise signal, and designing the amplitude spectrum characteristics to satisfyAfter filtering the frequency domain Gaussian white noise signal by the filter, converting the frequency domain Gaussian white noise signal back to a time domain through IFFT processing, obtaining a real part, performing gain adjustment to obtain a random signal meeting the scintillation noise energy spectrum characteristic, and filling the mode or the mode side of the generated signal into the position of discarded data. Compared with filling constant values, the method can bring pseudo-random fluctuation, simulate data jitter caused by noise in a real heat map, for example, the method can be used for carrying out visual display on an upper computer, has better visual effect, is suitable for scenes (determined by radar circuit characteristics) with flicker noise as a dominant noise component, and is more close to corresponding actual conditions.
④ The method comprises the steps of determining a random value after Gaussian white noise is filtered by a filter, firstly generating a time domain Gaussian white noise signal with the mean value of 0 and the variance of 1, then designing a target filter (high pass/low pass/band pass) according to requirements, and finally convoluting the Gaussian white noise signal with the target filter in the time domain to realize filtering, so as to obtain the random signal of the Gaussian white noise after the filtering of the filter, and filling the mode or the mode square of the generated signal into the position of discarded data. Similarly, the random value is determined after the Gaussian white noise is filtered by the filter, pseudo-random fluctuation is brought, data jitter caused by noise in a real thermal diagram is simulated, for example, visual display is carried out on an upper computer, visual effect is better, the method is suitable for scenes with other types of noise dominant, and the characteristic of noise of a certain specific type is simulated by the Gaussian white noise matched with the filter frequency domain shaping mode, so that the filled pseudo-random value is more vivid and is attached to the actual noise jitter characteristic.
It should be noted that, the random values of the preset random distribution generated by all the above methods should be smaller than the preset first threshold value M1.
Referring to fig. 2, the embodiment of the invention further provides a radar system, which comprises a radar and a host in communication connection with the radar, wherein the radar and the host cooperate to execute the radar data transmission method.
Specifically, the radar includes:
The heat map data acquisition module is used for detecting the environment and acquiring heat map data;
The data screening module is used for carrying out data point screening on the heat map data and comprises the operation of calculating the energy value and the curvature value of each data point in the heat map, wherein the selected data points comprise the data points with the curvature value larger than a second threshold M2 and the energy value larger than a third threshold M3 in the heat map data;
The data set generation module is used for forming a transmission data set based on the selected data points, wherein the transmission data set comprises coordinates and energy values of the selected data points in the heat map data;
a data sending module, configured to send a transmission data set to the host;
Specifically, the host includes:
A data receiving module for receiving the transmission data set;
And the heat map reconstruction module performs pseudo-random reconstruction on heat map data by filling a preset value with radar noise as a reference on the position of the discarded data based on the received data of the transmission data set.
The foregoing disclosure is illustrative of the present invention and is not to be construed as limiting the scope of the invention, which is defined by the appended claims.
Claims (10)
1. A method of radar data transmission, comprising:
s100, controlling a radar detection environment to obtain heat map data;
S200, controlling a radar to conduct data point screening on the heat map data, wherein the data point screening comprises the operation of calculating the energy value and the curvature value of each data point in the heat map, and the selected data points comprise the data points with the curvature values larger than a second threshold M2 and the energy values larger than a third threshold M3 in the heat map data;
S300, forming a transmission data set based on the selected data points, wherein the transmission data set comprises coordinates and energy values of the selected data points in heat map data;
s400, the control radar sends the transmission data set to the host, and the host performs pseudo-random reconstruction on the heat map data by filling a preset value with radar noise as a reference on the position of the discarded data based on the received data of the transmission data set.
2. The method of claim 1, wherein the heat map data comprises two-dimensional, three-dimensional or four-dimensional heat map data formed by any one of a distance dimension, a Doppler dimension, a pitch angle dimension and an azimuth angle dimension or any combination of the four obtained by the radar.
3. The method according to claim 1, wherein in step S200, when the heat map data is screened, the selected data points further include a maximum point in the heat map data, where the energy value is greater than the first threshold M1, and a plurality of points in a preset vicinity thereof, where M3 is greater than or equal to M1.
4. The method of claim 3, wherein in step S200, when screening the heat map data in one or two dimensions, the method further comprises performing inflection point identification on each data point in the heat map, and the selected data point further comprises an inflection point in the heat map data with an energy value greater than a first threshold M1 and a plurality of data points in a preset neighborhood of the inflection point.
5. A radar data transmission method according to claim 3, wherein in step S200, when the heat map data with more than two dimensions is screened, saddle point identification is performed on each data point in the heat map, and the selected data point further includes saddle points with energy values greater than a first threshold M1 in the heat map data and a plurality of data points within a preset neighborhood of the saddle points.
6. The method according to claim 1, wherein in step S300, when the transmission data set is formed based on the selected data points, the method further comprises an operation of compressing the coordinates and energy value data of the selected data points in the heat map data.
7. A radar data transmission method according to claim 3, wherein in step S400, the operation mode of pseudo-randomly reconstructing the heat map data is:
random values subject to a preset statistical distribution are filled in the positions of the discarded data points.
8. The method according to claim 7, wherein the method for determining the random value of the predetermined statistical distribution in step S400 includes at least one of ① determining the random value with a gaussian distribution of the radar noise floor energy as a variance, ② determining the random value with a uniform distribution within a predetermined range, ③ determining the random value according to the spectral characteristics of the flicker noise energy, ④ determining the random value by filtering the gaussian white noise, and the random value is smaller than the predetermined first threshold M1.
9. A radar system comprising a radar and a host in communication with the radar, the radar and the host cooperatively performing the radar data transmission method of any one of claims 1-8.
10. The radar system of claim 9, wherein the radar comprises:
The heat map data acquisition module is used for detecting the environment and acquiring heat map data;
The data screening module is used for carrying out data point screening on the heat map data and comprises the operation of calculating the energy value and the curvature value of each data point in the heat map, wherein the selected data points comprise the data points with the curvature value larger than a second threshold M2 and the energy value larger than a third threshold M3 in the heat map data;
The data set generation module is used for forming a transmission data set based on the selected data points, wherein the transmission data set comprises coordinates and energy values of the selected data points in the heat map data;
a data sending module, configured to send a transmission data set to the host;
the host includes:
A data receiving module for receiving the transmission data set;
And the heat map reconstruction module performs pseudo-random reconstruction on heat map data by filling a preset value with radar noise as a reference on the position of the discarded data based on the received data of the transmission data set.
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