技术领域technical field
本发明涉及电子技术领域，尤其涉及一种目标测距方法及其设备。The present invention relates to the field of electronic technology, in particular to a target ranging method and equipment thereof.
背景技术Background technique
雷达探测仪可以用于穿墙、探地等场景，利用雷达探测仪可以实现非接触式的探测目标(例如：墙体钢筋、地下管道)的相关信息，以距离信息为例，通过对探测目标的距离信息进行探测，可以利用距离信息实现探测目标的成像。Radar detectors can be used in scenarios such as wall penetration and ground penetration. The use of radar detectors can realize non-contact detection of relevant information of targets (such as: wall reinforcement, underground pipes). Taking distance information as an example, by detecting the target The distance information can be used for detection, and the distance information can be used to realize the imaging of the detection target.
现有技术往往都是将回波信号通过混频和小波变换的方式来识别脉冲信号，再通过脉冲信号中最大峰值位置来获取探测目标的距离信息，然而小波变换在嵌入式的硬件实现上较为复杂，并且混频方式实现的下变频处理容易导致信号偏移的缺点，进而影响了探测目标的距离信息的探测准确性。In the existing technology, the pulse signal is often identified by the echo signal through frequency mixing and wavelet transform, and then the distance information of the detection target is obtained through the maximum peak position in the pulse signal. It is complicated, and the down-conversion processing realized by frequency mixing is easy to cause the disadvantage of signal offset, which in turn affects the detection accuracy of the distance information of the detection target.
发明内容Contents of the invention
本发明实施例提供一种目标测距方法及其设备，可以简化脉冲信号的识别过程，保证脉冲信号中脉冲峰的稳定性，提升探测目标的距离信息的探测准确性。Embodiments of the present invention provide a target ranging method and equipment thereof, which can simplify the identification process of pulse signals, ensure the stability of pulse peaks in pulse signals, and improve the detection accuracy of distance information of detection targets.
本发明实施例第一方面提供了一种目标测距方法，可包括：The first aspect of the embodiment of the present invention provides a target ranging method, which may include:
获取雷达波束经目标物体进行反射所获取的回波信号，采用积分方式对所述回波信号进行下变频处理，以生成所述回波信号对应的脉冲信号；Obtaining an echo signal obtained by reflecting the radar beam from the target object, and performing down-conversion processing on the echo signal by using an integral method to generate a pulse signal corresponding to the echo signal;
获取所述脉冲信号中的脉冲峰的峰值位置，获取所述峰值位置的峰值数值，并基于所述峰值位置获取所述脉冲峰的宽度数值；Acquiring the peak position of the pulse peak in the pulse signal, obtaining the peak value of the peak position, and obtaining the width value of the pulse peak based on the peak position;
当所述峰值数值和所述宽度数值均满足脉冲阈值时，根据所述雷达波束与所述回波信号间的时间差以及信号传输速度获取所述目标物体的距离信息。When both the peak value and the width value satisfy the pulse threshold, the distance information of the target object is acquired according to the time difference between the radar beam and the echo signal and the signal transmission speed.
本发明实施例第二方面提供了一种目标测距设备，可包括：The second aspect of the embodiment of the present invention provides a target ranging device, which may include:
信号生成单元，用于获取雷达波束经目标物体进行反射所获取的回波信号，采用积分方式对所述回波信号进行下变频处理，以生成所述回波信号对应的脉冲信号；The signal generation unit is used to obtain the echo signal obtained by the reflection of the radar beam by the target object, and perform down-conversion processing on the echo signal by using an integral method to generate a pulse signal corresponding to the echo signal;
数值获取单元，用于获取所述脉冲信号中的脉冲峰的峰值位置，获取所述峰值位置的峰值数值，并基于所述峰值位置获取所述脉冲峰的宽度数值；a numerical value acquisition unit, configured to obtain the peak position of the pulse peak in the pulse signal, obtain the peak value of the peak position, and obtain the width value of the pulse peak based on the peak position;
距离信息获取单元，用于当所述峰值数值和所述宽度数值均满足脉冲阈值时，根据所述雷达波束与所述回波信号间的时间差以及信号传输速度获取所述目标物体的距离信息。A distance information acquiring unit, configured to acquire the distance information of the target object according to the time difference between the radar beam and the echo signal and the signal transmission speed when the peak value and the width value both satisfy a pulse threshold.
在本发明实施例中，通过积分的方式实现回波信号的下变频处理以识别脉冲信号，可以使得脉冲信号中存在独立的脉冲峰，便于对目标物体的距离探测，简化了脉冲信号的识别过程，保证了脉冲信号中脉冲峰的稳定性，同时通过峰值位置、宽度数值等来确定目标物体的真实性，提升了探测目标的距离信息的探测准确性。In the embodiment of the present invention, the down-conversion processing of the echo signal is realized by means of integration to identify the pulse signal, so that there are independent pulse peaks in the pulse signal, which facilitates the detection of the distance of the target object and simplifies the identification process of the pulse signal , to ensure the stability of the pulse peak in the pulse signal, and at the same time determine the authenticity of the target object through the peak position, width value, etc., and improve the detection accuracy of the distance information of the detection target.
附图说明Description of drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，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的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.
图1是本发明实施例提供的一种目标测距方法的流程示意图；FIG. 1 is a schematic flow chart of a target ranging method provided by an embodiment of the present invention;
图2是本发明实施例提供的另一种目标测距方法的流程示意图；Fig. 2 is a schematic flow chart of another target ranging method provided by an embodiment of the present invention;
图3是本发明实施例提供的一种目标测距设备的结构示意图；FIG. 3 is a schematic structural diagram of a target ranging device provided by an embodiment of the present invention;
图4是本发明实施例提供的信号生成单元的结构示意图；FIG. 4 is a schematic structural diagram of a signal generation unit provided by an embodiment of the present invention;
图5是本发明实施例提供的数值获取单元的结构示意图；Fig. 5 is a schematic structural diagram of a value acquisition unit provided by an embodiment of the present invention;
图6是本发明实施例提供的距离信息获取单元的结构示意图。Fig. 6 is a schematic structural diagram of a distance information acquiring unit provided by an embodiment of the present invention.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明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发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
本发明实施例提供的目标测距方法可以应用于对墙体钢筋、地下管道等目标物体的距离探测的场景中，例如：目标测距设备获取雷达波束经目标物体进行反射所获取的回波信号，采用积分方式对所述回波信号进行下变频处理，以生成所述回波信号对应的脉冲信号，所述目标测距设备获取所述脉冲信号中的脉冲峰的峰值位置，获取所述峰值位置的峰值数值，并基于所述峰值位置获取所述脉冲峰的宽度数值，当所述峰值数值和所述宽度数值均满足脉冲阈值时，所述目标测距设备根据所述雷达波束与所述回波信号间的时间差以及信号传输速度获取所述目标物体的距离信息的场景等。通过积分的方式实现回波信号的下变频处理以识别脉冲信号，可以使得脉冲信号中存在独立的脉冲峰，便于对目标物体的距离探测，简化了脉冲信号的识别过程，保证了脉冲信号中脉冲峰的稳定性，同时通过峰值位置、宽度数值等来确定目标物体的真实性，提升了探测目标的距离信息的探测准确性。The target ranging method provided by the embodiment of the present invention can be applied to the scene of distance detection of target objects such as wall steel bars and underground pipes, for example: the target ranging equipment obtains the echo signal obtained by the radar beam reflected by the target object , performing down-conversion processing on the echo signal in an integral manner to generate a pulse signal corresponding to the echo signal, the target ranging device obtains the peak position of the pulse peak in the pulse signal, and obtains the peak value The peak value of the position, and obtain the width value of the pulse peak based on the peak position, when the peak value and the width value both meet the pulse threshold, the target ranging device according to the radar beam and the The time difference between the echo signals and the signal transmission speed obtain the scene of the distance information of the target object, etc. The down-conversion processing of the echo signal is realized by the integral method to identify the pulse signal, which can make the pulse signal have independent pulse peaks, which is convenient for the distance detection of the target object, simplifies the identification process of the pulse signal, and ensures the pulse signal in the pulse signal The stability of the peak, and at the same time determine the authenticity of the target object through the peak position, width value, etc., which improves the detection accuracy of the distance information of the detection target.
本发明实施例涉及的目标测距设备可以为包含雷达信号发射、信号处理模块、距离信息计算等功能在内的测距设备，也可以为包含雷达探测仪、信号处理设备、距离运算设备等设备在内的测距系统。The target ranging device involved in the embodiment of the present invention may be a ranging device including functions such as radar signal transmission, signal processing module, and distance information calculation, or may be a device including a radar detector, signal processing device, distance computing device, etc. Included distance measuring system.
下面将结合附图1和附图2，对本发明实施例提供的一种目标测距方法进行详细介绍。A target ranging method provided by an embodiment of the present invention will be described in detail below with reference to FIG. 1 and FIG. 2 .
请参见图1，为本发明实施例提供了一种目标测距方法的流程示意图。如图1所示，本发明实施例的所述方法可以包括以下步骤S101-步骤S103。Please refer to FIG. 1 , which provides a schematic flowchart of a method for measuring distance from a target according to an embodiment of the present invention. As shown in FIG. 1 , the method in the embodiment of the present invention may include the following steps S101-S103.
S101，获取雷达波束经目标物体进行反射所获取的回波信号，采用积分方式对所述回波信号进行下变频处理，以生成所述回波信号对应的脉冲信号；S101. Obtain an echo signal obtained by reflecting a radar beam from a target object, and perform down-conversion processing on the echo signal by using an integration method, so as to generate a pulse signal corresponding to the echo signal;
具体的，目标测距设备可以向当前探测的目标物体持续发射雷达波束，并获取雷达波束经所述目标物体进行反射所获取的回波信号，所述目标物体可以包括墙体钢筋、地下管道等，所述目标测距设备可以采用积分方式对所述回波信号进行下变频处理，以生成所述回波信号对应的脉冲信号，可以理解的是，由于雷达波束为高阶高斯脉冲信号，并且回波信号是包括雷达波束经所述目标物体吸收并反射之后的信号以及收发天线的微分效应之后的信号，因此回波信号中存在高频信号，由于回波信号的中心频率不稳定，因此通过混频的方式实现下变频处理也容易导致不稳定的情况，通过采用积分方式实现下变频处理，可以使得高频信号在区间内积分方式处理后得到的信号，在整数倍周期内相互抵消，而低频信号则可以通过积分方式累计得到较大的值，因此可以使得脉冲信号中存在独立的脉冲峰，便于对目标物体的距离探测，简化了脉冲信号的识别过程。Specifically, the target ranging device can continuously transmit radar beams to the currently detected target object, and obtain echo signals obtained by reflecting the radar beam through the target object, and the target object can include wall steel bars, underground pipes, etc. , the target ranging device may down-convert the echo signal in an integral manner to generate a pulse signal corresponding to the echo signal. It can be understood that since the radar beam is a high-order Gaussian pulse signal, and The echo signal is a signal including the signal after the radar beam is absorbed and reflected by the target object and the differential effect of the transceiver antenna, so there is a high-frequency signal in the echo signal. Since the center frequency of the echo signal is unstable, it passes The way of frequency mixing to achieve down-conversion processing is also likely to lead to instability. By using the integration method to realize down-conversion processing, the signals obtained after the integration of high-frequency signals in the interval can cancel each other out in integer multiples of the cycle, while The low-frequency signal can be integrated to obtain a larger value, so there can be independent pulse peaks in the pulse signal, which is convenient for the distance detection of the target object and simplifies the identification process of the pulse signal.
S102，获取所述脉冲信号中的脉冲峰的峰值位置，获取所述峰值位置的峰值数值，并基于所述峰值位置获取所述脉冲峰的宽度数值；S102. Obtain the peak position of the pulse peak in the pulse signal, obtain the peak value of the peak position, and obtain the width value of the pulse peak based on the peak position;
具体的，所述目标测距设备可以获取所述脉冲信号中的脉冲峰的峰值位置，可以理解的是，所述脉冲信号中可以存在多个脉冲峰，所述目标测距设备可以对所述脉冲信号进行微分处理，以获取所述脉冲信号中多个脉冲峰的峰值位置，并在所述峰值位置获取所述脉冲峰的峰值数值，所述目标测距设备可以基于所述峰值位置获取所述脉冲峰的宽度数值，优选的，所述目标测距设备可以根据脉冲峰的峰值位置的幅度值下降到一半时的两个信号点，将该两个信号点间的宽度距离确定为该脉冲峰的宽度数值。通过获取脉冲峰的峰值位置以及宽度数值，可以避免杂波和噪声产生的虚假脉冲峰的存在，准确的筛选出属于目标物体的脉冲峰，以确定目标物体的真实性，提升了探测目标的距离信息的探测准确性。Specifically, the target ranging device can obtain the peak position of the pulse peak in the pulse signal, it can be understood that there may be multiple pulse peaks in the pulse signal, and the target ranging device can calculate the Perform differential processing on the pulse signal to obtain the peak positions of multiple pulse peaks in the pulse signal, and obtain the peak values of the pulse peaks at the peak positions, and the target ranging device can obtain the peak value based on the peak positions The width value of the pulse peak, preferably, the target ranging device can determine the width distance between the two signal points according to the two signal points when the amplitude value of the peak position of the pulse peak drops to half The width value of the peak. By obtaining the peak position and width value of the pulse peak, the existence of false pulse peaks generated by clutter and noise can be avoided, and the pulse peaks belonging to the target object can be accurately screened out to determine the authenticity of the target object and improve the distance of detecting the target The detection accuracy of the information.
S103，当所述峰值数值和所述宽度数值均满足脉冲阈值时，根据所述雷达波束与所述回波信号间的时间差以及信号传输速度获取所述目标物体的距离信息；S103. When both the peak value and the width value satisfy a pulse threshold, acquire distance information of the target object according to the time difference between the radar beam and the echo signal and the signal transmission speed;
具体的，当所述峰值数值和所述宽度数值均满足脉冲阈值时，所述目标测距设备可以确定所述峰值数值和所述宽度数值指示的脉冲峰为所述目标物体的真实信号，所述目标测距设备可以根据所述雷达波束与所述回波信号间的时间差以及信号传输速度计算所述目标物体的距离信息，所述目标测距设备可以对所述目标物体的距离信息进行实时输出显示。Specifically, when both the peak value and the width value meet the pulse threshold, the target ranging device may determine that the pulse peak indicated by the peak value and the width value is the real signal of the target object, so The target ranging device can calculate the distance information of the target object according to the time difference between the radar beam and the echo signal and the signal transmission speed, and the target ranging device can perform real-time measurement of the distance information of the target object. The output is displayed.
在本发明实施例中，通过积分的方式实现回波信号的下变频处理以识别脉冲信号，可以使得脉冲信号中存在独立的脉冲峰，便于对目标物体的距离探测，简化了脉冲信号的识别过程，保证了脉冲信号中脉冲峰的稳定性，同时通过峰值位置、宽度数值等来确定目标物体的真实性，提升了探测目标的距离信息的探测准确性。In the embodiment of the present invention, the down-conversion processing of the echo signal is realized by means of integration to identify the pulse signal, so that there are independent pulse peaks in the pulse signal, which facilitates the detection of the distance of the target object and simplifies the identification process of the pulse signal , to ensure the stability of the pulse peak in the pulse signal, and at the same time determine the authenticity of the target object through the peak position, width value, etc., and improve the detection accuracy of the distance information of the detection target.
请参见图2，为本发明实施例提供了另一种目标测距方法的流程示意图。如图2所示，本发明实施例的所述方法可以包括以下步骤S201-步骤S208。Please refer to FIG. 2 , which provides a schematic flowchart of another target ranging method according to an embodiment of the present invention. As shown in FIG. 2 , the method in the embodiment of the present invention may include the following steps S201-S208.
S201，获取雷达波束经目标物体进行反射所获取的回波信号；S201. Obtain an echo signal obtained by reflecting a radar beam through a target object;
具体的，目标测距设备可以向当前探测的目标物体持续发射雷达波束，并获取雷达波束经所述目标物体进行反射所获取的回波信号，所述目标物体可以包括墙体钢筋、地下管道等。Specifically, the target ranging device can continuously transmit radar beams to the currently detected target object, and obtain echo signals obtained by reflecting the radar beam through the target object, and the target object can include wall steel bars, underground pipes, etc. .
S202，采用预先获取的当前检测环境的对空信号对所述回波信号进行滤波处理，以生成所述目标物体的初始信号；S202. Perform filtering processing on the echo signal by using the pre-acquired air-to-air signal of the current detection environment, so as to generate an initial signal of the target object;
具体的，所述目标测距设备在获取到回波信号后，可以先对所述回波信号进行滤波处理，所述目标测距设备可以预先采集当前检测环境的对空信号，所述对空信号优选为对当前检测环境的背景信号，即保证目标测距设备的预设范围内不存在目标物体的情况下所采集的背景信号，所述目标测距设备可以采用雷达波束的带宽范围对所述回波信号进行带通滤波，以滤除所述回波信号中的噪声，通过预先获取的当前检测环境的对空信号对所述回波信号进行滤波处理，以滤除所述回波信号中收发天线间产生的耦合信号，生成所述目标物体的初始信号。Specifically, after the target ranging device acquires the echo signal, it can first filter the echo signal, and the target ranging device can pre-collect the air-to-air signal of the current detection environment, and the air-to-air The signal is preferably a background signal for the current detection environment, that is, a background signal collected when there is no target object within the preset range of the target ranging device, and the target ranging device can use the bandwidth range of the radar beam to detect performing band-pass filtering on the echo signal to filter out noise in the echo signal, and performing filtering processing on the echo signal through the pre-acquired air-to-air signal of the current detection environment to filter out the echo signal The coupling signal generated between the transmitting and receiving antennas is used to generate the initial signal of the target object.
S203，采用积分方式对所述初始信号进行下变频处理，以生成所述回波信号对应的脉冲信号；S203. Perform frequency down-conversion processing on the initial signal in an integral manner to generate a pulse signal corresponding to the echo signal;
具体的，所述目标测距设备可以进一步采用积分方式对所述初始信号进行下变频处理，以生成所述回波信号对应的脉冲信号，可以理解的是，由于雷达波束为高阶高斯脉冲信号，并且回波信号是包括雷达波束经所述目标物体吸收并反射之后的信号以及收发天线的微分效应之后的信号，因此回波信号中存在高频信号，由于回波信号的中心频率不稳定，因此通过混频的方式实现下变频处理也容易导致不稳定的情况，通过采用积分方式实现下变频处理，可以使得高频信号在区间内积分方式处理后得到的信号，在整数倍周期内相互抵消，而低频信号则可以通过积分方式累计得到较大的值，因此可以使得脉冲信号中存在独立的脉冲峰，便于对目标物体的距离探测，简化了脉冲信号的识别过程。Specifically, the target ranging device may further down-convert the initial signal in an integral manner to generate a pulse signal corresponding to the echo signal. It can be understood that since the radar beam is a high-order Gaussian pulse signal , and the echo signal is a signal including the signal after the radar beam is absorbed and reflected by the target object and the differential effect of the transceiver antenna, so there is a high-frequency signal in the echo signal, and since the center frequency of the echo signal is unstable, Therefore, realizing the down-conversion processing by means of frequency mixing is also likely to lead to instability. By using the integration method to realize the down-conversion processing, the signals obtained after the high-frequency signal is processed by the integration method in the interval can cancel each other out in an integer multiple period. , while the low-frequency signal can be integrated to obtain a larger value, so there can be independent pulse peaks in the pulse signal, which is convenient for the distance detection of the target object and simplifies the identification process of the pulse signal.
S204，对所述脉冲信号进行微分处理，并在微分处理后获取微分值为零且前后两个信号点的微分值不为零的第一信号点，确定所述第一信号点的位置为所述脉冲信号中的脉冲峰的峰值位置；S204. Perform differential processing on the pulse signal, and obtain a first signal point whose differential value is zero after the differential processing and whose differential value of two signal points before and after is not zero, and determine that the position of the first signal point is the The peak position of the pulse peak in the pulse signal;
具体的，所述目标测距设备可以对所述脉冲信号进行微分处理，并在微分处理后获取微分值为零且前后两个信号点的微分值不为零的第一信号点，可以理解的是，由于雷达波束是持续有雷达发射天线发射的，因此所生成的脉冲信号是由多个接收的信号点组成。所述目标测距设备可以确定第一信号点的位置为所述脉冲信号中的脉冲峰的峰值位置。Specifically, the target ranging device may perform differential processing on the pulse signal, and obtain the first signal point whose differential value is zero and the differential value of the two preceding and subsequent signal points is not zero after the differential processing, understandably Yes, since the radar beam is continuously emitted by the radar transmitting antenna, the generated pulse signal is composed of multiple received signal points. The target ranging device may determine the position of the first signal point as the peak position of the pulse peak in the pulse signal.
S205，获取所述峰值位置的峰值数值；S205, acquiring the peak value of the peak position;
具体的，所述目标测距设备可以在所述脉冲信号中获取所述峰值位置的峰值数值，所述峰值数值具体可以为所述脉冲峰的幅度峰值，可以理解的是，由于信号在传输过程中会存在传输损耗，因此需要对所述脉冲信号中的各信号点进行距离补偿，所述目标测距设备可以采用所述脉冲峰中各信号点的发射时刻与接收时刻间的时间差分别对所述脉冲峰中的各信号点进行距离补偿处理，以生成补偿脉冲信号，所述发射时刻为所述信号点所在的雷达波束由雷达发射天线发射时的时刻，所述接收时刻为所述信号点所在的回波信号由雷达接收天线接收时的时刻，因此可以计算当前信号点对应的补偿距离为R(t)，R(t)＝c*(t/2)，其中，c表示为信号传输速度，优选为光速，t表示为当前信号点的发射时刻与接收时刻间的时间差，进一步的，距离补偿处理前的脉冲信号中当前信号点对应的幅度值为S1(t)，距离补偿处理后的补偿脉冲信号中当前信号点对应的幅度值S2(t)，则S2(t)＝S1(t)*R(t)2，通过获取脉冲信号中所有信号点的时间差和幅度值，并对所有信号点进行距离补偿处理，可以生成补偿脉冲信号。所述目标测距设备可以在所述补偿脉冲信号中获取所述峰值位置的峰值数值。Specifically, the target ranging device may obtain the peak value of the peak position in the pulse signal, and the peak value may specifically be the peak amplitude of the pulse peak. It can be understood that, since the signal is transmitted There will be a transmission loss in the pulse peak, so it is necessary to perform distance compensation for each signal point in the pulse signal, and the target ranging device can use the time difference between the transmission time and the reception time of each signal point in the pulse peak to calculate the Each signal point in the pulse peak is subjected to distance compensation processing to generate a compensation pulse signal, the transmitting time is the time when the radar beam where the signal point is located is transmitted by the radar transmitting antenna, and the receiving time is the time when the signal point is The moment when the echo signal is received by the radar receiving antenna, so the compensation distance corresponding to the current signal point can be calculated as R(t), R(t)=c*(t/2), where c represents the signal transmission Speed, preferably the speed of light, t is expressed as the time difference between the moment of transmission and the moment of reception of the current signal point, further, the amplitude value corresponding to the current signal point in the pulse signal before the distance compensation processing is S1 (t), the distance compensation processing The amplitude value S2 (t) corresponding to the current signal point in the compensated pulse signal, then S2 (t)=S1 (t)*R(t)2 , by obtaining the time difference and amplitude of all signal points in the pulse signal value, and perform distance compensation processing on all signal points to generate a compensated pulse signal. The target ranging device may acquire the peak value of the peak position in the compensation pulse signal.
S206，基于所述脉冲峰的峰值位置，分别获取从所述峰值位置的幅度值下降到一半时的两个第二信号点，将所述两个第二信号点间的宽度距离确定为所述脉冲峰的宽度数值；S206. Based on the peak position of the pulse peak, respectively acquire two second signal points when the amplitude value of the peak position drops to half, and determine the width distance between the two second signal points as the The width value of the pulse peak;
S207，当所述峰值数值满足所述脉冲峰值阈值且所述宽度数值满足脉冲宽度阈值时，根据所述雷达波束与所述回波信号间的时间差以及信号传输速度获取所述目标物体的候选距离信息；S207. When the peak value satisfies the pulse peak threshold and the width value satisfies the pulse width threshold, acquire the candidate distance of the target object according to the time difference between the radar beam and the echo signal and the signal transmission speed information;
具体的，当所述峰值数值满足所述脉冲峰值阈值且所述宽度数值满足脉冲宽度阈值时，所述目标测距设备可以确定所述峰值数值和所述宽度数值指示的脉冲峰为所述目标物体的真实信号，所述目标测距设备可以根据所述雷达波束与所述回波信号间的时间差以及信号传输速度获取所述目标物体的候选距离信息，优选的，假设所述雷达波束与所述回波信号间的时间差为T，所述信号传输速度为c，则所述目标物体的候选距离信息为D＝c*(T/2)。Specifically, when the peak value satisfies the pulse peak threshold and the width value satisfies the pulse width threshold, the target ranging device may determine that the pulse peak indicated by the peak value and the width value is the target The real signal of the object, the target ranging device can obtain the candidate distance information of the target object according to the time difference between the radar beam and the echo signal and the signal transmission speed, preferably, it is assumed that the radar beam and the The time difference between the echo signals is T, and the signal transmission speed is c, then the candidate distance information of the target object is D=c*(T/2).
S208，在预设时间段内获取包含所述候选距离信息的距离信息集合，对所述距离信息集合进行概率分布处理，以确定所述目标物体的距离信息；S208. Acquire a distance information set including the candidate distance information within a preset time period, and perform probability distribution processing on the distance information set to determine the distance information of the target object;
具体的，为了避免雷达采样时钟的飘移所导致的目标距离的跳动，所述目标测距设备可以在预设时间段内获取包含所述目标物体的多个候选距离信息的距离信息集合，所述距离信息集合包含上述计算得到的单次的候选距离信息，所述目标测距设备可以对所述距离信息集合中的多个候选距离信息进行概率分布处理，以确定所述目标物体的距离信息，所述距离信息为所述目标物体的真实距离。Specifically, in order to avoid the jump of the target distance caused by the drift of the radar sampling clock, the target ranging device may acquire a distance information set containing a plurality of candidate distance information of the target object within a preset time period, the The distance information set includes the single candidate distance information calculated above, and the target ranging device may perform probability distribution processing on multiple candidate distance information in the distance information set to determine the distance information of the target object, The distance information is the real distance of the target object.
所述目标测距设备进一步可以对所述目标物体的距离信息进行输出显示，所述目标测距设备还可以基于所述目标物体的距离信息生成所述目标物体的动态分布曲线，并进行输出显示。The target ranging device can further output and display the distance information of the target object, and the target ranging device can also generate a dynamic distribution curve of the target object based on the distance information of the target object, and output and display .
在本发明实施例中，通过积分的方式实现回波信号的下变频处理以识别脉冲信号，可以使得脉冲信号中存在独立的脉冲峰，便于对目标物体的距离探测，简化了脉冲信号的识别过程，保证了脉冲信号中脉冲峰的稳定性，同时通过峰值位置、宽度数值等来确定目标物体的真实性，提升了探测目标的距离信息的探测准确性。In the embodiment of the present invention, the down-conversion processing of the echo signal is realized by means of integration to identify the pulse signal, so that there are independent pulse peaks in the pulse signal, which facilitates the detection of the distance of the target object and simplifies the identification process of the pulse signal , to ensure the stability of the pulse peak in the pulse signal, and at the same time determine the authenticity of the target object through the peak position, width value, etc., and improve the detection accuracy of the distance information of the detection target.
下面将结合附图3-附图6，对本发明实施例提供的目标测距设备进行详细介绍。需要说明的是，附图3-附图6所示的目标测距设备，用于执行本发明图1和图2所示实施例的方法，为了便于说明，仅示出了与本发明实施例相关的部分，具体技术细节未揭示的，请参照本发明图1和图2所示的实施例。The target ranging device provided by the embodiment of the present invention will be described in detail below with reference to accompanying drawings 3 to 6 . It should be noted that the target ranging equipment shown in accompanying drawings 3 to 6 is used to execute the method of the embodiment shown in Fig. 1 and Fig. 2 of the present invention. For relevant parts and specific technical details not disclosed, please refer to the embodiment shown in FIG. 1 and FIG. 2 of the present invention.
请参见图3，为本发明实施例提供了一种目标测距设备的结构示意图。如图3所示，本发明实施例的所述目标测距设备1可以包括：信号生成单元11、数值获取单元12和距离信息获取单元13。Please refer to FIG. 3 , which provides a schematic structural diagram of a target ranging device according to an embodiment of the present invention. As shown in FIG. 3 , the target ranging device 1 according to the embodiment of the present invention may include: a signal generation unit 11 , a value acquisition unit 12 and a distance information acquisition unit 13 .
信号生成单元11，用于获取雷达波束经目标物体进行反射所获取的回波信号，采用积分方式对所述回波信号进行下变频处理，以生成所述回波信号对应的脉冲信号；The signal generating unit 11 is configured to obtain an echo signal obtained by reflecting the radar beam through the target object, and perform down-conversion processing on the echo signal by using an integration method to generate a pulse signal corresponding to the echo signal;
具体实现中，所述目标测距设备1可以向当前探测的目标物体持续发射雷达波束，所述信号生成单元11获取雷达波束经所述目标物体进行反射所获取的回波信号，所述目标物体可以包括墙体钢筋、地下管道等，所述信号生成单元11可以采用积分方式对所述回波信号进行下变频处理，以生成所述回波信号对应的脉冲信号，可以理解的是，由于雷达波束为高阶高斯脉冲信号，并且回波信号是包括雷达波束经所述目标物体吸收并反射之后的信号以及收发天线的微分效应之后的信号，因此回波信号中存在高频信号，由于回波信号的中心频率不稳定，因此通过混频的方式实现下变频处理也容易导致不稳定的情况，通过采用积分方式实现下变频处理，可以使得高频信号在区间内积分方式处理后得到的信号，在整数倍周期内相互抵消，而低频信号则可以通过积分方式累计得到较大的值，因此可以使得脉冲信号中存在独立的脉冲峰，便于对目标物体的距离探测，简化了脉冲信号的识别过程。In a specific implementation, the target ranging device 1 can continuously transmit radar beams to the currently detected target object, and the signal generation unit 11 obtains the echo signal obtained by reflecting the radar beam through the target object, and the target object It may include wall reinforcement, underground pipelines, etc., and the signal generation unit 11 may perform down-conversion processing on the echo signal in an integral manner to generate a pulse signal corresponding to the echo signal. It can be understood that due to the The beam is a high-order Gaussian pulse signal, and the echo signal includes the signal after the radar beam is absorbed and reflected by the target object and the differential effect of the transceiver antenna, so there is a high-frequency signal in the echo signal, because the echo The center frequency of the signal is unstable, so the down-conversion processing by frequency mixing is also likely to lead to instability. By using the integration method to realize the down-conversion processing, the high-frequency signal can be processed in an integral manner within the interval. They cancel each other out in an integer multiple of the period, while the low-frequency signal can be integrated to obtain a larger value, so there can be independent pulse peaks in the pulse signal, which is convenient for the distance detection of the target object and simplifies the identification process of the pulse signal .
具体的，请一并参见图4，为本发明实施例提供了信号生成单元的结构示意图。如图4所示，所述信号生成单元11可以包括：Specifically, please refer to FIG. 4 , which provides a schematic structural diagram of a signal generating unit according to an embodiment of the present invention. As shown in Figure 4, the signal generating unit 11 may include:
回波信号获取子单元111，用于获取雷达波束经目标物体进行反射所获取的回波信号；an echo signal acquisition subunit 111, configured to acquire an echo signal obtained by reflecting the radar beam through a target object;
具体实现中，所述目标测距设备1可以向当前探测的目标物体持续发射雷达波束，所述回波信号获取子单元111获取雷达波束经所述目标物体进行反射所获取的回波信号，所述目标物体可以包括墙体钢筋、地下管道等。In a specific implementation, the target ranging device 1 can continuously transmit radar beams to the currently detected target object, and the echo signal acquisition subunit 111 acquires an echo signal obtained by reflecting the radar beam through the target object, so The above-mentioned target objects may include wall steel bars, underground pipes, and the like.
初始信号生成子单元112，用于采用预先获取的当前检测环境的对空信号对所述回波信号进行滤波处理，以生成所述目标物体的初始信号；The initial signal generating subunit 112 is configured to filter the echo signal by using the pre-acquired air-to-air signal of the current detection environment, so as to generate the initial signal of the target object;
具体实现中，所述初始信号生成子单元112在获取到回波信号后，可以先对所述回波信号进行滤波处理，所述目标测距设备1可以预先采集当前检测环境的对空信号，所述对空信号优选为对当前检测环境的背景信号，即保证目标测距设备1的预设范围内不存在目标物体的情况下所采集的背景信号，所述初始信号生成子单元112可以采用雷达波束的带宽范围对所述回波信号进行带通滤波，以滤除所述回波信号中的噪声，通过预先获取的当前检测环境的对空信号对所述回波信号进行滤波处理，以滤除所述回波信号中收发天线间产生的耦合信号，生成所述目标物体的初始信号。In a specific implementation, after the initial signal generating subunit 112 acquires the echo signal, it may first filter the echo signal, and the target ranging device 1 may pre-collect the air-to-air signal of the current detection environment, The air-to-air signal is preferably the background signal of the current detection environment, that is, the background signal collected when there is no target object within the preset range of the target ranging device 1, and the initial signal generating subunit 112 can use The bandwidth range of the radar beam performs band-pass filtering on the echo signal to filter out the noise in the echo signal, and performs filtering processing on the echo signal through the pre-acquired air-to-air signal of the current detection environment to The coupling signal generated between the transmitting and receiving antennas in the echo signal is filtered out to generate the initial signal of the target object.
脉冲信号生成子单元113，用于采用积分方式对所述初始信号进行下变频处理，以生成所述回波信号对应的脉冲信号；The pulse signal generation subunit 113 is configured to perform down-conversion processing on the initial signal in an integral manner to generate a pulse signal corresponding to the echo signal;
具体实现中，所述脉冲信号生成子单元113可以进一步采用积分方式对所述初始信号进行下变频处理，以生成所述回波信号对应的脉冲信号，可以理解的是，由于雷达波束为高阶高斯脉冲信号，并且回波信号是包括雷达波束经所述目标物体吸收并反射之后的信号以及收发天线的微分效应之后的信号，因此回波信号中存在高频信号，由于回波信号的中心频率不稳定，因此通过混频的方式实现下变频处理也容易导致不稳定的情况，通过采用积分方式实现下变频处理，可以使得高频信号在区间内积分方式处理后得到的信号，在整数倍周期内相互抵消，而低频信号则可以通过积分方式累计得到较大的值，因此可以使得脉冲信号中存在独立的脉冲峰，便于对目标物体的距离探测，简化了脉冲信号的识别过程。In a specific implementation, the pulse signal generation subunit 113 may further down-convert the initial signal in an integral manner to generate a pulse signal corresponding to the echo signal. It can be understood that since the radar beam is a high-order Gaussian pulse signal, and the echo signal is a signal including the signal after the radar beam is absorbed and reflected by the target object and the differential effect of the transceiver antenna, so there is a high-frequency signal in the echo signal, because the center frequency of the echo signal Unstable, so the down-conversion processing by frequency mixing can easily lead to instability. By using the integral method to realize the down-conversion processing, the high-frequency signal can be integrated in the interval. The low-frequency signals can be integrated to obtain a larger value, so that there are independent pulse peaks in the pulse signal, which is convenient for the distance detection of the target object and simplifies the identification process of the pulse signal.
数值获取单元12，用于获取所述脉冲信号中的脉冲峰的峰值位置，获取所述峰值位置的峰值数值，并基于所述峰值位置获取所述脉冲峰的宽度数值；A numerical value acquisition unit 12, configured to obtain the peak position of the pulse peak in the pulse signal, obtain the peak value of the peak position, and obtain the width value of the pulse peak based on the peak position;
具体实现中，所述数值获取单元12可以获取所述脉冲信号中的脉冲峰的峰值位置，可以理解的是，所述脉冲信号中可以存在多个脉冲峰，所述数值获取单元12可以对所述脉冲信号进行微分处理，以获取所述脉冲信号中多个脉冲峰的峰值位置，并在所述峰值位置获取所述脉冲峰的峰值数值，所述数值获取单元12可以基于所述峰值位置获取所述脉冲峰的宽度数值，优选的，所述数值获取单元12可以根据脉冲峰的峰值位置的幅度值下降到一半时的两个信号点，将该两个信号点间的宽度距离确定为该脉冲峰的宽度数值。通过获取脉冲峰的峰值位置以及宽度数值，可以避免杂波和噪声产生的虚假脉冲峰的存在，准确的筛选出属于目标物体的脉冲峰，以确定目标物体的真实性，提升了探测目标的距离信息的探测准确性。In a specific implementation, the value acquiring unit 12 can acquire the peak position of the pulse peak in the pulse signal. It can be understood that there may be multiple pulse peaks in the pulse signal, and the value acquiring unit 12 can calculate the peak position of the pulse peak in the pulse signal. Differentiate the pulse signal to obtain the peak positions of multiple pulse peaks in the pulse signal, and obtain the peak value of the pulse peak at the peak position, and the value obtaining unit 12 can obtain the peak value based on the peak position The width value of the pulse peak, preferably, the value acquisition unit 12 can determine the width distance between the two signal points as the two signal points when the amplitude value of the peak position of the pulse peak drops to half. Numeric value for the width of the pulse peak. By obtaining the peak position and width value of the pulse peak, the existence of false pulse peaks generated by clutter and noise can be avoided, and the pulse peaks belonging to the target object can be accurately screened out to determine the authenticity of the target object and improve the distance of detecting the target The detection accuracy of the information.
具体的，请一并参见图5，为本发明实施例提供了数值获取单元的结构示意图。如图5所示，所述数值获取单元12可以包括：Specifically, please refer to FIG. 5 , which provides a schematic structural diagram of a numerical value acquisition unit for an embodiment of the present invention. As shown in Figure 5, the value acquisition unit 12 may include:
位置确定子单元121，用于对所述脉冲信号进行微分处理，并在微分处理后获取微分值为零且前后两个信号点的微分值不为零的第一信号点，确定所述第一信号点的位置为所述脉冲信号中的脉冲峰的峰值位置；The position determination subunit 121 is configured to perform differential processing on the pulse signal, and after the differential processing, obtain a first signal point whose differential value is zero and the differential value of two signal points before and after is not zero, and determine the first signal point The position of the signal point is the peak position of the pulse peak in the pulse signal;
具体实现中，所述位置确定子单元121可以对所述脉冲信号进行微分处理，并在微分处理后获取微分值为零且前后两个信号点的微分值不为零的第一信号点，可以理解的是，由于雷达波束是持续有雷达发射天线发射的，因此所生成的脉冲信号是由多个接收的信号点组成。所述位置确定子单元121可以确定第一信号点的位置为所述脉冲信号中的脉冲峰的峰值位置。In a specific implementation, the position determining subunit 121 may perform differential processing on the pulse signal, and obtain the first signal point whose differential value is zero and the differential value of the two signal points before and after the differential processing is not zero after the differential processing. It is understood that since the radar beam is continuously transmitted by the radar transmitting antenna, the generated pulse signal is composed of a plurality of received signal points. The position determining subunit 121 may determine the position of the first signal point as the peak position of the pulse peak in the pulse signal.
峰值数值获取子单元122，用于获取所述峰值位置的峰值数值；A peak value obtaining subunit 122, configured to obtain the peak value at the peak position;
具体实现中，所述峰值数值获取子单元122可以在所述脉冲信号中获取所述峰值位置的峰值数值，所述峰值数值具体可以为所述脉冲峰的幅度峰值，可以理解的是，由于信号在传输过程中会存在传输损耗，因此需要对所述脉冲信号中的各信号点进行距离补偿，所述峰值数值获取子单元122可以采用所述脉冲峰中各信号点的发射时刻与接收时刻间的时间差分别对所述脉冲峰中的各信号点进行距离补偿处理，以生成补偿脉冲信号，所述发射时刻为所述信号点所在的雷达波束由雷达发射天线发射时的时刻，所述接收时刻为所述信号点所在的回波信号由雷达接收天线接收时的时刻，因此可以计算当前信号点对应的补偿距离为R(t)，R(t)＝c*(t/2)，其中，c表示为信号传输速度，优选为光速，t表示为当前信号点的发射时刻与接收时刻间的时间差，进一步的，距离补偿处理前的脉冲信号中当前信号点对应的幅度值为S1(t)，距离补偿处理后的补偿脉冲信号中当前信号点对应的幅度值S2(t)，则S2(t)＝S1(t)*R(t)2，通过获取脉冲信号中所有信号点的时间差和幅度值，并对所有信号点进行距离补偿处理，可以生成补偿脉冲信号。所述峰值数值获取子单元122可以在所述补偿脉冲信号中获取所述峰值位置的峰值数值。In a specific implementation, the peak value acquisition subunit 122 can obtain the peak value of the peak position in the pulse signal, and the peak value can specifically be the amplitude peak value of the pulse peak. It can be understood that, due to the There will be transmission loss in the transmission process, so it is necessary to perform distance compensation for each signal point in the pulse signal, and the peak value acquisition subunit 122 can use the distance between the transmission time and the reception time of each signal point in the pulse peak The time difference between each signal point in the pulse peak is subjected to distance compensation processing to generate a compensation pulse signal, and the transmitting time is the time when the radar beam where the signal point is located is transmitted by the radar transmitting antenna, and the receiving time is is the moment when the echo signal at the signal point is received by the radar receiving antenna, so the compensation distance corresponding to the current signal point can be calculated as R(t), R(t)=c*(t/2), wherein, c represents the signal transmission speed, preferably the speed of light, and t represents the time difference between the transmitting moment and the receiving moment of the current signal point. Further, the amplitude value corresponding to the current signal point in the pulse signal before distance compensation processing is S1 (t ), the amplitude value S2 (t) corresponding to the current signal point in the compensated pulse signal after distance compensation processing, then S2 (t)=S1 (t)*R(t)2 , by obtaining all signals in the pulse signal The time difference and amplitude value of the point, and perform distance compensation processing on all signal points, can generate a compensation pulse signal. The peak value obtaining subunit 122 may obtain the peak value of the peak position in the compensation pulse signal.
宽度数值获取子单元123，用于基于所述脉冲峰的峰值位置，分别获取从所述峰值位置的幅度值下降到一半时的两个第二信号点，将所述两个第二信号点间的宽度距离确定为所述脉冲峰的宽度数值。The width value acquisition subunit 123 is configured to acquire two second signal points when the amplitude value of the peak position drops to half based on the peak position of the pulse peak, and divide the distance between the two second signal points into The width distance is determined as the pulse peak width value.
距离信息获取单元13，用于当所述峰值数值和所述宽度数值均满足脉冲阈值时，根据所述雷达波束与所述回波信号间的时间差以及信号传输速度获取所述目标物体的距离信息；A distance information acquiring unit 13, configured to acquire the distance information of the target object according to the time difference between the radar beam and the echo signal and the signal transmission speed when the peak value and the width value both meet the pulse threshold ;
具体实现中，当所述峰值数值和所述宽度数值均满足脉冲阈值时，所述距离信息获取单元13可以确定所述峰值数值和所述宽度数值指示的脉冲峰为所述目标物体的真实信号，所述距离信息获取单元13可以根据所述雷达波束与所述回波信号间的时间差以及信号传输速度计算所述目标物体的距离信息，所述目标测距设备1可以对所述目标物体的距离信息进行实时输出显示。In a specific implementation, when both the peak value and the width value meet the pulse threshold, the distance information acquisition unit 13 may determine that the pulse peak indicated by the peak value and the width value is the real signal of the target object The distance information acquisition unit 13 can calculate the distance information of the target object according to the time difference between the radar beam and the echo signal and the signal transmission speed, and the target ranging device 1 can calculate the distance information of the target object Real-time output and display of distance information.
具体的，请一并参见图6，为本发明实施例提供了距离信息获取单元的结构示意图。如图6所示，所述距离信息获取单元13可以包括：Specifically, please refer to FIG. 6 , which provides a schematic structural diagram of a distance information acquisition unit for an embodiment of the present invention. As shown in Figure 6, the distance information acquiring unit 13 may include:
距离获取子单元131，用于当所述峰值数值满足所述脉冲峰值阈值且所述宽度数值满足脉冲宽度阈值时，根据所述雷达波束与所述回波信号间的时间差以及信号传输速度获取所述目标物体的候选距离信息；The distance acquisition subunit 131 is configured to acquire the distance according to the time difference between the radar beam and the echo signal and the signal transmission speed when the peak value satisfies the pulse peak threshold and the width value satisfies the pulse width threshold. Candidate distance information of the target object;
具体实现中，当所述峰值数值满足所述脉冲峰值阈值且所述宽度数值满足脉冲宽度阈值时，所述距离获取子单元131可以确定所述峰值数值和所述宽度数值指示的脉冲峰为所述目标物体的真实信号，所述距离获取子单元131可以根据所述雷达波束与所述回波信号间的时间差以及信号传输速度获取所述目标物体的候选距离信息，优选的，假设所述雷达波束与所述回波信号间的时间差为T，所述信号传输速度为c，则所述目标物体的候选距离信息为D＝c*(T/2)。In a specific implementation, when the peak value satisfies the pulse peak threshold and the width value satisfies the pulse width threshold, the distance obtaining subunit 131 may determine that the pulse peak indicated by the peak value and the width value is the The real signal of the target object, the distance acquisition subunit 131 can acquire the candidate distance information of the target object according to the time difference between the radar beam and the echo signal and the signal transmission speed, preferably, assuming that the radar The time difference between the beam and the echo signal is T, and the signal transmission speed is c, then the candidate distance information of the target object is D=c*(T/2).
距离确定子单元132，用于在预设时间段内获取包含所述候选距离信息的距离信息集合，对所述距离信息集合进行概率分布处理，以确定所述目标物体的距离信息；The distance determining subunit 132 is configured to acquire a distance information set including the candidate distance information within a preset time period, and perform probability distribution processing on the distance information set to determine the distance information of the target object;
具体实现中，为了避免雷达采样时钟的飘移所导致的目标距离的跳动，所述距离确定子单元132可以在预设时间段内获取包含所述目标物体的多个候选距离信息的距离信息集合，所述距离信息集合包含上述计算得到的单次的候选距离信息，所述距离确定子单元132可以对所述距离信息集合中的多个候选距离信息进行概率分布处理，以确定所述目标物体的距离信息，所述距离信息为所述目标物体的真实距离。In a specific implementation, in order to avoid the jump of the target distance caused by the drift of the radar sampling clock, the distance determining subunit 132 may acquire a distance information set containing multiple candidate distance information of the target object within a preset time period, The distance information set includes the single candidate distance information calculated above, and the distance determination subunit 132 may perform probability distribution processing on multiple candidate distance information in the distance information set to determine the distance of the target object. Distance information, where the distance information is the real distance of the target object.
所述目标测距设备1进一步可以对所述目标物体的距离信息进行输出显示，所述目标测距设备1还可以基于所述目标物体的距离信息生成所述目标物体的动态分布曲线，并进行输出显示。The target ranging device 1 can further output and display the distance information of the target object, and the target ranging device 1 can also generate a dynamic distribution curve of the target object based on the distance information of the target object, and perform The output is displayed.
在本发明实施例中，通过积分的方式实现回波信号的下变频处理以识别脉冲信号，可以使得脉冲信号中存在独立的脉冲峰，便于对目标物体的距离探测，简化了脉冲信号的识别过程，保证了脉冲信号中脉冲峰的稳定性，同时通过峰值位置、宽度数值等来确定目标物体的真实性，提升了探测目标的距离信息的探测准确性。In the embodiment of the present invention, the down-conversion processing of the echo signal is realized by means of integration to identify the pulse signal, so that there are independent pulse peaks in the pulse signal, which facilitates the detection of the distance of the target object and simplifies the identification process of the pulse signal , to ensure the stability of the pulse peak in the pulse signal, and at the same time determine the authenticity of the target object through the peak position, width value, etc., and improve the detection accuracy of the distance information of the detection target.
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)或随机存储记忆体(Random AccessMemory，RAM)等。Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented through computer programs to instruct related hardware, and the programs can be stored in a computer-readable storage medium. During execution, it may include the processes of the embodiments of the above-mentioned methods. Wherein, the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM) or a random access memory (Random Access Memory, RAM) and the like.
以上所揭露的仅为本发明较佳实施例而已，当然不能以此来限定本发明之权利范围，因此依本发明权利要求所作的等同变化，仍属本发明所涵盖的范围。The above disclosures are only preferred embodiments of the present invention, and certainly cannot limit the scope of rights of the present invention. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
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| CN201810117551.4ACN108490426A (en) | 2018-02-06 | 2018-02-06 | A kind of target ranging method and its equipment |
| Application Number | Priority Date | Filing Date | Title |
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| CN201810117551.4APendingCN108490426A (en) | 2018-02-06 | 2018-02-06 | A kind of target ranging method and its equipment |
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| RJ01 | Rejection of invention patent application after publication | Application publication date:20180904 |