CN104569964B - For the method for the moving target two-dimensional detection with tracking of ultra-broadband wall-through radar - Google Patents
For the method for the moving target two-dimensional detection with tracking of ultra-broadband wall-through radar Download PDFInfo
- Publication number
- CN104569964B CN104569964B CN201510047947.2A CN201510047947A CN104569964B CN 104569964 B CN104569964 B CN 104569964B CN 201510047947 A CN201510047947 A CN 201510047947A CN 104569964 B CN104569964 B CN 104569964B
- Authority
- CN
- China
- Prior art keywords
- flight path
- moment
- target
- sub
- interim
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/887—Radar or analogous systems specially adapted for specific applications for detection of concealed objects, e.g. contraband or weapons
- G01S13/888—Radar or analogous systems specially adapted for specific applications for detection of concealed objects, e.g. contraband or weapons through wall detection
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
A kind of method the invention provides moving target two-dimensional detection for ultra-broadband wall-through radar with tracking.The method carries out two-dimensional imaging to tested region using the echo data of line array sensor by Beam synthesis, and concept using versus grayscale extracts the position of target in imaging results in the form of coordinate points；The point mark that visual detector is exported is carried out into matching with existing flight path to associate；Existing flight path is managed, including the operation such as the maintenance of track initiation, flight path and flight path deletion；The KF based on IMM is carried out to existing stabilization flight path to filter, the optimal estimation value of all target two dimensional motion parameters in tested region is obtained, the purpose for carrying out two-dimensional detection and tracking to the moving target after barrier using the data of ultra-broadband wall-through radar line array sensor is realized.
Description
Technical field
The present invention relates to ultra-wideband radar technology field, more particularly to a kind of moving target for ultra-broadband wall-through radar
Method of the two-dimensional detection with tracking.
Background technology
Pulse ultra-wideband through-wall radar is a kind of short-distance movement target acquisition radar based on ultra-wideband pulse technology,
It penetrates general barrier (all kinds of brick walls, reinforced concrete such as in common building thing by launching ultra wideband narrow-pulse signal
Cob wall etc.), echo-signal is received and analyzes, in real time the presence for moving target (people) after operating personnel's disturbance in judgement thing and standard
Positional information and its motion conditions of target etc. really are provided, with reach to be hidden in the moving target after barrier carry out it is non-enter
The purpose of formula detection is invaded, the ability of the aspects such as operating personnel's scouting and detection, Situation Awareness is improved.
The different arrangement mode of sensor (dual-mode antenna) that ultra-broadband wall-through radar is used according to it can possess not
Same detectivity：1) if only with a pair of sending and receiving sensors, the A-Scan echoes of its reception can be utilized, target is therefrom obtained
The corresponding time delay of echo, and then obtain the one-dimension informations such as the radial distance of target and radar；If 2) sensor array is arranged along straight line
Cloth (i.e. line array sensor), then can carry out two-dimensional imaging to tested region by Beam synthesis (Beamforming), and then
Obtain the two dimensional surface information of target；If 3) sensor array distribution in one plane (i.e. face sensor array), can
Three-dimensional imaging is carried out to tested region by Beam synthesis, and then obtains the three-dimensional spatial information of target.Based on single-sensor
Through-wall radar, its can accomplish small volume, it is lightweight, the features such as be easy to carry, but have the disadvantage that any orientation letter cannot be provided
Breath, i.e., cannot differentiate two targets of diverse location on the direction radially vertical with radar.And it is based on the through walls of sensor array
Radar then can carry out two dimension, three-dimensional imaging to tested region by Beam synthesis, obtain comprising distance to the mesh with orientation
The cursor position information even information such as profile, shape of target, thus relative single-sensor through-wall radar, based on sensor array
The through-wall radar information to be provided more enrich, make operating personnel have to the target in tested region more fully understand and
Grasp, but this is to sacrifice the portability and complexity of radar system as cost.Current ultra-wide relatively common both at home and abroad
The through-wall radar of single-sensor or line array sensor is generally based on through-wall radar, the thunder through walls based on face sensor array
Dyne its sensor array is generally larger, and the data volume of required treatment is also abnormal big, thus implements and acquire a certain degree of difficulty.
Through-wall radar it is actually used in, often influenceed from its own and extraneous unfavorable factor by many,
The uncertainty of the random thermal noise of such as radar system, wall medium and its distribution, the multipath effect in detection environment etc.,
These unfavorable factors can cause severe jamming to radar return, and then cause the through-wall radar imaging result based on sensor array
There is fuzzy, unstable situation, to operating personnel's resolution target, determine that target location all brings very big inconvenience.In two dimension
In through-wall detection, if on the premise of resolution ratio can reach, target location in imaging results extracted in the form of coordinate points
Out, and then to different targets accurately positioned respectively and tracked, then can be solved to a certain extent above-mentioned by being imaged
The unstable problem brought.Meanwhile, in the three-dimensional imaging of through-wall radar, if it is possible to the accurate location where obtaining target,
Most of incoherent area of space can be just abandoned, only fritter area of space corresponding to target position carries out three-dimensional
Imaging, is that ultra-broadband wall-through radar realizes that three-dimensional tracking imaging is carried so as to substantially reduce the amount of calculation of through-wall radar three-dimensional imaging
For possible.
The content of the invention
(1) technical problem to be solved
In view of above-mentioned technical problem, the invention provides a kind of moving target two-dimensional detection for ultra-broadband wall-through radar
With the method for tracking.
(2) technical scheme
The present invention includes for the moving target two-dimensional detection of ultra-broadband wall-through radar with the method for tracking：Step A：To super
The echo data r at n moment when broadband through-wall radar line array sensor is slowmN () carries out pretreatment operation and obtains echo data r 'm
(n), wherein, m be sending and receiving sensor numbering, i.e. m=1,2 ..., M, M be sending and receiving sensor sum；Step B：Using number of echoes
According to r 'mN () carries out moving target two-dimensional detection, obtain what the moving target at n moment was produced on the two dimensional surface of tested region
Point mark p (n)；Step C：Point mark p (n) that moving target is produced on the two dimensional surface of tested region is formed with the n-1 moment
Each bar stabilization flight path STkAnd the interim flight path TT of each bar (n-1)l(n-1) matching operation is associated, n moment each bar ST is obtainedk
Observation yk(n) and each bar TTlObservation zl(n)；Wherein, k is the numbering for stablizing flight path, and k=1,2 ..., l is to face
When flight path numbering, l=1,2 ...；Step D：To the stable flight path ST at n-1 momentkAnd interim flight path TT (n-1)l(n-1) enter
Row flight path is managed, including track initiation, flight path are maintained and flight path deletion action, form the stable flight path ST at n momentk(n) and face
When flight path TTl(n)；And step E：By each bar stabilization flight path ST at n momentk(n) and its corresponding observation ykN () input is handed over
Kalman filter under mutual multi-model carries out optimal filter, obtains each target two-dimensional coordinate position in n moment tested regions
Estimate
(3) beneficial effect
The present invention carries out two-dimensional imaging by Beam synthesis using the echo data of line array sensor to tested region,
And the concept using versus grayscale extracts the position of target in imaging results in the form of coordinate points；By visual detector
The point mark of output carries out matching and associates with existing flight path；Existing flight path is managed, including track initiation, flight path are maintained and navigated
The operations such as mark deletion；The KF based on IMM is carried out to existing stabilization flight path to filter, obtain the maintenance and operation of all targets two in tested region
The optimal estimation value of dynamic parameter, realizes the data using ultra-broadband wall-through radar line array sensor to the motion after barrier
Target carries out the purpose of two-dimensional detection and tracking.
Brief description of the drawings
Fig. 1 show schematic flow sheet of the invention；
Fig. 2 show one group of Initial experiments number that the through-wall radar based on line array sensor is collected to sensor
Processed by amplitude normalization according to the gray-scale map of (B-Scan), and per pass A-Scan；
Fig. 3 show the Moving Target Return that Fig. 2 results are obtained after adjacent offseting, and per pass A-Scan by width
Degree normalized；
Fig. 4 A to Fig. 4 F show three Moving Target Returns not in the same time by the imaging results after Beam synthesis with
The compares figure of correspondence moment target actual position；
The moving target point mark at moment when Fig. 5 show all slow；
Fig. 6 show the raw experimental data of all similar Fig. 2 of sensor array through the two of inventive algorithm final output
Bar movement objective orbit.
Specific embodiment
To make the object, technical solutions and advantages of the present invention become more apparent, below in conjunction with specific embodiment, and reference
Accompanying drawing, the present invention is described in more detail.It should be noted that in accompanying drawing or specification description, similar or identical portion
Divide and all use identical figure number.The implementation for not illustrated in accompanying drawing or being described, is those of ordinary skill in art
Known form.In addition, though the demonstration of the parameter comprising particular value can be provided herein, it is to be understood that parameter is without definite etc.
In corresponding value, but corresponding value can be similar in acceptable error margin or design constraint.Mentioned in embodiment
Direction term, for example " on ", D score, "front", "rear", "left", "right" etc., be only the direction of refer to the attached drawing.Therefore, the side for using
It is for illustrating not for limiting the scope of the invention to term.
The purpose of the present invention is to propose to a kind of data of utilization ultra-broadband wall-through radar line array sensor to barrier after
The moving target method that carries out real-time, accurate two-dimensional detection and tracking.
In one exemplary embodiment of the present invention, there is provided a kind of moving target two for ultra-broadband wall-through radar
Dimension method of the detection with tracking.Fig. 1 is the moving target two-dimensional detection for being used for ultra-broadband wall-through radar according to the embodiment of the present invention
With the flow chart of the method for tracking.As shown in figure 1, the present embodiment be used for ultra-broadband wall-through radar moving target two-dimensional detection with
The method of tracking includes：
Step A：Ultra-broadband wall-through radar 2-D data is pre-processed, i.e., when slow to ultra-broadband wall-through radar line array sensor
The echo data r at n momentm(n) (m be sending and receiving sensor numbering, i.e. m=1,2 ..., M, M be sending and receiving sensor sum) carry out
Pretreatment operation obtains echo data r 'm(n)；
Wherein, pretreatment operation is different because of different radar systems, generally comprises cumulative mean, bandpass filtering, shake and goes
Except baseband signal processing means such as, matched filtering, envelope detecteds.For convenience of description, pretreatment operation here uses band logical
Two operations of filtering and matched filtering, i.e.,
r′m(n)=MF { BPF { rm(n)}} (1)
Wherein, BPF { } represents bandpass filtering operation, and MF { } represents matched filtering operation.
Step B：Ultra-broadband wall-through Radar Moving Target two-dimensional detection, i.e., using the echo data r ' obtained in step Am
N () carries out moving target two-dimensional detection, obtain the point mark p that the moving target at n moment is produced on the two dimensional surface of tested region
(n)；
The step B ultrasonic broadband through-wall radar moving target two-dimensional detection, including：
Sub-step B1：Using the n moment each groups r ' obtained in step Am(n) (m=1,2 ..., M) and n-1 moment
Each group r 'm(n-1) it is r that pointwise make difference to obtain the Moving Target Return at n moment "m(n), i.e. r "m(n)=r 'm(n)-r′m(n-
1)；
Sub-step B2：Using the Moving Target Return r obtained in sub-step B1 "mN () carries out Beam synthesis
(Beamforming) two-dimensional digital image IMG is obtained；
Sub-step B3：The two-dimensional digital image IMG that sub-paragraphs B2 is obtained, defines versus grayscaleWherein (i, j) represents the coordinate position of certain pixel in image, and g (i, j) represents the pixel
Gray value,Represent the average gray value of IMG.A thresholding T is set, is extracted and all in two-dimensional digital image IMG is met q
The connection component (set comprising neighbor pixel) of (i, j) >=T, and using the centroid position of each connection component as target at this
The position at place, thus obtains the point mark p that n moment moving target that may be present is produced on the two dimensional surface of tested region
(n)。
Step C：Ultra-broadband wall-through Radar Multi Target 2-D data is associated, and the moving target that will be obtained in step B is in quilt
Survey each bar stabilization flight path (Stable Track, ST) that point mark p (n) produced on the two dimensional surface in region is formed with the n-1 moment
STkAnd the interim flight path of each bar (Temporary Track, TT) TT (n-1)l(n-1) matching operation is associated, the n moment is obtained
Each bar STkObservation yk(n) and each bar TTlObservation zl(n)；
Wherein, k is the numbering for stablizing flight path, i.e. k=1,2 ...；L is the numbering of interim flight path, i.e. l=1,2 ....
In the present embodiment, stabilization flight path is referred in radar coverage, it is considered to be produced by real motion target,
The flight path of tracking is kept for a long time；And interim flight path is then that initial time is not grown, confidence level is not high enough, needs further resolution
Flight path.The relation of the two is that continued presence Targets Dots can be matching within a period of time when interim flight path, then it is assumed that
The interim flight path of this is produced by real goal, thus be translated into stabilization flight path and set up filtering equations it is carried out with
Track, otherwise, the interim flight path be considered as produced by noise spot mark and be deleted, concrete operations can be found in step D flight path pipes
Reason.
Step C ultra-broadband wall-through Radar Multi Targets 2-D data is associated, including：
Sub-step C1：With n-1 moment each bar stabilization flight path STk(n-1) kalman filter prediction
A radius is set up centered on respectively for r1Circular ripple door Ak, wherein k is the numbering for stablizing flight path, i.e. k=1,2 ....With n-
The interim flight path TT of 1 moment each barl(n-1) observation respectively centered on set up a radius for r2Circular ripple door Bl, wherein, l
It is the numbering of interim flight path, i.e. l=1,2 ...；
Sub-step C2：The moving target at the n moment obtained in sub-paragraphs B2 is produced on the two dimensional surface of tested region
Raw point mark p (n) is screened：Fall in circular ripple door AkThe point mark p of (k=1,2 ...)1kN () is correspondence stabilization flight path STk's
Relating dot trace set；Fall in circular ripple door BlThe point mark p of (l=1,2 ...)2lN () is the interim flight path TT of correspondencelRelating dot mark
Set；Left point mark in p (n) (does not appear in any AkAnd BlIn point mark) p3N () is deemed likely to be that fresh target is produced
Point mark, for the starting of new flight path；
Sub-step C3：If in sub-step C2Then use JPDA (Joint
Probabilistic Data Association, abbreviation JPDA) algorithm is by p1k(n) and corresponding stabilization flight path STkClosed
Connection matching operation, obtains stabilization flight path STkIn the observation y at n momentk(n)；IfThen ykN () is equal to step C1
InEqually, if in step C2JPDA algorithms are then used by p2lN () faces with corresponding
When flight path TTlMatching operation is associated, interim flight path TT is obtainedlIn the observation z at n momentl(n)；IfThen
Not to the TTlDo any operation.
It should be noted that during the initial time, i.e. n=1 of program operation, due in the absence of any flight path, thus entirely
Step C is skipped without performing；Equally, in follow-up running, if after last moment (n-1 moment) program end of run
In the absence of stablizing flight path or interim flight path, then the current n moment then skips corresponding operating in step C without performing.If for example,
Interim flight path is only existed after n-1 moment end of runs without stablizing flight path, then the n moment then skips it when running step C
In the operation related to flight path is stablized without performing, processed just for interim flight path.
Step D：Ultra-broadband wall-through radar two dimension flight path management, i.e., to the stable flight path ST at n-1 momentk(n-1) it is and interim
Flight path TTl(n-1) flight path management, including the operation such as the maintenance of track initiation, flight path and flight path deletion are carried out, the steady of n moment is formed
Determine flight path STk(n) and interim flight path TTl(n), wherein, k=1,2 ..., l=1,2 ...；
The two dimension flight path management of step D ultra-broadband wall-throughs radar, including：
Sub-step D1：If certain the stabilization flight path ST in sub-step C3kContinuous N1Secondary appearanceSituation, then
Think that the corresponding target of the stable flight path has been left tested region and deleted；
Sub-step D2：If certain the interim flight path TT in sub-step C3lOccurSituation, then it is assumed that this faces
When flight path be to be deleted by the formation of noise；If certain interim flight path TTlContinuous N2Secondary appearance's
Situation, then it is assumed that the interim flight path be by a real goal formed and be transformed into a new stable flight path for
The track target；
Sub-step D3：By the p in sub-step C23N each point mark in () is respectively as a starting for new interim flight path
Point mark, that is, be separately turned on a new interim flight path.
Wherein, NlAnd N2User is to be set as needed.
It should be noted that during the initial time, i.e. n=1 of program operation, due in the absence of any flight path, thus sub-step
Rapid D1 and D2 will be skipped without performing, and directly performing sub-step D3 carries out the operation of track initiation；Equally, in follow-up operation
During, if do not exist after last moment (n-1 moment) program end of run stablizing flight path or interim flight path, and or do not detect
To any mark, then the current n moment then skips corresponding operating in step D without performing.If for example, the n-1 moment runs knot
Interim flight path is only existed after beam without stablizing flight path, then the n moment then skips sub-step D1 without holding when running step D
OK, the associative operation in sub-step D2, D3 is only carried out.
Step E：Ultra-broadband wall-through radar two-dimensional tracking is filtered, will step D) in each bar stabilization at n moment for being formed navigate
Mark STk(n) and its correspondence step C) in observation ykN () input is based on Interactive Multiple-Model (Interacting Multiple
Model, abbreviation IMM) Kalman filter (Kalman Filter, abbreviation KF) carry out optimal filter, you can obtain current n
The estimate of each target two-dimensional coordinate position in tested region in moment tested regionWith other action reference variables
It is worth and to the predicted value of each target of n+1 moment tested regions two-dimensional coordinate position in tested regionMake n
=n+1, performs step A.
The filtering of step E ultra-broadband wall-through radars two-dimensional tracking is specifically included：
Sub-step E1：It is each bar stabilization flight path ST at n moment in step DkN () sets up a Kalman filter respectively
(Kalman Filter, abbreviation KF), the Kalman filter uses Interactive Multiple-Model (Interacting Multiple
Model, abbreviation IMM) Method Modeling, and using corresponding to ST in step C3kThe observation y of (n)kN () carries out optimal filter, i.e.,
The estimate of n moment each target two-dimensional coordinate position in tested region can be obtainedWith other action reference variable values, with
And to the predicted value of each target of n+1 moment tested regions two-dimensional coordinate position in tested region
Here, Interactive Multiple-Model modeling method includes at the uniform velocity (Constant Velocity, abbreviation CV) model, Singh
(Singer) model and constant level's turning (Nearly Constant Speed Horizontal Turn, abbreviation HT) model；
In addition, other kinematic parameters here are including the speed of moving target, acceleration etc., can be according to the real needs of operator by card
Thalmann filter selection exports the estimate of these parameters.
Sub-step E2：N=n+1 is made, step A is performed；
Wherein, predicted valueIt is (former) it is used for subsequent time (n+1 moment) in step C to steady
Determine flight path STkWhat is carried out is operation associated.
It should be noted that during the initial time, i.e. n=1 of program operation, due in the absence of stablizing flight path, thus entirely
Step E is skipped without performing；Equally, in follow-up running, if after last moment (n-1 moment) program end of run
In the absence of stablizing flight path, then the current n moment is then skipped in whole step E without performing.
Fig. 2 show one group of Initial experiments number that the through-wall radar based on line array sensor is collected to sensor
According to the gray-scale map of (B-Scan).For the ease of viewing, per pass A-Scan is by the treatment of amplitude normalization in figure.Horizontal seat in figure
When mark represents slow (unit is the second), when ordinate represents fast, and have been converted into distance value (unit is rice).Through-wall radar used
Centre frequency is 1.5GHz, and sample rate is 25.6GHz, and the sampling number of single track A-Scan is 2048, that is, window is about when sampling
80ns, the maximum distance to be detected is about 12 meters (in the case of not wearing any barrier).Wall is mixed in experiment scene
Solidifying cob brick wall, thickness is about 0.245 meter, has two moving targets to intersect walking back and forth in tested scene.
Fig. 3 show original echo in Fig. 2 by pretreatment operation and it is adjacent offset after the Moving Target Return that obtains
Gray-scale map, and per pass A-Scan is by amplitude normalization treatment.Here pretreatment operation includes that bandpass filtering and matching are filtered
Two, ripple.Selected bandpass filter centre frequency is 1.5GHz, and with a width of 1.5GHz, exponent number is 5.Institute in matched filter
The Control echo for using is signal received when sending and receiving sensor is to penetrating.
Fig. 4 A~Fig. 4 F show and take from the group three Moving Target Returns not in the same time of experiment by after Beam synthesis
Imaging results and corresponding moment target actual position compares figure.Wherein, Fig. 4 A and Fig. 4 B are the corresponding imaging knots of moment T1
Fruit and target actual position.Fig. 4 C and Fig. 4 D are the corresponding imaging results of moment T2 and target actual position.Fig. 4 E and Fig. 4 F is
The corresponding imaging results of moment T3 and target actual position.Therefrom it can be seen that, the imaging results at these three moment are all occurred in that
Fuzzy, unstable situation, the number of target is difficult to recognize with position.
Fig. 5 show the Targets Dots for directly being extracted from the imaging results of similar Fig. 4 of each moment." * " form point in figure
The Targets Dots at as each moment, therefrom can see the tracks that two targets are moved with obvious, but in testing result
In also occur in that substantial amounts of False Intersection Points mark.
Fig. 6 show the initial data of all similar Fig. 2 of sensor array through two of the present embodiment method final output
Movement objective orbit.No. 1 situation of target motion is reflected in the track that " x " form point is formed in figure, the track reflection that " o " form point is formed
No. 2 situations of target motion.It can be seen that, False Intersection Points mark has been completely eliminated, and target trajectory is steady and audible.
It can be seen that, the present embodiment can be solved in two-dimentional through-wall detection due to through-wall imaging unstable result to a certain extent
The target brought is difficult to the problem differentiated and position.Simultaneously as the standard after barrier where moving target can be obtained in real time
True position, thus the inventive method can substantially reduce the amount of calculation of through-wall radar three-dimensional imaging, be ultra-broadband wall-through radar
Three-dimensional tracking imaging is provided may.
So far, combined accompanying drawing has been described in detail to the present embodiment.According to above description, those skilled in the art
Should have with the method for tracking for the moving target two-dimensional detection of ultra-broadband wall-through radar to the present invention and clearly recognize.
Additionally, the above-mentioned definition to each element and method is not limited in embodiment various concrete structures, the shape mentioned
Shape or mode, those of ordinary skill in the art can simply be changed or be replaced to it.
In sum, the present invention can utilize the data of ultra-broadband wall-through radar line array sensor to the fortune after barrier
Moving-target carries out real-time, accurate two-dimensional detection and tracking, to a certain extent because imaging is tied in the two-dimentional through-wall detection of solution
The really unstable target brought is difficult to the problem differentiated and position.Simultaneously as moving target after barrier can be obtained in real time
The accurate location at place, thus the present invention can substantially reduce the amount of calculation of through-wall radar three-dimensional imaging, be ultra-broadband wall-through thunder
The three-dimensional tracking imaging for reaching provides possible, with application value higher.
Particular embodiments described above, has been carried out further in detail to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail bright, should be understood that and the foregoing is only specific embodiment of the invention, be not intended to limit the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvements done etc., should be included in guarantor of the invention
Within the scope of shield.
Claims (8)
1. a kind of moving target two-dimensional detection for ultra-broadband wall-through radar with tracking method, it is characterised in that including：
Step A：The echo data r at n moment when slow to ultra-broadband wall-through radar line array sensormN () carries out pretreatment operation and obtains
To echo data r 'm(n), wherein, m be sending and receiving sensor numbering, i.e. m=1,2 ..., M, M be sending and receiving sensor sum；
Step B：Using echo data r 'mN () carries out moving target two-dimensional detection, obtain the moving target at n moment in tested region
Two dimensional surface on produce point mark p (n), including：；
Sub-step B1：Using n moment each groups r 'mThe each group r ' at (n) and n-1 momentm(n-1) fortune that difference obtains the n moment is made in pointwise
Transient echo is r "m(n), wherein, m=1,2 ..., M；
Sub-step B2：Using Moving Target Return r "mN () carries out Beam synthesis and obtains two-dimensional digital image；
Sub-step B3：To two-dimensional digital image, versus grayscale is definedWherein (i, j) is represented
The coordinate position of certain pixel in image, g (i, j) represents the gray value of the pixel,Represent the average gray value of IMG, setting
One thresholding T, extracts all connection components for meeting q (i, j) >=T in two-dimensional digital image IMG, and with the matter of each connection component
Thus heart position obtains two dimension of the n moment moving target that may be present in tested region as the position where target at this
Point mark p (n) produced in plane；
Step C：Point mark p (n) that moving target is produced on the two dimensional surface of tested region is steady with each bar that the n-1 moment is formed
Determine flight path STkAnd the interim flight path TT of each bar (n-1)l(n-1) matching operation is associated, n moment each bar ST is obtainedkObservation
Value yk(n) and each bar TTlObservation zl(n)；Wherein, k is the numbering for stablizing flight path, and k=1,2 ..., l are interim flight paths
Numbering, l=1,2 ...；
Step D：To the stable flight path ST at n-1 momentkAnd interim flight path TT (n-1)l(n-1) flight path management is carried out, including flight path rises
Begin, flight path is maintained and flight path deletion action, forms the stable flight path ST at n momentk(n) and interim flight path TTl(n)；And
Step E：By each bar stabilization flight path ST at n momentk(n) and its corresponding observation ykCard under (n) input Interactive Multiple-Model
Thalmann filter carries out optimal filter, obtains the estimate of each target two-dimensional coordinate position in n moment tested regions
2. method according to claim 1, it is characterised in that the step E also includes：Obtain and area is tested to the n+1 moment
The predicted value of domain each target two-dimensional coordinate position in tested regionN=n+1 is made, step A is performed；
The step C includes：
Sub-step C1：With n-1 moment each bar stabilization flight path STk(n-1) predicted valueCentered on set up half respectively
Footpath is r1Circular ripple door Ak, with the interim flight path TT of n-1 moment each barl(n-1) setting up Radius centered on observation respectively is
r2Circular ripple door Bl；
Sub-step C2：Point mark p (n) that the moving target at n moment is produced on the two dimensional surface of tested region is screened：Fall
In circular ripple door AkPoint mark p1kN () is correspondence stabilization flight path STkRelating dot trace set；Fall in circular ripple door BlPoint mark p2l
N () is the interim flight path TT of correspondencelRelating dot trace set；Left point mark p in p (n)3N () is used for the starting of new flight path；
Sub-step C3：IfBy p1k(n) and corresponding stabilization flight path STkMatching operation is associated, is stablized
Flight path STkIn the observation y at n momentk(n)；IfThen ykN () is equal in step C1IfBy p2l(n) and corresponding interim flight path TTlMatching operation is associated, interim flight path TT is obtainedlAt the n moment
Observation zl(n)；IfThen not to the TTlDo any operation.
3. method according to claim 2, it is characterised in that in the sub-step C3：
IfUsing JPDA algorithms by p1k(n) and corresponding stabilization flight path STkMatching operation is associated, is obtained
Stabilization flight path STkIn the observation y at n momentk(n)；And/or
IfJPDA algorithms are then used by p2l(n) and corresponding interim flight path TTlMatching operation is associated, is obtained
Obtain interim flight path TTlIn the observation z at n momentl(n)。
4. method according to claim 2, it is characterised in that the step E includes：
Sub-step E1：It is each bar stabilization flight path ST at n moment in step DkN () sets up a Kalman filter respectively, and utilize
Correspond to ST in step C3kThe observation y of (n)kN () carries out optimal filter, obtain n moment each target two dimension in tested region
The estimate of coordinate positionAnd to n+1 each targets of moment tested region two-dimensional coordinate position in tested region
Predicted valueSub-step E2：N=n+1 is made, step A is performed.
5. method according to claim 4, it is characterised in that the sub-step E1 also includes：N moment each target is obtained to exist
Action reference variable value in tested region.
6. method according to claim 5, it is characterised in that the kinematic parameter includes：Speed, and/or acceleration.
7. method according to claim 1, it is characterised in that the step D includes：
Sub-step D1：For the stable flight path ST in all stabilization flight pathskIf, its continuous N1Secondary appearanceSituation,
Then deleted；
Sub-step D2：For the interim flight path TT in all interim flight pathslIf, its appearanceSituation, then by it
Deleted；If its continuous N2Secondary appearanceSituation, then be transformed into a new stable flight path for
The track target；
Sub-step D3：By p3N each point mark in () is separately turned on one respectively as a starting point mark for new interim flight path
New interim flight path.
8. method according to any one of claim 1 to 7, it is characterised in that in the step A：
r′m(n)=MF { BPF { rm(n)}}
Wherein, BPF { } represents bandpass filtering operation, and MF { } represents matched filtering operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510047947.2A CN104569964B (en) | 2015-01-30 | 2015-01-30 | For the method for the moving target two-dimensional detection with tracking of ultra-broadband wall-through radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510047947.2A CN104569964B (en) | 2015-01-30 | 2015-01-30 | For the method for the moving target two-dimensional detection with tracking of ultra-broadband wall-through radar |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104569964A CN104569964A (en) | 2015-04-29 |
| CN104569964B true CN104569964B (en) | 2017-05-31 |
Family
ID=53086482
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510047947.2A Active CN104569964B (en) | 2015-01-30 | 2015-01-30 | For the method for the moving target two-dimensional detection with tracking of ultra-broadband wall-through radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104569964B (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10989791B2 (en) | 2016-12-05 | 2021-04-27 | Trackman A/S | Device, system, and method for tracking an object using radar data and imager data |
| CN107831285B (en) * | 2017-01-19 | 2019-04-09 | 江苏省金威测绘服务中心 | A kind of dystrophication monitoring system and method based on Internet of Things |
| CN107607947B (en) * | 2017-08-22 | 2020-08-04 | 西安电子科技大学 | On-line estimation method for imaging parameters of satellite-borne radar based on Kalman filtering |
| CN107609075B (en) * | 2017-09-04 | 2019-11-01 | 四川大学 | A kind of periodicity surveillance information abnormal data cleaning method |
| CN107968988B (en) * | 2017-11-30 | 2019-05-31 | 北京旷视科技有限公司 | Monitoring device and intelligent commodity shelf |
| US10587987B2 (en) * | 2017-12-07 | 2020-03-10 | SCRRD, Inc. | High accuracy tracking and interaction for low observable devices |
| CN110031834A (en) * | 2018-01-12 | 2019-07-19 | 西安艾索信息技术有限公司 | A kind of improved multiple target radar track processing method |
| CN110942080B (en) * | 2018-09-25 | 2023-04-28 | 上海汽车集团股份有限公司 | Target life cycle management method and device for multi-sensor fusion |
| CN109239703B (en) * | 2018-09-27 | 2021-05-11 | 中国科学院电子学研究所 | Real-time tracking method for moving target |
| CN109856623B (en) * | 2019-01-03 | 2021-05-04 | 中国人民解放军空军研究院战略预警研究所 | Target state estimation method for multi-radar linear flight path line |
| CN111308473A (en) * | 2020-04-14 | 2020-06-19 | 安徽卫盾安全设备科技有限公司 | Active three-dimensional through-wall radar equipment |
| CN113093134A (en) * | 2021-02-23 | 2021-07-09 | 福瑞泰克智能***有限公司 | Extended target tracking method and device, sensing equipment and vehicle |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103472445A (en) * | 2013-09-18 | 2013-12-25 | 电子科技大学 | Detecting tracking integrated method for multi-target scene |
| CN103854054A (en) * | 2014-01-16 | 2014-06-11 | 电子科技大学 | Moving people number determining method based on distance and association by utilizing through-the-wall radar |
| CN104101875A (en) * | 2014-07-11 | 2014-10-15 | 西北工业大学 | Multiple target tracking method of air traffic control radar |
| CN104316918A (en) * | 2014-10-22 | 2015-01-28 | 四川大学 | Method for TWS tracking radar plot and track association processing |
-
2015
- 2015-01-30 CN CN201510047947.2A patent/CN104569964B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103472445A (en) * | 2013-09-18 | 2013-12-25 | 电子科技大学 | Detecting tracking integrated method for multi-target scene |
| CN103854054A (en) * | 2014-01-16 | 2014-06-11 | 电子科技大学 | Moving people number determining method based on distance and association by utilizing through-the-wall radar |
| CN104101875A (en) * | 2014-07-11 | 2014-10-15 | 西北工业大学 | Multiple target tracking method of air traffic control radar |
| CN104316918A (en) * | 2014-10-22 | 2015-01-28 | 四川大学 | Method for TWS tracking radar plot and track association processing |
Non-Patent Citations (4)
| Title |
|---|
| 单传感器多目标多模型跟踪算法研究;杨展;《中国优秀硕士学位论文全文数据库 信息科技辑》;20120215(第2期);6-7，14-17，19-21，24-25，27，31-33，37-39 * |
| 单传感器多目标跟踪相关算法的研究;袁桂生 等;《雷达与对抗》;19961231(第2期);52-57 * |
| 基于多目标跟踪的航迹关联及滤波与预测分析;吴志强 等;《弹箭与制导学报》;20061231;第26卷(第2期);956-958 * |
| 多目标跟踪中的数据关联和航迹管理;赵艳丽 等;《现代雷达》;20070331;第29卷(第3期);28-31 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104569964A (en) | 2015-04-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104569964B (en) | For the method for the moving target two-dimensional detection with tracking of ultra-broadband wall-through radar | |
| CN109655822A (en) | A kind of improved track initiation method | |
| US9562965B2 (en) | Two-stage filtering based method for multiple target tracking | |
| US10495748B2 (en) | Method of walk-through security inspection and system thereof | |
| CN101676744B (en) | Method for tracking small target with high precision under complex background and low signal-to-noise ratio | |
| US7355545B2 (en) | Through the wall ranging with triangulation using multiple spaced apart radars | |
| CN101498788B (en) | Target rotation angle estimating and transverse locating method for inverse synthetic aperture radar | |
| CN104215951B (en) | System and method for detecting low-speed small target under sea cluster background | |
| CN106680806A (en) | Multi-radar plot fusion method | |
| CN101738614A (en) | Method for estimating target rotation of inverse synthetic aperture radar based on time-space image sequence | |
| CN109782267B (en) | Track correlation method and vehicle-mounted radar | |
| CN107656255A (en) | Ultra-wideband radar moving target two-dimensional positioning method based on multipath echoes | |
| Jia et al. | A novel approach to target localization through unknown walls for through-the-wall radar imaging | |
| Chang et al. | People tracking with UWB radar using a multiple-hypothesis tracking of clusters (MHTC) method | |
| CN104569963A (en) | Moving target one-dimensional detecting and tracking method for ultra-wideband through-wall radar | |
| CN106908781A (en) | The velocity acquisition methods of the linear motion moving-target based on single channel circular track SAR | |
| US7528764B2 (en) | Through the wall ranging with triangulation using multiple spaced apart radars | |
| CN107942314A (en) | Doppler's through-wall radar localization method based on LASSO feature extractions | |
| CN104833971B (en) | Based on the Bistatic Radar System image PS point correlating methods for sliding scattering center | |
| CN110488273A (en) | A kind of vehicle tracking detection method and device based on radar | |
| Zhang et al. | Object detection and tracking method of AUV based on acoustic vision | |
| Cevher et al. | A range-only multiple target particle filter tracker | |
| Liu et al. | Multiple moving targets tracking for through-wall imaging radar | |
| Wang et al. | Research on multi-maneuvering target tracking JPDA algorithm | |
| Yang et al. | Crowd-based velocimetry for surface flows |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |