CN104714226B - Tracking before a kind of Dynamic Programming detection based on phase - Google Patents
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- 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
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Abstract
The invention provides tracking before a kind of Dynamic Programming detection based on phase, belong to Radar Targets'Detection tracking technique field, more particularly to fluctuating target detecting and tracking technical field under multiple Gauss noise background.After radar return data are received, multiple likelihood ratio is calculated using phase information, all possible flight path is scanned for by the multiple likelihood ratio of accumulation, dbjective state is estimated.This method by using phase information, can preferably embody target and the difference of noise, improve the detecting and tracking performance to fluctuating target than track algorithm before existing Dynamic Programming detection.
Description
Technical field
The present invention relates to Radar Targets'Detection tracking technique, fluctuating weak target radar is examined more particularly under multiple Gauss background
Survey tracking technique.
Background technology
With reaching its maturity for stealth technology, the radar cross section of the target such as aircraft, guided missile reduces one to two quantity
Level, while including helicopter, SUAV, a large amount of Military applications for the Small objects at a slow speed of low-latitude flying such as device that fly at low speed,
So that all suffering to dim targets detection is difficult asking in each field such as airborne fire control, airborne early warning, ground information, shipborne radar
Topic.Therefore, the detection and tracking to weak target turn into the technical problem that radar is badly in need of solving.
Tracking is a kind of effective dim target detection tracking before Dynamic Programming detection, and it is returned to multiframe radar
Wave number is searched for, so as to estimate target according to Combined Treatment is carried out by accumulating targetpath value function to all possible flight path
Time of day.Tracking targetpath value function has two kinds before existing Dynamic Programming detection：(1) amplitude；(2) envelope logarithm is seemingly
So compare.Both targetpath value functions do not utilize phase information, and not utilizing for phase information causes target detection tracing property
It can decline, be unfavorable for the detecting and tracking of weak target.To improve the detecting and tracking performance to constant amplitude weak target, Davey
Et al. propose tracking before the detection based on multiple likelihood ratio, referring to document " S.~J.Davey, M.~G.Rutten, and
B.~Cheung, ``Using phase to improve track-before-detect, " IEEE
Trans.Aerosp.Electron.Syst., vol.48, no.1, pp.832-849, Jan.2012 ", as a result show phase information
The detecting and tracking performance to constant amplitude target can effectively be improved.
But the radar cross section of real goal can not possibly use a simple constant.Generally even for simple mesh
Mark, radar cross section is also the angle of sight, frequency, the complicated function of plan.The fluctuating target models of Swerling 3 are conventional fluctuating
Object module, it is 4 ° of χ that it, which characterizes radar cross section probability density function,2The target of distribution, is that many small scattering objects and one are strong
The radar cross section of the approximate solution of scattering object, wherein strong scatterer is equal to small scattering object radar cross section sumTimes.
The content of the invention
The purpose of the present invention is in the tracking fluctuating targets of Swerling 3 for tracking before existing Dynamic Programming detection
When the detecting and tracking probability that exists it is low the problem of, tracking before a kind of Dynamic Programming detection based on phase of Curve guide impeller,
The detecting and tracking performance and the purpose of the stability of a system to the fluctuating weak targets of Swerling 3 are improved using phase information.
The invention provides tracking before a kind of Dynamic Programming detection based on phase, this method includes：
Step 1：Initialization systematic parameter includes：Datum plane size Nx×Ny, frame number K, state transfer number q are handled, is utilized
The thresholding V that Monte Carlo simulation experimental calculation goes outT, target point spread function h (xk), noise average power σn, target mean power
σt；
Step 2：Resolution cell each to each frame carries out targetpath value function assignment：Each each resolution cell pair of frame
The targetpath value function answered is the corresponding multiple likelihood ratio of the resolution cell；
Step 3, by dynamic programming algorithm all possible targetpath in preceding K frames is scanned for, and record each mesh
Positional information of the flight path in the corresponding resolution cell of every frame is marked, the resolution cell correspondence of same targetpath will be belonged in preceding K frames
Targetpath value function be overlapped, obtain target discrimination value of the target in k-th frame；
Step 4, by each target discrimination value of k-th frame with setting thresholding VTIt is compared, if higher than thresholding, assert should
With the presence of target in decision content correspondence resolution cell；If all target discrimination values of k-th frame are below thresholding, announce that target is not deposited
；
If step 5, step 4 assertive goal are present, K frame location informations before the target recorded using step 3 recover mesh
Target flight path；
Step 6：False track is deleted：All targetpaths for recovering to obtain in step 5 are contrasted, if a plurality of
Flight path has same position in a certain frame, then the flight path with maximum target decision content in these flight paths navigates as real goal
Mark, deletes remaining flight path；
Step 7, output targetpath.
The step 2 is concretely comprised the following steps：
The corresponding multiple likelihood ratio of step 2.1, each each resolution cell of frame of calculating：To resolution cell (i, j), it is assumed that wherein
Comprising target, then dbjective state is xk=[i, vx,j,vy], wherein the position of target is (i, j), and the speed of target is (vx,vy),
Then the corresponding multiple likelihood ratio of the resolution cell is
Wherein
zk(i, j) represents that resolution cell (i, j) is corresponding
Measuring value；Zk=[zk(1,1),…,zk(1,Ny),zk(2,1),…,zk(1,Ny)]TRepresent the collection of kth frame measuring value
Close；(·)TRepresent transposition；Represent target point
Spread function, wherein h(m,n)(xk)；1≤m≤Nx,1≤n≤NyRepresent contribution of the target energy to resolution cell (m, n)；NxTable
Show the line number of datum plane, NyRepresent the columns of datum plane, hH(xk) represent h (xk) conjugate transposition, M-1.5,0Represent parameter
For -1.5,0 Whittaker functions.
Step 2.2, the corresponding targetpath value function of the individual resolution cell of kth frame (i, j) is entered as step 2.1 fallen into a trap
The obtained corresponding multiple likelihood ratio of the resolution cell.
The step 3 is concretely comprised the following steps：
Step 3.1, to each Range resolution unit object decision content assignment of the 1st frame：1st frame each Range resolution unit correspondence
Target discrimination value obtained targetpath value function is calculated in step 2.3 for the Range resolution unit；
Step 3.2, to each Range resolution unit object decision content assignment of the 2nd frame：It is assumed that being deposited in the 2nd each resolution cell of frame
In a target, judge the 2nd each target of frame region that may be present in the 1st frame, search out target discrimination value in the region
Maximum resolution cell and the position for recording the unit, the target discrimination value of the corresponding resolution cell of the 2nd frame are to find out in the 1st frame
Maximum target decision content targetpath value function corresponding with the 2nd frame resolution cell and；
Step 3.3, using with step 3.2 identical method the 3rd frame is calculated to the target discrimination value of k-th frame.
K value is 3~20 in the step 3.
The step 6 is concretely comprised the following steps：
In step 6.1, all targetpaths for judging no process, there is the mesh of maximum target decision content in k-th frame
Mark flight path is determined as real goal flight path；
Step 6.2, by each without through judgement targetpath and real goal flight path be compared, if the boat
Mark has same position with real goal flight path in certain frame, then the flight path is determined as into false track；
If step 6.3, the targetpath still judged either with or without process, repeat step 6.1, step 6.2 are until all mesh
Flight path is marked all by judging.
Tracking before a kind of Dynamic Programming detection based on phase of the present invention, calculates each frame using phase information and respectively differentiates
The corresponding multiple likelihood ratio of unit, chooses multiple likelihood ratio as targetpath value function and carries out Dynamic Programming value accumulation.Utilize phase
Information can effectively improve the detecting and tracking performance to the fluctuating targets of Swerling 3, reduce missing inspection.
Brief description of the drawings
Fig. 1 is FB(flow block) of the invention.
Fig. 2 is the present invention (Nx=30, Nx=30, q=9, K=5, σn=1, if m=i-1, i, i+1 then h(m,n)(xk)=
exp(-(m-i)2/ 8), otherwise h(m,n)(xk)=0) and traditional single frame detection (not using phase, Nx=30, Nx=30, q=9, K
=1, σn=1, if m=i-1, i, i+1 then h(m,n)(xk)=exp (- (m-i)2/ 8), otherwise h(m,n)(xkDetect performance in)=0)
Comparison diagram.The solid line of wherein band " o " represents the performance of the present invention, and the solid line of band " " represents traditional single frame detection performance.
Fig. 3 is the present invention (Nx=30, Nx=30, q=9, K=5, σn=1, if m=i-1, i, i+1 then h(m,n)(xk)=
exp(-(m-i)2/ 8), otherwise h(m,n)(xkTracking before the planning detection of)=0) and conventional dynamic (not using phase, Nx=30,
Nx=30, q=9, K=5, σn=1, if m=i-1, i, i+1 then h(m,n)(xk)=exp (- (m-i)2/ 8), otherwise h(m,n)(xk)
=0) detect performance comparison figure.The solid line of wherein band " o " represents the performance of the present invention, and the solid line of band " " represents that conventional dynamic is advised
Draw tracking detection performance before detection.
Embodiment
The present invention chooses multiple likelihood ratio as targetpath value function, and the selection of the targetpath value function takes full advantage of
Target amplitude statistical property, noise statisticses and target phase information.Tracking is used before conventional dynamic planning detection
Three kinds of information of amplitude target flight path value function are not all utilized, and envelope log-likelihood ratio make use of target amplitude statistical property with
Noise statisticses, phase information is not utilized but.The present invention can further improve Dynamic Programming detection using phase information
The detecting and tracking performance of preceding tracking.
The main method for using l-G simulation test of the invention is verified that all steps, conclusion are all on MATLAB R2012b
Checking is correct.Specific implementation step is as follows：
Step 1：Initialization systematic parameter includes：(the i.e. N of datum plane size 30 × 30x=Ny=30), processing frame number K=
5, state transfer number q=9, the thresholding V gone out using Monte Carlo simulation experimental calculationT=[- 0.0124,0.6802,1.2511,
1.7538,1.9351,2.3633,1.9839,1.6518,1.4338,0.2654, -0.5999, -1.8316], target point diffusion
Function h (xk)：If m=i-1, i, i+1 then h(m,n)(xk)=exp (- (m-i)2/ 8), otherwise h(m,n)(xk)=0, noise is average
Power σn=1, target mean power σt=[1.0000,1.2589,1.5849,1.9953,2.5119,3.1623,3.9811,
5.0119,6.3096,7.9433,10.0000,12.5893] (correspondence signal to noise ratio is 0-11dB).
Step 2：Resolution cell each to each frame carries out targetpath value function assignment：Each each resolution cell pair of frame
The targetpath value function answered is the corresponding multiple likelihood ratio of the resolution cell；
The corresponding multiple likelihood ratio of step 2.1, each each resolution cell of frame of calculating：To resolution cell (i, j), it is assumed that wherein
Comprising target, (then dbjective state is xk=[i, vx,j,vy], wherein the position of target is (i, j), and the speed of target is (vx,
vy)), then the corresponding multiple likelihood ratio of the resolution cell is
Wherein
zk(i, j) represents the corresponding measuring value of resolution cell (i, j)；Zk=[zk(1,1),…,zk(1,Ny),
zk(2,1),…,zk(1,Ny)]TRepresent the set of kth frame measuring value；(·)TRepresent transposition；Represent target point spread function, wherein h(m,n)
(xk)；1≤m≤Nx,1≤n≤NyRepresent contribution of the target energy to resolution cell (m, n)；NxRepresent the line number of datum plane, Ny
Represent the columns of datum plane, hH(xk) represent h (xk) conjugate transposition, M-1.5,0Represent the Whittaker that parameter is -1.5,0
Function.
Step 2.2, the corresponding targetpath value function of the individual resolution cell of kth frame (i, j) is entered as step 2.1 fallen into a trap
The obtained corresponding multiple likelihood ratio of the resolution cell.
Step 3, by dynamic programming algorithm all possible targetpath in preceding K frames is scanned for, and record each mesh
Positional information of the flight path in the corresponding resolution cell of every frame is marked, the resolution cell correspondence of same targetpath will be belonged in preceding K frames
Targetpath value function be overlapped, obtain target discrimination value of the target in k-th frame；
Step 3.1, to each Range resolution unit object decision content assignment of the 1st frame：1st frame each Range resolution unit correspondence
Target discrimination value obtained targetpath value function is calculated in step 2.3 for the Range resolution unit；
Step 3.2, to each Range resolution unit object decision content assignment of the 2nd frame：It is assumed that being deposited in the 2nd each resolution cell of frame
In a target, judge the 2nd each target of frame region that may be present in the 1st frame, search out target discrimination value in the region
Maximum resolution cell and the position for recording the unit, the target discrimination value of the corresponding resolution cell of the 2nd frame are to find out in the 1st frame
Maximum target decision content targetpath value function corresponding with the 2nd frame resolution cell and；Specific processing mode is as follows：2nd
The individual Range resolution unit of frame (i, j), it is assumed that wherein in the presence of a target, then the target may be deposited in former frame (the 1st frame)
Region be (i-1-vx,j-1-vy),(i-1-vx,j-vy),(i-1-vx,j+1-vy),(i-vx,j-1-vy),(i-vx,j-
vy), (i-vx,j+1-vy),(i+1-vx,j-1-vy),(i+1-vx,j-vy),(i+1-vx,j+1-vy)；
Step 3.3, using with step 3.2 identical method the 3rd frame is calculated to the target discrimination value of k-th frame.
Step 4, by each target discrimination value of k-th frame with setting thresholding VTIt is compared, if higher than thresholding, assert should
With the presence of target in decision content correspondence resolution cell；If all target discrimination values of k-th frame are below thresholding, announce that target is not deposited
；
If step 5, step 4 assertive goal are present, K frame location informations before the target recorded using step 3 recover mesh
Target flight path；
Step 6：False track is deleted：All targetpaths for recovering to obtain in step 5 are contrasted, if a plurality of
Flight path has same position in a certain frame, then the flight path with maximum target decision content in these flight paths navigates as real goal
Mark, deletes remaining flight path；
In step 6.1, all targetpaths for judging no process, there is the mesh of maximum target decision content in k-th frame
Mark flight path is determined as real goal flight path；
Step 6.2, by each without through judgement targetpath and real goal flight path be compared, if the boat
Mark has same position with real goal flight path in certain frame, then the flight path is determined as into false track；
If step 6.3, the targetpath still judged either with or without process, repeat step 6.1, step 6.2 are until all mesh
Flight path is marked all by judging.
Step 7, output targetpath.
It can be seen that method proposed by the present invention is than tracking and traditional single frame detection before conventional dynamic planning detection
Method detection performance is respectively provided with very big lifting, effectively can carry out detecting and tracking to the faint fluctuating targets of Swerling 3.
Claims (4)
1. a kind of tracking before Dynamic Programming detection based on phase, this method includes：
Step 1：Initialization systematic parameter includes：Datum plane size Nx×Ny, frame number K, state transfer number q are handled, illiteracy spy is utilized
The thresholding V that Carlow emulation experiment is calculatedT, target point spread function h (xk), noise average power σn, target mean power σt；
Step 2：Resolution cell each to each frame carries out targetpath value function assignment：Each each resolution cell of frame is corresponding
Targetpath value function is the corresponding multiple likelihood ratio of the resolution cell；
Step 3, by dynamic programming algorithm all possible targetpath in preceding K frames is scanned for, and record each target boat
Mark will belong to the corresponding mesh of resolution cell of same targetpath in the positional information of the corresponding resolution cell of every frame in preceding K frames
Mark flight path value function is overlapped, and obtains target discrimination value of the target in k-th frame；
Step 4, by each target discrimination value of k-th frame with setting thresholding VTIt is compared, if higher than thresholding, assert the judgement
With the presence of target in value correspondence resolution cell；If all target discrimination values of k-th frame are below thresholding, announce that target is not present；
If step 5, step 4 assertive goal are present, K frame location informations before the target recorded using step 3 recover target
Flight path；
Step 6：False track is deleted：All targetpaths for recovering to obtain in step 5 are contrasted, if a plurality of flight path
There is same position in a certain frame, then using the flight path with maximum target decision content in these flight paths as real goal flight path,
Delete remaining flight path；
Step 7, output targetpath；
It is characterized in that the step 2 is concretely comprised the following steps：
The corresponding multiple likelihood ratio of step 2.1, each each resolution cell of frame of calculating：To resolution cell (i, j), it is assumed that wherein include
Target, then dbjective state is xk=[i, vx,j,vy], wherein the speed of target is (vx,vy), then the resolution cell is corresponding answers seemingly
So ratio is
Wherein
zk(i, j) represents the corresponding measuring value of resolution cell (i, j)；Zk=[zk(1,1),...,zk(1,Ny),zk(2,1),...,zk(1,
Ny)]TRepresent the set of kth frame measuring value；(·)TRepresent transposition；
Represent target point spread function, wherein h(m,n)(xk)；1≤m≤Nx,1≤n≤NyRepresent target energy to resolution cell (m, n)
Contribution；NxRepresent the line number of datum plane, NyRepresent the columns of datum plane, hH(xk) represent h (xk) conjugate transposition, M-1.5,0
Represent the Whittaker functions that parameter is -1.5,0；
Step 2.2, the corresponding targetpath value function of the individual resolution cell of kth frame (i, j) is entered as calculating in step 2.1
The corresponding multiple likelihood ratio of the resolution cell arrived.
2. tracking before a kind of Dynamic Programming detection based on phase as claimed in claim 1, it is characterised in that the step
Rapid 3 concretely comprise the following steps：
Step 3.1, to each Range resolution unit object decision content assignment of the 1st frame：Each corresponding mesh of Range resolution unit of 1st frame
Mark decision content is that the Range resolution unit calculates obtained targetpath value function in step 2.3；
Step 3.2, to each Range resolution unit object decision content assignment of the 2nd frame：It is assumed that having one in the 2nd each resolution cell of frame
Individual target, judges the 2nd each target of frame region that may be present in the 1st frame, searches out target discrimination value in the region maximum
Resolution cell and record the position of the unit, the target discrimination value of the corresponding resolution cell of the 2nd frame is the maximum found out in the 1st frame
Target discrimination value targetpath value function corresponding with the 2nd frame resolution cell and；
Step 3.3, using with step 3.2 identical method the 3rd frame is calculated to the target discrimination value of k-th frame.
3. tracking before a kind of Dynamic Programming detection based on phase as claimed in claim 2, it is characterised in that the step
K value is 3~20 in rapid 3.
4. tracking before a kind of Dynamic Programming detection based on phase as claimed in claim 1, it is characterised in that the step
Rapid 6 concretely comprise the following steps：
In step 6.1, all targetpaths for judging no process, the target for having maximum target decision content in k-th frame is navigated
Mark is determined as real goal flight path；
Step 6.2, each is compared without targetpath and the real goal flight path by judging, if the flight path and
Real goal flight path has same position in certain frame, then the flight path is determined as into false track；
If step 6.3, the targetpath still judged either with or without process, repeat step 6.1, step 6.2 are navigated until all targets
Mark is all by judging.
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| CN102901956A (en) * | 2012-09-27 | 2013-01-30 | 电子科技大学 | Method for detecting weak target by radar |
| CN104007422A (en) * | 2014-05-21 | 2014-08-27 | 西安电子科技大学 | Complex likelihood ratio track-before-detect method based on dynamic planning |
| CN104062651A (en) * | 2014-06-30 | 2014-09-24 | 电子科技大学 | Track-before-detect method based on G0 clutter background and constant target amplitude |
| CN104076355A (en) * | 2014-07-04 | 2014-10-01 | 西安电子科技大学 | Method for conducting before-detection tracking on weak and small target in strong-clutter environment based on dynamic planning |
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| US4214239A (en) * | 1963-04-02 | 1980-07-22 | The United States Of America As Represented By The Secretary Of The Navy | Magnetic drum storage for the track before detect system |
| CN102901956A (en) * | 2012-09-27 | 2013-01-30 | 电子科技大学 | Method for detecting weak target by radar |
| CN104007422A (en) * | 2014-05-21 | 2014-08-27 | 西安电子科技大学 | Complex likelihood ratio track-before-detect method based on dynamic planning |
| CN104062651A (en) * | 2014-06-30 | 2014-09-24 | 电子科技大学 | Track-before-detect method based on G0 clutter background and constant target amplitude |
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