CN105717506B - Two layers of the flight path archive management method assumed in Target Tracking System more - Google Patents
Two layers of the flight path archive management method assumed in Target Tracking System more Download PDFInfo
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- CN105717506B CN105717506B CN201610046209.0A CN201610046209A CN105717506B CN 105717506 B CN105717506 B CN 105717506B CN 201610046209 A CN201610046209 A CN 201610046209A CN 105717506 B CN105717506 B CN 105717506B
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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
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
- G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
- G01S13/726—Multiple target tracking
-
- 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
- G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
-
- 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
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/933—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
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- 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)
- Aviation & Aerospace Engineering (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The present invention proposes a kind of multilayer flight path archive management method assumed in Target Tracking System more.In assuming Target Tracking System, establish the multilayer flight path archives comprising general flight path archives and internal flight path archives more；Corresponding MHT assumes generation, beta pruning process, and real-time update is carried out to internal flight path archives；The counterlogic of general flight path archives and internal flight path archives is set, and general flight path archive information is updated based on internal flight path archive information；According to the target information in general flight path archives, output display in real time is carried out to targetpath, target following management is completed and target information reports.Using method proposed by the present invention, it can solve the problems, such as that the flight path for the result display lag and complexity that multiple hypotheis tracking delay decision is brought assumes branch management.
Description
Technical field
The invention belongs to target following flight path management method technical field, more particularly in a kind of multiple hypotheis tracking system
Multilayer flight path archive management method.The present invention is directed to flight path management method and efficiency in multiple hypotheis tracking system, right
Track initiation, maintenance, termination and the output demand during multiple hypotheis tracking are answered, file structure is optimized, realizes flight path
The efficient management and use in real time of archives.
Background technology
On modern battlefield, when ballistic missile penetration, a variety of counterattacking measures can be taken, including release bait, decoy jamming,
Generation position is close during jammer interference and wind-force, the similar fragment of motion state.For fighting, air transport, collation and
The formation flight aircraft of demonstration flight etc. mutually keeps certain interval, distance and difference in height collaboration flight in the air.These mesh
Relative position is close between marking member, and movement locus is similar, forms echo,high level environment.
In addition to military field, also it will appear echo,high level phenomenon, such as air traffic control thunder there are many environment in civil field
Up to social public security in terms of vehicle, crowd video monitoring.Air traffic control radar is used to help Control Centre's grasp and flies
The flight path and flight intent of machine, to improve the supportability of air traffic safety.When radar coverage appearance is a large amount of mutual
When mutually close target, radar can then receive highdensity echo-signal, constitute echo,high level environment.In addition, when video is supervised
When the data that are acquired of control equipment are the video of big flow vehicle or crowd, the road traffic of especially peak time morning and evening regards
Frequently, then echo,high level environment can equally be formed.
Echo,high level refers to the case where causing high echo density due to close to each other or noise jamming.It is so close in echo
In the case of collection distribution, interfering with each other between target can cause a mark erroneous association and Targets Dots interrupted, can not ensure target
Tracking accuracy.At this point, frame data correlating method is faced with two hang-ups：First, target is close to each other, conventional wave gate technique
It is difficult to will likely the wave beam from target distinguished from all echoes；Second, " target is only associated with a measurement, and one
A measurement is only derived from a target " hypothesis no longer set up.Therefore, in echo,high level feelings, conventional tracking
It is difficult to obtain ideal tracking effect.It is increasingly complex in view of the more traditional multiple target of echo,high level characteristic, it mostly uses in recent years mostly false
If tracking is handled.
Multiple hypotheis tracking (MHT) is to utilize multiframe measurement information Delayed Decision mechanism, carries out measuring association and be formed final
Confirm flight path.Flight path information during MHT tracking is mainly with flight path Track, cluster cluster, flight path tree Track Tree
Three kinds of forms carry out Classification Management.Three classes flight path is defined as follows, and relationship is as shown in Figure 1：
(1)Track：Indicate that pursuit path of the MHT algorithms to target motion generation, every track correspond to observation and number of targets
It is possible according to a kind of associated hypothesis.
(2)Cluster：Indicate the set that the flight path of all shared observations is assumed, it is in order to by big problem to introduce Cluster
Multiple minor issues are decomposed into, in favor of saving calculation amount.
(3)Family：Indicate that a target constantly branches out the tree structure that many flight paths are assumed, this structure almost by
All MHT algorithms are used.Each Family at most indicates the tracking situation of a target, each of which branching representation mesh
Mark a kind of possibility of data correlation, i.e. Track.All Track in same Family are mutual exclusive, can only select one
Flight paths of the Track as target.Meanwhile all Track can only be in a Cluster in a Family.
MHT algorithms assume to generate and deterministic process is complex, and flight path more new capital covers the vacation of multiframe measurement each time
If association process.In addition, before generation, merging and the deletion of the hypothesis flight path in MHT algorithms are only for forming final efficient association
The hypothesis stage, without to user export.Therefore, the conventional method being managed only with the general flight path archives of single layer can cause
The frequent updating of flight path archives exports unstable problem with flight path.
Invention content
It is an object of the invention to propose a kind of 2 layers of flight path archive management method assuming Target Tracking System more.This hair
A kind of 2 layers of flight path file structure of bright foundation, for track initiation, maintenance, termination and the output in Radar Multi Target tracking association
Link manages flight path information independently.
To realize the above-mentioned technical purpose, the present invention is realised by adopting the following technical scheme.
A kind of multilayer flight path archive management method for assuming Target Tracking System, includes the following steps more:
1) in assuming Target Tracking System, establish a multilayer comprising general flight path archives and internal flight path archives more
Flight path archives；
2) corresponding MHT assumes generation, beta pruning process, and real-time update is carried out to internal flight path archives；
3) it is to be based on internal flight path that general flight path archives and internal flight path archives, which have counterlogic, general flight path archive information,
Archive information is updated；
4) according to the target information in general flight path archives, output display in real time is carried out to targetpath, complete target with
Track management and target information report.
It should be appreciated that as long as aforementioned concepts and all combinations additionally conceived that describe in greater detail below are at this
Sample design it is not conflicting in the case of can be viewed as the disclosure subject matter a part.In addition, required guarantor
All combinations of the theme of shield are considered as a part for the subject matter of the disclosure.
Can be more fully appreciated from the following description in conjunction with attached drawing present invention teach that foregoing and other aspect, reality
Apply example and feature.The feature and/or advantageous effect of other additional aspects such as illustrative embodiments of the present invention will be below
Description in it is obvious, or by according to present invention teach that specific implementation mode practice in learn.
Description of the drawings
Attached drawing is not intended to drawn to scale.In the accompanying drawings, identical or approximately uniform group each of is shown in each figure
It can be indicated by the same numeral at part.For clarity, in each figure, not each component part is labeled.
Now, by example and the embodiments of various aspects of the invention will be described in reference to the drawings, wherein：
Fig. 1 is the relation schematic diagram of three classes flight path information in MHT algorithms.
Fig. 2 is multilayer flight path archive management method flow chart.
Fig. 3 is the corresponding logical relationship figure of two kinds of flight path archives.
Specific implementation mode
In order to know more about the technology contents of the present invention, spy lifts specific embodiment and institute's accompanying drawings is coordinated to be described as follows：
Various aspects with reference to the accompanying drawings to describe the present invention in the disclosure, shown in the drawings of the embodiment of many explanations.
It is not intended to cover all aspects of the invention for embodiment of the disclosure.It should be appreciated that a variety of designs and reality presented hereinbefore
Those of apply example, and describe in more detail below design and embodiment can in many ways in any one come it is real
It applies, this is because design disclosed in this invention and embodiment are not limited to any embodiment.In addition, disclosed by the invention one
A little aspects can be used alone, or otherwise any appropriately combined be used with disclosed by the invention.
Multilayer flight path archive management method in the case of complicated tracking proposed by the invention, suitable for assume more target with
The multilayer flight path file administration of track system includes mainly foundation, update and the deletion of general flight path archives and internal flight path archives
Three major parts.
Below in conjunction with the accompanying drawings, some exemplary embodiments of the present invention are illustrated.
According to an embodiment of the invention, propose the multilayer flight path archive management method in the case of a kind of complicated tracking, with gram
Take the problem that multiple hypotheis tracking algorithmic procedure single layer flight path archives function is chaotic, data update is frequent in Radar Multi Target tracking.
In conjunction with shown in Fig. 2 flow charts, the realization of this method generally comprises following 4 steps：
1) in assuming Target Tracking System, establish a multilayer comprising general flight path archives and internal flight path archives more
Flight path archives；
2) corresponding MHT assumes generation, beta pruning process, and real-time update is carried out to internal flight path archives；
3) counterlogic of setting general-purpose flight path archives and internal flight path archives, general flight path archive information are based on inside
Flight path archive information is updated；
4) according to the target information in general flight path archives, output display in real time is carried out to targetpath, complete target with
Track management and target information report.
In some instances, the step 1) of the above method specifically includes：
11) a general flight path archives are established, real-time output display, target following management and target information for flight path
It reports, the flight path archives of the flight path archives and conventional tracing systems are consistent；
12) an internal flight path archives are established, the flight path for MHT algorithms assumes branch management.
In conjunction with shown in Fig. 3, general flight path archives include unique targetpath lot number and track data, internal flight path archives
Including all flight path branches in unique targetpath Family and each Family assume Track numbers, data and
Affiliated Cluster numbers.The two is associated with by identical flight path lot number with Family number correspondences, i.e., in internal flight path archives
The targetpath that Family numbers are N corresponds to the flight path that lot number is N in general flight path archives.
In the above method, as shown in Figure 1, Figure 2, abovementioned steps 2) it specifically includes：
21) MHT algorithms assume that branch, internal flight path archives increase all flight paths and assume branch to confirming that flight path generates flight path
Information, and corresponding associated confirmation flight path number；
22) MHT algorithms assume that branch carries out beta pruning to flight path, and internal flight path file delet is assumed by the invalid flight path of beta pruning
Branch information.
It is noted that in the embodiment of the present invention, a new inside flight path archives of foundation only make MHT algorithms
Internal logic judges to use, not directly as the foundation of final flight path output display.This is also that the present invention is different from the prior art
Key point.
In some instances, in the above method, the step 3) is specially：
31) general flight path archive information and internal flight path archive information there are one each tracking targets, and the two one
One corresponds to；
32) after internal flight path archive information update, general flight path archive information will also update, general flight path archive information
Update is based on internal flight path archive information；
33) optimal trajectory of each target assumes branch's (also referred to as main flight path branch number in internal flight path archive information
According to) for updating the target information in general flight path archives；
In conjunction with shown in Fig. 3, it is the optimal trajectory branch in N to obtain Family numbers by MHT algorithmic delay decision-making mechanisms
It is assumed that effective flight path information of the i.e. main flight path branch data as N batch targets, is updated general flight path archives.
34) assume that branch separates if any flight path in internal flight path archive information and establish fresh target, in general flight path shelves
The flight path archives of fresh target are established in case；
35) assume that branch all terminates if any a certain targetpath in internal flight path archive information, in general flight path archives
In also to terminate the flight path archives of the target；
In conjunction with shown in Fig. 3, when N batch target flight paths terminate, Family numbers are all of N in internal flight path archives
Flight path branch assumes that information needs to delete, and N batch target flight path information also needs to delete in general flight path archives.
In conclusion the present invention proposes a kind of two layers of flight path archive management method assumed in Target Tracking System more.
For the multiple target tracking under complex situations, handled frequently with multiple hypotheis tracking (MHT).Multiple hypotheis tracking algorithm is to use
Delayed Decision, the target following effect being optimal by the method for information accumulation include complicated boat in processing procedure
Mark assumes that branch generates and flight path assumes that branch's beta pruning process, flight path management are extremely complex.Mainly have with conventional tracking processing
Two differences：(1) conventional tracking system is to be handled based on current frame information, and multiple hypotheis tracking system needs to use multiframe letter
, there is delay in breath；(2) conventional one target of tracking system only safeguards single flight path archives, but one in multiple hypotheis tracking system
A target needs to safeguard that multiple flight paths assume branch's archives.Therefore, conventional single layer flight path management logic is difficult to adapt to assume more
Flight path file administration when tracking.Invention introduces a kind of multilayer flight path file structures and map file to manage logic.Generally
In the case of, it can be divided into two layers, respectively general flight path archives and internal flight path archives.General flight path archives and boat conventional at present
Mark archives are consistent, and the flight path that internal flight path archives are mainly used for managing inside more hypothesis assumes branch, exists between the two
Correspondence, and the flight path of highest scoring assumes that branch will be for updating the flight path in general flight path archives in internal flight path archives
Archive information.Using method proposed by the present invention, the result display lag and answer that multiple hypotheis tracking delay decision is brought can be solved
Miscellaneous flight path assumes branch management problem.
Although the present invention has been disclosed as a preferred embodiment, however, it is not to limit the invention.Skill belonging to the present invention
Has usually intellectual in art field, without departing from the spirit and scope of the present invention, when can be used for a variety of modifications and variations.Cause
This, the scope of protection of the present invention is defined by those of the claims.
Claims (2)
1. a kind of two layers of flight path archive management method assumed in Target Tracking System, which is characterized in that including following step more
Suddenly：
1) in assuming Target Tracking System, two layers of flight path shelves comprising general flight path archives and internal flight path archives are established more
Case；
2) corresponding MHT assumes generation, beta pruning process, and real-time update is carried out to internal flight path archives；
3) counterlogic of general flight path archives and internal flight path archives is set, and general flight path archive information is based on internal flight path shelves
Case information is updated；
4) according to the target information in general flight path archives, output display in real time is carried out to targetpath, completes target following pipe
Reason and target information report；
Wherein, the realization of the step 1) includes：
11) a general flight path archives are established, real-time output display, target following management and target information for flight path
The flight path archives of report, the flight path archives and conventional tracing systems are consistent；
12) an internal flight path archives are established, the flight path for MHT algorithms assumes branch management；
The realization of the step 2) specifically includes：
21) MHT algorithms are based on and assume that branch, internal flight path archives increase all flight paths and assume branch to confirming that flight path generates flight path
Information, and corresponding associated confirmation flight path number；
22) MHT algorithms are based on, branch, which carries out beta pruning, is assumed to flight path, internal flight path file delet is assumed by the invalid flight path of beta pruning
Branch information；
The specific sub-step of the step 3) includes：
31) each tracking general flight path archive information of goal-setting one and internal flight path archive information, and the two one is a pair of
It answers；
32) after internal flight path archive information update, general flight path archive information synchronized update, the update of general flight path archive information
Based on internal flight path archive information；
33) optimal trajectory based on each target in internal flight path archive information assumes branch, updates in general flight path archives
Target information；
34) in internal flight path archive information, assume that branch separates if any flight path and establish fresh target, then in general flight path archives
The middle flight path archives for establishing fresh target；
35) in internal flight path archive information, assume that branch all terminates if any a certain targetpath, then in general flight path archives
The flight path archives of the synchronous target that terminates.
2. two layers of the flight path archive management method assumed in Target Tracking System as described in claim 1, feature exist more
In, in the step 4), the direct basis of output display using general flight path archives as targetpath.
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| CN107193012A (en) * | 2017-05-05 | 2017-09-22 | 江苏大学 | Intelligent vehicle laser radar multiple-moving target tracking method based on IMM MHT algorithms |
| CN108169721B (en) * | 2017-11-24 | 2021-06-15 | 北京遥感设备研究所 | Radar signal multi-target detection 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 |
| CN112835004B (en) * | 2020-12-31 | 2022-07-15 | 南京国睿防务***有限公司 | Track quality evaluation system based on target channel replication |
| CN113687347B (en) * | 2021-06-22 | 2023-11-17 | 中国电子科技集团公司电子科学研究院 | Track cluster data processing method, system and readable storage medium |
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