CN108061889B - AIS and radar angle system deviation correlation method - Google Patents
AIS and radar angle system deviation correlation method Download PDFInfo
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Abstract
The invention provides an AIS and radar angle system deviation correlation method, and aims to realize accurate correlation between a radar and an AIS when an angle deviation exists in radar detection. The invention is realized by the following technical scheme: determining the deviation range of the radar by using priori knowledge and quantizing the deviation range to obtain a deviation array; assuming an angular deviation of
Correcting the radar angle on the basis, and converting the position and the speed of the AIS target under a geodetic coordinate system to a radar polar coordinate system; calculating the association degree of the radar and the AIS according to a fuzzy membership function, then setting a judgment threshold, and determining the number of associated targets and the number of targets which are not associated, wherein the associated targets take the calculation result as the standard; accumulating the fuzzy membership degrees of all the targets; traversing all angle deviation hypotheses in the array, calculating the sum of the membership degrees of the target, and selecting the maximum sum of the membership degrees as a final result; multiple validation validations are made over time for the hypothesis results.
Description
Technical Field
The invention relates to a target track association method under AIS and radar angle deviation in the field of information fusion.
Background
The AIS is a general ship automatic identification system, in practical application, the AIS and the radar are just complementary in advantages, in order to obtain more accurate and reliable information of a target, the AIS and the radar are required to be combined, and data of the AIS and the radar are comprehensively processed, so that fusion of the AIS and a radar target track becomes an inevitable trend, track association is a necessary stage for fusion of the AIS and the radar track, the quality of the association directly influences the quality of the track fusion, and the AIS is necessary for improving ship navigation safety and improving sea surface early warning detection capability. Radar and AIS are two important marine target monitoring means that can both provide track information of targets in an observation or surveillance area. The track is a motion track formed by a target in a time sequence, and is usually displayed in a situation map, and the track enables the target to be tracked. The high-frequency ground wave radar system and the AIS base station work on different platforms, coverage areas are different, the high-frequency ground wave radar system and the AIS base station both have own information processing systems, and a large amount of target track information is collected in each system. When the track information is sent to the processing center, it is necessary to determine whether the two tracks from the two systems represent the same target, which is a track correlation problem. Through the association and fusion processing of the radar and the AIS data and the reuse of the AIS static message, the VTS can obtain a uniform target situation, so that ships can be better monitored and managed, and the ships are prevented from colliding.
The track fusion process can be divided into four parts: coordinate conversion, time calibration, and track association and track fusion. Time alignment and coordinate transformation are collectively referred to as preprocessing, and track association and track fusion are the core of a fusion center, wherein the track association is the key point. The track association is used to solve the problem of duplicate tracking in the monitored area, and thus the track association can also be called deduplication. The existing AIS and radar data correlation methods are more, and commonly include methods based on a fuzzy double-threshold track correlation method, a double wave gate method, a K neighbor domain method, a neural network, gray level correlation, a fuzzy theory and the like, but all the algorithms are based on the condition that system errors do not exist in measurement.
When the angle measurement of the radar has unknown system errors and the target is in a dense, crossed or maneuvering track with more tracks, the above conventional correlation methods all generate very serious missing correlation and wrong correlation. In practice, the system error of the radar is common, so how to effectively perform AIS and radar target track association under the condition of the system error is urgent to solve. During data association processing of the radar and the AIS sensor, the ground wave radar has high accuracy of radial speed measurement and distance measurement of a target, low accuracy of azimuth measurement of the target, less tracks at positions far away from a radar base station and more tracks close to the base station. The tangential distance error caused by the low directional angle accuracy of the far-end target is larger, and the formation of a track far away from a base station is difficult. So that at long distances, ground wave radar tracks are formed less. In the factors influencing the track association, except for the factors that the attributes of the enemy and the object classification are not fuzziness, the speed, the distance, the direction and the like of the object are all the association factors which can be fuzziness. The track correlation is shown in fig. 4 when there is some unknown system deviation in the radar detection angle. Due to the VTS system, the number of vessels is typically in the hundreds and is relatively dense. Although the distance measurement accuracy of the radar is high, the angle measurement accuracy is not high (about 0.6 degrees), in addition, the radar is mostly a mechanical antenna, and a certain angle system deviation can be slowly caused in a long-term rotating process, or the radar has a system deviation caused by improper antenna zero setting, even if the angle deviation is small, a large number of target error correlations can be caused, and the use of the system is influenced.
Disclosure of Invention
Aiming at solving the problem of large amount of error association caused by radar angle deviation in the traditional radar and AIS association, the invention aims to provide an association method based on AIS and radar angle system deviation, which has high association reliability and higher association, can reduce the misjudgment rate and improve the accuracy and association rate of track association and aims at overcoming the defects in the prior art.
In order to achieve the above object, the present invention provides a method for associating AIS with radar angle system deviation, which is characterized by comprising the following steps: an AIS and radar angle system deviation correlation method is characterized by comprising the following steps: the maximum range empirical value tau of the angular deviation range of the radar system is given by using the priori knowledge, and the maximum range [ -tau, tau ] of the angular deviation omega of the radar system is estimated](ii) a Maximum range of angular deviation [ - τ, τ [ - τ]Quantization is performed to convert [ - τ, τ]The angle between is quantized to the array [ - τ + Δ, - τ +2 Δ, …, 0, Δ, 2 Δ, …, - Δ + τ, τ](ii) a In a spherical coordinate system of the aircraft, the angular deviation omega,On the basis of the minimum quantization unit delta of the angular deviation, the radar measurement is corrected by utilizing the angular deviation, the position and the speed of a target geodetic coordinate system obtained by AIS are converted into a radar polar coordinate system, the radar and the AIS are subjected to association processing under the same coordinate system, and the membership mu of an association result is counted; estimating x from radar stateiAIS state estimation xjStandard deviation sigma of radar and AISijDegree of membership associated with radar, AIS
The fuzzy membership function calculates the association degree of the radar and the AIS, then sets an associated decision threshold, determines the number of associated targets and non-associated targets according to the decision threshold, sets the membership degree of the non-associated targets as 0, and takes the calculation result as the standard for the associated targets; traverse through the array [ - τ + Δ, - τ +2 Δ, …, 0, Δ, 2 Δ, …, - Δ + τ, τ]Calculating the sum sigma mu of the membership degrees mu associated with all targets, accumulating the fuzzy membership degrees of all targets, and selecting the maximum sum sigma mu of the membership degrees as a final result, wherein the minimum quantization unit of the angle deviation is delta 2 tau/(K-1), K is the number of the quantized arrays, and tau is the maximum x of the assumed angle deviation of the maximum of the assumed angle deviationiFor state estimation of radar, xjFor state estimation of AIS, σijIs the standard deviation of radar and AIS.
Compared with the prior art, the invention has the following beneficial effects:
the relevance is good. When the deviation of the radar angle system exists and the size is unknown, the traditional correlation method brings large correlation errors and is not suitable. The invention provides the maximum range empirical value tau of the radar system angle deviation range by using the prior knowledge, and then the radar system deviation angle deviation range [ -tau, tau ]; quantizing the angular deviation range [ - τ + Δ ], - τ +2 Δ, …, 0, Δ, 2 Δ, …, - Δ + τ, τ ]; when the angular deviation omega is equal to or very close to the real angular deviation, the sum of the membership degrees of all the targets is the maximum, i.e. the global association accuracy is the maximum. And then, error statistical analysis is carried out on the associated flight path to further limit the wave gate range, so that the accurate association of different angle errors is improved. The method has good applicability to radar angle system deviation with unknown size, and is also applicable to systems without angle deviation.
The stability of the association is high. Based on the angle error hypothesis, the fuzzy membership degrees of the information such as position, attribute, speed and the like are calculated for association, the sum of the target global membership degrees is calculated, all hypotheses are traversed, and the maximum sum of the membership degrees is selected as an association result. The method makes full use of all track information, establishes uniform fuzzy membership for different information, performs uniform association processing, and has good stability.
The accuracy of the association is high. The method corrects radar measurement by using the angle deviation, performs association processing on the radar AIS, and counts the membership mu of an association result; and (4) performing track correction based on statistical analysis of errors, and obviously reducing the position error between the corrected ground wave radar track and the real track. After the ground wave radar track is corrected, the position of the ground wave radar track is closer to the AIS track, errors of all factors are reduced to a certain extent, and the tracking precision of the ground wave radar is improved. The misjudgment rate can be reduced compared with the traditional nearest neighbor method. A large amount of statistical information is used in the track association, parameter information required in the operation can be obtained through the association result statistics, the specific distribution condition of statistical error information can be visually displayed, and the later-stage data analysis is facilitated. Finally, the example proves that under the conditions of more targets and more complex flight paths, the fuzzy method has better stability than the mean nearest neighbor method, and the correct association rate of the flight path association is improved after the correction.
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In order that the invention may be more clearly understood, it will now be described by way of embodiments thereof, with reference to the accompanying drawings, in which:
FIG. 1 is a flow chart of the AIS and radar angle system deviation correlation of the present invention.
Fig. 2 is a flow chart of the transformation from the geodetic coordinate system position of the AIS target to the radar polar coordinate system.
FIG. 3 is a flow chart of the transformation of the geodetic coordinate system velocity of the AIS target to the radar polar coordinate system.
FIG. 4 is a schematic diagram of a prior art radar system error causing a false correlation, a missed correlation.
Detailed Description
See fig. 1. According to the invention, the association of the AIS with the radar angle system deviation can be achieved by:
step 1: estimating the angular deviation range [ - τ, τ ] of the radar system, wherein τ can be given a maximum range by empirical values, thereby reducing the calculation time;
step 2: assuming radar angle deviation omega, quantizing the angle value between the tau and the tau into an array tau + delta, tau +2 delta, …, 0, delta, 2 delta, …, delta + tau, tau as the angle deviation can be any value in the array tau, then the true deviation is definitely close to a certain value in the array, the minimum quantization unit delta of the angle deviation delta is 2 tau/(K-1), and K is the assumed number; and step 3: assuming that the angular deviation omega of the radar is a certain value in an array [ -tau + delta, -tau +2 delta, …, 0, delta, 2 delta, …, -delta + tau, tau ] angular deviation, performing radar measurement angle compensation on the basis to obtain a calibrated radar measurement value, and converting the position and the speed of the AIS target under a geodetic coordinate system into a radar polar coordinate system;
and 4, step 4: radar and AIS are subjected to correlation calculation, calculated parameters comprise position information (rho, theta) and speed v, and fuzzy membership degrees of the parameters are calculated respectively
Wherein rho is the distance under the radar polar coordinate, and theta is the azimuth angle under the radar polar coordinate.
And 5: determining the number of related targets and non-related targets according to a related decision threshold, wherein the related targets take the calculation result as the standard, the non-related target membership value is set to be 0, and then accumulating the fuzzy membership calculated by the correlation of all the targets to solve sigma mu;
step 6: traversing all the angle deviations in the angle deviation omega array [ -tau + delta, -tau +2 delta, …, 0, delta, 2 delta, …, -delta + tau, tau ], calculating the sum of the membership degrees of the target, and selecting the maximum sum of the membership degrees as a final result;
and 7: and verifying the assumed result for multiple times by utilizing multi-beat calculation to ensure the correctness of the assumed result.
The AIS obtains a target geodetic coordinate system measurement, and according to the difference of detection coordinate systems of the AIS and the radar, a polar coordinate system which is obtained by the radar and takes a radar base station as a center is used, so that the position and the speed of the polar coordinate system are required to be uniformly converted into a radar polar coordinate system, and membership calculation is carried out on parameters such as the distance, the angle and the speed of the radar and the AIS in the radar polar coordinate system.
The radar can be installed on an airplane, a ship or a fixed shore and is uniformly described as an aerial carrier, a coordinate system is uniformly described as an aerial carrier spherical coordinate system or an aerial carrier rectangular coordinate system, and if the radar is a ship, the coordinate system corresponds to a deck spherical coordinate system, a deck rectangular coordinate system and a deck geographic coordinate system; and if the radar base station is the radar base station, the radar base station corresponds to a radar spherical coordinate system, a radar rectangular coordinate system and a base station radar geographic coordinate system.
Generally, the detection result of the ground wave radar is represented by the azimuth and the distance of a ship target relative to a radar base station, and is a polar coordinate representation method, while the AIS report describes the position of the target by longitude and latitude, and adopts a WGS-84 geodetic coordinate system, and the two coordinate systems must be unified into the same coordinate system for subsequent association. ECEF coordinate system ECEF: the earth center earth fixation coordinate system is also called WGS-84 rectangular coordinate system and is established by the United states department of defense mapping in 1987. The coordinate origin is located in the center of mass of the earth, the Z axis points to the north pole direction of the earth defined by BIH1984.0, the X axis points to the intersection point of the initial meridian plane and the equator of BIH1984.0, and the Y axis, the X axis and the Z axis form a right-hand system.
See fig. 2. In the position coordinate transformation process of the AIS, the position of the geodetic coordinate system of the AIS is converted into the position of an ECEF coordinate system by using a formula 7 in the first step, the position of the ECEF coordinate system of the AIS is converted into the position of a geographical coordinate system of a carrier (radar geographical coordinate system for short) taking a radar base station as the center by using a formula 12 in the second step, the position of the geographical coordinate system of the AIS is converted into the position of a rectangular coordinate system of the carrier (radar rectangular coordinate system for short) taking the radar base station as the center by using a formula 6 in the third step, and the position of the rectangular coordinate system of the radar of the AIS is converted into the position of a polar coordinate system of the carrier (radar polar coordinate system for short) taking the radar base station as the center by using formulas 1, 2 and 3 in the fourth step.
However, since the speed of the target provided by the detection result of the ground wave radar is the radial speed relative to the radar base station, and the AIS provides the real speed and the heading of the ship, which are not finally unified, the speed of the AIS information needs to be subjected to projection transformation, and is converted into a projection quantity along the target and the normal method of the ground wave radar.
The AIS speed coordinate transformation process is shown in fig. 3, in the first step, the AIS geodetic coordinate system speed is converted into the ECEF coordinate system speed by using a formula 26, in the second step, the AIS ECEF coordinate system speed is converted into the radar base station-centered aircraft geographic coordinate system speed (radar geographic coordinate system for short) by using a formula 22, in the third step, the AIS radar geographic coordinate system speed is converted into the radar base station-centered aircraft rectangular coordinate system speed (radar rectangular coordinate system for short) by using a formula 20, and in the fourth step, the AIS radar rectangular coordinate system speed is converted into the radar base station-centered aircraft polar coordinate system speed (radar polar coordinate system for short) by using formulas 16, 17 and 18.
In an aircraft spherical coordinate system, the distance represents the absolute distance from a target to the mass center of the aircraft, the azimuth angle represents the included angle between the projection of the target on the main reference plane of the aircraft and the forward direction of the aircraft nose, the right wing of the target is positive, the left wing of the target is negative, the value range is-180 degrees, the pitch angle represents the included angle between the connecting line of the target and the mass center of the aircraft and the main reference plane, the target is positive when positioned above the aircraft, the target is negative when positioned below the aircraft, and the value range is-90 degrees.
The rectangular coordinate system of the aircraft carrier takes the origin of coordinates as the centroid of the aircraft carrier, the main reference surface is an XY plane, the parallel axes of the X axis point to the front of the aircraft nose, the perpendicular axes of the Y axis point to the right wing, and the perpendicular main reference surface of the Z axis point to the lower part of the belly.
The geographical coordinate system of the carrier selects a northeast ground coordinate system, called NED (North-East-Down) coordinate system for short, the mass center of the carrier is the origin of coordinates, the X axis points to the direction of the geographical North arrow, the Y axis points to the position of the carrier, the earth rotation is tangential to the East, and the Z axis is perpendicular to the NE plane and points to the lower side. When the target is positioned near the north polar axis, the X axis is set to be antiparallel to the X axis of the ECEF coordinate system, and when the target is positioned near the south polar axis, the X axis is set to be parallel to the X axis of the ECEF coordinate system, and in both cases, the Y axis is parallel to the Y axis of the ECEF coordinate system;
a longitude and latitude high coordinate system commonly used in a geodetic coordinate system, wherein the equator radius of the earth a is 6378137 m, the equator radius of the earth b is 6356752.3142 m, and the first eccentricity square e of the meridian20.00669438. When the target is located on the polar axis, the longitude is always set to 0 °.
Airborne platform attitude angle definition:
yaw angle: the positive direction of the shaft of the carrier machine forms an included angle with the N direction in the projection of the horizontal plane of the NE of the geographic coordinate system of the carrier machine, the clockwise direction is the direction of increasing the angle, and the value range is [0 degrees and 360 degrees ];
pitch angle: the included angle between the positive direction of the shaft of the loader and the horizontal plane of NE is positive at the upper part and negative at the lower part, and the value range is [ -90 degrees and 90 degrees ];
transverse roll angle: the right declination of the shaft is positive, the left declination is negative, and the value range is [ -180 degrees and 180 degrees ].
In the conversion of the target position and speed under different coordinate systems, the following definitions are provided: the aircraft spherical coordinate system:
respectively representing a distance rho, an azimuth angle theta and a pitch angle
Radial velocity vρAzimuthal velocity vθAngular velocity of pitch
Rectangular coordinate system of the loader: (x)2，y2，z2)，
x2Representing the component of the target position in the X direction, y, in a rectangular coordinate system of the carrier2Representing the component of the target position Y direction under the rectangular coordinate system of the carrier, z2Representing the component of the target position in the Z direction under the rectangular coordinate system of the carrier,
is a component of the velocity in the X direction,
Is a velocity component in the Y direction,
Is the Z-direction velocity component. The aerial carrier geographic coordinate system: (x)3，y3，z3)，
Respectively representing the component X in the X direction of the target position under the geographic coordinate system of the carrier3Y component of Y3Z-direction component Z3And a component of velocity in the X direction
Component of velocity in Y direction
Component of velocity in Z direction
ECEF coordinate system: (x)4，y4，z4)，
Respectively represent the X-direction component X of the target position in the ECEF coordinate system4Y component of Y4Z-direction component Z4And a component of velocity in the X direction
Component of velocity in Y direction
Component of velocity in Z direction
Geodetic coordinate system: (l, m, h), (α, v)p，vh) Respectively representing longitude l, latitude m, altitude h, heading angle alpha and speed vpHigh and low rate of change vh(ii) a (β, ε, γ): respectively representing a yaw angle beta, an attitude angle epsilon and a roll angle gamma.
In the position coordinate transformation, rectangular coordinate system → spherical coordinate system of the carrier
Distance between two adjacent plates
If it is not
Then θ is 0;
if it is not
Then
If it is not
Then
If it is not
Then
Spherical → rectangular coordinate system of carrier
If rho is less than or equal to 0.001, then
If p > 0.001,
then
If it is not
Then
Rectangular coordinate system → geographical coordinate system of vehicle
Order matrix
Then there is
Geographic coordinate system → rectangular coordinate system of vehicle
Geodetic coordinate system → ECEF coordinate system
When (N + h) cosm is less than or equal to 0.001, then x4＝y4＝0，
Wherein
When (N + h) cosm > 0.001,
ECEF coordinate system → geodetic coordinate system
When in use
When the temperature of the water is higher than the set temperature,
when in use
In time, m and h need to be solved by an iterative method, and the order is ordered when iteration starts
Then iterate as follows
Until the difference between two adjacent iteration values of m and h is less than a certain required limit value, the iteration is required to be performed for four times, and the precision reaches millimeter level.
Geographic coordinate system → ECEF coordinate system
Order matrix
Wherein
The coordinate value of the carrier ECEF is calculated by the formula (7).
ECEF coordinate system → airborne geographical coordinate system
And (3) speed coordinate transformation: the expression form of the speed under the spherical coordinate system of the aircraft is radial speed, azimuth angle speed and pitch angle speed; the expression form of the speed under the geographic coordinate system of the carrier is course, navigational speed and high and low change rate; the expression of the speed in the rectangular coordinate system of the carrier, the geographical coordinate system of the carrier and the ECEF coordinate system is a speed component in X, Y, Z three directions.
Spherical → rectangular coordinate system of carrier
When p > 0.001, the refractive index of the film,
if it is not
Order matrix
Then there is
If it is not
Order matrix
Then
When the rho is less than or equal to 0.001,
rectangular coordinate system → spherical coordinate system of carrier
When in use
When the temperature of the water is higher than the set temperature,
if it is not
Then
If it is not
Then
When in use
When the temperature of the water is higher than the set temperature,
rectangular coordinate system → geographical coordinate system of vehicle
Geographic coordinate system → rectangular coordinate system of vehicle
Geographic coordinate system → ECEF coordinate system
ECEF coordinate system → airborne geographical coordinate system
ECEF coordinate system → geodetic coordinate system
Aiming at the measured target, the longitude and latitude of the position are l 'and m' respectively, which can be obtained by the transformation of the coordinate of the previous section, and the matrix is made
geodetic coordinate system → ECEF coordinate system
When v ispWhen the concentration of the carbon dioxide is more than 0.001,
when v ispWhen the content is less than or equal to 0.001,
then, the user can use the device to perform the operation,
thereby, the conversion of the three-dimensional velocity vector between any two of the five typical coordinate systems can be realized.
Principle of the method
The radar error mainly comprises: systematic errors in angle measurements, and random errors in distance, angular direction. The AIS accuracy is equal to the GPS accuracy, and if there is no systematic error and only a random error, the observed value is represented as:
wherein,
is the true angle value, η, of the target iθFor the purpose of the angular systematic error of the radar,
angle random error for target i, current systematic error
Very close to or equal to the true system error ηθDegree of membership of radar, AIS to the same target association
And max. ThetaAISFor the angular estimation of AIS, θRdFor the angle estimation of radar, σ is the standard deviation of radar and AIS.
Claims (10)
1. An AIS and radar angle system deviation correlation method is characterized by comprising the following steps: the maximum range empirical value tau of the radar system angle deviation range is given by using the priori knowledge, and the angle deviation range [ -tau, tau of the radar system deviation is estimated](ii) a For angular deviation range [ -tau, tau]Quantization is performed to convert [ - τ, τ]The angle between is quantized to the array [ - τ + Δ, - τ +2 Δ, …, 0, Δ, 2 Δ, …, - Δ + τ, τ](ii) a Assuming that the angular deviation is omega, correcting the radar measurement by using the assumed angular deviation on the basis, converting the position and the speed of a target geodetic coordinate system obtained by AIS into a radar polar coordinate system, performing association processing on the radar and the AIS under the same coordinate system, and counting the membership mu of an association result; estimating x from radar stateiAIS state estimation xjStandard deviation sigma of radar and AISijDegree of membership associated with radar, AIS
Calculating the fuzzy membership function ofThe association degree with the AIS is achieved, then an associated judgment threshold is set, the number of associated targets and non-associated targets is determined according to the judgment threshold, the membership degree of the non-associated targets is set to be 0, and the associated targets take the calculation result as the standard; traverse through the array [ - τ + Δ, - τ +2 Δ, …, 0, Δ, 2 Δ, …, - Δ + τ, τ]Calculating the sum sigma mu of the membership degrees mu associated with all targets, accumulating the fuzzy membership degrees of all targets, and selecting the maximum sum sigma mu of the membership degrees as a final result, wherein delta is 2 tau/(K-1), K is the number of the quantized arrays, tau is the maximum value of the assumed angle deviation, delta is the minimum quantization unit of the assumed angle deviation, and x is the minimum quantization unit of the assumed angle deviationiFor state estimation of radar, xjFor state estimation of AIS, σijStandard deviation for radar and AIS.
2. The method for associating AIS with radar angle system biases of claim 1, wherein: the AIS obtains that target geodetic coordinate system measures, and is different according to the detection coordinate system of AIS and radar to the radar obtains uses the radar basic station as the polar coordinate system of center, with its position, under speed unified conversion to radar polar coordinate system, carries out membership degree calculation to distance, angle, the speed parameter of radar, AIS under radar's polar coordinate system.
3. The method for associating AIS with radar angle system biases of claim 1, wherein: and after coordinate unified transformation is carried out, the longitude and latitude of the AIS information are changed into the distance to the ground wave radar base station and the azimuth angle relative to the main beam angle of the radar base station.
4. The method for associating AIS with radar angle system biases of claim 1, wherein: and carrying out projection transformation on the AIS information speed, and converting the AIS information speed into a projection quantity on a method along a target and a ground wave radar normal.
5. The method for associating AIS with radar angle system biases of claim 1, wherein: the radar is arranged on an airplane, a ship or a fixed shore and is uniformly described as a carrier, and a coordinate system is uniformly described as a carrier spherical coordinate system or a carrier rectangular coordinate system; if the ship is the ship, corresponding to a deck spherical coordinate system, a deck rectangular coordinate system and a deck geographical coordinate system; and if the radar base station is the radar base station, the radar base station corresponds to a radar spherical coordinate system, a radar rectangular coordinate system and a radar geographic coordinate system.
6. The method for associating AIS with radar angle system biases of claim 5, wherein: in an aircraft spherical coordinate system, the distance represents the absolute distance from a target to the mass center of the aircraft, the azimuth angle represents the included angle between the projection of the target on the main reference plane of the aircraft and the forward direction of the aircraft nose, the right wing of the target is positive, the left wing of the target is negative, the range of values is [ -180 degrees, 180 degrees ], the pitch angle represents the included angle between the connecting line of the target and the mass center of the aircraft and the main reference plane, the position of the target above the aircraft is positive, the position of the target below the aircraft is negative, and the range of values is [ -90 degrees, 90 degrees ].
7. The method for associating AIS with radar angle system biases of claim 5, wherein: the rectangular coordinate system of the aircraft carrier takes the origin of coordinates as the centroid of the aircraft carrier, the main reference surface is an XY plane, the parallel axes of the X axis point to the front of the aircraft nose, the perpendicular axes of the Y axis point to the right wing, and the perpendicular main reference surface of the Z axis point to the lower part of the belly.
8. The method for associating AIS with radar angle system biases of claim 5, wherein: in the transformation of the position coordinates,
rectangular coordinate system → spherical coordinate system of carrier
Distance between two adjacent plates
If it is not
Then θ is 0;
if it is not
Then
If it is not
Then
If it is not
Then
Spherical → rectangular coordinate system of carrier
If rho is less than or equal to 0.001, then
If p > 0.001,
then
If it is not
Then
Rectangular coordinate system → geographical coordinate system of vehicle
Order matrix
Then there is
Geographic coordinate system → rectangular coordinate system of vehicle
Geodetic coordinate system → ECEF coordinate system,
when (N + h) cosm is less than or equal to 0.001, then x4＝y4＝0，
When (N + h) cos m > 0.001,
wherein x is2Representing the X-direction component, y, of the target position in a rectangular coordinate system of the aircraft2A component in the Y direction, z, representing the target position in a rectangular coordinate system of the carrier2The Z-direction component of the target position under the rectangular coordinate system of the carrier is shown, theta is the azimuth angle under the polar coordinate of the radar,
is the pitch angle of the radar under polar coordinates, beta is the yaw angle of the attitude under the carrier spherical coordinate system, epsilon is the pitch angle of the attitude under the carrier spherical coordinate system, gamma is the roll angle of the attitude under the carrier spherical coordinate system, x3Is the X-direction component, y, of the target position in the geographical coordinate system of the aircraft3Is the Y-direction component, z, of the target position in the geographical coordinate system of the carrier3Is a Z-direction component, x, of the target position in the geographical coordinate system of the aircraft4For the position of the target in ECEF coordinatesComponent in X-direction, y4Is the Y-direction component, z, of the target position in the ECEF coordinate system4The Z-direction component of the target position in the ECEF coordinate system is shown as e, the eccentricity of the earth is shown as a, the equatorial radius of the earth is shown as a, the curvature radius of the ellipsoidal-prime-quad unitary ring is shown as N, b is 6356752.3142 m, h is the height in the geodetic coordinate system, l is the longitude in the geodetic coordinate system, and m is the latitude in the geodetic coordinate system.
9. The method for associating AIS with radar angle system biases of claim 8, wherein: ECEF coordinate system → geodetic coordinate system, longitude l,
when in use
When the temperature of the water is higher than the set temperature,
when in use
In time, m and h need to be solved by an iterative method, and the order is ordered when iteration starts
Then iterate as follows
Until the difference between two adjacent iteration values of the latitude m and the height h under the geodetic coordinate system is smaller than a certain required limit value, the iteration is required for four times, the precision reaches millimeter level, and i is the iteration number.
10. The method for associating AIS with radar angle system biases of claim 9, wherein: the ECEF coordinate system → geodetic coordinate system aims at the measured target, the longitude and latitude of the position of the measured target are l 'and m', the measured target is obtained by coordinate transformation, and the matrix is made
Then there is
Course angle α:
geodetic coordinate system → ECEF coordinate system
When v ispWhen the concentration of the carbon dioxide is more than 0.001,
when v ispWhen the content is less than or equal to 0.001,
thereby, the conversion of the three-dimensional velocity vector between any two of five typical coordinate systems can be realized, wherein, the geographical coordinate system of the aircraft is as follows:
is a component of the velocity in the X direction,
Is a component of the velocity in the Y direction,
as a component of velocity in the Z direction, in the ECEF coordinate system
Is a component of the velocity in the X direction,
Is a velocity component in the Y direction,
V in the geodetic coordinate system as a Z-direction velocity componentpIs the speed, vhHigh and low rates of change.
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| CN108957438B (en) * | 2018-06-23 | 2022-08-26 | 西安电子科技大学 | Random distance-based lag track association fusion method and system and application |
| CN109190647B (en) * | 2018-06-26 | 2022-03-08 | 中国电子科技集团公司第二十九研究所 | Active and passive data fusion method |
| CN109597037B (en) * | 2018-11-29 | 2023-06-16 | 惠州华阳通用电子有限公司 | Radar calibration method and device |
| CN110018450A (en) * | 2019-04-30 | 2019-07-16 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | AIS is associated with calibration method with radar angular system deviation |
| CN110286370B (en) * | 2019-05-08 | 2022-03-22 | 自然资源部第一海洋研究所 | Motion compensation method for shipborne ground wave radar in sailing state |
| CN110286366A (en) * | 2019-05-31 | 2019-09-27 | 中国人民解放军国防科技大学 | Vehicle motion state information extraction method based on vision and radar cooperative perception |
| CN111326022B (en) * | 2020-02-25 | 2020-12-25 | 广州中交通信有限公司 | Ship coordinate correction method, system and device based on AIS and storage medium |
| CN111813135B (en) * | 2020-06-29 | 2023-03-31 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | Dual-coordinate system full-airspace array beam tracking method |
| CN112033394B (en) * | 2020-09-03 | 2022-09-23 | 成都汇蓉国科微***技术有限公司 | Cooperative target identification method and device based on positioning equipment |
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