CN108710127A - Target detection recognition methods under low latitude and sea environment and system - Google Patents
Target detection recognition methods under low latitude and sea environment and system Download PDFInfo
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- CN108710127A CN108710127A CN201810354980.3A CN201810354980A CN108710127A CN 108710127 A CN108710127 A CN 108710127A CN 201810354980 A CN201810354980 A CN 201810354980A CN 108710127 A CN108710127 A CN 108710127A
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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
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Abstract
The present invention provides under a kind of low latitude and sea environment target detection recognition methods and system, including：Space virtual reference frame is established, and carries out self-calibration；The data of measurement point and target are established in space virtual reference frame using corresponding coordinate transformation method for different measuring conditions；Calculate all geometric parameters of each target and the coordinate of target；Self-calibration is carried out by the radar of two different heights and is mended blind；The radar signal handled using the denoising method of frame-to-frame correlation；Use processing is carried out to the multi-source target data including radar, carries out target detection and tracking.The present invention inhibits strong sea clutter using dynamic self-calibration technology, self-adapting detecting identification technology, improves target location accuracy and discrimination；It improves under terrible weather environment, target detection capabilities is carried out to observation marine site round the clock.Realize that carrying out effectively detection, tracking, identification and law enforcement monitoring to low altitude small targets such as sea surface small target and unmanned planes collects evidence.
Description
Technical field
The present invention relates to detections of radar identification technology fields, and in particular, to the target detection under low latitude and sea environment
Recognition methods and system.
Background technology
It is well known that the radar worked under marine and low latitude environment faces the shadow of more serious low latitude and sea environment
It rings, such as ground, ocean clutter cause the detection accuracy of identification for target low.Especially for periscope, drifting mine, the frog
The low altitude small targets such as sea surface small targets and unmanned plane such as people, eight pawl ships, such target speed faster or slower, it is small therefore
Radar area is small and radar short range amblyopia area problem, in addition the influence of low latitude and sea environment, difficulty is found, tracks
And identification.
Term is explained：
AIS：Automatic Identification System, ship automatic identification system.
Invention content
For the defects in the prior art, the object of the present invention is to provide the target detections under a kind of low latitude and sea environment
Recognition methods and system.
According to the target detection recognition methods under a kind of low latitude provided by the invention and sea environment, including：
Self-calibration step：Space virtual reference frame is established, and carries out self-calibration；
Coordinate transform step：For different measuring conditions, using corresponding coordinate transformation method, by measurement point and target
Data establish in space virtual reference frame；
Target calculates step：Calculate all geometric parameters of each target and the coordinate of target；
Radar Calibration step：Self-calibration is carried out by the radar of two different heights and is mended blind；
Signal processing step：The radar signal handled using the denoising method of frame-to-frame correlation；
Target detection tracking step：Use processing is carried out to the multi-source target data including radar, carries out target inspection
It surveys and tracks.
Preferably, the self-calibration step includes：
Step 11：Establish space virtual reference frame and virtual measurement benchmark；
Step 12：Establish the contact between each coordinate system and transformation relation；
Step 13：Self-calibration is carried out, each initial point of the measurement under space virtual reference frame and initial is obtained
Distance.
Preferably, it includes solving nonlinear least square journey by Gauss-Newton methods that the target, which calculates step,
Group, to calculate all geometric parameters of each target and the coordinate of target.
Preferably, the coordinate transformation method includes：
As long as the coordinate transform based on arbitrary plane is regarded as the mapping of two or more linear space, transformation matrix
For：
Wherein △ X, △ Y, △ Z are coordinate translation amounts, and R (ω) is spin matrix, and (1+m) is scale factor；
Coordinate transform between different coordinates is realized by establishing between two coordinate systems one-to-one relationship,
It is opposite with reference to determining dimension space by coordinate.
Preferably, the Radar Calibration step includes：Self-calibration is carried out by the different radar of two height and benefit is blind, it is right
The data of two radars carry out fusion treatment.
Preferably, the denoising method of the frame-to-frame correlation includes：Based on two-dimentional complex wavelet transform and based on three-dimensional multiple small
Wave conversion.
Preferably, described include based on three-dimensional complex wavelet transform：Using signal as three dimensional signal, that is, it include two spaces side
Wavelet decomposition is carried out to the signal with a time orientation, and to this three dimensional signal.
Preferably, the target detection tracking step includes：Mesh is carried out using track algorithm and alpha-beta-γ filtering algorithms
Mark detect and track；
Alpha-beta-γ the filtering algorithms include：
α=1- ξ3；
β=1.5 (1- ξ2)(1-ξ)；
γ=O.5 (1- ξ)3；
The value that α, β, γ are determined using smoothing factor ξ, before each tracing task, according to the mobility of time-varying target,
Under the premise of ensureing precision, best smoothing factor ξ values are obtained using fuzzy system adjust automatically, can also be obtained best
α, β, γ value.
Preferably, the target detection tracking step includes：
Use processing, capture and tracking area are carried out to the multi-source target data including radar, AIS and optoelectronic device
Various targets, establish targetpath in domain, and real-time comprehensive, gamut target information is shown, provides marine integration objective state
Gesture figure；
Target indication is provided for optoelectronic device, completes the interaction of equipment state, posture information and tracking information；
The continuous location information that target is provided for optoelectronic device, the image of optoelectronic device imageable target, according to target signature
Attribute realizes tracking and identification to target.
According to the target detection identifying system under a kind of low latitude provided by the invention and sea environment, including：
Self-calibration module：Space virtual reference frame is established, and carries out self-calibration；
Coordinate transformation module：For different measuring conditions, using corresponding coordinate transformation method, by measurement point and target
Data establish in space virtual reference frame；
Target computing module：Calculate all geometric parameters of each target and the coordinate of target；
Radar Calibration module：Self-calibration is carried out by the radar of two different heights and is mended blind；
Signal processing module：The radar signal handled using the denoising method of frame-to-frame correlation；
Target detection tracking module：Use processing is carried out to the multi-source target data including radar, carries out target inspection
It surveys and tracks.
Compared with prior art, the present invention has following advantageous effect：
The present invention inhibits strong sea clutter using dynamic self-calibration technology, self-adapting detecting identification technology, improves target positioning
Precision and discrimination；It improves under terrible weather environment, target detection capabilities is carried out to observation marine site round the clock.Especially realization pair
The low altitude small targets such as sea surface small target and unmanned plane carry out the monitoring evidence obtaining that effectively detects, tracks, identifies and enforce the law.
Meanwhile the structure of target detection identifying system of the present invention is simple, it is of low cost, while can realize radar and more
The fusion of kind echo signal, it is with obvious effects, tracking is effectively realized, reduces complicated meteorology to working in the radar under marine environment
With the influence of optoelectronic device, the performance of radar and optical device under marine environment is improved, improves radar and optical device etc.
Comprehensive survey recognition capability.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is the flow chart of the present invention；
Fig. 2 is the application schematic diagram in the embodiment of the present invention.
Specific implementation mode
With reference to specific embodiment, the present invention is described in detail.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, several changes and improvements can also be made.These belong to the present invention
Protection domain.
As depicted in figs. 1 and 2, the target detection recognition methods under a kind of low latitude provided by the invention and sea environment, packet
It includes：
Self-calibration step：Space virtual reference frame is established, and carries out self-calibration.It specifically includes：
Step 11：Space virtual reference frame and virtual measurement benchmark are established, this is because the target of spatial movement exists
Three dimensions free movement, without orthogonal reference frame in kind.
Step 12：The contact between each coordinate system and transformation relation are established, reference frame is typically established at tracking station
On, using spherical coordinate system.
Step 13：Self-calibration is carried out, each initial point of the measurement under space virtual reference frame and initial is obtained
Distance.
Coordinate transform step：For different measuring conditions, using corresponding coordinate transformation method, by measurement point and target
Data establish in space virtual reference frame.Dynamic measurement system needs unified measurement reference frame, is surveyed to improve
The data acquisition of amount efficiency, measurement point and measured target usually adjusts center as base using the centre of gyration of measurement or targeted attitude
Point.The coordinate conversion of data needs to establish on the basis that self-calibration establishes virtual measurement reference frame.
Coordinate transform is the location expression of spatial entities, is the mistake that another coordinate system is transformed to from a kind of coordinate system
Journey.It is realized by establishing between two coordinate systems one-to-one relationship.By coordinate phase when two or more coordinate conversions
To with reference to determining dimension space.
As a result of different coordinate systems, the coordinate transform between different coordinates is needed.There is the translation of rectangular co-ordinate
And rotation, the mutual conversion also between polar coordinates and rectangular co-ordinate.
In rectangular coordinate system, exquisite is a relative coordinate and absolute coordinate.The translation of coordinate is by the flat of reference axis
Caused by moving and rotating.Understand that the displacement distance of former coordinate, moving direction, the angle that turns over (move it relative to former coordinate
Before).So required coordinate, also doing former coordinate, similarly transformation can find corresponding position in new coordinate.
Measurement system coordinate is converted, i.e., from earth coordinates to map coordinates system, digitizer base coordinate system, plotter coordinate
Coordinate conversion between system or display coordinate.
As long as the coordinate transform based on arbitrary plane is regarded as the mapping of two or more linear space, transformation matrix
For：
Wherein △ X, △ Y, △ Z are coordinate translation amounts, and R (ω) is spin matrix, and (1+m) is scale factor；
Target calculates step：Calculate all geometric parameters of each target and the coordinate of target.Gauss- can be passed through
Newton methods solve following nonlinear least square journey group, to calculate all geometric parameters and fortune of each tracking target
The coordinate of moving-target.
Radar Calibration step：Self-calibration is carried out by the radar of two different heights and is mended blind.Radar uses two height
Different X-band radars, strong to low slow small target deteection ability of tracking, detecting and tracking ability improves 50% than normal navigation radar
More than, in particular, under heavy rain environmental condition, there is certain anti-rain to survey ability.The height of one radar is 15m, another
The height of radar is 10m, can effectively solve the problem that the point target short range amblyopia area problem caused by multipath effect, realizes short range
It mends blind.
Signal processing step：The radar signal handled using the denoising method of frame-to-frame correlation.The denoising of frame-to-frame correlation
Method includes：Based on two-dimentional complex wavelet transform and based on three-dimensional complex wavelet transform.Based on three-dimensional complex wavelet transform and threshold process
Denoising, regard vision signal as a three dimensional signal, that is, include the signal in two spaces direction and a time orientation.To this
Three dimensional signal carries out wavelet decomposition, since wavelet basis function is highly relevant three-dimensional function on room and time, interframe phase
Closing property is taken into account automatically, and obtained wavelet coefficient is the result of decorrelation.To different wavelet decomposition modes, if wavelet basis
The feature of function and signal is more similar, then decorrelation effect is better, to the signal processing results after gained coefficient independent process
Better.
Target detection tracking step：Use processing is carried out to the multi-source target data including radar, carries out target inspection
It surveys and tracks.The algorithms most in use of target following has：Contrast tracking algorithm, correlation tracking algorithm and cepstrum track algorithm etc., this
Invention is difficult to for existing contradiction between traditional alpha-beta-γ filter trackings precision and convergence rate and since coefficient is fixed
The limitation for tracking strong mobility target devises a kind of adaptive alpha-beta-γ filtering algorithms, according to the variation of target maneuver,
The output that fuzzy system is adjusted using tracking error is obtained adaptive coefficient value, tracking is made to tie under the premise of ensureing precision
Fruit Fast Convergent has well solved the contradiction between tracking accuracy and convergence rate, contributes to the target for tracking mobility strong.
Marine integration objective situation map is provided；Target indication is provided for optoelectronic device, completes equipment state, posture information and tracking information
Interaction；The location information of concern target, the real time video image that display optoelectronic device obtains can be continuously provided for optoelectronic device
Information.
Improvement alpha-beta-γ the filtering algorithms of the present invention
Since the coefficient of alpha-beta-γ filters is fixed value that must be pre-set, coefficient presets, causes to track
It is preceding to have priori to the necessary mobility of target, if target changes mobility it is necessary to change α β γ values.It is very numerous in this way
It is trivial, can not be used therefore at all in the system of time-varying, the shortcomings that coefficient has been fixed into alpha-beta-γ filters.
The present invention proposes a kind of adaptive alpha-beta-γ filter tracking algorithms,
Smoothing factor ξ and α, β, γ meet following relationship：
α=1- ξ3 (1)
β=1.5 (1- ξ2)(1-ξ) (2)
γ=O.5 (1- ξ)3 (3)
Therefore, the value of α, β, γ can be determined using smoothing factor ξ.The value of ξ determines the convergence rate of filter
With the tracking accuracy of filter, but convergence rate and tracking accuracy are that one group of contradiction tracks if requiring convergence rate higher
Error is larger, and precision is poor, and vice versa.It, can be according to (1) formula, (2) formula, (3) formula, needle before each tracing task in engineering
To actual demand, obtained most using fuzzy system adjust automatically under the premise of ensureing precision according to the mobility of time-varying target
Good smoothing factor ξ values, can also obtain best α, β, γ value.
Target programmable integrated process completes target detection and tracking, improves the comprehensive detection ability of tracking of target；System is to thunder
Reach, the multi-sources target data such as AIS and optoelectronic device carries out use processing automatically, various targets in capture and tracing area,
Targetpath is established, real-time comprehensive, gamut target information is shown, provides marine integration objective situation map；It is set for photoelectricity
It is standby that Target indication is provided, complete the interaction of equipment state, posture information and tracking information；Can continuously concern be provided for optoelectronic device
The location information of target, the image of optoelectronic device imageable target object are realized and are tracked to target object according to target signature attribute
The real time video image information that optoelectronic device obtains is shown with the purpose of identification.
On the basis of target detection recognition methods under a kind of above-mentioned low latitude and sea environment, the present invention also provides one
Target detection identifying system under kind low latitude and sea environment, including：
Self-calibration module：Space virtual reference frame is established, and carries out self-calibration.It specifically includes：
Space virtual reference frame and virtual measurement benchmark are established, this is because the target of spatial movement is in three dimensions
Free movement, without orthogonal reference frame in kind.
The contact between each coordinate system and transformation relation are established, reference frame is typically established in tracking station, is used
Spherical coordinate system.
Self-calibration is carried out, initial point and initial distance of each measurement under space virtual reference frame are obtained.
Coordinate transformation module：For different measuring conditions, using corresponding coordinate transformation method, by measurement point and target
Data establish in space virtual reference frame.Dynamic measurement system needs unified measurement reference frame, is surveyed to improve
The data acquisition of amount efficiency, measurement point and measured target usually adjusts center as basic point to measure the centre of gyration or targeted attitude.
The coordinate conversion of data needs to establish on the basis that self-calibration establishes virtual measurement reference frame.
Target computing module：Calculate all geometric parameters of each target and the coordinate of target.Gauss- can be passed through
Newton methods solve following nonlinear least square journey group, to calculate all geometric parameters and fortune of each tracking target
The coordinate of moving-target.
Radar Calibration module：Self-calibration is carried out by the radar of two different heights and is mended blind.Radar uses two height
Different X-band radars, strong to low slow small target deteection ability of tracking, detecting and tracking ability improves 50% than normal navigation radar
More than, in particular, under heavy rain environmental condition, there is certain anti-rain to survey ability.The height of one radar is 15m, another
The height of radar is 10m, can effectively solve the problem that the point target short range amblyopia area problem caused by multipath effect, realizes short range
It mends blind.
Signal processing module：The radar signal handled using the denoising method of frame-to-frame correlation.The denoising of frame-to-frame correlation
Method includes：Based on two-dimentional complex wavelet transform and based on three-dimensional complex wavelet transform.Based on three-dimensional complex wavelet transform and threshold process
Denoising, regard vision signal as a three dimensional signal, that is, include the signal in two spaces direction and a time orientation.To this
Three dimensional signal carries out wavelet decomposition, since wavelet basis function is highly relevant three-dimensional function on room and time, interframe phase
Closing property is taken into account automatically, and obtained wavelet coefficient is the result of decorrelation.To different wavelet decomposition modes, if wavelet basis
The feature of function and signal is more similar, then decorrelation effect is better, to the signal processing results after gained coefficient independent process
Better.
Target detection tracking module：Use processing is carried out to the multi-source target data including radar, carries out target inspection
It surveys and tracks.The algorithms most in use of target following has：Contrast tracking algorithm, correlation tracking algorithm and cepstrum track algorithm etc., this
Invention is difficult to for existing contradiction between traditional alpha-beta-γ filter trackings precision and convergence rate and since coefficient is fixed
The limitation for tracking strong mobility target devises a kind of adaptive alpha-beta-γ filtering algorithms, according to the variation of target maneuver,
The output that fuzzy system is adjusted using tracking error is obtained adaptive coefficient value, tracking is made to tie under the premise of ensureing precision
Fruit Fast Convergent has well solved the contradiction between tracking accuracy and convergence rate, contributes to the target for tracking mobility strong.
Marine integration objective situation map is provided；Target indication is provided for optoelectronic device, completes equipment state, posture information and tracking information
Interaction；The location information of concern target, the real time video image that display optoelectronic device obtains can be continuously provided for optoelectronic device
Information.
Target programmable integrated process completes target detection and tracking, improves the comprehensive detection ability of tracking of target；System is to thunder
Reach, the multi-sources target data such as AIS and optoelectronic device carries out use processing automatically, various targets in capture and tracing area,
Targetpath is established, real-time comprehensive, gamut target information is shown, provides marine integration objective situation map；It is set for photoelectricity
It is standby that Target indication is provided, complete the interaction of equipment state, posture information and tracking information；Can continuously concern be provided for optoelectronic device
The location information of target, the image of optoelectronic device imageable target object are realized and are tracked to target object according to target signature attribute
The real time video image information that optoelectronic device obtains is shown with the purpose of identification.
One skilled in the art will appreciate that in addition to realizing system provided by the invention in a manner of pure computer readable program code
It, completely can be by the way that method and step be carried out programming in logic come so that the present invention provides and its other than each device, module, unit
System and its each device, module, unit with logic gate, switch, application-specific integrated circuit, programmable logic controller (PLC) and embedding
Enter the form of the controller that declines etc. to realize identical function.So system provided by the invention and its every device, module, list
Member is considered a kind of hardware component, and also may be used for realizing the device of various functions, module, unit to include in it
To be considered as the structure in hardware component；It can also will be considered as realizing the device of various functions, module, unit either real
The software module of existing method can be the structure in hardware component again.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or change within the scope of the claims, this not shadow
Ring the substantive content of the present invention.In the absence of conflict, the feature in embodiments herein and embodiment can arbitrary phase
Mutually combination.
Claims (10)
1. the target detection recognition methods under a kind of low latitude and sea environment, which is characterized in that including：
Self-calibration step：Space virtual reference frame is established, and carries out self-calibration；
Coordinate transform step：For different measuring conditions, using corresponding coordinate transformation method, by the number of measurement point and target
According to foundation in space virtual reference frame；
Target calculates step：Calculate all geometric parameters of each target and the coordinate of target；
Radar Calibration step：Self-calibration is carried out by the radar of two different heights and is mended blind；
Signal processing step：The radar signal handled using the denoising method of frame-to-frame correlation；
Target detection tracking step：To including radar multi-source target data carry out use processing, carry out target detection and
Tracking.
2. the target detection recognition methods under low latitude according to claim 1 and sea environment, which is characterized in that it is described from
Demarcating steps include：
Step 11：Establish space virtual reference frame and virtual measurement benchmark；
Step 12：Establish the contact between each coordinate system and transformation relation；
Step 13：Self-calibration is carried out, initial point and initial distance of each measurement under space virtual reference frame are obtained.
3. the target detection recognition methods under low latitude according to claim 1 and sea environment, which is characterized in that the seat
Marking transform method includes：
As long as the coordinate transform based on arbitrary plane is regarded as the mapping of two or more linear space, transformation matrix is：
Wherein △ X, △ Y, △ Z are coordinate translation amounts, and R (ω) is spin matrix, and (1+m) is scale factor；
Coordinate transform between different coordinates is realized by establishing between two coordinate systems one-to-one relationship, by sitting
Mark is opposite with reference to determining dimension space.
4. the target detection recognition methods under low latitude according to claim 1 and sea environment, which is characterized in that the mesh
It includes solving nonlinear least square journey group by Gauss-Newton methods that mark, which calculates step, to calculate the institute of each target
There are geometric parameter and the coordinate of target.
5. the target detection recognition methods under low latitude according to claim 1 and sea environment, which is characterized in that the thunder
Include up to demarcating steps：Self-calibration is carried out by the different radar of two height and benefit is blind, and first the data of two radars are carried out
Fusion treatment.
6. the target detection recognition methods under low latitude according to claim 1 and sea environment, which is characterized in that the frame
Between the denoising method of correlation include：Based on two-dimentional complex wavelet transform and based on three-dimensional complex wavelet transform.
7. the target detection recognition methods under low latitude according to claim 6 and sea environment, which is characterized in that the base
Include in three-dimensional complex wavelet transform：Using signal as three dimensional signal, that is, include the letter in two spaces direction and a time orientation
Number, and wavelet decomposition is carried out to this three dimensional signal.
8. the target detection recognition methods under low latitude according to claim 1 and sea environment, which is characterized in that the mesh
Marking detecting and tracking step includes：Target detection and tracking are carried out using track algorithm and alpha-beta-γ filtering algorithms；
Alpha-beta-γ the filtering algorithms include：
α=1- ξ3；
β=1.5 (1- ξ2)(1-ξ)；
γ=O.5 (1- ξ)3；
The value that α, β, γ are determined using smoothing factor ξ, according to the mobility of time-varying target, is being protected before each tracing task
Demonstrate,prove precision under the premise of, obtain best smoothing factor ξ values using fuzzy system adjust automatically, can also obtain best α,
β, γ value.
9. the target detection recognition methods under low latitude according to claim 1 and sea environment, which is characterized in that the mesh
Marking detecting and tracking step includes：
To including radar, AIS and optoelectronic device multi-source target data carry out use processing, capture and tracing area in
Various targets, establish targetpath, and real-time comprehensive, gamut target information is shown, provides marine integration objective situation map；
Target indication is provided for optoelectronic device, completes the interaction of equipment state, posture information and tracking information；
The continuous location information that target is provided for optoelectronic device, the image of optoelectronic device imageable target, foundation target signature attribute,
Realize the tracking and identification to target.
10. the target detection identifying system under a kind of low latitude and sea environment, which is characterized in that including：
Self-calibration module：Space virtual reference frame is established, and carries out self-calibration；
Coordinate transformation module：For different measuring conditions, using corresponding coordinate transformation method, by the number of measurement point and target
According to foundation in space virtual reference frame；
Target computing module：Calculate all geometric parameters of each target and the coordinate of target；
Radar Calibration module：Self-calibration is carried out by the radar of two different heights and is mended blind；
Signal processing module：The radar signal handled using the denoising method of frame-to-frame correlation；
Target detection tracking module：To including radar multi-source target data carry out use processing, carry out target detection and
Tracking.
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| IT202200005390A1 (en) * | 2022-03-18 | 2023-09-18 | Univ Degli Studi Padova | Method for self-calibrating millimeter wave (mmWave) radar sensor networks starting from motion trajectories of targets in the environment |
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