CN109655822A - A kind of improved track initiation method - Google Patents
A kind of improved track initiation method Download PDFInfo
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- CN109655822A CN109655822A CN201811332022.2A CN201811332022A CN109655822A CN 109655822 A CN109655822 A CN 109655822A CN 201811332022 A CN201811332022 A CN 201811332022A CN 109655822 A CN109655822 A CN 109655822A
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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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
-
- 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
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a kind of improved track initiation methods comprising the steps of: S1, establishes track initiation point mark；S2, direct-vision method determine wave door thresholding, and lock second starting point mark；S3, it is extrapolated according to the first two starting point mark, centered on predicted value, using course error covariance value as the thresholding of tracking gate；If not fallen in S4, scanning element mark in wave door thresholding, track revocation will be originated, S1 has been returned to step and continues.If being fallen into scanning element mark in wave door thresholding, the point mark that following scanning drops into tracking threshold is associated according to the association algorithm that target signature information assists；After S5, the association of scanning element mark, step S3 is continued to execute, until meeting M/N logical approach, determines track initiation success.The present invention is suitable for the simultaneous complex scene of dense clutter noise, and computation complexity is low, and real-time is high, and track initiation accuracy is high, and software algorithm is realized simply, convenient for the application in engineering in practice.
Description
Technical field
The present invention relates to a kind of improved track initiation methods.
Background technique
Radar track start algorithm could can be divided into two major classes, i.e. sequential processes technology and batch system.In general sequence
Processing technique, which is used primarily in the less environment of clutter, to be started to originate track, there is direct-vision method, logical approach etc.；And in strong clutter ring
Under border, batch system is particularly suited for processing track initiation, and batch system mainly includes Hough transform method and others one
A little innovatory algorithms.Studies have shown that sequential processes technology can preferably handle track initiation problem in relatively quiet environment；
And in a noisy environment, Hough transform method can processing track initiation problem relatively accurately, but in such case
Under, Hough transform method wants computation burden larger, unsuitable when also just causing to use in engineering because its calculation amount is excessive.Cause
This provides a kind of accurate and rapidly track initiation method, is of great significance.
There is patent CN106054150A (" a kind of first to originate the radar track initial mode confirmed afterwards ") introduction in the country at present
A kind of radar track initial mode, by setting actually detected judgement false-alarm probability, so that it is determined that the method for detection threshold.It should
Targetpath initial probability can be improved compared with existing track initiation method in method, but algorithm realize it is complicated, scene adaptability and
Project Realization is poor.
Patent CN107436434A (" the track initiation method based on two-way Doppler estimation ") describes a kind of based on more
The general track initiation method for strangling information can assist track initiation association algorithm by echo Doppler information, effective to reject
Falseness measures vector, it is suppressed that the formation of false track, and then under conditions of same false track probability, improve target
Detection probability has opened up far detection range.But track initiation stage doppler information, which calculates, to be obscured, and engineering calculation amount is big.
Patent CN106896363A (" a kind of submarine target active tracing track initiation method ") describes a kind of underwater mesh
Track initiation method is marked, data are acquired by navigation sensor and sonar sensor, assessed value is obtained and calculates wave door thresholding, more
New potential track.This method can be suitable for different marine environment can be accurately and efficiently right particularly with high clutter environment
Target trajectory carries out track initiation, but this method is higher to signal processing system requirement of real-time, and engineering calculation amount is big.
Open source literature " airborne early warning radar sea multiple target boat in " radar science and technology " periodical of 6th phase in 2016
The research of mark start algorithm could " describe a kind of sea multi-target traces initial mode.The algorithm is constructed using three frame amount measured data
It with the primary wave door for deferring sentence structure, overcomes traditional primary wave door and track division and composition problem easily occurs, and pass through
Angle restriction improves traditional related wave door to modified Hough transform.But its limitation is that the algorithm is only applicable to
Under the conditions of airborne radar is to sea, application space has limitation, and project amount is larger, and real-time performance is poor.
" probability based on heuristic logic is false for open source literature in " Shanghai communications university's journal " periodical of 1st phase in 2018
If density filtering high-efficiency track initial mode " a kind of high-efficiency track initial mode is described, this method is in regular length sliding window
The constraint conditions such as speed, acceleration and angle are set, validation checking and confirmation are carried out to the potential measurement for generating newborn target,
With the false newborn target of reduction.This method is compared with traditional PHD filtering for surveying starting based on full dose, and the method proposed is substantially
Improve computational efficiency.But its limitation is that this method track initiation precision is not high, and algorithm is also and remarkable, thus engineering
Realization has little significance.
Summary of the invention
The purpose of the present invention is to provide a kind of improved track initiation methods, with target position, speed, acceleration, angle
It spends variable and calculates thresholding to echo progress preliminary screening, carry out measurement echo in the association algorithm for carrying out target signature auxiliary information
With being associated with for target, the purpose of accurate initial target track is realized.
In order to achieve the above object, the invention is realized by the following technical scheme:
A kind of improved track initiation method comprising the steps of:
S1, track initiation point mark is established, into S2；
S2, direct-vision method determine wave door thresholding, and lock second starting point mark, enter S3；
S3, it is extrapolated according to the first two starting point mark, centered on predicted value, using course error covariance value as tracking wave
The thresholding of door, into S4；
If not fallen in wave door thresholding in S4, scanning element mark, track revocation will have been originated, has returned to step S1 continuation
It carries out.If being fallen into wave door thresholding in scanning element mark, following scanning is dropped into the point mark in tracking threshold according to target spy
The association algorithm of reference breath auxiliary is associated, into S5；
After S5, the association of scanning element mark, step S3 is continued to execute, until meeting M/N logical approach, determines track initiation success.
Compared with prior art, the present invention with target position, speed, acceleration, angle variables calculate thresholding to echo into
Row preliminary screening measure in the association algorithm for carrying out target signature auxiliary information the associated method of echo and target, purport
It is suitable for the simultaneous complex scene of dense clutter noise providing one kind, computation complexity is low, and real-time is high, track initiation
Accuracy is high, and software algorithm is realized simply, convenient for the track initiation method of the application in engineering in practice.
Detailed description of the invention
Fig. 1 is flow chart of the method for the present invention；
Fig. 2 is that target measures the two-dimensional surface distribution map measured with clutter；
Fig. 3 is the track plot of regular logical method track initiation；
Fig. 4 is the track plot based on improved track initiation.
Specific embodiment
Below based on specific embodiment, next the present invention is described in detail.
In the present embodiment, it is assumed that in radar sensor scanning area, there are 5 targets to do linear uniform motion, it is assumed that its
In two-dimensional surface, the initial position of this 5 targets is respectively as follows: (55000m, 55000m), (45000m, 45000m), (35000m,
35000m), (45000m, 25000m), (55000m, 15000m), the initial velocity of this 5 targets are (500m/s, 0m/s).
Assuming that radar sensor scan period T is 5 seconds, and the distance of radar sensor observation standard deviation and azimuth observation standard difference
Not are as follows: σr=40m and σθ=0.3 °.Assuming that 4 periods of radar sensor continuous scanning, the number for the clutter that each intermittent scanning arrives
Amount is to obey Poisson distribution, the number average value of clutter be by the square simulating area that is considered size and
In unit area determined by the product of clutter number.
Assuming that limiting the maximum speed in correlation rule in Track initialization algorithm are as follows:And minimum speed
Are as follows:Peak acceleration amax=50m/s2The angle continuously scanned three timesAssuming that based on patrolling
3/4 logical approach is used in the Track initialization algorithm for the method for collecting, each radar sensor scans preceding 5 points in resulting trace set
It is set to target point, the thresholding value 4 of parameter space enables Nθ=90, Nρ=90.
As shown in Figure 1, method proposed by the present invention specifically executes following steps:
S1, using preliminary sweep point mark as first starting point mark, track initiation point mark is established with this, is transferred to S2.
S2, threshold value is determined using direct-vision method, the point mark fallen into thresholding that second is scanned is as potential track
Initially set up.
Assuming that ri(i=1,2), ti(i=1,2) is the position measuring value of target twice sweep, time value, the amount scanned
The movement velocity of survey should be between maximum speed VmaxWith minimum speed VminBetween, it may be assumed that
R in formulaiFor target span, tiFor target run duration.The constraint of speed greatly limits the range of wave door, especially
It is in the environment of strong clutter, clutter number is more, leverages the data correlation of target.
S3, in step S2 as a result, carrying out linear extrapolation obtains each possible track, it is pre- with this moment
Point centered on measured value, the threshold value size by course error covariance value as tracking gate.
It is as follows that course error covariance calculates wave door threshold value method:
If zi(k) be i-th of k moment measurement information, wherein i=1,2 ..., mk.Then measure Zi(k) and Zj(k+1)
Distance vector dijAre as follows:
dij(t)=max [0, zj(k+1)-zi(k)-vmaxt]+max[0,-zj(k+1)+zi(k)+vmint] (1)
In formula, t is the time interval of radar scanning twice, generally assumes that error in measurement is zero-mean, independent white Gaussian
Noise profile, enabling its covariance is Ri(k), then normalized cumulant square are as follows:
D in formulaijIt (k) is obedience χ2The stochastic variable of distribution, freedom degree are that (p is according to Practical Project concrete condition system by p
It is fixed).Distance threshold value γ can be obtained by freedom degree p inquiry, if Dij(k)≤γ, then measure Zi(k) and ZjIt (k+1) is phase
It is associated.
Similarly, speed, acceleration and angle threshold value calculating method can ibid obtain, wherein measuring Zi(k) and Zj(k+1)
Velocity vector are as follows:
Acceleration are as follows:
Angle vector are as follows:
If not fallen in wave door thresholding in S4, scanning element mark, track revocation will have been originated, has returned to step S1 continuation
It carries out.If being fallen into wave door thresholding in scanning element mark, following scanning is dropped into the point mark in tracking threshold according to target spy
The association algorithm of reference breath auxiliary is associated.
Assuming that a is the amplitude information of i-th of k moment measurement, the probability for the amplitude information for enabling it measure from real goal
Density function is p1(a), the probability density function of the false amplitude information measured is p0(a).Then:
D is signal-to-noise ratio (or signal to noise ratio) SNR in formula.
Enabling τ is amplitude information detection threshold, then false-alarm probability and detection probability are respectivelyWithThen:
Increase detection probabilityThen need to reduce amplitude information detection threshold τ, but this also results in false-alarm probability
Increase, therefore to reasonably select amplitude information detection threshold τ, the selection of general τ is by false-alarm probabilityIt obtains, it may be assumed that
It is measured by the real goal exported after amplitude information detection threshold τ and the probability of the false amplitude information measured is close
Spending function isWithThen:
It can to sum up obtain:
Enabling amplitude likelihood ratio ρ is the probability density function for the amplitude information that real goal measuresIt is measured with falseness
The probability density function of amplitude informationThe ratio between, it may be assumed that
Assuming that i-th of measuring value of k+1 moment is zi(k+1), target prediction value is z (k+1 | k), target signature information auxiliary
Association algorithm principle be by tracking gate predicted position value of the echo from target and echo amplitude likelihood ratio it is minimum
Measurement as Targets Dots, i.e.,Reach minimum, which then can be used for dbjective state more
In new.
After S5, the association of scanning element mark, step S3 is continued to execute, (M/N has according to Practical Project until meeting M/N logical approach
Body situation is formulated), determine track initiation success.
Although the contents of the present invention are discussed in detail through the above steps, but it should be appreciated that the description above is not
It should be considered as limitation of the present invention.After those skilled in the art have read above content, a variety of repaired for of the invention
Changing and substituting all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (5)
1. a kind of improved track initiation method, which is characterized in that comprise the steps of:
S1, using preliminary sweep point mark as first starting point mark, track initiation point mark is established with this, into S2；
S2, direct-vision method determine wave door thresholding, and lock second starting point mark, into S3；
S3, it is extrapolated according to the first two starting point mark, centered on predicted value, using course error covariance value as tracking gate
Thresholding, into S4；
If not fallen in S4, scanning element mark in wave door thresholding, will originate track revocation, return to step S1 continue into
Row；If being fallen into wave door thresholding in scanning element mark, following scanning is dropped into the point mark in tracking threshold according to target signature
The association algorithm of information auxiliary is associated, into S5；
After S5, the association of scanning element mark, step S3 is continued to execute, until meeting M/N logical approach, determines track initiation success.
2. a kind of improved track initiation method as described in claim 1, which is characterized in that in the step S2, use
Direct-vision method determines threshold value, point mark the initially setting up as potential track fallen into thresholding that second is scanned；
Assuming that ri(i=1,2), ti(i=1,2) is the position measuring value of target twice sweep, time value, the measurement scanned
Movement velocity is between maximum speed VmaxWith minimum speed VminBetween, it may be assumed that
R in formulaiFor target span, tiFor target run duration.
3. a kind of improved track initiation method as described in claim 1, which is characterized in that in the step S3, for
It is in step S2 as a result, carry out linear extrapolation obtain each possible track, the point centered on the predicted value at this moment,
Threshold value size by course error covariance value as tracking gate；
It is as follows that course error covariance calculates wave door threshold value method:
If zi(k) be i-th of k moment measurement information, wherein i=1,2 ..., mk；
Then measure Zi(k) and Zj(k+1) distance vector dijAre as follows:
dij(t)=max [0, zj(k+1)-zi(k)-vmaxt]+max[0,-zj(k+1)+zi(k)+vmint] (1)
In formula, t is the time interval of radar scanning twice, it is assumed that error in measurement is zero-mean, independent white Gaussian noise is distributed,
Enabling its covariance is Ri(k), then normalized cumulant square are as follows:
D in formulaijIt (k) is obedience χ2The stochastic variable of distribution, crossing freedom degree is that p inquires to obtain distance threshold value γ, if Dij(k)
≤ γ, then measure Zi(k) and ZjIt (k+1) is associated.
4. a kind of improved track initiation method as claimed in claim 3, which is characterized in that in the step S3, to speed
Degree, acceleration and angle threshold value are calculated, wherein measuring Zi(k) and Zj(k+1) velocity vector are as follows:
Acceleration are as follows:
Angle vector are as follows:
5. a kind of improved track initiation method as described in claim 1, which is characterized in that in the step S4, it is assumed that a
The amplitude information measured for i-th of the k moment, enabling its probability density function from the amplitude information of real goal measurement is p1
(a), the probability density function of the false amplitude information measured is p0(a)；Then:
D is signal-to-noise ratio in formula；
Enabling τ is amplitude information detection threshold, then false-alarm probability and detection probability are respectivelyWithThen:
Amplitude information detection threshold
The probability density letter with the false amplitude information measured is measured by the real goal exported after amplitude information detection threshold τ
Number is respectivelyWithThen:
It can to sum up obtain:
Enabling amplitude likelihood ratio ρ is the probability density function for the amplitude information that real goal measuresThe amplitude measured with falseness
The probability density function of informationThe ratio between, it may be assumed that
Assuming that i-th of measuring value of k+1 moment is zi(k+1), target prediction value is z (k+1 | k), the pass of target signature information auxiliary
The principle of connection algorithm is by predicted position value of the echo from target in tracking gate and the smallest amount of echo amplitude likelihood ratio
It surveys as Targets Dots, i.e.,Reach minimum, the value is in the update of dbjective state.
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Cited By (14)
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| CN110187318A (en) * | 2019-04-23 | 2019-08-30 | 四川九洲防控科技有限责任公司 | A kind of radar data processing method |
| CN110940971A (en) * | 2019-11-06 | 2020-03-31 | 四川川大智胜软件股份有限公司 | Radar target point trace recording method and device and storage medium |
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| CN112114308A (en) * | 2019-06-20 | 2020-12-22 | 哈尔滨工业大学 | Space-time joint target tracking method for sector-scan radar |
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| CN110940971A (en) * | 2019-11-06 | 2020-03-31 | 四川川大智胜软件股份有限公司 | Radar target point trace recording method and device and storage medium |
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Application publication date: 20190419 |