CN111060877A - Data processing method for shore-based radar - Google Patents

Data processing method for shore-based radar Download PDF

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CN111060877A
CN111060877A CN201911359370.3A CN201911359370A CN111060877A CN 111060877 A CN111060877 A CN 111060877A CN 201911359370 A CN201911359370 A CN 201911359370A CN 111060877 A CN111060877 A CN 111060877A
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shore
ship
radar
information
based radar
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CN111060877B (en
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王晓原
夏媛媛
姜雨函
柴垒
朱慎超
高杰
孙正濮
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Navigation Brilliance Qingdao Technology Co Ltd
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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
    • 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
    • G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
    • 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
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • 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
    • G01S7/28—Details of pulse systems
    • G01S7/285—Receivers
    • G01S7/292—Extracting wanted echo-signals
    • G01S7/2923—Extracting wanted echo-signals based on data belonging to a number of consecutive radar periods
    • 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
    • G01S7/28—Details of pulse systems
    • G01S7/285—Receivers
    • G01S7/295—Means for transforming co-ordinates or for evaluating data, e.g. using computers
    • G01S7/2955—Means for determining the position of the radar coordinate system for evaluating the position data of the target in another coordinate system
    • 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
    • G01S7/35—Details of non-pulse systems
    • G01S7/352—Receivers
    • 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
    • G01S7/35—Details of non-pulse systems
    • G01S7/352—Receivers
    • G01S7/354—Extracting wanted echo-signals
    • 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
    • G01S7/415—Identification of targets based on measurements of movement associated with the target
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A10/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE at coastal zones; at river basins
    • Y02A10/40—Controlling or monitoring, e.g. of flood or hurricane; Forecasting, e.g. risk assessment or mapping

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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 data processing method for a shore-based radar, which comprises the following steps: receiving first detection information sent by a plurality of shore-based radars; receiving second detection information sent by sensing equipment on the ship; according to the clutter map of the ground object of each shore-based radar, performing cancellation processing on the first detection information to obtain echo information of the ship detected by each shore-based radar; judging whether the monitoring ship is located in a detection area of the single shore-based radar or not according to the second detection information; and if so, fusing the echo information of the ship detected by the single shore-based radar with the second detection information to obtain the identification information of the monitored ship. And if the monitoring ship is located in the cross detection area of the shore-based radar, fusing the echo information of all the shore-based radars corresponding to the cross detection area with the second detection information to obtain the identification information of the monitoring ship. The method can greatly improve the ship discovery probability and improve the ship tracking and identifying precision.

Description

Data processing method for shore-based radar
Technical Field
The invention relates to a shore-based radar technology, in particular to a data processing method for a shore-based radar.
Background
The shore-based radar system is a monitoring system which is erected near a coastline along a certain distance and comprises a radar, an AIS (automatic identification system) and a camera, and is used for monitoring and perceiving the navigation situation of the sea surface in the offshore field, so that the unified scheduling of coastal ships by a maritime department and the remote control of an intelligent navigation system on the intelligent ships are assisted. Because the radar is assumed to be on the shore base, the echo fed back by the radar is not only from the sea surface, but also from the shore base, such as mountains, buildings, tower bridges and other clutters which are useless to the system, and the clutters need to be filtered to prevent the clutters from interfering with the radar monitoring efficiency.
Therefore, how to effectively identify the target ship based on the radar detection information and the detection information of the ship sensing equipment becomes a problem to be solved at present.
Disclosure of Invention
The invention aims to provide a data processing method for a shore-based radar, which can realize the self-adaptive filtering of fixed ground clutter by the shore-based radar, and meanwhile, the multi-source heterogeneous data fusion is carried out, so that the tracking and identification precision of a ship is improved.
In order to achieve the purpose, the invention adopts the main technical scheme that:
in a first aspect, the present invention provides a data processing method for a shore-based radar, including:
s1, receiving first detection information sent by more than two shore-based radars;
s2, receiving second detection information sent by sensing equipment on the ship;
s3, according to the ground object echo clutter map to which each shore-based radar belongs, performing cancellation processing on the first detection information of the shore-based radar to obtain the echo information of the ship detected by each shore-based radar;
s4, determining coordinate information of the monitored ship according to the second detection information; judging whether the monitoring ship is located in a detection area of a single shore-based radar or not according to the coordinate information of the monitoring ship;
s5, if the monitoring ship is located in the detection area of the single shore-based radar, fusing the echo information of the ship detected by the single shore-based radar with the second detection information to obtain the identification information of the monitoring ship;
the ground object echo clutter map is based on the detection information of each shore-based radar in advance, and the ground object echo clutter map of the shore-based radar is established by adopting a sliding window method.
Optionally, the method further comprises:
and S6, if the monitoring ship is located in the cross detection area of the shore-based radar, fusing the echo information of all the shore-based radars corresponding to the cross detection area with the second detection information to obtain the identification information of the monitoring ship.
Optionally, after the step S1 and before the step S3, the method further comprises:
and S10, establishing a clutter map of the ground object of each shore-based radar by adopting a sliding window method according to the first detection information of the shore-based radar.
Optionally, the first probe information includes: surface feature echo information and echo information of a moving vessel.
Optionally, the step S10 includes:
s10-1, aiming at each shore-based radar, carrying out grid division on the detection range of the shore-based radar in a polar coordinate system mode to obtain a divided azimuth distance unit;
s10-2, carrying out amplitude marking on the echo of the azimuth distance unit according to the first detection information of the shore-based radar; obtaining the amplitude mean value of each azimuth distance unit in a preset scanning period;
and S10-3, determining a fixed ground clutter region according to the amplitude mean value, and acquiring a ground clutter echo map.
Optionally, the method further comprises:
and updating the ground feature echo clutter map in real time according to the received first detection information.
Optionally, the step S5 includes:
s5-1, respectively transforming the echo information and the second detection information of the ship detected by the shore-based radar into a unified coordinate system, registering the shorter-time data to the longer-time data, and acquiring respective local tracks;
s5-2, judging whether the two local tracks belong to the track of the same monitoring target or not in a cluster analysis mode;
and S5-3, if the two local tracks belong to the same, performing weighted fusion on the two local tracks to obtain the identification information of the monitored ship.
Optionally, the step S6 includes:
s6-1, respectively transforming the echo information of the two shore-based radars in the cross detection area and the second detection into a unified coordinate system, registering the data with shorter time to the data with longer time, and acquiring respective local tracks;
s6-2, judging whether the tracks of two adjacent shore-based radars belong to the track of the same monitored ship by adopting a nearest neighbor track pairing algorithm;
s6-3, if the tracks of the two shore-based radars belong to the track of the same monitoring ship, judging whether the tracks belong to the track of the same monitoring target by adopting the track of the shore-based radar with high detection precision and the track corresponding to the second detection information by adopting a cluster analysis method;
and S6-4, if the data belong to the same, performing weighted fusion on all tracks to obtain identification information of the monitored ship, wherein the weight of the shore-based radar with a high weight coefficient is determined with precision.
Optionally, the step S6-2 includes:
and (3) adopting a nearest neighbor track pairing algorithm, wherein the state estimation difference of a track i from the shore-based radar I and a track j from the shore-based radar II at the moment k is as follows:
Figure BDA0002336772500000031
Figure BDA0002336772500000041
let the threshold vector be e ═ ex,ey,ez]T,
If the threshold condition represented by the following formula is satisfied, determining that the track i and the track j are tracks from one ship;
(|xij(k|k)|≤ex)∩(|yij(k|k)|≤ey)∩(|zij(k|k)|≤ez)。
in a second aspect, the present invention also provides a shore-based radar-based data processing apparatus, the data processing apparatus being located in a ship or a shore-based control center, the data processing apparatus comprising: the data processing system comprises a memory and a processor, wherein the memory stores programs, and the processor executes the programs stored in the memory, and is specifically used for executing the data processing method of any one of the first aspect.
The invention has the beneficial effects that:
in the invention, a method of self-adaptive fixed ground clutter filtering is adopted, so that the interference of ground clutter on a radar can be avoided, the requirement of self-adaptive adjustment can be met, and the fixed ground clutter map can be changed in a self-adaptive manner after the radar station changes or the surrounding ground environment changes.
Furthermore, a method based on monitoring area discrimination is adopted, a multi-radar and AIS target data fusion method is used in a radar repeated monitoring sea area, and a single-radar and AIS target fusion algorithm is used in a single-radar monitoring sea area, so that the precision of ship target identification is effectively improved.
Particularly, the algorithm of multi-radar and AIS data fusion based on area identification can meet the tracking identification of different positions of the ship, the defect that the single-radar monitoring precision in the radar monitoring edge zone is not high can be overcome through double-radar data fusion, the ship discovery probability can be greatly improved, and the ship tracking identification precision is improved.
Drawings
Fig. 1 is a schematic flow chart of a data processing method for a shore-based radar according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a meshing of detection ranges of a shore-based radar provided in an embodiment of the present invention;
FIG. 3 is a schematic diagram of a region intersection of a land-based radar according to an embodiment of the present invention;
fig. 4 is a schematic flow chart of a data processing method for a shore-based radar according to another embodiment of the present invention.
Detailed Description
For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings.
Example one
As shown in fig. 1, fig. 1 is a schematic flow chart of a data processing method for a shore-based radar according to an embodiment of the present invention, where the method of the present embodiment includes the following steps:
s1, receiving first detection information sent by more than two shore-based radars;
s2, receiving second detection information sent by sensing equipment on the ship;
s3, according to the ground object echo clutter map to which each shore-based radar belongs, the first detection information of the shore-based radar is subjected to cancellation processing, and the echo information of the ship detected by each shore-based radar is obtained.
In this embodiment, the clutter map of the ground object echo is created by a sliding window method based on the detection information of each shore-based radar in advance.
S4, determining coordinate information of the monitored ship according to the second detection information; judging whether the monitoring ship is located in a detection area of a single shore-based radar or not according to the coordinate information of the monitoring ship;
and S5, if the monitoring ship is located in the detection area of the single shore-based radar, fusing the echo information of the ship detected by the single shore-based radar with the second detection information to obtain the identification information of the monitoring ship.
For example, the step S5 may include the following sub-steps:
s5-1, respectively transforming the echo information and the second detection information of the ship detected by the shore-based radar into a unified coordinate system, registering the shorter-time data to the longer-time data, and acquiring respective local tracks;
s5-2, judging whether the two local tracks belong to the track of the same monitoring target or not in a cluster analysis mode;
and S5-3, if the two local tracks belong to the monitoring ship, performing weighted fusion on the two local tracks, performing Kalman filtering processing, and acquiring identification information of the monitoring ship.
And S6, if the monitoring ship is located in the crossing detection area of the shore-based radar, namely the crossing detection areas of two adjacent shore-based radars, fusing the echo information of all the shore-based radars corresponding to the crossing detection areas with the second detection information to obtain the identification information of the monitoring ship.
For example, the step S6 may include the following sub-steps:
s6-1, respectively transforming the echo information of the two shore-based radars in the cross detection area and the second detection into a unified coordinate system, registering the data with shorter time to the data with longer time, and acquiring respective local tracks;
s6-2, judging whether the tracks of two adjacent shore-based radars belong to the track of the same monitored ship by adopting a nearest neighbor track pairing algorithm.
For example, the state estimation difference at time k between track i from shore-based radar one and track j from shore-based radar two is:
Figure BDA0002336772500000061
let the threshold vector be e ═ ex,ey,ez]T,
If the threshold condition represented by the following formula is satisfied, determining that the track i and the track j are tracks from one ship;
(|xij(k|k)|≤ex)∩(|yij(k|k)|≤ey)∩(|zij(k|k)|≤ez)。
and S6-3, if the tracks of the two shore-based radars belong to the track of the same monitoring ship, judging whether the tracks belong to the track of the same monitoring target by adopting the track of the shore-based radar with high detection precision and the track corresponding to the second detection information by adopting a cluster analysis method.
It should be noted that, in practical applications, the track of the shore-based radar with low detection accuracy and the track corresponding to the second detection information may also be selected and determined by a cluster analysis method. The present embodiment is not limited thereto, and is selected according to actual needs.
And S6-4, if the data belong to the same, performing weighted fusion on all tracks to obtain identification information of the monitored ship, wherein the weight of the shore-based radar with a high weight coefficient is determined with precision.
In the embodiment, by establishing the fixed ground clutter map which changes in a self-adaptive manner, the influence of radar position change and fixed object change can be avoided, and flexible fixed ground clutter filtering can be realized. And meanwhile, multi-source heterogeneous data fusion is adopted in subsequent processing, so that the ship discovery probability and the ship tracking and identifying precision are improved. The method of the embodiment is developed for the shore-based radar, and meets the actual requirements of the shore-based radar.
In addition, in practical applications, after the aforementioned step S1 and before the step S3, the method may further include the following step S10 not shown in the figure:
and S10, establishing a clutter map of the ground object of each shore-based radar by adopting a sliding window method according to the first detection information of the shore-based radar.
For example, the first detection information of the present embodiment may include: surface feature echo information and echo information of a moving vessel.
In practical application, the clutter map of the ground object echo can be updated in real time according to the received first detection information.
Step S10 described above may include the following sub-steps:
s10-1, aiming at each shore-based radar, carrying out grid division on the detection range of the shore-based radar in a polar coordinate system mode to obtain a divided azimuth distance unit;
s10-2, carrying out amplitude marking on the echo of the azimuth distance unit according to the first detection information of the shore-based radar; obtaining the amplitude mean value of each azimuth distance unit in a preset scanning period;
and S10-3, determining a fixed ground clutter region according to the amplitude mean value, and acquiring a ground clutter echo map.
The method of the embodiment adopts a self-adaptive fixed ground clutter filtering method, so that the interference of ground clutter on a radar can be avoided, the requirement of self-adaptive adjustment can be met, and the fixed ground clutter map can be changed in a self-adaptive manner after the radar station changes or the surrounding ground environment changes.
Example two
The method of the present embodiment is described below with reference to fig. 2 to 4.
Shore-based radar refers to a detection device that is erected along a distance near the shoreline. In this embodiment, a shore-based radar (radar for short) adaptive fixed ground clutter filtering method may be used to process data acquired by a radar, for example, point trace data obtained after scanning and measuring the radar may be accumulated and counted, a radar detection range is first subjected to grid division into azimuth distance units, and whether clutter exists or is interfered in an area corresponding to each azimuth distance unit as shown in fig. 2 is determined in real time in a radar scanning process, so as to identify a fixed ground clutter area and establish a ground echo clutter map.
In the mesh division diagram shown in fig. 2, with the origin as a reference point, a ring-shaped region composed of a plurality of meshes is formed, and each mesh cell can be represented by an orientation and a distance from the origin.
And in operation, the echo received by the radar is offset with the fixed ground clutter map, and only the moving ship echo information is left. For detection information of each radar, namely a clutter map (that is, an image generated after scanning of each radar is the clutter map), the method for establishing the clutter map of the echo of the ground object specifically comprises the following steps:
use the polar coordinate system to carry out annular division grid unit to the clutter map on azimuth and distance, as shown in fig. 2, north orientation from interior to exterior is in proper order to the unit number of azimuth distance, in this embodiment, distinguishes every grid unit for the convenience, and then numbers each azimuth distance unit.
Let zij(k)(i＝1,…,nk,j＝1,…,mk) For the k frame, the ith unit and the jth measurement trace,
Figure BDA0002336772500000081
the resulting set of grid cells for the k frame scan,
Figure BDA0002336772500000091
measured for each cell of the k-th frame.
In the formula:
Figure BDA0002336772500000092
in the present embodiment, by means of zij(k) Counting the traces of points in each grid cell, e.g. z, that the radar falls on after each sweep of the celli(k) It means that after a certain scan, all the traces detected by the ith grid cell are represented. z is a radical ofij(k) And representing all point traces obtained by scanning the annular diagram by the radar each time, and dividing according to grid units.
Radar scans to each cell zi(k) In one direction according to the echo amplitudeAnd counting each point trace on the azimuth distance unit, and counting the number of the point traces falling on the grid unit after each scanning measurement. Wherein the statistical interval is divided into n1Segments, each segment being divided into n2Frames, each segment passing through n2A secondary radar scan period.
For the same unit, the same point trace z in the same directionij(k) Averaging the amplitude values at the positions, if the average amplitude value is larger than zero, marking the corresponding section of the trace point position, and repeating n1And (4) section. And if the mark value is larger than a certain proportionality coefficient in the total number of the segments, marking the corresponding point trace as a fixed clutter point.
And (4) traversing each position of the grid cell, and counting the fixed trace number (trace density) on the unit area of each cell. If the clutter density of the fixed ground feature point is larger than a preset clutter threshold value, the corresponding grid unit cell can be directly identified as a fixed ground feature clutter area.
The fixed ground object point trace density of each grid unit is calculated according to the fixed point trace quantity falling into each grid unit in a current period of time (taking a radar scanning period as the length of a time window) accumulated by the azimuth distance unit by adopting a sliding window method. And identifying the state of the cell according to the discrimination threshold, and dynamically updating the clutter map in real time.
It should be noted that, in the multi-source data fusion method, the shore-based radars continuously arranged at a certain distance exist a monitoring coverage overlapping area, the ships in the overlapping area can be monitored by the two radars, but the ships are located in the edge zone of the radar monitoring area, the discovery probability is not high, and the system fuses the detection data of the same ship by the multiple radars, so that the discovery probability of the two radars to a certain ship in the overlapping area is known to be p respectively1,p2Then, the discovery probability p after data fusion is 1- (1-p)1)(1-p2)。
Referring to fig. 3, the target sea area is divided according to the performance of the radar and the scanning range, if the area is located in the repeated monitoring area of two radars, the area is marked as 1, and if the area is only located in the monitoring area of a single radar, the area is marked as 0. For a certain ship, if the ship coordinate obtained by analyzing according to the ship AIS information is located in the area 0, the radar in the area 0 and the ship AIS data are fused to realize the tracking identification of the ship; if the ship coordinate is located in the area 1, the detection data of the ship can be fused by the two radars in the area 1, and the tracking identification of the ship is realized after the detection data is fused with the AIS data of the ship.
The following data fusion method is adopted for the ships in the area 0:
a radar and AIS data fusion system is established, and the method mainly comprises three parts of space-time registration, correlation judgment and point trace combination.
Step A1: the spatiotemporal registration is performed by registering shorter time data to longer time data due to the different time lengths of the radar and AIS acquired data. The longitude and latitude information of the AIS is uniformly converted into a rectangular coordinate system, and the origin of the coordinate is the real-time position of the flight path.
Step A2: and (4) judging the correlation, namely mainly judging whether different data are from the same target data. And after the AIS and the radar acquire data, respective local tracks are calculated immediately, then the rectangular coordinate system is converted into a parameter space, and the correlation of the two tracks is calculated through cluster analysis.
Step A3: and (3) point traces are combined, if the two paths of tracks are judged to be from the same target in the step 2, weighted fusion is carried out on the two paths of tracks, the self-precision of the radar and the AIS is used as a calculation basis of the weight, Kalman filtering processing is carried out on the fused data, and noise and other errors are further eliminated.
The following data fusion method is adopted for the ships in the area 1:
firstly, a double-radar data fusion system is established, and the steps are as follows
Step B1: the space-time registration refers to the space-time registration between the multi-radar system and the AIS system. Firstly, time and space of double radars are registered, radar systems in a radar network are unified in time and are spatially registered, a geographical longitude and latitude coordinate system is used as the same coordinate system, the origin of the coordinate system is the position of a main radar station, then the measured values of the two radars are converted into the coordinate system, and longitude and latitude data corresponding to a target are obtained according to track parameters of each radar station. The spatial-temporal registration between the radar and AIS systems is the same.
Step B2: and (3) track association, namely adopting a nearest neighbor track pairing algorithm, wherein the state estimation difference of a track i from the radar 1 and a track j from the radar 2 at the moment k is as follows:
Figure BDA0002336772500000111
let the threshold vector be e ═ ex,ey,ez]TIf the threshold condition expressed by the following formula is satisfied, it can be determined that the track i and the track j are tracks from one ship.
(|xij(k|k)|≤ex)∩(|yij(k|k)|≤ey)∩(|zij(k|k)|≤ez)
After the two radar data are judged to be the same ship, correlation judgment is carried out between the two radar data and the AIS system, and the method is the same as the above.
Step B3: and (3) track fusion, namely fusing track data obtained by the radar meeting track association, fusing in a weighted average mode, determining a weight coefficient according to the precision of the radar, and weighting the radar with high precision greatly or weighting the radar with low precision reversely.
The method for fusing the data fused with the radar data and the AIS data is the same as above.
In the embodiment, the interference of ground clutter on the radar can be avoided, the requirement of self-adaptive adjustment can be met, and the fixed ground clutter map can be changed in a self-adaptive manner after the radar site changes or the surrounding ground clutter environment changes.
Furthermore, a method based on monitoring area discrimination is adopted, a multi-radar and AIS target data fusion method is used in a radar repeated monitoring sea area, and a single-radar and AIS target fusion algorithm is used in a single-radar monitoring sea area, so that the precision of ship target identification is effectively improved.
Particularly, the algorithm of multi-radar and AIS data fusion based on area identification can meet the tracking identification of different positions of the ship, the defect that the monitoring precision of a single radar in a radar monitoring edge zone is not high can be overcome through double-radar data fusion, the ship discovery probability can be greatly improved, and the ship tracking identification precision is improved.
EXAMPLE III
The embodiment of the invention also provides a data processing device based on a shore-based radar, wherein the data processing device is positioned in a ship or a shore-based control center or a radar system, and comprises: the data processing system comprises a memory and a processor, wherein the memory stores programs, and the processor executes the programs stored in the memory, and is particularly used for executing the data processing method of any one of the embodiments.
The above description of the embodiments of the present invention is provided for the purpose of illustrating the technical lines and features of the present invention and is provided for the purpose of enabling those skilled in the art to understand the contents of the present invention and to implement the present invention, but the present invention is not limited to the above specific embodiments. It is intended that all such changes and modifications as fall within the scope of the appended claims be embraced therein.

Claims (10)

1. A data processing method for a shore-based radar is characterized by comprising the following steps:
s1, receiving first detection information sent by more than two shore-based radars;
s2, receiving second detection information sent by sensing equipment on the ship;
s3, according to the ground object echo clutter map to which each shore-based radar belongs, performing cancellation processing on the first detection information of the shore-based radar to obtain the echo information of the ship detected by each shore-based radar;
s4, determining coordinate information of the monitored ship according to the second detection information; judging whether the monitoring ship is located in a detection area of a single shore-based radar or not according to the coordinate information of the monitoring ship;
s5, if the monitoring ship is located in the detection area of the single shore-based radar, fusing the echo information of the ship detected by the single shore-based radar with the second detection information to obtain the identification information of the monitoring ship;
the ground object echo clutter map is based on the detection information of each shore-based radar in advance, and the ground object echo clutter map of the shore-based radar is established by adopting a sliding window method.
2. The method of claim 1, further comprising:
and S6, if the monitoring ship is located in the cross detection area of the shore-based radar, fusing the echo information of all the shore-based radars corresponding to the cross detection area with the second detection information to obtain the identification information of the monitoring ship.
3. The method according to claim 1 or 2, wherein after the step S1 and before the step S3, the method further comprises:
and S10, establishing a clutter map of the ground object of each shore-based radar by adopting a sliding window method according to the first detection information of the shore-based radar.
4. The method of claim 3, wherein the first sounding information comprises: surface feature echo information and echo information of a moving vessel.
5. The method according to claim 4, wherein the step S10 includes:
s10-1, aiming at each shore-based radar, carrying out grid division on the detection range of the shore-based radar in a polar coordinate system mode to obtain a divided azimuth distance unit;
s10-2, carrying out amplitude marking on the echo of the azimuth distance unit according to the first detection information of the shore-based radar; obtaining the amplitude mean value of each azimuth distance unit in a preset scanning period;
and S10-3, determining a fixed ground clutter region according to the amplitude mean value, and acquiring a ground clutter echo map.
6. The method of claim 5, further comprising:
and updating the ground feature echo clutter map in real time according to the received first detection information.
7. The method according to claim 1, wherein the step S5 includes:
s5-1, respectively transforming the echo information and the second detection information of the ship detected by the shore-based radar into a unified coordinate system, registering the shorter-time data to the longer-time data, and acquiring respective local tracks;
s5-2, judging whether the two local tracks belong to the track of the same monitoring target or not in a cluster analysis mode;
and S5-3, if the two local tracks belong to the same, performing weighted fusion on the two local tracks to obtain the identification information of the monitored ship.
8. The method according to claim 2, wherein the step S6 includes:
s6-1, respectively transforming the echo information of the two shore-based radars in the cross detection area and the second detection into a unified coordinate system, registering the data with shorter time to the data with longer time, and acquiring respective local tracks;
s6-2, judging whether the tracks of two adjacent shore-based radars belong to the track of the same monitored ship by adopting a nearest neighbor track pairing algorithm;
s6-3, if the tracks of the two shore-based radars belong to the track of the same monitoring ship, judging whether the tracks belong to the track of the same monitoring target by adopting the track of the shore-based radar with high detection precision and the track corresponding to the second detection information by adopting a cluster analysis method;
and S6-4, if the data belong to the same, performing weighted fusion on all tracks to obtain identification information of the monitored ship, wherein the weight of the shore-based radar with a high weight coefficient is determined with precision.
9. The method according to claim 8, wherein the step S6-2 includes:
and (3) adopting a nearest neighbor track pairing algorithm, wherein the state estimation difference of a track i from the shore-based radar I and a track j from the shore-based radar II at the moment k is as follows:
Figure FDA0002336772490000031
let the threshold vector be e ═ ex,ey,ez]T,
If the threshold condition represented by the following formula is satisfied, determining that the track i and the track j are tracks from one ship;
(|xij(k|k)|≤ex)∩(|yij(k|k)|≤ey)∩(|zij(k|k)|≤ez)。
10. a shore-based radar-based data processing apparatus, wherein the data processing apparatus is located in a ship or in a shore-based control center, the data processing apparatus comprising: memory and processor, wherein the memory stores programs and the processor executes the stored programs in the memory, in particular for performing the data processing method of any of the preceding claims 1 to 9.
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