CN111142101A - Data association method - Google Patents

Data association method Download PDF

Info

Publication number
CN111142101A
CN111142101A CN202010022400.8A CN202010022400A CN111142101A CN 111142101 A CN111142101 A CN 111142101A CN 202010022400 A CN202010022400 A CN 202010022400A CN 111142101 A CN111142101 A CN 111142101A
Authority
CN
China
Prior art keywords
track
point
current target
tracks
current
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202010022400.8A
Other languages
Chinese (zh)
Other versions
CN111142101B (en
Inventor
刘丽华
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jiangxi Huaxun Fangzhou Intelligent Technology Co ltd
Original Assignee
China Communication Technology Co Ltd
China Communication Microelectronics Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by China Communication Technology Co Ltd, China Communication Microelectronics Technology Co Ltd filed Critical China Communication Technology Co Ltd
Priority to CN202010022400.8A priority Critical patent/CN111142101B/en
Publication of CN111142101A publication Critical patent/CN111142101A/en
Application granted granted Critical
Publication of CN111142101B publication Critical patent/CN111142101B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/66—Radar-tracking systems; Analogous systems
    • G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
    • 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
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

Landscapes

  • 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 application belongs to the technical field of data processing, and provides a data association method, which is characterized in that each point track in a current target track is traversed in the process of determining the associated point track of the current target track, whether the point track is associated with other tracks is judged when each point track is traversed, and whether the current minimum distance corresponding to the current target track needs to be updated by using the distance between the point track and the current target track is determined in the mode of judging whether the distance between the point track and the other tracks is greater than the current minimum distance when the point track is associated with the other tracks so as to determine the optimal associated point track for the current track, so that the occurrence probability of data mis-association is reduced, and meanwhile, the time complexity of the association of a plurality of track data can be enabled to be between O (n) and O (n) through the data association mode2) The real-time performance of data association is improved.

Description

Data association method
Technical Field
The application belongs to the technical field of data processing, and particularly relates to a data association method.
Background
With the continuous development of radar technology in recent years, radar target detection and tracking technology gradually takes an important position in various industries. Under a complex environment, various clutter and interference signals exist in a space, which brings greater difficulty to a multi-target tracking technology, and is undoubtedly more challenging to a multi-target data association technology.
The trace point data association technology is actually a process of associating a flight path with a measured trace point, and the result of data association directly affects the effect of flight path update, so the accuracy of association is particularly important.
The current data association methods mainly include a nearest neighbor data association method and a global nearest neighbor data association method. The nearest neighbor data association method is high in association speed, but the association error probability is high in complex environment; the global nearest neighbor data association method has high association accuracy, but under the condition of more measured traces, the association search time can be multiplied, so that the problem of poor real-time performance exists. Therefore, the existing data association method has the problems of poor real-time performance or high occurrence probability of false association.
Disclosure of Invention
The embodiment of the application provides a data association method, which can effectively reduce the occurrence probability of false association while improving the real-time performance of data association.
The embodiment of the application provides a data association method, which comprises the following steps:
acquiring a plurality of tracks obtained by radar measurement and a plurality of maintained tracks;
traversing all point tracks in a wave gate of a current target track to obtain an associated point track of the current target track, and determining an associated point track for the next target track after obtaining the associated point track of the current target track until determining the associated point track of each track in the plurality of tracks; the current target track and the next target track are both tracks of any undetermined associated point track in the plurality of tracks;
the step of traversing all point tracks in the current target track wave gate to obtain the associated point track of the current target track comprises the following steps:
calculating and storing the distance between the current target track and the first point track to obtain the current minimum distance, and traversing the next point track in the wave gate of the current target track; the first point track and the next point track are both point tracks which are not traversed in any point track in the target track wave gate;
the traversing of the next point track in the current target track wave gate comprises:
calculating and storing the distance between the current target track and the next track point, and judging whether the distance between the current target track and the next track point is greater than or equal to the current minimum distance;
if the distance between the current target track and the next point track is larger than or equal to the current minimum distance, judging whether the next point track is the last point track in the current target track wave gate, and if the next point track is not the last point track in the current target track wave gate, traversing the next point track in the current target track wave gate again until all the point tracks in the current target track wave gate are traversed;
if the distance between the current target track and the next track point is smaller than the current minimum distance, judging whether the next track point is associated with other tracks; if the next track point is associated with the other tracks, judging whether the distance between the next track point and the other tracks is greater than the current minimum distance; if the distance between the next point track and the other tracks is larger than the current minimum distance, updating the current minimum distance to the distance between the current target track and the next point track, judging whether the next point track is the last point track in the current target track wave gate, and if the next point track is not the last point track in the current target track wave gate, re-traversing the next point track in the current target track wave gate until all the point tracks in the current target track wave gate are traversed;
if the distance between the next point track and the other tracks is smaller than or equal to the current minimum distance, directly judging whether the next point track is the last point track in the current target track wave gate or not, and if the next point track is not the last point track in the current target track wave gate, traversing the next point track in the current target track wave gate again; until all the point tracks in the current target track wave gate are traversed;
after all the point tracks in the current target track wave gate have been traversed, the method includes:
and taking the point track corresponding to the current minimum distance as an associated point track of the current target track, judging whether the point track corresponding to the current minimum distance is associated with other tracks, and if the point track corresponding to the current minimum distance is associated with other tracks, marking the other tracks as the tracks of which the associated point track is not determined.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic flow chart illustrating an implementation of a data association method according to an embodiment of the present application;
fig. 2 is a schematic flowchart illustrating a specific implementation of step 102 of a data association method according to an embodiment of the present application;
fig. 3 is a schematic diagram of a first specific implementation of a data association method provided in an embodiment of the present application;
fig. 4 is a schematic diagram of a second specific implementation of the data association method provided in the embodiment of the present application;
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
The main functions of the modern radar system are target finding and target tracking, and under a complex environment, various clutter and interference signals exist in the space, which brings greater difficulty to the multi-target tracking technology, and is undoubtedly a greater challenge to the multi-target data association technology.
The current data association methods mainly include a nearest neighbor data association method and a global nearest neighbor data association method. The nearest neighbor data association method is high in association speed, but the association error probability is high in complex environment; the global nearest neighbor data association method has high association accuracy, but under the condition of more measured traces, the association search time can be multiplied, so that the problem of poor real-time performance exists. Therefore, the existing data association method has the problems of poor real-time performance or high occurrence probability of false association.
In order to explain the technical means of the present application, the following description will be given by way of specific examples.
Fig. 1 shows a schematic flow chart of an implementation of a data association method provided in an embodiment of the present application, which is suitable for a situation that the real-time performance of data association needs to be improved and the occurrence probability of a false association needs to be effectively reduced. Specifically, in this embodiment of the present application, the data association method may include steps 101 to 102.
Step 101, multiple tracks obtained by radar measurement and multiple maintained tracks are obtained.
In the embodiment of the application, when the radar performs multi-target tracking, multiple tracks need to be maintained, each track corresponds to one target, multiple tracks can be measured, and each track wave gate may only contain one track or contain multiple tracks, so that after multiple tracks obtained by radar measurement and multiple tracks maintained are obtained, all tracks in the wave gate need to be traversed for each track, and thus one track is associated with each track. When the flight path is associated with a certain point path, the flight path and the point path associated with the flight path belong to the same target.
Step 102, traversing all point tracks in a wave gate of a current target track to obtain an associated point track of the current target track, and determining an associated point track for a next target track after obtaining the associated point track of the current target track until determining the associated point track of each track in the plurality of tracks; and the current target track and the next target track are the tracks of any undetermined associated point track in the plurality of tracks.
In some embodiments of the present application, before traversing all the point tracks within the current target track wave gate, the following may be included: and calculating the distance, the angle difference and the speed difference between each point track obtained by the radar measurement and the current target track, and taking the point track with the distance, the angle difference and the speed difference within the associated threshold as the point track within the wave gate of the current target track.
That is to say, before traversing all the point tracks in the current target track wave gate, the point tracks which are not in the current target track wave gate need to be removed from the multiple point tracks obtained by radar measurement, that is, the point tracks which are not in the associated threshold of the current target track are removed, and all the point tracks which are not traversed in the current target track wave gate are obtained.
Specifically, the distance, the angle difference and the speed difference between each point track obtained by radar measurement and the current target track can be calculated, whether the distance, the angle difference and the speed difference are all within the associated threshold is judged, and then the point tracks which are not within the associated threshold in the point tracks are removed, so that the data quantity of data association is reduced, and the occurrence probability of false association is further reduced. The specific value of the association threshold can be set according to the actual application scenario.
As shown in fig. 2, the traversing all the point tracks in the current target track wave gate to obtain the associated point track of the current target track may include: step 201 to step 207.
Step 201, calculating and storing the distance between the current target track and the first trace point to obtain the current minimum distance; the first point trace is a point trace which is not traversed in any point trace in the target track wave gate.
The distance between the current target track and the first trace point may be calculated by using an euclidean distance calculation formula, or may be calculated by using other methods that can obtain the distance between the current target track and the first trace point, which is not limited in the present application.
In the embodiment of the application, when the distance between the target track and the point track is smaller, the probability that the target track and the point track belong to the same target is higher, and the point track and the target track are matched more; therefore, the target track needs to be associated with the point track with the smallest distance to the target track, and when each track is associated with the point track with the smallest distance to the target track, the sum of the distances between each track and the associated point track is as small as possible, so that the proper point track is matched for each track, and the occurrence of error association is reduced.
It should be noted that, in practical applications, before calculating and storing the distance between the current target track and the first point track, an initial value of the current minimum distance may be set, and the initial value is greater than the distance between the current target track and any point track within the current target track wave gate. Therefore, after the distance between the current target track and the first track point is calculated and stored, and the distance between the current target track and the first track point is compared with the initial value of the current minimum distance, the distance between the current target track and the first track point can still be used as the current minimum distance.
Step 202, calculating and storing the distance between the current target track and the next track point, and judging whether the distance between the current target track and the next track point is greater than or equal to the current minimum distance.
Specifically, the distance between the current target track and the next trace point may refer to the description of step 201, and is not described herein again.
In the embodiment of the application, after the distance between the current target track and the first point track is obtained through calculation, the distance between the current target track and the first point track can be determined as the current minimum distance, then, traversal of the next point track in the current target track wave gate is performed, the distance between the current target track and the next point track is compared with the current minimum distance, and then the current minimum distance is updated until all the point tracks in the current target track wave gate are traversed, and the point track corresponding to the current minimum distance is used as the associated point track of the current target track. Specifically, refer to the description of step 203 to step 206.
Step 203, if the distance between the current target track and the next point track is greater than or equal to the current minimum distance, judging whether the next point track is the last point track in the current target track wave gate, and if the next point track is not the last point track in the current target track wave gate, re-traversing the next point track in the current target track wave gate until all the point tracks in the current target track wave gate are traversed.
In some embodiments of the present application, if the distance between the current target track and the next point track is greater than or equal to the current minimum distance, it indicates that the probability that the current target track and the next point track belong to the same target is less than the probability that the current target track and the point track corresponding to the current minimum distance belong to the same target, that is, compared with the next point track, the point track with the current target track distance being the current minimum distance and the current target track are more matched, at this time, the current minimum distance may not be updated, and it may be determined whether the next point track is the last point track within the current target track wave gate, if the next point track is not the last point track within the current target track wave gate, it indicates that the point track within the current target track wave gate is not completely traversed, and the traversal of the next point track within the current target track wave gate needs to be performed again, and continuously updating the current minimum distance until all the point tracks in the wave gate of the current target track are traversed, determining the point track with the distance to the current target track as small as possible (namely the point track with the distance to the current target track as the current minimum distance), and further determining the point track with the distance to the current target track as the current minimum distance as the point track which is most matched with the current target track.
Step 204, if the distance between the current target track and the next track point is smaller than the current minimum distance, judging whether the next track point is associated with other tracks; and if the next track point is associated with the other tracks, judging whether the distance between the next track point and the other tracks is greater than the current minimum distance.
In some embodiments of the present application, if the distance between the current target track and the next track is less than the current minimum distance, it is indicated that the probability that the current target track and the next track belong to the same target is greater than the probability that the current target track and the track at the current minimum distance belong to the same target, that is, the next track is more matched with the current target track than the track at the current minimum distance, at this time, it is required to determine whether the next track is associated with other tracks, if the next track is not associated with other tracks, the current minimum distance may be updated to the distance between the current target track and the next track, and it is determined whether the next track is the last track within the current target track, if the next track is not the last track within the current target track, and traversing the next point track in the current target track wave gate again, and continuously updating the current minimum distance until all the point tracks in the current target track wave gate are traversed.
Step 205, if the distance between the next track point and the other track points is greater than the current minimum distance, updating the current minimum distance to the distance between the current target track and the next track point, and determining whether the next track point is the last track point in the current target track wave gate, if the next track point is not the last track point in the current target track wave gate, re-traversing the next track point in the current target track wave gate until all the track points in the current target track wave gate have been traversed.
In some embodiments of the present application, if the distance between the next track point and the other track point is greater than the current minimum distance, it indicates that the probability that the next track point and the current target track point belong to the same target is greater than the probability that the next track point and the other track point belong to the same target, and at this time, the current minimum distance may be updated to the distance between the current target track point and the next track point; and then, judging whether the next point track is the last point track in the current target track wave gate or not, if the next point track is not the last point track in the current target track wave gate, traversing the next point track in the current target track wave gate again, namely, the step 202 to the step 206, and continuously updating the current minimum distance until all the point tracks in the current target track wave gate are traversed.
Step 206, if the distance between the next point track and the other track is less than or equal to the current minimum distance, directly judging whether the next point track is the last point track in the current target track wave gate, and if the next point track is not the last point track in the current target track wave gate, traversing the next point track in the current target track wave gate again; and completing the traversal of all the point tracks in the current target track wave gate.
In some embodiments of the present application, if the distance between the next point track and the other track is less than or equal to the current minimum distance, it indicates that the possibility that the next point track and the current target track belong to the same target is less than the possibility that the next point track and the other track belong to the same target, at this time, the current minimum distance does not need to be updated, and it is directly determined whether the next point track is the last point track in the current target track wave gate, and if the next point track is not the last point track in the current target track wave gate, the next point track in the current target track wave gate is traversed again, and the current minimum distance is continuously updated until all the point tracks in the current target track wave gate are traversed.
Step 207, after all the point tracks in the current target track wave gate are traversed, taking the point track corresponding to the current minimum distance as an associated point track of the current target track, judging whether the point track corresponding to the current minimum distance is associated with other tracks, and if the point track corresponding to the current minimum distance is associated with other tracks, marking the other tracks as the tracks of which the associated point tracks are not determined.
Correspondingly, the determination of the associated point track of the next target track may adopt the above determination manner of the current target track.
It should be noted that, in the above step 207, in the process of re-determining the associated point track of the flight path marked as the undetermined associated point track after marking the other flight path as the flight path of the undetermined associated point track, it is not necessary to re-calculate the distance between the flight path and the point track in the flight path gate.
Fig. 3 shows a schematic diagram of a first specific implementation of the data association method provided by the present application, where if a point track 301 and a point track 302 obtained by radar measurement and a track 303 and a track 304 maintained by radar are obtained, and a point track in a wave gate of a track 303 only includes the point track 301 and the track 302, and a point track in a wave gate of the track 304 does not include the point track 301 and the track 302, when a point track is associated with the track 303, if a first point track is the point track 301, a distance d between the track 303 and the point track 301 may be determined1Determined as the current minimum distance, and then traverse the trace of points 302 due to the distance d between the trace 303 and the trace of points 3022Is greater than the distance d between the flight path 303 and the point path 3011Thus, trace 301 may be associated with track 303, and trace 302 may then be associated with track 304 after traversing trace 301 and trace 302.
As can be seen from fig. 3, with the data association method provided in the present application, when there is no track-crossing competition between the tracks (i.e., each time a track-crossing associated with a current target track is a track-crossing associated with no other track), each track crosses one track-crossing, and the entire data association process can be completed, at this time, the time complexity of the data association method is o (n).
Fig. 4 shows a schematic diagram of a second specific implementation of the data association algorithm provided in the present application, where if a point track 401 and a point track 402 obtained by radar measurement and a track 403 and a track 404 maintained by radar are obtained, and the points in the gates of the track 403 and the track 404 both include only the point track 401 and the point track 402, and the track 404 is already associated with the point track 401, when the track 403 is associated with the point track, if a first point track is the point track 402, the point track 403 and the point track 402 can be located between the first point track and the second point track 402Distance d of4Determining the current minimum distance, then traversing the point track 401, and calculating to obtain the distance d between the flight path 403 and the point track 4013Is smaller than the distance d between the flight path 403 and the point path 4024At this time, it is necessary to determine whether the trace point 401 is associated with another track, and since the trace point 401 is associated with another track 404, it is necessary to determine the current minimum distance (d)3) Whether the distance d between the point track 401 and the track 404 is compared5Small, at the current minimum distance (d)3) Distance d between waypoint 401 and track 4045In hours, track 404 may be marked as a track for which no associated point track is determined, and point track 401 may be associated with track 403, and then the associated point track may be re-determined for track 404. Specifically, trace points 402 may be associated with track 404 after traversing trace points 401 and 402.
As can be seen from fig. 4, with the data association method provided by the present application, when there are competing traces between the track and the track, that is, each time the trace associated with the current target track is a trace already associated with another track, each time the trace associated with the current target track needs to reselect an associated trace for another track associated before the trace, at this time, the time frequency of the data association method is T (n + n-1+ … +1), and the time complexity is O (n +1)2)。
By combining the above fig. 3 and fig. 4, it can be seen that the time complexity of the data association method provided by the present application is between O (n) and O (n)2) The overall time complexity of the method is lower than that of the global nearest neighbor data association algorithm, so that the complexity of the algorithm is reduced, and the real-time performance is improved.
In the embodiment of the application, in the process of determining the associated point track of the current target track, the point track corresponding to the current minimum distance is used as the associated point track of the current target track, and when the point track corresponding to the current minimum distance is associated with other tracks, the other tracks are marked as tracks without the associated point track, so that when the associated point track is determined for a plurality of maintained tracks, the probability of occurrence of data mis-association can be reduced as much as possible, and meanwhile, by the data association mode, the time complexity of the association of the data of the plurality of tracks can be between O (n) andO(n2) The overall time complexity is lower than that of a global nearest neighbor data association algorithm, and the real-time performance of data association is improved, so that the method and the device can effectively reduce the occurrence probability of false association while improving the real-time performance of data association.
It should be noted that, for simplicity of description, the foregoing method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts, as some steps may, in accordance with the present application, occur in other orders.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims (2)

1. A data association method, characterized in that the data association method comprises:
acquiring a plurality of tracks obtained by radar measurement and a plurality of maintained tracks;
traversing all point tracks in a wave gate of a current target track to obtain an associated point track of the current target track, and determining an associated point track for the next target track after obtaining the associated point track of the current target track until determining the associated point track of each track in the plurality of tracks; the current target track and the next target track are both tracks of any undetermined associated point track in the plurality of tracks;
the step of traversing all point tracks in the current target track wave gate to obtain the associated point track of the current target track comprises the following steps:
calculating and storing the distance between the current target track and the first point track to obtain the current minimum distance, and traversing the next point track in the wave gate of the current target track; the first point track and the next point track are both point tracks which are not traversed in any point track in the target track wave gate;
the traversing of the next point track in the current target track wave gate comprises:
calculating and storing the distance between the current target track and the next track point, and judging whether the distance between the current target track and the next track point is greater than or equal to the current minimum distance;
if the distance between the current target track and the next point track is larger than or equal to the current minimum distance, judging whether the next point track is the last point track in the current target track wave gate, and if the next point track is not the last point track in the current target track wave gate, traversing the next point track in the current target track wave gate again until all the point tracks in the current target track wave gate are traversed;
if the distance between the current target track and the next track point is smaller than the current minimum distance, judging whether the next track point is associated with other tracks; if the next track point is associated with the other tracks, judging whether the distance between the next track point and the other tracks is greater than the current minimum distance; if the distance between the next point track and the other tracks is larger than the current minimum distance, updating the current minimum distance to the distance between the current target track and the next point track, judging whether the next point track is the last point track in the current target track wave gate, and if the next point track is not the last point track in the current target track wave gate, re-traversing the next point track in the current target track wave gate until all the point tracks in the current target track wave gate are traversed;
if the distance between the next point track and the other tracks is smaller than or equal to the current minimum distance, directly judging whether the next point track is the last point track in the current target track wave gate or not, and if the next point track is not the last point track in the current target track wave gate, traversing the next point track in the current target track wave gate again; until all the point tracks in the current target track wave gate are traversed;
after all the point tracks in the current target track wave gate have been traversed, the method includes:
and taking the point track corresponding to the current minimum distance as an associated point track of the current target track, judging whether the point track corresponding to the current minimum distance is associated with other tracks, and if the point track corresponding to the current minimum distance is associated with other tracks, marking the other tracks as the tracks of which the associated point track is not determined.
2. The data correlation method of claim 1, prior to said traversing all the traces of points within the current target track wave gate, comprising:
and calculating the distance, the angle difference and the speed difference between each point track obtained by the radar measurement and the current target track, and taking the point track with the distance, the angle difference and the speed difference within the associated threshold as the point track within the wave gate of the current target track.
CN202010022400.8A 2020-01-09 2020-01-09 Data association method Active CN111142101B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010022400.8A CN111142101B (en) 2020-01-09 2020-01-09 Data association method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010022400.8A CN111142101B (en) 2020-01-09 2020-01-09 Data association method

Publications (2)

Publication Number Publication Date
CN111142101A true CN111142101A (en) 2020-05-12
CN111142101B CN111142101B (en) 2023-09-01

Family

ID=70524155

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010022400.8A Active CN111142101B (en) 2020-01-09 2020-01-09 Data association method

Country Status (1)

Country Link
CN (1) CN111142101B (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111999735A (en) * 2020-09-11 2020-11-27 杭州瑞利海洋装备有限公司 Dynamic and static target separation method based on radial velocity and target tracking
CN115825912A (en) * 2023-01-09 2023-03-21 南京隼眼电子科技有限公司 Radar signal processing method and device and storage medium

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5400264A (en) * 1993-04-29 1995-03-21 International Business Machines Corporation Suboptimal joint probabilistic data association
JP2002071797A (en) * 2000-09-04 2002-03-12 Mitsubishi Electric Corp Target tracking device
US20080111730A1 (en) * 2006-11-09 2008-05-15 Zhen Ding Track quality based multi-target tracker
JP2014102256A (en) * 2014-02-03 2014-06-05 Tokyo Keiki Inc Target tracking device and target tracking method
CN106680806A (en) * 2016-11-24 2017-05-17 清华大学 Multi-radar plot fusion method
CN107798870A (en) * 2017-10-25 2018-03-13 清华大学 A kind of the flight path management method and system, vehicle of more vehicle target tracking
CN109655822A (en) * 2018-11-09 2019-04-19 上海无线电设备研究所 A kind of improved track initiation method

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5400264A (en) * 1993-04-29 1995-03-21 International Business Machines Corporation Suboptimal joint probabilistic data association
JP2002071797A (en) * 2000-09-04 2002-03-12 Mitsubishi Electric Corp Target tracking device
US20080111730A1 (en) * 2006-11-09 2008-05-15 Zhen Ding Track quality based multi-target tracker
JP2014102256A (en) * 2014-02-03 2014-06-05 Tokyo Keiki Inc Target tracking device and target tracking method
CN106680806A (en) * 2016-11-24 2017-05-17 清华大学 Multi-radar plot fusion method
CN107798870A (en) * 2017-10-25 2018-03-13 清华大学 A kind of the flight path management method and system, vehicle of more vehicle target tracking
CN109655822A (en) * 2018-11-09 2019-04-19 上海无线电设备研究所 A kind of improved track initiation method

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
董岩等: ""基于点迹距离的概率数据关联方法"", 《舰船科学技术》, vol. 33, pages 80 - 83 *

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111999735A (en) * 2020-09-11 2020-11-27 杭州瑞利海洋装备有限公司 Dynamic and static target separation method based on radial velocity and target tracking
CN111999735B (en) * 2020-09-11 2023-10-03 杭州瑞利海洋装备有限公司 Dynamic and static target separation method based on radial speed and target tracking
CN115825912A (en) * 2023-01-09 2023-03-21 南京隼眼电子科技有限公司 Radar signal processing method and device and storage medium

Also Published As

Publication number Publication date
CN111142101B (en) 2023-09-01

Similar Documents

Publication Publication Date Title
CN109633589A (en) The Multi-target Data Associations assumed are optimized based on multi-model more in target following
CN111709975A (en) Multi-target tracking method and device, electronic equipment and storage medium
CN105842687B (en) Detecting and tracking integral method based on RCS predictive information
US11468594B2 (en) Image processing method, device and apparatus for multi-object detection
CN106405537B (en) Radar track initial mode based on location information and doppler information
CN111142101A (en) Data association method
CN107436434B (en) Track starting method based on bidirectional Doppler estimation
CN111366900B (en) Tracking radar track quality evaluation method, system and medium based on residual statistics
CN111239704B (en) Atmosphere detection radar signal identification method, device, equipment and medium
CN114002667A (en) Multi-neighbor extended target tracking algorithm based on random matrix method
CN115508824A (en) Multi-target big data association fusion tracking method and system
CN117075097B (en) Maritime radar target tracking method and system based on expanded target cluster division
JP4196684B2 (en) Target tracking device
CN115220002B (en) Multi-target data association tracking method and related device for fixed single station
JP4166651B2 (en) Target tracking device
CN114660566B (en) False target elimination method and device, computer equipment and storage medium
JP6513310B1 (en) Track estimation device and portable information terminal
CN114488104B (en) Sky wave beyond-view range radar target tracking method based on interaction consistency
CN113340308B (en) Correction logic law flight path starting method based on self-reporting point
CN113701768B (en) Path determination method and device and electronic equipment
CN107561506A (en) A kind of multistage false-alarm probability joint recursion object detection method
CN113807221A (en) Track quality identification method and device, electronic equipment and readable storage medium
JP2021169936A (en) Target tracking device, target tracking system, target tracking method and target tracking program
US11915433B2 (en) Object tracking system, tracking parameter setting method, and non-transitory computer readable medium
Chen et al. Data association via logistic regression model for multiple target tracking problems

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
TA01 Transfer of patent application right

Effective date of registration: 20230719

Address after: 518000 107, building 37, chentian Industrial Zone, chentian community, Xixiang street, Bao'an District, Shenzhen, Guangdong Province

Applicant after: Shenzhen Huaxun ark Intelligent Information Technology Co.,Ltd.

Address before: 518102 East, 2nd floor, building 37, chentian Industrial Zone, Baotian 1st Road, Xixiang street, Bao'an District, Shenzhen City, Guangdong Province

Applicant before: SHENZHEN HUAXUN FANGZHOU MICROELECTRONIC SCIENCE & TECHNOLOGY Co.,Ltd.

Applicant before: CHINA COMMUNICATION TECHNOLOGY Co.,Ltd.

TA01 Transfer of patent application right
GR01 Patent grant
GR01 Patent grant
TR01 Transfer of patent right

Effective date of registration: 20231128

Address after: Building 7-6, Industrial Control Cloud Creation Port, No. 58 Hongtu Avenue, Honggutan District, Nanchang City, Jiangxi Province, 330000

Patentee after: Jiangxi Huaxun Fangzhou Intelligent Technology Co.,Ltd.

Address before: 518000 107, building 37, chentian Industrial Zone, chentian community, Xixiang street, Bao'an District, Shenzhen, Guangdong Province

Patentee before: Shenzhen Huaxun ark Intelligent Information Technology Co.,Ltd.

TR01 Transfer of patent right