CN112505681A - Four-side two-dimensional phased array radar multi-target tracking processing method based on TAS - Google Patents
Four-side two-dimensional phased array radar multi-target tracking processing method based on TAS Download PDFInfo
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- CN112505681A CN112505681A CN202011206396.7A CN202011206396A CN112505681A CN 112505681 A CN112505681 A CN 112505681A CN 202011206396 A CN202011206396 A CN 202011206396A CN 112505681 A CN112505681 A CN 112505681A
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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
- G01S13/66—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
- G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
- G01S13/726—Multiple target tracking
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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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
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Abstract
The invention discloses a four-side two-dimensional phased array radar multi-target tracking processing method based on TAS. The method is mainly suitable for searching and tracking multiple targets by four-side two-dimensional phased array radar at the same time and processing the targets across the array surface in a tracking mode. The invention mainly comprises the following five processes: (1) starting a track in a search mode; (2) switching the initial flight path to a tracking mode and distributing tracking wave positions; (3) performing track and point track association and filtering in a tracking mode; (4) converting a target crossing a wavefront into a tracking wave position in a tracking mode; (5) transferring the lost track in the tracking mode to a searching mode; the invention belongs to the field of radar data processing, and provides a TAS-based multi-target tracking processing method for a four-side two-dimensional phased array radar, which can further enhance the detection capability and tracking capability of the TAS-based multi-target tracking processing method for the four-side two-dimensional phased array radar, and has higher engineering application value.
Description
Technical Field
The invention belongs to the technical field of radar data processing, and particularly relates to a four-side two-dimensional phased array radar multi-target tracking processing method based on TAS.
Background
The traditional mechanical scanning type phased array system radar generally adopts a Track-While-Tracking (TWS) technology, And in order to fully exert the great potential of beam agility And fixed electric scanning of a two-dimensional phased array antenna, a Track-And-Scan (TAS) technology can be adopted. In the TAS technology based on the two-dimensional phased array, tracking beams and searching beams are completely independent, the tracking of a target does not need to be carried out after the end of a searching period, and a certain number of tracking beams are regularly inserted into the searching beams according to the requirement of a tracking data rate. Under the requirement of a design index based on data rate, the multi-target tracking capability of the radar can be fully exerted, multiple tracking beams are used for pointing to multiple targets, and the multi-target tracking capability of the radar is further improved. In addition, when the TAS technology is used for tracking the target, the tracking data rate is higher than the searching data rate, and the beam direction can be adjusted in real time according to the position of the target, so that the three-dimensional coordinate information of the target can be obtained more quickly. When the target is tracked, the radar can quickly obtain the three-dimensional information point of the target, and then subsequent data processing is carried out on the target point, so that the real-time performance of the radar for detecting the target is improved, and the tracking performance and precision of the radar for the target are also greatly improved.
Disclosure of Invention
The invention aims to provide a multi-array-surface phased array radar, which is based on TAS technology, and is characterized in that after a beam is searched to detect a target to start a batch flight path, the position of the target in the next period is predicted according to a motion state so as to select a proper array surface and a tracking beam, and finally, multi-target continuous, accurate and stable tracking is realized. Therefore, the invention provides a four-side two-dimensional phased array radar multi-target tracking processing method based on TAS, which comprises the following nine steps:
step 1: preprocessing traces in a search mode; firstly, screening target original points (including distance, direction, pitching, speed and the like) output by a radar signal processor, selecting a plurality of target original points with the direction, the pitching, the distance, the speed and the like within a certain threshold range, and then condensing information such as energy, signal to noise ratio and the like of the plurality of target original points into a suspected target point in a weighting mode;
step 2: trace point pre-correlation processing in a search mode; firstly, taking the suspected target point obtained by processing in the step 1 as a track head, then setting relevant thresholds such as distance, speed, direction, pitching and the like, and finally correlating the suspected target point falling in the threshold range in the next period with the track head, if the suspected target point is correlated with the track head, storing the suspected target point as a transient track, entering the step 3, and if the suspected target point is not correlated with the track head, entering the step 3 to judge whether a track starting condition is met;
and step 3: track initiation in search mode; using an m/n sliding window method, in the scanning period range of n times, if the relevant times of the transient state flight path in the step 2 exceed m times, declaring that the flight path is successful in starting and placing the flight path as a starting batch flight path in a flight path queue; if the number of times is less than m, declaring the track initial failure and deleting the transient track;
and 4, step 4: judging whether the newly-started flight path can meet the scheduling of the current radar tracking resource, if so, switching the flight path from a searching mode to a tracking mode, predicting the position of a target point in the next period according to the target motion state of the current point so as to distribute a tracking beam corresponding to the array surface, and pointing the tracking beam to the predicted position; if not, continuing to place the track in a search mode;
and 5: firstly, carrying out wild value elimination, trace aggregation and other steps on a target original point obtained by detecting a tracking beam in a tracking mode, wherein the method is the same as the step 1; then, predicting the position of the current period of a target point according to the motion state of the previous period of the air route, correlating a suspected target point within a distance prediction position threshold range, then performing Kalman tracking filtering processing and counting the tracking track loss times as 0; if the latest suspected target point in the current period is not related to the air route, using the Kalman track prediction to add 1 to the tracking track loss times;
step 6: because the tracking beam and the searching beam can simultaneously detect the target point, two tracks can be formed on the same target in the tracking and searching modes, and the tracking track obtained in the step 5 and the overlapped searching track are fused; entering a track state for updating after track fusion, predicting the position of the target in the next period by using kalman (the target may cross the array surface), and finally selecting the array surface and the tracking beam according to the predicted position to point the tracking beam to the predicted position;
and 7: if the loss times of the tracking track exceed a certain threshold value in the tracking mode, switching the track from the tracking mode to the searching mode, and then releasing and initializing tracking beams distributed before the track;
and 8: correlating the suspected target point after the point track condensation with the flight track switched in the step 7 in a search mode, if the suspected target point is correlated with the flight track switched in the step 7, performing Kalman filtering processing, and counting the number of times of losing the search flight track as 0; if the correlation is not found, performing kalman prediction and adding 1 to the number of times of track loss searching;
and step 9: updating the track state in the search mode, and if the loss times of the searched track exceeds a certain threshold value, performing track extinction;
drawings
Fig. 1 is a block diagram of an overall operation system of a four-side two-dimensional phased array radar.
FIG. 2 is an overall flow chart of multi-target tracking processing of a four-side two-dimensional phased array radar.
FIG. 3 is a sliding window diagram of track initiation.
FIG. 4 is a tracking beam allocation strategy diagram for a flight path switching from search mode to tracking mode.
FIG. 5 is a process flow diagram of a flight line in tracking mode.
FIG. 6 is a flow chart of the process for a flight line in search mode.
Detailed Description
The invention relates to a TAS-based four-side two-dimensional phased array radar multi-target tracking processing method, wherein the general flow chart of a two-dimensional phased array radar system is shown in figure 1, and the multi-target data processing flow chart is shown in figure 2 and comprises the following nine steps.
Step 1: preprocessing traces in a search mode; and inputting the original points output by the radar signal processor system into a data processing system for screening, selecting a plurality of original points with the azimuth, the pitch, the distance and the speed within a certain range, and then condensing the information such as the energy, the signal to noise ratio and the like of the original points in a weighting mode to finally obtain the suspected target point.
The radar is used for detecting low-altitude slow-speed small targets, and a threshold is set according to the characteristics of the targets and multiple actual experiments. Wherein the threshold comprises: the distance threshold is expressed as (R)min，Rmax) The azimuth angle threshold is represented by (theta)min，θmax) The pitch threshold is expressed as (gamma)min，γmax) The speed threshold is represented as (V)min，Vmax) The wild value eliminating mathematical model is as follows:
1: represented as valid data points; 0 represents an invalid data point;
now assume currently that there are three points a1、a2、a3Point trace condensation is needed, and the weight ratio of energy and signal-to-noise ratio is set as m1、m2The energy, signal-to-noise ratio, distance, azimuth, pitch and speed of the wind turbine are respectively n1、n2、n3、s1、s2、s3、r1、r2、r3、θ1、θ2、θ3、γ1、γ2、γ3、v1、v2、v3Distance, azimuth, pitch, and velocity of the post-condensation points are r, θ, γ, v, where the mathematical model of the process is as follows:
step 2: trace point pre-correlation processing in a search mode; firstly, taking the suspected target point obtained by processing in the step 1 as a track head, then setting relevant thresholds such as distance, speed, direction, pitching and the like, and finally correlating the suspected target point falling in the threshold range in the next period with the track head, if the suspected target point is correlated with the track head, storing the suspected target point as a transient track, entering the step 3, and if the suspected target point is not correlated with the track head, entering the step 3 to judge whether a track starting condition is met; wherein the associated mathematical model is as follows:
1 represents correlation; 0 represents not related;
and step 3: track initiation in search mode; using an m/n sliding window method, in the scanning period range of n times, if the relevant times of the transient state flight path in the step 2 exceed m times, declaring that the flight path is successful in starting and placing the flight path as a starting batch flight path in a flight path queue; if the number of the times is less than m, declaring the track starting failure and deleting the transient track. The track start sliding window diagram is shown in FIG. 3;
and 4, step 4: judging whether the newly-started flight path can meet the scheduling of the current radar tracking resource, namely whether residual tracking beams can be used for tracking the target or not, if so, switching the flight path from a searching mode to a tracking mode, calculating the position of a target point in the next period according to the target motion state of the current point so as to select a front surface and the tracking beams, and pointing the tracking beams to the predicted position; if not, continuing to place the track in a search mode;
due to the fact that radar resource scheduling and the pointing direction of the tracking beam are not fixed, the situation that adjacent array surfaces interfere with each other can be generated. Therefore, according to design criteria, the radar can track n (n is 1, 2, 3.) targets at maximum, and the number of tracking beams per wavefront is 2 n. When the tracked targets are ranked as the kth (k belongs to [1, n ]), if the targets are in the range of one or three array surfaces, the corresponding tracked beam sequence number is allocated to be 2 k-1; and if the target is in the range of two or four wavefront surfaces, allocating the corresponding tracking beam sequence number to be 2 k. The above method is still used when the object crosses from the current array to the adjacent array. The flow of wavefront selection and tracking beam allocation for switching the tracking mode of the search mode is shown in fig. 4;
and 5: in the tracking mode, wild value elimination and trace coagulation are firstly carried out on an obtained target original point detected by a tracking beam, and the method is the same as the step 1 (the size of a threshold needs to be adjusted according to the actual situation) to obtain a suspected target point; then, predicting the position of the current period of a target point according to the motion state of the previous period of the air route, correlating a suspected target point within a distance prediction position threshold range, then performing Kalman tracking filtering processing and counting the tracking track loss times as 0; if the track is not related to the suspected target point, performing Kalman track prediction and adding 1 to the number of times of track loss;
step 6: because the tracking beam and the searching beam can simultaneously detect the target point, two tracks can be formed on the same target in the tracking and searching modes, and the tracking track obtained in the step 5 and the overlapped searching track are fused; and (4) after the flight path is fused, entering a flight path state for updating, predicting the position of the target in the next period (the target may cross the front) by using Kalman, and finally selecting the front and the tracking beam according to the predicted position to point the tracking beam to the predicted position. A flowchart of the tracking mode processing is shown in fig. 5;
and 7: in the tracking mode, for a flight path which is continuously lost for more than m (m is more than 0) times, switching the flight path from the tracking mode to a searching mode, and then releasing and initializing a tracking beam allocated before the flight path;
and 8: condensing a suspected target point track by a target original point track detected by a search beam in a search mode, then correlating the track switched to the search mode in the step 7 with the suspected target point track, and if the track is correlated, performing Kalman filtering processing and counting the number of times of loss of the search track as 0; and if the track is not related to the suspected target point, performing Kalman track prediction and adding 1 to the number of times of track loss. The overall flow chart of the track processing in the search mode is shown in fig. 6;
and step 9: and updating the flight path in the search mode, and if the continuous times of the flight path exceed k (k is more than 0), performing flight path extinction.
Claims (5)
1. A four-side two-dimensional phased array radar multi-target tracking processing method based on TAS is characterized by comprising the following steps:
step 1: preprocessing traces in a search mode; firstly, wild value elimination is carried out on target original points (including distance, direction, pitching, speed and the like) output by a radar signal processor, and then point trace condensation is carried out according to the weighting of a signal-to-noise ratio and an energy value to form a suspected target point;
step 2: trace point pre-correlation processing in a search mode; firstly, taking the suspected target point obtained by processing in the step 1 as a track head, then setting relevant thresholds such as distance, speed, direction, pitching and the like, and finally correlating the suspected target point falling in the threshold range in the next period with the track head, if the suspected target point is correlated with the track head, storing the suspected target point as a transient track, entering the step 3, and if the suspected target point is not correlated with the track head, entering the step 3 to judge whether a track starting condition is met;
and step 3: track initiation in search mode; using an m/n sliding window method, in the scanning period range of n times, if the relevant times of the transient state flight path in the step 2 exceed m times, declaring that the flight path is successful in starting and placing the flight path as a starting batch flight path in a flight path queue; if the number of times is less than m, declaring the track initial failure and deleting the transient track;
and 4, step 4: judging whether the batched flight paths in the step 3 meet the tracking conditions (the distribution of tracking beams) or not, if so, switching the flight paths from the search mode to the tracking mode, and selecting the corresponding array surface and the corresponding tracking beams; if not, continuing to place the track in a search mode;
and 5: performing point trace condensation on an original target point trace obtained by tracking beam detection in a tracking mode, correlating a suspected target point after condensation with the track of the tracking mode in the step 4, if so, performing Kalman filtering processing, and counting the tracking track loss frequency as 0; if the tracking times are not correlated, performing Kalman track prediction and adding 1 to the tracking track loss times;
step 6: because the tracking beam and the searching beam can simultaneously detect the target point, two tracks can be formed on the same target in the tracking and searching modes, the tracking track obtained in the step 5 and the overlapped searching track are fused, the track enters a track state to be updated after the track is fused, the position of the target in the next period is predicted by using kalman (the target can cross the front), and finally the front and the tracking beam are selected according to the predicted position and point to the predicted position;
and 7: if the loss times of the tracking track exceed a certain threshold value in the tracking mode, switching the track from the tracking mode to the searching mode, and then releasing and initializing tracking beams distributed before the track;
and 8: performing point trace condensation on an original target point trace obtained by detecting a search beam in a search mode, wherein a suspected target point trace after condensation is related to the trace exiting from the tracking mode in the step 7, and if the suspected target point trace is related to the trace exiting from the tracking mode, kalman filtering is used for processing, and the number of times of losing the search track is 0; if the correlation is not found, performing Kalman track prediction and adding 1 to the number of times of track loss search;
and step 9: updating the track state in the search mode, and if the loss times of the searched track exceeds a certain threshold value, performing track extinction;
and in the TAS track processing, repeating the steps 1-9, and participating all the point tracks obtained by analysis in the track processing so as to complete the realization of the track processing algorithm.
2. The TAS-based multi-target tracking processing method for the four-side two-dimensional phased array radar according to claim 1, wherein in the step 1, a threshold is set for outlier rejection, and point trace agglomeration is performed by using a method of weighting a target energy value and a signal-to-noise ratio.
3. The TAS-based four-side two-dimensional phased array radar multi-target tracking processing method according to claim 1, wherein step 4 is to determine a flight path starting in the search mode, and if the flight path meets the tracking condition, the flight path selects a front surface and allocates a corresponding tracking beam to enter the tracking mode (the tracking beam allocation strategy is described in detail in the following figures). The tracking beam can point to the target in real time, so that the detection precision and the detection stability of the multi-target angle are improved, and the detection capability of the multi-target is enhanced.
4. The TAS-based four-side two-dimensional phased array radar multi-target tracking processing method according to claim 1, wherein in the step 6, when the track enters the tracking mode, the searched beam will also detect the target point and form the track at the same time, so that the method of track fusion is used to eliminate the repeated track. In addition, when the tracking target crosses the current wavefront into another wavefront range, the selection of the wavefront and the tracking beam allocation need to be updated (the tracking beam allocation strategy is described in detail in the following figures).
5. The TAS-based four-side two-dimensional phased array radar multi-target tracking processing method according to claim 1, wherein step 7 exits the tracking mode and switches to the search mode when the tracked target is lost, and then continues to detect the target; the method fully exerts the detection capability of the TAS radar on the target.
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| CN113640788A (en) * | 2021-08-24 | 2021-11-12 | 南京理工大学 | Target tracking method |
| CN114035171A (en) * | 2021-11-11 | 2022-02-11 | 西安迅尔电子有限责任公司 | Real-time algorithm for processing target track of security radar of phased array system nuclear power station |
| CN114047492A (en) * | 2021-11-09 | 2022-02-15 | 南京理工大学 | Two-dimensional phased array radar search mode and tracking mode automatic switching scheme |
| CN114089303A (en) * | 2021-11-17 | 2022-02-25 | 南京理工大学 | One-dimensional DBF radar search mode and tracking mode switching scheme |
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