CN115932765B - Radar failure automatic detection system and method based on multi-source data analysis - Google Patents
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Abstract
The invention relates to the technical field of radars, in particular to a radar failure automatic detection system and method based on multi-source data analysis, comprising the following steps: the radar system comprises a radar data acquisition module, a data management center, a display information detection module, a display content analysis module and a radar failure detection module, wherein the radar data acquisition module is used for detecting targets and acquiring target information through a radar, the data management center is used for storing and managing all acquired data, the display information detection module is used for detecting the integrity of target information display, radar abnormality early warning is carried out when the display is abnormal, the display content analysis module is used for normally analyzing target track deviation when the target information display is abnormal, the radar failure detection module is used for carrying out radar failure early warning and detection when the target track deviation is abnormal, failure detection is carried out at proper time, radar failure detection efficiency is improved, and meanwhile the probability of target information missing or information acquisition failure in the subsequent target detection process of the radar is reduced.
Description
Technical Field
The invention relates to the technical field of radars, in particular to a radar failure automatic detection system and method based on multi-source data analysis.
Background
The radar is electronic equipment for detecting a target by utilizing electromagnetic waves, and obtains information such as the azimuth of the target by radiating the target by the electromagnetic waves and receiving echoes thereof, and the radar can be interfered by various unsafe factors to cause failure when detecting the target;
however, some problems still exist in the existing radar failure detection method: firstly, after a target is detected by using a radar, the acquired target information is displayed on a radar image to further analyze the target information, and when the target information is incompletely displayed or the target information is not displayed, the radar has the probability of failure, and the prior art cannot timely detect the failure of the radar according to the display condition of the target information, so that the problem of target information deletion or information acquisition failure in the subsequent detection process is easily caused; secondly, on the premise that complete information is obtained, the large deviation of the target track is possibly caused by the deviation of the target, and also possibly caused by the error of the obtained target information due to the radar failure, the radar failure cannot be prejudged according to the target track information in the prior art, so that the radar can be timely detected and maintained.
Therefore, there is a need for an automatic radar failure detection system and method based on multi-source data analysis to solve the above problems.
Disclosure of Invention
The invention aims to provide a radar failure automatic detection system and method based on multi-source data analysis, so as to solve the problems in the background technology.
In order to solve the technical problems, the invention provides the following technical scheme: a radar failure automatic detection system based on multi-source data analysis, the system comprising: the system comprises a radar data acquisition module, a data management center, a display information detection module, a display content analysis module and a radar failure detection module;
the output end of the radar data acquisition module is connected with the data management center, the output end of the data management center is connected with the input ends of the display information detection module and the display content analysis module, and the output end of the display content analysis module is connected with the input end of the radar failure detection module;
detecting targets and collecting target information through a radar through the radar data collecting module, and transmitting all collected data to the data management center;
storing and managing all collected data through the data management center;
detecting the integrity of target information display through the display information detection module, and carrying out radar abnormality early warning when the display is abnormal;
analyzing the target track offset by the display content analysis module when the target information is displayed normally;
and carrying out radar failure early warning and detection when the target track deviation is abnormal through the radar failure detection module.
Further, the radar data acquisition module comprises a radar detection unit, a target information acquisition unit and a display data acquisition unit;
the output end of the radar detection unit is connected with the input end of the target information acquisition unit, the output end of the target information acquisition unit is connected with the input end of the display data acquisition unit, and the output end of the display data acquisition unit is connected with the input end of the data management center;
the radar detection unit is used for transmitting electromagnetic waves to a target by using a radar, acquiring electromagnetic wave signals reflected by the target and extracting target information;
the target information acquisition unit is used for acquiring the position information of a target, displaying the target information on the radar chart and constructing a radar image with complete target information;
the display data acquisition unit is used for acquiring currently displayed image data.
Further, the display information detection module comprises an image comparison unit and a display abnormality early warning unit;
the input end of the image comparison unit is connected with the output end of the data management center, and the output end of the image comparison unit is connected with the abnormal display early warning unit;
the image comparison unit is used for comparing the complete image of the target information with the currently displayed image and analyzing the integrity of the target information in the currently displayed image;
the display abnormality early warning unit is used for setting an information integrity threshold value, and sending a display detection abnormality warning signal when the information integrity is lower than the threshold value.
Further, the display content analysis module comprises a target track extraction unit and a target track analysis unit;
the input end of the target track extraction unit is connected with the output ends of the display abnormality early warning unit and the data management center; the output end of the target track extraction unit is connected with the input end of the target track analysis unit;
the target track extraction unit is used for extracting target track information in the current display image when the integrity of the current display image is higher than a threshold value;
the target track analysis unit is used for analyzing the previous moving track of the target and predicting the reasonable deviation of the target track.
Further, the radar failure detection module comprises a track deviation alarm unit and a radar failure early-warning unit;
the input end of the track deviation alarm unit is connected with the output end of the target track analysis unit, and the output end of the track deviation alarm unit is connected with the radar failure early-warning unit;
the track deviation alarm unit is used for analyzing the current moving track of the target, comparing the current moving track deviation degree with the reasonable deviation degree, and predicting radar failure and sending a track deviation alarm signal when the current moving track deviation degree exceeds the reasonable deviation degree;
the radar failure early warning unit is used for detecting and verifying whether the radar fails after receiving the track deviation warning signal, and sending the radar failure warning signal when the radar fails, so as to remind related personnel to maintain the radar equipment.
The radar failure automatic detection method based on multi-source data analysis comprises the following steps:
s1: detecting a target through a radar and collecting target information;
s2: detecting the integrity of target information display, and carrying out radar abnormality early warning when abnormal display occurs;
s3: analyzing the target track when the target information is displayed normally, and judging the reasonable deviation degree of the target track;
s4: and comparing the current target track offset with the reasonable offset, and performing radar failure verification when the target track offset exceeds the reasonable offset.
Further, in step S1: transmitting electromagnetic waves to a target by using a radar, acquiring electromagnetic wave signals reflected by the target, extracting target information, acquiring position information of the target from the target information, displaying information of the targets appearing at different positions on the radar chart, acquiring images displayed on the current radar chart, constructing a radar image with complete target information, connecting target points on the current image and the radar image with complete target information according to the sequence of the appearance positions of the targets from first to last, respectively generating a current outline image and a complete outline image displayed by the target information, respectively extracting the current outline image and the complete outline displayed by the target information by using a Canny algorithm, and displaying complete outlines of all the target points on the outline image;
in step S2: establishing a two-dimensional coordinate system by taking the center of the radar map as an origin, and acquiring a coordinate set of a target point in an image with complete target information display as (X, Y) = { (X) 1 ，Y 1 )，(X 2 ，Y 2 )，…，(X m ，Y m ) And (3) smoothing the outline by using a Gaussian filter, wherein m represents the number of target points in the image with complete target information display, and the equation of the curve in the current image after the smoothing is obtained is as follows: y=f (x), the equation for the curve in the target information display complete image is: y=f (X), X i Substitution intoObtaining the curve at the target point (X i ，Y i ) Curvature Ai where Xi and Yi represent the horizontal and vertical coordinates of a random target point in the complete image of the target information display, respectively, to beWith the abscissa of the target point substituted +.>The curvature set of the curve at all target points is obtained as A= { A1, A2, …, ai, …, am }, the curvature set of the curve of the current image at all target points is obtained in the same way, the target points with the same curvature as the curvature in the set A are searched from the curvature set of the curve of the current image at all target points, the number of the target points with the same curvature as m target points is counted as B= { B1, B2, …, bi, …, bm }, bi is equal to 0 or 1, and the number of the target points with the same curvature as m target points is counted according to the formula%>Calculating the integrity W of target information display in the current image, setting an integrity threshold as W, and comparing W with W: if W is more than or equal to W, judging that no abnormality exists; if W is less than W, judging that abnormality occurs in display, predicting radar failure, sending a radar failure early warning signal, judging the integrity of target information display on a current radar image in a curvature analysis mode, wherein the low integrity represents the lack of target information on the current radar image, which is possibly caused by radar failure, so that early warning is facilitated in time, the radar is reminded of possible failure, noise is inevitably introduced for discretization curvature, curvature calculation generates errors, and a Gaussian filter is utilized to smooth the contour before curvature analysis, so that introduced noise is reduced, and analysis result errors are reduced.
Further, in step S3: if W is more than or equal to W: acquiring complete target information acquired after the radar detects corresponding targets n times before, displaying the target information on a radar chart, and acquiring a coordinate set of a target point detected randomly once as (c, d) = { (c) 1 ，d 1 )，(c 2 ，d 2 )，…，(c f ，d f ) Wherein f is more than 2, f represents the number of target points detected correspondingly, the target points are arranged according to the sequence of the detected targets from first to last, the target points are connected in sequence, and the random once detected targets are obtainedThe coordinate set of the target motion vector is { (G) 1 ，H 1 )，(G 2 ，H 2 )，…，(G f-1 ，H f-1 )}＝{(c 2 -c 1 ，d 2 -d 1 )，(c 3 -c 2 ，d 3 -d 2 )，…，(c f -c f-1 ，d f -d f-1 ) Calculating the offset Pj of the previous random primary track of the corresponding target according to the following formula:
wherein G is i+1 ＝c i+2 -c i+1 ，G i ＝c i+1 -c i ，H i+1 ＝d i+2 -d i+1 ，H i ＝d i+1 -d i ，G i+1 And H i+1 Respectively represent the horizontal and vertical coordinates, G, of the i+1th item label motion vector i And H i Respectively representing the horizontal and vertical coordinates of the motion vector of the ith item mark, obtaining a deviation degree set of the previous n tracks of the corresponding target as P= { P1, P2, …, pj, …, pn } by the same calculation method, obtaining a reasonable deviation degree of the target as Q,the radar needs to detect the target for multiple times to improve the accuracy of the acquired target information, and calculates the normal offset in the target moving process by collecting the target moving track data detected in the past, so that a reasonable track offset is predicted for the target, the predicted track offset is used as reference data corresponding to the target movement, and the normal offset in the target multiple moving process is calculated, thereby being beneficial to improving the accuracy of the prediction result.
Further, in step S4: the coordinate set of the motion vector for acquiring the target in the current image is { (K) 1 ，L 1 )，(K 2 ，L 2 )，…，(K m-1 ，L m-1 )}＝{(X 2 -X 1 ，Y 2 -Y 1 )，(X 3 -X 2 ，Y 3 -Y 2 )，…，(X m -X m-1 ，Y m -Y m-1 ) According to the formula }Calculating the offset Ri of the current target moving at random once, wherein K is e+1 And L e+1 Respectively represent the horizontal coordinate, the vertical coordinate and the K of the e+1th item current target motion vector e And L e Respectively representing the horizontal and vertical coordinates of the movement vector of the current target in the e-th item, obtaining the offset of the current target in m-1 times of movement, and comparing Ri with Q: if Ri is less than or equal to Q, the deviation degree of the target track does not exceed the reasonable deviation degree; if Ri > Q, the target track deviation exceeds the reasonable deviation, when the target track deviation exceeding the reasonable deviation exists in the current target m-1 moving process, the radar is predicted to fail and a track deviation alarm signal is sent, whether the radar fails or not is detected and verified, when the radar fails, the radar failure alarm signal is sent to remind the radar equipment to be maintained, the predicted reasonable track deviation is compared with the deviation of the corresponding target in the current image when each movement is performed, when the predicted reasonable track deviation exceeds the target track deviation, the target movement track exceeds the reasonable range, the abnormal movement of the target is judged, the target information is possibly lost due to the radar failure, the movement track deviation is further caused, the radar failure early warning is performed under the condition, the radar failure is predicted, the radar is detected and maintained in time, the radar is not required to be detected in a real time, the failure detection is performed on the radar, the failure detection is performed on a proper time, and the detection efficiency is improved.
Compared with the prior art, the invention has the following beneficial effects:
according to the method, the radar failure is timely predicted and detected by analyzing the display condition of the target information, so that the radar is timely maintained, the probability of target information missing or information acquisition failure in the subsequent detection process is reduced, the integrity of target information display on the current radar image is judged by analyzing the curvature mode in the process of analyzing the display condition of the target information, and the contour is smoothed by utilizing a Gaussian filter before curvature analysis, so that the noise introduced by discretization curvature is reduced, and the analysis result error is reduced; on the premise that target information is displayed completely, a reasonable track deviation degree is predicted by collecting and analyzing historical track data, the predicted reasonable track deviation degree is compared with the deviation degree of a corresponding target in a current image when the target moves each time, when the predicted reasonable track deviation degree is exceeded, the condition that the target moves abnormally is judged, the target information is possibly lost due to radar failure, radar failure early warning is carried out, radar failure is predicted, timely detection and maintenance are facilitated, failure detection is not needed to be carried out on the radar in real time, failure detection is carried out on the radar at proper time, and radar failure detection efficiency is improved.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a block diagram of a radar failure automatic detection system based on multi-source data analysis of the present invention;
FIG. 2 is a flow chart of the radar failure automatic detection method based on multi-source data analysis of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
The invention is further described below with reference to fig. 1-2 and the specific embodiments.
Embodiment one:
as shown in fig. 1, the present embodiment provides a radar failure automatic detection system based on multi-source data analysis, the system including: the system comprises a radar data acquisition module, a data management center, a display information detection module, a display content analysis module and a radar failure detection module;
the output end of the radar data acquisition module is connected with the data management center, the output end of the data management center is connected with the input ends of the display information detection module and the display content analysis module, and the output end of the display content analysis module is connected with the input end of the radar failure detection module;
detecting targets and collecting target information through a radar data collecting module, and transmitting all collected data to a data management center;
storing and managing all collected data through a data management center;
detecting the integrity of target information display through a display information detection module, and carrying out radar abnormality early warning when abnormal display occurs;
analyzing the target track offset by the display content analysis module when the target information is displayed normally;
and carrying out radar failure early warning and detection when the target track deviation is abnormal through a radar failure detection module.
The radar data acquisition module comprises a radar detection unit, a target information acquisition unit and a display data acquisition unit;
the output end of the radar detection unit is connected with the input end of the target information acquisition unit, the output end of the target information acquisition unit is connected with the input end of the display data acquisition unit, and the output end of the display data acquisition unit is connected with the input end of the data management center;
the radar detection unit is used for transmitting electromagnetic waves to a target by using a radar, acquiring electromagnetic wave signals reflected by the target and extracting target information;
the target information acquisition unit is used for acquiring the position information of the target, displaying the target information on the radar chart and constructing a radar image with complete target information;
the display data acquisition unit is used for acquiring the currently displayed image data.
The display information detection module comprises an image comparison unit and a display abnormality early warning unit;
the input end of the image comparison unit is connected with the output end of the data management center, and the output end of the image comparison unit is connected with the display abnormality early warning unit;
the image comparison unit is used for comparing the complete image of the target information with the currently displayed image and analyzing the integrity of the target information in the currently displayed image;
the display abnormality early warning unit is used for setting an information integrity threshold value, and sending a display detection abnormality warning signal when the information integrity is lower than the threshold value.
The display content analysis module comprises a target track extraction unit and a target track analysis unit;
the input end of the target track extraction unit is connected with the output ends of the display abnormality early warning unit and the data management center; the output end of the target track extraction unit is connected with the input end of the target track analysis unit;
the target track extraction unit is used for extracting target track information in the current display image when the integrity of the current display image is higher than a threshold value;
the target track analysis unit is used for analyzing the previous moving track of the target and predicting the reasonable deviation of the target track.
The radar failure detection module comprises a track deviation alarm unit and a radar failure early-warning unit;
the input end of the track deviation alarm unit is connected with the output end of the target track analysis unit, and the output end of the track deviation alarm unit is connected with the radar failure early-warning unit;
the track deviation alarm unit is used for analyzing the current moving track of the target, comparing the current moving track deviation degree with the reasonable deviation degree, predicting radar failure and sending a track deviation alarm signal when the current moving track deviation degree exceeds the reasonable deviation degree;
the radar failure early warning unit is used for detecting and verifying whether the radar fails after receiving the track deviation alarm signal, and sending the radar failure alarm signal when the radar fails, so as to remind related personnel to maintain the radar equipment.
Embodiment two:
as shown in fig. 2, the embodiment provides an automatic radar failure detection method based on multi-source data analysis, which is implemented based on the detection system in the embodiment, and specifically includes the following steps:
s1: detecting a target through a radar, collecting target information, utilizing the radar to emit electromagnetic waves to the target, acquiring electromagnetic wave signals reflected by the target, extracting target information, acquiring position information of the target from the target information, displaying information of the targets appearing at different positions on a radar chart, collecting images displayed on the current radar chart, constructing a radar image with complete target information, connecting target points on the radar image with complete target information according to the sequence of the appearance position of the target from first to last, and respectively generating a current contour image and a complete contour image displayed by the target information;
s2: detecting the integrity of target information display, performing radar anomaly early warning when the display is abnormal, establishing a two-dimensional coordinate system by taking the center of a radar map as an origin, and acquiring a coordinate set of a target point in an image of which the target information display is complete as (X, Y) = { (X) 1 ，Y 1 )，(X 2 ，Y 2 )，(X 3 ，Y 3 )，(X 4 ，Y 4 )，(X 5 ，Y 5 ) -2, -17, (-1, -2), (0.5,1.75), (1.5,4), (1.6, 10.8) smoothing the contour with a gaussian filter to obtain the following equation for the curve in the smoothed current image: y=f (x), the equation for the curve in the target information display complete image is: y=f (X) =2x 3 +x+1, substituting the abscissa of all target points intoThe curvature set of the curve at all target points is obtained as A= { A1, A2, A3, A4, A5} = {0.002,0.034,0.307,0.006,0.004}, the curvature set of the curve of the current image at all target points is obtained in the same way, the target points with the same curvature as the curvature in the set A are searched from the curvature set of the curve of the current image at all target points, the number of the target points with the same curvature as the m target points is counted as B= { B1, B2, …, bi, …, bm }, bi is equal to 0 or 1, and the formula is used for calculating the curvature of the curve of the current image at all target points>Calculating the integrity W of target information display in the current image, setting an integrity threshold as W, and comparing W with W: if W is more than or equal to W, judging that no abnormality exists; if W is less than W, judging that abnormality appears in the display, predicting that the radar fails, and sending a radar failure early warning signal;
for example: if the set of the target point numbers with the same curvature as m=5 target points is counted as b= { B1, B2, B3, B4, B5} = {1,0,0,1,0}, according to the formulaCalculating the integrity w=0.4 of target information display in the current image, setting the integrity threshold value as w=0.75, and comparing W with W: w is less than W, judging that abnormality appears in display, predicting that radar fails, and sending a radar failure early warning signal;
if the set of the target point numbers with the same curvature as m=5 target points is counted as b= { B1, B2, B3, B4, B5} = {1, 1}, according to the formulaCalculating the completeness w=1 of target information display in the current image, and comparing W with W: w is more than W, and judging that no abnormality exists;
s3: analyzing the target track when the target information displays normally, judging the reasonable offset of the target track, and if W is more than or equal to W: acquiring complete target information acquired after n=5 times of detection of corresponding targets in the past of a radar, displaying the target information on a radar chart, and acquiring a coordinate set of a target point detected randomly once as (c, d) = { (c) 1 ，d 1 )，(c 2 ，d 2 )，(c 3 ，d 3 )，(c 4 ，d 4 )，(c 5 ，d 5 ) The target points are arranged in the order that the detected targets appear from first to last, the target points are connected in sequence, and a target movement vector coordinate set detected at one time randomly is obtained as { (G) 1 ，H 1 )，(G 2 ，H 2 )，(G 3 ，H 3 )，(G 4 ，H 4 )}＝{(c 2 -c 1 ，d 2 -d 1 )，(c 3 -c 2 ，d 3 -d 2 )，(c 4 -c 3 ，d 4 -d 3 )，(c 5 -c 4 ，d 5 -d 4 ) "1, 0", "2, 4", "1, 0", and "2, 2", according to the formulaCalculating the offset Pj (approximately 0.99) of the previous random primary track of the corresponding target, wherein the unit is as follows: radian, where G i+1 And H i+1 Respectively represent the horizontal and vertical coordinates, G, of the i+1th item label motion vector i And H i Respectively representing the horizontal and vertical coordinates of the movement vector of the ith item mark, obtaining a deviation degree set of the previous n=5 tracks of the corresponding target as P= { P1, P2, P3, P4, P5} = {0.99,0.89,0.95,1.50,1.25}, and obtaining a reasonable deviation degree of the target as Q #>
S4: comparing the current target track offset with a reasonable offset, and performing radar failure verification when the target track offset exceeds the reasonable offset to obtain a moving vector coordinate set of a target in the current image as { (K) 1 ，L 1 )，(K 2 ，L 2 )，…，(K m-1 ，L mm-1 )}＝{(X 2 -X 1 ，Y 2 -Y 1 )，(X 3 -X 2 ，Y 3 -Y 2 )，…，(X m -X m-1 ，Y m -Y m-1 ) According to the formula } Calculating the offset Ri of the current target moving at random once, wherein K is e+1 And L e+1 Respectively representThe abscissa, K of the (e+1) th current target motion vector e And L e Respectively representing the horizontal and vertical coordinates of the movement vector of the current target in the e-th item, obtaining the offset of the current target in m-1 times of movement, and comparing Ri with Q: if Ri is less than or equal to Q, the deviation degree of the target track does not exceed the reasonable deviation degree; if Ri > Q, the target track deviation exceeds the reasonable deviation, when the target track deviation exceeding the reasonable deviation exists in the current target m-1 moving process, predicting that the radar fails and sending a track deviation alarm signal, detecting and verifying whether the radar fails, and sending a radar failure alarm signal when the radar fails, reminding the radar equipment to be maintained;
for example: the coordinate set of the target point in the image obtained from which the target information is displayed in its entirety is (X, Y) = { (X) 1 ，Y 1 )，(X 2 ，Y 2 )，(X 3 ，Y 3 )，(X 4 ，Y 4 )，(X 5 ，Y 5 ) -2, -17, (-1, -2), (0.5,1.75), (1.5,4), (1.6, 10.8) to obtain a set of motion vector coordinates of the object in the current image as { (K) 1 ，L 1 )，(K 2 ，L 2 )，(K 3 ，L 3 )，(K 4 ，L 4 )}＝{(X 2 -X 1 ，Y 2 -Y 1 )，(X 3 -X 2 ，Y 3 -Y 2 )，(X 4 -X 3 ，Y 4 -Y 3 )，(X 5 -X 4 ，Y 5 -Y 4 ) } = { (-1, 15), (1.5,3.75), (1,2.25), (0.1,6.8) }, according to the formula Calculating the offset Ri (approximately 0.45) of the current target moving at random once, obtaining a set of offset of the current target moving m-1 times as {0.45,0.04,0.40}, and comparing Ri and Q: in the m-1 moving process of the current target, the target track offset exceeding the reasonable offset does not exist, the radar is predicted to be not invalid, and the warning is not sentA signal is reported;
the coordinate set of the target point in the image obtained from which the target information is displayed in its entirety is (X, Y) = { (X) 1 ，Y 1 )，(X 2 ，Y 2 )，(X 3 ，Y 3 )，(X 4 ，Y 4 )，(X 5 ，Y 5 ) The set of motion vector coordinates of the object in the current image is found to be { (K) } = { (1, 1), (2, 3), (4, 2), (3, 1), (4, 1) 1 ，L 1 )，(K 2 ，L 2 )，(K 3 ，L 3 )，(K 4 ，L 4 )}＝{(X 2 -X 1 ，Y 2 -Y 1 )，(X 3 -X 2 ，Y 3 -Y 2 )，(X 4 -X 3 ，Y 4 -Y 3 )，(X 5 -X 4 ，Y 5 -Y 4 ) = { (1, 2), (2, 1), (-1, -1), (1, 0) }, according to the formulaCalculating the offset Ri (approximately 0.65) of the current target moving at random once, obtaining a set of offset of m-1 times of the current target as {0.65,2.82,2.36}, and comparing Ri with Q=1.12: and (3) predicting that the radar fails and sending a track deviation alarm signal when the target track deviation exceeds a reasonable deviation in the m-1 moving process of the current target, detecting and verifying whether the radar fails, and sending the radar failure alarm signal when the radar fails, so as to remind the radar equipment to be maintained.
Finally, it should be noted that: the foregoing is merely a preferred example of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The radar failure automatic detection method based on multi-source data analysis is characterized by comprising the following steps of: the method comprises the following steps:
s1: detecting a target through a radar and collecting target information;
s2: detecting the integrity of target information display, and carrying out radar abnormality early warning when abnormal display occurs;
s3: analyzing the target track when the target information is displayed normally, and judging the reasonable deviation degree of the target track;
s4: comparing the current target track offset with the reasonable offset, and performing radar failure verification when the target track offset exceeds the reasonable offset;
in step S1: transmitting electromagnetic waves to a target by using a radar, acquiring electromagnetic wave signals reflected by the target, extracting target information, acquiring position information of the target from the target information, displaying information of the targets appearing at different positions on a radar chart, acquiring images displayed on the current radar chart, constructing a radar image with complete target information, connecting target points on the current image and the radar image with complete target information according to the sequence of the appearance positions of the targets from first to last, and respectively generating a current contour image and a complete contour image displayed by the target information;
in step S2: establishing a two-dimensional coordinate system by taking the center of the radar map as an origin, and acquiring a coordinate set of a target point in an image with complete target information display as (X, Y) = { (X) 1 ，Y 1 )，(X 2 ，Y 2 )，…，(X m ，Y m ) And (3) smoothing the outline by using a Gaussian filter, wherein m represents the number of target points in the image with complete target information display, and the equation of the curve in the current image after the smoothing is obtained is as follows: y=f (x), the equation for the curve in the target information display complete image is: y=f (X), X i Substitution intoObtaining the curve at the target point (X i ，Y i ) Curvature Ai where Xi and Yi represent respectively the lateral and longitudinal sitting of a random target point in the complete image of the target information displayTarget, substituting the abscissa of all target points into +.>The curvature set of the curve at all target points is obtained as A= { A1, A2, …, ai, …, am }, the curvature set of the curve of the current image at all target points is obtained in the same way, the target points with the same curvature as the curvature in the set A are searched from the curvature set of the curve of the current image at all target points, the number of the target points with the same curvature as m target points is counted as B= { B1, B2, …, bi, …, bm }, bi is equal to 0 or 1, and the number of the target points with the same curvature as m target points is counted according to the formula%>Calculating the integrity W of target information display in the current image, setting an integrity threshold as W, and comparing W with W: if W is more than or equal to W, judging that no abnormality exists; if w<W, judging that abnormality occurs in display, predicting that radar fails, and sending a radar failure early warning signal.
2. The automatic detection method for radar failure based on multi-source data analysis according to claim 1, wherein: in step S3: if W is more than or equal to W: acquiring complete target information acquired after the radar detects corresponding targets n times before, displaying the target information on a radar chart, and acquiring a coordinate set of a target point detected randomly once as (c, d) = { (c) 1 ，d 1 )，(c 2 ，d 2 )，…，(c f ，d f ) And (f), where f>2, f represents the number of target points detected by the corresponding word, the target points are arranged according to the sequence of the detected targets from first to last, the target points are connected in sequence, and the target movement vector coordinate set detected at one time randomly is obtained as { (G) 1 ，H 1 )，(G 2 ，H 2 )，…，(G f-1 ，H f-1 )}＝{(c 2 -c 1 ，d 2 -d 1 )，(c 3 -c 2 ，d 3 -d 2 )，…，(c f -c f-1 ，d f -d f-1 ) Calculating the offset Pj of the previous random primary track of the corresponding target according to the following formula:
wherein G is i+1 And H i+1 Respectively represent the horizontal and vertical coordinates, G, of the i+1th item label motion vector i And H i Respectively representing the horizontal and vertical coordinates of the motion vector of the ith item mark, obtaining a deviation degree set of the previous n tracks of the corresponding target as P= { P1, P2, …, pj, …, pn } by the same calculation method, obtaining a reasonable deviation degree of the target as Q,
3. the automatic detection method for radar failure based on multi-source data analysis according to claim 2, wherein: in step S4: the coordinate set of the motion vector for acquiring the target in the current image is { (K) 1 ，L 1 )，(K 2 ，L 2 )，…，(K m-1 ，L m-1 )}＝{(X 2 -X 1 ，Y 2 -Y 1 )，(X 3 -X 2 ，Y 3 -Y 2 )，…，(X m -X m-1 ，Y m -Y m-1 ) According to the formula }Calculating the offset Ri of the current target moving at random once, wherein K is e+1 And L e+1 Respectively represent the horizontal coordinate, the vertical coordinate and the K of the e+1th item current target motion vector e And L e Respectively representing the horizontal and vertical coordinates of the movement vector of the current target in the e-th item, obtaining the offset of the current target in m-1 times of movement, and comparing Ri with Q: if Ri is less than or equal to Q, the deviation degree of the target track does not exceed the reasonable deviation degree; if Ri>Q, the target track offset exceeds the reasonable offset, and the current target has super-high speed in m-1 times of movementWhen the target track deviation degree of the reasonable deviation degree is obtained, predicting that the radar fails and sending a track deviation alarm signal, detecting and verifying whether the radar fails, and sending the radar failure alarm signal when the radar fails, so as to remind the radar equipment to be maintained.
4. The radar failure automatic detection system based on multi-source data analysis, which is applied to the radar failure automatic detection method based on multi-source data analysis as claimed in claim 1, is characterized in that: the system comprises: the system comprises a radar data acquisition module, a data management center, a display information detection module, a display content analysis module and a radar failure detection module;
the output end of the radar data acquisition module is connected with the data management center, the output end of the data management center is connected with the input ends of the display information detection module and the display content analysis module, and the output end of the display content analysis module is connected with the input end of the radar failure detection module;
detecting targets and collecting target information through a radar through the radar data collecting module, and transmitting all collected data to the data management center;
storing and managing all collected data through the data management center;
detecting the integrity of target information display through the display information detection module, and carrying out radar abnormality early warning when the display is abnormal;
analyzing the target track offset by the display content analysis module when the target information is displayed normally;
and carrying out radar failure early warning and detection when the target track deviation is abnormal through the radar failure detection module.
5. The automatic detection system for radar failure based on multi-source data analysis according to claim 4, wherein: the radar data acquisition module comprises a radar detection unit, a target information acquisition unit and a display data acquisition unit;
the output end of the radar detection unit is connected with the input end of the target information acquisition unit, the output end of the target information acquisition unit is connected with the input end of the display data acquisition unit, and the output end of the display data acquisition unit is connected with the input end of the data management center;
the radar detection unit is used for transmitting electromagnetic waves to a target by using a radar, acquiring electromagnetic wave signals reflected by the target and extracting target information;
the target information acquisition unit is used for acquiring the position information of a target, displaying the target information on the radar chart and constructing a radar image with complete target information;
the display data acquisition unit is used for acquiring currently displayed image data.
6. The automatic detection system for radar failure based on multi-source data analysis according to claim 4, wherein: the display information detection module comprises an image comparison unit and a display abnormality early warning unit;
the input end of the image comparison unit is connected with the output end of the data management center, and the output end of the image comparison unit is connected with the abnormal display early warning unit;
the image comparison unit is used for comparing the complete image of the target information with the currently displayed image and analyzing the integrity of the target information in the currently displayed image;
the display abnormality early warning unit is used for setting an information integrity threshold value, and sending a display detection abnormality warning signal when the information integrity is lower than the threshold value.
7. The automatic detection system for radar failure based on multi-source data analysis according to claim 6, wherein: the display content analysis module comprises a target track extraction unit and a target track analysis unit;
the input end of the target track extraction unit is connected with the output ends of the display abnormality early warning unit and the data management center; the output end of the target track extraction unit is connected with the input end of the target track analysis unit;
the target track extraction unit is used for extracting target track information in the current display image when the integrity of the current display image is higher than a threshold value;
the target track analysis unit is used for analyzing the previous moving track of the target and predicting the reasonable deviation of the target track.
8. The automatic detection system for radar failure based on multi-source data analysis according to claim 7, wherein: the radar failure detection module comprises a track deviation alarm unit and a radar failure early-warning unit;
the input end of the track deviation alarm unit is connected with the output end of the target track analysis unit, and the output end of the track deviation alarm unit is connected with the radar failure early-warning unit;
the track deviation alarm unit is used for analyzing the current moving track of the target, comparing the current moving track deviation degree with the reasonable deviation degree, and predicting radar failure and sending a track deviation alarm signal when the current moving track deviation degree exceeds the reasonable deviation degree;
the radar failure early warning unit is used for detecting and verifying whether the radar fails after receiving the track deviation warning signal, and sending the radar failure warning signal when the radar fails, so as to remind related personnel to maintain the radar equipment.
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