CN115980739A - Automatic defense deploying method for radar guided photoelectric tracking - Google Patents
Automatic defense deploying method for radar guided photoelectric tracking Download PDFInfo
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Abstract
The invention discloses an automatic defense deploying method for guiding photoelectric tracking by a radar, which relates to the technical field of security protection, and specifically comprises the following steps: setting the priority and the maximum navigational speed of each defense area; target detection is carried out in the detection area by utilizing radar data, and a defense area where the target is located is judged according to the target position; measuring the navigational speed and the course of the target by using the radar data, and calculating the dangerous value of the target according to the navigational speed and the course of the target, the priority of a defense area where the target is located and the maximum navigational speed; selecting targets to form a tracking queue according to the danger values of the targets and the cyclic observation period of photoelectric tracking, and performing cyclic photoelectric monitoring on the tracking queue; and then, updating the tracking queue once every time the radar data is updated, and then performing circulating photoelectric monitoring on the updated tracking queue. The invention can automatically generate a photoelectric monitoring instruction according to radar data and guide the photoelectric equipment to carry out real-time and automatic cyclic photoelectric monitoring on the suspicious target.
Description
Technical Field
The invention relates to the technical field of security protection, in particular to an automatic defense deploying method for guiding photoelectric tracking by a radar.
Background
The scheme of monitoring offshore by radar and photoelectric linkage is a popular strike and smuggling technical detection scheme at present, the scheme not only gives full play to the advantage that the radar quickly responds to the target in the whole detection area, can timely and accurately capture the target, but also is beneficial to flexibly scheduling photoelectric equipment, and the target image is acquired through photoelectric monitoring to identify the target. In order to better exert the advantages of the scheme, a detection area (such as a sea area) is generally drawn into a defense area, and only after a suspicious ship, namely a target enters the defense area, an alarm prompt is given to guide law enforcement personnel to go to intercept.
At present, most of workers stare at a radar monitoring picture for a long time, and after suspicious ships are found through radar data, the photoelectric equipment is manually scheduled to perform image recognition on the suspicious ships. The method requires scheduling timeliness of the photoelectric equipment, and since the position and the state of the suspicious ship change in real time, if the photoelectric equipment cannot be scheduled in time, information of the suspicious ship may be missed or omitted, which causes great working pressure on workers, and the workers easily miss useful information due to fatigue.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides an automatic defense method for radar-guided photoelectric tracking, which can automatically generate a photoelectric monitoring instruction according to radar data and guide photoelectric equipment to perform real-time and automatic cyclic photoelectric monitoring on a suspicious target.
In order to achieve the purpose, the invention adopts the following technical scheme that:
an automatic arming method for radar-guided photoelectric tracking comprises the following steps:
s1, drawing defense areas of a detection area to obtain a plurality of defense areas; setting the priority and the maximum navigational speed of each defense area;
s2, detecting a target in the detection area by using the radar data, and judging a defense area where the target is located according to the target position; meanwhile, radar data are used for measuring the navigational speed and the course of the target, and the danger value of the target is calculated according to the navigational speed and the course of the target, the priority of a defense area where the target is located and the maximum navigational speed;
s3, if the danger value of the target is larger than the set danger threshold value, adding the target into a queue to be tracked and placing the target in the queue to be tracked;
s4, selecting targets from the queue to be tracked to form a tracking queue according to the cyclic observation period Trp of photoelectric tracking, and carrying out cyclic photoelectric monitoring on the targets in the tracking queue in sequence;
and S5, according to the updating period Ta, ta > Trp of the radar data, executing the steps S2-S4 once after the radar data is updated once, namely updating the tracking queue, and then performing circulating photoelectric monitoring on the targets in the updated tracking queue in sequence.
Preferably, in step S1, the defense areas are numbered in sequence from low to high in the priority of the defense areas, the number of the defense areas is denoted by i, i =1,2,3. Setting the maximum navigational speed of the ith defense area as Vi, wherein Vi is less than Vmax, and Vmax is the navigational speed upper limit of the detection area;
in step S2, the risk value of the target is calculated in the following manner:
M=Pi×[α×f1(θ,μ)+β×f2(v,Vi)+γ×f3(v,Vmax)]；
wherein M is the hazard value of the target; pi is the priority ordering of the defense area where the target is located, namely the ith defense area, and Pi = i; vi is the maximum navigational speed of the defense area where the target is located, namely the ith defense area; vmax is the upper limit of the navigational speed of the detection area; theta is the target course; mu is a connecting line direction between the target position and the target landing position; v is the target speed; alpha, beta and gamma are proportional coefficients, and alpha + beta + gamma =1; f1 (θ, μ) is the risk value of landing of the target; f2 (v, vi) is the risk value of the target within the defence area; f3 (v, vmax) is the risk value of the object within the detection zone.
Preferably, the risk value f1 (θ, μ) of landing on the target is calculated by:
if | θ - μ | > θ max, f1 (θ, μ) =0;
if the theta-mu is less than or equal to theta max, f1 (theta, mu) = exp (- | theta-mu |);
wherein, θ max is the maximum included angle between the set target course and the connecting line direction; | theta-mu | represents an included angle between the target course and the connecting line direction; exp (.) represents an exponential function with a natural constant e as the base.
Preferably, the risk value f2 (v, vi) of the target in the defense area is calculated by:
if v < Vi, f2 (v, vi) =0;
if v is larger than or equal to Vi, f2 (v, vi) = v-Vi.
Preferably, the risk value f3 (v, vmax) of the target in the detection region is calculated by:
if v < Vmax, f3 (v, vmax) =0;
if v is larger than or equal to Vmax, f3 (v, vmax) = v-Vmax.
Preferably, the landing positions including wharfs and shoals are preset; according to the navigation speed and the course of the target, the landing position which can be reached by the target within the set time is taken as the target potential landing position; and if a plurality of target potential landing positions exist, selecting the target potential landing position with the maximum f1 (theta, mu) value for substitution calculation.
Preferably, in step S4, in the tracking queue, the targets are sorted in the order of the risk values from large to small;
the sequential cyclic photoelectric monitoring is as follows: and circularly performing the next round of photoelectric monitoring, namely performing the next photoelectric monitoring on each target in the tracking queue in sequence.
Preferably, the specific manner of step S4 is as follows:
s41, assume: the single photoelectric monitoring time of each target is not lower than Tm, and the cyclic monitoring period of each target does not exceed Trp; the cycle monitoring period is as follows: the time interval between the first photoelectric monitoring and the second photoelectric monitoring of the target, namely the time required by the tracking queue to perform one round of photoelectric monitoring;
then: the maximum value Nmax = floor (Trp/Tm) of the number of targets in the tracking queue; wherein Nmax is the maximum value of the number of targets in the tracking queue; tm is the minimum value of the target single photoelectric monitoring time; trp is the maximum value of a target cycle monitoring period; floor () is a rounded down function;
s42, if the number of the targets in the queue to be tracked is less than or equal to Nmax, directly taking the queue to be tracked as a tracking queue, and carrying out photoelectric monitoring on the targets in turn according to the sequence of the danger values of the targets in the tracking queue from large to small, wherein the single photoelectric monitoring time of each target is Tm;
and if the number of the targets in the queue to be tracked is greater than Nmax, selecting the first Nmax targets in the queue to be tracked to form a tracking queue, and performing photoelectric monitoring on the targets in sequence from large to small according to the target risk values in the tracking queue, wherein the single photoelectric monitoring time of each target is Tm.
Preferably, in step S5, after the tracking queue is updated, it is first determined whether a current target, which is a target currently undergoing photoelectric monitoring, is in the updated tracking queue, and if not, the photoelectric monitoring of the current target is first completed, and then the updated tracking queue is subjected to cyclic photoelectric monitoring in sequence from the beginning; if so, completing the photoelectric monitoring of the current target, and then performing the photoelectric monitoring on the target in the next sequence in the updated tracking queue according to the sequence of the current target, namely performing the cyclic photoelectric monitoring on the updated tracking queue in sequence from the target in the next sequence.
The invention has the advantages that:
(1) According to the automatic defense method for guiding photoelectric tracking by the radar, disclosed by the invention, a photoelectric monitoring instruction can be automatically generated according to radar data, and the photoelectric equipment is guided to carry out real-time and automatic cyclic photoelectric monitoring on the suspicious target, so that the photoelectric equipment does not need to be manually scheduled by a worker, and the information of the suspicious target is prevented from being missed or omitted.
(2) The invention can respectively carry out photoelectric monitoring on a plurality of targets with higher danger levels, namely higher danger values, so that the information of any suspicious target is not released.
(3) In the invention, a user can flexibly set the landing position according to the actual condition, and the active monitoring of the risk area is realized.
(4) The method has clear, concise and clear calculation process and is beneficial to engineering realization.
(5) The screen data generated by the invention contains radar information and video information, namely photoelectric information, of all suspicious targets, and can be used as evidence for subsequent cases after being stored, so that the evidence is clear and credible.
Drawings
Fig. 1 is a flowchart of an automatic arming method for radar-guided photoelectric tracking according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, an automatic arming method of radar-guided photoelectric tracking includes the following steps:
s1, drawing defense areas of the detection area to obtain a plurality of defense areas. And setting the priority and the maximum navigational speed of each defense area. The defense areas are numbered according to the sequence of the priority of the defense areas from low to high, the number of the defense areas is represented by i, namely the ith defense area, i =1,2,3. And setting the maximum navigational speed of the ith defense area as Vi, wherein Vi is less than Vmax, and Vmax is the navigational speed upper limit of the detection area.
In this embodiment, the detection area is at sea level, that is, the detection area is sea area, and the target is a ship. The defense area is generally a convex polygon, the position coordinates of each vertex on the defense area, namely the convex polygon, are recorded, and the position coordinates of the vertex are described by longitude and latitude coordinates on a map. For the ith defense area, the position coordinates of the jth vertex are represented as (lon _ ij, lat _ ij), where lon _ ij is the longitude of the jth vertex on the ith defense area, and lat _ ij is the latitude of the jth vertex on the ith defense area.
S2, performing target detection in the detection area by using the radar data, and judging a defense area where the target is located according to the target position; meanwhile, the radar data is also utilized to measure the navigational speed and the course of the target, and the dangerous value of the target is calculated according to the navigational speed and the course of the target and the priority and the maximum navigational speed of the defense area where the target is located:
M=Pi×[α×f1(θ,μ)+β×f2(v,Vi)+γ×f3(v,Vmax)]；
wherein M is the risk value of the target; pi is the priority ordering of the defense area where the target is located, namely the ith defense area, and Pi = i; vi is the maximum navigational speed of the defense area where the target is located, namely the ith defense area; vmax is the upper limit of the navigational speed of the detection area; theta is the target course; mu is a connecting line direction between the target position and the target landing position; v is the target navigational speed; α, β, γ are all proportionality coefficients, α + β + γ =1.
f1 (θ, μ) is a risk value of landing of the target, specifically:
if | θ - μ | > θ max, f1 (θ, μ) =0;
if the | theta-mu | is less than or equal to the theta max, f1 (theta, mu) = exp (- | theta-mu |).
Wherein, θ max is the maximum included angle between the set target course and the connecting line direction; | theta-mu | represents an included angle between the target course and the connecting line direction; exp (.) represents an exponential function with a natural constant e as the base.
f2 (v, vi) is a risk value of the target in the defense area, specifically:
if v < Vi, f2 (v, vi) =0;
if v is larger than or equal to Vi, f2 (v, vi) = v-Vi.
f3 (v, vmax) is a risk value of the target in the detection area, specifically:
if v < Vmax, f3 (v, vmax) =0;
if v is larger than or equal to Vmax, f3 (v, vmax) = v-Vmax.
In this embodiment, whether the target is located in the defense area is determined according to the target position, i.e., the longitude and latitude of the target and the longitude and latitude of each vertex on the defense area, which can be specifically referred to in the prior art. In addition, the radar data is used for target detection, target navigational speed measurement and target heading measurement in the prior art.
In this embodiment, the landing position is preset, and includes: wharfs, shoals, etc. According to the navigation speed and the course of the target, the landing position which can be reached within 10 minutes of the target is taken as the target potential landing position; and if a plurality of target potential landing positions exist, selecting the target potential landing position with the maximum f1 (theta, mu) value for substitution calculation.
And S3, if the danger value of the target is greater than 0, adding the target into a queue to be tracked, and sequencing the targets in the queue to be tracked according to the descending order of the danger value.
And S4, selecting targets from the queue to be tracked to form a tracking queue according to the cycle observation period of photoelectric tracking, and carrying out cycle photoelectric monitoring on the targets in the tracking queue in sequence.
In the tracking queue, the targets are sorted in the order of the danger values from large to small.
The sequential cyclic photoelectric monitoring is as follows: and circularly carrying out the next round of photoelectric monitoring, namely carrying out the next photoelectric monitoring on each target in the tracking queue in sequence.
The specific manner of step S4 is as follows:
s41, assume: the single photoelectric monitoring time for each target is required to be not lower than Tm, and the cycle monitoring period for each target is required to be not more than Trp. The cycle monitoring period refers to the time interval between the first photoelectric monitoring and the second photoelectric monitoring of the target, namely the time required by the tracking queue to perform a round of photoelectric monitoring.
Then: the maximum value Nmax = floor (Trp/Tm) of the number of targets in the tracking queue; wherein Nmax is the maximum value of the number of targets in the tracking queue; tm is the minimum value of the target single photoelectric monitoring time; trp is the maximum value of a target cycle monitoring period; floor () is a rounded down function.
And S42, if the number of the targets in the queue to be tracked is less than or equal to Nmax, directly using the queue to be tracked as a tracking queue, and carrying out photoelectric monitoring on the targets in sequence according to the target sequence in the tracking queue, wherein the single photoelectric monitoring time of each target is Tm.
And if the number of the targets in the queue to be tracked is greater than Nmax, selecting the first Nmax targets in the queue to be tracked to form a tracking queue, and performing photoelectric monitoring on the targets in sequence according to the target sequence in the tracking queue, wherein the single photoelectric monitoring time of each target is Tm.
And S5, according to the updating period Ta of the radar data, wherein Ta is greater than Trp, when the radar data is updated once, the steps S2 to S4 are executed once, namely the tracking queue is updated, and then the targets in the updated tracking queue are subjected to cyclic photoelectric monitoring in sequence. After the tracking queue is updated, firstly judging whether a current target which is a target currently subjected to photoelectric monitoring is in the updated tracking queue, if not, completing the photoelectric monitoring of the current target, and then carrying out cyclic photoelectric monitoring on the updated tracking queue in sequence from the beginning; if so, completing the photoelectric monitoring of the current target, and then performing the photoelectric monitoring on the targets in the next sequence in the updated tracking queue according to the sequence of the current target, namely performing the cyclic photoelectric monitoring on the updated tracking queue in sequence from the targets in the next sequence.
The invention can automatically generate a photoelectric monitoring instruction according to radar data, guide the photoelectric equipment to carry out real-time and automatic cyclic photoelectric monitoring on the suspicious target, does not need workers to manually schedule the photoelectric equipment, and avoids missing or missing the information of the suspicious target. Meanwhile, the invention can give consideration to the photoelectric monitoring of a plurality of targets with higher danger levels, namely higher danger values, so that the information of any suspicious target is not released
The invention is not to be considered as limited to the specific embodiments shown and described, but is to be understood to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. An automatic defense method for radar guided photoelectric tracking is characterized by comprising the following steps:
s1, drawing defense areas of a detection area to obtain a plurality of defense areas; setting the priority and the maximum navigational speed of each defense area;
s2, detecting a target in the detection area by using the radar data, and judging a defense area where the target is located according to the target position; meanwhile, measuring the navigational speed and the course of the target by utilizing the radar data, and calculating the dangerous value of the target according to the navigational speed and the course of the target, the priority of the defense area where the target is located and the maximum navigational speed;
s3, if the danger value of the target is larger than the set danger threshold value, adding the target into a queue to be tracked and placing the target in the queue to be tracked;
s4, selecting targets from the queue to be tracked to form a tracking queue according to the cyclic observation period Trp of photoelectric tracking, and carrying out cyclic photoelectric monitoring on the targets in the tracking queue in sequence;
and S5, according to the updating period Ta, ta > Trp of the radar data, executing the steps S2-S4 once after the radar data is updated once, namely updating the tracking queue, and then performing circulating photoelectric monitoring on the targets in the updated tracking queue in sequence.
2. The automatic arming method of radar-guided photoelectric tracking according to claim 1, wherein in step S1, the defense areas are numbered in sequence from low to high in the priority of the defense areas, the number of the defense areas is denoted by i, i is the ith defense area, i =1,2,3, the larger the number of the defense areas is, the higher the priority is; setting the maximum navigational speed of the ith defense area as Vi, wherein Vi is less than Vmax, and Vmax is the navigational speed upper limit of the detection area;
in step S2, the risk value of the target is calculated in the following manner:
M=Pi×[α×f1(θ,μ)+β×f2(v,Vi)+γ×f3(v,Vmax)]；
wherein M is the risk value of the target; pi is the priority ordering of the defense area where the target is located, namely the ith defense area, and Pi = i; vi is the maximum navigational speed of the defense area where the target is located, namely the ith defense area; vmax is the upper limit of the navigational speed of the detection area; theta is the target course; mu is a connecting line direction between the target position and the target landing position; v is the target speed; alpha, beta and gamma are proportional coefficients, and alpha + beta + gamma =1; f1 (θ, μ) is the risk value of landing of the target; f2 (v, vi) is the risk value of the target within the defence area; f3 (v, vmax) is the risk value of the object within the detection zone.
3. The automatic arming method for radar-guided photoelectric tracking according to claim 2, wherein the risk value f1 (θ, μ) of the target landing is calculated by:
if | θ - μ | > θ max, f1 (θ, μ) =0;
if the theta-mu is less than or equal to theta max, f1 (theta, mu) = exp (- | theta-mu |);
wherein, θ max is the maximum included angle between the set target course and the connecting line direction; the | theta-mu | represents an included angle between the target course and the connecting line direction; exp (.) represents an exponential function with a natural constant e as the base.
4. The automatic arming method of claim 2, wherein the risk value f2 (v, vi) of the target in the defense area is calculated by:
if v < Vi, f2 (v, vi) =0;
if v is larger than or equal to Vi, f2 (v, vi) = v-Vi.
5. The automatic arming method for radar-guided photoelectric tracking according to claim 2, wherein the risk value f3 (v, vmax) of the target in the detection area is calculated by:
if v < Vmax, f3 (v, vmax) =0;
if v is larger than or equal to Vmax, f3 (v, vmax) = v-Vmax.
6. The automatic defense method for radar-guided photoelectric tracking according to claim 2 or 3, characterized in that the landing positions are preset, including wharfs and shoals; according to the navigation speed and the course of the target, the landing position which can be reached by the target within the set time is taken as the target potential landing position; and if a plurality of target potential landing positions exist, selecting the target potential landing position with the maximum f1 (theta, mu) value for substitution calculation.
7. The automatic arming method for radar-guided photoelectric tracking according to claim 1, wherein in step S4, in the tracking queue, the targets are sorted in the order from the high risk value to the low risk value;
the sequential cyclic photoelectric monitoring is as follows: and circularly carrying out the next round of photoelectric monitoring, namely carrying out the next photoelectric monitoring on each target in the tracking queue in sequence.
8. The automatic arming method for radar-guided photoelectric tracking according to claim 7, wherein the specific manner of step S4 is as follows:
s41, assume: the single photoelectric monitoring time of each target is not lower than Tm, and the cyclic monitoring period of each target is not more than Trp; the cycle monitoring period is as follows: the time interval between the first photoelectric monitoring and the second photoelectric monitoring of the target, namely the time required by the tracking queue to perform one round of photoelectric monitoring;
then: the maximum value Nmax = floor (Trp/Tm) of the number of targets in the tracking queue; wherein Nmax is the maximum value of the number of targets in the tracking queue; tm is the minimum value of the target single photoelectric monitoring time; trp is the maximum value of a target cycle monitoring period; floor (.) is a rounded down function;
s42, if the number of the targets in the queue to be tracked is less than or equal to Nmax, directly taking the queue to be tracked as a tracking queue, and carrying out photoelectric monitoring on the targets in sequence from large to small according to the target risk values in the tracking queue, wherein the single photoelectric monitoring time of each target is Tm;
and if the number of the targets in the queue to be tracked is greater than Nmax, selecting the first Nmax targets in the queue to be tracked to form a tracking queue, and performing photoelectric monitoring on the targets in sequence from large to small according to the target risk values in the tracking queue, wherein the single photoelectric monitoring time of each target is Tm.
9. The automatic arming method of radar-guided photoelectric tracking according to claim 1 or 7, wherein in step S5, after the tracking queue is updated, it is first determined whether a target currently being subjected to photoelectric monitoring, that is, a current target, is in the updated tracking queue, and if not, the photoelectric monitoring of the current target is first completed, and then the updated tracking queue is subjected to cyclic photoelectric monitoring in sequence from the beginning; if so, completing the photoelectric monitoring of the current target, and then performing the photoelectric monitoring on the targets in the next sequence in the updated tracking queue according to the sequence of the current target, namely performing the cyclic photoelectric monitoring on the updated tracking queue in sequence from the targets in the next sequence.
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