CN102540181A - Flight path initializing method based on trace point preprocessing of environmental information graph - Google Patents
Flight path initializing method based on trace point preprocessing of environmental information graph Download PDFInfo
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- CN102540181A CN102540181A CN2011104406557A CN201110440655A CN102540181A CN 102540181 A CN102540181 A CN 102540181A CN 2011104406557 A CN2011104406557 A CN 2011104406557A CN 201110440655 A CN201110440655 A CN 201110440655A CN 102540181 A CN102540181 A CN 102540181A
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Abstract
The invention discloses a flight path initializing method based on trace point preprocessing of an environmental information graph. The flight path initializing method includes following steps: (1) traversing regions and establishing the environmental information graph; (2) carrying out trace point preprocessing by the aid of the environmental information graph; and (3) roughly associating trace points in flight path initialization by the aid of Hough transformation at first, and then carrying out association fuzzy elimination by a correcting logical method. The flight path initializing method can effectively resolve problems relevant to initialization of a maneuvering target in a strong clutter environment, can rapidly detect an initial real flight path by high probability and provides technical support for stable tracking of the target.
Description
Technical field
The invention belongs to the initial tracking technique of electronic detection targetpath field, particularly a kind ofly be applicable in the vessel traffic navigational system (VTS) track initiation of target under the complicated water surface clutter environment.
Background technology
Track initiation is the first step in the flight path management, is Track In Track, the prerequisite kept.Though a lot of achievements in research occurred for the targetpath management aspect in recent years, also seldom for the research of track initiation.Existing track initiation algorithm can be divided into sequential processes technology and batch system two big classes.As a rule, the alphabetic data treatment technology is applicable to the track initiation in the relative no clutter environment, mainly comprises the method for heuristic rule method and logic-based.The batch data treatment technology is applicable to clutter environment, mainly comprises Hough converter technique and the relevant improvement algorithm of deriving out thereof.In people's such as Leung H research; Once top these track initiation methods were carried out special contrast; Research shows; The order track initiation method that is representative with the method and the heuristic rule of logic is under the lower situation of false-alarm probability, and initial effect is relatively good, but under complex environment poor-performing; With the Hough converter technique is the environment that the batch processing track initiation method of representative is applicable to course made good under the clutter background; The Hough converter technique usually needs the scanning repeatedly could initial preferably flight path under intensive environment; And cause that easily " shot array " brings the calculated amount problem that over-burden, thereby be unfavorable for the initial fast of flight path.
In recent years, along with the appearance of complex environment, the data fusion technology has obtained significant progress, and the multiple goal track initiation is kept, follows the tracks of the same with the multiple goal flight path, also needs the data association technology.The data association technology mainly contains following three classification: arest neighbors (Nearest Neighbor, NN) algorithm, probabilistic data association (Probability Data Association, PDA) algorithm, many hypothesis (Multiple Hypothesis, MPH) algorithm.The NN algorithm is the most frequently used algorithm in data association field; It also is simple algorithm; The two kinds of algorithms in back have obtained extensive studies in the data association field in recent years in theory, but since the singularity (utilizing rough measurement to accomplish track initiation fast in the short time) of track initiation problem, the feasible method that relates to likelihood, posterior probability, detection probability, false-alarm probability; Can only as a kind of in theory with method on investigation, itself does not have too many practical value at present for engineering.
Based on above analysis, still there is not a kind of track initiation method that can really be fit to practical applications at present, be left to be desired.
Summary of the invention
Technical matters to be solved by this invention; Be to defective and deficiency in the aforementioned background art; Provide a kind of based on the pretreated track initiation method of environmental information figure point mark; It can effectively solve the initial problem of maneuvering target under the strong clutter environment, can go out initial real flight path rapidly and with higher Probability Detection, for the tenacious tracking of target provides technical support.
The present invention is for solving above technical matters, and the technical scheme that is adopted is:
A kind of based on the pretreated track initiation method of environmental information figure point mark, comprise the steps:
(1) environmental information figure is set up in the traversal zone;
(2) utilize aforementioned environmental information figure to carry out a mark pre-service;
(3) at first carry out thick association, carry out Interconnected Fuzzy with the correction logic method then and get rid of with the some mark in the Hough transfer pair track initiation.
Above-mentioned steps (1) comprises following content: the position of at first adding up each sector point mark in each scan period; Travel through the reference point mark in each cycle then, the reference point mark is put into corresponding area grid and write down corresponding information; Travel through area grid at last, adopt the M/N criterion to carry out the initial of environmental information figure, finally set up environmental information figure.
Above-mentioned steps (2) comprises following content: set up automatic initiation region, compare according to a mark azimuth-range and automatic initiation region, if fall into automatic initiation region; It then is the some mark in the automatic initiation region; Through to each clutter point mark inspection, carry out radar environmental information figure and filter, select through local maximum in zone and time maximum point; Criticize track association to compiling, and carry out initial interim track association automatically.
After adopting such scheme, the present invention uses the area dividing grid and seeks connected domain and put the mark preconditioning technique and set up environmental information figure, can effectively reject the false track of the overwhelming majority in the track initiation.Environmental information figure is the basis with a mark, and atural object, position, movable information static and slow target are stored, and can better be suppressed the Interconnected Fuzzy phenomenon in track initiation and the tracking.Logic start algorithm could initial effect under strong clutter environment is relatively poor; And the Hough conversion can only initial straight-line target; But initial effect is better under clutter environment, and the present invention adopts Hough mapping algorithm and logic track initiation technology, on the basis of setting up environmental information figure; Propose a kind of mixing track initiation algorithm of suitable practical applications newly, solved the initial problem of maneuvering target under the strong clutter environment preferably.
Description of drawings
Fig. 1 is a process flow diagram of the present invention;
Fig. 2 is two synoptic diagram that sinusoidal curve intersects in the rectangular coordinate system;
Fig. 3 is the synoptic diagram that parameter space is subdivided into accumulator element.
Embodiment
Below with reference to accompanying drawing, technical scheme of the present invention is elaborated.
As shown in Figure 1, it is a kind of based on the pretreated track initiation method of environmental information figure point mark that the present invention provides, and comprises the steps:
(1) sets up environmental information figure
The position of each sector in (be radar scanning search cycle) of at first adding up each scan period (sector is to be divided into 32 zones with comprehensive, is prior art) some mark; Travel through the reference point mark in each cycle then, the reference point mark is put into corresponding area grid (area grid is meant according to radar measurement accuracy, under radar fix system to a kind of division of observation scope) and write down corresponding information; Travel through area grid at last, adopt M/N criterion (even in same grid, have M some mark to fall in N cycle, think that then this grid belongs to the clutter zone) to carry out the initial of environmental information figure, finally set up environmental information figure.
(2) the environment for use hum pattern carries out a mark pre-service
Set up automatic initiation region,, compare with automatic initiation region according to information such as mark azimuth-ranges; If fall into automatic initiation region, then be the some mark in the automatic initiation region, through each clutter point mark is checked; Carrying out radar environmental information figure filters; Select through regional local maximum and inferior maximum point, criticize track association, and carry out initial interim track association automatically compiling.
(3) based on the mixing track initiation method of Hough conversion and correction logic
Mainly be meant at first and carry out thick association, carry out Interconnected Fuzzy with the correction logic method then and get rid of, so this step is divided into following two processes with the some mark in the Hough transfer pair track initiation:
A. the some mark in the track initiation is slightly related
The core concept of said Hough conversion is to set up a kind of duality relation of point-line, makes image before conversion, be image space, and is parameter space after the conversion, through the analysis to the parameter distribution situation on the parameter space, straight line is detected.
The canonical representation equation of straight line is: xcos θ+ysin θ=ρ.
A bit (x of given image space
i, y
i), corresponding to parameter space (ρ, a sinusoidal curve in θ):
x
icosθ+y
isinθ＝ρ
Cooperate shown in Figure 2, two point (x in the given image space
i, y
i), (x
j, y
j), (ρ, two sinusoidal curves in θ) are if they meet at a little to correspond to parameter space
Then
Be two point (x
i, y
i), (x
j, y
j) straight line.
(ρ θ) is subdivided into some accumulator elements, and is as shown in Figure 3, wherein (ρ with parameter space
Min, ρ
Max) and (θ
Min, θ
Max) be respectively the span of parameter value in the parameter space.Generally speaking, the maximum magnitude of θ value is-90 °≤θ≤90 °, and the maximum magnitude of ρ value is-D≤ρ≤D, and wherein D is distance between angle point in the image (also being the distance between farthest two points in the image).Coordinate (i, the unit of j) locating, the value that adds up be A (i, j), corresponding to parameter space coordinate (ρ
i, θ
j) relevant grid.These unit are changed to 0 when initial; Then image is scanned, if background dot do not handle, if impact point (x
k, y
k), make θ equal the segmentation value that allows on the θ axle, and through formula ρ=x
kCos θ+y
kSin θ obtains corresponding ρ value, is rounded up to the permission cell value on the ρ axle, and corresponding accumulator element increases by 1; After then Flame Image Process finishes, and A (i, j)=Q representes that (x, y) Q point is positioned at certain bar straight line xcos θ on the plane
j+ ysin θ
j=ρ
iOn.(ρ, θ) the segmentation number on the plane has determined the precision of these conllinear.
The thick association phase of some mark in track initiation mainly is to utilize clutter different with the target travel characteristic, adopts the Hough conversion to remove false clutter point as much as possible.Particularly, be θ value area dividing N
θIndividual zonule,
Each regional central point is:
Be divided into N to ρ
ρIndividual unit,
The central point of each unit is:
If the quantity of the point in the unit has surpassed predetermined threshold value (the threshold value value here is relevant with the kinetic characteristic of the environment of track initiation and target), then detecting one maybe flight path.
B. the Interconnected Fuzzy in the track initiation is got rid of
In above-mentioned Hough conversion stages; A large amount of assorted points is rejected,, utilize the correction logic method to combine track points mark maximal correlation probability technology for the situation of the some mark that occurs with some mark Interconnected Fuzzy; The inertia extrapolation technique, the target signature recognition technology is carried out deblurring and is obtained real flight path.
When utilizing the initial flight path of Hough conversion, owing to there is the influence of clutter, therefore, the size of Δ θ and the selection of thresholding directly have influence on the track initiation performance, nonoptional general standard.We advise selecting bigger Δ θ, to guarantee with higher Probability Detection to all real flight paths.
Above embodiment is merely explanation technological thought of the present invention, can not limit protection scope of the present invention with this, every technological thought that proposes according to the present invention, and any change of on the technical scheme basis, being done all falls within the protection domain of the present invention.
Claims (3)
1. one kind based on the pretreated track initiation method of environmental information figure point mark, it is characterized in that comprising the steps:
(1) environmental information figure is set up in the traversal zone;
(2) utilize aforementioned environmental information figure to carry out a mark pre-service;
(3) at first carry out thick association, carry out Interconnected Fuzzy with the correction logic method then and get rid of with the some mark in the Hough transfer pair track initiation.
2. as claimed in claim 1 a kind of based on the pretreated track initiation method of environmental information figure point mark, it is characterized in that said step (1) comprises following content: the position of at first adding up each sector point mark in each scan period; Travel through the reference point mark in each cycle then, the reference point mark is put into corresponding area grid and write down corresponding information; Travel through area grid at last, adopt the M/N criterion to carry out the initial of environmental information figure, finally set up environmental information figure.
3. as claimed in claim 1 a kind of based on the pretreated track initiation method of environmental information figure point mark; It is characterized in that said step (2) comprises following content: set up automatic initiation region, compare according to a mark azimuth-range and automatic initiation region, if fall into automatic initiation region; It then is the some mark in the automatic initiation region; Through to each clutter point mark inspection, carry out radar environmental information figure and filter, select through local maximum in zone and time maximum point; Criticize track association to compiling, and carry out initial interim track association automatically.
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Cited By (13)
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| CN103744057A (en) * | 2013-12-24 | 2014-04-23 | 河海大学 | Ballistic trajectory forming method based on output correlation adaptive Kalman filter |
| CN104391294A (en) * | 2014-11-27 | 2015-03-04 | 中国船舶重工集团公司第七二四研究所 | Connection domain characteristic and template matching based radar plot correlation method |
| CN104569923A (en) * | 2015-02-05 | 2015-04-29 | 中国人民解放军海军航空工程学院 | Velocity restraint-based Hough transformation fast track starting method |
| CN105116394A (en) * | 2015-06-29 | 2015-12-02 | 中国船舶重工集团公司第七二四研究所 | Object trace point extraction method based on multi-dimensional fine characteristic analysis |
| CN107015205A (en) * | 2017-03-15 | 2017-08-04 | 电子科技大学 | A kind of false target removing method of distributed MIMO detections of radar |
| CN107255803A (en) * | 2017-07-24 | 2017-10-17 | 中电科技（合肥）博微信息发展有限责任公司 | A kind of ship track logic start algorithm could |
| CN107688170A (en) * | 2017-08-21 | 2018-02-13 | 哈尔滨工业大学 | A kind of Radar Target Track initial mode based on random forest |
| CN108490432A (en) * | 2018-05-18 | 2018-09-04 | 中船重工鹏力（南京）大气海洋信息系统有限公司 | A kind of method that global object tracks in navigation radar system |
| CN109613483A (en) * | 2018-10-30 | 2019-04-12 | 上海无线电设备研究所 | A kind of multi-target traces initial mode based on Hough transform |
| CN109856629A (en) * | 2019-01-11 | 2019-06-07 | 中国船舶重工集团公司第七二四研究所 | The parallel track initiation method of region rasterizing Multiple feature association based on Hough transformation |
| CN111324686A (en) * | 2020-02-28 | 2020-06-23 | 浙江大华技术股份有限公司 | Target measurement track acquisition method and device, storage medium and electronic device |
| CN112163307A (en) * | 2020-09-29 | 2021-01-01 | 中国船舶重工集团公司第七二四研究所 | Target credible area plotting method for cross-station information guarantee |
| CN114895295A (en) * | 2022-04-19 | 2022-08-12 | 中国电子科技集团公司第十研究所 | K-neighbor-based communication scatter association acceleration method and system |
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| CN103744057B (en) * | 2013-12-24 | 2016-06-01 | 河海大学 | Based on the ballistic trajectory forming method exporting dependent adaptive Kalman filtering |
| CN103744057A (en) * | 2013-12-24 | 2014-04-23 | 河海大学 | Ballistic trajectory forming method based on output correlation adaptive Kalman filter |
| CN104391294A (en) * | 2014-11-27 | 2015-03-04 | 中国船舶重工集团公司第七二四研究所 | Connection domain characteristic and template matching based radar plot correlation method |
| CN104569923A (en) * | 2015-02-05 | 2015-04-29 | 中国人民解放军海军航空工程学院 | Velocity restraint-based Hough transformation fast track starting method |
| CN105116394A (en) * | 2015-06-29 | 2015-12-02 | 中国船舶重工集团公司第七二四研究所 | Object trace point extraction method based on multi-dimensional fine characteristic analysis |
| CN107015205B (en) * | 2017-03-15 | 2020-03-27 | 电子科技大学 | False target elimination method for distributed MIMO radar detection |
| CN107015205A (en) * | 2017-03-15 | 2017-08-04 | 电子科技大学 | A kind of false target removing method of distributed MIMO detections of radar |
| CN107255803A (en) * | 2017-07-24 | 2017-10-17 | 中电科技（合肥）博微信息发展有限责任公司 | A kind of ship track logic start algorithm could |
| CN107255803B (en) * | 2017-07-24 | 2020-07-24 | 中电科技（合肥）博微信息发展有限责任公司 | Ship track logic initiation algorithm |
| CN107688170A (en) * | 2017-08-21 | 2018-02-13 | 哈尔滨工业大学 | A kind of Radar Target Track initial mode based on random forest |
| CN107688170B (en) * | 2017-08-21 | 2020-08-28 | 哈尔滨工业大学 | Radar target track starting method based on random forest |
| CN108490432A (en) * | 2018-05-18 | 2018-09-04 | 中船重工鹏力（南京）大气海洋信息系统有限公司 | A kind of method that global object tracks in navigation radar system |
| CN109613483A (en) * | 2018-10-30 | 2019-04-12 | 上海无线电设备研究所 | A kind of multi-target traces initial mode based on Hough transform |
| CN109856629A (en) * | 2019-01-11 | 2019-06-07 | 中国船舶重工集团公司第七二四研究所 | The parallel track initiation method of region rasterizing Multiple feature association based on Hough transformation |
| CN111324686A (en) * | 2020-02-28 | 2020-06-23 | 浙江大华技术股份有限公司 | Target measurement track acquisition method and device, storage medium and electronic device |
| CN111324686B (en) * | 2020-02-28 | 2021-09-17 | 浙江大华技术股份有限公司 | Target measurement track acquisition method and device, storage medium and electronic device |
| CN112163307A (en) * | 2020-09-29 | 2021-01-01 | 中国船舶重工集团公司第七二四研究所 | Target credible area plotting method for cross-station information guarantee |
| CN114895295A (en) * | 2022-04-19 | 2022-08-12 | 中国电子科技集团公司第十研究所 | K-neighbor-based communication scatter association acceleration method and system |
| CN114895295B (en) * | 2022-04-19 | 2023-06-02 | 中国电子科技集团公司第十研究所 | Communication scattered point association acceleration method and system based on K nearest neighbor |
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