CN102540181B - Flight path initializing method based on trace point preprocessing of environmental information graph - Google Patents

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

A kind of based on the pretreated track initiation method of environmental information figure point mark

Technical field

The invention belongs to the initial tracking technique of electronic detection targetpath field, particularly a kind ofly be applicable in vessel traffic navigational system (VTS) track initiation of target under complicated water surface clutter environment.

Background technology

Track initiation is the first step in flight path management, is Track In Track, the prerequisite that maintains.Although a lot of achievements in research occurred for the targetpath management aspect in recent years, for the research of track initiation also seldom.Existing Track initialization algorithm can be divided into sequential processes technology and the large class of batch system two.As a rule, the alphabetic data treatment technology is applicable to relative to the track initiation in 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 be derived thereof.In the people's such as Leung H research, once top these track initiation methods were carried out to special contrast, research shows, take the method for logic and order track initiation method that heuristic rule is representative in the situation that false-alarm probability is lower, initial effect is relatively good, but under complex environment poor-performing; The batch processing track initiation method that the Hough converter technique of take is representative is applicable to the environment of course made good under the clutter background, under intensive environment, the Hough converter technique usually needs scanning repeatedly initial flight path preferably, and easily cause that " 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, Data fusion technique has obtained significant progress, the initial same multi-target traces of multi-target traces maintains, follows the tracks of, also needs the data correlation technology.The data correlation 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) algorithms.The NN algorithm is the most frequently used algorithm in data correlation field, it is also the simplest algorithm, the latter two algorithm has obtained research widely in recent years on the data correlation Domain Theory, but the singularity (utilizing rough measurement to complete fast track initiation in the short time) due to the track initiation problem, make the 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 no a kind of track initiation method that can really be applicable to the engineering application at present, be left to be desired.

Summary of the invention

Technical matters to be solved by this invention, for the defect in aforementioned background art and deficiency, 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 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 adopted is:

A kind of based on the pretreated track initiation method of environmental information figure point mark, comprise the steps:

(1) the traversal zone, set up environmental information figure;

(2) utilize aforementioned environmental information figure to carry out a mark pre-service;

(3) at first with the some mark in Hough transfer pair track initiation, carry out thick association, then by the correction logic method, carry out the Interconnected Fuzzy eliminating.

Above-mentioned steps (1) comprises following content: at first add up Dian Jide position, each sector in each scan period; Then travel through the reference point mark in each cycle, the reference point mark is put into to corresponding area grid and recorded corresponding information; Finally travel through area grid, 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, according to a mark azimuth-range and automatic initiation region, compare, if fall into automatic initiation region, it is the some mark in automatic initiation region, by to each clutter point mark inspection, carry out the filtration of radar environments hum pattern, by the local maximum and inferior maximum point in zone, select, to compiling batch track association, and carry out initial interim track association automatically.

After adopting such scheme, the present invention uses regional grid division and finds 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 track initiation.Environmental information figure be take a mark as basis, and atural object, position, movable information static and slow target are stored, and to the Interconnected Fuzzy phenomenon in track initiation and tracking, can better be suppressed.Logic start algorithm could initial effect under strong clutter environment is poor, and Hough conversion can only initial straight-line target, but initial effect is better under clutter environment, the present invention adopts Hough mapping algorithm and logic track initiation technology, on the basis of setting up environmental information figure, propose the mixing Track initialization algorithm that a kind of new applicable engineering is applied, solved preferably the initial problem of maneuvering target under strong clutter environment.

The accompanying drawing explanation

Fig. 1 is process flow diagram of the present invention;

Fig. 2 is two schematic diagram that sinusoidal curve is crossing in rectangular coordinate system;

Fig. 3 is subdivided into the schematic diagram of accumulator element to parameter space.

Embodiment

Below with reference to accompanying drawing, technical scheme of the present invention is elaborated.

As shown in Figure 1, the invention provides a kind ofly based on the pretreated track initiation method of environmental information figure point mark, comprise the steps:

(1) set 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 by comprehensive, is prior art) some mark; Then travel through the reference point mark in each cycle, the reference point mark is put into to corresponding area grid (area grid refers to according to radar measurement accuracy, under radar fix system to a kind of division of observation scope) and recorded corresponding information; Finally travel through area grid, adopt M/N criterion (even in N cycle, have M some mark to fall in same grid, think that 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, according to information such as mark azimuth-ranges, with automatic initiation region, compare, if fall into automatic initiation region, be the some mark in automatic initiation region, by each clutter point mark inspection, carry out the filtration of radar environments hum pattern, select by the local maximum and inferior maximum point in zone, to compiling batch track association, and carry out initial interim track association automatically.

(3) the mixing track initiation method based on Hough conversion and correction logic

Mainly refers at first and carry out thick association with the some mark in Hough transfer pair track initiation, then by the correction logic method, carry out the Interconnected Fuzzy eliminating, so this step is divided into following two processes:

A. the some mark in track initiation is slightly associated

The core concept of described Hough conversion is to set up a kind of duality relation of point-line, and make image is image space before conversion, and is parameter space after conversion, by the analysis of the parameter distribution situation on parameter space, straight line is detected.

The canonical representation equation of straight line is: xcos θ+ysin θ=ρ.

A bit (x of Given Graph image space _i, y _i), corresponding to a sinusoidal curve in parameter space (ρ, θ):

x _icosθ+y _isinθ＝ρ

Coordinate shown in Fig. 2 two point (x in the Given Graph image space _i, y _i), (x _j, y _j), correspond to two sinusoidal curves in parameter space (ρ, θ), if they meet at a little

Two point (x _i, y _i), (x _j, y _j) straight line.

Parameter space (ρ, θ) is subdivided into to some accumulator elements, as shown in Figure 3, (ρ wherein _min, ρ _max) and (θ _min, θ _max) be respectively the span of parameter value in parameter space.In general, 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 angle point spacing in image (being also the distance between two points farthest in image).The unit that coordinate (i, j) is located, cumulative value is A (i, j), corresponding to parameter space coordinate (ρ _i, θ _j) relevant grid.When initial, these unit are set to 0; Then image is scanned, if background dot do not process, if impact point (x _k, y _k), make θ equal the segmentation value allowed on the θ axle, and by formula ρ=x _kCos θ+y _kSin θ, obtain corresponding ρ value, is rounded up to the permission cell value on the ρ axle, and corresponding accumulator element increases by 1; After image is disposed, A (i, j)=Q means that on (x, y) plane, Q point is positioned at certain straight line xcos θ _j+ ysin θ _j=ρ _iOn.Segmentation number on (ρ, θ) plane has determined the precision of these conllinear.

The thick association phase of some mark in track initiation, be mainly to utilize clutter different with the target travel characteristic, adopts the Hough conversion to remove as much as possible false clutter point.Particularly, θ value zone is divided into to N _θIndividual zonule, $\mathrm{\Δ\θ}=\frac{\mathrm{\π}}{N_{\mathrm{\θ}}},$ Each regional central point is: ${\mathrm{\θ}}_n=(n-\frac{1}{2})\mathrm{\Δ\θ},n=\mathrm{1,2},L,N_{\mathrm{\θ}}.$

ρ is divided into to N _ρIndividual unit,

The central point of each unit is:

${\mathrm{\ρ}}_n=(n-\frac{1}{2})\mathrm{\Δ\ρ},n=\mathrm{1,2},L,N_{\mathrm{\ρ}}.$

If the quantity of the point in 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), a potential track detected.

B. the Interconnected Fuzzy in track initiation is got rid of

In above-mentioned Hough conversion stages, a large amount of assorted points is rejected, the situation for the some mark occurred with some mark Interconnected Fuzzy, utilize the correction logic method in conjunction with track points mark maximal correlation probability technology, the inertia extrapolation technique, the target signature recognition technology is carried out deblurring and is obtained real flight path.

When utilizing Hough to convert initial flight path, due to the impact that has 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 larger Δ θ, to guarantee with higher Probability Detection to all real flight paths.

Above embodiment only, for explanation technological thought of the present invention, can not limit protection scope of the present invention with this, every technological thought proposed according to the present invention, and any change of doing on the technical scheme basis, within all falling into protection domain of the present invention.

Claims (1)

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) the traversal zone, set up environmental information figure; Comprise following content:

At first add up Dian Jide position, each sector in each scan period; Then travel through the reference point mark in each cycle, the reference point mark is put into to corresponding area grid and recorded corresponding information; Finally travel through area grid, adopt the M/N criterion to carry out the initial of environmental information figure, finally set up environmental information figure; If described M/N criterion refers in N cycle have M some mark to fall into, think that this grid belongs to the clutter zone in same grid;

(2) utilize aforementioned environmental information figure to carry out a mark pre-service; Comprise following content:

Set up automatic initiation region, according to a mark azimuth-range and automatic initiation region, compare, if fall into automatic initiation region, it is the some mark in automatic initiation region, by to each clutter point mark inspection, carry out the filtration of radar environments hum pattern, by the local maximum and inferior maximum point in zone, select, to compiling batch track association, and carry out initial interim track association automatically;

(3) at first with the some mark in Hough transfer pair track initiation, carry out thick association, then by the correction logic method, carry out the Interconnected Fuzzy eliminating.

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