CN104569963A - Moving target one-dimensional detecting and tracking method for ultra-wideband through-wall radar - Google Patents
Moving target one-dimensional detecting and tracking method for ultra-wideband through-wall radar Download PDFInfo
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
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Abstract
The invention provides a moving target one-dimensional detecting and tracking method for ultra-wideband through-wall radar. According to the method, a moving target behind an obstacle is subjected to real-time accurate one-dimensional detecting and tracking through echo data of a pair of sensors of the ultra-wideband through-wall radar; the problem that echo instability causes difficulty in recognizing and positioning the targets during one-dimensional through-wall detecting is partly solved; meanwhile, the multiple moving targets behind the obstacle can be detected at the same time, and thus, the contradiction between the sensor quantity limit (hardware system size limit) and multi-target detecting capacity of the ultra-wideband through-wall radar can be effectively solved.
Description
Technical field
The present invention relates to ultra-wideband radar technology field, particularly relate to a kind of method for ultra-broadband wall-through Radar Moving Target one dimension detection and tracking.
Background technology
Pulse ultra-wideband through-wall radar is a kind of short-distance movement target detection radar based on ultra-wideband pulse technology, it is by launching ultra wideband narrow-pulse signal, penetrate general barrier (as all kinds of brick walls in common building thing, reinforced concrete wall etc.), receive and analyze echoed signal, in real time for moving target (people) after operating personnel's disturbance in judgement thing existence and the positional information of target and motion conditions thereof etc. are provided exactly, to reach the object to being hidden in the moving target after barrier and carrying out non-invasive detection, improve operating personnel to scout and detection, the ability of the aspects such as Situation Awareness.
The different arrangement mode of the sensor (dual-mode antenna) that ultra-broadband wall-through radar uses according to it can possess different detectivities.Based on the through-wall radar of single-sensor, the A-Scan echo that sensor receives can be utilized, therefrom obtain time delay corresponding to target echo, and then obtain the one-dimension information such as radial distance of target and radar.This kind of through-wall radar possessing one dimension detectivity, owing to only using pair of sensors, thus has little, lightweight, the portable feature of volume, the portable ultra-broadband wall-through radar so it is otherwise known as.
In the actual use of through-wall radar, often be subject to many impacts from himself and extraneous unfavorable factor, the random thermal noise of such as radar system, the uncertainty of body of wall medium and distribution thereof, multipath effect in acquisition environment etc., these unfavorable factors can cause severe jamming to radar return, directly cause portable through-wall radar to occur unstable situation to the location of target, to operating personnel's resolution target, determine that target location all brings very big inconvenience.
In addition, because number of sensors is very few, portable through-wall radar only effectively can follow the tracks of a moving target usually, and when there are two to three moving targets in tested region, it often can only follow the tracks of a strongest target of reflection echo energy, and remaining target then cannot effectively be detected.Visible, to the quantitative limitation of sending and receiving sensor number, in other words to the high requirement of through-wall radar portability, often constrain ultra-broadband wall-through radar to multiobject detectivity.
Realizing in process of the present invention, applicant recognizes: if all extracted the position in sensors A-Scan echo being likely target by effective detection means, and then again the target of diverse location is followed the tracks of respectively, then can solve above-mentioned by the unstable problem brought in location to a certain extent, also effectively can solve the contradiction of ultra-broadband wall-through radar between number of sensors restriction and multiple target detection ability simultaneously.Therefore, how to utilize the echo data of ultra-broadband wall-through radar single-sensor to carry out in real time the multiple moving targets after barrier, one dimension detects and follows the tracks of accurately is those skilled in the art's technical matterss urgently to be resolved hurrily.
Summary of the invention
(1) technical matters that will solve
In view of above-mentioned technical matters, the invention provides a kind of method for ultra-broadband wall-through Radar Moving Target one dimension detection and tracking.
(2) technical scheme
The method that the present invention is used for ultra-broadband wall-through Radar Moving Target one dimension detection and tracking comprises: steps A: the A-Scan echo data r in n moment time slow to ultra-broadband wall-through radar
0n () is carried out pretreatment operation and is obtained echo data r (n); Step B: carry out moving object detection by echo data r (n), obtains moving target point mark p (n) in n moment, realizes moving target one dimension and detects; Step C: each bar that n moment moving target all possible some mark p (n) and n-1 moment are formed is stablized flight path ST
kand the interim flight path TT of each bar (n-1)
l(n-1) carry out association matching operation, obtain n moment each bar and stablize flight path ST
kobserved reading y
kthe interim flight path TT of (n) and each bar
lobserved reading z
l(n), wherein, k and l is the numbering of stable flight path and interim flight path respectively; Step D: to the stable flight path ST in n-1 moment
kand interim flight path TT (n-1)
l(n-1) carry out flight path management, comprise track initiation, flight path maintains and flight path deletion action, form the stable flight path ST in n moment
k(n) and interim flight path TT
l(n); And step e: each bar in n moment is stablized flight path ST
kthe observed reading y of (n) and correspondence thereof
kn the Kalman filter under () input Interactive Multiple-Model carries out optimal filtering, in acquisition n moment tested region, each target is from the range estimation of radar
(3) beneficial effect
As can be seen from technique scheme, the method that the present invention is used for ultra-broadband wall-through Radar Moving Target one dimension detection and tracking has following beneficial effect:
(1) utilize ultra-broadband wall-through radar to carry out in real time the moving target after barrier the echo data of sensor, one dimension detection and tracking accurately, solve the target brought due to echo instability in one dimension through-wall detection to a certain extent and be difficult to differentiate and the problem of location;
(2) owing to can detect and following the tracks of the multiple moving targets after barrier simultaneously, the contradiction of ultra-broadband wall-through radar between number of sensors restriction (restriction of hardware system volume) and multiple target detection ability can thus effectively be solved.
Accompanying drawing explanation
Fig. 1 is according to the process flow diagram of the embodiment of the present invention for the method for ultra-broadband wall-through Radar Moving Target one dimension detection and tracking;
Figure 2 shows that the gray-scale map of one group of raw experimental data (B-Scan) that portable through-wall radar collects, wherein per pass A-Scan is through amplitude normalization process;
Figure 3 shows that the Moving Target Return that Fig. 2 result obtains after adjacent offseting, and per pass A-Scan is through amplitude normalization process;
Figure 4 shows that Fig. 3 Moving Target Return detects the Targets Dots in all moment obtained through CFAR;
Figure 5 shows that target range that Fig. 2 data finally export through the algorithm of the present invention situation with slow time-varying.
Embodiment
For making the object, technical solutions and advantages of the present invention clearly understand, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.It should be noted that, in accompanying drawing or instructions describe, similar or identical part all uses identical figure number.The implementation not illustrating in accompanying drawing or describe is form known to a person of ordinary skill in the art in art.In addition, although herein can providing package containing the demonstration of the parameter of particular value, should be appreciated that, parameter without the need to definitely equaling corresponding value, but can be similar to corresponding value in acceptable error margin or design constraint.
The present invention is a kind of method for ultra-broadband wall-through Radar Moving Target one dimension detection and tracking.Make portable ultra-broadband wall-through radar when slow n reception to A-Scan echoed signal be r (n), fundamental purpose of the present invention is the estimated value obtaining all moving targets and radar radial distance in n moment tested region from echoed signal r (n).
In one exemplary embodiment of the present invention, provide a kind of method for ultra-broadband wall-through Radar Moving Target one dimension detection and tracking.Fig. 1 is according to the process flow diagram of the embodiment of the present invention for the method for ultra-broadband wall-through Radar Moving Target one dimension detection and tracking.As shown in Figure 1, the present embodiment comprises:
Steps A: the A-Scan echo data r in n moment time slow to portable ultra-broadband wall-through radar
0n () is carried out pretreatment operation and is obtained echo data r (n);
Wherein, this A-Scan echo data r
0n () is obtained by ultra-broadband wall-through radar a pair sending and receiving sensor, pretreated pretreatment operation carried out to it different because of different radar systems, generally comprise the baseband signal process means such as cumulative mean, bandpass filtering, shake removal, matched filtering, envelope detected.
In the present embodiment, pretreatment operation adopts bandpass filtering and matched filtering two operation, namely
r(n)＝MF{BPF{r
0(n)}} (1)
Wherein, BPF{} represents that bandpass filtering operates, and MF{} represents that matched filtering operates.
It should be noted that, the object of this pre-treatment step is that echo data is more regular, and intractability is less, and in other embodiments of the present invention, this pre-treatment step also can be omitted.
Step B: carry out moving object detection by echo data r (n), obtains moving target all possible some mark p (n) in n moment, realizes moving target one dimension and detects;
The ultra-broadband wall-through Radar Moving Target one dimension of this step B detects and specifically comprises:
Sub-step B1: do difference by echo data r (n) in n moment and echo data r (n-1) pointwise in n-1 moment, the Moving Target Return obtaining the n moment is r
1(n), that is:
r
1(n)＝r(n)-r(n-1) (2)
Sub-step B2: to Moving Target Return r
1n () is carried out CFAR (Constant False AlarmRate is called for short CFAR) and is detected, obtain n moment moving target all possible some mark p (n).
Step C: ultra-broadband wall-through Radar Multi Target one-dimensional data associates, each bar formed by n moment moving target all possible some mark p (n) and n-1 moment stablizes flight path (Stable Track is called for short ST) ST
kand the interim flight path of each bar (Temporary Track, be called for short TT) TT (n-1)
l(n-1) carry out association matching operation, obtain n moment each bar ST
kobserved reading y
k(n) and each bar TT
lobserved reading z
l(n), wherein, k is the numbering of stable flight path, i.e. k=1,2 ...; L is the numbering of interim flight path, i.e. l=1,2 ...;
In the present embodiment, stable flight path refers in radar coverage, is considered to that real motion target produces, keeps the flight path of tracking for a long time; Interim flight path is then that initial time is long, confidence level is not high enough, need the flight path differentiated further.The relation of the two is, when interim flight path continued presence Targets Dots within a period of time can match, then think that this interim flight path is produced by real goal, thus be translated into stable flight path and set up filtering equations and it is followed the tracks of, otherwise, that this interim flight path is considered to be produced by noise spot mark and deleted, concrete operations can manage see step D flight path.
The association of this step C ultra-broadband wall-through Radar Multi Target one-dimensional data specifically comprises:
Sub-step C1: stablize flight path ST with n-1 moment each bar
k(n-1) the range prediction value of Kalman filter
it is d that a width is set up at the center of being respectively
1neighborhood A
k.With the interim flight path TT of n-1 moment each bar
l(n-1) a width d is set up at the observed reading center of being respectively
2neighborhood B
l;
Sub-step C2: n moment moving target all possible some mark p (n) is screened, drops on A
k(k=1,2 ...) and some mark p
1kn () is that correspondence stablizes flight path ST
krelating dot trace set; Drop on B
l(l=1,2 ...) and some mark p
2ln () is corresponding interim flight path TT
lrelating dot trace set; Left point mark in p (n) (does not appear at any A
kand B
lin some mark) p
3n () is considered to may be the some mark that fresh target produces, initial for new flight path;
Sub-step C3: if
then adopt JPDA (Joint ProbabilisticData Association, JPDA) algorithm by p
1k(n) and corresponding stable flight path ST
kcarry out association matching operation, obtain and stablize flight path ST
kat the observed reading y in n moment
k(n); If
then y
kn () namely equals in step C1
Sub-step C4: if in step C2
then adopt JPDA algorithm by p
2l(n) and corresponding interim flight path TT
lcarry out association matching operation, obtain interim flight path TT
lat the observed reading z in n moment
l(n); If
then not to this TT
ldo any operation.
It should be noted that, the initial time that program is run, namely during n=1, owing to there is not any flight path, thus whole step C is skipped and does not perform; Equally, in follow-up operational process, if there is not stable flight path or interim flight path after a upper moment (n-1 moment) program end of run, the so current n moment then skips the corresponding operating in step C and does not perform.Such as, if only there is interim flight path after n-1 moment end of run and do not stablize flight path, then skip wherein relevant to stable flight path operation and do not perform when so the n moment runs this step C, only processing for interim flight path.
Step D: ultra-broadband wall-through radar one dimension flight path manages, namely to the stable flight path ST in n-1 moment
k(n-1) (k=1,2 ...) and interim flight path TT
l(n-1) (l=1,2 ...) carry out flight path management, comprise the operations such as track initiation, flight path maintenance and flight path deletion, form the stable flight path ST in n moment
k(n) and interim flight path TT
l(n);
The management of this step D ultra-broadband wall-through radar one dimension flight path specifically comprises:
Sub-step D1: for the stable flight path ST all stablized in flight path
kif, its N continuous
1secondary appearance
situation, then think that target corresponding to this stable flight path has been left tested region and deleted;
Sub-step D2: for the interim flight path TT in whole interim flight path
lif it occurs
situation, then think that this interim flight path is deleted by the formation of noise; If certain interim flight path TT
ln continuous
2secondary appearance
situation, then think that this interim flight path is formed by a real goal and changed into a new stable flight path to be used for following the tracks of this target;
Sub-step D3: by the p in sub-step C2
3n each point mark in (), respectively as the starting point mark of a new interim flight path, namely opens a new interim flight path respectively.
It should be noted that, the initial time that program is run, namely during n=1, owing to there is not any flight path, thus sub-step D1 and D2 will be skipped and not perform, and directly perform the operation that sub-step D3 carries out track initiation; Equally; in follow-up operational process; if there is not stable flight path or interim flight path after a upper moment (n-1 moment) program end of run, again or any some mark do not detected, the so current n moment then skips the corresponding operating in step D and does not perform.Such as, if only there is interim flight path after n-1 moment end of run and do not stablize flight path, then skip sub-step D1 and do not perform when so the n moment runs this step D, only performing the associative operation in sub-step D2, D3.
Step e: ultra-broadband wall-through radar one dimension tracking filter, each bar by the n moment formed in step D stablizes flight path ST
kobserved reading y in the step C of (n) and correspondence thereof
kn () input is based on Interactive Multiple-Model (Interacting Multiple Model, be called for short IMM) Kalman filter (KalmanFilter, KF) carry out optimal filtering, each target can be obtained in current n moment tested region from the range estimation of radar
predicted value
and other radial motion estimates of parameters, and will
in input step C for subsequent time to ST
kthat carries out is operation associated.
This step e ultra-broadband wall-through radar one dimension tracking filter specifically comprises:
Sub-step E1: in step D, each bar in n moment stablizes flight path ST
kn () sets up a Kalman filter (Kalman Filter respectively, be called for short KF), this Kalman filter adopts Interactive Multiple-Model (Interacting Multiple Model is called for short IMM) Method Modeling, and utilizes in sub-step C3 corresponding to ST
kthe observed reading y of (n)
kn () carries out optimal filtering, can to obtain in n moment tested region each target from the range estimation of radar
with other radial motion estimates of parameters; And in n+1 moment tested region each target from the range prediction value of radar
Here, Interactive Multiple-Model modeling method comprises at the uniform velocity (Constant Velocity, be called for short CV) model, Singh's (Singer) model and constant level's turning (Nearly Constant Speed HorizontalTurn is called for short HT) model; In addition, other radial motion parameters here comprise the radial velocity, acceleration etc. of moving target, can select the estimated value exporting these parameters according to the real needs of operator by Kalman filter.
Wherein, by predicted value
input sub-step C1 in for subsequent time (n+1 moment) to stable flight path ST
kthat carries out is operation associated.
Sub-step E2: make n=n+1, performs steps A.
It should be noted that, the initial time that program is run, namely during n=1, owing to there is not stable flight path, thus whole step e is skipped and does not perform; Equally, in follow-up operational process, if there is not stable flight path after a upper moment (n-1 moment) program end of run, the so current n moment then skips in whole step e and does not perform.
Figure 2 shows that the gray-scale map of one group of raw experimental data (B-Scan) that portable through-wall radar collects.For the ease of viewing, in figure, per pass A-Scan is through the process of amplitude normalization.When horizontal ordinate represents slow in figure (unit is second), when ordinate represents fast, and be converted to distance value (unit is rice).The centre frequency of through-wall radar used is 1.6GHz, and sampling rate is 25GHz, and the sampling number of single track A-Scan is 2048, and namely during sampling, window is about 82ns, and the maximum distance that can detect is about 12.3m (when not wearing any barrier).In experiment scene, body of wall is co ncrete wall, and thickness is about 24.5cm, has two moving targets to walk back and forth along radar radial direction in tested scene.
Figure 3 shows that the Moving Target Return that in Fig. 2, original echo obtains after pretreatment operation and after adjacent offseting, and per pass A-Scan is through amplitude normalization process.Here pretreatment operation comprises bandpass filtering and matched filtering two, and selected bandpass filter centre frequency is 1.6GHz, and bandwidth is 1.6GHz, and exponent number is 5, and the Control echo used in matched filter is signal received during sending and receiving sensor correlation.Therefrom roughly can see the motion conditions of two targets.
Figure 4 shows that Fig. 3 Moving Target Return detects the Targets Dots in all moment obtained through CFAR.In figure, " * " form point is the Targets Dots in each moment, therefrom can see the track of two objective motions obviously, but in testing result, also occur a large amount of False Intersection Points marks.
Figure 5 shows that target range that Fig. 2 raw data finally exports through the present embodiment algorithm situation with slow time-varying.The track that in figure, " * " form point is formed reflects the situation of No. 1 target travel, and the track that " o " form point is formed reflects the situation of No. 2 target travels.Can see, False Intersection Points mark has been completely eliminated, and target trajectory is steady and audible.
Visible, the present invention utilizes the Moving Target Return of CFAR detection method to one dimension ultra-broadband wall-through radar to carry out pointwise detection, is ensureing under the constant prerequisite of false alarm rate, by the some mark that likely produced by moving target all detect; The point mark utilizing JPDA algorithm to be exported by CFAR detecting device carries out coupling with existing flight path and associates; Existing flight path is managed, comprises the operations such as track initiation, flight path maintenance and flight path deletion; KF filtering based on IMM is carried out to existing stable flight path, obtain the optimal estimation value of the one dimension parameters such as the radial distance of all moving targets and radar in tested region, achieve the object utilizing the echo data of ultra-broadband wall-through radar single-sensor simultaneously multiple moving target to be carried out to one dimension detection and tracking.
So far, by reference to the accompanying drawings the present embodiment has been described in detail.Describe according to above, the method that those skilled in the art should be used for ultra-broadband wall-through Radar Moving Target one dimension detection and tracking to the present invention has had clearly to be familiar with.
In addition, the above-mentioned definition to each element and method is not limited in various concrete structures, shape or the mode mentioned in embodiment, and those of ordinary skill in the art can change simply it or replace.
In sum, the present invention utilizes ultra-broadband wall-through radar to carry out in real time the moving target after barrier the echo data of sensor, one dimension detection and tracking accurately, solve the problem that the target brought due to echo instability in one dimension through-wall detection is difficult to differentiate and locate to a certain extent, there is higher application value.
Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; be understood that; the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1., for a method for ultra-broadband wall-through Radar Moving Target one dimension detection and tracking, it is characterized in that, comprising:
Steps A: the A-Scan echo data r in n moment time slow to ultra-broadband wall-through radar
0n () is carried out pretreatment operation and is obtained echo data r (n);
Step B: carry out moving object detection by echo data r (n), obtains moving target point mark p (n) in n moment, realizes moving target one dimension and detects;
Step C: each bar that n moment moving target all possible some mark p (n) and n-1 moment are formed is stablized flight path ST
kand the interim flight path TT of each bar (n-1)
l(n-1) carry out association matching operation, obtain n moment each bar and stablize flight path ST
kobserved reading y
kthe interim flight path TT of (n) and each bar
lobserved reading z
l(n), wherein, k and l is the numbering of stable flight path and interim flight path respectively;
Step D: to the stable flight path ST in n-1 moment
kand interim flight path TT (n-1)
l(n-1) carry out flight path management, comprise track initiation, flight path maintains and flight path deletion action, form the stable flight path ST in n moment
k(n) and interim flight path TT
l(n); And
Step e: each bar in n moment is stablized flight path ST
kthe observed reading y of (n) and correspondence thereof
kn the Kalman filter under () input Interactive Multiple-Model carries out optimal filtering, in acquisition n moment tested region, each target is from the range estimation of radar
2. method according to claim 1, is characterized in that, described step e also comprises: each bar in n moment is stablized flight path ST
kthe observed reading y of (n) and correspondence thereof
kn the Kalman filter under () input Interactive Multiple-Model carries out optimal filtering, obtain each target in n+1 moment tested region from the predicted value of distance by radar
make n=n+1, perform steps A;
Described step C comprises:
Sub-step C1: stablize flight path ST with n-1 moment each bar
k(n-1) the range prediction value of Kalman filter
centered by set up a width be respectively d
1neighborhood A
k, with the interim flight path TT of n-1 moment each bar
l(n-1) a width d is set up centered by observed reading respectively
2neighborhood B
l;
Sub-step C2: n moment moving target all possible some mark p (n) is screened, drops on A
ksome mark p
1kn () is that correspondence stablizes flight path ST
krelating dot trace set, wherein k=1,2 ...; Drop on B
lsome mark p
2ln () is corresponding interim flight path TT
lrelating dot trace set, wherein, l=1,2 ...; Left point mark p in p (n)
3n () is considered to may be the some mark that fresh target produces, initial for new flight path;
Sub-step C3: if
by p
1k(n) and corresponding stable flight path ST
kcarry out association matching operation, obtain and stablize flight path ST
kat the observed reading y in n moment
k(n); If
then y
kn () namely equals in step C1
and
Sub-step C4: if in step C2
by p
2l(n) and corresponding interim flight path TT
lcarry out association matching operation, obtain interim flight path TT
lat the observed reading z in n moment
l(n); If
then not to this TT
ldo any operation.
3. method according to claim 2, is characterized in that:
In described sub-step C3: if
then adopt Joint Probabilistic Data Association algorithm by p
1k(n) and corresponding stable flight path ST
kcarry out association matching operation, obtain and stablize flight path ST
kat the observed reading y in n moment
k(n);
In described sub-step C4: if in step C2
then adopt Joint Probabilistic Data Association algorithm by p
2l(n) and corresponding interim flight path TT
lcarry out association matching operation, obtain interim flight path TT
lat the observed reading z in n moment
l(n).
4. method according to claim 2, is characterized in that, described step e comprises:
Sub-step E1: for each bar in n moment stablizes flight path ST
kn () sets up a Kalman filter respectively, this Kalman filter adopts Interactive Multiple-Model Method Modeling, and utilizes in sub-step C3 corresponding to ST
kthe observed reading y of (n)
kn () carries out optimal filtering, in acquisition n moment tested region, each target is from the range estimation of radar
to each target in n+1 moment tested region from the predicted value of distance by radar
Sub-step E2: make n=n+1, performs steps A.
5. method according to claim 4, is characterized in that, described sub-step E1 also comprises:
In acquisition n moment tested region, each target is from the radial motion estimates of parameters of radar.
6. method according to claim 5, is characterized in that, described radial motion parameter comprises: radial velocity and/or acceleration.
7. method according to claim 1, is characterized in that, described step D comprises:
Sub-step D1: for the stable flight path ST all stablized in flight path
kif, its N continuous
1secondary appearance
situation, then deleted, k=1,2 ...;
Sub-step D2: for the interim flight path TT in whole interim flight path
lif it occurs
situation, then deleted; If its N continuous
2secondary appearance
situation, then changed into a new stable flight path and be used for following the tracks of this target;
Sub-step D3: by p
3n each point mark in (), respectively as the starting point mark of a new interim flight path, opens a new interim flight path.
8. method according to any one of claim 1 to 7, is characterized in that, described step B comprises:
Sub-step B1: do difference by echo data r (n) in n moment and echo data r (n-1) pointwise in n-1 moment, the Moving Target Return obtaining the n moment is r
1(n);
Sub-step B2: to Moving Target Return r
1n () carries out CFAR detection, obtain n moment moving target all possible some mark p (n).
9. method according to any one of claim 1 to 7, is characterized in that, in described steps A:
r(n)＝MF{BPF{r
0(n)}}
Wherein, BPF{ } represent that bandpass filtering operates, MF{ } represent that matched filtering operates.
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| CN107024692A (en) * | 2017-04-10 | 2017-08-08 | 北京海兰信数据科技股份有限公司 | The multi-track method for tracking target and system of a kind of marine navigation radar flight path management |
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| CN107024692B (en) * | 2017-04-10 | 2020-06-02 | 北京海兰信数据科技股份有限公司 | Multi-tracking target tracking method and system for marine navigation radar track management |
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