CN111736146B - Bistatic pre-detection tracking method and device based on speed filtering - Google Patents
Bistatic pre-detection tracking method and device based on speed filtering Download PDFInfo
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Abstract
The application relates to a bistatic pre-detection tracking method and device based on velocity filtering. The bistatic pre-detection tracking algorithm based on the velocity filtering comprises the steps of obtaining a preset Cartesian velocity set; acquiring bistatic radar echo data; generating a radar echo data plane of each frame of echo data; converting the radar echo data plane into a Cartesian coordinate system plane; selecting any frame as a convergence frame, and respectively acquiring a radar echo data plane group of each frame except the convergence frame at the moment of the convergence frame; generating an accumulation plane group; acquiring one accumulation plane in the accumulation plane group as a final plane; acquiring the target position of the converged frame according to the final plane; acquiring target positions of other frames according to the target position of the converged frame; and generating a target track according to the target position of the converged frame and the target positions of other frames. By adopting the bistatic pre-detection tracking method based on the velocity filtering, the accumulated energy loss caused by the mismatch of the motion model is avoided.
Description
Technical Field
The application relates to the technical field of target detection and tracking, in particular to a bistatic pre-detection tracking method based on velocity filtering and a bistatic pre-detection tracking device based on velocity filtering.
Background
Compared with the single-base radar, the double-base radar has attracted much attention because of its higher flexibility, stability and stronger anti-interference ability. The bistatic radar is separately transmitted and received, so that the safety of the radar is guaranteed to a great extent. The detection and tracking of a weak target in a bistatic scene is one of the important problems in the field of signal processing.
In a traditional track after Detection (DBT) algorithm, a target is detected and tracked by using original data after threshold processing, and partial information of the target is lost in the process of threshold processing, so that the performance of the algorithm is reduced under the condition of low signal to noise ratio. Unlike DBT, a track-before-detect (TBD) algorithm achieves detection and tracking of weak targets by jointly processing multiple frames of raw data. The method comprises the steps of utilizing time correlation among multiple frames and space continuity of target motion to achieve effective accumulation of target energy, and generating a track of a target while detecting the target.
The dynamic programming method introduced by Peinan Zhang in ann dp-TBD algorithm for passive coherent location converts the cells in each bi-polar coordinate system into a cartesian coordinate system, the grids in the cartesian coordinate system after conversion are uneven, for a target with constant cartesian speed, the location of the cell in the coordinate system may not be on an integer resolution cell, which may cause inaccuracy of a tracking algorithm before detection based on dynamic programming in the process of searching for the maximum value and energy accumulation, thereby affecting the detection performance of the algorithm.
Disclosure of Invention
It is an object of the present application to provide a velocity filtering based bistatic pre-detection tracking method that overcomes or at least mitigates at least one of the above-mentioned disadvantages of the prior art.
The application firstly provides a bistatic pre-detection tracking method based on velocity filtering, which comprises the following steps:
acquiring bistatic radar echo data, wherein the bistatic radar echo data comprise multi-frame echo data, and each frame of echo data comprises energy information and bistatic polar coordinate system coordinate information;
generating a radar echo data plane of each frame of echo data according to bistatic radar echo data, wherein the radar echo data plane comprises bistatic distance information, incidence angle information and energy information;
acquiring a preset Cartesian speed group, wherein the Cartesian speed group comprises at least one Cartesian speed;
converting the radar echo data plane of each frame into a Cartesian coordinate system plane corresponding to each frame;
selecting any frame as a convergence frame, and respectively acquiring a radar echo data plane group of each frame except the convergence frame at the moment of the convergence frame according to a Cartesian coordinate system plane of each frame and a preset Cartesian speed group, wherein the radar echo data plane group comprises at least one radar echo data plane, and each radar echo data plane is generated according to a Cartesian speed;
generating an accumulation plane group according to the radar echo data plane group of each frame at the moment of the aggregation frame and the radar echo data plane of the aggregation frame, wherein the accumulation plane group comprises at least one accumulation plane, and one accumulation plane is generated according to a Cartesian speed;
acquiring one accumulation plane in the accumulation plane group as a final plane according to a preset condition;
acquiring the target position of the converged frame according to the final plane;
acquiring target positions of other frames according to the target positions of the converged frames;
and generating a target track according to the target position of the converged frame and the target positions of other frames.
Optionally, the converting the radar echo data plane of each frame into a cartesian coordinate system plane includes:
the following processing is performed for the radar echo data plane of each frame:
acquiring a resolution unit in a radar echo data plane of the frame;
generating the distance between the target of each resolution unit and the receiver according to the bistatic distance information and the incidence angle information of each resolution unit in the bistatic polar coordinate system;
generating the position of each resolution unit in a Cartesian coordinate system according to the distance information and the incidence angle information between the target and the receiver of each resolution unit;
the cartesian coordinate system plane is generated from the positions of the individual resolution elements in the cartesian coordinate system.
Optionally, the respectively obtaining, according to the cartesian coordinate system plane of each frame and the preset cartesian velocity group, the radar echo data plane group of each frame at the time of the aggregation frame except the aggregation frame includes:
generating a Cartesian coordinate system plane group of each frame at the moment of the convergence frame according to the Cartesian coordinate system plane of each frame except the convergence frame and a preset Cartesian speed group;
and generating the radar echo data plane set according to the Cartesian coordinate system plane set of each frame except the aggregation frame at the moment of the aggregation frame.
Optionally, the obtaining one of the accumulation planes in the accumulation plane group as a final plane according to a preset condition includes:
and selecting the accumulation plane with the maximum peak value of the energy data as a final plane according to the peak value of the energy data in the accumulation plane group.
Optionally, the obtaining one of the accumulation planes in the accumulation plane group as a final plane according to a preset condition includes:
presetting a threshold;
and selecting the accumulation plane with the energy data peak value exceeding the threshold value and the maximum peak value as a final plane according to the peak value size of the energy data in the accumulation plane group and the threshold value.
Optionally, the obtaining the target positions of the other frames according to the target position of the aggregate frame includes:
acquiring a Cartesian speed corresponding to the final plane;
acquiring the Cartesian velocity multiple difference between other frames and the converged frame;
and acquiring the target position of each frame according to the Cartesian velocity multiple difference, the Cartesian velocity and the position of the target of each other frame in the converged frame.
The application also provides a bistatic pre-detection tracking device based on velocity filtering, which comprises:
the echo data acquisition module is used for acquiring bistatic radar echo data, wherein the bistatic radar echo data comprise multi-frame echo data, and each frame of echo data comprises energy information and bistatic polar coordinate system coordinate information;
the single-frame echo data plane generating modules are the same in number as the frame number, and each single-frame echo data plane generating module is used for generating a radar echo data plane of a frame of echo data according to bistatic radar echo data;
the single-frame Cartesian coordinate system conversion modules are the same in number as the single-frame echo data plane generation modules, each single-frame Cartesian coordinate system conversion module corresponds to one single-frame echo data plane generation module and is used for converting the radar echo data plane generated by the corresponding single-frame echo data plane generation module into a Cartesian coordinate system plane;
the device comprises a Cartesian velocity group acquisition module, a Cartesian velocity group acquisition module and a Cartesian velocity group acquisition module, wherein the Cartesian velocity group acquisition module is used for acquiring a preset Cartesian velocity group, and the Cartesian velocity group comprises at least one Cartesian velocity;
the device comprises a convergent frame selection module, a convergent frame selection module and a control module, wherein the convergent frame selection module is used for selecting any one frame as a convergent frame;
the echo data plane generating module groups are the same in number as the Cartesian speeds, one echo data plane generating module group corresponds to one Cartesian speed, each echo data plane generating module group comprises a plurality of echo data plane generating modules, and the number of the echo data plane generating modules is the same as the number of frames; each echo data plane generating module is used for acquiring a radar echo data plane of a corresponding frame at the moment of a convergence frame according to the Cartesian coordinate system plane of each frame and the Cartesian speed corresponding to the echo data plane generating module group to which the echo data plane generating module belongs; each radar echo data plane forms a radar echo data plane group;
the device comprises an accumulation plane group generating module, a data collecting module and a data collecting module, wherein the accumulation plane group generating module is used for generating an accumulation plane group according to a radar echo data plane group of each frame at the moment of a convergence frame and a radar echo data plane of the convergence frame, the accumulation plane group comprises at least one accumulation plane, and one accumulation plane is generated according to a Cartesian speed;
a final plane acquisition module, configured to acquire one of the accumulation planes in the accumulation plane group as a final plane according to a preset condition;
a converged frame target position acquisition module for acquiring a target position of a converged frame according to a final plane;
the single-frame target position acquisition module is the same as the frames except the aggregation frame in number, corresponds to one frame except the aggregation frame, and is used for acquiring the target position of the corresponding frame according to the target position of the aggregation frame;
and the target track generating module is used for generating a target track according to the target position of the converged frame and the target positions of other frames.
Optionally, the single-frame cartesian coordinate system conversion module includes:
the system comprises a resolution unit acquisition module, a resolution unit acquisition module and a data processing module, wherein the resolution unit acquisition module is used for acquiring a resolution unit in a radar echo data plane of a frame corresponding to a single-frame Cartesian coordinate system conversion module;
the target and receiver distance acquisition module is used for generating the distance between the target and the receiver of each resolution unit according to the bistatic distance information and the incidence angle information of each resolution unit in the bistatic polar coordinate system;
the system comprises a resolution unit Cartesian coordinate system generation module, a resolution unit Cartesian coordinate system generation module and a resolution unit selection module, wherein the resolution unit Cartesian coordinate system generation module is used for generating the position of each resolution unit in a Cartesian coordinate system according to bistatic distance information and incidence angle information between a target and a receiver of each resolution unit;
the system comprises a Cartesian coordinate system plane generating module, a Cartesian coordinate system plane generating module and a Cartesian coordinate system plane generating module, wherein the Cartesian coordinate system plane generating module is used for generating the Cartesian coordinate system plane according to the positions of all the resolution units in a Cartesian coordinate system.
The present application further provides an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the velocity filtering based bistatic pre-detection tracking method as described above when executing the computer program.
The present application further provides a computer readable storage medium having stored thereon a computer program enabling, when executed by a processor, a velocity filtering based bistatic pre-detection tracking method as described above.
The output envelope obtained by the bistatic pre-detection tracking method based on the velocity filtering is focused, the accuracy of parameter estimation is improved, and the accumulated energy loss caused by the mismatch of the motion model is avoided.
Drawings
FIG. 1 is a schematic main flow chart of a bistatic pre-detection tracking method based on velocity filtering in an embodiment of the present application;
FIG. 2 is a model of the structure of a bistatic radar in one embodiment;
fig. 3a and fig. 3b are comparison graphs of accumulated planes in a bistatic radar scene in an embodiment, where fig. 3a is the present application, and fig. 3b is a TBD algorithm based on dynamic programming;
fig. 4 is a schematic diagram illustrating comparison of detection probability VS input signal-to-noise ratio between the bistatic pre-detection tracking method based on velocity filtering and the TBD algorithm based on dynamic programming in an embodiment (× is the present application, and triangle is the TBD algorithm based on dynamic programming);
fig. 5 is a schematic diagram illustrating a comparison between the signal-to-noise ratio of the position estimation error VS input of the bistatic pre-detection tracking method based on velocity filtering and the TBD algorithm based on dynamic programming in an embodiment (where x is the present application, and triangle is the TBD algorithm based on dynamic programming);
fig. 6 is a comparison diagram of the velocity estimation error VS input signal-to-noise ratio of the bistatic pre-detection tracking method based on velocity filtering in an embodiment (, is the present application).
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all 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 application.
Fig. 1 is a main flow diagram of a bistatic pre-detection tracking method based on velocity filtering in an embodiment of the present application.
The velocity filter-based bistatic pre-detection tracking algorithm shown in fig. 1 includes:
step 1: acquiring bistatic radar echo data, wherein the bistatic radar echo data comprise multi-frame echo data, and each frame of echo data comprises energy information and bistatic polar coordinate system coordinate information;
step 2: generating a radar echo data plane of each frame of echo data according to bistatic radar echo data, wherein the radar echo data plane comprises bistatic distance information, incidence angle information and energy information;
and step 3: acquiring a preset Cartesian speed group, wherein the Cartesian speed group comprises at least one Cartesian speed;
and 4, step 4: converting the radar echo data plane of each frame into a Cartesian coordinate system plane corresponding to each frame;
and 5: selecting any frame as a convergence frame, and respectively acquiring a radar echo data plane group of each frame except the convergence frame at the moment of the convergence frame according to a Cartesian coordinate system plane of each frame and a preset Cartesian speed group, wherein the radar echo data plane group comprises at least one radar echo data plane, and each radar echo data plane is generated according to a Cartesian speed;
step 6: generating an accumulation plane group according to the radar echo data plane group of each frame at the moment of the aggregation frame and the radar echo data plane of the aggregation frame, wherein the accumulation plane group comprises at least one accumulation plane, and one accumulation plane is generated according to a Cartesian speed;
and 7: acquiring one accumulation plane in the accumulation plane group as a final plane according to a preset condition;
and 8: acquiring the target position of the converged frame according to the final plane;
and step 9: acquiring target positions of other frames according to the target positions of the converged frames;
step 10: and generating a target track according to the target position of the converged frame and the target positions of other frames.
In this example, with Z1：K＝{z1，z2，…zKDenotes bistatic radar echo data of a processing batch, where zkFor radar single frame echo data, K is 1,2, …, K is the total accumulated frame number for a processing batch. The observations of the radar are observations in a bistatic polar coordinate system, i.e. bistatic distance and angle of incidence. The bistatic structure is shown in figure 2. The radar echo data plane is Nr*NθEach cell represents a unit distance and a unit angle. The target echo model considered here is a gaussian point spread model, the target echo occupying a plurality of resolution cells.
In this embodiment, converting the radar echo data plane of each frame into a cartesian coordinate system plane includes:
the following processing is performed for the radar echo data plane of each frame:
acquiring a resolution unit in a radar echo data plane of the frame;
generating the distance between the target of each resolution unit and the receiver according to the bistatic distance information and the incidence angle information of each resolution unit in the bistatic polar coordinate system;
generating the position of each resolution unit in a Cartesian coordinate system according to the distance information and the incidence angle information between the target and the receiver of each resolution unit;
a cartesian coordinate system plane is generated from the positions of the individual resolution elements in the cartesian coordinate system.
Taking any frame as an example, the method assumes that the cartesian velocity of the target is constant over the accumulation time. Now assume the resolution cell (n) of the k-th framecr，ncθ) In the presence of target energy, we consider that the target may appear at any position in the metrology plane, i.e., ncr＝1，2，…，Nr，ncθ＝1，2，…，Nθ。
Converting bistatic range to range between target and receiver
Converting the unit into Cartesian coordinate system to obtain
In this embodiment, respectively obtaining the radar echo data plane set of each frame at the time of the aggregation frame except the aggregation frame according to the cartesian coordinate system plane of each frame and the preset cartesian velocity set includes:
generating a Cartesian coordinate system plane group of each frame at the moment of the convergence frame according to the Cartesian coordinate system plane of each frame except the convergence frame and a preset Cartesian speed group;
and generating the radar echo data plane set according to the Cartesian coordinate system plane set of each frame except the aggregation frame at the moment of the aggregation frame.
Taking the converged frame as the last frame as an example, the following is a Cartesian velocity (n) assumed by the filtercr,ncθ) The predicted position at the time of the last frame is
The predicted position is converted back into a bistatic polar coordinate system to obtain a unit (n)cr,ncθ) The predicted position in the bistatic polar coordinate system is
Wherein L represents the base length, (n)x,ny) Represents an observation unit (n)cr,ncθ) Corresponding Cartesian coordinates, (n)px,npy) Representing a predicted Cartesian position, (n)pr,npθ) Representing the predicted position of the observation unit in a bistatic polar coordinate system, n is more than or equal to 1pr≤Nr，1≤npθ≤NθWhere n isprAnd npθIt may not be an integer number but may be,
representing the assumed speed, Δ, of the filterrAnd ΔθRespectively, the range resolution and the angular resolution of the bistatic radar.
According to the k frame observation unit (n)cr,ncθ) Predicted position (n) in the last framepr,npθ) The k frame is resolved into units (n)cr,ncθ) Measured value z ofk(ncr,ncθ) Added up to the distance predicted position (n)pr,npθ) The nearest cell. All frames of a batch are processed identically, and the resulting accumulation plane is represented as
u(nr,nθ,k)＝f(nr,nθ,k)*hv(nr,nθ,k)
Wherein f (n)r,nθK) represents the target echo, hv(nr,nθK) denotes the transfer function of the filter, nr＝1，…，Nr，nθ＝1，…，Nθ，NrAnd NθRepresenting the total number of cells in the bistatic distance and incident angle directions, respectively.
In this embodiment, acquiring one of the accumulation planes in the accumulation plane group as a final plane according to a preset condition includes:
and selecting the accumulation plane with the maximum peak value of the energy data as a final plane according to the peak value of the energy data in the accumulation plane group. Specifically, the bistatic distance and the incident angle corresponding to the final plane peak point are positions of the target in the convergence frame.
It is to be understood that, in other embodiments, the obtaining one of the accumulation planes in the accumulation plane group as the final plane according to the preset condition includes:
presetting a threshold;
and selecting the accumulation plane with the energy data exceeding the threshold value and the maximum peak value as a final plane according to the peak value size of the energy data in the accumulation plane group and the threshold value.
In this embodiment, the acquiring the target positions of the other frames according to the target position of the aggregate frame includes:
acquiring a Cartesian speed corresponding to the final plane;
acquiring the Cartesian velocity multiple difference between other frames and the converged frame;
and acquiring the target position of each frame according to the Cartesian velocity multiple difference, the Cartesian velocity and the position of the target of each other frame in the converged frame.
The present application is further elaborated below by way of example. It will be understood that this example does not constitute any limitation to the present application.
In this example, assume that there are two preset cartesian velocities, three frames of echo data, and 5 × 6 resolution units per frame of echo data: 1 unit (1,1), 2 unit (1,2), 30 unit (5, 6); bistatic range resolution is 1 km/cell and incident angle resolution is 2 deg./cell.
Step 1: acquiring bistatic radar echo data, namely acquiring three frames of echo data;
step 2: and generating a radar echo data plane of each frame of echo data according to the bistatic radar echo data, namely three frames of echo data are respectively called A, B, C, and generating three radar echo data planes, namely an A radar echo data plane, a B radar echo data plane and a C radar echo data plane.
And step 3: acquiring two preset Cartesian speed groups;
and 4, step 4: converting the radar echo data plane of each frame into a Cartesian coordinate system plane corresponding to each frame; namely a radar echo data plane A, a radar echo data plane B and a radar echo data plane C.
Specifically, resolution units of a frame, i.e., 5 × 6 resolution units, are acquired.
Generating the distance between the target of each resolution unit and the receiver according to the bistatic distance and the incidence angle of each resolution unit in the bistatic polar coordinate system, namely generating the distance between the target of the (1,1) unit and the receiver according to the bistatic distance and the incidence angle of the (1,1) unit; generating a distance between a target of the (1,2) unit and a receiver according to the bistatic distance and the incident angle of the (1,2) unit; the distance between the target of the (1,3) cell and the receiver is generated from the bistatic distance and angle of incidence of the (1,3) cell, and so on.
Generating the position of each resolution unit in a Cartesian coordinate system according to the distance between the target and the receiver of each resolution unit and the incidence angle; generating the position of the (1,1) unit in a Cartesian coordinate system according to the distance between the target of the (1,1) unit and the receiver and the incidence angle; generating the position of the (1,2) unit in a Cartesian coordinate system according to the distance between the target of the (1,2) unit and the receiver and the incidence angle; generating the position of the (1,3) unit in a Cartesian coordinate system according to the distance between the target of the (1,3) unit and the receiver and the incidence angle; and so on.
The cartesian coordinate system plane is generated from the positions of the individual resolution elements in the cartesian coordinate system, i.e. the cartesian coordinate system plane of the a-frame is generated from the positions of (1,1), (1,2), … …, (5,6) in the cartesian coordinate system.
And 5, selecting any frame as a convergence frame, and respectively acquiring a radar echo data plane group of each frame except the convergence frame at the moment of the convergence frame according to the Cartesian coordinate system plane of each frame and a preset Cartesian speed group. In this embodiment, the C frame is selected as the aggregation frame, and then the radar echo data plane group is determined according to the time of the aggregation frame of the a frame and the B frame.
The specific acquisition method comprises the following steps:
the first Cartesian velocity and A frame generate a first Cartesian velocity radar echo data plane, the first Cartesian velocity and B frame generate a first Cartesian velocity radar echo data plane, the second Cartesian velocity and A frame generate a second Cartesian velocity radar echo data plane, and the second Cartesian velocity and B frame generate a second Cartesian velocity radar echo data plane. The two radar echo data planes of the frame A form a radar echo data plane group of the frame A; and the two radar echo data planes of the B frame form a radar echo data plane group of the B frame.
Step 6: generating an accumulation plane group according to the radar echo data plane group of each frame at the moment of the convergence frame and the radar echo data plane of the convergence frame; specifically, a first Cartesian velocity radar echo data plane of an A frame, a first Cartesian velocity radar echo data plane of a B frame and a radar echo data plane of a convergence frame are fused into an accumulation plane;
and fusing the second Cartesian velocity radar echo data plane of the frame A, the second Cartesian velocity radar echo data plane of the frame B and the radar echo data plane of the convergence frame into an accumulation plane. I.e. a total of two accumulation planes are generated, the two accumulation planes constituting an accumulation plane group.
And 7: one of the accumulation planes in the accumulation plane group is acquired as a final plane according to a preset condition, and in the embodiment, the final plane is determined according to the energy information, that is, the accumulation plane with the peak value exceeding the threshold value and the highest is selected as the final plane.
And 8: acquiring a target position of the convergence frame according to the final plane, wherein the target is an energy peak, namely a coordinate of the energy peak acquired on the final plane is the target position;
and step 9: acquiring target positions of other frames according to the target positions of the converged frames;
step 10: and generating a target track according to the target position of the converged frame and the target positions of other frames.
Referring to fig. 3a and 3b, simulation diagrams of an accumulation plane of the bistatic pre-detection tracking method based on velocity filtering according to the present application and an accumulation plane in the prior art are shown, and it can be seen that an output envelope obtained by the bistatic pre-detection tracking method based on velocity filtering according to the present application is focused, and accuracy of parameter estimation is improved. Referring to fig. 4, 5, and 6, it can be seen that the bistatic pre-detection tracking method based on velocity filtering has advantages over the TBD algorithm based on dynamic programming in terms of output envelope focusing, detection probability, location estimation, etc., and the TBD algorithm based on dynamic programming cannot estimate the velocity of the target, but the method proposed by us has better velocity estimation performance.
The application also provides a bistatic pre-detection tracking device based on speed filtering, which comprises an echo data acquisition module, a single-frame echo data plane generation module, a single-frame Cartesian coordinate system conversion module, a Cartesian velocity group acquisition module, a convergence frame selection module, an echo data plane generation module group, a final plane acquisition module, a convergence frame target position acquisition module, a single-frame target position acquisition module and a target track generation module. Wherein the content of the first and second substances,
the echo data acquisition module is used for acquiring bistatic radar echo data, wherein the bistatic radar echo data comprise multi-frame echo data, and each frame of echo data comprises energy information and bistatic polar coordinate system coordinate information;
the number of the single-frame echo data plane generating modules is the same as the number of frames, and each single-frame echo data plane generating module is used for generating a radar echo data plane of a frame of echo data according to the bistatic radar echo data;
the number of the single-frame Cartesian coordinate system conversion modules is the same as that of the single-frame echo data plane generation modules, each single-frame Cartesian coordinate system conversion module corresponds to one single-frame echo data plane generation module and is used for converting the radar echo data plane generated by the corresponding single-frame echo data plane generation module into a Cartesian coordinate system plane;
the system comprises a Cartesian speed group acquisition module, a Cartesian speed group acquisition module and a Cartesian speed group acquisition module, wherein the Cartesian speed group acquisition module is used for acquiring a preset Cartesian speed group, and the Cartesian speed group comprises at least one Cartesian speed;
the convergence frame selection module is used for selecting any frame as a convergence frame;
the number of the echo data plane generating module groups is the same as the number of the Cartesian speeds, one echo data plane generating module group corresponds to one Cartesian speed, each echo data plane generating module group comprises an echo data plane generating module, and the number of the echo data plane generating modules is the same as the number of frames; each echo data plane generating module is used for acquiring a radar echo data plane of a corresponding frame at the moment of a convergence frame according to the Cartesian coordinate system plane of each frame and the Cartesian speed corresponding to the echo data plane generating module group to which the echo data plane generating module belongs; each radar echo data plane forms a radar echo data plane group;
the accumulation plane group generating module is used for generating an accumulation plane group according to the radar echo data plane group of each frame at the moment of the convergence frame and the radar echo data plane of the convergence frame, wherein the accumulation plane group comprises at least one accumulation plane, and one accumulation plane is generated according to a Cartesian speed;
the final plane acquisition module is used for acquiring one of the accumulation planes in the accumulation plane group as a final plane according to a preset condition;
the convergence frame target position acquisition module is used for acquiring the target position of the convergence frame according to the final plane;
the number of the single-frame target position acquisition modules is the same as that of other frames except the aggregation frame, and one single-frame target position acquisition module corresponds to one frame except the aggregation frame and is used for acquiring the target position of the frame corresponding to the single-frame target position acquisition module according to the target position of the aggregation frame;
and the target track generating module is used for generating a target track according to the target position of the converged frame and the target positions of other frames.
In this embodiment, the single-frame cartesian coordinate system conversion module includes a resolution unit acquisition module, a target and receiver distance acquisition module, a resolution unit cartesian coordinate system generation module, and a cartesian coordinate system plane generation module, where the resolution unit acquisition module is configured to acquire a resolution unit in a radar echo data plane of a frame corresponding to the single-frame cartesian coordinate system conversion module; the target and receiver distance acquisition module is used for generating the distance between the target and the receiver of each resolution unit according to the bistatic distance information and the incidence angle information of each resolution unit in the bistatic polar coordinate system; the resolution unit Cartesian coordinate system generating module is used for generating the position of each resolution unit in the Cartesian coordinate system according to the distance between the target of each resolution unit and the receiver and the incident angle information; the Cartesian coordinate system plane generating module is used for generating a Cartesian coordinate system plane according to the positions of the resolution units in the Cartesian coordinate system.
The present application also provides an electronic device comprising a memory, a processor and a computer program stored in the memory and capable of running on the processor, the processor implementing the medical voice conversation method as above when executing the computer program.
The electronic device comprises an input device, an input interface, a central processing unit, a memory, an output interface and an output device. The input interface, the central processing unit, the memory and the output interface are mutually connected through a bus, and the input equipment and the output equipment are respectively connected with the bus through the input interface and the output interface and further connected with other components of the electronic equipment. Specifically, the input device receives input information from the outside and transmits the input information to the central processing unit through the input interface; the central processing unit processes the input information based on the computer executable instructions stored in the memory to generate output information, temporarily or permanently stores the output information in the memory, and then transmits the output information to the output device through the output interface; the output device outputs the output information to the outside of the electronic device for use by the user.
That is, the electronic device may also be implemented to include: a memory storing computer-executable instructions; and one or more processors that when executing computer executable instructions may implement the velocity filtering based bistatic pre-detection tracking method described in conjunction with fig. 1.
In one embodiment, an electronic device may be implemented to include: a memory configured to store executable program code; one or more processors configured to execute executable program code stored in the memory to perform the medical voice dialog methods of the above embodiments.
The present application further provides a computer readable storage medium having stored thereon a computer program enabling, when executed by a processor, a velocity filtering based bistatic pre-detection tracking method as described above.
The computing device includes a Central Processing Unit (CPU) that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) or a program loaded from a storage section into a Random Access Memory (RAM). In the RAM, various programs and data necessary for the operation of the apparatus are also stored. The CPU, ROM, and RAM are connected to each other via a bus. An input/output (I/O) interface is also connected to the bus.
The following components are connected to the I/O interface: an input section including a keyboard, a mouse, and the like; an output section including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage section including a hard disk and the like; and a communication section including a network interface card such as a LAN card, a modem, or the like. The communication section performs communication processing via a network such as the internet. The drive is also connected to the I/O interface as needed. A removable medium such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive as necessary, so that a computer program read out therefrom is mounted into the storage section as necessary.
In particular, according to embodiments of the present application, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated by the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication section, and/or installed from a removable medium. The computer program, when executed by a Central Processing Unit (CPU), performs the above-described functions defined in the method of the present application. It should be noted that the computer storage media of the present application can be computer readable signal media or computer readable storage media or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In this application, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules or units described in the embodiments of the present application may be implemented by software or hardware. The modules or units described may also be provided in a processor, the names of which in some cases do not constitute a limitation of the module or unit itself.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (8)
1. A velocity filter-based bistatic pre-detection tracking method is characterized in that the velocity filter-based bistatic pre-detection tracking algorithm comprises the following steps:
acquiring bistatic radar echo data, wherein the bistatic radar echo data comprise multi-frame echo data, and each frame of echo data comprises energy information and bistatic polar coordinate system coordinate information;
generating a radar echo data plane of each frame of echo data according to bistatic radar echo data, wherein the radar echo data plane comprises bistatic distance information, incidence angle information and energy information;
acquiring a preset Cartesian speed group, wherein the Cartesian speed group comprises at least one Cartesian speed;
converting the radar echo data plane of each frame into a Cartesian coordinate system plane corresponding to each frame;
selecting any frame as a convergence frame, and respectively acquiring a radar echo data plane group of each frame except the convergence frame at the moment of the convergence frame according to a Cartesian coordinate system plane of each frame and a preset Cartesian speed group, wherein the radar echo data plane group comprises at least one radar echo data plane, and each radar echo data plane is generated according to a Cartesian speed;
generating an accumulation plane group according to the radar echo data plane group of each frame at the moment of the aggregation frame and the radar echo data plane of the aggregation frame, wherein the accumulation plane group comprises at least one accumulation plane, and one accumulation plane is generated according to a Cartesian speed;
acquiring one accumulation plane in the accumulation plane group as a final plane according to a preset condition;
acquiring the target position of the converged frame according to the final plane;
acquiring target positions of other frames according to the target positions of the converged frames;
generating a target track according to the target position of the converged frame and the target positions of the other frames;
the acquiring the target positions of other frames according to the target position of the converged frame includes:
acquiring a Cartesian speed corresponding to the final plane;
acquiring the Cartesian velocity multiple difference between other frames and the converged frame;
and acquiring the target position of each frame according to the Cartesian velocity multiple difference, the Cartesian velocity and the position of the target of each other frame in the convergence frame.
2. The velocity-filtering-based bistatic pre-detection tracking method of claim 1, wherein the converting the radar return data plane for each frame into a cartesian coordinate system plane comprises:
the following processing is performed for the radar echo data plane of each frame:
acquiring a resolution unit in a radar echo data plane of the frame;
generating the distance between the target of each resolution unit and the receiver according to the bistatic distance information and the incidence angle information of each resolution unit in the bistatic polar coordinate system;
generating the position of each resolution unit in a Cartesian coordinate system according to the distance information and the incidence angle information between the target and the receiver of each resolution unit;
the cartesian coordinate system plane is generated from the positions of the individual resolution elements in the cartesian coordinate system.
3. The bistatic pre-detection tracking method based on velocity filtering according to claim 2, wherein the separately obtaining the radar echo data plane set of each frame except the aggregation frame at the time of the aggregation frame according to the cartesian coordinate system plane of each frame and a preset cartesian velocity set comprises:
generating a Cartesian coordinate system plane group of each frame at the moment of the convergence frame according to the Cartesian coordinate system plane of each frame except the convergence frame and a preset Cartesian speed group;
and generating the radar echo data plane set according to the Cartesian coordinate system plane set of each frame except the aggregation frame at the moment of the aggregation frame.
4. The velocity-filter-based bistatic pre-detection tracking method according to claim 3, wherein the obtaining one of the accumulation planes in the accumulation plane group as a final plane according to a preset condition comprises:
presetting a threshold;
and selecting the accumulation plane with the energy data peak value exceeding the threshold value and the maximum peak value as a final plane according to the peak value size of the energy data in the accumulation plane group and the threshold value.
5. A velocity filter based bistatic pre-detection tracking apparatus, comprising:
the echo data acquisition module is used for acquiring bistatic radar echo data, wherein the bistatic radar echo data comprise multi-frame echo data, and each frame of echo data comprises energy information and bistatic polar coordinate system coordinate information;
the single-frame echo data plane generating modules are the same in number as the frame number, and each single-frame echo data plane generating module is used for generating a radar echo data plane of a frame of echo data according to bistatic radar echo data;
the single-frame Cartesian coordinate system conversion modules are the same in number as the single-frame echo data plane generation modules, each single-frame Cartesian coordinate system conversion module corresponds to one single-frame echo data plane generation module and is used for converting the radar echo data plane generated by the corresponding single-frame echo data plane generation module into a Cartesian coordinate system plane;
the device comprises a Cartesian velocity group acquisition module, a Cartesian velocity group acquisition module and a Cartesian velocity group acquisition module, wherein the Cartesian velocity group acquisition module is used for acquiring a preset Cartesian velocity group, and the Cartesian velocity group comprises at least one Cartesian velocity;
the device comprises a convergent frame selection module, a convergent frame selection module and a control module, wherein the convergent frame selection module is used for selecting any one frame as a convergent frame;
the echo data plane generating module groups are the same in number as the Cartesian speeds, one echo data plane generating module group corresponds to one Cartesian speed, each echo data plane generating module group comprises a plurality of echo data plane generating modules, and the number of the echo data plane generating modules is the same as the number of frames; each echo data plane generating module is used for acquiring a radar echo data plane of a corresponding frame at the moment of a convergence frame according to the Cartesian coordinate system plane of each frame and the Cartesian speed corresponding to the echo data plane generating module group to which the echo data plane generating module belongs; each radar echo data plane forms a radar echo data plane group;
the device comprises an accumulation plane group generating module, a data collecting module and a data collecting module, wherein the accumulation plane group generating module is used for generating an accumulation plane group according to a radar echo data plane group of each frame at the moment of a convergence frame and a radar echo data plane of the convergence frame, the accumulation plane group comprises at least one accumulation plane, and one accumulation plane is generated according to a Cartesian speed;
a final plane acquisition module, configured to acquire one of the accumulation planes in the accumulation plane group as a final plane according to a preset condition;
a converged frame target position acquisition module for acquiring a target position of a converged frame according to a final plane;
the single-frame target position acquisition module is the same as the frames except the aggregation frame in number, corresponds to one frame except the aggregation frame, and is used for acquiring the target position of the corresponding frame according to the target position of the aggregation frame;
and the target track generating module is used for generating a target track according to the target position of the converged frame and the target positions of other frames.
6. The velocity-filter-based bistatic pre-detection tracking apparatus of claim 5, wherein the single-frame Cartesian coordinate system conversion module comprises:
the system comprises a resolution unit acquisition module, a resolution unit acquisition module and a data processing module, wherein the resolution unit acquisition module is used for acquiring a resolution unit in a radar echo data plane of a frame corresponding to a single-frame Cartesian coordinate system conversion module;
the target and receiver distance acquisition module is used for generating the distance between the target and the receiver of each resolution unit according to the bistatic distance information and the incidence angle information of each resolution unit in the bistatic polar coordinate system;
the system comprises a resolution unit Cartesian coordinate system generation module, a resolution unit Cartesian coordinate system generation module and a resolution unit control module, wherein the resolution unit Cartesian coordinate system generation module is used for generating the position of each resolution unit in a Cartesian coordinate system according to the distance between the target of each resolution unit and a receiver and the incident angle information;
the system comprises a Cartesian coordinate system plane generating module, a Cartesian coordinate system plane generating module and a Cartesian coordinate system plane generating module, wherein the Cartesian coordinate system plane generating module is used for generating the Cartesian coordinate system plane according to the positions of all the resolution units in a Cartesian coordinate system.
7. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor when executing the computer program implements a velocity filtering based bistatic pre-detection tracking method as claimed in any one of claims 1 to 4.
8. A computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, is capable of implementing the velocity filtering based bistatic pre-detection tracking method as claimed in any one of claims 1 to 4.
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