CN102890274A - Target tracking method for marine navigation radar ARPA (Auto Radar Plotting Aids) - Google Patents
Target tracking method for marine navigation radar ARPA (Auto Radar Plotting Aids) Download PDFInfo
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- CN102890274A CN102890274A CN2011101722374A CN201110172237A CN102890274A CN 102890274 A CN102890274 A CN 102890274A CN 2011101722374 A CN2011101722374 A CN 2011101722374A CN 201110172237 A CN201110172237 A CN 201110172237A CN 102890274 A CN102890274 A CN 102890274A
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Abstract
The invention discloses a target tracking algorithm for marine navigation radar ARPA (Auto Radar Plotting Aids), which comprises the steps of acquiring an identified ARPA target data table, setting the size of a window, carrying out target matching, realizing data interconnection, and then setting smooth values alpha and beta; calculating the dynamic information of a shipping track; carrying out smoothing filtering, and finally updating the ARPA target data table. The target tracking method provided by the invention has strong practicality and overcomes the defects that the existing ARPR products are easy to loss targets and the target parameters are unstable; and the method can track the target well in a ship-dense environment that the ships go in or out of a navigation channel, etc.
Description
Technical field
The present invention relates to the marine navigation radar technical field, especially use the Aids at marine navigation radar ARPA(Auto Radar Plotting, automatic radar plotting aid) field, specifically a kind of marine navigation radar ARPA target tracking algorism.
Background technology
[0002] marine navigation radar also claims marine radar, is loaded on the ship, is to measure this ship position and the pre-indispensable system of Anti-knocking accident.Marine navigation radar is by accurately catching the thing target positional informations such as other ship, land, course beacon, and its mode that is presented at display screen realized navigating by water dodge, the effect of ship's fix and pilotage.
Tradition ARPA adopts special hardware circuit to realize, this is so that the in realization to some extent restriction of the complexity of ARPA algorithm.Along with the innovation of radar arrangement, present ARPA function has become a functional module in the Radar Software system.Mode with software realizes ARPA, and this just can adopt comparatively complicated algorithm flow easily, adds more treatment step, and is conducive to safeguard and upgrading.Traditional ARPA track algorithm is improved, and the kinematic parameter that can obtain faster, more accurately the target boats and ships becomes possibility.
Summary of the invention
The objective of the invention is the problem for existing marine navigation radar ARPA track algorithm existence, a kind of more fast, accurately marine navigation radar ARPA track algorithm is provided.
The objective of the invention is to solve by the following technical programs:
A kind of marine navigation radar ARPA method for tracking target, described method step is as follows:
(1) obtains the ARPA target matrix of having identified;
(2) size of ripple door is set;
(3) object matching is realized data interconnection;
(4) smooth value α and β are set;
(5) Ship ' flight path multidate information;
(6) smothing filtering;
(7) upgrade the ARPA target matrix.
The ARPA target matrix that obtaining in the described step (1) identified refers to that the image of the original radar scanning of crawl from the radar internal memory is stored in the chained list of having built up, processed by Target Recognition Algorithms first, original radar data is carried out target identification, then insert in the chained list as a node with each target that has identified, every two field picture is preserved as a chained list, preserves altogether record five times.
In the described step (2) size, shape, the central point that the ripple door refers to arrange as the case may be Adaptive window be set, and carry out object matching (just advancing principle if there is plural target to be mated just to adopt).
The adjusting of the Bo Menbomen size of described step (2) is according to three kinds of situations: the first situation is exactly to be judged by the number of times of Continuous Tracking that target is in according to target to follow the tracks of initial period or follow the tracks of stationary phase, the ripple door that in the situation of different ranges, adopts different sizes that the second situation is mentioned above being exactly, when the third situation causes the epicycle track rejection when do not find target in the ripple door exactly, need to regulate ripple door size.
Ripple door in the described step (2) is because this method is to use the DirectFrameBuffer shape library to make drawing image in embedded Linux platform, as the reference coordinate system, be exactly that deal be most convenient so use the square wave door with the rectangular coordinate system of screen.
Object matching in the described step (3), the match is successful then enters next step, and it fails to match then carries out the identification of ripple door, upgrades ARPA target matrix, the little ripple door that then resets of ripple door if the ripple door greatly then enters.
In the described step (4) smooth value α is set and β refers to smoothing factor α, β, the adjusting of smoothing factor α, β is determined by the number of times of Continuous Tracking by target, the tracking initial stage is adopted larger smoothing factor (between 0 to 1), tracking is stable rear owing to relatively accurate to the prediction of flight path, so adopt less smoothing factor.
Ship ' flight path multidate information in the described step (5) refers to, smoothing factor α, β are set, and calculate the multidate information mated targetpath, then adopt α-βfilter that the flight path data are carried out smothing filtering, and the position that in the next frame image, occurs of target of prediction.
Smothing filtering in the described step (6) refers to adopt α-βfilter that the flight path data are carried out smothing filtering.
The present invention has the following advantages compared to existing technology:
The present invention is directed to the design feature of ARPA radar of new generation take computing machine as main core, proposed the ripple door shape that suitable computing machine adopts.
The definite mode that the present invention is directed to window position in the existing ARPA algorithm is analyzed, and in conjunction with regularity of ship's movement, has proposed the innovative approach of the stronger Adaptive window size of dirigibility to satisfy the polytrope of tracking target.
The present invention is directed to the acquisition pattern that the aim parameter location is put in the existing ARPA algorithm and analyze, proposed the again innovative approach of definite target location of statistics object boundary point set.
The present invention is directed to the deficiency of filtering algorithm in the existing ARPA algorithm, proposed the innovative approach of level and smooth target measurement coordinate before carrying out filtering algorithm.
The present invention is by analyzing the reason of ARPA insufficiency of function in the existing Radar Products, and in conjunction with the structure of present navar of new generation take computing machine as core, existing ARPA track algorithm is improved, increase speed and the precision of its target following, overcome in the existing ARPA product easily the weak points such as lose objects, target component be unstable, it can better be followed the tracks of target in the intensive environment of the boats and ships such as boats and ships inward and outward channel.
Description of drawings
Accompanying drawing 1 is ARPA target tracking algorism process flow diagram.
Embodiment
The present invention is further illustrated below in conjunction with accompanying drawing and embodiment.
As shown in Figure 1: a kind of marine navigation radar ARPA method for tracking target, described method step is as follows: at first, the image of the original radar scanning of crawl is stored in the chained list of having built up from the radar internal memory, processed by Target Recognition Algorithms first, original radar data is carried out target identification, then insert in the chained list as a node with each target that has identified, every two field picture is preserved as a chained list, preserves altogether record five times.
Secondly, size, shape, the central point of Adaptive window are set as the case may be, and carry out object matching (just advancing principle if there is plural target to be mated just to adopt).The adjusting of ripple door size is according to three kinds of situations: the first situation is exactly to be judged by the number of times of Continuous Tracking that target is in according to target to follow the tracks of initial period or follow the tracks of stationary phase, the ripple door that in the situation of different ranges, adopts different sizes that the second situation is mentioned above being exactly, when the third situation causes the epicycle track rejection when do not find target in the ripple door exactly, need to regulate ripple door size.And the present invention uses the DirectFrameBuffer shape library to make drawing image in embedded Linux platform, as the reference coordinate system, is exactly that deal be most convenient so use the square wave door with the rectangular coordinate system of screen.The center of tracking gate point can determine to be arranged on the position that last measurement position or the next time target of track prediction occur according to the tracking degree of stability of target etc.
At last, smoothing factor α, β are set, and calculate the multidate information mated targetpath, then adopt α-βfilter that the flight path data are carried out smothing filtering, and the position that in the next frame image, occurs of target of prediction.By the decision of the number of times of Continuous Tracking, the tracking initial stage is adopted larger smoothing factor (between 0 to 1) by target in the adjusting of smoothing factor α, β in this algorithm, and tracking is stable rear owing to relatively accurate to the prediction of flight path, so adopt less smoothing factor.
Claims (9)
1. marine navigation radar ARPA method for tracking target is characterized in that described method step is as follows:
(1) obtains the ARPA target matrix of having identified;
(2) size of ripple door is set;
(3) object matching is realized data interconnection;
(4) smooth value α and β are set;
(5) Ship ' flight path multidate information;
(6) smothing filtering;
(7) upgrade the ARPA target matrix.
2. marine navigation radar ARPA method for tracking target according to claim 1, it is characterized in that the ARPA target matrix that obtaining in the described step (1) identified refers to that the image of the original radar scanning of crawl from the radar internal memory is stored in the chained list of having built up, processed by Target Recognition Algorithms first, original radar data is carried out target identification, then insert in the chained list as a node with each target that has identified, every two field picture is preserved as a chained list, preserves altogether record five times.
3. marine navigation radar ARPA method for tracking target according to claim 1, it is characterized in that size, shape, the central point that the ripple door refers to arrange as the case may be Adaptive window that arrange in the described step (2), and carry out object matching (just advancing principle if there is plural target to be mated just to adopt).
4. marine navigation radar ARPA method for tracking target according to claim 1, it is characterized in that the adjusting of Bo Menbomen size of described step (2) is according to three kinds of situations: the first situation is exactly to be judged by the number of times of Continuous Tracking that target is in according to target to follow the tracks of initial period or follow the tracks of stationary phase, the ripple door that in the situation of different ranges, adopts different sizes that the second situation is mentioned above being exactly, when the third situation causes the epicycle track rejection when do not find target in the ripple door exactly, need to regulate ripple door size.
5. marine navigation radar ARPA method for tracking target according to claim 1, it is characterized in that the ripple door in the described step (2) because this method is to use the DirectFrameBuffer shape library to make drawing image in embedded Linux platform, as the reference coordinate system, be exactly that deal be most convenient so use the square wave door with the rectangular coordinate system of screen.
6. marine navigation radar ARPA method for tracking target according to claim 1, it is characterized in that the object matching in the described step (3), the match is successful then enters next step, it fails to match then carries out the identification of ripple door, if greatly then entering, the ripple door upgrades ARPA target matrix, the little ripple door that then resets of ripple door.
7. marine navigation radar ARPA method for tracking target according to claim 1, it is characterized in that in the described step (4) smooth value α is set and β refers to smoothing factor α, β, the adjusting of smoothing factor α, β is determined by the number of times of Continuous Tracking by target, the tracking initial stage is adopted larger smoothing factor (between 0 to 1), tracking is stable rear owing to relatively accurate to the prediction of flight path, so adopt less smoothing factor.
8. marine navigation radar ARPA method for tracking target according to claim 1, it is characterized in that the Ship ' flight path multidate information in the described step (5) refers to, smoothing factor α, β are set, and the multidate information of targetpath has been mated in calculating, then adopt α-βfilter that the flight path data are carried out smothing filtering, and the position that in the next frame image, occurs of target of prediction.
9. marine navigation radar ARPA method for tracking target according to claim 1 is characterized in that the smothing filtering in the described step (6) refers to adopt α-βfilter that the flight path data are carried out smothing filtering.
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Cited By (5)
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| CN104330792A (en) * | 2014-11-03 | 2015-02-04 | 大连海大船舶导航国家工程研究中心有限责任公司 | Alpha beta filtering based ship target tracking processing method |
| 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 |
| CN110632589A (en) * | 2019-10-17 | 2019-12-31 | 安徽大学 | Radar photoelectric information fusion technology |
| CN112630774A (en) * | 2020-12-29 | 2021-04-09 | 北京润科通用技术有限公司 | Target tracking data filtering processing method and device |
| CN114002667A (en) * | 2021-10-29 | 2022-02-01 | 西安交通大学 | Multi-neighbor extended target tracking algorithm based on random matrix method |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104330792A (en) * | 2014-11-03 | 2015-02-04 | 大连海大船舶导航国家工程研究中心有限责任公司 | Alpha beta filtering based ship target tracking processing method |
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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 |
| CN110632589A (en) * | 2019-10-17 | 2019-12-31 | 安徽大学 | Radar photoelectric information fusion technology |
| CN110632589B (en) * | 2019-10-17 | 2022-12-06 | 安徽大学 | Radar photoelectric information fusion technology |
| CN112630774A (en) * | 2020-12-29 | 2021-04-09 | 北京润科通用技术有限公司 | Target tracking data filtering processing method and device |
| CN114002667A (en) * | 2021-10-29 | 2022-02-01 | 西安交通大学 | Multi-neighbor extended target tracking algorithm based on random matrix method |
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