CN104064057A - Method for implementing complementation and fusion of image tracking measurement data and radar measurement data - Google Patents
Method for implementing complementation and fusion of image tracking measurement data and radar measurement data Download PDFInfo
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- CN104064057A CN104064057A CN201410264791.9A CN201410264791A CN104064057A CN 104064057 A CN104064057 A CN 104064057A CN 201410264791 A CN201410264791 A CN 201410264791A CN 104064057 A CN104064057 A CN 104064057A
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Abstract
A method for implementing complementation and fusion of image tracking measurement data and radar measurement data includes the steps of firstly, conducting demodulation to obtain position information of a target and driving an image tracking system to aim at the target when receiving target data through radar from a distance; secondly, pulling the target to an effective area of a screen, collecting video image information to conduct image tracking measurement, and perfecting a command and guide map; thirdly, assisting in distance measurement judgment through a coaxial laser distance measurement instrument while conducting image tracking measurement, and conducting demodulation to obtain the accurate position information of the target; fourthly, replacing drive data of the command and guide map with identified high-accuracy data after data accuracy verification and judgment are conducted on radar detection target parameters, extrapolation data images and tracking measurement data; fifthly, using an optimized secondary radar signal for guiding an aircraft monitoring, guiding and tracking system to more accurately aim at the target, and expanding the action distance of the aircraft monitoring, guiding and tracking system. By means of the method, fake tracks of the target in near-field flight can be identified and processed, and blind area coverage can be achieved.
Description
Technical field
The present invention relates to the technical method of image tracking measurement data and radar measured data Mutually fusion, be applicable to that flight path in command and guide map is processed and the research of data precision algorithm, belong to airport radar Data Fusion correlative technology field.
Background technology
Due to radar own characteristic, set up the reasons such as environmental interference and transmission, make radar near-space region have pseudo-flight path, decoy and enter the problem that nearly measuring accuracy etc. is not enough, the discriminating of pseudo-flight path and process more difficultly, has had a strong impact on commander's performance evaluation.
Summary of the invention
In order to solve the technical matters of above-mentioned existence, the invention provides a kind of technical method that is applicable to image tracking measurement data and radar measured data Mutually fusion.
Image tracking measurement data and the radar measured data of the method application aircraft automatic tracking system, carry out Mutually fusion application, perfect command and guide map, made up radar near-space region pseudo-flight path, decoy and entered the weak points such as nearly measuring accuracy, greatly having promoted the means of commander's performance evaluation.
The present invention seeks to be achieved through the following technical solutions:
The implementation method of image tracking measurement data and radar measured data Mutually fusion, is characterized in that: comprise the steps:
(1) when radar when remote receives target data, demodulate the positional information of target, drive image tracking system, aim at the mark;
(2) target is dragged to screen effective coverage, gathers video image information and carry out image tracking measurement, through target component is carried out to multi-coordinate conversion process, improve command and guide map;
(3) in to image tracking measurement, the auxiliary range finding of application coaxial laser stadimeter judges that the accurate target position information of demodulation converts the data under radar fix system to through multi-coordinate, carry out again coded modulation and demodulation process, be input in analytic set device;
(4) through radar detection target component, extrapolated data image and tracking measurement data being carried out to data precision verification, differentiate and process, the driving data of replacing command and guide map with the high accuracy data after differentiating;
(5) utilize the secondary radar signals vector aircraft monitoring guiding tracker after optimizing to aim at the mark more accurately, the operating distance of expansion aircraft monitoring guiding tracker.
Described step (3) coded modulation and demodulation process process are as follows: by image tracking data after coordinate conversion, coding is encrypted, the pseudo-radar data that forms radar, the code field after encryption comprises: harbour+synchronous+increasing position symbol+data+identification code+verification.
Data precision verification in described step (4), to differentiate processing procedure as follows:
(a) distinguishing rule: if El is relevant E2, the data after merging are so E (x, y)
(b) by mean square deviation bound, test:
Calculate sample standard deviation S, according to Grubbs rule, rejecting abnormalities data; Determine probability of survival a, utilize X
2distribution table is made K
onand K
undercoefficient table is found rear K according to test number (TN) n from table
onand K
under; Calculate σ
on(σ
on=K
ons) and σ
under(σ
under=K
unders); Finally relatively differentiate.
(c) data precision check analysis basis for estimation: if radar data reliability is not at σ
onand σ
undercommand and guide data and image tracking resolved data contrast so, if error is more than 85m, choose so image tracking resolved data and guide resolving of map, again the anti-debt of these data is resolved to replacement to radar data, if the data that error more than 85m, is applied after radar and image tracking fusion so guide resolving of map; If figure follows the tracks of resolved data verification than defective, so still apply radar reported data, need to carry out analysis and filter to radar real time data.
Beneficial effect of the present invention: the present invention adopts such scheme, realizes near field discriminating and the processing of the pseudo-flight path of target in-flight, realizes benefit blind; Can realize and carry out measuring and calculating in real time to tracking target being entered to the process of nearly landing, improve command and guide map.Realize the encoding and decoding transmission process of several data form.Compared with prior art, have that target differentiate to be processed accurately, precision is high and data message synchronous transmission, format conversion flexible, etc. advantage.
Accompanying drawing explanation
Fig. 1 is process flow diagram of the present invention.
Embodiment
Theoretical foundation and principle of work that the inventive method realizes:
(1) theoretical foundation: utilize advanced technology and the methods such as traffic filter design, multi-coordinate conversion and laser ranging, realize short range and the far field signal of optimizing secondary radar, reduce the decoy because multipath disturbs and reflection causes.Utilize the secondary radar signals vector aircraft monitoring guiding tracker after optimizing to aim at the mark more accurately, the operating distance of expansion aircraft monitoring guiding tracker, by the height of video measuring aircraft, angle, course and velocity information, be encoded into radar signal form, access command system, plays low latitude near region, airport and mends blind effect.
(2) principle of work: when radar when remote receives target data, demodulate the positional information of target, drive image tracking system, aim at the mark, target is dragged to screen effective coverage, gather video image information and carry out image tracking measurement, through target component is carried out to multi-coordinate conversion process, improve command and guide map.In to image tracking measurement, the auxiliary range finding of application coaxial laser stadimeter is judged, the accurate target position information of demodulation, through multi-coordinate, convert the data under radar fix system to, carry out again coded modulation and demodulation process, be input in analytic set device, with the discriminating of comparing of radar detection target component information and extrapolated data, while greatly allowing difference, with image tracking data, replace the radar data of command and guide map.Utilize the secondary radar signals vector aircraft monitoring guiding tracker after optimizing to aim at the mark more accurately, the operating distance of expansion aircraft monitoring guiding tracker.
Based on above-mentioned theory foundation and principle of work, the technical method of image tracking measurement data of the present invention and radar measured data Mutually fusion, comprises the steps:
1, when radar when remote receives target data, demodulate the positional information of target, drive image tracking system, aim at the mark;
2, target is dragged to screen effective coverage, gathers video image information and carry out image tracking measurement, through target component is carried out to multi-coordinate conversion process, improve command and guide map.
3, in to image tracking measurement, the auxiliary range finding of application coaxial laser stadimeter judges that the accurate target position information of demodulation converts the data under radar fix system to through multi-coordinate, carry out again coded modulation and demodulation process, be input in analytic set device;
4, through radar detection target component, extrapolated data image and tracking measurement data being carried out to data precision verification, differentiate and process, the driving data of replacing command and guide map with the high accuracy data after differentiating.Minimizing is due to the decoy of multipath interference and reflection generation.
5, utilize the secondary radar signals vector aircraft monitoring guiding tracker after optimizing to aim at the mark more accurately, the operating distance of expansion aircraft monitoring guiding tracker;
Wherein described in step 2, application image is followed the tracks of the method with the mutual supplement with each other's advantages of radar vectoring, has improved the precision of near field command and guide map.
Step 3 coded modulation and demodulation process process are as follows: by image tracking data after coordinate conversion, coding is encrypted to expansion, form the pseudo-radar data of radar, the code field of encrypting after expansion comprises: harbour+synchronous+increasing position symbol+data+identification code+verification.Strengthen the dirigibility of the synchronous and format conversion of data message form.
Data precision verification in described step 4, to differentiate processing procedure as follows:
(1) radar data while secondary radar flight path state being extrapolated to image tracking, is designated as E
l(x
1, y
1), its x axle y axle measuring error is
(2) data after image tracking coordinate conversion, are designated as E2 (x
2, y
2), its x axle y axle measuring error is
(3) distinguishing rule: if El is relevant E2, the data after merging are so E (x, y)
(4) radar true and false discriminating data is processed with the estimation of testing of the bound of mean square deviation
In the estimation mean square deviation of testing on upper limit σ by mean square deviation, in limited time, probability of survival is got a (0<a<1).
Be greater than X
a 2probability be a,
p{(n-l)S
2/σ
2>X
a 2} (1)
Make (n-l)/σ
2=K
on 2(2)
P{K
on 2s
2> σ
2}=a (3)
P{K
ons> σ }=a (4)
As can be seen here, σ
on=K
ons (5)
By the above formula estimation mean square deviation upper limit, its probability of survival is a, if measure a plurality of samples, in average every 100 samples, has the mean square deviation upper limit that lOOa sample calculated by above formula to be greater than actual mean square deviation.
By formula (2), obtained
In formula, x
a 2according to test number (TN) n and level of significance a, from x
2in distribution table, check in statistic critical value.According to formula (4), can utilize x
2distribution table is made K
oncoefficient table.Therefore, use σ
onthe step of testing can be summarized as: (1) calculates sample standard deviation s, according to GruHhs rule, and rejecting abnormalities data; (2) determine probability of survival a, utilize x
2distribution table is made K
oncoefficient table is found rear K according to test number (TN) n from table
on; (3) calculate σ
on(σ
on=K
ons); (4) as σ
on≤ 0, can think the precision requirement that touches the mark, the reliability of this judgement is not less than a.
With mean square deviation lower limit, test: at σ
on≤ σ
0situation under can show that precision meets the requirements of conclusion (probability of survival a), but at σ
on> σ
0situation under can not show that precision does not meet the requirements of conclusion.This is because the mean square deviation upper limit is greater than equal ten thousand poor indexs, and does not mean that actual mean square deviation is also greater than mean square deviation index.It is a that reality/mean square deviation is less than mean square deviation Upper Probability, so σ
on> σ
0actual mean square deviation still may be less than mean square deviation index.Therefore, when finding σ
on> σ
0time, also need to estimate mean square deviation lower limit σ
under.The same value of probability of survival is that a. makes level of significance with 1-a, from x
2in distribution table, check in, x
2(
1-a) probability be 1-a,
Be P{ (n-l) S
2/ σ
2>X (
a-1)
2}=1-a (7)
Make (n-l)/X (
a-1)
2=K
under(8)
P{K
under/ S
2≤ σ
2}=a (9)
P{K
unders≤σ }=a (10)
As can be seen here, if K
unders is as the lower limit σ of mean square deviation
under, to be more than or equal to the probability of mean square deviation lower limit be a to actual mean square deviation.So mean square deviation lower limit σ
undercan be calculated as follows
σ
under=K
unders (11)
With above formula estimation mean square deviation lower limit, its probability of survival is a, if measure a plurality of samples, in average every 100 samples, has the mean square deviation lower limit that lOOa sample calculated by above formula to be less than or equal to actual mean square deviation.
By formula (8), obtained
In formula, x
2 (1-a)according to test number (TN) n and level of significance 1-a, from X
2in distribution table, check in statistic critical value.According to formula (4), can utilize X
2distribution table is made K
undercoefficient table.Therefore, use σ
underthe step of testing can be summarized as: (1) calculates sample standard deviation S, according to Grubbs rule, and rejecting abnormalities data; (2) determine probability of survival a, utilize X
2distribution table is made K
undercoefficient table is found rear K according to test number (TN) n from table
under; (3) calculate σ
under(σ
under=K
unders); (4) as σ
on> σ
0, can think the precision requirement that touches the mark, the reliability of this judgement is not less than a.
σ
under≤ σ
0< σ
ontime the method for inspection: in most of the cases can make precision and whether meet the requirements of judgement, but if there is σ
under≤ σ
0< σ
onsituation, can not draw a conclusion.For avoiding this situation to occur, wish σ
onand σ
underbetween difference smaller as far as possible, just for this consideration, estimation σ
onand σ
undertime the probability of survival a that gets should too high (conventionally can not get 70%), this just can guarantee that the poor Δ σ between the mean square deviation upper limit and lower limit can be very not large.
(5) data precision check analysis basis for estimation
If radar data reliability is not at σ
onand σ
undercommand and guide data and image tracking resolved data contrast so, if error is more than 85m, choose so image tracking resolved data and guide resolving of map, again the anti-debt of these data is resolved to replacement to radar data, if the data that error more than 85m, is applied after radar and image tracking fusion so guide resolving of map.If image is followed the tracks of resolved data verification than defective, so still apply radar reported data, but blunt data analysis filters will be to radar time, reduces the generation of decoy as far as possible.
The concrete implementation result of the inventive method: utilize technology and the methods such as traffic filter design, multi-coordinate conversion and laser ranging, optimize short range and the far field signal of secondary radar, reduce the decoy because multipath disturbs and reflection produces.Utilize the secondary radar signals vector aircraft monitoring guiding tracker after optimizing to aim at the mark more accurately, the operating distance of expansion aircraft monitoring guiding tracker; By the height of video measuring aircraft, angle, course and velocity information, be encoded into navigation management secondary radar signal format, access command system, plays low latitude near region, airport and mends blind effect.
Claims (3)
1. the implementation method of image tracking measurement data and radar measured data Mutually fusion, is characterized in that: comprise the steps:
(1) when radar when remote receives target data, demodulate the positional information of target, drive image tracking system, aim at the mark;
(2) target is dragged to screen effective coverage, gathers video image information and carry out image tracking measurement, through target component is carried out to multi-coordinate conversion process, improve command and guide map;
(3) in to image tracking measurement, the auxiliary range finding of application coaxial laser stadimeter judges that the accurate target position information of demodulation converts the data under radar fix system to through multi-coordinate, carry out again coded modulation and demodulation process, be input in analytic set device;
(4) through radar detection target component, extrapolated data image and tracking measurement data being carried out to data precision verification, differentiate and process, the driving data of replacing command and guide map with the high accuracy data after differentiating;
(5) utilize the secondary radar signals vector aircraft monitoring guiding tracker after optimizing to aim at the mark more accurately, the operating distance of expansion aircraft monitoring guiding tracker.
2. the implementation method of image tracking measurement data according to claim 1 and radar measured data Mutually fusion, it is characterized in that: described step (3) coded modulation and demodulation process process are as follows: by image tracking data after coordinate conversion, coding is encrypted, the pseudo-radar data that forms radar, the code field after encryption comprises: harbour+synchronous+increasing position symbol+data+identification code+verification.
3. the implementation method of image tracking measurement data according to claim 1 and radar measured data Mutually fusion, is characterized in that: data precision verification in described step (4), to differentiate processing procedure as follows:
(a) distinguishing rule: if E1 is relevant E2, the data after merging are so E (x, y)
(b) by mean square deviation bound, test:
Calculate sample standard deviation S, according to Grubbs rule, rejecting abnormalities data; Determine probability of survival a, utilize X
2distribution table is made K
onand K
undercoefficient table is found rear K according to test number (TN) n from table
onand K
under; Calculate σ
on(σ
on=K
ons) and σ
under(σ
under=K
unders); Finally relatively differentiate.
(c) data precision check analysis basis for estimation: if radar data reliability is not at σ
onand σ
undercommand and guide data and image tracking resolved data contrast so, if error is more than 85m, choose so image tracking resolved data and guide resolving of map, again the anti-debt of these data is resolved to replacement to radar data, if the data that error more than 85m, is applied after radar and image tracking fusion so guide resolving of map; If figure follows the tracks of resolved data verification than defective, so still apply radar reported data, need to carry out analysis and filter to radar real time data.
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| CN106791719A (en) * | 2017-03-01 | 2017-05-31 | 中国矿业大学(北京) | Development machine abnormal work and calamity forecast system based on image trace monitoring device |
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