CN104064057B - Image trace measurement data and the implementation method of radar measured data Mutually fusion - Google Patents
Image trace measurement data and the implementation method of radar measured data Mutually fusion Download PDFInfo
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Abstract
A kind of implementation method of image trace measurement data and radar measured data Mutually fusion, step includes: (1) when when remote radar receive target data, demodulate the positional information of target, drive image tracking system, to quasi goal；(2) target is dragged to screen effective coverage, gathers video image information and carry out image trace measurement, improve command and guide map；(3) while measuring image trace, application coaxial laser diastimeter junior range judges, demodulates accurate target position information；(4) through radar detection target component, extrapolated data image and tracking measurement data carry out data precision verification, differentiation processes, and replaces the driving data of command and guide map with the high accuracy data after discriminating；(5) utilizing the secondary radar signals vector aircraft monitoring after optimizing to guide tracking system more accurately to quasi goal, extension aircraft monitoring guides the operating distance of tracking system.The present invention can realize discriminating and the process of near field target puppet flight path in-flight, it is achieved mends blind.
Description
Technical field
The present invention relates to the technology of image trace measurement data and radar measured data Mutually fusion
Method, it is adaptable to flight path processing and the research of data precision arithmetic in command and guide map, belongs to
In airport radar Data Fusion correlative technology field.
Background technology
Due to radar own characteristic, set up the reason such as environmental disturbances and transmission, make radar near-space district
There are pseudo-flight path, decoy in territory and enter the not enough problems such as nearly certainty of measurement, the discriminating of pseudo-flight path
More difficult with processing, have a strong impact on commander's performance evaluation.
Summary of the invention
In order to solve the technical problem of above-mentioned existence, the present invention provides one to be applicable to image trace
Measurement data and the technical method of radar measured data Mutually fusion.
The image trace measurement data of the method application aircraft automatic tracking system and radar surveying number
According to, carry out Mutually fusion application, perfect command and guide map, compensate for radar near-space district
Territory puppet flight path, decoy and enter the weak points such as nearly certainty of measurement, significant increase commander's property
The means that can analyze.
The present invention seeks to be achieved through the following technical solutions:
Image trace measurement data and the implementation method of radar measured data Mutually fusion, its feature
It is: comprise the steps:
(1) when when remote radar receive target data, demodulate the positional information of target,
Drive image tracking system, to quasi goal；
(2) target is dragged to screen effective coverage, gathers video image information and carry out image trace
Measure, through target component is carried out multi-coordinate conversion process, improve command and guide map；
(3) while measuring image trace, application coaxial laser diastimeter junior range is sentenced
Fixed, demodulate accurate target position information, the number under multi-coordinate is converted into radar fix system
According to, then carry out coded modulation and demodulation process, it is input in analytic set device；
(4) through radar detection target component, extrapolated data image and tracking measurement data are entered
Row data precision checking, differentiation process, and replace command and guide ground with the high accuracy data after differentiating
The driving data of figure；
(5) the secondary radar signals vector aircraft monitoring after optimizing is utilized to guide tracking system more smart
Really to quasi goal, extension aircraft monitoring guides the operating distance of tracking system.
Described step (3) coded modulation is as follows with demodulation process process: by image trace data warp
After crossing Coordinate Conversion, coding is encrypted, forms the pseudo-radar data of radar, after encryption
Code field includes: harbour+synchronization+increasing position symbol+data+identification code+verification.
In described step (4), data precision verifies, differentiates that processing procedure is as follows:
(a) distinguishing rule: the E2 if El is correlated with, then the data after fusion be E (x, y)
B () is tested by mean square deviation bound:
Calculate sample standard deviation S, according to Grubbs rule, rejecting abnormalities data；Determining can
By probability a, utilize X2Distribution table makes KOnAnd KUnderCoefficient table, according to test number (TN) n from table
In find rear KOnAnd KUnder；Calculate σOn(σOn=KOnAnd σ S)Under(σUnder=KUnderS)；Finally than
Relatively differentiate.
(c) data precision check analysis basis for estimation: if radar data reliability is not at σOn
And σUnder, then command and guide data contrast with image trace resolved data, if error
At more than 85m, then choose image trace resolved data and guide the resolving of map, then will
The anti-debt of these data carries out resolving to radar data to be replaced, if error is at more than 85m, then should
Data after merging with radar and image trace guide the resolving of map；Solve if figure is followed the tracks of
Calculate data check ratio defective, then still application radar reported data, need radar real-time
Data are analyzed filtering.
Beneficial effects of the present invention: the present invention uses such scheme, it is achieved near field target in-flight
The discriminating of pseudo-flight path and process, it is achieved mend blind；It is capable of entering nearly landing to tracking target
Process carries out real-time survey calculation, improves command and guide map.Realize the volume of multiple data form
Decoding transmission process.Compared with prior art, have target discriminating process accurately, precision high and
The conversion of data message synchronous transfer, form is flexible, etc. advantage.
Accompanying drawing explanation
Fig. 1 is the flow chart of the present invention.
Detailed description of the invention
The theoretical foundation of the inventive method realization and operation principle:
(1) theoretical foundation: utilize traffic filter design, multi-coordinate conversion and Laser Measuring
Away from waiting advanced technology and method, it is achieved optimize short range and the far field signal of secondary radar, reduce
The decoy caused due to multi-path jamming and reflection.The secondary radar signals after optimizing is utilized to guide
Aircraft monitoring guides tracking system more accurately to quasi goal, and extension aircraft monitoring guides follows the tracks of system
The operating distance of system, by height, angle, course and the velocity information of video measuring aircraft, enters
Row is encoded into radar signal form, accesses command system, plays low latitude near region, airport and mends blind
Effect.
(2) operation principle: when radar receives target data when remote, demodulate mesh
Target positional information, drives image tracking system, to quasi goal, target is dragged to screen effective
Region, gathers video image information and carries out image trace measurement, through sitting target component more
Mark system conversion process, improves command and guide map.While image trace is measured, application
Coaxial laser diastimeter junior range judges, demodulates accurate target position information, through multi-coordinate
System is converted into the data under radar fix system, then carries out coded modulation and demodulation process, is input to
In analytic set device, compare discriminating with radar detection target component information and extrapolated data,
When significantly allowing difference, replace the radar data of command and guide map by image trace data.Profit
Tracking system is guided to be directed at more accurately with the secondary radar signals vector aircraft monitoring after optimizing
Target, extension aircraft monitoring guides the operating distance of tracking system.
Based on above-mentioned theory foundation and operation principle, image trace measurement data of the present invention and radar
The technical method of measurement data Mutually fusion, comprises the steps:
1, when when remote radar receive target data, demodulate the positional information of target,
Drive image tracking system, to quasi goal；
2, target is dragged to screen effective coverage, gathers video image information and carry out image trace survey
Amount, through target component is carried out multi-coordinate conversion process, improves command and guide map.
3, while measuring image trace, application coaxial laser diastimeter junior range judges,
Demodulate accurate target position information, the data under multi-coordinate is converted into radar fix system,
Carry out coded modulation and demodulation process again, be input in analytic set device；
4, through radar detection target component, extrapolated data image and tracking measurement data are carried out
Data precision verification, differentiation process, and replace command and guide map with the high accuracy data after differentiating
Driving data.Reduce the decoy produced due to multi-path jamming and reflection.
5, the secondary radar signals vector aircraft monitoring after optimizing is utilized to guide tracking system more accurate
Ground guides the operating distance of tracking system to quasi goal, extension aircraft monitoring；
The method that wherein application image described in step 2 follows the tracks of the mutual supplement with each other's advantages with radar vectoring, carries
The high precision of near field command and guide map.
Step 3 coded modulation is as follows with demodulation process process: by image trace data through coordinate
After conversion, coding is carried out Cryptographic Extensions, form the pseudo-radar data of radar, after Cryptographic Extensions
Code field include: harbour+synchronization+increasing position symbol+data+identification code+verification.Strengthen data
The synchronization of information format and the motility of form conversion.
In described step 4, data precision verifies, differentiates that processing procedure is as follows:
(1) secondary radar flight path state is extrapolated to radar data during image trace, is designated as El
(x1, y1), its x-axis y-axis measurement error is
(2) data after image trace Coordinate Conversion, are designated as E2 (x2, y2), its x-axis y-axis is surveyed
Amount error is
(3) distinguishing rule: the E2 if El is correlated with, then the data after fusion be E (x, y)
(4) bound of radar true and false discriminating data process mean square deviation is tested estimation
When estimating the mean square deviation upper limit with testing in upper limit σ of mean square deviation, probability of survival
Take a (O < a < 1).
More than Xa 2Probability be a, i.e.
p{(n-l)S2/σ2>Xa 2} (1)
Make (n-l)/σ2=KOn 2 (2)
p{KOn 2S2>σ2}=a (3)
p{KOnS > σ }=a (4)
As can be seen here, σOn=KOnS (5)
Estimating the mean square deviation upper limit with above formula, its probability of survival is a, if measuring multiple sample,
The mean square deviation upper limit having lOOa sample to calculate by above formula in the most every 100 samples is greater than
Actual mean square deviation.
Obtained by formula (2)
In formula, xa 2It is according to test number (TN) n and significance level a, from x2Distribution table checks in
Statistic marginal value.According to formula (4), available x2Distribution table makes KOnCoefficient table.Therefore,
Use σOnThe step tested can be summarized as: (1) calculates sample standard deviation s, according to GruHhs
Rule, rejecting abnormalities data；(2) determine probability of survival a, utilize x2Distribution table makes KOnSystem
Number table, finds rear K according to test number (TN) n from tableOn；(3) σ is calculatedOn(σOn=KOns)；
(4) such as σOn≤ 0, then the requirement it is believed that precision touches the mark, the reliability of this judgement is the least
In a.
Test with mean square deviation lower limit: at σOn≤σ0In the case of can show that precision reaches
Require conclusion (probability of survival a), but at σOn>σ0In the case of can not draw precision
It is not reaching to the conclusion required.This is because the mean square deviation upper limit is more than equal ten thousand difference indexs, and unexpectedly
Taste actual mean square deviation also greater than mean square deviation index.Reality/mean square deviation is general less than the mean square deviation upper limit
Rate is a, so σOn>σ0Actual mean square deviation is still likely less than mean square deviation index.Therefore, when
Find σOn>σ0Time, in addition it is also necessary to estimate mean square deviation lower limit σUnder.The same value of probability of survival is
A. risk is made with 1-a, from x2Distribution table checks in, then x2(1-a) probability be 1-a,
I.e. P{ (n-l) S2/σ2>X(a-1)2}=1-a (7)
Make (n-l)/X (a-1)2=KUnder (8)
P{KUnder/S2≤σ2}=a (9)
P{KUnderS≤σ }=a (10)
As can be seen here, if KUnderS is as the lower limit σ of mean square deviationUnder, actual mean square deviation is more than
Or the probability being equal to mean square deviation lower limit is a.So mean square deviation lower limit σUnderCan be calculated as follows
σUnder=KUnderS (11)
Estimating mean square deviation lower limit with above formula, its probability of survival is a, if measuring multiple sample,
The mean square deviation lower limit having lOOa sample to calculate by above formula in the most every 100 samples is less than
Or equal to actual mean square deviation.
Obtained by formula (8)
In formula, x2 (1-a)It is according to test number (TN) n and significance level 1-a, from X2In distribution table
Check in statistic marginal value.According to formula (4), available X2Distribution table makes KUnderCoefficient table.Cause
This, use σUnderThe step tested can be summarized as: (1) calculates sample standard deviation S, according to
Grubbs rule, rejecting abnormalities data；(2) determine probability of survival a, utilize X2Distribution table is made
Go out KUnderCoefficient table, finds rear K according to test number (TN) n from tableUnder；(3) σ is calculatedUnder(σUnder
=KUnderS)；(4) such as σOn>σ0, then the requirement it is believed that precision touches the mark, this judgement can
By rate not less than a.
σUnder≤σ0<σOnTime the method for inspection: in most of the cases whether may be made that precision
Reach the judgement of requirement, but if there is σUnder≤σ0<σOnSituation, then can not draw a conclusion.
For avoiding this situation to occur, it is desirable to σOnAnd σUnderBetween difference smaller, just
For this reason, at estimation σOnAnd σUnderTime the probability of survival a that taken should be the not highest (generally
70% can be taken), this is it is ensured that the poor Δ σ between the mean square deviation upper limit and lower limit will not be the biggest.
(5) data precision check analysis basis for estimation
If radar data reliability is not at σOnAnd σUnder, then command and guide data and image
Follow the tracks of resolved data to contrast, if error is at more than 85m, then choose image trace solution
Count according to guiding the resolving of map, more anti-for these data debt is carried out parsing to radar data replace
Change, if error is at more than 85m, then the data after application radar and image trace merge are entered
The resolving of row steering map.If image trace resolved data verification ratio is defective, then still
Application radar reported data, but be intended to be analyzed data blunt during radar filtering, reduce as far as possible
The generation of decoy.
The inventive method be embodied as effect: utilize traffic filter design, multi-coordinate to turn
Change and technology and the method such as laser ranging, optimize short range and the far field signal of secondary radar, reduce
The decoy produced due to multi-path jamming and reflection.The secondary radar signals after optimizing is utilized to guide
Aircraft monitoring guides tracking system more accurately to quasi goal, and extension aircraft monitoring guides follows the tracks of system
The operating distance of system；By height, angle, course and the velocity information of video measuring aircraft, enter
Row is encoded into navigation management secondary radar signal format, accesses command system, plays low near region, airport
The effect that empty benefit is blind.
Claims (2)
1. image trace measurement data and the implementation method of radar measured data Mutually fusion, it is characterised in that:
Comprise the steps:
(1) when when remote radar receive target data, demodulate the positional information of target, drive figure
As following the tracks of system, to quasi goal；
(2) target is dragged to screen effective coverage, gathers video image information and carry out image trace measurement, warp
Target component is carried out multi-coordinate conversion process, improves command and guide map；
(3) while measuring image trace, application coaxial laser diastimeter junior range judges, demodulation
Accurate target position information, the data under multi-coordinate is converted into radar fix system, then carry out coding tune
System 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 data essence
Degree verification, differentiation process, and replace the driving data of command and guide map with the high accuracy data after discriminating；
(5) the secondary radar signals vector aircraft monitoring after optimizing is utilized to guide tracking system to be directed at more accurately
Target, extension aircraft monitoring guides the operating distance of tracking system.
Image trace measurement data the most according to claim 1 and the reality of radar measured data Mutually fusion
Existing method, it is characterised in that: described step (3) coded modulation is as follows with demodulation process process: by image with
Coding, after Coordinate Conversion, is encrypted by track data, forms the pseudo-radar data of radar, after encryption
Code field includes: harbour+synchronization+increasing position symbol+data+identification code+verification.
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| CN104484870B (en) * | 2014-11-25 | 2018-01-12 | 北京航空航天大学 | Verify Plane location method |
| CN105699943A (en) * | 2014-11-26 | 2016-06-22 | 沈阳飞机工业（集团）有限公司 | Method for analyzing and processing airplane radar information |
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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 |
| CN107104971B (en) * | 2017-05-03 | 2021-05-28 | 哈尔滨工业大学 | Combined monitoring method based on laser radar and video |
| CN111208482B (en) * | 2020-02-28 | 2022-02-18 | 成都汇蓉国科微系统技术有限公司 | Radar precision analysis method based on distance alignment |
| CN114077476B (en) * | 2020-08-14 | 2024-05-28 | 上海交通大学 | Multi-platform elastic avionics system cloud system and method |
| CN112650298B (en) * | 2020-12-30 | 2021-08-17 | 广东工业大学 | Unmanned aerial vehicle tracking landing method and system |
| CN114280596B (en) * | 2021-12-24 | 2024-06-07 | 中国航天科工集团八五一一研究所 | Multisource data fusion guiding method |
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