CN104330792A - Alpha beta filtering based ship target tracking processing method - Google Patents

Alpha beta filtering based ship target tracking processing method Download PDF

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Publication number
CN104330792A
CN104330792A CN201410609700.0A CN201410609700A CN104330792A CN 104330792 A CN104330792 A CN 104330792A CN 201410609700 A CN201410609700 A CN 201410609700A CN 104330792 A CN104330792 A CN 104330792A
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target
track target
original
track
plotting
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CN104330792B (en
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庞福文
付震
蒋剑平
陈文彬
朱凌
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DALIAN HAIDA MARITIME NAVIGATION NATIONAL ENGINEERING RESEARCH CENTER Co Ltd
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DALIAN HAIDA MARITIME NAVIGATION NATIONAL ENGINEERING RESEARCH CENTER Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/66—Radar-tracking systems; Analogous systems
    • G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
    • G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
    • G01S13/726—Multiple target tracking
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

An embodiment of the invention provides an alpha beta filtering based ship target tracking processing method. The alpha beta filtering based ship target tracking processing method comprises the following steps of enabling a processor to establish a predication port door according to a plotting target position which is corresponding to an original plot, the course and the speed; identifying track targets inside the predication port door; judging whether the number of the track targets is larger than 0 or not, if so, determining that the original plot is a tracking target exists and judging whether the the number of the track targets is larger than 1, if so, selecting an optimal track target to relate to the original plot if the number of the track targets is larger than 0, adopting an alpha beta filtering to relate to the original plot if the number of the track targets is equal to 1, if the number of the track targets is not larger than 0, determining that the original plot is that a tracking target does not exist, performing straight-line extrapolation on the track targets and relating to the original plot. The alpha beta filtering based ship target tracking processing method achieves comprehensive analysis and processing of various conditions and enables a track target tracking result to be accurate.

Description

Based on the ship target tracking processing method of α β filtering
Technical field
The embodiment of the present invention relates to computer science, particularly relates to a kind of ship target tracking processing method based on α β filtering.
Background technology
Boats and ships are followed the trail of and are referred to the position being monitored boats and ships by technological means in real time, thus to the safety in production of boats and ships and sailing date implementation status accomplish long-range real-time follow-up.The real-time tracing realizing boats and ships has very important commercial value.On the one hand shipping company, rent the ship operators such as family can remote monitoring boats and ships in real time dynamically, thus the safety management of boats and ships and the implementation status at sailing date to be clear in the heart.On the other hand for port administration offices, the whole monitoring to boats and ships in the district of port can be realized, be convenient to better scheduling job plan and ensure port district safety.In addition, boats and ships service assists industry such as shipping agency, spare part material supply company can contact shipowner in advance by the Ship dynamic situation realizing grasping harbour, place and obtain more business opportunity.
Track target following technology refers to carries out contrast coupling to the plotting target extracted according to radar image, and final formation has the track order calibration method of all kinds of sail information.This type of algorithm carries out modeling according to each form of Kalman filtering to the motion of target mostly at present, calculates track target according to model.According to calculating that result obtains most possible coupling target or directly adopts straight-line extrapolation and time unifying to carry out object matching.
Existing track target following technology cannot carry out comprehensive analysis processing for all kinds of situation, and track target following result is not accurate enough.
Summary of the invention
The embodiment of the present invention provides a kind of ship target tracking processing method based on α β filtering, cannot carry out comprehensive analysis processing, the problem that track target following result is not accurate enough to overcome track target following technology in prior art for all kinds of situation.
Present embodiments provide a kind of ship target tracking processing method based on α β filtering, comprising:
Processor is according to original position and the coursespeed foundation prediction ripple door of marking and drawing corresponding plotting target;
Identify the track target of described prediction Bo Mennei;
Judge whether described track target number is greater than 0, if so, then determine that described original plotting is that tracking target exists, and judge whether described track target number is greater than 1, if be greater than 1, then select the original plotting of optimum described track target association; If equal 1, then α β filtering is adopted to associate original plotting;
If not, then determine that described original plotting is that tracking target does not exist, and adopt original plotting described in track target association described in straight-line extrapolation.
Further, described employing α β filtering associates original plotting, comprising:
The polar coordinates of described original plotting are converted to Cartesian coordinates by processor;
Adopt formula
α = 2 × [ 2 × ( k + 2 ) - 1 ] ( k + 2 ) 2 + k + 2 - - - ( 1 )
Try to achieve the trusting degree α of described original plotting positional value and trajectory predictions position value difference;
Adopt formula
β = 2 × ( 2 - α ) - 4 1 - α - - - ( 2 )
Try to achieve described original plotting positional value and trajectory predictions positional value difference to the trusting degree β of rate;
Speed corresponding to track target location coordinate, track target is tried to achieve according to described α β; Formula
X T = X p + ( X m - X p ) × α Y T = Y p + ( Y m - Y p ) × α - - - ( 3 )
V XT = V XP + ( X m - X p ) / P × β V YT = V YP + ( Y m - Y p ) / P × β - - - ( 4 )
The speed determination track target corresponding according to described track target location coordinate, track target, wherein, described X pfor prediction center of tracking gate point horizontal ordinate, described X tfor the horizontal ordinate of track target, described X mfor the horizontal ordinate of original plotting, described Y pfor prediction center of tracking gate point ordinate, described Y tfor the ordinate of track target, described Y mfor the ordinate of original plotting, described V xTfor track target velocity X-axis component, described V xPfor original plotting speed X-axis component, described V yTfor track target velocity Y-axis component, described V yPfor track target original plotting speed Y-axis component, described P is the radar scanning cycle.
Further, the original plotting of the optimum described track target association of described selection, comprising:
Processor calculates the described quality of track target and the continuity of area and the distance with ship trajectory;
The corresponding relation of described track target and described ship trajectory is set up according to described continuity and described distance;
To be associated matrix according to described corresponding relation;
Optimum corresponding relation is calculated according to described incidence matrix;
Choose the original plotting of track target association in described optimum corresponding relation.
Further, after the track target of described identification described prediction Bo Mennei, also comprise:
Determine that original plotting corresponding to described track target is in anchored condition according to the direction of described track target and speed.
Further, describedly determine that the original plotting of described original object is that tracking target does not exist, and adopt original plotting described in track target association described in straight-line extrapolation, comprising:
By the inquiry of current quality factor is corresponding, the described original prediction ripple door marking and drawing correspondence is predicted that the ripple shop front amasss the coefficient value in coefficient table by processor, and expand described prediction ripple door according to the multiple that described coefficient value identifies.
Further, described processor also comprises after original for described original object prediction ripple door expansion of marking and drawing correspondence being twice:
Judge whether described track target number is greater than 0, if not, then adopt counter to be that tracking target loses counting how many times;
Judge whether described number of times is greater than threshold number, if be greater than, then original for described original object plotting be designated tracking target and lose.
The embodiment of the present invention is by judging whether track target number is greater than 0, if, then determine that described original plotting is that tracking target exists, and judge whether described track target number is greater than 1, if be greater than 1, then select the original plotting of optimal trajectory target association, if equal 1, α β filtering is adopted to associate original plotting, original plotting is not existed to the situation of tracking target, then adopt the described original plotting of track association second described in straight-line extrapolation, achieve and can carry out comprehensive analysis processing for all kinds of situation, the tracking results of track target is more accurate.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the ship target tracking processing method process flow diagram that the present invention is based on α β filtering;
Fig. 2 is track target detection fan section of the present invention schematic diagram;
Fig. 3 is the schematic diagram that the present invention predicts ripple door;
Fig. 4 is the original plot sketch of straight-line extrapolation track target association of the present invention;
Fig. 5 is that the original plotting of the present invention is through gap bridge district process schematic;
Fig. 6 is that the original plotting of the present invention is in anchored condition schematic diagram;
Fig. 7 is that the original plotting association of the present invention upper α of employing β filtering associates track goal approach process flow diagram;
Fig. 8 is the present invention's original plotting polar coordinates conversion Cartesian coordinates schematic diagram;
Fig. 9 is the original plotting association of the present invention optimum association track goal approach process flow diagram;
Figure 10 is the original plotting of the present invention and buoy method of superposition process flow diagram;
Figure 11 is the ship target tracking processing method overall flow figure that the present invention is based on α β filtering.
Embodiment
For making the object of the embodiment of the present invention, technical scheme and advantage clearly, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Fig. 1 is the ship target tracking processing method process flow diagram that the present invention is based on α β filtering, and as shown in Figure 1, the method for the present embodiment can comprise:
Step 101, processor are according to original position and the coursespeed foundation prediction ripple door of marking and drawing corresponding plotting target;
Specifically, original plotting is the plotting target in radar scanning region, and the position of the plotting target that processor extracts according to the radar image of original plotting and coursespeed set up prediction ripple door.Fig. 2 is track target detection fan section of the present invention schematic diagram, and as shown in Figure 3,1/2 of the 1/2 fan section angle corresponding with sector region 2 of the fan section angle of sector region 1 correspondence is combined into track target detection fan section 3.In order to the combination making the position of the track target next update in detection fan section not exceed fan section 1 and fan section 2, need rationally to arrange the number that radar volume is divided into fan section.Amass coefficient table according to current quality factor Qa to the prediction ripple shop front and index out quality factor value FQa, then according to the prediction ripple door size that following formulae discovery makes new advances.
Δρ＝δ ρ×F Qa
Δθ＝ρ×δ θ×F Qa
Wherein, Δ ρ is prediction ripple door distance, and Δ θ is prediction Bo Men orientation span, δ ρfor distance by radar square error, F qafor the coefficient value in the F table that current Quality factor pair is answered, ρ is the distance of prediction center of tracking gate point to radar center point, δ θfor radar bearing square error, Fig. 3 is the schematic diagram that the present invention predicts ripple door.
Step 102, identify described prediction Bo Mennei track target;
Step 103, judge whether described track target number is greater than 0, if so, then determine that described original plotting is that tracking target exists, and judge whether described track target number is greater than 1, if be greater than 1, then select the original plotting of optimum described track target association; If equal 1, then α β filtering is adopted to associate original plotting;
Step 104, if not, then determine that described original plotting is that tracking target does not exist, and adopt original plotting described in track target association described in straight-line extrapolation.
Further, describedly determine that described original plotting is that tracking target does not exist, and adopt original plotting described in track target association described in straight-line extrapolation, comprising:
By the inquiry of current quality factor is corresponding, the described original prediction ripple door marking and drawing correspondence is predicted that the ripple shop front amasss the coefficient value in coefficient table by processor, and expand described prediction ripple door according to the multiple that described coefficient value identifies.
Specifically, Fig. 4 is the original plot sketch of straight-line extrapolation track target association of the present invention, and as shown in Figure 4, adopt the mode of straight-line extrapolation to carry out, the estimated value of course and the speed of a ship or plane thinks constant, and estimated position is exactly the central point of prediction ripple door.The method is applicable to determine track target when original plotting is in bridge district, as shown in Figure 5, bridge district is the common thing mark covering radar pulse program request, 1 is the normal/cruise state of boats and ships, 2 be boats and ships near bridge zone state, 3 are about to enter Qiao Qu for boats and ships, and 4 enter bridge district track track rejection for boats and ships, 5 roll Qiao Qu away from for boats and ships, and new creates from motion tracking.According to normal track target following program, the target through gap bridge district is often lost or deleted, therefore needs to carry out special process to this situation.If the target of process is exactly target after gap bridge district still keep it before state.
The method of process is marked on the region of radar scanning in the position in all bridge districts and scope in advance, when track target line sails to bridge district time, if track target cannot be mated with original plotting, then extrapolates to this track target.Meanwhile, expanded by prediction ripple door and be twice, information and the quality factor of maintenance track target are constant.Until track target line sails to the end in bridge district, normal track target treatment scheme is used to follow the tracks of track target.Setting for bridge district should be larger a little than true bridge district thing target scope.The method passes through the veils such as bridge district during when original plotting, can carry out intelligent guesses, entering that maximum possible guarantees to throw away after target line rolls Zhe Bi district away from can Continuous Tracking, ensures the continuity of target following.
Further, described processor also comprises after described original prediction ripple door expansion of marking and drawing correspondence being twice:
Judge whether described track target number is greater than 0, if not, then adopt counter to be that tracking target loses counting how many times;
Judge whether described number of times is greater than threshold number, if be greater than, then described original plotting be designated tracking target and lose.
Specifically, processor target setting loses the threshold value of number of times, first judge whether original plotting has corresponding track target, if do not had, counter is then adopted to add 1 for this judged result, during the track rejection frequency threshold value set before the counting of this counter is greater than, then this original plotting is designated tracking target and loses.
Further, after the track target of described identification described prediction Bo Mennei, also comprise:
Determine that original plotting corresponding to described track target is in anchored condition according to the direction of described track target and speed.
Specifically, illustrate, when anchored condition original plotting corresponding to the direction of track target and speed course difference be between the two greater than 45 degree, speed be less than 2-3 in the sea/hour, after this track target is identified as anchoring target, its quality factor does not change.Reference by location following formula:
X p＝X T＝X m
Y p＝Y T＝Y m
Wherein, X pfor prediction center of tracking gate point horizontal ordinate, X tfor the horizontal ordinate of track target, X mfor the horizontal ordinate of original plotting, Y pfor prediction center of tracking gate point ordinate, Y tfor the ordinate of track target, Y mfor the ordinate of original plotting.Otherwise, when the course difference of this track target and original plotting is less than 45 degree, speed be greater than 2-3 in the sea/constantly little, then predict that ripple door starts mobile, if continuous 4 times have been associated with original plotting in prediction ripple door, then determine that this anchoring target starts mobile.Fig. 6 is the schematic diagram that track target of the present invention is in anchored condition.The method can distinguish the motion state of original plotting, still can carry out target following when compound movement is carried out in original plotting.
The embodiment of the present invention is by judging whether track target number is greater than 0, if, then determine that described original plotting is that tracking target exists, and judge whether described track target number is greater than 1, if be greater than 1, then select the original plotting of optimal trajectory target association, if equal 1, α β filtering is adopted to associate original plotting, original plotting is not existed to the situation of tracking target, then adopt original plotting described in Track association described in straight-line extrapolation, achieve and can carry out comprehensive analysis processing for all kinds of situation, the tracking results of track target is more accurate.
Fig. 7 is that the original plotting association of the present invention upper α of employing β filtering associates track goal approach process flow diagram, and as shown in Figure 7, the method for the present embodiment can comprise:
The polar coordinates of described original plotting are converted to Cartesian coordinates by step 201, processor;
Specifically, Fig. 8 is the present invention's original plotting polar coordinates conversion Cartesian coordinates schematic diagram, and as shown in Figure 5, coordinate conversion adopts x=ρ * cos θ, y=ρ * sin θ.
Step 202, employing formula
α = 2 × [ 2 × ( k + 2 ) - 1 ] ( k + 2 ) 2 + k + 2 - - - ( 1 )
Try to achieve the trusting degree α of described original plotting positional value and trajectory predictions position value difference, wherein, K value is 1-30;
Step 203, employing formula
β = 2 × ( 2 - α ) - 4 1 - α - - - ( 2 )
Try to achieve described original plotting positional value and trajectory predictions positional value difference to the trusting degree β of rate;
Step 204, to try to achieve speed corresponding to track target location coordinate, track target according to described α β; Formula
X T = X p + ( X m - X p ) × α Y T = Y p + ( Y m - Y p ) × α - - - ( 3 )
V XT = V XP + ( X m - X p ) / P × β V YT = V YP + ( Y m - Y p ) / P × β - - - ( 4 )
The speed determination track target corresponding according to described track target location coordinate, track target, wherein, described X pfor prediction center of tracking gate point horizontal ordinate, described X tfor the horizontal ordinate of track target, described X mfor the horizontal ordinate of original plotting, described Y pfor prediction center of tracking gate point ordinate, described Y tfor the ordinate of track target, described Y mfor the ordinate of original plotting, described V xTfor track target velocity X-axis component, described V xPfor original plotting speed X-axis component, described V yTfor track target velocity Y-axis component, described V yPfor track target original plotting speed Y-axis component, described P is the radar scanning cycle.
The present embodiment, when radar scanning result is a track target, adopts α β filtering algorithm to upgrade track target, and records this association results.It is more accurate to infer for track target location.
Fig. 9 is the original plotting association of the present invention optimum association track goal approach process flow diagram, and as shown in Figure 8, the method for the present embodiment can comprise:
Step 301, processor calculate the described quality of track target and the continuity of area and the distance with ship trajectory;
Step 302, set up the corresponding relation of described track target and described ship trajectory according to described continuity and described distance;
Step 303, be associated according to described corresponding relation matrix;
Step 304, calculate optimum corresponding relation according to described incidence matrix;
Step 305, the original plotting of track target association chosen in described optimum corresponding relation.
Specifically, first set up the corresponding relation between track target and original plotting, set up a bivariate table according to this corresponding relation, wherein original plotting is row, and track target is row.The relation information of often pair of target writes the correspondence position in form.
Then travel through this form, find optimum association (meet continuity and apart from minimum) according to the relation information (continuity and distance) in form.Determine that plot on the row and column that this association is corresponding and track target are incidence relation.Subsequently this is shifted out form to related information.
Continue to look for optimum in residue form data, repeat said process.
Figure 10 is the original plotting of the present invention and buoy method of superposition process flow diagram, and as shown in Figure 9, the method for the present embodiment can comprise:
Step 401, processor calculate the original orientation marking and drawing prediction center of tracking gate point and buoy;
Step 402, calculate and originally mark and draw prediction center of tracking gate point first distance to described prediction Bo Men edge in described orientation, calculate that described first distance and described buoy predict ripple door radius and obtain second distance, calculating original the 3rd distance marking and drawing prediction center of tracking gate point and described buoy;
If the described second distance of step 403 is greater than described 3rd distance, then determine that described track target overlaps with described buoy;
Step 404, the area of track target comparing generation coincidence and the area of buoy;
If the area of step 405 track target is greater than the area more than three times of buoy, the original plotting after merging is used to upgrade track target.Otherwise, straight-line extrapolation is carried out to track target.
Specifically, calculating track target prediction center of tracking gate point is d1 to the distance at prediction Bo Men edge, if buoy prediction ripple door radius is r, so d2=r+d1, calculating track target is d3 to the distance of buoy, if d2>d3, then determines that track target and buoy overlap.According to the area of the track target overlapped and buoy, if the area meeting track target is more than or equal to three times of buoy area, so adopt the original plotting after α β filtering association overlap, otherwise adopt direct extrapolation technique to upgrade track target, but do not increase the loss number of times of tracking target.
Figure 11 is the ship target tracking processing method overall flow figure that the present invention is based on α β filtering, and the method comprises above-mentioned α β filtering association track goal approach, target association optimum association track goal approach and original plotting and buoy method of superposition.
Last it is noted that above each embodiment is only in order to illustrate technical scheme of the present invention, be not intended to limit; Although with reference to foregoing embodiments to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein some or all of technical characteristic; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of various embodiments of the present invention technical scheme.

Claims (6)

1., based on a ship target tracking processing method for α β filtering, it is characterized in that, comprising:
Processor is according to original position and the coursespeed foundation prediction ripple door of marking and drawing corresponding plotting target;
Identify the track target of described prediction Bo Mennei;
Judge whether described track target number is greater than 0, if so, then determine that described original plotting is that tracking target exists, and judge whether described track target number is greater than 1, if be greater than 1, then select the original plotting of optimum described track target association; If equal 1, then α β filtering is adopted to associate original plotting;
If not, then determine that described original plotting is that tracking target does not exist, and adopt original plotting described in track target association described in straight-line extrapolation.
2. method according to claim 1, is characterized in that, described employing α β filtering associates original plotting, comprising:
The polar coordinates of described original plotting are converted to Cartesian coordinates by processor;
Adopt formula
α = 2 × [ 2 × ( k + 2 ) - 1 ] ( k + 2 ) 2 + k + 2 - - - ( 1 )
Try to achieve the trusting degree α of described original plotting positional value and trajectory predictions position value difference, wherein, k is setting value;
Adopt formula
β = 2 × ( 2 - α ) - 4 1 - α - - - ( 2 )
Try to achieve described original plotting positional value and trajectory predictions positional value difference to the trusting degree β of rate;
Speed corresponding to track target location coordinate, track target is tried to achieve according to described α β; Formula
X T = X p + ( X m - X p ) × α Y T = Y p + ( Y m - Y p ) × α - - - ( 3 )
V XT = V XP + ( X m - X p ) / P × β V YT = V YP + ( Y m - Y p ) / P × β - - - ( 4 )
The speed determination track target corresponding according to described track target location coordinate, track target, wherein, described X pfor prediction center of tracking gate point horizontal ordinate, described X tfor the horizontal ordinate of track target, described X mfor the horizontal ordinate of original plotting, described Y pfor prediction center of tracking gate point ordinate, described Y tfor the ordinate of track target, described Y mfor the ordinate of original plotting, described V xTfor track target velocity X-axis component, described V xPfor original plotting speed X-axis component, described V yTfor track target velocity Y-axis component, described V yPfor track target original plotting speed Y-axis component, described P is the radar scanning cycle.
3. method according to claim 1, is characterized in that, the original plotting of the optimum described track target association of described selection, comprising:
Processor calculates the described quality of track target and the continuity of area and the distance with ship trajectory;
The corresponding relation of described track target and described ship trajectory is set up according to described continuity and described distance;
To be associated matrix according to described corresponding relation;
Optimum corresponding relation is calculated according to described incidence matrix;
Choose the original plotting of track target association in described optimum corresponding relation.
4. method according to claim 1, is characterized in that, after the track target of described identification described prediction Bo Mennei, also comprises:
Determine that original plotting corresponding to described track target is in anchored condition according to the direction of described track target and speed.
5. the method according to any one of claim 1-4, is characterized in that, describedly determines that described original plotting is that tracking target does not exist, and adopts original plotting described in track target association described in straight-line extrapolation, comprising:
By the inquiry of current quality factor is corresponding, the described original prediction ripple door marking and drawing correspondence is predicted that the ripple shop front amasss the coefficient value in coefficient table by processor, and expand described prediction ripple door according to the multiple that described coefficient value identifies.
6. method according to claim 5, is characterized in that, described and after expanding described prediction ripple door according to the multiple that described coefficient value identifies, also comprise:
Judge whether described track target number is greater than 0, if not, then adopt counter to be that tracking target loses counting how many times;
Judge whether described number of times is greater than threshold number, if be greater than, then described original plotting be designated tracking target and lose.
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