CN104391281A - Method for improving sky-wave radar sea surface ship target tracking and positioning precision - Google Patents
Method for improving sky-wave radar sea surface ship target tracking and positioning precision Download PDFInfo
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- CN104391281A CN104391281A CN201410673749.2A CN201410673749A CN104391281A CN 104391281 A CN104391281 A CN 104391281A CN 201410673749 A CN201410673749 A CN 201410673749A CN 104391281 A CN104391281 A CN 104391281A
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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
- 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
- G01S7/40—Means for monitoring or calibrating
Abstract
The invention discloses a method for improving sky-wave radar sea surface ship target tracking and positioning precision. Cooperative ship target positioning and tracking information provided by an AIS (automatic identification system) and sea surface target positioning and tracking information detected by a sky-wave radar are associated and integrated after coordinate transformation and time unification, positioning error information of a cooperative ship target is acquired, and tracking and positioning errors of the ship target positioning and tracking information detected by the sky-wave radar are modified. The method has the advantages that an ionized layer detection device is omitted, system cost is reduced, error correction value space resolution rate acquired by the aid of a large quantity of AIS ship positioning information is high, sky-wave radar ship positioning and tracking precision is improved, space position errors of a non-cooperative ship target are modified, and the tracking and positioning precision is improved.
Description
Technical field
The invention belongs to HF skywave radar ship target positioning field, relate to a kind of method improving folded Clutter in Skywave Radars sea boats and ships target following positioning precision.
Background technology
HF skywave radar utilizes ionosphere to the refracting characteristic of frequency electromagnetic waves, can realize surface vessel target and the over-the-horizon detection of sea condition parameter long-distance large-range, detection range even can reach thousands of miles, has efficiency-cost ratio larger compared with other hydrospace detection equipment.
But HF skywave radar is owing to being subject to the impact of working frequency range, radar system, ionosphere characteristic, sea clutter and complex electromagnetic environment, and this radar system target following positioning precision is low, can not meet user's requirement completely.In order to improve folded Clutter in Skywave Radars ship target track positioning accuracy, generally by increasing ionospheric detection equipment quantity, improving ionosphere model parameters inversion accuracy and spatial resolution, and then improving target following positioning precision.But this not only greatly can increase radar system and build complexity, and greatly can increase system management, maintenance and operating cost, be not easy to apply.Sea boats and ships target localization control information can be obtained according to position, known airport and aircraft flight flight path, but due to airfield limited amount, major part is in continental-type operations, for the sea ship target away from airport, effective spatial error correction can not be carried out.
The invention provides a kind of method improving folded Clutter in Skywave Radars sea boats and ships target following positioning precision.Ship automatic identification system (Automatic Idenfication System, AIS) developed by naval vessel and Aircraft Targets radio recognition equipment, it is a kind of collection communication technology, network technology, computer technology and display technique digital navaid avoiding system all over the body, coordinated by GPS, by name of vessel, wail, tonnage, time, position, the speed of a ship or plane, the boats and ships such as course are quiet/and multidate information is to surrounding waters boats and ships and the broadcast of bank base station station, make bank base station station and neighbouring boats and ships can grasp the sailing situation of all boats and ships in surrounding waters in time, for ship's navigation provides safe guarantee.AIS system is divided into bank base AIS system and onboard system, and bank base AIS is laid on seashore or island, and general service scope only has dozens of kilometres, and its spatial resolution, temporal resolution and locating and tracking precision are high.Spaceborne AIS is placed on satellite, and its service range is towards the whole world.The present invention mainly make use of AIS information time wherein, position and speed of a ship or plane information.
Summary of the invention
For the low problems faced of existing folded Clutter in Skywave Radars locating and tracking precision, the invention provides a kind of method improving folded Clutter in Skywave Radars sea boats and ships target following positioning precision, the shipping information that the method utilizes existing a large amount of AIS to provide, without the need to increasing new equipment, for the boats and ships target following of HF skywave radar sea location provide a kind of newly, low cost, high precision error correction new method, but also volumetric position error correction can be carried out to non-cooperation ship target, improve track positioning accuracy.
Technical scheme of the present invention is:
A kind of method improving folded Clutter in Skywave Radars sea boats and ships target following positioning precision, the cooperation ship target locating and tracking information provided by utilizing AIS, the sea-surface target locating and tracking information detected with folded Clutter in Skywave Radars carries out associating and merging, obtain the positioning error information of zones of different ship target, and the ship target locating and tracking information that folded Clutter in Skywave Radars detects is revised.
Concrete steps comprise as follows:
Step 1, ionosphere contamination correction is carried out to folded Clutter in Skywave Radars echo data, utilize CFAR method to detect sea ship target to correction data, and based on current Ionospheric Parameters target positioned and follow the tracks of;
Step 2, the boats and ships space of AIS track and localization, time and movable information are carried out space, time and velocity transformation in folded Clutter in Skywave Radars coordinate system;
Step 3, the data that AIS ship tracking locating information and folded Clutter in Skywave Radars detect are carried out space, time and motion association and fusion;
Step 4, with AIS ship tracking locating information for reference, stress and strain model is carried out to radar illumination district, extracts different net regions folded Clutter in Skywave Radars object space positioning error;
Step 5, according to the space error of zones of different obtained, folded Clutter in Skywave Radars targeting information to be revised.
The specific implementation process of described step 1 is:
Detect sea ship target according to CFAR method, and doubtful sea ship target is positioned and Track forming time, reject comparatively serious by ionosphere damage ratio and do not have calibration result, target signal to noise ratio to be less than the data of 20km lower than 10dB, water front off sea.
The specific implementation process of described step 2 is:
When the boats and ships of AIS are empty, information is based on the coordinate transform of sphere model and radially projecting's conversion, realize coordinate unification, piecewise linear interpolation and extrapolation method is adopted to carry out temporal interpolation to AIS flight path, realize the time alignment with folded Clutter in Skywave Radars, and then time empty both realizing information unification in folded Clutter in Skywave Radars coordinate system, and reject wherein static boats and ships, water front off sea is less than 20km and change suddenly frequently appears in target travel direction and distance error more than the data of 40km.
The specific implementation process of described step 3 is:
The data that AIS ship tracking locating information and folded Clutter in Skywave Radars detect are carried out space, time and motion association and fusion, judge that whether detections of radar target is relevant to the target that AIS boats and ships indicate, can the target that provides of AIS be standard, whether drop on the ripple door that sets as foundation with target relative to the speed of radar, distance and bearing; When doing data correlation and merging, mainly using radial velocity as fisrt feature, using radial distance and position angle as second and third feature; Choosing with the detection accuracy of folded Clutter in Skywave Radars as foundation of speed gate, range gate and direction wave door; Correlating method is based on average nearest neighbor method and fuzzy Double-Threshold Track Correlation method.
The specific implementation process of described step 4 is:
Radar volume is divided into 50km × 50km grid, with AIS ship tracking locating information for reference, extracts different net regions folded Clutter in Skywave Radars object space positioning error; Wherein, the information gap between the target following locating information that radar indicates and the same target that AIS provides is exactly the modifying factor of radar detection:
Velocity correction factor:
The distance correction factor:
Orientation modifying factor:
In formula,
with
represent radar target instruction headway respectively, radial distance and orientation values, v
0, r
0and θ
0represent headway, radial distance and the orientation values of the same ship target that AIS provides respectively.
The specific implementation process of described step 5 is:
Utilize the space error data of the different net regions obtained, error correction is carried out to the targeting information falling into respective regions folded Clutter in Skywave Radars.
Compared with prior art, innovation of the present invention is: AIS information is introduced in the correction of HF skywave radar target following positioning error, not only increase HF skywave radar sea boats and ships target following positioning precision, and volumetric position error correction can be carried out to non-cooperation ship target, improve track positioning accuracy.
Advantage of the present invention is: without the need to laying more ionospheric detection equipment, cost of investment is low; Because the ships quantity obtained from AIS is huge, distribution range is extensive, can obtain, data more reliable targeting information higher than ionospheric sounding system spatial resolution, but also can improve the track positioning accuracy to non-cooperation ship target.
Accompanying drawing explanation
Fig. 1 is the HF skywave radar fundamental diagram (prior art) of the embodiment of the present invention.
Fig. 2 is the embodiment of the present invention typical AIS sea boats and ships situation map (prior art).
Fig. 3 is process flow diagram of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the present invention will be described in detail.
HF skywave radar principle of work as shown in Figure 1.HF skywave radar is made up of radar transmitter system, Radar Receiver System, ionosphere receive-transmit system, frequency synthesis and synchronous control system and data handling system etc. usually.Radar emission system is made up of power amplifier and emitting antenna, is gone out after mainly being amplified by power amplifier by the high-frequency signal that frequency synthesizer produces by antenna transmission.Radar Receiver System, primarily of receiving antenna array and multichannel receiver composition, by receiving antenna array Received signal strength, and becomes digital signal by receiver filtering, mixing, amplification and data acquisition.Information handling system is divided into information pre-processing system, object detection system, target following positioning system and Ionospheric Parameters Inversion System composition.As long as information pre-processing system is anti-interference for signal, ionosphere contamination corrects and sea clutter process etc., object detection system is mainly used in target detection, and target following positioning system is mainly used in coordinate registration, target localization and tracking.Ionospheric sounding system is made up of ionosphere emission coefficient, receiving system and Ionospheric Parameters Inversion System.Ionosphere emission coefficient launches ionospheric probing signal, and ionosphere receiving system receives ionospheric probing signal, and ionospheric inversion system is mainly used in inverting ionosphere model parameters, provides Ionospheric Parameters model for radar target carries out coordinate registration.Frequency synthesis and the Main Function of synchronous control system produce system radio frequency signal, local oscillation signal and various synchronous start pulse signal, and coherent system synchronously normally works.
Fig. 2 is typical AIS sea boats and ships situation map.From then on figure is visible, the boats and ships that can be used for error correction that AIS can provide wide sea a large amount of.
As shown in Figure 3, concrete implementation step is as described below for schematic flow sheet of the present invention:
Step 1, ionosphere contamination correction is carried out to folded Clutter in Skywave Radars echo data, utilize CFAR method to detect sea ship target to correction data, and based on current Ionospheric Parameters target positioned and follow the tracks of; Specific implementation process is: detect sea ship target according to CFAR method, and sea ship target is positioned and Track forming time, reject seriously polluted by ionosphere and can not correct, target signal to noise ratio is less than 20km data lower than 10dB, water front off sea.
Step 2, the boats and ships space of AIS track and localization, time and movable information are carried out space, time and velocity transformation in folded Clutter in Skywave Radars coordinate system; Specific implementation process is:
Step 2, the boats and ships of AIS are empty time information based on the coordinate transform of sphere model and radially projecting's conversion, realize coordinate unification, piecewise linear interpolation and extrapolation method is adopted to carry out temporal interpolation to AIS flight path, realize the time alignment with folded Clutter in Skywave Radars, and then time empty both realizing information unification in folded Clutter in Skywave Radars coordinate system, and reject wherein static boats and ships, water front off sea is less than 20km and significantly bending frequently appears in Targets Dots and distance error more than the data of 40km.
Step 3, the data that AIS ship tracking locating information and folded Clutter in Skywave Radars detect are carried out space, time and motion association and fusion; Specific implementation process is:
The data that AIS ship tracking locating information and folded Clutter in Skywave Radars detect are carried out space, time and motion association and fusion, judge that whether detections of radar target is relevant to the target that AIS boats and ships indicate, the target provided with AIS is standard, whether drops on the ripple door that sets as foundation with target relative to the speed of radar, distance and bearing; When doing data correlation and merging, mainly using radial velocity as fisrt feature, using distance and bearing angle as second and third feature; Choosing with the detection accuracy of folded Clutter in Skywave Radars as foundation of speed gate, range gate and direction wave door; Correlating method is based on average nearest neighbor method and fuzzy Double-Threshold Track Correlation method.
Step 4, with AIS ship tracking locating information for reference, extract zones of different folded Clutter in Skywave Radars object space positioning error.Specific implementation process is: radar volume is divided into 50km × 50km grid, with AIS ship tracking locating information for reference, extracts different net regions folded Clutter in Skywave Radars object space positioning error; Wherein, the information gap between the target following locating information that radar indicates and the same target that AIS provides is exactly the modifying factor of radar detection:
Velocity correction factor:
The distance correction factor:
Orientation modifying factor:
In formula,
with
represent radar target instruction headway respectively, radial distance and orientation values, v
0, r
0and θ
0represent headway, radial distance and the orientation values of the same ship target that AIS provides respectively.
Step 5, according to the space error of zones of different obtained, folded Clutter in Skywave Radars targeting information to be revised; Specific implementation process is: the space error data utilizing the different net regions obtained, and carries out error correction to the targeting information falling into respective regions folded Clutter in Skywave Radars.
Claims (7)
1. one kind is improved the method for folded Clutter in Skywave Radars sea boats and ships target following positioning precision, it is characterized in that: the cooperation ship target locating and tracking information utilizing AIS to provide, the sea-surface target locating and tracking information detected with folded Clutter in Skywave Radars carries out associating and merging through coordinate transform after time unification, obtain the positioning error information of cooperation ship target, and error correction is carried out to the ship target locating and tracking information that folded Clutter in Skywave Radars detects.
2. a kind of method improving folded Clutter in Skywave Radars sea boats and ships target following positioning precision according to claim 1, is characterized in that: concrete steps comprise as follows:
Step 1, ionosphere contamination correction is carried out to folded Clutter in Skywave Radars echo data, utilize CFAR method to detect sea ship target to correction data, and based on current Ionospheric Parameters target positioned and follow the tracks of;
Step 2, the boats and ships space of AIS track and localization, time and movable information are carried out space, time and velocity transformation in folded Clutter in Skywave Radars coordinate system;
Step 3, the track and localization data that folded Clutter in Skywave Radars in AIS ship tracking locating information in step 2 and step 1 detects are carried out space, time and motion association and fusion;
Step 4, with AIS ship tracking locating information for reference, stress and strain model is carried out to radar illumination district, extracts different net regions folded Clutter in Skywave Radars object space positioning error;
Step 5, according to the space error of zones of different obtained, folded Clutter in Skywave Radars object location data information to be revised.
3. a kind of method improving folded Clutter in Skywave Radars sea boats and ships target following positioning precision according to claim 2, is characterized in that: the specific implementation process of described step 1 is:
Detect sea ship target according to CFAR method, and sea ship target is positioned and Track forming time, reject seriously polluted by ionosphere and do not have calibration result, target signal to noise ratio to be less than the data of 20km lower than 10dB, water front off sea.
4. a kind of method improving folded Clutter in Skywave Radars sea boats and ships target following positioning precision according to claim 3, is characterized in that: the specific implementation process of described step 2 is:
When the boats and ships of AIS are empty, information is based on the coordinate transform of sphere model and radially projecting's conversion, realize coordinate unification, piecewise linear interpolation and extrapolation method is adopted to carry out temporal interpolation to AIS flight path, realize the time alignment with folded Clutter in Skywave Radars, and then time empty both realizing information unification in folded Clutter in Skywave Radars coordinate system, and reject wherein static boats and ships, water front off sea is less than 20km and change suddenly frequently appears in target travel direction and distance error more than the data of 40km.
5. a kind of method improving folded Clutter in Skywave Radars sea boats and ships target following positioning precision according to claim 4, is characterized in that: the specific implementation process of described step 3 is:
The data that AIS ship tracking locating information and folded Clutter in Skywave Radars detect are carried out space, time and motion association and fusion, judge that whether detections of radar target is relevant to the target that AIS boats and ships indicate, the target provided with AIS is standard, whether drops on the ripple door that sets as foundation with target relative to the speed of radar, distance and bearing; When doing data correlation and merging, mainly using radial velocity as fisrt feature, using radial distance and position angle as second and third feature; Choosing with the detection accuracy of folded Clutter in Skywave Radars as foundation of speed gate, range gate and direction wave door; Correlating method is based on average nearest neighbor method and fuzzy Double-Threshold Track Correlation method.
6. a kind of method improving folded Clutter in Skywave Radars sea boats and ships target following positioning precision according to claim 5, is characterized in that: the specific implementation process of described step 4 is:
Radar volume is divided into 50km × 50km grid, with AIS ship tracking locating information for reference, extracts different net regions folded Clutter in Skywave Radars object space positioning error; Wherein, the information gap between the target following locating information that radar indicates and the same target that AIS provides is exactly the modifying factor of radar detection.
7. a kind of method improving folded Clutter in Skywave Radars sea boats and ships target following positioning precision according to claim 6, is characterized in that: the specific implementation process of described step 5 is:
Utilize the space error data of the different net regions obtained, error correction is carried out to the targeting information falling into respective regions folded Clutter in Skywave Radars.
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| CN105116391A (en) * | 2015-08-05 | 2015-12-02 | 中国人民解放军海军航空工程学院 | Marine radar error calibration-oriented valid target sequence set combined analysis method |
| CN105137403A (en) * | 2015-08-08 | 2015-12-09 | 西安电子科技大学 | Quick detection method for high-frequency sky wave radar of moving object at sea |
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| CN112529941B (en) * | 2020-12-17 | 2021-08-31 | 深圳市普汇智联科技有限公司 | Multi-target tracking method and system based on depth trajectory prediction |
| CN112529941A (en) * | 2020-12-17 | 2021-03-19 | 深圳市普汇智联科技有限公司 | Multi-target tracking method and system based on depth trajectory prediction |
| CN112882018A (en) * | 2021-01-13 | 2021-06-01 | 哈尔滨工业大学（威海） | Ocean and ionosphere integrated detection high-frequency radar system and control method thereof |
| CN112859133A (en) * | 2021-01-20 | 2021-05-28 | 中船重工鹏力（南京）大气海洋信息系统有限公司 | Ship depth fusion positioning method based on radar and Beidou data |
| CN112859133B (en) * | 2021-01-20 | 2022-06-14 | 中船重工鹏力（南京）大气海洋信息系统有限公司 | Ship depth fusion positioning method based on radar and Beidou data |
| CN113009470A (en) * | 2021-02-09 | 2021-06-22 | 北京理工大学 | Target situation characteristic data processing method, system, device and medium |
| CN113009470B (en) * | 2021-02-09 | 2023-04-21 | 北京理工大学 | Processing method, system, device and medium for target situation characteristic data |
| CN112634275A (en) * | 2021-03-11 | 2021-04-09 | 北京海兰信数据科技股份有限公司 | Radar echo image processing method and system |
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