CN104464379B - Sailing plan and radar track correlating method and system based on sectional matching - Google Patents
Sailing plan and radar track correlating method and system based on sectional matching Download PDFInfo
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- CN104464379B CN104464379B CN201410751109.9A CN201410751109A CN104464379B CN 104464379 B CN104464379 B CN 104464379B CN 201410751109 A CN201410751109 A CN 201410751109A CN 104464379 B CN104464379 B CN 104464379B
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Abstract
The invention provides a sailing plan and radar track correlating method and system based on sectional matching. The method comprises the steps that a radar sailing track latest moment sailing track point status and sailing plan history correlating result is utilized for initial correlation judgment, a sailing plan and radar sailing track matching point set is constructed through time compensation and interval sampling, sailing track sections are constructed in the matching point set to carry out sectional matching, the number of points achieving successful matching and the proportion of the points in the point set are calculated, the space similarity and the time similarity are calculated, and finally a correlating result is obtained through comprehensive correlation judgment. According to the sailing plan and radar track correlating method and system, the sectional matching method is adopted in the sailing plan and radar track correlating calculation, the overall similarity of the sailing track is reflected by means of matching of the multiple sailing track sections, and influences of outliers and yawing on the correlation result are effectively reduced; in the correlation decision phase, comprehensive correlation judgment is carried out on the matching point number proportion, the space similarity, the matching point number and the time similarity, and the accuracy of the correlation result is improved.
Description
Technical field
The present invention relates to a kind of plan category information data processing method, particularly to a kind of navigation meter based on two stage cultivation
Draw and radar track correlating method and system.
Background technology
Sail plan refers to the tool of relevant navigation safety guarantee during the navigation that ship is drafted after accepting flight number order
Body measure and countermeasure.Sail plan includes whole flow processs from berth to berth, estimated navigation total time, the gas on estimated course line
As situation and sea situation, the longitude and latitude of each turning point, the voyage in each section of course line and the estimated moment reaching each turning point, complicated leg
Boat method and the hedging means to the danger near course line, points for attention of special navigating area etc..
The purpose of water traffic control system is to make safety of ship on course line, effectively, in a planned way in waters travel,
Controller needs to carry out monitor in real time to the Ship dynamic situation in control waters.In order that controller can rapidly and accurately identify ship
Oceangoing ship, the navigation grasping ship is intended to, and provides safely and effectively regulatory service, water traffic control system needs to sense radar etc.
The targetpath that device real-time detects is associated with known sail plan information, so that it is determined that radar detection arrive which
Which sail plan is target correspond to.
The correlating method of existing sail plan and radar track is based primarily upon the mapping rule of beeline or synchronization
Then, radar track point is mapped on planned course, then utilizes the distance between corresponding points, heading crossing angle and speed of a ship or plane difference etc. many
Plant latent structure comprehensive similarity, the flight path finally choosing similarity maximum radar is as the target boat mated with sail plan
Mark.In these methods, the similarity of sail plan and radar track is it is impossible to preferably based on the information structuring of isolated point
Reflection sail plan and the whole matching situation of radar track, for the deviation of ship real navigation route and planned course, thunder
The adaptability reaching the complex situations such as outlier and the hours underway delay of flight path is poor.
Content of the invention
For solving sail plan and radar track in the correlating method that current existing sail plan is with radar track
Similarity is based on the information structuring of isolated point it is impossible to preferably reflect the whole matching feelings of sail plan and radar track
Condition, multiple for the deviation of ship real navigation route and planned course, the outlier of radar track and hours underway delay etc.
The poor problem of the adaptability of miscellaneous situation is it is necessary to provide a kind of sail plan based on two stage cultivation and radar track affiliated party
Method and system.
A kind of sail plan based on two stage cultivation and radar track correlating method, it comprises the steps：
S1, reading sail plan：Read any one at least one sail plan to be associated, initialization navigation meter
Draw and the match point manifold of radar track is closed, coupling points proportion set is closed, space similarity set and time similarity set；
S2, judge whether the radar track that calculated, if then execution step S3, otherwise execution step S7；
S3, reading radar track：Read wherein one radar track being calculated；
S4, preliminary association judgement：The radar track being calculated up-to-date moment track points are taken to project to sail plan,
Consider historical context result, the position of subpoint and the projector distance of sail plan, sail plan is entered with radar track
Row preliminary association judgement；
S5, construction coupling point set：Sail plan is carried out with time bias, calculates time similarity；In sail plan and thunder
Reach and in the time-interleaving region of flight path, carry out interval sampling and interpolation, construction sail plan mates point set and radar track match point
Collection；
S6, segmentation track matching：Mate point set from sail plan respectively and radar track mates first flight path of point set
Point starts to set gradually for matching reference minutiae, constructs flight path section in order to matching reference minutiae and track points after which, leads to
Cross the length of more each flight path section and direction carries out two stage cultivation；The track points of successful match when statistics chooses different reference point
Number, take maximum to mate points as sail plan and radar track, calculates these match points shared by whole point concentration
Ratio and the space similarity of sail plan and radar track；Repeated execution of steps S2 is counted to step S6 until not existing
The radar track calculated；
S7, comprehensive association judgement：Respectively coupling points ratio, space similarity, coupling points and time similarity are set
Put correlation threshold, carry out comprehensively associating judgement；
S8, output association results：The association results of output sail plan, and update the historical context result of sail plan.
A kind of sail plan based on two stage cultivation and radar track interconnected system, it is included as lower unit：
Sail plan reading unit, for reading any one at least one sail plan to be associated, initialization
Proportion set conjunction that the match point manifold of sail plan and radar track is closed, coupling is counted, space similarity set and time similarity
Set；
Calculate judging unit, for judging whether the radar track being calculated, if then executing radar track
Reading unit, otherwise executes comprehensive association decision unit；
Radar track reading unit, for reading wherein one radar track being calculated；
Preliminary association decision unit, for taking the radar track being calculated up-to-date moment track points to make to sail plan
Projection, considers historical context result, the position of subpoint and the projector distance of sail plan, and sail plan is navigated with radar
Mark is tentatively associated judgement；
Construction coupling point set structural unit, for sail plan is carried out with time bias, calculates time similarity；In navigation
Carry out interval sampling and interpolation, construction sail plan coupling point set and radar boat in plan and the time-interleaving region of radar track
Mark mates point set；
Segmentation track matching unit, for mating first of point set and radar track coupling point set respectively from sail plan
Track points start to set gradually for matching reference minutiae, construct flight path in order to matching reference minutiae and track points after which
Section, carries out two stage cultivation by the relatively length of each flight path section and direction；The boat of successful match when statistics chooses different reference point
Mark is counted, and takes maximum to mate points as sail plan and radar track, calculates these match points and entirely putting concentration institute
The ratio accounting for and the space similarity of sail plan and radar track；Repeat calculating judging unit to segmentation track matching list
Until there is not the radar track being calculated in unit；
Comprehensive association decision unit, for respectively to coupling points ratio, space similarity, coupling points and time similarity
Degree setting correlation threshold, carries out comprehensively associating judgement；
Output association results output unit, for exporting the association results of sail plan, and updates the history of sail plan
Association results.
The sail plan based on two stage cultivation that the present invention provides and radar track correlating method and system：First with thunder
Reach flight path up-to-date moment flight path dotted state and tentatively associated judgement with sail plan historical context result, the time that then passes through mends
Repay the coupling point set constructing sail plan and radar track with interval sampling, then concentrate construction flight path section to carry out point in match point
Section coupling, counts the points of successful match and in a ratio concentrated, calculates space similarity and time similarity, finally by
Comprehensive association judgement obtains association results.The input information of the present invention includes sail plan and radar track.Sail plan includes
The longitude and latitude of the starting point of sail plan, terminal and each estimated turning point and plan arrival time, and the history of this sail plan
Association results；Radar track includes the time of flight path lot number and each radar track point, longitude and latitude etc..Wherein, by sail plan
Starting point, terminal, turning point and calculate that other track points of obtaining are referred to as desired track point according to these information；Navigation meter
Not existence time identical desired track point in drawing；The line segment being determined by two track points is referred to as flight path section；Sail plan
Historical context result is radar track lot number associated with it during upper secondary association calculates, if historical context result is unknown or no radar
Flight path is associated with, and is set to sky.
Therefore, the present invention has advantages below：
(1) adopt two stage cultivation method in sail plan with associating in calculating of radar track, using some flight path sections
The overall similitude of coupling reflection flight path, effectively reduces the impact to association results of outlier and driftage；
(2) in interrelated decision, coupling points ratio, space similarity, coupling points and time similarity are carried out comprehensive
Close association judgement, improve the accuracy of association results.
Brief description
Fig. 1 is the sail plan based on two stage cultivation and radar track correlating method flow process that embodiment of the present invention provides
Figure；
Fig. 2 is the sub-process figure of step S6 in Fig. 1；
Fig. 3 is the knot with radar track interconnected system for the sail plan based on two stage cultivation of embodiment of the present invention offer
Structure block diagram.
Specific embodiment
As shown in figure 1, the embodiment of the present invention provides a kind of sail plan based on two stage cultivation and radar track affiliated party
Method, it comprises the steps：
S1, reading sail plan：Read any one at least one sail plan to be associated, initialization navigation meter
Draw and the match point manifold of radar track is closed, coupling points proportion set is closed, space similarity set and time similarity set.
S2, judge whether the radar track that calculated, if then execution step S3, otherwise execution step S7.
S3, reading radar track：Read wherein one radar track being calculated.
S4, preliminary association judgement：The radar track being calculated up-to-date moment track points are taken to project to sail plan,
Consider historical context result, the position of subpoint and the projector distance of sail plan, sail plan is entered with radar track
Row preliminary association judgement.
S5, construction coupling point set：Sail plan is carried out with time bias, calculates time similarity；In sail plan and thunder
Reach and in the time-interleaving region of flight path, carry out interval sampling and interpolation, construction sail plan mates point set and radar track match point
Collection.
S6, segmentation track matching：Mate point set from sail plan respectively and radar track mates first flight path of point set
Point starts to set gradually for matching reference minutiae, constructs flight path section in order to matching reference minutiae and track points after which, leads to
Cross the length of more each flight path section and direction carries out two stage cultivation；The track points of successful match when statistics chooses different reference point
Number, take maximum to mate points as sail plan and radar track, calculates these match points shared by whole point concentration
Ratio and the space similarity of sail plan and radar track；Repeated execution of steps S2 is counted to step S6 until not existing
The radar track calculated.
S7, comprehensive association judgement：Respectively coupling points ratio, space similarity, coupling points and time similarity are set
Put correlation threshold, carry out comprehensively associating judgement.
S8, output association results：The association results of output sail plan, and update the historical context result of sail plan.
Involved being calculated all according to the distance and bearing that track points longitude and latitude is carried out in the present embodiment and following examples
Bowring formula can be adopted.
The embodiment of the present invention can be used for water traffic control system, to extra large radar surveillance system etc., belong to information fusion neck
Domain.The sail plan based on two stage cultivation that the present invention provides and radar track correlating method and system：First with radar boat
Mark up-to-date moment flight path dotted state is tentatively associated judgement with sail plan historical context result, then pass through time bias and
Interval sampling constructs the coupling point set of sail plan and radar track, then concentrates construction flight path section to carry out segmentation in match point
Join, count the points of successful match and in a ratio concentrated, calculate space similarity and time similarity, finally by synthesis
Association judgement obtains association results.The input information of the present invention includes sail plan and radar track.Sail plan includes navigating by water
The longitude and latitude of starting point, terminal and each estimated turning point of plan and plan arrival time, and the historical context of this sail plan
Result；Radar track includes the time of flight path lot number and each radar track point, longitude and latitude etc..Wherein, by rising in sail plan
Point, terminal, turning point and calculate that other track points of obtaining are referred to as desired track point according to these information；In sail plan
Not existence time identical desired track point；The line segment being determined by two track points is referred to as flight path section；The history of sail plan
Association results are radar track lot number associated with it during upper secondary association calculates, if historical context result is unknown or no radar track
It is associated with, be set to sky.
Therefore, the present invention has advantages below：
(1) adopt two stage cultivation method in sail plan with associating in calculating of radar track, using some flight path sections
The overall similitude of coupling reflection flight path, effectively reduces the impact to association results of outlier and driftage；
(2) in interrelated decision, coupling points ratio, space similarity, coupling points and time similarity are carried out comprehensive
Close association judgement, improve the accuracy of association results.
Alternatively, the sail plan based on two stage cultivation described in the embodiment of the present invention and radar track correlating method
In, described step S1 includes：
S11, reading sail plan：Read sail plan Pi, wherein 1≤i≤M, M are positive integer；
S12, initialization coupling fraction：Match point manifold is closed
UMatchNum={ MatchNum1,MatchNum2,...,MatchNumN, coupling points proportion set close
UMatchRate={ MatchRate1,MatchRate2,...,MatchRateN, space similarity set
UDisScore={ DisScore1,DisScore2,...,DisScoreNAnd time similarity set
UTimeScore={ TimeScore1,TimeScore2,...,TimeScoreNIn all elements be set to 0.
Alternatively, the sail plan based on two stage cultivation described in the embodiment of the present invention and radar track correlating method
In：Wherein there is N bar radar track { S to be associated in step S11,S2,...SN, read any of which bar not wherein in step S3
The radar track being calculated is denoted as Sj, wherein 1≤j≤N, N are positive integer.
Alternatively, the sail plan based on two stage cultivation described in the embodiment of the present invention and radar track correlating method
In, described step S4 includes following sub-step：
S41, flight path spot projection：Take SjThe track points in up-to-date moment, are denoted as SHeadj；Cross SHeadjRespectively to PiEach
The desired track section that adjacent track points determine makees vertical line, using intersection point as SHeadjSubpoint in this flight path section；If intersection point
On the extended line of flight path section, then will be with SHeadjFlight path section end points close together is as SHeadjThrowing in this flight path section
Shadow point；Finally adopt enumerative technique from SHeadjThe subpoint of all flight path sections is chosen and SHeadjClosest point conduct
SHeadjIn PiOn subpoint, be denoted as PHeadj；If there is multiple, access time up-to-date throwing in closest subpoint
Shadow point is as PHeadj.
S42, the judgement of radar track state：If PHeadjFor PiBeginning or end then it is assumed that SjCurrent state not in Pi
Intended scope in, execute S2；Otherwise execution step S43.
S43, the judgement of historical context result：Take PiHistorical context result, if historical context result is not empty, and and Sj's
Lot number is consistent, then execution step S5；Otherwise execution step S44.
S44, projector distance judgement：Preliminary correlation distance threshold value DisTH1 is set, with track points calculation of longitude ＆ latitude PHeadj
And SHeadjThe distance between Dis1, if Dis1 >=DisTH1, execution step S2；Otherwise execution step S5.Preliminary association away from
It is preferably 10km from threshold value DisTH1.
Alternatively, the sail plan based on two stage cultivation described in the embodiment of the present invention and radar track correlating method
In, described step S5 includes following sub-step：
S51, calculating subpoint time：Use PHeadjThe E.T.A of place flight path section two-end-point, according to PHeadj?
Position in flight path section, calculates PHead by linear interpolationjThe track points time, be denoted as PHeadj.Time.
S52, calculating time similarity：By SHeadjThe track points time be denoted as SHeadj.Time, calculate the time difference
TimeDiffj=SHeadj.Time-PHeadj.Time, so calculate PiWith SjTime similarityWherein TimeDiffjUnit be the second, σTimeYardstick for time similarity formula
Parameter, TimeDiffjPreferably 120 seconds.
S53, renewal subpoint time：Use PHeadjInformation structuring track points PHeadj', by PHeadj' track points when
Between be set to SHeadj.Time.
S54, establishment coupling point set：Create two empty chain tables, mate point set PList respectively as sail planjAnd radar
Track matching point set SListj, by PHeadj' it is inserted into PListjAfterbody, by PHeadjIt is inserted into SListjAfterbody.
S55, time bias：Use PiInformation structuring sail plan Pij, by PijIn all track points time Pij.Time
It is set to Pij.Time+TimeDiffj.
S56, setting sampling parameter：Make flight path sampling interval N=10, make current sample time CurTime=
SHeadj.Time.
S57, interval sampling：By SjMiddle CurTime moment, corresponding radar track point was denoted as scurt, in SjIn from scurtOpen
Begin to choose n-th radar track point along the direction that the time reduces, be denoted as ssamp；If scurtRadar track point before is less than N
Individual, then execution step S6；Otherwise execution step S58.
S58, selection desired track point：By ssampThe track points time be denoted as ssamp.Time, if P 'ijMiddle have plan boat
Mark point pnodeTime Time meet Time >=ssamp.Time and Time≤CurTime, then execution step S59；Otherwise execute step
Rapid S510；
S59, insertion desired track point and corresponding radar track point：If pnodeOnly one of which, then by pnodeIt is inserted into
PListjAfterbody, then in SjIn ask for the radar track point in Time moment by linear interpolation, and insert it into SListjTail
Portion；If pnodeExist multiple, then by each point, according to the time, order from big to small is sequentially inserted into PListjAfterbody, then in Sj
In ask for the radar track point in corresponding moment successively by linear interpolation, and be sequentially inserted into SListjAfterbody.
S510, insertion radar track point and corresponding desired track point：Judge ssamp.Time whether it is less than PijThe boat of starting point
The mark point time, if then execution step S6；Otherwise by ssampIt is inserted into SListjAfterbody, in PijIn asked for by linear interpolation
ssamp.Time the desired track point in moment, and insert it into PListjAfterbody, makes CurTime=ssamp.Time, execution step
S57.
Alternatively, the sail plan based on two stage cultivation described in the embodiment of the present invention and radar track correlating method
In, described step S6 includes following sub-step：
The matching reference minutiae of S61, setting sail plan and radar track：Choose PListjHead node as sail plan
Matching reference minutiae PRef, choose SListjHead node as radar track matching reference minutiae SRef.
S62, setting interim coupling points：Setting interim coupling points Num=1.
S63, calculating temporary space similarity：With the distance between track points calculation of longitude ＆ latitude PRef and SRef Dis2, count
Calculate temporary space similarityWherein the unit of Dis2 is kilometer, σDisPublic for Distance conformability degree
The scale parameter of formula, σDisPreferably value is 2 kilometers.
The starting point of S64, setting desired track section and radar track section：Choose PRef as the starting point of desired track section
PStart, chooses SRef as starting point SStart of radar track section.
S65 judges that whether track points starting point is the tail node of chained list：Judge that whether PStart and SStart be the tail of chained list
Node, if then execute S613；Otherwise execute S66.
The terminal of S66, setting desired track section and radar track section：Choose PListjThe subsequent point of middle PStart is as meter
Draw the terminal PEnd of flight path section, choose SListjThe subsequent point of middle SStart is as the terminal SEnd of radar track section.
S67, calculating flight path segment length and flight path section direction：By the desired track section as terminal with PStart for starting point PEnd
It is denoted as PSeg, the radar track section as terminal with SStart for starting point SEnd is denoted as SSeg；Definition flight path segment length is starting point
Distance and between terminal；Define the direction vector that flight path section direction determines for origin-to-destination counterclockwise with direct north
Angle, span be [0 °, 360 °)；Length PDis and direction with the calculation of longitude ＆ latitude PSeg of PSeg two-end-point
PAngle, with length SDis and the direction SAngle of the calculation of longitude ＆ latitude SSeg of SSeg two-end-point.
S68, judge whether to meet flight path section matching condition：Set flight path segment length matching threshold DisTH as 0.4, flight path
Duan Fangxiang matching threshold AngleTH is 20 °；Judge
Whether setting up, if setting up, judging PSeg and SSeg as coupling flight path section, PEnd and SEnd is match point, executes step
Rapid S611；Otherwise execution step S69.
S69, judge whether flight path segment endpoint is chained list tail node：Judge that whether PEnd and SEnd be the tail node of chained list,
If then execution step S613, otherwise execution step S610.
S610, renewal flight path segment endpoint：PEnd is updated to PListjThe subsequent point of middle PEnd, SEnd is updated to
SListjThe subsequent point of middle SEnd, execution step S67.
S611, renewal interim coupling points and temporary space similarity：Update interim coupling points Num=Num+1, with boat
The distance between mark point calculation of longitude ＆ latitude PEnd and SEnd Dis, updates temporary space similarity
S612, renewal flight path section starting point：PStart is updated to the corresponding track points of PEnd, SStart is updated to SEnd
Corresponding track points, execution step S65.
Whether S613, judgement interim coupling points meet update condition：Judge Num ＞ MatchNumjWhether set up, if
Then execution step S614, otherwise execution step S615.
S614, renewal coupling points, coupling points ratio and space similarity：Update coupling points MatchNumj=
Num, updates coupling points ratio MatchRatej=Num/TotalNumj, wherein TotalNumjFor chained list PListjIn section
Point number, updates space similarity DisScorej=TmpDisScore/Num.
S615 judges whether matching reference minutiae is chained list tail node：Judge whether PRef and SRef is chained list tail node, if
It is then execution step S7；Otherwise execution step S616.
S616 updates matching reference minutiae：PRef is updated to PListjThe subsequent point of middle PRef, SRef is updated to SListj
The subsequent point of middle SRef, execution step S62.
Alternatively, the sail plan based on two stage cultivation described in the embodiment of the present invention and radar track correlating method
In, described step S7 includes following sub-step：
S71, space similarity screening：Installation space similarity thresholding DisScoreTH is 0.6, travels through UDisScore, right
Meet DisScore in allpSubscript p of ＜ DisScoreTH, by DisScorepDelete from UDisScore, will
MatchRatepDelete from UMatchRate, by MatchNumpDelete from UMatchNum, by TimeScorepFrom
Delete in UTimeScore.
S72, space similarity judgement：Judge whether UDisScore is empty set, if so, then judge no radar track and Pi
Association, execution step S8；Otherwise execution step S73.
S73, coupling points ratio screening：Setting coupling points ratio thresholding MatchRateTH is 0.5, traversal
UMatchRate, meets MatchNum for allqSubscript q of ＜ MatchRateTH, by DisScorepFrom UDisScore
Delete, by MatchRateqDelete from UMatchRate, by MatchNumqDelete from UMatchNum, by TimeScoreq
Delete from UTimeScore.
S74, coupling points ratio judgement：Take the element number of UMatchRate, if element number is 0, judge no thunder
Reach flight path and PiAssociation, execution step S8；If element number is 1, this element is denoted as MatchRatea, then judge SaWith PiClose
Connection, execution step S8；If element number is more than 1, execution step S75.
S75 match point number sieve selects：Setting coupling points thresholding MatchNumTH is 0.3, is chosen using traversal
Maximum MaxMatchNum in UMatchNum；Traversal UMatchNum, to arbitrary element MatchNum in setrCalculateMeet MatchNumDiff for allr＞
Subscript r of MatchNumTH, by DisScorerDelete from UDisScore, by MatchRaterDelete from UMatchRate,
By MatchNumrDelete from UMatchNum, by TimeScorerDelete from UTimeScore；
S76, coupling points judgement：Take the element number of UMatchNum, if element number is 1, this element is denoted as
MatchNumb, then judge SbWith PiAssociation, execution step S8；If element number is more than 1, execution step S77.
S77, time similarity screening：Setting time similarity thresholding TimeScoreTH is 0.4, is chosen using traversal
Maximum MaxTimeScore in UTimeScore；Traversal UTimeScore, to arbitrary element TimeScore in settMeter
CalculateMeet TimeScoreDiff for allt＞
Subscript t of TimeScoreTH, by DisScoretDelete from UDisScore, by MatchRatetDelete from UMatchRate
Remove, by MatchNumtDelete from UMatchNum, by TimeScoretDelete from UTimeScore.
S78, time similarity judgement：Take the element number of UTimeScore, if element number is 1, this element is denoted as
TimeScorec, then judge ScWith PiAssociation, execution step S8；If element number is more than 1, execution step S79.
S79, final association judgement：Maximum MaxDisScore in UDisScore is chosen using traversal, if
In UDisScore, the corresponding element of MaxDisScore only one, is denoted as DisScored, then judge SdWith PiAssociation；If
The corresponding element of MaxDisScore is not unique, then judge that in UDisScore, all elements equal to MaxDisScore are corresponding
Radar track all with PiAssociation.
Alternatively, the sail plan based on two stage cultivation described in the embodiment of the present invention and radar track correlating method
In, described step S8 includes following sub-step：
S81, output association results：With P in output association court verdictiThe radar track lot number of association；
S82, renewal historical context result：If the radar track of association only, by PiHistorical context result more
New is the current radar track lot number exporting；If the radar track of association is a plurality of, by PiHistorical context result be updated to
Empty.
Alternatively, in the sail plan based on two stage cultivation described in any of the above-described and radar track correlating method, its
Can also comprise the steps：
S9, after step s8, judges whether the sail plan to be associated not read, if then repeating step
Until there is not the sail plan to be associated not read in rapid S1 to S9, and terminate this flow process；Otherwise directly terminate this flow process.
By implementing the present embodiment, associating of multiple sail plans to be associated and radar track can be completed.
The embodiment of the present invention also provides a kind of sail plan based on two stage cultivation and radar track interconnected system, and it includes
As lower unit：
Sail plan reading unit 10, for reading any one at least one sail plan to be associated, initially
Change sail plan and the match point manifold of radar track is closed, mated points proportion set conjunction, space similarity set and time similarity
Degree set.
Calculate judging unit 20, for judging whether the radar track being calculated, if then execution radar boat
Mark reading unit 30, otherwise executes comprehensive association decision unit 70.
Radar track reading unit 30, for reading wherein one radar track being calculated.
Preliminary association decision unit 40, for taking the radar track being calculated up-to-date moment track points to sail plan
Project, consider historical context result, the position of subpoint and the projector distance of sail plan, to sail plan and radar
Flight path is tentatively associated judgement.
Construction coupling point set structural unit 50, for sail plan is carried out with time bias, calculates time similarity；In boat
Carry out interval sampling and interpolation, construction sail plan coupling point set and radar in row plan and the time-interleaving region of radar track
Track matching point set.
Segmentation track matching unit 60, for mating the first of point set and radar track coupling point set respectively from sail plan
Individual track points start to set gradually for matching reference minutiae, construct flight path in order to matching reference minutiae and track points after which
Section, carries out two stage cultivation by the relatively length of each flight path section and direction；The boat of successful match when statistics chooses different reference point
Mark is counted, and takes maximum to mate points as sail plan and radar track, calculates these match points and entirely putting concentration institute
The ratio accounting for and the space similarity of sail plan and radar track；Repeat calculating judging unit 20 to segmentation track matching
Until there is not the radar track being calculated in unit 60.
Comprehensive association decision unit 70, for respectively to coupling points ratio, space similarity, coupling points and time phase
Like degree setting correlation threshold, carry out comprehensively associating judgement.
Output association results output unit 80, for exporting the association results of sail plan, and updates going through of sail plan
History association results.
Above example can freely be combined.Method in conjunction with the embodiments described herein description or algorithm
Step directly can use hardware, the software module of computing device, or the combination of the two is implementing.Software module can be placed in
Random access memory, internal memory, read-only storage, electrically programmable ROM, electricity can remove programming ROM, register, hard disk, removable magnetic by sassafras
In the known storage medium of any other forms in disk, CD-ROM or technical field.
It is understood that for the person of ordinary skill of the art, can be done with technology according to the present invention design
Go out other various corresponding change and deformation, and all these change the protection model that all should belong to the claims in the present invention with deformation
Enclose.
Claims (10)
1. a kind of sail plan based on two stage cultivation and radar track correlating method are it is characterised in that it comprises the steps：
S1, reading sail plan：Read any one at least one sail plan to be associated, initialization sail plan and
The match point manifold of radar track is closed, coupling is counted proportion set conjunction, space similarity set and time similarity set；
S2, judge whether the radar track that calculated, if then execution step S3, otherwise execution step S7；
S3, reading radar track：Read wherein one radar track being calculated；
S4, preliminary association judgement：The radar track being calculated up-to-date moment track points are taken to project to sail plan, comprehensive
Consider historical context result, the position of subpoint and the projector distance of sail plan, sail plan and radar track are carried out just
Step association judgement；
S5, construction coupling point set：Sail plan is carried out with time bias, calculates time similarity；Navigate with radar in sail plan
Carry out interval sampling and interpolation, construction sail plan coupling point set and radar track coupling point set in the time-interleaving region of mark；
S6, segmentation track matching：Mate point set from sail plan respectively and first track points of radar track coupling point set are opened
Begin to set gradually as matching reference minutiae, flight path section constructed in order to matching reference minutiae and track points after which, by than
The length of more each flight path section and direction carry out two stage cultivation；When statistics chooses different reference point, the flight path points of successful match, take
Maximum mates points as sail plan and radar track, calculate these match points whole point concentrate shared ratio and
Sail plan and the space similarity of radar track；Repeated execution of steps S2 is to step S6 until there is not the thunder being calculated
Reach track；
S7, comprehensive association judgement：Respectively coupling points ratio, space similarity, coupling points and time similarity setting are closed
Connection thresholding, carries out comprehensively associating judgement；
S8, output association results：The association results of output sail plan, and update the historical context result of sail plan.
2. the sail plan based on two stage cultivation as claimed in claim 1 with radar track correlating method it is characterised in that institute
State step S1 to include：
S11, reading sail plan：Read sail plan Pi, wherein 1≤i≤M, M are positive integer；
S12, initialization coupling fraction：Match point manifold is closed
UMatchNum={ MatchNum1,MatchNum2,…,MatchNumN, coupling points proportion set close
UMatchRate={ MatchRate1,MatchRate2,…,MatchRateN, space similarity set
UDisScore={ DisScore1,DisScore2,…,DisScoreNAnd time similarity set
UTimeScore={ TimeScore1,TimeScore2,…,TimeScoreNIn all elements be set to 0.
3. the sail plan based on two stage cultivation as claimed in claim 2 with radar track correlating method it is characterised in that：Its
There is the radar track { S that N bar is to be associated in middle step S11,S2,…SN, read any of which bar wherein in step S3 and counted
The radar track calculated is denoted as Sj, wherein 1≤j≤N, N are positive integer.
4. the sail plan based on two stage cultivation as claimed in claim 3 with radar track correlating method it is characterised in that institute
State step S4 and include following sub-step：
S41, flight path spot projection：Take SjThe track points in up-to-date moment, are denoted as SHeadj；Cross SHeadjRespectively to PiEach adjacent boat
The desired track section that mark point determines makees vertical line, using intersection point as SHeadjSubpoint in this flight path section；If intersection point is in flight path
On the extended line of section, then will be with SHeadjFlight path section end points close together is as SHeadjSubpoint in this flight path section；?
Adopt enumerative technique afterwards from SHeadjThe subpoint of all flight path sections is chosen and SHeadjClosest point is as SHeadj?
PiOn subpoint, be denoted as PHeadj；If there is multiple, access time up-to-date subpoint conduct in closest subpoint
PHeadj；
S42, the judgement of radar track state：If PHeadjFor PiBeginning or end then it is assumed that SjCurrent state not in PiMeter
In the range of drawing, execute S2；Otherwise execution step S43；
S43, the judgement of historical context result：Take PiHistorical context result, if historical context result is not empty, and and SjLot number
Unanimously, then execution step S5；Otherwise execution step S44；
S44, projector distance judgement：Preliminary correlation distance threshold value DisTH1 is set, with track points calculation of longitude ＆ latitude PHeadjWith
SHeadjThe distance between Dis1, if Dis1 >=DisTH1, execution step S2；Otherwise execution step S5.
5. the sail plan based on two stage cultivation as claimed in claim 4 with radar track correlating method it is characterised in that institute
State step S5 and include following sub-step：
S51, calculating subpoint time：Use PHeadjThe E.T.A of place flight path section two-end-point, according to PHeadjIn flight path
Position in section, calculates PHead by linear interpolationjThe track points time, be denoted as PHeadj.Time；
S52, calculating time similarity：By SHeadjThe track points time be denoted as SHeadj.Time, calculate time difference TimeDiffj=
SHeadj.Time-PHeadj.Time, so calculate PiWith SjTime similarity
Wherein TimeDiffjUnit be the second, σTimeScale parameter for time similarity formula；
S53, renewal subpoint time：Use PHeadjInformation structuring track points PHead 'j, by PHead 'jThe track points time set
It is set to SHeadj.Time；
S54, establishment coupling point set：Create two empty chain tables, mate point set PList respectively as sail planjWith radar track
Join point set SListj, by PHead 'jIt is inserted into PListjAfterbody, by SHeadjIt is inserted into SListjAfterbody；
S55, time bias：Use PiInformation structuring sail plan Pij, by PijIn all track points time Pij.Time it is set to
Pij.Time+TimeDiffj；
S56, setting sampling parameter：Make flight path sampling interval N=10, make current sample time CurTime=SHeadj.Time；
S57, interval sampling：By SjMiddle CurTime moment, corresponding radar track point was denoted as scurt, in SjIn from scurtStart along
N-th radar track point is chosen in the direction that time reduces, and is denoted as ssamp；If scurtRadar track point deficiency before is N number of, then hold
Row step S6；Otherwise execution step S58；
S58, selection desired track point：By ssampThe track points time be denoted as ssamp.Time, if P 'ijIn there is desired track point
pnodeTime Time meet Time >=ssamp.Time and Time≤CurTime, then execution step S59；Otherwise execution step
S510；
S59, insertion desired track point and corresponding radar track point：If pnodeOnly one of which, then by pnodeIt is inserted into PListjTail
Portion, then in SjIn ask for the radar track point in Time moment by linear interpolation, and insert it into SListjAfterbody；If
pnodeExist multiple, then by each point, according to the time, order from big to small is sequentially inserted into PListjAfterbody, then in SjIn pass through
Linear interpolation asks for the radar track point in corresponding moment successively, and is sequentially inserted into SListjAfterbody；
S510, insertion radar track point and corresponding desired track point：Judge ssamp.Time whether it is less than PijThe track points of starting point
Time, if then execution step S6；Otherwise by ssampIt is inserted into SListjAfterbody, in PijIn asked for by linear interpolation
ssamp.Time the desired track point in moment, and insert it into PListjAfterbody, makes CurTime=ssamp.Time, execution step
S57.
6. the sail plan based on two stage cultivation as claimed in claim 5 with radar track correlating method it is characterised in that institute
State step S6 and include following sub-step：
The matching reference minutiae of S61, setting sail plan and radar track：Choose PListjHead node as sail plan
Join reference point PRef, choose SListjHead node as radar track matching reference minutiae SRef；
S62, setting interim coupling points：Setting interim coupling points Num=1；
S63, calculating temporary space similarity：With the distance between track points calculation of longitude ＆ latitude PRef and SRef Dis2, calculating is faced
Time space similarityWherein the unit of Dis2 is kilometer, σDisFor Distance conformability degree formula
Scale parameter；
The starting point of S64, setting desired track section and radar track section：Choose PRef as starting point PStart of desired track section,
Choose SRef as starting point SStart of radar track section；
S65 judges that whether track points starting point is the tail node of chained list：Judge that whether PStart and SStart be the tail node of chained list,
If then executing S613；Otherwise execute S66；
The terminal of S66, setting desired track section and radar track section：Choose PListjThe subsequent point of middle PStart is as plan boat
The terminal PEnd of mark section, chooses SListjThe subsequent point of middle SStart is as the terminal SEnd of radar track section；
S67, calculating flight path segment length and flight path section direction：The desired track section as terminal with PStart for starting point PEnd is denoted as
PSeg, the radar track section as terminal with SStart for starting point SEnd is denoted as SSeg；Defining flight path segment length is starting point and end
Distance between point；Define the direction vector folder with direct north counterclockwise that flight path section direction determines for origin-to-destination
Angle, span be [0 °, 360 °)；With length PDis and the direction PAngle of the calculation of longitude ＆ latitude PSeg of PSeg two-end-point, use
Length SDis of calculation of longitude ＆ latitude SSeg of SSeg two-end-point and direction SAngle；
S68, judge whether to meet flight path section matching condition：Set flight path segment length matching threshold DisTH as 0.4, flight path Duan Fang
It is 20 ° to matching threshold AngleTH；Judge
Whether setting up, if setting up, judging PSeg and SSeg as coupling flight path section, PEnd and SEnd is match point, execution step
S611；Otherwise execution step S69；
S69, judge whether flight path segment endpoint is chained list tail node：Judge that whether PEnd and SEnd be the tail node of chained list, if
Then execution step S613, otherwise execution step S610；
S610, renewal flight path segment endpoint：PEnd is updated to PListjThe subsequent point of middle PEnd, SEnd is updated to SListjIn
The subsequent point of SEnd, execution step S67；
S611, renewal interim coupling points and temporary space similarity：Update interim coupling points Num=Num+
1, with the distance between track points calculation of longitude ＆ latitude PEnd and SEnd Dis, update temporary space similarity
S612, renewal flight path section starting point：PStart is updated to the corresponding track points of PEnd, SStart is updated to SEnd and corresponds to
Track points, execution step S65；
Whether S613, judgement interim coupling points meet update condition：Judge Num ＞ MatchNumjWhether set up, if then holding
Row step S614, otherwise execution step S615；
S614, renewal coupling points, coupling points ratio and space similarity：Update coupling points MatchNumj=Num, updates
Coupling points ratio MatchRatej=Num/TotalNumj, wherein TotalNumjFor chained list PListjIn node number, more
New space similarity DisScorej=TmpDisScore/Num；
S615, judge whether matching reference minutiae is chained list tail node：Judge whether PRef and SRef is chained list tail node, if then
Execution step S7；Otherwise execution step S616；
S616, renewal matching reference minutiae：PRef is updated to PListjThe subsequent point of middle PRef, SRef is updated to
SListjThe subsequent point of middle SRef, execution step S62.
7. the sail plan based on two stage cultivation as claimed in claim 6 with radar track correlating method it is characterised in that institute
State step S7 and include following sub-step：
S71, space similarity screening：Installation space similarity thresholding DisScoreTH is 0.6, travels through UDisScore, for institute
Have and meet DisScorepSubscript p of ＜ DisScoreTH, by DisScorepDelete from UDisScore, by MatchRatepFrom
Delete in UMatchRate, by MatchNumpDelete from UMatchNum, by TimeScorepDelete from UTimeScore；
S72, space similarity judgement：Judge whether UDisScore is empty set, if so, then judge no radar track and PiAssociation,
Execution step S8；Otherwise execution step S73；
S73, coupling points ratio screening：Setting coupling points ratio thresholding MatchRateTH is 0.5, travels through UMatchRate,
Meet MatchRate for allqSubscript q of ＜ MatchTateTH, by DisScoreqDelete from UDisScore, will
MatchRateqDelete from UDisScore, by MatchNumqDelete from UMatchNum, by TimeScoreqFrom
Delete in UTimeScore；
S74, coupling points ratio judgement：Take the element number of UMatchRate, if element number is 0, judge no radar boat
Mark and PiAssociation, execution step S8；If element number is 1, this element is denoted as MatchRatea, then judge SaWith PiAssociation, holds
Row step S8；If element number is more than 1, execution step S75；
S75 match point number sieve selects：Setting coupling points thresholding MatchNumTH is 0.3, is chosen in UMatchNum using traversal
Maximum MaxMatchNum；Traversal UMatchNum, to arbitrary element MatchNum in setrCalculateMeet MatchNumDiff for allr＞
Subscript r of MatchNumTH, by DisScorerDelete from UDisScore, by MatchRaterDelete from UMatchRate,
By MatchNumrDelete from UMatchNum, by TimeScorerDelete from UTimeScore；
S76, coupling points judgement：Take the element number of UMatchNum, if element number is 1, this element is denoted as
MatchNumb, then judge SbWith PiAssociation, execution step S8；If element number is more than 1, execution step S77；
S77, time similarity screening：Setting time similarity thresholding TimeScoreTH is 0.4, is chosen using traversal
Maximum MaxTimeScore in UTimeScore；Traversal UTimeScore, to arbitrary element TimeScore in settMeter
CalculateMeet TimeScoreDiff for allt＞
Subscript t of TimeScoreTH, by DisScoretDelete from UDisScore, by MatchRatetDelete from UMatchRate
Remove, by MatchNumtDelete from UMatchNum, by TimeScoretDelete from UTimeScore；
S78, time similarity judgement：Take the element number of UTimeScore, if element number is 1, this element is denoted as
TimeScorec, then judge ScWith PiAssociation, execution step S8；If element number is more than 1, execution step S79；
S79, final association judgement：Maximum MaxDisScore in UDisScore is chosen using traversal, if
In UDisScore, the corresponding element of MaxDisScore only one, is denoted as DisScored, then judge SdWith PiAssociation；If
The corresponding element of MaxDisScore is not unique, then judge that in UDisScore, all elements equal to MaxDisScore are corresponding
Radar track all with PiAssociation.
8. the sail plan based on two stage cultivation as claimed in claim 7 with radar track correlating method it is characterised in that institute
State step S8 and include following sub-step：
S81, output association results：With P in output association court verdictiThe radar track lot number of association；
S82, renewal historical context result：If the radar track of association only, by PiHistorical context result be updated to work as
The radar track lot number of front output；If the radar track of association is a plurality of, by PiHistorical context result be updated to sky.
9. the sail plan based on two stage cultivation as described in any one of claim 1-8 and radar track correlating method, it is special
Levy and be, it also comprises the steps：
S9, after step s8, judges whether the sail plan to be associated not read, if then repeated execution of steps S1
To S9 until there is not the sail plan to be associated not read, and terminate this flow process；Otherwise directly terminate this flow process.
10. a kind of sail plan based on two stage cultivation and radar track interconnected system are it is characterised in that it is included as placed an order
Unit：
Sail plan reading unit, for reading any one at least one sail plan to be associated, initialization navigation
Plan and the match point manifold of radar track is closed, mated points proportion set conjunction, space similarity set and time similarity set；
Calculate judging unit, for judging whether the radar track being calculated, if then execution radar track reads
Unit, otherwise executes comprehensive association decision unit；
Radar track reading unit, for reading wherein one radar track being calculated；
Preliminary association decision unit, for taking the radar track being calculated up-to-date moment track points to throw to sail plan
Shadow, considers historical context result, the position of subpoint and the projector distance of sail plan, to sail plan and radar track
Tentatively associated judgement；
Construction coupling point set structural unit, for sail plan is carried out with time bias, calculates time similarity；In sail plan
With carry out interval sampling and interpolation in the time-interleaving region of radar track, construction sail plan coupling point set and radar track
Join point set；
Segmentation track matching unit, for mating point set and first flight path of radar track coupling point set from sail plan respectively
Point starts to set gradually for matching reference minutiae, constructs flight path section in order to matching reference minutiae and track points after which, leads to
Cross the length of more each flight path section and direction carries out two stage cultivation；The track points of successful match when statistics chooses different reference point
Number, take maximum to mate points as sail plan and radar track, calculates these match points shared by whole point concentration
Ratio and the space similarity of sail plan and radar track；Repeat calculating judging unit straight to segmentation track matching unit
To there is not the radar track being calculated；
Comprehensive association decision unit, for setting to coupling points ratio, space similarity, coupling points and time similarity respectively
Put correlation threshold, carry out comprehensively associating judgement；
Output association results output unit, for exporting the association results of sail plan, and updates the historical context of sail plan
Result.
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| CN109948711B (en) * | 2019-03-21 | 2023-07-18 | 上海赢科信息技术有限公司 | Stroke similarity acquisition method and equipment, and method and system for searching similar strokes |
| CN111796236B (en) * | 2020-06-12 | 2022-05-17 | 中国船舶重工集团公司第七二四研究所 | Active and passive sensor comprehensive association judgment method based on time-space correlation |
| CN112037245B (en) * | 2020-07-22 | 2023-09-01 | 杭州海康威视数字技术股份有限公司 | Method and system for determining similarity of tracked targets |
| CN113538974B (en) * | 2021-07-14 | 2022-11-22 | 电子科技大学 | Multi-source data fusion-based flight target anomaly detection method |
| CN113866734B (en) * | 2021-12-03 | 2022-03-04 | 中国电子科技集团公司信息科学研究院 | Method and device for correcting track error of distributed radar system |
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