CN104569964A - Moving target two-dimensional detecting and tracking method for ultra-wideband through-wall radar - Google Patents
Moving target two-dimensional detecting and tracking method for ultra-wideband through-wall radar Download PDFInfo
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- CN104569964A CN104569964A CN201510047947.2A CN201510047947A CN104569964A CN 104569964 A CN104569964 A CN 104569964A CN 201510047947 A CN201510047947 A CN 201510047947A CN 104569964 A CN104569964 A CN 104569964A
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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
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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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/887—Radar or analogous systems specially adapted for specific applications for detection of concealed objects, e.g. contraband or weapons
- G01S13/888—Radar or analogous systems specially adapted for specific applications for detection of concealed objects, e.g. contraband or weapons through wall detection
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Abstract
The invention provides a moving target two-dimensional detecting and tracking method for ultra-wideband through-wall radar. According to the method, through echo data of a linear array sensor, an area to be measured is subjected to two-dimensional imaging by beam-forming, and the position of a target in an imaging result is extracted in the coordinate point form according to the concept of relative gray; a point trajectory output by an image detector is matched and correlated with an existing track; the existing track is managed and operated by track initiation, track maintaining, track deletion and the like; the existing stable track is subjected to KF (Kalman filtering) on the basis of IMM (interacting multiple model); optimal estimated values of two-dimensional parameters of all targets in the area to be measured are acquired; the moving targets behind an obstacle are subjected to two-dimensional detecting and tracking through the data of the linear array sensor of the ultra-wideband through-wall radar.
Description
Technical field
The present invention relates to ultra-wideband radar technology field, particularly relate to a kind of for the moving target two-dimensional detection of ultra-broadband wall-through radar and the method for tracking.
Background technology
Pulse ultra-wideband through-wall radar is a kind of short-distance movement target detection radar based on ultra-wideband pulse technology, it is by launching ultra wideband narrow-pulse signal, penetrate general barrier (as all kinds of brick walls in common building thing, reinforced concrete wall etc.), receive and analyze echoed signal, in real time for moving target (people) after operating personnel's disturbance in judgement thing existence and the positional information of target and motion conditions thereof etc. are provided exactly, to reach the object to being hidden in the moving target after barrier and carrying out non-invasive detection, improve operating personnel to scout and detection, the ability of the aspects such as Situation Awareness.
The different arrangement mode of the sensor (dual-mode antenna) that ultra-broadband wall-through radar uses according to it can possess different detectivities: 1) if only adopt a pair sending and receiving sensor, then can utilize the A-Scan echo that it receives, therefrom obtain time delay corresponding to target echo, and then obtain the one-dimension information such as radial distance of target and radar; 2) if sensor array is linearly arranged (i.e. line array sensor), then can carry out two-dimensional imaging by Beam synthesis (Beamforming) to tested region, and then obtain the two dimensional surface information of target; 3) if sensor array distribution in one plane (i.e. face sensor array), then can be carried out three-dimensional imaging by Beam synthesis to tested region, and then obtain the three-dimensional spatial information of target.Based on the through-wall radar of single-sensor, it can accomplish the features such as volume is little, lightweight, be easy to carry, but shortcoming to provide any orientation to information, namely cannot differentiate two targets of diverse location on the direction radial vertical with radar.Through-wall radar based on sensor array then can carry out two dimension, three-dimensional imaging by Beam synthesis to tested region, obtain comprise distance to orientation to the information such as the target position information even profile of target, shape, thus relative single-sensor through-wall radar, the information that can provide based on the through-wall radar of sensor array is abundanter, operating personnel are had the target in tested region more fully understand and grasp, but this sacrifices the portability of radar system and complexity as cost.More common ultra-broadband wall-through radar is generally the through-wall radar based on single-sensor or line array sensor both at home and abroad at present, based on face sensor array through-wall radar because of its sensor array usually larger, the data volume of required process is also abnormal large, thus implements and acquires a certain degree of difficulty.
In the actual use of through-wall radar, often be subject to many impacts from himself and extraneous unfavorable factor, the random thermal noise of such as radar system, the uncertainty of body of wall medium and distribution thereof, multipath effect in acquisition environment etc., these unfavorable factors can cause severe jamming to radar return, and then cause the through-wall radar imaging result based on sensor array to occur fuzzy, unstable situation, to operating personnel's resolution target, determine that target location all brings very big inconvenience.In two-dimentional through-wall detection, if under the prerequisite that resolution can reach, target location in imaging results is extracted with the form of coordinate points, and then different targets is located respectively accurately and follows the tracks of, then can solve the above-mentioned problem brought by imaging instability to a certain extent.Simultaneously, in the three-dimensional imaging of through-wall radar, if the accurate location at target place can be obtained, just can abandon most of incoherent area of space, only a fritter area of space corresponding to target position carries out three-dimensional imaging, thus greatly reduce the calculated amount of through-wall radar three-dimensional imaging, provide possibility for ultra-broadband wall-through radar realizes three-dimensional tracking imaging.
Summary of the invention
(1) technical matters that will solve
In view of above-mentioned technical matters, the invention provides a kind of for the moving target two-dimensional detection of ultra-broadband wall-through radar and the method for tracking.
(2) technical scheme
The present invention is used for the moving target two-dimensional detection of ultra-broadband wall-through radar and the method for tracking comprises: steps A: the echo data r in n moment time slow to ultra-broadband wall-through radar line array sensor
mn () is carried out pretreatment operation and is obtained echo data r '
m(n), wherein, m is sending and receiving sensor numbering, i.e. m=1,2 ..., M, M are sending and receiving sensor sum; Step B: utilize echo data r '
mn () carries out moving target two-dimensional detection, some mark p (n) that the moving target obtaining the n moment produces on the two dimensional surface in tested region; Step C: each bar that some mark p (n) produced on the two dimensional surface in tested region by moving target and n-1 moment are formed stablizes flight path ST
kand the interim flight path TT of each bar (n-1)
l(n-1) carry out association matching operation, obtain n moment each bar ST
kobserved reading y
k(n) and each bar TT
lobserved reading z
l(n); Wherein, k is the numbering of stable flight path, k=1,2 ..., l is the numbering of interim flight path, l=1,2 ...; Step D: to the stable flight path ST in n-1 moment
kand interim flight path TT (n-1)
l(n-1) carry out flight path management, comprise track initiation, flight path maintains and flight path deletion action, form the stable flight path ST in n moment
k(n) and interim flight path TT
l(n); And step e: each bar in n moment is stablized flight path ST
kthe observed reading y of (n) and correspondence thereof
kn the Kalman filter under () input Interactive Multiple-Model carries out optimal filtering, obtain the estimated value of each target two-dimensional coordinate position in n moment tested region
(3) beneficial effect
The present invention utilizes the echo data of line array sensor, carries out two-dimensional imaging by Beam synthesis to tested region, and utilizes the concept of versus grayscale to be extracted with the form of coordinate points the position of target in imaging results; The point mark that visual detector exports is carried out coupling with existing flight path associate; Existing flight path is managed, comprises the operations such as track initiation, flight path maintenance and flight path deletion; KF filtering based on IMM is carried out to existing stable flight path, obtain the optimal estimation value of all target two dimensional motion parameters in tested region, achieve the object utilizing the data of ultra-broadband wall-through radar line array sensor the moving target after barrier to be carried out to two-dimensional detection and tracking.
Accompanying drawing explanation
Figure 1 shows that schematic flow sheet of the present invention;
Figure 2 shows that through-wall radar based on line array sensor is to the gray-scale map of one group of raw experimental data (B-Scan) that sensor collects, and per pass A-Scan is through amplitude normalization process;
Figure 3 shows that the Moving Target Return that Fig. 2 result obtains after adjacent offseting, and per pass A-Scan is through amplitude normalization process;
Fig. 4 A to Fig. 4 F is depicted as three the not imaging results of Moving Target Return after Beam synthesis in the same time and the contrast figure of corresponding moment target actual position;
Figure 5 shows that all slow time the moment moving target point mark;
Figure 6 shows that two movement objective orbits that the raw experimental data of all similar Fig. 2 of sensor array finally exports through algorithm of the present invention.
Embodiment
For making the object, technical solutions and advantages of the present invention clearly understand, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.It should be noted that, in accompanying drawing or instructions describe, similar or identical part all uses identical figure number.The implementation not illustrating in accompanying drawing or describe is form known to a person of ordinary skill in the art in art.In addition, although herein can providing package containing the demonstration of the parameter of particular value, should be appreciated that, parameter without the need to definitely equaling corresponding value, but can be similar to corresponding value in acceptable error margin or design constraint.The direction term mentioned in embodiment, such as " on ", D score, "front", "rear", "left", "right" etc., be only the direction with reference to accompanying drawing.Therefore, the direction term of use is used to illustrate and is not used for limiting the scope of the invention.
The object of the invention is to propose a kind ofly to utilize that the data of ultra-broadband wall-through radar line array sensor are carried out in real time the moving target after barrier, the method for two-dimensional detection and tracking accurately.
In one exemplary embodiment of the present invention, provide a kind of for the moving target two-dimensional detection of ultra-broadband wall-through radar and the method for tracking.Fig. 1 is according to the process flow diagram of the embodiment of the present invention for the moving target two-dimensional detection of ultra-broadband wall-through radar and the method for tracking.As shown in Figure 1, the present embodiment comprises for the moving target two-dimensional detection of ultra-broadband wall-through radar and the method for tracking:
Steps A: ultra-broadband wall-through radar 2-D data pre-service, the echo data r in n moment time namely slow to ultra-broadband wall-through radar line array sensor
m(n) (m is sending and receiving sensor numbering, i.e. m=1,2 ..., M, M are sending and receiving sensor sum) carry out pretreatment operation and obtain echo data r '
m(n);
Wherein, pretreatment operation is different because of different radar systems, generally comprises the baseband signal process means such as cumulative mean, bandpass filtering, shake removal, matched filtering, envelope detected.For convenience of explanation, pretreatment operation here adopts bandpass filtering and matched filtering two operation, namely
r′
m(n)＝MF{BPF{r
m(n)}} (1)
Wherein, BPF{} represents that bandpass filtering operates, and MF{} represents that matched filtering operates.
Step B: ultra-broadband wall-through Radar Moving Target two-dimensional detection, namely utilizes the echo data r ' obtained in steps A
mn () carries out moving target two-dimensional detection, some mark p (n) that the moving target obtaining the n moment produces on the two dimensional surface in tested region;
This step B ultrasonic broadband through-wall radar moving target two-dimensional detection, comprising:
Sub-step B1: utilize the n moment obtained in steps A respectively to organize r '
m(n) (m=1,2 ..., M) and each group of r ' in n-1 moment
m(n-1) pointwise work difference obtains the Moving Target Return in n moment is r "
m(n), i.e. r "
m(n)=r '
m(n)-r '
m(n-1);
Sub-step B2: utilize the Moving Target Return r obtained in sub-step B1 "
mn () is carried out Beam synthesis (Beamforming) and is obtained two-dimensional digital image IMG;
Sub-step B3: the two-dimensional digital image IMG that sub-paragraphs B2 obtains, definition versus grayscale
wherein (i, j) represents the coordinate position of certain pixel in image, and g (i, j) represents the gray-scale value of this pixel,
represent the average gray value of IMG.Set a thresholding T, extract and allly in two-dimensional digital image IMG meet q (i, the connection component (comprising the set of neighbor pixel) of j) >=T, and the position using the centroid position of each connection component as this target place, place, obtain some mark p (n) that moving target that the n moment may exist produces on the two dimensional surface in tested region thus.
Step C: ultra-broadband wall-through Radar Multi Target 2-D data associates, each bar that some mark p (n) produced on the two dimensional surface in tested region by the moving target obtained in step B and n-1 moment are formed stablizes flight path (Stable Track, ST) ST
kand each bar interim flight path (TemporaryTrack, TT) TT (n-1)
l(n-1) carry out association matching operation, obtain n moment each bar ST
kobserved reading y
k(n) and each bar TT
lobserved reading z
l(n);
Wherein, k is the numbering of stable flight path, i.e. k=1,2 ...; L is the numbering of interim flight path, i.e. l=1,2 ....
In the present embodiment, stable flight path refers in radar coverage, is considered to that real motion target produces, keeps the flight path of tracking for a long time; Interim flight path is then that initial time is long, confidence level is not high enough, need the flight path differentiated further.The relation of the two is, when interim flight path continued presence Targets Dots within a period of time can match, then think that this interim flight path is produced by real goal, thus be translated into stable flight path and set up filtering equations and it is followed the tracks of, otherwise, that this interim flight path is considered to be produced by noise spot mark and deleted, concrete operations can manage see step D flight path.
This step C ultra-broadband wall-through Radar Multi Target 2-D data associates, and comprising:
Sub-step C1: stablize flight path ST with n-1 moment each bar
k(n-1) kalman filter prediction
it is r that a radius is set up at the center of being respectively
1circular ripple door A
k, wherein k is the numbering of stable flight path, i.e. k=1,2 ....With the interim flight path TT of n-1 moment each bar
l(n-1) it is r that a radius is set up at the observed reading center of being respectively
2circular ripple door B
l, wherein, l is the numbering of interim flight path, i.e. l=1,2 ...;
Sub-step C2: the n moment obtained in sub-paragraphs B2 some mark p (n) that produces on the two dimensional surface in tested region of moving target screen: drop on circular ripple door A
k(k=1,2 ...) and some mark p
1kn () is that correspondence stablizes flight path ST
krelating dot trace set; Drop on circular ripple door B
l(l=1,2 ...) and some mark p
2ln () is corresponding interim flight path TT
lrelating dot trace set; Left point mark in p (n) (does not appear at any A
kand B
lin some mark) p
3n () is considered to may be the some mark that fresh target produces, initial for new flight path;
Sub-step C3: if in sub-step C2
then adopt JPDA (Joint Probabilistic Data Association is called for short JPDA) algorithm by p
1k(n) and corresponding stable flight path ST
kcarry out association matching operation, obtain and stablize flight path ST
kat the observed reading y in n moment
k(n); If
then y
kn () equals in step C1
equally, if in step C2
then adopt JPDA algorithm by p
2l(n) and corresponding interim flight path TT
lcarry out association matching operation, obtain interim flight path TT
lat the observed reading z in n moment
l(n); If
then not to this TT
ldo any operation.
It should be noted that, the initial time that program is run, namely during n=1, owing to there is not any flight path, thus whole step C is skipped and does not perform; Equally, in follow-up operational process, if there is not stable flight path or interim flight path after a upper moment (n-1 moment) program end of run, the so current n moment then skips the corresponding operating in step C and does not perform.Such as, if only there is interim flight path after n-1 moment end of run and do not stablize flight path, then skip wherein relevant to stable flight path operation and do not perform when so the n moment runs this step C, only processing for interim flight path.
Step D: ultra-broadband wall-through radar two dimension flight path management, namely to the stable flight path ST in n-1 moment
kand interim flight path TT (n-1)
l(n-1) carry out flight path management, comprise the operations such as track initiation, flight path maintenance and flight path deletion, form the stable flight path ST in n moment
k(n) and interim flight path TT
l(n), wherein, k=1,2 ..., l=1,2 ...;
This step D ultra-broadband wall-through radar two dimension flight path management, comprising:
Sub-step D1: if in sub-step C3 certain stable flight path ST
kn continuous
1secondary appearance
situation, then think that target corresponding to this stable flight path has been left tested region and deleted;
Sub-step D2: if in sub-step C3 certain interim flight path TT
loccur
situation, then think that this interim flight path is deleted by the formation of noise; If certain interim flight path TT
ln continuous
2secondary appearance
situation, then think that this interim flight path is formed by a real goal and changed into a new stable flight path to be used for following the tracks of this target;
Sub-step D3: by the p in sub-step C2
3n each point mark in (), respectively as the starting point mark of a new interim flight path, namely opens a new interim flight path respectively.
Wherein, N
land N
2be user to set as required.
It should be noted that, the initial time that program is run, namely during n=1, owing to there is not any flight path, thus sub-step D1 and D2 will be skipped and not perform, and directly perform the operation that sub-step D3 carries out track initiation; Equally; in follow-up operational process; if there is not stable flight path or interim flight path after a upper moment (n-1 moment) program end of run, again or any some mark do not detected, the so current n moment then skips the corresponding operating in step D and does not perform.Such as, if only there is interim flight path after n-1 moment end of run and do not stablize flight path, then skip sub-step D1 and do not perform when so the n moment runs this step D, only performing the associative operation in sub-step D2, D3.
Step e: ultra-broadband wall-through radar two-dimensional tracking filtering, by step D) in each bar in n moment of being formed stablize flight path ST
kthe step C of (n) and correspondence thereof) in observed reading y
kn () input is based on Interactive Multiple-Model (Interacting Multiple Model, be called for short IMM) Kalman filter (Kalman Filter, be called for short KF) carry out optimal filtering, the estimated value of each target two-dimensional coordinate position in tested region in current n moment tested region can be obtained
with other action reference variable values and the predicted value to each target two-dimensional coordinate position in tested region, n+1 moment tested region
make n=n+1, perform steps A.
This step e ultra-broadband wall-through radar two-dimensional tracking filtering specifically comprises:
Sub-step E1: in step D, each bar in n moment stablizes flight path ST
kn () sets up a Kalman filter (Kalman Filter respectively, be called for short KF), this Kalman filter adopts Interactive Multiple-Model (Interacting Multiple Model is called for short IMM) Method Modeling, and utilizes in step C3 corresponding to ST
kthe observed reading y of (n)
kn () carries out optimal filtering, can obtain the estimated value of n moment each target two-dimensional coordinate position in tested region
with other action reference variable values, and the predicted value to each target two-dimensional coordinate position in tested region, n+1 moment tested region
Here, Interactive Multiple-Model modeling method comprises at the uniform velocity (Constant Velocity, be called for short CV) model, Singh's (Singer) model and constant level's turning (Nearly Constant Speed HorizontalTurn is called for short HT) model; In addition, other kinematic parameters here comprise the speed, acceleration etc. of moving target, can select the estimated value exporting these parameters according to the real needs of operator by Kalman filter.
Sub-step E2: make n=n+1, performs steps A;
Wherein, predicted value
(former
) in step C for subsequent time (n+1 moment) to stable flight path ST
kthat carries out is operation associated.
It should be noted that, the initial time that program is run, namely during n=1, owing to there is not stable flight path, thus whole step e is skipped and does not perform; Equally, in follow-up operational process, if there is not stable flight path after a upper moment (n-1 moment) program end of run, the so current n moment then skips in whole step e and does not perform.
Figure 2 shows that through-wall radar based on line array sensor is to the gray-scale map of one group of raw experimental data (B-Scan) that sensor collects.For the ease of viewing, in figure, per pass A-Scan is through the process of amplitude normalization.When horizontal ordinate represents slow in figure (unit is second), when ordinate represents fast, and be converted to distance value (unit is rice).The centre frequency of through-wall radar used is 1.5GHz, and sampling rate is 25.6GHz, and the sampling number of single track A-Scan is 2048, and namely during sampling, window is about 80ns, and the maximum distance that can detect is about 12 meters (when not wearing any barrier).In experiment scene, body of wall is co ncrete wall, and thickness is about 0.245 meter, has two moving targets to intersect walking back and forth in tested scene.
Figure 3 shows that original echo in Fig. 2 through pretreatment operation and adjacent offset after the gray-scale map of Moving Target Return that obtains, and per pass A-Scan is through amplitude normalization process.Here pretreatment operation comprises bandpass filtering and matched filtering two.Selected bandpass filter centre frequency is 1.5GHz, and bandwidth is 1.5GHz, and exponent number is 5.The Control echo used in matched filter is signal received during sending and receiving sensor correlation.
Fig. 4 A ~ Fig. 4 F is depicted as and takes from this group and test three the not imaging results of Moving Target Return after Beam synthesis in the same time and the contrast figure of corresponding moment target actual position.Wherein, Fig. 4 A and Fig. 4 B is the imaging results and target actual position that moment T1 is corresponding.Fig. 4 C and Fig. 4 D is the imaging results and target actual position that moment T2 is corresponding.Fig. 4 E and Fig. 4 F is the imaging results and target actual position that moment T3 is corresponding.Therefrom can see, all there is fuzzy, unstable situation in the imaging results in these three moment, the number of target and position are all difficult to recognize.
Figure 5 shows that the Targets Dots directly extracted from the imaging results of similar Fig. 4 of each moment.In figure, " * " form point is the Targets Dots in each moment, therefrom can see the track of two objective motions obviously, but in testing result, also occur a large amount of False Intersection Points marks.
Figure 6 shows that two movement objective orbits that the raw data of all similar Fig. 2 of sensor array finally exports through the present embodiment method.The track that in figure, " x " form point is formed reflects the situation of No. 1 target travel, and the track that " o " form point is formed reflects the situation of No. 2 target travels.Can see, False Intersection Points mark has been completely eliminated, and target trajectory is steady and audible.
Visible, the present embodiment can solve the problem that the target brought due to through-wall imaging unstable result in two-dimentional through-wall detection is difficult to differentiate and locate to a certain extent.Meanwhile, due to can the accurate location at moving target place after Real-time Obtaining barrier, thus the inventive method can reduce the calculated amount of through-wall radar three-dimensional imaging greatly, and the three-dimensional for ultra-broadband wall-through radar is followed the tracks of imaging and provided possibility.
So far, by reference to the accompanying drawings the present embodiment has been described in detail.Describe according to above, those skilled in the art should be used for the moving target two-dimensional detection of ultra-broadband wall-through radar and the method for tracking to the present invention have been had and has clearly been familiar with.
In addition, the above-mentioned definition to each element and method is not limited in various concrete structures, shape or the mode mentioned in embodiment, and those of ordinary skill in the art can change simply it or replace.
In sum, the present invention can utilize the data of ultra-broadband wall-through radar line array sensor to carry out in real time the moving target after barrier, two-dimensional detection and tracking accurately, solves the problem that the target brought due to imaging results instability in two-dimentional through-wall detection is difficult to differentiate and locate to a certain extent.Meanwhile, due to can the accurate location at moving target place after Real-time Obtaining barrier, thus the present invention can reduce the calculated amount of through-wall radar three-dimensional imaging greatly, and the three-dimensional for ultra-broadband wall-through radar is followed the tracks of imaging and provided possibility, has higher using value.
Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; be understood that; the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1., for the moving target two-dimensional detection of ultra-broadband wall-through radar and a method for tracking, it is characterized in that, comprising:
Steps A: the echo data r in n moment time slow to ultra-broadband wall-through radar line array sensor
mn () is carried out pretreatment operation and is obtained echo data r '
m(n), wherein, m is sending and receiving sensor numbering, i.e. m=1,2 ..., M, M are sending and receiving sensor sum;
Step B: utilize echo data r '
mn () carries out moving target two-dimensional detection, some mark p (n) that the moving target obtaining the n moment produces on the two dimensional surface in tested region;
Step C: each bar that some mark p (n) produced on the two dimensional surface in tested region by moving target and n-1 moment are formed stablizes flight path ST
kand the interim flight path TT of each bar (n-1)
l(n-1) carry out association matching operation, obtain n moment each bar ST
kobserved reading y
k(n) and each bar TT
lobserved reading z
l(n); Wherein, k is the numbering of stable flight path, k=1,2 ..., l is the numbering of interim flight path, l=1,2 ...;
Step D: to the stable flight path ST in n-1 moment
kand interim flight path TT (n-1)
l(n-1) carry out flight path management, comprise track initiation, flight path maintains and flight path deletion action, form the stable flight path ST in n moment
k(n) and interim flight path TT
l(n); And
Step e: each bar in n moment is stablized flight path ST
kthe observed reading y of (n) and correspondence thereof
kn the Kalman filter under () input Interactive Multiple-Model carries out optimal filtering, obtain the estimated value of each target two-dimensional coordinate position in n moment tested region
2. method according to claim 1, is characterized in that, described step e also comprises: obtain the predicted value to each target two-dimensional coordinate position in tested region, n+1 moment tested region
make n=n+1, perform steps A;
Described step C comprises:
Sub-step C1: stablize flight path ST with n-1 moment each bar
k(n-1) predicted value
centered by set up Radius be respectively r
1circular ripple door A
k, with the interim flight path TT of n-1 moment each bar
l(n-1) setting up Radius centered by observed reading is respectively r
2circular ripple door B
l;
Sub-step C2: some mark p (n) that the moving target in n moment produces on the two dimensional surface in tested region is screened: drop on circular ripple door A
ksome mark p
1kn () is that correspondence stablizes flight path ST
krelating dot trace set; Drop on circular ripple door B
lsome mark p
2ln () is corresponding interim flight path TT
lrelating dot trace set; Left point mark p in p (n)
3n () is initial for new flight path;
Sub-step C3: if
by p
1k(n) and corresponding stable flight path ST
kcarry out association matching operation, obtain and stablize flight path ST
kat the observed reading y in n moment
k(n); If
then y
kn () equals in step C1
if
by p
2l(n) and corresponding interim flight path TT
lcarry out association matching operation, obtain interim flight path TT
lat the observed reading z in n moment
l(n); If
then not to this TT
ldo any operation.
3. method according to claim 2, is characterized in that, in described sub-step C3:
If
adopt JPDA algorithm by p
1k(n) and corresponding stable flight path ST
kcarry out association matching operation, obtain and stablize flight path ST
kat the observed reading y in n moment
k(n); And/or
If
then adopt JPDA algorithm by p
2l(n) and corresponding interim flight path TT
lcarry out association matching operation, obtain interim flight path TT
lat the observed reading z in n moment
l(n).
4. method according to claim 2, is characterized in that, described step e comprises:
Sub-step E1: in step D, each bar in n moment stablizes flight path ST
kn () sets up a Kalman filter respectively, and utilize in step C3 corresponding to ST
kthe observed reading y of (n)
kn () carries out optimal filtering, obtain the estimated value of n moment each target two-dimensional coordinate position in tested region
and the predicted value to each target two-dimensional coordinate position in tested region, n+1 moment tested region
Sub-step E2: make n=n+1, performs steps A.
5. method according to claim 4, is characterized in that, described sub-step E1 also comprises: obtain the action reference variable value of n moment each target in tested region.
6. method according to claim 5, is characterized in that, described kinematic parameter comprises: speed, and/or acceleration.
7. method according to claim 1, is characterized in that, described step D comprises:
Sub-step D1: for the stable flight path ST all stablized in flight path
kif, its N continuous
1secondary appearance
situation, then deleted;
Sub-step D2: for the interim flight path TT in whole interim flight path
lif it occurs
situation, then deleted; If its N continuous
2secondary appearance
situation, then changed into a new stable flight path and be used for following the tracks of this target;
Sub-step D3: by p
3n each point mark in (), respectively as the starting point mark of a new interim flight path, opens a new interim flight path respectively.
8. method according to any one of claim 1 to 7, is characterized in that, described step B comprises:
Sub-step B1: utilize the n moment respectively to organize r '
mthe each group of r ' in (n) and n-1 moment
m(n-1) pointwise work difference obtains the Moving Target Return in n moment is r "
m(n), wherein, m=1,2 ..., M;
Sub-step B2: utilize Moving Target Return r "
mn () is carried out Beam synthesis and is obtained two-dimensional digital image;
Sub-step B3: to two-dimensional digital image, definition versus grayscale
wherein (i, j) represents the coordinate position of certain pixel in image, and g (i, j) represents the gray-scale value of this pixel,
represent the average gray value of IMG, set a thresholding T, extract and allly in two-dimensional digital image IMG meet q (i, the connection component of j)>=T, and the position using the centroid position of each connection component as this target place, place, obtain some mark p (n) that moving target that the n moment may exist produces on the two dimensional surface in tested region thus.
9. method according to any one of claim 1 to 7, is characterized in that, in described steps A:
r′
m(n)＝MF{BPF{r
m(n)}}
Wherein, BPF{} represents that bandpass filtering operates, and MF{} represents that matched filtering operates.
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