CN104656070A - Method for eliminating false target under radar networking - Google Patents

Abstract

The invention discloses a method for eliminating a false target under radar networking, and belongs to the technical field of radar target information processing, which is used for solving the problems that when existing multiple networking radars are used for observing the same region, a false target is generated because the precisions of the radars are different and the target position data acquired by the multiple radars are different, and further the correct judgment of the current battlefield situation is affected. According to the key point of the technical scheme, the method comprises the following steps: constructing a universal radar communication protocol mold plate, and acquiring the radar target data by utilizing the communication protocol mold plate; associating target data information; measuring the target data similarity; and integrating the target data after the target data similarity is measured. According to the invention, the false target generation probability is reduced by around 50%, and the false target generation probability under the radar networking condition is reduced. The method is mainly applied to the military radar target information processing process, and also can be extensively applied to the multi-sensor information integration process in the measurement process.

Description

False target removing method under radar network composite

Technical field

The present invention relates to the false target removing method under a kind of radar network composite, belong to radar target information processing technology field.

Background technology

Radar is the " prying eyes " of Modern weapon system, its major function be search for, find, catch, follow the tracks of, measurement target.In modern war, radar can over the horizon, round-the-clock, provide various information required for battlefield accurately, be the core of information-based combat system-of-systems.Since first radar is born during World War II, more and more carefully, more and more complete empty feelings demand constantly promotes the development of Radar Technology.Nowadays, the battlefield framework of modern war expands in land, sea, air, sky, electromagnetism quintuple space, the birth of high-tech weapons especially precision guided weapon and long-range strike weapon, makes radar become the primary goal that in tech war, enemy hits." four threaten greatly " that the radar that tradition works independently faces (electronic interferences, stealthy, anti-radiation destruction and low-level penetration), makes single radar can not contend with electronic warfare system comprehensively.In this case, the information that separate unit radar can provide cannot meet the demand of region operational commanding decision-making, so Radar Network System " Home Chain " the earliest arose at the historic moment before more than 50 years.

Radar network composite is by the suitable cloth station of the radar of multiple different frequency range, different polarization mode, forms " net " shape collect and transmit the information of net interior each portion radar, and by central station overall treatment, control and management, thus the organic whole that formation one is unified.In net, the information taken of each radar is to central station overall treatment, draws the information in radar fence coverage, strategic situation.Radar network composite and informational intelligence summary have substantial different, and informational intelligence summary is that each radar station flight path information is delivered to information handling center, and main website flight path is chosen as system flight path in center, thus the estimation that impends, draft battle plan and implement.And radar network composite has held on to this key of Information data fusion, information fusion is carried out to the information that each radar is sent here, the unavailable information of many single portion radars can have been drawn thus; Secondly, there is information feed back and controlling functions in net, so just possessed the restructuring ability of net, drastically increase " four resist " ability of whole net with flexible and changeable working method, guarantee effective data, information reports.The performance advantage of Radar Network System be any single radar or in the past that for the purpose of simple information acquisition radar fence can not unrealistically compare.

Radar network composite information fusion also can produce false target, is merged the precision no doubt can collected more detailed information, improve target localization by many radar informations, but simultaneously also can call number factually time and synchronous problem.In real-time, multiple radar sends data to Data Fusion machine by network and certainly exists different network delays, and fusion treatment also needs the time, and it is delayed that this can cause information to show.In synchronism, radar sweep mutually longer and each radar on time in cycle with sweep the cycle mutually may be different, this will cause multiple radar fix may have very large difference in time with on target state to the data of same target, can not be identified and introduce new false target in fusion.When false target Producing reason is multiple radar detection same target, because radar accuracy difference can obtain multiple position data, to such an extent as to the accurate location of target cannot be determined.Due to each radar transmissions to the data of fusion center itself not containing false target, so false target appears at the intersection area of multiple radar coverage.Precision due to radar is different and cause the target position data of multiple radar collection there are differences and produce false target, and then affects the correct judgement of current situation of battlefield.

Summary of the invention

The object of the invention is to propose the false target removing method under a kind of radar network composite, when observing the same area to solve for existing multiple radar network, precision due to radar is different and cause the target position data of multiple radar collection there are differences and produce false target, and then affects the problem of correct judgement of current situation of battlefield.

The present invention for solving the problems of the technologies described above adopted technical scheme is:

False target removing method under radar network composite of the present invention, realizes according to following steps:

Step one, structure general purpose radar communications protocol template, utilize described communications protocol template to obtain radar target data;

Adopt Frame, data element, data element position tertiary level to carry out the Unify legislation of various radar communication agreement, Frame is the complete object data protocol that radar exports;

Data element is the Attribute information element in target data agreement;

Data element position be in data element single binary digit or multiple binary digit and logical combination;

The detailed process of described structure general purpose radar communications protocol template is:

Step adds corresponding Frame one by one, according to radar communication protocol type;

Step one two, according to the Attribute information element in radar communication agreement, under Frame, increase data element;

Step one three, whether represent different implication according to the different values of each in data element, determine whether increase data element position information;

Step one four, use LIBXML2 take Frame as root node, and data element is minor matters points, and data element position is leaf node, generates the general purpose radar communications protocol template of XML format;

Step 2, after step one completes, carry out target data information association;

Represent No. 1 radar with R1, represent No. 2 radars with R2, with { B11, B12, B13 ... B1I} represents the target data of No. 1 radar detection, I≤M, M are the quantity of No. 1 radar maximum probe target, with { B21, B22, B23, B2J} represents the target data of No. 2 radar detections, J≤N, N are the quantity of No. 2 radar maximum probe targets, and detailed process is as follows:

Step 2 one, from No. 1 radar, select first aim data B11, first aim data B21 is selected from No. 2 radars, calculate the distance D between B11 and B21, distance D is compared with the threshold value G preset, if distance D has exceeded the threshold value G preset, then abandon this group targetpath pairing, performed step 2 two, if be no more than, directly perform step 2 three;

Step 2 two, next target B22 of target data B11 and No. 2 radar in No. 1 radar to be compared again, until comparative result is less than threshold value G, from the matched flight path No. 1 radar and No. 2 radars, delete this group flight path, and then from No. 1 radar, select the target data association that do not have in next target data and No. 2 radars to match;

Step 2 three, repetition step 2 one and step 2 two, until all flight paths all complete association in No. 1 radar, namely the targetpath list in No. 1 radar has been matched, and also retains not mixing right flight path in No. 1 radar, so as later and other radars do not mix right flight path and match.

Step 3, after step 2 completes, carry out target data measuring similarity;

After target data information association process, if the data of two radars have velocity amplitude, the result of velocity amplitude to pairing is utilized to carry out similarity measurement, if any one radar data in two radars does not have velocity amplitude, then not performance objective data measuring similarity;

Step 4, after target data measuring similarity completes, carry out target data fusion treatment;

After target data information association and target measuring similarity, target data fusion treatment is carried out for the average weighted method of the data acquisition after successful matching.

The invention has the beneficial effects as follows:

1, invention increases the object recognition and detection precision in multiple radar network composite situation, target location accuracy in multiple radar network composite situation is higher than the target location accuracy of single radar, when N number of equally accurate radar network composite carries out target localization, target location accuracy can be made to be increased to former single radar by the inventive method doubly; Eliminate due to inconsistent the produced false target of multiple radar accuracy simultaneously, by target data information association, measuring similarity and Data Fusion process, make false target produce probability and reduce about 50%, can ensure while raising target location accuracy, the false target reduced in radar network composite situation produces probability.

Accompanying drawing explanation

Fig. 1 is process flow diagram of the present invention;

Fig. 2 is certain information frame distributing data form of certain model radar 1 in embodiment one;

Fig. 3 is certain message distributing data form of certain model radar 2 in embodiment one;

Fig. 4 is general purpose radar communications protocol formwork structure figure, and wherein M is the sum of data element, and K is the sum of data element position;

Fig. 5 is target data information association process process flow diagram.

Embodiment

Further describe the specific embodiment of the present invention by reference to the accompanying drawings.

Embodiment one: below in conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 5 illustrates present embodiment, and the false target removing method under a kind of radar network composite described in present embodiment, comprises the following steps:

Step one, structure general purpose radar communications protocol template, utilize described communications protocol template to obtain radar target data;

For realizing the acquisition of various communication protocol type radar data, build a kind of general radar communication model agreement, Frame, data element, data element position tertiary level is adopted to carry out the Unify legislation of various radar communication agreement, in general purpose radar communications protocol template, Frame is the complete object data protocol that radar exports, and comprises that surveillance radar is new 97, former 97, targetpath report, instrumentation radar information frame, AIS system information transmissions specification;

Data element is the Attribute information element in target data agreement;

Data element position be in data element single binary digit or multiple binary digit and logical combination;

The detailed process of described structure general purpose radar communications protocol template is:

Step adds corresponding Frame one by one, according to radar communication protocol type;

Step one two, according to the Attribute information element in radar communication agreement, under Frame, increase data element;

Step one three, whether represent different implication according to the different values of each in data element, determine whether increase data element position information;

Step one four, use LIBXML2 take Frame as root node, and data element is minor matters points, and data element position is leaf node, generates the general purpose radar communications protocol template of XML format;

Radar target data is obtained and refers to the process being received the target data information that it detects by various radar equipment external communication interface mode.The acquisition of radar target data needs to resolve according to its external communication protocol format, and communications protocol refers to that communicating pair is by completing communication or the mandatory rule of service, is the one agreement in communicating pair Data Transmission Controlling process.Communications protocol comprises three parts usually: grammer, semanteme, regularly.The syntactic definition form of protocol data, coding and control information (as low and high level etc.); Semanteme defines the content and implication etc. of data; The timing specification information such as the transmission delay of agreement, rate-matched.

Be not quite similar at radar equipment external communication protocol type conventional at present, conventional radar communication agreement has the multiple kinds specifications such as surveillance radar is new 97, former 97, targetpath report, instrumentation radar information frame, AIS system information transmissions specification, for the ease of radar target data acquisition and facilitate succeeding target use processing process, need abstract a kind of general communications protocol template to carry out the description of radar communication agreement.

For certain model radar 1 format transmission message, the target data information that this radar exports adopts IP agreement in network layer, transport layer adopts udp user datagram protocol, application layer adopts packets of information to be that unit carries out information transmission, can comprise multiple information frame in a packets of information, wherein certain information frame data publication form as shown in Figure 2.This information frame adopts the data type such as Byte, Int, describe classification code, information source, the time, lot number, dynamically, zone bit, quantity, longitude, latitude, highly, the information such as speed and course angle.In addition, zone bit adopts the mode of position definition, uses D0-D7 position to define this information frame data effective marker information.

In certain model radar 2 message transmitting procedure, adopt UDP/IP datagram protocol, certain message format as shown in Figure 3.The dtd-data type definitions such as BYTE, Int, Double essential option and option two dvielement information is used in this message.Wherein essential option element comprises the information such as information source, lot number, attribute, access, is the information that must comprise in message transmission procedure; Option element comprises the information such as height, course, is the information that can not comprise in message transmission procedure.In order to correctly identify each option element, this message specifies that first of each option element data for leading character position, and uses capitalization English letter to identify as leading character, and specifies that leading character mark can not repeat.

In addition, in the communications protocol of some radar, there is the protocol information comprising dynamic element, in this quasi-protocol, protocol data total length is indefinite, and its total length depends on the length of dynamic data.In addition, there is the demand of physical values process in some protocol elements, must by the calculating of protocol data just can obtain related protocol element data value thus use by other equipment.According to the above analysis to all kinds of protocol format in target range, in order to realize the different radar equipment information quick obtaining of communications protocol, a general protocol data structure must be proposed, to cover the conventional communications protocol of current most radar equipment.This protocol data structure can the conventional data type of supported protocol data, can describe protocol characteristic information comprehensively and can realize the data processing of being correlated with.

Step 2, after step one completes, carry out target data information association;

After each radar target information data of acquisition, next carry out target data information association.

First consider the related question between two radar target datas, represent No. 1 radar with R1, represent No. 2 radars with R2, with { B11, B12, B13, B1I} represents the target data of No. 1 radar detection, and I≤M, M are the quantity of No. 1 radar maximum probe target, with { B21, B22, B23 ... B2J} represents the target data of No. 2 radar detections, J≤N, N is the quantity of No. 2 radar maximum probe targets, and detailed process is as follows:

Step 2 one, from No. 1 radar, select first aim data B11, first aim data B21 is selected from No. 2 radars, calculate the distance D between B11 and B21, distance D is compared with the threshold value G preset, if distance D has exceeded the threshold value G (the absolute value sum of the precision of Threshold selection radar 1 and the accuracy value of radar 2) preset, then abandon this group targetpath pairing, perform step 2 two, because exceed threshold value, to mean that B11 and B21 derives from the probability of same target very low.If be no more than, directly perform step 2 three;

Step 2 two, next target B22 of target data B11 and No. 2 radar in No. 1 radar to be compared again, until comparative result is less than threshold value G, just think that these two data from same target, from the matched flight path No. 1 radar and No. 2 radars, delete this group flight path, and then from No. 1 radar, select the target data association that do not have in next target data and No. 2 radars to match;

Step 2 three, repetition step 2 one and step 2 two, until all flight paths all complete association in No. 1 radar, namely the targetpath list in No. 1 radar has been matched, to not mixing right flight path in No. 1 radar, (target may not in the intersection area of two radars, a detections of radar is to target, another does not detect) also retain so as later and other radars do not mix right flight path and match.

If when also having other radar detection target data, also adopt above-mentioned identical method to match.Whole target data information association process as shown in Figure 5.

Step 3, after step 2 completes, carry out target data measuring similarity;

After target data information association process, if the data of two radars have velocity amplitude, the result of velocity amplitude to pairing is utilized to carry out similarity measurement, the correctness of checking pairing further.If any one radar data in two radars does not have velocity amplitude, then not performance objective data measuring similarity;

Step 4, after target data measuring similarity completes, carry out target data fusion treatment;

After target data information association and target measuring similarity, target data fusion treatment is carried out for the average weighted method of the data acquisition after successful matching.Average weighted basic thought is that the performance index such as precision, reliability according to each radar distribute weights to each radar, the radar that, reliability high to precision is high distributes larger weights, radar that is low to precision, poor reliability distributes less weights, and the core choosing this algorithm just of weights.

Embodiment two: present embodiment is described below in conjunction with Fig. 4, described one by one to add the concrete grammar of corresponding Frame according to radar communication protocol type as follows unlike: step for present embodiment and embodiment one:

Source device is filled according to the information source in communications protocol;

Target device is filled according to the stay of two nights in communications protocol;

Dynamic frame mark whether is fixedly filled according to communications protocol length, for the unfixed communications protocol of length, dynamic frame number position is filled according to the quantity in communications protocol, the dynamic frame upper limit is filled according to the maximal value in communications protocol, for the communications protocol that length is fixing, do not fill in dynamic frame number position and the dynamic frame upper limit;

Frame originating point information is filled according to the identifier in communications protocol;

Trailer information is filled according to the end mark in communications protocol;

Remarks are filled according to supplementary in communications protocol.

Embodiment three: present embodiment and embodiment one or two unlike: described in step one two according to the Attribute information element in radar communication agreement, the concrete grammar increasing data element under Frame is as follows:

ID is filled according to attribute number;

Title is filled according to attribute-name;

Type is filled according to the data type of attribute;

Length is filled according to the data type lengths of attribute;

Whether must occur filling in optional identifier according to attribute, for the attribute that must not occur, leading character type is filled according to the data type of symbol before attribute, leading character length is filled according to the data type lengths of symbol before attribute, leading character content is filled according to the value of symbol before attribute, for the attribute that must occur, then do not fill in leading character type, leading character length and leading character content;

Positive and negative implication whether is had to fill in symbolic identifier according to attribute;

Resolution is filled according to the physical values of attribute lowest order representative;

Select process function according to the implication of attribute, be the attribute of physical values for process function, fill in target data type according to physical values type, for the attribute that process function is physical values and does not process, then do not fill in target data type;

Whether fix according to the communications protocol length belonging to attribute, fill in dynamic frame identifier; Whether represent that new Frame fills in nesting identifier according to attribute;

Remarks are filled according to the supplementary of attribute.

Embodiment four: present embodiment and one of embodiment one to three unlike: whether represent different implication according to the different values of each in data element described in step one three, determine that the concrete grammar whether increasing data element position information is as follows:

If each value in data element is not both represent different implications, then under data element, increase data bit information, title is filled according to the numbering of data element position, bit pattern value is filled according to the value of data element position, the explanation of bit pattern value is filled according to the implication of bit pattern value, if each value in data element is not both represent identical implication, then do not add data element position information.

Embodiment five: one of present embodiment and embodiment one to four unlike: described in step one to utilize communications protocol template to obtain the detailed process of radar target data as follows:

Based on the communications protocol template of structure, adopt standard communication protocol interface radar primary data information (pdi), according to the process function filled in data element, radar primary data information (pdi) is converted to radar target data information, after radar target data information converts, finally complete the acquisition of radar target data;

Described standard communication protocol interface is Ethernet and serial ports pattern.

Embodiment six: one of present embodiment and embodiment one to five unlike: the transfer process that described radar primary data information (pdi) is converted to radar target data information is as follows:

Be the data element of physical values for process function, adopt the mode that property value is multiplied by resolution to change; For the data element that process function is position analysis, pattern is changed by binary shift mode successively in order; Be the data element do not processed for process function, adopt property value indirect assignment mode to change.

Embodiment seven: one of present embodiment and embodiment one to six unlike: the concrete grammar of the target data measuring similarity described in step 3 is as follows:

If the difference of the velocity amplitude of two data be less than velocity amplitude among both maximum 10%, then these two data from same target, successful matching; If the difference of the velocity amplitude of two data be greater than velocity amplitude among both maximum 10%, then these two different targets very near data from position, matchs unsuccessfully, to matching failed flight path, re-start data correlation and data similarity is measured.

Embodiment eight: one of present embodiment and embodiment one to seven unlike: the detailed process of the target data fusion treatment described in step 4 is as follows:

Step 4 one, be provided with n radar and measure target, the measured value of i-th radar is z _i, wherein i=1,2 ..., n, because the performance index of each radar are different, the impact disturbed by various enchancement factor is different, z _ivalue there is certain randomness.Experimentally prove, z _inormal Distribution, i.e. z _iobey N (μ _i, σ _i), μ _ifor its mathematical expectation, comprise the parameter information of measured value, also comprise the measurement constant value deviation of this radar, σ simultaneously _ifor mean square deviation, represent the precision of this radar, σ _ilarger, the irrelevance of measured value to target actual value of this radar is larger, and the precision of radar is lower; Otherwise σ _iless, radar accuracy is higher;

Step 4 two, establish i-th radargrammetry value z _iweights be w _i, the net result after the target data that all radars obtain merges is:

S＝WZ＝[w ₁,w ₂,w ₃...w _n][z ₁，z ₂,z ₃…z _n] ^T(1)

Wherein, W is the weights set of all radargrammetry values, and Z is the set of all radargrammetry values, [w ₁, w ₂, w ₃w _n] be measured value vector [z ₁, z ₂, z ₃z _n] ^tweight vector;

Distribution density function f (s) Normal Distribution N (the Σ w of the net result S after data fusion _iμ _i, Σ w _i ²μ _i ²):

$\begin{array}{c}\end{array}\begin{array}{c}f\left(s\right)=\left(2\mathrm{\π}\right)-n/2\left|W{\mathrm{\Ω}}^{-1}{\left({\mathrm{\Ω}}^{-1}\right)}^T{W}^T\right|\exp \left\{\frac{1}{2}(s-\mathrm{WU})\left(W{\mathrm{\Ω}}^{-1}{\left({\mathrm{\Ω}}^{-1}\right)}^T{W}^T\right){(s-\mathrm{WU})}^T\right\}\\ =\left(2\mathrm{\π}\right)-n/2\left|\underset{i}{\overset{n}{\mathrm{\Σ}}}{w}_i^2{\mathrm{\σ}}_i^2\right|\exp \left\{\frac{-1}{2}\underset{i}{\overset{n}{\mathrm{\Σ}}}{w}_i^2{\mathrm{\σ}}_i^2{(s-\underset{i}{\overset{n}{\mathrm{\Σ}}}{w}_i{\mathrm{\μ}}_i)}^2\right\}\end{array}---\left(2\right)$

Wherein, the diagonal matrix that Ω forms for all radargrammetry value mean square deviation inverses, the column vector that U forms for all radargrammetry value averages;

Z _iobey N (μ _i, σ _i) normal distribution, so h _i=(z _i-μ _i)/σ _iobey standardized normal distribution, i.e. h _i=(z _i-μ _i)/σ _iobey N (0,1), vector form is:

H＝Ω(Z-U) (3)

Wherein:

$\left\{\begin{array}{c}\mathrm{\Ω}=\mathrm{diag}[1/{\mathrm{\σ}}_1,1/{\mathrm{\σ}}_2...1/{\mathrm{\σ}}_n]\\ U={[{\mathrm{\μ}}_1,{\mathrm{\μ}}_2...{\mathrm{\μ}}_n]}^T\\ H=[h_1,h_2{...h}_n]\end{array}\right.---\left(4\right)$

Step 4 three, obtain Z=Ω by formula (3) ^-1h+U, substitutes into formula (1), obtains S=W (Ω ^-1h+U), the mathematical expectation of the net result after obtaining target data fusion by Multivariate Statistical Theory is the weighted mean of each radar target data mathematical expectation, and its mean square deviation is:

${\mathrm{\σ}}_s=\sqrt{\underset{i}{\overset{n}{\mathrm{\Σ}}}{w}_i^2{\mathrm{\σ}}_i^2}---\left(5\right)$

In order to make the precision after fusion the highest, lagrange's method of multipliers is adopted to solve σ _sminimum value.

Embodiment nine: one of present embodiment and embodiment one to eight unlike: the employing lagrange's method of multipliers described in step 4 three carries out solving σ _sthe detailed process of minimum value is as follows:

The correction function of lagrange's method of multipliers is F=Σ w _i ²σ _i ²+ λ (Σ w _i-1), respectively w is asked to this function _ipartial derivative, λ, for merging measured value correction factor, obtains:

$\left\{\begin{array}{c}\frac{\∂F}{\∂w_1}=2w_1{\mathrm{\σ}}_1^2+\mathrm{\λ}\\ \frac{\∂F}{\∂w_2}=2w_2{\mathrm{\σ}}_2^2+\mathrm{\λ}\\ .\\ .\\ .\\ \frac{\∂F}{\∂w_n}=2w_n{\mathrm{\σ}}_{\text{n}}^2+\mathrm{\λ}\end{array}\right.---\left(6\right)$

When $\∂F/\∂w_i=2w_i{\mathrm{\σ}}_i^2+\mathrm{\λ}=0(i=\mathrm{1,2,3}...n)$ Time, function F obtains minimum value, namely solves:

w _i＝-λ/2σ _i ²(7)

By Σ w _i=1 (w _i> 0, i=1,2,3...n):

Σ-λ/2 σ _i ²=1, i.e. λ=-2/ Σ (1/ σ _i ²), solve:

w _i＝1/(σ _i ²Σσ _i ^-2) (8)

So the precision of result is after n Radar Data Fusion:

${\mathrm{\σ}}_s=\sqrt{\underset{i}{\overset{n}{\mathrm{\Σ}}}{w}_i^2{\mathrm{\σ}}_i^2}=\frac{1}{\sqrt{\underset{i=1}{\overset{n}{\mathrm{\Σ}}}}\frac{1}{{\mathrm{\σ}}_i^2}}---\left(9\right)$

If the precision of n radar is equal, i.e. σ ₁=σ ₂=...=σ _n=σ, then σ _s=σ/n ^1/2illustrate that the measuring accuracy of the radar of n same precision after merging increases to the n of original single radar measurement accuracy ^1/2doubly.If the root mean square of the radar that in n radar, precision is the highest and the minimum radar of precision is respectively σ _minand σ _max, draw:

${\mathrm{\σ}}_y=\frac{1}{\sqrt{\frac{1}{{{\mathrm{\σ}}_{\max }}^2}+\frac{1}{{{\mathrm{\σ}}_{\max }}^2}+\underset{i=1}{\overset{n-1}{\mathrm{\Σ}}}\frac{1}{{\mathrm{\σ}}_i^2}}}\≤\frac{1}{\sqrt{\frac{1}{{{\mathrm{\σ}}_{\max }}^2}+\underset{i=1}{\overset{n-1}{\mathrm{\Σ}}}\frac{1}{{\mathrm{\σ}}_i^2}}}---\left(10\right)$

Wherein, σ _yfor the mean square deviation of n radar target data Measurement fusion result.

Above formula shows, adopts the optimum allocation method of weighting, is all conducive to improving the precision measured after making precision radar poor again participate in data fusion.

Data after weighted mean merges, retain the precision after its fusion, carry out information association, measuring similarity process again, eliminate false target further with the target data of other radar detection.

Finally, the different decoy problem caused of multiple radar measurement accuracy can effectively be reduced by positional information by radar target information association process; Negotiation speed information the different decoy problem caused of multiple radar measurement accuracy can be effectively reduced by target measuring similarity process; By target data fusion treatment, effectively improve the precision of multiple radar measurements, reduce the probability that false target produces further.

Claims (9)

1. the false target removing method under radar network composite, is characterized in that said method comprising the steps of:

Step one, structure general purpose radar communications protocol template, utilize described communications protocol template to obtain radar target data;

Adopt Frame, data element, data element position tertiary level to carry out the Unify legislation of various radar communication agreement, Frame is the complete object data protocol that radar exports;

Data element is the Attribute information element in target data agreement;

Data element position be in data element single binary digit or multiple binary digit and logical combination;

The detailed process of described structure general purpose radar communications protocol template is:

Step adds corresponding Frame one by one, according to radar communication protocol type;

Step one two, according to the Attribute information element in radar communication agreement, under Frame, increase data element;

Step one three, whether represent different implication according to the different values of each in data element, determine whether increase data element position information;

Step one four, use LIBXML2 take Frame as root node, and data element is minor matters points, and data element position is leaf node, generates the general purpose radar communications protocol template of XML format;

Step 2, after step one completes, carry out target data information association;

Represent No. 1 radar with R1, represent No. 2 radars with R2, with { B11, B12, B13 ... B1I} represents the target data of No. 1 radar detection, I≤M, M are the quantity of No. 1 radar maximum probe target, with { B21, B22, B23, B2J} represents the target data of No. 2 radar detections, J≤N, N are the quantity of No. 2 radar maximum probe targets, and detailed process is as follows:

Step 2 one, from No. 1 radar, select first aim data B11, first aim data B21 is selected from No. 2 radars, calculate the distance D between B11 and B21, distance D is compared with the threshold value G preset, if distance D has exceeded the threshold value G preset, then abandon this group targetpath pairing, performed step 2 two, if be no more than, directly perform step 2 three;

Step 2 two, next target B22 of target data B11 and No. 2 radar in No. 1 radar to be compared again, until comparative result is less than threshold value G, from the matched flight path No. 1 radar and No. 2 radars, delete this group flight path, and then from No. 1 radar, select the target data association that do not have in next target data and No. 2 radars to match;

Step 2 three, repetition step 2 one and step 2 two, until all flight paths all complete association in No. 1 radar, namely the targetpath list in No. 1 radar has been matched, and also retains not mixing right flight path in No. 1 radar, so as later and other radars do not mix right flight path and match;

Step 3, after step 2 completes, carry out target data measuring similarity;

After target data information association process, if the data of two radars have velocity amplitude, the result of velocity amplitude to pairing is utilized to carry out similarity measurement, if any one radar data in two radars does not have velocity amplitude, then not performance objective data measuring similarity;

Step 4, after target data measuring similarity completes, carry out target data fusion treatment;

After target data information association and target measuring similarity, target data fusion treatment is carried out for the average weighted method of the data acquisition after successful matching.

2. the false target removing method under radar network composite according to claim 1, is characterized in that the concrete grammar of the Frame corresponding according to the interpolation of radar communication protocol type that step is described is one by one as follows:

Source device is filled according to the information source in communications protocol;

Target device is filled according to the stay of two nights in communications protocol;

Dynamic frame mark whether is fixedly filled according to communications protocol length, for the unfixed communications protocol of length, dynamic frame number position is filled according to the quantity in communications protocol, the dynamic frame upper limit is filled according to the maximal value in communications protocol, for the communications protocol that length is fixing, do not fill in dynamic frame number position and the dynamic frame upper limit;

Frame originating point information is filled according to the identifier in communications protocol;

Trailer information is filled according to the end mark in communications protocol;

Remarks are filled according to supplementary in communications protocol.

3. the false target removing method under radar network composite according to claim 2, it is characterized in that described in step one two according to the Attribute information element in radar communication agreement, the concrete grammar increasing data element under Frame is as follows:

ID is filled according to attribute number;

Title is filled according to attribute-name;

Type is filled according to the data type of attribute;

Length is filled according to the data type lengths of attribute;

Whether must occur filling in optional identifier according to attribute, for the attribute that must not occur, leading character type is filled according to the data type of symbol before attribute, leading character length is filled according to the data type lengths of symbol before attribute, leading character content is filled according to the value of symbol before attribute, for the attribute that must occur, then do not fill in leading character type, leading character length and leading character content;

Positive and negative implication whether is had to fill in symbolic identifier according to attribute;

Resolution is filled according to the physical values of attribute lowest order representative;

Select process function according to the implication of attribute, be the attribute of physical values for process function, fill in target data type according to physical values type, for the attribute that process function is physical values and does not process, then do not fill in target data type;

Whether fix according to the communications protocol length belonging to attribute, fill in dynamic frame identifier; Whether represent that new Frame fills in nesting identifier according to attribute;

Remarks are filled according to the supplementary of attribute.

4. the false target removing method under radar network composite according to claim 3, it is characterized in that whether representing different implication according to the different values of each in data element described in step one three, determine that the concrete grammar whether increasing data element position information is as follows:

If each value in data element is not both represent different implications, then under data element, increase data bit information, title is filled according to the numbering of data element position, bit pattern value is filled according to the value of data element position, the explanation of bit pattern value is filled according to the implication of bit pattern value, if each value in data element is not both represent identical implication, then do not add data element position information.

5. the false target removing method under radar network composite according to claim 4, it is characterized in that described in step one to utilize communications protocol template to obtain the detailed process of radar target data as follows:

Based on the communications protocol template of structure, adopt standard communication protocol interface radar primary data information (pdi), according to the process function filled in data element, radar primary data information (pdi) is converted to radar target data information, after radar target data information converts, finally complete the acquisition of radar target data;

Described standard communication protocol interface is Ethernet and serial ports pattern.

6. the false target removing method under radar network composite according to claim 5, is characterized in that described radar primary data information (pdi) is converted to the transfer process of radar target data information as follows:

Be the data element of physical values for process function, adopt the mode that property value is multiplied by resolution to change; For the data element that process function is position analysis, pattern is changed by binary shift mode successively in order; Be the data element do not processed for process function, adopt property value indirect assignment mode to change.

7. the false target removing method under radar network composite according to claim 6, is characterized in that the concrete grammar of the target data measuring similarity described in step 3 is as follows:

If the difference of the velocity amplitude of two data be less than velocity amplitude among both maximum 10%, then these two data from same target, successful matching; If the difference of the velocity amplitude of two data be greater than velocity amplitude among both maximum 10%, then these two different targets very near data from position, matchs unsuccessfully, to matching failed flight path, re-start data correlation and data similarity is measured.

8. the false target removing method under radar network composite according to claim 7, is characterized in that the detailed process of the target data fusion treatment described in step 4 is as follows:

Step 4 one, be provided with n radar and measure target, the measured value of i-th radar is z _i, wherein i=1,2 ..., n, z _inormal Distribution, i.e. z _iobey N (μ _i, σ _i), μ _ifor its mathematical expectation, comprise the parameter information of measured value, also comprise the measurement constant value deviation of this radar, σ simultaneously _ifor mean square deviation, represent the precision of this radar;

Step 4 two, establish i-th radargrammetry value z _iweights be w _i, the net result after the target data that all radars obtain merges is:

S＝WZ＝[w ₁,w ₂,w ₃…w _n][z ₁,z ₂,z ₃…z _n] ^T(1)

Wherein, W is the weights set of all radargrammetry values, and Z is the set of all radargrammetry values, [w ₁, w ₂, w ₃w _n] be measured value vector [z ₁, z ₂, z ₃z _n] ^tweight vector;

Distribution density function f (s) Normal Distribution N (the ∑ w of the net result S after data fusion _iμ _i, ∑ w _i ²μ _i ²):

$\begin{array}{c}f\left(s\right)={\left(2\mathrm{\π}\right)}^{-n}/2\left|W{\mathrm{\Ω}}^{-1}{\left({\mathrm{\Ω}}^{-1}\right)}^T{W}^T\right|\exp \left\{\frac{1}{2}(s-\mathrm{WU})\left(W{\mathrm{\Ω}}^{-1}{\left({\mathrm{\Ω}}^{-1}\right)}^T{W}^T\right){(s-\mathrm{WU})}^T\right\}\\ ={\left(2\mathrm{\π}\right)}^{-n}/2\left|\underset{i}{\overset{n}{\mathrm{\Σ}}}{w_i}^2{{\mathrm{\σ}}_i}^2\right|\exp \left\{\frac{-1}{2}\underset{i}{\overset{n}{\mathrm{\Σ}}}{w_i}^2{{\mathrm{\σ}}_i}^2{(s-\underset{i}{\overset{n}{\mathrm{\Σ}}}{w}_i{\mathrm{\μ}}_i)}^2\right\}\end{array}---\left(2\right)$

Wherein, the diagonal matrix that Ω forms for all radargrammetry value mean square deviation inverses, the column vector that U forms for all radargrammetry value averages;

Z _iobey N (μ _i, σ _i) normal distribution, so h _i=(z _i-μ _i)/σ _iobey standardized normal distribution, i.e. h _i=(z _i-μ _i)/σ _iobey N (0,1), vector form is:

H＝Ω(Z-U) (3)

Wherein:

$\left\{\begin{array}{c}\mathrm{\Ω}=\mathrm{diag}[1/{\mathrm{\σ}}_1,1/{\mathrm{\σ}}_2\·\·\·1/{\mathrm{\σ}}_n]\\ U={[{\mathrm{\μ}}_1,{\mathrm{\μ}}_2\·\·\·{\mathrm{\μ}}_n]}^T\\ H=[h_1,h_2\·\·\·h_n]\end{array}\right.---\left(4\right)$

Step 4 three, obtain Z=Ω by formula (3) ^-1h+U, substitutes into formula (1), obtains S=W (Ω ^-1h+U), the mathematical expectation of the net result after obtaining target data fusion by Multivariate Statistical Theory is the weighted mean of each radar target data mathematical expectation, and its mean square deviation is:

${\mathrm{\σ}}_s=\sqrt{\underset{i}{\overset{n}{\mathrm{\Σ}}}{w_i}^2{{\mathrm{\σ}}_i}^2}---\left(5\right)$

In order to make the precision after fusion the highest, lagrange's method of multipliers is adopted to solve σ _sminimum value.

9. the false target removing method under radar network composite according to claim 8, is characterized in that the employing lagrange's method of multipliers described in step 4 three carries out solving σ _sthe detailed process of minimum value is as follows:

The correction function of lagrange's method of multipliers is F=∑ w _i ²σ _i ²+ λ (∑ w _i-1), respectively w is asked to this function _ipartial derivative, λ, for merging measured value correction factor, obtains:

$\left\{\begin{array}{c}\frac{\∂F}{\∂w_1}=2w_1{{\mathrm{\σ}}_1}^2+\mathrm{\λ}\\ \frac{\∂F}{\∂w_2}=2w_2{{\mathrm{\σ}}_2}^2+\mathrm{\λ}\\ \·\\ \·\\ \·\\ \frac{\∂F}{\∂w_n}=2w_n{{\mathrm{\σ}}_n}^2+\mathrm{\λ}\end{array}\right.---\left(6\right)$

When $\∂F/\∂w_i=2w_i{{\mathrm{\σ}}_i}^2+\mathrm{\λ}=0(i=\mathrm{1,2,3}\·\·\·n)$ Time, function F obtains minimum value, namely solves:

w _i＝-λ/2σ _i ²(7)

By ∑ w _i=1 (w _i>0, i=1,2,3 ... n):

∑-λ/2 σ _i ²=1, namely solve:

w _i＝1/(σ _i ²∑σ _i ^-2) (8)

So the precision of result is after n Radar Data Fusion:

${\mathrm{\σ}}_s=\sqrt{\underset{i}{\overset{n}{\mathrm{\Σ}}}{w_i}^2{{\mathrm{\σ}}_i}^2}=\frac{1}{\sqrt{\underset{i=1}{\overset{n}{\mathrm{\Σ}}}\frac{2}{{{\mathrm{\σ}}_i}^2}}}---\left(9\right)$

If the precision of n radar is equal, i.e. σ ₁=σ ₂=...=σ _n=σ, then σ _s=σ/n ^1/2if the root mean square of the radar that in n radar, precision is the highest and the minimum radar of precision is respectively σ _minand σ _max, draw:

${\mathrm{\σ}}_y=\frac{1}{\sqrt{\frac{1}{{{\mathrm{\σ}}_{\max }}^2}+\frac{1}{{{\mathrm{\σ}}_{\min }}^2}+\underset{i=1}{\overset{n-1}{\mathrm{\Σ}}}\frac{1}{{{\mathrm{\σ}}_i}^2}}}\≤\frac{1}{\sqrt{\frac{1}{{{\mathrm{\σ}}_{\max }}^2}+\underset{i=1}{\overset{n-1}{\mathrm{\Σ}}}\frac{1}{{{\mathrm{\σ}}_i}^2}}}---\left(10\right)$

Wherein, σ _yfor the mean square deviation of n radar target data Measurement fusion result.