CN105388472B - One kind is to the method for tracking target that is overlapping in extra large radar system - Google Patents
One kind is to the method for tracking target that is overlapping in extra large radar system Download PDFInfo
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- CN105388472B CN105388472B CN201510813013.5A CN201510813013A CN105388472B CN 105388472 B CN105388472 B CN 105388472B CN 201510813013 A CN201510813013 A CN 201510813013A CN 105388472 B CN105388472 B CN 105388472B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
- G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
-
- 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
- G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/415—Identification of targets based on measurements of movement associated with the target
Abstract
The present invention discloses a kind of to the method for tracking target that is overlapping based on situation parsing and Feature Extraction Technology in extra large radar tracking system.This method sets up the situation information around object ship during tracking, while grasps the characteristic information of other ships of surrounding.Judge whether object ship and other ships are overlapping (radar return can not be differentiated out) by situation information, overlapping targetpath is established and merges situation, record the characteristic information for merging ship therewith, then proceed to be tracked combining objects, when parsed by situation the object merged had been able on radar return differentiate when, then the object of merging is split using characteristic information, completes the tracking process to overlay target under complex environment.This method solves using situation parsing and feature extracting method track during radar return it is overlapping, the problem that can not normally track, significantly improve ability of tracking of the target in the case where that can meet, the complex environment such as interlock.
Description
Technical field
The invention belongs to radar target tracking technology, it is particularly a kind of to be based in extra large radar tracking system situation parsing and
The method for tracking target that is overlapping of Feature Extraction Technology.
Background technology
Radar target tracking technology suffers from being widely applied in the field such as military, civilian, and typical application example has the people
Maritime surveillance (MS), yard craft traffic administration (VTS), air traffic control (ATC) and it is military to sea police guard against, it is carrier-borne
Radar system, air defence system, firepower control and interception guidance etc..What is inputted in radar tracking system is front end Radar Signal Processing
The point mark information formed afterwards, that is, the object that mark is tracking system data processing is put, and tracking system output is that target is carried out
The flight path formed after data processing.Radar lock on is mainly made up of following module for summarizing：Point mark is located in advance
The content such as reason, track initiation and termination, data correlation, tracking, and ripple door is must be set up in data interconnection and during tracking,
Correlation between them can be represented with block diagram as shown in Figure 1.Wherein each target carries out identity mark with a lot number
Know.Target following be to the target location (such as radial distance, orientation) of acquisition, kinematic parameter measurement data interconnected,
The computings such as tracking, filtering, prediction, to reach the random error for suppressing to be introduced in measurement process, target subsequent time position is predicted,
And stable targetpath is formed, realize the purpose to the high-precision real-time tracking of target.With calculate performance huge advance,
The task of radar tracking system is also increasingly heavier, while the number for tracking target may have hundreds of or even thousands of batches, tracks scene
Also become increasingly complex, the feelings such as particularly in extra large radar tracking system, in the case of Sea Surface Ship is intensive, can meet, interlock, be parallel
Condition occurs often.Because radar resolution is limited, when adjacent ship is closer to the distance, radar return occurs overlapping, i.e., radar has been
Target can not be differentiated and come.And it is slower to extra large target speed, overlapping time is longer, is easy to occur in overlay process
Turning avoidance, acceleration and deceleration such as are advanced at the motor-driven behavior, different from original movement tendency, these factors all undoubtedly all holding to target
Continuous tracking brings very big challenge.Do not lost during complex scene tracking and criticize, change and criticize, it is to examine to keep reliable and stable tracking
Tracking system ability important indicator.
The primary link for ensureing correct tenacious tracking in radar tracking system is the data correlation for solving point mark and flight path
Problem.The association algorithm used in engineering practice mainly has optimal nearest neighbor algorithm (NNSF), probability data interconnection algorithm
(PDA), joint probabilistic data association algorithm (JPDA) and more hypothesis algorithm (MHT).But in extra large target overlay process
In problems faced, putting mark and flight path does not have clear and definite incidence relation, and target is truly put mark and is not present, and above conventional association is calculated
Method not can solve this point boat mismatch problems.Wherein NNSF, PDA, JPDA algorithm can be because weights during tracking
During folded target occurs motor-driven situation and occurred with the situation of losing, MHT algorithms although it is contemplated that around have the situation of a mark, but
It is that can not handle the target relation corresponding with lot number after target separation, easily occurs and change batch situation, and its amount of calculation is huge
Greatly.
The content of the invention
It is a kind of to the method for tracking target that is overlapping in extra large radar system present invention aims at providing, for improving to sea
Target can meet, intersect and ability of tracking in the complex scene such as shape.
The technical solution for realizing the object of the invention is：Concretely comprise the following steps：
Step 1：Situation information is set up for each target tracked, i.e., centered on object ship, is searched for around it
The relative position and virtual course navigational speed information of other ships and this ship, and then set up the situation around target.Establish situation
Purpose is to grasp closely other ships and the relative position and movement tendency of itself, and the overlapping possibility of echo occurs in the anticipation later stage
And opportunity, need to obtain its characteristic information before overlapping for being possible to occur overlapping target.Establishing the method for situation is
With reference to International Maritime collision regulation, the distance to closest point of approach DCPA and time to closest point of approach TCPA estimation states when two ships can be met are calculated
Gesture.
Step 2：The characteristic information of other ships around management, the characteristic information of other ships is established and deleted by situation information
Data；
Step 3：Overlapping target is established and merges situation, i.e., when other ships and this ship can not differentiate weight on radar return
When folded, then follow-up tracking processing is carried out with merging phase；
Step 4：The state of motion of target of the monitoring in merging phase, i.e., to situation information around the target exploitation of merging
Judge whether it is separated its radar return, it is no longer overlapping.
Step 5：Split and merge target, i.e., when the target for monitoring merging phase has separated, it is necessary to release merging shape
State, into independently tracked state.The principle of fractionation is according to the respective multiple information of feature and current signature of target before merging
Match the degree of approximation.
In step 1；Establishing the method for situation is：Distance to closest point of approach DCPA when can meet that calculates two ships and when can meet recently
Between TCPA estimation situation；The calculation procedure for calculating situation information distance to closest point of approach DCPA and time to closest point of approach TCPA is as follows：
Step 1-1：Determine hunting zone；During tracking centered on object ship position, search radius is set
For r；
Step 1-2：Distance to closest point of approach DCPA's and time to closest point of approach TCPA is calculated as follows：
DCPA=R | sin (CR- α) |,
TCPA=R | cos (CR-α)|/VR,
V0x=V0sin(C0),
VTx=VTsin(CT),
V0y=V0cos(C0),
VTy=VTcos(CT),
Wherein, V0For the speed of a ship or plane of this ship, VTFor the speed of a ship or plane of object ship, C0For this ship's head, CTFor target ship's head,
V0x、V0yComponent of this ship on x, y-axis, V are represented respectivelyTx、VTyComponent of the object ship on x, y-axis, V are represented respectivelyRFor target
The speed of related movement of ship, CRFor relative motion course；R is object ship with respect to this ship with respect to this ship distance, α for object ship
Position.
Clarification of objective information is mainly made up of five parts in step 2, including：Target radar returns average amplitude g1, mesh
Radar return gross energy g2 is marked, target bearing extension g3, target range extend g4, target navigational speed information g5, composition characteristic matrix
G：
G=[g1 g2 g3 g4 g5],
When other ships and this ship have close to simultaneously overlapping trends, the characteristic information of other ships is counted, otherwise deletes the ship
Characteristic information；When the distance to closest point of approach DCPA and time to closest point of approach TCPA that are calculated meet following two conditions for the moment
Think that both there are overlapping trends：
Wherein threshold value D0Span 0.5Km~1Km, threshold value T0Span be 10~20 times radar antenna scan
Cycle.
In step 3, judge whether two targets overlapping cases have occurred by situation information, adopted for the target after merging
Two benches stage tracking strategy is taken, the first stage is within the top n radar antenna scan period of overlay process, and target uses outer
Tracking mode is pushed away, i.e. not relating dot mark information；Second stage is overlapping to take association during the tracking after N number of cycle
Point mark and then the method for filtering output；Wherein N=60/T, T represent the radar antenna scan period.
It is to meet that following two conditions think that target has weighed for the moment according to the DCPA and TCPA that are calculated in step 3
It is folded：
Wherein threshold value D1Value be 1~2 times of minimum resolution distance；Threshold value T1Value be 1 times radar antenna scan
Cycle.
Deterministic process is as follows when the target separation of merging phase is monitored in step 4：
Step 4-1：Judge whether to meet time requirement：The time T that new target occurs1In target overlapping time T0Afterwards,
That is T1＞ T0；
Step 4-2：Judge whether to meet that locus requires：Position [the x that new target occurs1 y1] it is overlapping with target when
Position [x2 y2] the distance between Δ d simultaneously meet following two formula：
Δ d=v × (T1-T0),
Its medium velocity v~[vmin,vmax], vmin=0.5 × v0, vmax=2.0 × v0；
Step 4-3：Judge whether to meet the requirement of characteristic similarity：Characteristic similarity α calculating process is as follows：
If new target signature matrix is G0=[g1 g2 g3 g4 g5], the eigenmatrix of overlay target is Gi=[g1'
G2'g3'g4'g5'], then otherness matrix K is：
Weighting matrix W=[w1 w2 w3 w4 w5] is set to weigh the weight of different characteristic information, wherein w1+w2+w3+
W4+w5=1；As a rule target signature g1, g2 are more stable, g3, and g4 stability is taken second place, and feature g5 stability is weaker,
Therefore the setting of weight matrix will also consider these factors, be traditionally arranged to be w1=w2=0.25, w3=w4=0.2, w5=
0.1。
So characteristic similarity α is：
α=1-KW
α spans are 0~1；
New target answers α to be more than certain thresholding with overlay target similarity, then judging it is separated by the target after merging
Out, the usual value of threshold value is more than more than 0.6.
In step 5, the principle of fractionation is that each feature matches with the multiple information of current signature according to the target before merging
The degree of approximation.
Method for tracking target of the present invention based on situation parsing and Feature Extraction Technology, by establishing and more around fresh target
Situation, realize to track scene anticipation, information search and decision-making, while make full use of target itself characteristic information (bag
Include mean intensity, gross energy, orientation extension, extended distance, movable information) aid decision and identification are carried out, it is overlapping to complete target
Continually and steadily tracked into separation process.
Compared with prior art, its remarkable advantage is the present invention：(1) it is directed to the target to occurring in extra large radar tracking system
It the complex scene such as can meet, intersect, be parallel, there is provided complete effective solution.(2) by establishing situation information, mesh is prejudged
Mark possible situation during tracking and then take different from traditional tracking strategy；When target close proximity, radar can not
Differentiate, echo can the overlapping long period, traditional tracking has no this prior information and then can influence normally to track.(3) lead to
The correspondence that target diverse characteristics information completes target identities is crossed, effectively solves the marriage problem after overlay target separation.
(4) specially treated is carried out just for the target for there are overlapping trends, the increased amount of calculation of overall plan is little, is easy in engineering real
It is existing.
Brief description of the drawings
The present invention is done with reference to the accompanying drawings and detailed description and further illustrated, of the invention is above-mentioned
And/or otherwise advantage will become apparent.
Fig. 1 radar tracking system data processing schematic block diagrams.
Fig. 2 present invention is to a kind of flow chart for the method for tracking target that is overlapping in extra large radar tracking system.
Fig. 3 target situation computational mathematics model schematics.
The embodiment tracking sectional drawing that Fig. 4 present invention applies in certain radar tracking system.
Embodiment
With reference to Fig. 2, present invention one kind comprises the following steps to the method for tracking target that is overlapping in extra large radar system：
The first step, in tracking process centered on object ship, search the relative position and virtual course of other ships around it
Navigational speed information, it is established that the situation information of the object ship, wherein search radius r are relevant with the radar antenna cycle, longer pair of cycle
The search radius answered is bigger, is generally located between 1~5Km.The purpose for establishing situation is can to grasp other mesh around
There is the overlapping possibility of echo and opportunity in mark and the relative position and movement tendency of itself, anticipation later stage.This method passes through meter
The prior information obtained is calculated, its characteristic information is obtained before overlapping for being possible to overlapping target occur, is matched somebody with somebody in follow-up
Played a role to during.The method that situation is established in the present invention is to refer to International Maritime collision regulation, when calculating two ships can meet
Distance to closest point of approach DCPA and time to closest point of approach TCPA estimation situation.
(1) distance to closest point of approach DCPA is minimum by distance when two ships of calculating can be met that DCPA is to weigh two ships to be
The no major criterion that will be met, DCPA is smaller, and it is bigger to illustrate that overlapping possibility occur in two ships；Time to closest point of approach TCPA is
It it is the time that two ships reach least meeting distance point, for TCPA, TCPA is more big, shows that two ships overlapping possibility occur more
It is small；TCPA is smaller, then shows that overlapping possibility is bigger.Its mathematical modeling is as shown in figure 3, calculate under derivation：
If V0、VT、C0、CTThe respectively speed of a ship or plane of this ship and object ship, course.V0x、VTx、V0y、VTyRepresent respectively this ship and
Component of the object ship on x, y-axis, it can obtain
V0x=V0sin(C0),VTx=VTsin(CT)
V0y=V0cos(C0),VTy=VTcos(CT)
VRFor the speed of related movement of object ship, CRFor relative motion course, then
DCPA=R | sin (CR-α)|
TCPA=R | cos (CR-α)|/VR
Wherein, R is target with respect to this ship position with respect to this ship distance, α for target.
Second step, the other clarification of objective information of management surrounding, i.e., established and deleted in time other mesh by situation information
Target characteristic information data.Clarification of objective information is mainly made up of five parts, including：Target radar returns average amplitude, mesh
Mark radar return gross energy, target bearing extension, target range extension, target navigational speed information.Composition characteristic matrix G, represent such as
Under：
G=[g1 g2 g3 g4 g5]
When other ships are with itself having close to simultaneously overlapping trends, the characteristic information of the ship is counted；And both it is distant or
Person is in the characteristic information that the ship is deleted during away from trend.Wherein when the DCPA and TCPA that are calculated meet following two conditions
Think that both there are overlapping trends for the moment：
Wherein D0Span is usually 0.5Km~1Km, T0Span be 10~20 times radar antenna scanning week
Phase.
3rd step：" merging " situation is established to overlapping target, i.e., when other ships can not divide on radar return with this ship
When distinguishing overlapping, then follow-up tracking processing is carried out with merging phase.Whether this method be to judge two targets by situation information
There are overlapping cases, when the DCPA and TCPA that are calculated meet that a period of time of following two conditions then thinks that target has weighed
It is folded：
Wherein threshold value D1Value be 1~2 times of minimum resolution distance；Threshold value T1Value be 1 times radar antenna scan
Cycle.
Target overlapping period is due to radar return aliasing, the point mark information and actual position of the output of radar front end signal transacting
Differ larger, it is impossible to directly simply bring and be associated filtering process as the point mark of target, while consider again overlapping
The motor-driven behaviors such as period target is easy to occur turning avoidance, acceleration and deceleration are advanced, and original movement tendency, therefore track process
In be also required to, immediately following the echo center after overlapping, prevent with losing target.Taken stage by stage for the target after merging in this law
Tracking strategy：
1st, within the top n radar antenna scan period of overlay process, it is contemplated that, the motor-driven cycle slower to extra large target velocity
Longer, movement tendency in the short time is with original approximate, target use " extrapolation " tracking mode, i.e. not relating dot mark information, N's
Value N=60/T relevant with the radar antenna cycle；
2nd, consider that target movement tendency may change during the tracking after N number of cycle, continuing that extrapolation has can
Real trace can be deviateed, therefore take the overlapping point mark of association and then the method filtered, ensure target not with losing.In this stage
Because overlay target is associated with identical point mark, flight path can be very approximate.
It may be noted that no matter in which in stage, if monitor that overlay target has separated according to situation, target is all
Need to enter the 5th step.
4th step, state of motion of the monitoring in merging phase target, i.e., to situation information around the target exploitation of merging
Judge whether it is separated its radar return, it is no longer overlapping.In the present invention by monitoring mesh to the method for track initiation management
Mark separation.When having new track initiation around merging target, whether the target for first determining whether newly to originate is to merge target separation
Caused by reason, judgment criterion has following aspects：
1st, time criterion；
Separated if new target is the target after merging, then the time T occurred necessarily satisfying for new target1
Should be in target overlapping time T0Afterwards, i.e. T1＞ T0；
2nd, location criteria；
Separated if new target is the target after merging, the position [x that new target occurs1 y1] and target weight
Position [x when folded2 y2The distance between]Mainly by target overlay process motion
Produce, therefore Δ d should meet equation below within limits：
Δ d=v × (T1-T0)
Its medium velocity v~[vmin,vmax], vmin vmaxSpeed v of value when occurring with new target0It is relevant, generally set
For vmin=0.5 × v0, and vmax=2.0 × v0。T0, T1Be when the target mentioned in above-mentioned time criterion is overlapping the time and
Fresh target goes out current time.
3rd, feature criterion
Separated if new target is the target after merging, it is a certain in new clarification of objective and overlay target
Individual target should characteristically meet certain similarity.Characteristic similarity α calculating process is as follows：
If new target signature matrix is G0=[g1 g2 g3 g4 g5], the eigenmatrix of overlay target is Gi=[g1'
G2'g3'g4'g5'], then otherness matrix K is：
Consider the stability difference of diverse characteristics information, set weighting matrix W=[w1 w2 w3 w4 w5] to weigh not
With the weight of characteristic information, wherein w1+w2+w3+w4+w5=1.As a rule target signature g1, g2 are more stable, g3, and g4 is steady
It is qualitative to take second place, and feature g5 stability is weaker, therefore the setting of weight matrix will also consider these factors, be traditionally arranged to be w1
=w2=0.25, w3=w4=0.2, w5=0.1.
So characteristic similarity α is：
α=1-KW
α spans are 0~1.
New target should be greater than certain thresholding with overlay target similarity and just think that it is isolated by the target after merging
Come, can be configured according to actual conditions, the present invention is arranged to 0.7 when being applied in engineering.
5th step：Split and merge target, when the target for monitoring merging phase has separated, it is necessary to release merging shape
State, into independently tracked state.The principle of fractionation is according to the respective multiple information of feature and current signature of target before merging
Match the degree of approximation.By calculate respectively merge before two targets and the clarification of objective similarity currently separated, computational methods
With reference to the process of four steps.Calculating process is as follows：
If new target signature matrix is G0, the eigenmatrix difference G of overlay target1And G2, then the difference being calculated
Property matrix is respectively K1And K2, and then according to formula α=1-KW, it is respectively α that characteristic similarity, which is calculated,1And α2.Comparative feature
Similarity α1And α2Value, that larger target of similarity is separating in merging process, tracking mode and tracking
Lot number is required for being transferred to target at separation up, so as to complete the process split, into independently tracked state.
Illustrate with reference to Fig. 4 (due to particularity of the present invention, can only be showed with gray scale diagram form), by being applied in engineering
Embodiment and its effect assessment further illustrate the present invention.Fig. 4 is certain to the radar asorbing paint during extra large radar tracking
Screen shot, two tracking target lot numbers are respectively A08001 and A08002, and two targets during tracking are can see in figure and are gone out
Situation can be now met, target echo appearance is overlapping, and steering maneuver all occurs in the overlapping target of period two.Using the present invention
The method for tracking target that is overlapping proposed, target can be tracked normally, by AIS information to two target batch during comparison-tracking
Number do not occur changing batch situation, demonstrate the validity and practicality of this method.
The invention provides one kind to the method for tracking target that is overlapping in extra large radar system, the technical scheme is implemented
Method and approach it is a lot, described above is only the preferred embodiment of the present invention, it is noted that for the general of the art
For logical technical staff, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improve and
Retouching also should be regarded as protection scope of the present invention.The available prior art of each part being not known in the present embodiment is subject to reality
It is existing.
Claims (4)
1. one kind is to the method for tracking target that is overlapping in extra large radar system, it is characterised in that has following step during tracking
Suddenly：
Step 1：Situation information is set up for each target tracked, i.e., centered on object ship, is searched for other around it
The relative position and virtual course navigational speed information of ship and this ship, and then set up the situation around target；
Step 2：Other targets are the characteristic information of the other ships of surrounding around management, establish and delete other mesh by situation information
Target characteristic information data；
Step 3：Overlapping target is established and merges situation, i.e., when other ships and this ship can not Resolution of Overlapped on radar return
When, then follow-up tracking processing is carried out with merging phase；
Step 4：The state of motion of object ship of the monitoring in merging phase, i.e., sentence to situation information around the target exploitation of merging
Whether its disconnected radar return separates with overlapping ship；
Step 5：Split and merge target, i.e., when the target for monitoring merging phase has separated, merging phase is released, into only
Vertical tracking mode；
In step 1；Establishing the method for situation is：The distance to closest point of approach DCPA and time to closest point of approach that two ships are calculated when can meet
TCPA estimates situation；The calculation procedure for calculating situation information distance to closest point of approach DCPA and time to closest point of approach TCPA is as follows：
Step 1-1：Determine hunting zone；During tracking centered on object ship position, search radius is arranged to r；
Step 1-2：Distance to closest point of approach DCPA's and time to closest point of approach TCPA is calculated as follows：
DCPA=R | sin (CR- α) |,
TCPA=R | cos (CR-α)|/VR,
V0x=V0sin(C0),
VTx=VTsin(CT),
V0y=V0cos(C0),
VTy=VTcos(CT),
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Wherein, V0For the speed of a ship or plane of this ship, VTFor the speed of a ship or plane of object ship, C0For this ship's head, CTFor target ship's head, V0x、V0y
Component of this ship on x, y-axis, V are represented respectivelyTx、VTyComponent of the object ship on x, y-axis, V are represented respectivelyRFor the phase of object ship
To movement velocity, CRFor relative motion course；R is object ship with respect to this ship position with respect to this ship distance, α for object ship；
Clarification of objective information is mainly made up of five parts in step 2, including：Target radar returns average amplitude g1, target thunder
Up to echo gross energy g2, target bearing extension g3, target range extension g4, target navigational speed information g5, composition characteristic matrix G：
G=[g1 g2 g3 g4 g5],
When other ships and this ship have close to simultaneously overlapping trends, the characteristic information of other ships is counted, otherwise deletes the feature of the ship
Information；When the distance to closest point of approach DCPA and time to closest point of approach TCPA that are calculated meet that following two conditions think for the moment
Both have overlapping trends：
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<mi>P</mi>
<mi>A</mi>
<mo>&le;</mo>
<msub>
<mi>D</mi>
<mn>0</mn>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mi>T</mi>
<mi>C</mi>
<mi>P</mi>
<mi>A</mi>
<mo>&le;</mo>
<msub>
<mi>T</mi>
<mn>0</mn>
</msub>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>,</mo>
</mrow>
Wherein threshold value D0Span 0.5Km~1Km, threshold value T0Span be 10~20 times of radar antenna scan period；
Deterministic process is as follows when the target separation of merging phase is monitored in step 4：
Step 4-1：Judge whether to meet time requirement：The time T that new target occurs1In target overlapping time T0Afterwards, i.e. T1
＞ T0；
Step 4-2：Judge whether to meet that locus requires：Position [the x that new target occurs1y1] position with target when overlapping
Put [x2y2] the distance between Δ d simultaneously meet following two formula：
Δ d=v × (T1-T0),
<mrow>
<mi>&Delta;</mi>
<mi>d</mi>
<mo>=</mo>
<msqrt>
<mrow>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>x</mi>
<mn>1</mn>
</msub>
<mo>-</mo>
<msub>
<mi>x</mi>
<mn>2</mn>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>y</mi>
<mn>1</mn>
</msub>
<mo>-</mo>
<msub>
<mi>y</mi>
<mn>2</mn>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
<mo>,</mo>
</mrow>
Its medium velocity v~[vmin,vmax], vmin=0.5 × v0, vmax=2.0 × v0；v0Speed when occurring for new target；
Step 4-3：Judge whether to meet the requirement of characteristic similarity：Characteristic similarity α calculating process is as follows：
If new target signature matrix is G0=[g1 g2 g3 g4 g5], the eigenmatrix of overlay target is Gi=[g1'g2'
G3'g4'g5'], then otherness matrix K is：
<mrow>
<mi>K</mi>
<mo>=</mo>
<mo>&lsqb;</mo>
<mtable>
<mtr>
<mtd>
<mfrac>
<mrow>
<mo>|</mo>
<mrow>
<mi>g</mi>
<mn>1</mn>
<mo>-</mo>
<mi>g</mi>
<msup>
<mn>1</mn>
<mo>&prime;</mo>
</msup>
</mrow>
<mo>|</mo>
</mrow>
<mrow>
<mi>g</mi>
<mn>1</mn>
</mrow>
</mfrac>
</mtd>
<mtd>
<mfrac>
<mrow>
<mo>|</mo>
<mrow>
<mi>g</mi>
<mn>2</mn>
<mo>-</mo>
<mi>g</mi>
<msup>
<mn>2</mn>
<mo>&prime;</mo>
</msup>
</mrow>
<mo>|</mo>
</mrow>
<mrow>
<mi>g</mi>
<mn>2</mn>
</mrow>
</mfrac>
</mtd>
<mtd>
<mfrac>
<mrow>
<mo>|</mo>
<mrow>
<mi>g</mi>
<mn>3</mn>
<mo>-</mo>
<mi>g</mi>
<msup>
<mn>3</mn>
<mo>&prime;</mo>
</msup>
</mrow>
<mo>|</mo>
</mrow>
<mrow>
<mi>g</mi>
<mn>3</mn>
</mrow>
</mfrac>
</mtd>
<mtd>
<mfrac>
<mrow>
<mo>|</mo>
<mrow>
<mi>g</mi>
<mn>4</mn>
<mo>-</mo>
<mi>g</mi>
<msup>
<mn>4</mn>
<mo>&prime;</mo>
</msup>
</mrow>
<mo>|</mo>
</mrow>
<mrow>
<mi>g</mi>
<mn>4</mn>
</mrow>
</mfrac>
</mtd>
<mtd>
<mfrac>
<mrow>
<mo>|</mo>
<mrow>
<mi>g</mi>
<mn>5</mn>
<mo>-</mo>
<mi>g</mi>
<msup>
<mn>5</mn>
<mo>&prime;</mo>
</msup>
</mrow>
<mo>|</mo>
</mrow>
<mrow>
<mi>g</mi>
<mn>5</mn>
</mrow>
</mfrac>
</mtd>
</mtr>
</mtable>
<mo>&rsqb;</mo>
<mo>,</mo>
</mrow>
Weighting matrix W=[w1 w2 w3 w4 w5] is set to weigh the weight of different characteristic information, wherein w1+w2+w3+w4+
W5=1；
Characteristic similarity α is：
α=1-KW,
α spans are 0~1；
New target answers α to be more than certain thresholding with overlay target similarity, then judging it is separated by the target after merging,
Thresholding value is more than more than 0.6.
2. according to the method for claim 1, it is characterised in that in step 3, judge two targets whether by situation information
Through there are overlapping cases, two benches tracking strategy is taken for the target after merging, the first stage is the top n in overlay process
In the radar antenna scan period, target is using extrapolation tracking mode, i.e. not relating dot mark information；Second stage is in N number of cycle
The overlapping point mark of association and then the method for filtering output are taken during tracking afterwards；Wherein N=60/T, T represent radar day
Line period.
3. according to the method for claim 1, it is characterised in that expired according to the DCPA and TCPA that are calculated in step 3
The following two conditions of foot think that target is overlapped for the moment：
<mrow>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<mi>D</mi>
<mi>C</mi>
<mi>P</mi>
<mi>A</mi>
<mo>&le;</mo>
<msub>
<mi>D</mi>
<mn>1</mn>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mi>T</mi>
<mi>C</mi>
<mi>P</mi>
<mi>A</mi>
<mo>&le;</mo>
<msub>
<mi>T</mi>
<mn>1</mn>
</msub>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>,</mo>
</mrow>
Wherein threshold value D1Value be 1~2 times of minimum resolution distance；Threshold value T1Value be 1 times radar antenna scanning week
Phase.
4. according to the method for claim 1, it is characterised in that in step 5, the principle of fractionation is according to the target before merging
Respective feature matches the degree of approximation with the multiple information of current signature.
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