CN105929379A - Method for improving VTS radar resolution - Google Patents
Method for improving VTS radar resolution Download PDFInfo
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- CN105929379A CN105929379A CN201610264668.6A CN201610264668A CN105929379A CN 105929379 A CN105929379 A CN 105929379A CN 201610264668 A CN201610264668 A CN 201610264668A CN 105929379 A CN105929379 A CN 105929379A
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- amplitude
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—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
Abstract
The invention discloses a method for improving VTS radar resolution. The method mainly comprises a step of shielding a radar echo of a non-specially-focused target object; a step of carrying out position finding and recording on two close-range radar targets; a step of calculating amplitude difference between a wave crest and a wave valley; a step of amplifying wave crest amplitude; a step of carrying out pixel amplitude recalculation and substitution; and a step of setting a fixed threshold and the like. Through the method above, when the distance between the two targets is very close, the radar resolution is improved by amplifying the wave crest amplitude of the target object and through a method of filtering an adhesion part echo by utilizing the fixed threshold, so that limit of hardware of the radar itself can be broken through, target object identification capability is improved, and supervision intensity is improved. The method can be applied to the fields of vessel traffic supervision, custom anti-smuggling, coast guard warning, marine fishery and marine environmental protection and the like; and besides, the method has realistic significance in judging target threat level and ship moving posture and the like under a battle condition.
Description
Technical field
The present invention relates to a kind of VTS system method, a kind of method promoting VTS radar resolution.
Background technology
VTS system (VTS), is mainly used in supervision of ships field, is made up of following system: radar
Signal processing subsystem, source signal processor subsystem, Traffic controller subsystem, database subsystem and CCTV, DF,
The sensor subsystems such as VHF.Radar Signal Processing subsystem has very important effect in whole VTS system, and radar is believed
The Main Function of number processing subsystem be process original radar signal, radar video signal forwarding, Plot coherence, radar target with
Track etc..Radar signal is the very important regulatory measure of the one in VTS system, for traffic control operator on duty provide a kind of directly perceived,
Rapidly law enforcement means, its information provided for traffic control system includes: radar video after signal processing, the longitude and latitude of radar station,
The positional information of radar target thing, the course of object and the speed of a ship or plane etc..
If more than two ships closely navigate by water and exceeded the maximum resolution of radar, radar is difficult to distinguish, right
For Radar Signal Processing subsystem, two targets are identified as a target, and target shape, flight path information etc. all can have necessarily
Deviation.For supervisor, it is easy to cause the erroneous judgement of information, even affect boats and ships and search and rescue.Improve the resolution of radar
Power is the most very favorable to the dynamics of supervision, such as, when owler is passed by, typically can ensconce navigation near big ship, utilize thunder
Reach the leak of low resolution to escape supervision.If the resolving power promoting radar just can avoid this type of event to occur.Most
Radar resolution is all limited to the hardware condition of radar itself, under the background that hardware condition is limited, the most further improves thunder
The resolving power reached is a problem being worth further investigation.
Summary of the invention
The technical problem to be solved in the present invention is for above-mentioned the deficiencies in the prior art, and provides a kind of and promote VTS radar resolution
Method, the method for this lifting VTS radar resolution, consider the orientation of radar signal to distance to radar target
Distribution situation, can break through radar hardware limitation, and then promote radar resolution.
For solving above-mentioned technical problem, the technical solution used in the present invention is:
A kind of method promoting VTS radar resolution, comprises the steps:
Step 1, shields the non-radar return paying close attention to object: first radar video is carried out signal processing, after radar is regarded
In Pin, the non-radar return paying close attention to object shields；
Step 2, two closely radar target position find and record: in step 1 shielding after radar video, by distance
Carry out amplitude statistics to pixel and orientation to the mode of pixel, by radar video all of two closely radar target all enter
Line position is found；And to each two closely radar targets, all record two crest amplitudes, trough amplitude and corresponding radar mesh
Target original position and end position.
Step 3, the difference in magnitude between crest and trough calculates: to each two found in step 2 closely radar target, all
Calculate two difference in magnitude between crest and trough respectively, and take minima Vmin。
Step 4, crest amplitude amplification: each V that will calculate in step 3minAll compared with setting threshold value, work as VminMore than setting
When determining threshold value, just to this two closely two crest amplitudes in radar target be amplified, and trough peak amplitude is constant.
Step 5, pixel amplitude recalculates and replaces: step 4 medium wave peak amplitude is amplified the often group two after processing near
Distance radar target, recalculates each pixel amplitude therein and replaces original amplitude.
Step 6, arranges fixed threshold: to the often group two closely radar after pixel amplitude recalculates and replaces in step 5
Target, respectively arranges a fixed threshold, and often group radar target all has different fixed thresholds；The setting principle of fixed threshold is:
Each fixed threshold value is all higher than corresponding valley value, less than crest value；The amplitude exceeding more than fixed threshold is retained, right
Zero setting process is carried out less than the amplitude below fixed threshold.
In described step 5, pixel amplitude recalculates and replaces, and comprises the steps:
The first step, recalculates the amplitude of each pixel between radar target original position and first crest location and replaces
Original amplitude；
Second step, recalculates first crest location and the amplitude of wave trough position and replaces original amplitude；
3rd step, recalculates wave trough position and the amplitude of second crest location and replaces original amplitude；
4th step, recalculates second crest and the amplitude of radar target end position and replaces original amplitude.
In described step 5, the public affairs that between radar target original position and first crest location, each pixel amplitude recalculates
Formula is as follows:
Wherein ViRepresent the amplitude of each pixel；VsRepresent the amplitude of radar target original position；Vh1Represent the width of first crest
Value；H1 is the position of first crest；S is radar target original position；I is the Position Number between S to h1, its
Value is 1,2,3 ....
In described step 5, the formula that first amplitude between crest location and wave trough position recalculates is as follows:
Wherein, wherein ViRepresent the amplitude of each pixel；Vh1Represent the amplitude of first crest；H1 is the position of first crest；
VlRepresent the amplitude of trough；L represents the position of trough；I represents the Position Number of amplitude between h1 and l, its value is 1,2,
3…。
In described step 5, the formula that wave trough position and second crest location amplitude recalculate is as follows:
Wherein, ViRepresent the amplitude of each pixel；VlRepresent the amplitude of trough；L represents the position of trough；Vh2Represent second ripple
The amplitude at peak, h2 represents the position of second crest；I represents the Position Number of amplitude between l and h2, its value is 1,2,
3…。
In described step 5, the formula that second crest and radar target end position amplitude recalculate is as follows:
Wherein, ViRepresent the amplitude of each pixel；Vh2Representing the amplitude of second crest, h2 represents the position of second crest；Ve
It it is the amplitude of radar target end position；E is radar target end position；I represents the Position Number of amplitude between h2 and e,
Its value is 1,2,3 ....
In described step 4, the amplification of two crest amplitudes can regulate.
In described step 4, set threshold value and be configured according to the amplitude distribution of radar target.
In described step 1, non-object of paying close attention to is land or bridge.
In described step 1, by the way of blind zone, the radar return paying close attention to object non-in radar video is shielded.
When the distance of two targets is very near, two amplitudes between crest and trough closely, owing to adding up the essence of thresholding
Exactness is limited, is difficult to distinguish two targets by the way of the statistics thresholding such as CFAR and slow thresholding.
After the present invention uses said method, when the distance of two targets is very near, this method is by widening the crest width of object
Value, utilizes fixed threshold to filter the method for adhesion partial echo to promote radar resolution, and then can break through the hardware limitation of thunder own,
Promote object identification ability, promote supervision.
Said method can apply to vessel traffic supervision, customs preventive, and seashore is guarded against, and sea fishery, marine environmental protection etc. is many
Individual field.And, the method to fight under the conditions of judge the threat level of target, the athletic posture etc. of boats and ships has realistic meaning.
Accompanying drawing explanation
Fig. 1 shows that the present invention promotes the schematic flow sheet of VTS radar resolution method.
Fig. 2 shows pending object amplitude distribution figure.
Fig. 3 is the radar target thing amplitude distribution figure after the method using the present invention to promote VTS radar resolution processes.
Detailed description of the invention
The present invention is further detailed explanation with concrete better embodiment below in conjunction with the accompanying drawings.
As it is shown in figure 1, a kind of method promoting VTS radar resolution, preferably include step following six.
Step 1, shields the non-radar return paying close attention to object: first carried out by radar video (namely original radar signal)
Signal processing, after preferably by the way of blind zone, the radar return paying close attention to object non-in radar video is shielded,
Thus reduce the amount of calculation of following steps.
In this step, non-object of paying close attention to is land or bridge etc..
Step 2, two closely radar target position find and record.
Two closely radar targets, are also the template waveforms distribution of two crests one troughs of folder, as shown in Figure 2.
To the radar video after shielding in step 1, carry out amplitude statistics to pixel and orientation to the mode of pixel by distance,
By in radar video all of two closely radar target all carry out position searching；And to each two closely radar targets, all remember
Record lower two crest amplitudes, trough amplitude and the original position of corresponding radar target and end position.
The amplitude to (orientation to) pixel of adjusting the distance is added up, when run into press from both sides a trough between two crests time, record two
The position of the starting and ending of individual crest amplitude, trough amplitude and this target echo.As in figure 2 it is shown, first crest now
Amplitude Vh1=2020, amplitude V of second cresth2=2040, amplitude V of troughl=2000, the original position of radar target is (also
I.e. echo original position) it is s, the end position (namely echo final position) of radar target is e.
Then, continually look for two crests at next and press from both sides position the record of a trough, cached pixel and be required for statistics.
Step 3, the difference in magnitude between crest and trough calculates: to each two found in step 2 closely radar target, all
Calculate two difference in magnitude between crest and trough respectively, and take minima Vmin。
In fig. 2, first difference in magnitude between crest and trough is 20, and second difference in magnitude between crest and trough is 40,
Then VminIt is 20.
Step 4, crest amplitude amplification: each V that will calculate in step 3minAll compared with setting threshold value, threshold value sets herein
Purpose be to process for avoiding little fluctuating complete object to be taken as two targets.
Work as VminMore than when setting threshold value, just to this two closely two crest amplitudes in radar target be amplified, and trough
Peak amplitude is constant.Work as VminLess than or equal to when setting threshold value, do not process.
Above-mentioned setting threshold value can be configured according to the amplitude distribution of radar target.In fig. 2, set threshold value and be assumed to 10, then
VminMore than setting threshold value, then need to this two closely two crest amplitudes in radar target be amplified, and trough peak amplitude
Constant.
In this step, the amplification of two crest amplitudes can regulate, and is preferably 2 times in the present embodiment.In figure 3,
Amplitude V of first crest after processing and amplifyingh1=4040, amplitude V of second crest after processing and amplifyingh2=4080, trough
Amplitude VlIt is the most still 2000.
Step 5, pixel amplitude recalculates and replaces: be amplified step 4 medium wave peak amplitude after processing is each two near
Distance radar target, recalculates each pixel amplitude therein and replaces original amplitude.
In this step 5, pixel amplitude recalculates and replaces, and comprises the steps:
The first step, recalculates the amplitude of each pixel between radar target original position and first crest location and replaces
Original amplitude.
The formula that between radar target original position and first crest location, each pixel amplitude recalculates is as follows:
Wherein ViRepresent the amplitude of each pixel；VsRepresent the amplitude of radar target original position；Vh1Represent the width of first crest
Value；H1 is the position of first crest；S is radar target original position；I is the Position Number between S to h1, its
Value is 1,2,3 ....
Second step, recalculates first crest location and the amplitude of wave trough position and replaces original amplitude.
The formula that first amplitude between crest location and wave trough position recalculates is as follows:
Wherein, wherein ViRepresent the amplitude of each pixel；Vh1Represent the amplitude of first crest；H1 is the position of first crest
Put；VlRepresent the amplitude of trough；L represents the position of trough；I represents the Position Number of amplitude between h1 and l, and its value is ...,
3、2、1。
3rd step, recalculates wave trough position and the amplitude of second crest location and replaces original amplitude；
The formula that wave trough position and second crest location amplitude recalculate is as follows:
Wherein, ViRepresent the amplitude of each pixel；VlRepresent the amplitude of trough；L represents the position of trough；Vh2Represent second
The amplitude of individual crest, h2 represents the position of second crest；I represents the Position Number of amplitude between l and h2, its value is 1,
2、3…。
4th step, recalculates second crest and the amplitude of radar target end position and replaces original amplitude.
The formula that second crest and radar target end position amplitude recalculate is as follows:
Wherein, ViRepresent the amplitude of each pixel；Vh2Representing the amplitude of second crest, h2 represents the position of second crest；
VeIt it is the amplitude of radar target end position；E is radar target end position；I represents the Position Number of amplitude between h2 and e,
Its value is ..., 3,2,1.
After step 4 crest amplitude is amplified and in step 5, amplitude replacement processes, the distributed wave of two crest one troughs of folder
Will as shown in Figure 3.
Step 6, arranges fixed threshold: to the often group two closely radar after pixel amplitude recalculates and replaces in step 5
Target, respectively arranges a fixed threshold, and often group radar target all has different fixed thresholds；The setting principle of fixed threshold is:
Each fixed threshold value is all higher than corresponding valley value, less than crest value.
In figure 3, fixed threshold is set to 2010.Then, the amplitude exceeding more than fixed threshold is retained, to low
Amplitude below fixed threshold carries out zero setting process.
So far, process is over.
After the present invention uses said method, when the distance of two targets is very near, this method is by widening the crest width of object
Value, utilizes fixed threshold to filter the method for adhesion partial echo to promote radar resolution, and then can break through the hardware limitation of thunder own,
Promote object identification ability, promote supervision.
Said method can apply to vessel traffic supervision, customs preventive, and seashore is guarded against, and sea fishery, marine environmental protection etc. is many
Individual field.And, the method to fight under the conditions of judge the threat level of target, the athletic posture etc. of boats and ships has realistic meaning.
The preferred embodiment of the present invention described in detail above, but, it is concrete thin that the present invention is not limited in above-mentioned embodiment
Joint, in the technology concept of the present invention, can carry out multiple equivalents to technical scheme, and these are equal to change
Change and belong to protection scope of the present invention.
Claims (10)
1. the method promoting VTS radar resolution, it is characterised in that: comprise the steps:
Step 1, shields the non-radar return paying close attention to object: first radar video is carried out signal processing, after by radar video
The non-radar return paying close attention to object shields；
Step 2, two closely radar target position find and record: in step 1 shielding after radar video, by distance to picture
Vegetarian refreshments and orientation carry out amplitude statistics to the mode of pixel, by radar video all of two closely radar target all carry out position
Put searching；And to each two closely radar targets, all record two crest amplitudes, trough amplitude and corresponding radar target
Original position and end position；
Step 3, the difference in magnitude between crest and trough calculates: to each two found in step 2 closely radar target, respectively
Calculate two difference in magnitude between crest and trough, and take minima Vmin；
Step 4, crest amplitude amplification: each V that will calculate in step 3minAll compared with setting threshold value, work as VminMore than setting threshold
During value, just to this two closely two crest amplitudes in radar target be amplified, and trough peak amplitude is constant；
Step 5, pixel amplitude recalculates and replaces: step 4 medium wave peak amplitude is amplified the often group two after processing closely
Radar target, recalculates each pixel amplitude therein and replaces original amplitude；
Step 6, arranges fixed threshold: to the often group two closely radar target after pixel amplitude recalculates and replaces in step 5,
Respectively arranging a fixed threshold, often group radar target all has different fixed thresholds；The setting principle of fixed threshold is: each
Fixed threshold value is all higher than corresponding valley value, less than crest value；The amplitude exceeding more than fixed threshold is retained, to being less than
Amplitude below fixed threshold carries out zero setting process.
The method of lifting VTS radar resolution the most according to claim 1, it is characterised in that: pixel width in described step 5
Value recalculates and replaces, and comprises the steps:
The first step, recalculates the amplitude of each pixel between radar target original position and first crest location and replaces original
Amplitude；
Second step, recalculates first crest location and the amplitude of wave trough position and replaces original amplitude；
3rd step, recalculates wave trough position and the amplitude of second crest location and replaces original amplitude；
4th step, recalculates second crest and the amplitude of radar target end position and replaces original amplitude.
The method of lifting VTS radar resolution the most according to claim 2, it is characterised in that: in described step 5, radar mesh
The formula that between mark original position and first crest location, each pixel amplitude recalculates is as follows:
Wherein ViRepresent the amplitude of each pixel；VsRepresent the amplitude of radar target original position；Vh1Represent the width of first crest
Value；H1 is the position of first crest；S is radar target original position；I is the Position Number between S to h1, its
Value is 1,2,3 ....
The method of lifting VTS radar resolution the most according to claim 2, it is characterised in that: in described step 5, first
The formula that between crest location and wave trough position, amplitude recalculates is as follows:
Wherein, wherein ViRepresent the amplitude of each pixel；Vh1Represent the amplitude of first crest；H1 is the position of first crest；
VlRepresent the amplitude of trough；L represents the position of trough；I represents the Position Number of amplitude between h1 and l, its value is 1,2,
3…。
The method of lifting VTS radar resolution the most according to claim 2, it is characterised in that: in described step 5, trough position
Put as follows with the formula that second crest location amplitude recalculates:
Wherein, ViRepresent the amplitude of each pixel；VlRepresent the amplitude of trough；L represents the position of trough；Vh2Represent second ripple
The amplitude at peak, h2 represents the position of second crest；I represents the Position Number of amplitude between l and h2, its value is 1,2,
3…。
The method of lifting VTS radar resolution the most according to claim 2, it is characterised in that: in described step 5, second
The formula that crest and radar target end position amplitude recalculate is as follows:
Wherein, ViRepresent the amplitude of each pixel；Vh2Representing the amplitude of second crest, h2 represents the position of second crest；Ve
It it is the amplitude of radar target end position；E is radar target end position；I represents the Position Number of amplitude between h2 and e,
Its value is 1,2,3 ....
The method of lifting VTS radar resolution the most according to claim 1, it is characterised in that: in described step 4, two ripples
The amplification of peak amplitude can regulate.
The method of lifting VTS radar resolution the most according to claim 1, it is characterised in that: in described step 4, set threshold
Value is configured according to the amplitude distribution of radar target.
The method of lifting VTS radar resolution the most according to claim 1, it is characterised in that: in described step 1, non-emphasis
Paying close attention to object is land or bridge.
The method of lifting VTS radar resolution the most according to claim 1, it is characterised in that: in described step 1, by screen
The radar return paying close attention to object non-in radar video is shielded by the mode covering district.
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Cited By (2)
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| CN110187319A (en) * | 2019-04-29 | 2019-08-30 | 安徽四创电子股份有限公司 | A kind of target resolving method for VTS radar |
| CN111679260A (en) * | 2020-05-19 | 2020-09-18 | 上海禾赛光电科技有限公司 | Drag point identification processing method, laser radar, and computer-readable storage medium |
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Address after: 211153 No. 346, Zhongshan North Road, Jiangsu, Nanjing Applicant after: Nanjing Peng Peng Technology Group Co.,Ltd. Applicant after: JIANGSU MARITIME SAFETY ADMINISTRATION OF THE PEOPLE'S REPUBLIC OF CHINA Applicant after: 724TH RESEARCH INSTITUTE OF CHINA SHIPBUILDING INDUSTRY Corp. Applicant after: CSIC PRIDE (NANJING) ATMOSPHERE MARINE INFORMATION SYSTEM Co.,Ltd. Applicant after: CSIC PRIDE(Nanjing)Intelligent Equipment System Co.,Ltd Address before: 211153 No. 346, Zhongshan North Road, Jiangsu, Nanjing Applicant before: Nanjing Pride Systems Engineering Institute Applicant before: JIANGSU MARITIME SAFETY ADMINISTRATION OF THE PEOPLE'S REPUBLIC OF CHINA Applicant before: 724TH RESEARCH INSTITUTE OF CHINA SHIPBUILDING INDUSTRY Corp. Applicant before: CSIC PRIDE (NANJING) ATMOSPHERE MARINE INFORMATION SYSTEM Co.,Ltd. Applicant before: CSIC PRIDE(Nanjing)Intelligent Equipment System Co.,Ltd Address after: 211153 No. 346, Zhongshan North Road, Jiangsu, Nanjing Applicant after: CSIC NANJING PRIDE TECHNOLOGY GROUP CO.,LTD. Applicant after: JIANGSU MARITIME SAFETY ADMINISTRATION OF THE PEOPLE'S REPUBLIC OF CHINA Applicant after: 724TH RESEARCH INSTITUTE OF CHINA SHIPBUILDING INDUSTRY Corp. Applicant after: CSIC PRIDE (NANJING) ATMOSPHERE MARINE INFORMATION SYSTEM Co.,Ltd. Applicant after: CSIC PRIDE(Nanjing)Intelligent Equipment System Co.,Ltd Address before: 211153 No. 346, Zhongshan North Road, Jiangsu, Nanjing Applicant before: Nanjing Peng Peng Technology Group Co.,Ltd. Applicant before: JIANGSU MARITIME SAFETY ADMINISTRATION OF THE PEOPLE'S REPUBLIC OF CHINA Applicant before: 724TH RESEARCH INSTITUTE OF CHINA SHIPBUILDING INDUSTRY Corp. Applicant before: CSIC PRIDE (NANJING) ATMOSPHERE MARINE INFORMATION SYSTEM Co.,Ltd. Applicant before: CSIC PRIDE(Nanjing)Intelligent Equipment System Co.,Ltd |
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Address after: 211153 Zhongshan North Road, Nanjing, Jiangsu Province, No. 346 Patentee after: CSSC Pengli (Nanjing) Technology Group Co.,Ltd. Patentee after: JIANGSU MARITIME SAFETY ADMINISTRATION OF THE PEOPLE'S REPUBLIC OF CHINA Patentee after: 724 Research Institute of China Shipbuilding Corp. Patentee after: China Shipbuilding Pengli (Nanjing) Atmospheric and Ocean Information System Co.,Ltd. Patentee after: CSIC PRIDE(Nanjing)Intelligent Equipment System Co.,Ltd Address before: 211153 Zhongshan North Road, Nanjing, Jiangsu Province, No. 346 Patentee before: CSIC NANJING PRIDE TECHNOLOGY GROUP CO.,LTD. Patentee before: JIANGSU MARITIME SAFETY ADMINISTRATION OF THE PEOPLE'S REPUBLIC OF CHINA Patentee before: 724TH RESEARCH INSTITUTE OF CHINA SHIPBUILDING INDUSTRY Corp. Patentee before: CSIC PRIDE (NANJING) ATMOSPHERE MARINE INFORMATION SYSTEM Co.,Ltd. Patentee before: CSIC PRIDE(Nanjing)Intelligent Equipment System Co.,Ltd |
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Effective date of registration: 20230802 Address after: 211106 No. 32, Changqing street, Jiangning Development Zone, Nanjing, Jiangsu Patentee after: China Shipbuilding Pengli (Nanjing) Atmospheric and Ocean Information System Co.,Ltd. Patentee after: CSSC Pengli (Nanjing) Technology Group Co.,Ltd. Patentee after: JIANGSU MARITIME SAFETY ADMINISTRATION OF THE PEOPLE'S REPUBLIC OF CHINA Patentee after: 724 Research Institute of China Shipbuilding Corp. Address before: 211153 Zhongshan North Road, Nanjing, Jiangsu Province, No. 346 Patentee before: CSSC Pengli (Nanjing) Technology Group Co.,Ltd. Patentee before: JIANGSU MARITIME SAFETY ADMINISTRATION OF THE PEOPLE'S REPUBLIC OF CHINA Patentee before: 724 Research Institute of China Shipbuilding Corp. Patentee before: China Shipbuilding Pengli (Nanjing) Atmospheric and Ocean Information System Co.,Ltd. Patentee before: CSIC PRIDE(Nanjing)Intelligent Equipment System Co.,Ltd |
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