CN106199554B - A kind of target merging method in marine navigation radar ARPA target followings - Google Patents
A kind of target merging method in marine navigation radar ARPA target followings Download PDFInfo
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- CN106199554B CN106199554B CN201610721387.9A CN201610721387A CN106199554B CN 106199554 B CN106199554 B CN 106199554B CN 201610721387 A CN201610721387 A CN 201610721387A CN 106199554 B CN106199554 B CN 106199554B
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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
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Abstract
The invention discloses the target merging method in a kind of marine navigation radar ARPA target followings, the target merging method in a kind of marine navigation radar ARPA target followings includes the following steps：Obtain echo data, obtain target range unit, constitute small connected region, constitute big connected region, obtain in single orientation the barycenter of small connected region and amplitude and, obtain the barycenter of big connected region, the present invention carries out the target merging method based on connected region again after enclosing radar return data using reception one, connected region target accurately can be merged into a target by this method, and calculation amount is small, is easy to Project Realization.
Description
Technical field
The present invention relates to radar data process field, more particularly to the mesh in a kind of marine navigation radar ARPA target followings
Mark merging method.
Background technology
Marine navigation radar ARPA target followings be the metric data that radar receives is pre-processed, target merge, with
Track is filtered and the processing such as flight path management, finally completes target following, exports targetpath information.In a frame radar return
In, a usual target occupies multiple range cells and localizer unit, so need to carry out target merging treatment, it is superfluous to eliminate
It is remaining.
Target merging method in marine navigation radar ARPA target followings has very much, and currently used is that radar receives one
Frame echo data is i.e. into row distance to merging, and each CPI carries out an orientation and merges again, and this way is by a target across two
When a or multiple CPI, two or more targets can be merged into, cannot thoroughly carry out target merging, and calculation amount is very big, it is difficult
With Project Realization.
Invention content
The present invention provides the target merging method in a kind of marine navigation radar ARPA target followings, and set forth herein receive one
The target merging method based on connected region is carried out again after circle radar return data, and this method can be accurately by connected region mesh
Mark is merged into a target, and calculation amount is small, is easy to Project Realization.
A kind of target merging method in marine navigation radar ARPA target followings, includes the following steps：
Obtain echo data：Store the echo data of one circle of radar antenna scanning；
Obtain target range unit：Range cell is divided into target range unit and non-according to the range value in echo data
Target range unit, target range unit are the range cell for having range value, non-targeted range cell be not range value away from
From unit；
Constitute small connected region：One will be constituted in the continuous target range unit connection of the upper range cell number of same orientation number
A small connected region, the minimum range unit number in a small connected region are starting distance unit number, a small connected region
In maximum distance unit number be terminating distance unit number；
Constitute big connected region：If the starting distance unit number and terminating distance of the small connected region in previous orientation
Unit number is respectively S1, E1, starting distance unit number and terminating distance the unit number difference of present orientation small connected region upwards
For S2, E2, if meeting：
, wherein & tables
Show and logic, | | it indicates or logic.
Then the small connected region in previous orientation is adjacent with the small connected region that present orientation is upward；By adjacent little Lian
Logical regional connectivity constitutes big connected region；
Obtain in single orientation the barycenter of small connected region and amplitude and：
The range value of each target range unit in small connected region is read,
Pass throughThe barycenter of the small connected region in single orientation is obtained,
Pass throughObtain the small connected region in single orientation amplitude and,
Indicate the barycenter of a certain small connected region on orientation j,Indicate the small connection on orientation j
The amplitude in region and,Indicate the range value of i-th target range unit of small connected region in j orientations,Indicate the side j
The range cell number of i-th target range unit of the upward small connected region in position, regards the result of calculation of barycenter as the small connection
The range cell number in region；
Obtain the barycenter of big connected region：
Pass throughThe orientation N of the barycenter of big connected region is obtained,
Pass throughThe range cell M of the barycenter of big connected region on orientation N is obtained,
A indicates that the orientation N, R of the barycenter of big connected region indicate the barycenter of big connected region on orientation N
Range cell M,Indicate the orientation number that big connected region includes, the result of calculation of the barycenter of big connected region includes orientation
Range cell M on number N and orientation N.
The present invention design principle be：After first obtaining a circle radar return data, then carry out based on connected region
Target merges, and the barycenter of big connected region is finally obtained according to the data processing of the small connected region of merging and big connected region,
Finally obtain one merge after target, and to be radar receive a frame echo data i.e. into row distance to merging, often to conventional method
A CPI carries out orientation and merges again, this way by a target when two or more CPI, can be merged into two or
Multiple targets.
The concrete operations for constituting small connected region are：Read each target range unit distance to range cell number and
The orientation number of orientation will be apart from list when the range cell consecutive hours of the target range unit in same orientation number
The continuous target range unit connection one small connected region of composition of member number.
Judge that the method for being completely received the echo data of one circle of radar antenna scanning is：Judge currently received data packet
In include angular coding whether be less than the previous bag data angular coding that is included, be completely received radar if being considered as less than if
The echo data that antenna scanning one is enclosed.
The detailed process of echo data of one circle of storage radar antenna scanning is：Real-time reception is per frame radar data and deposits
Storage represents the echo amplitude data in an orientation per frame radar data.
Advantages of the present invention has：The present invention carries out the mesh based on connected region again after enclosing radar return data using reception one
Merging method is marked, connected region target accurately can be merged into a target by this method, and calculation amount is small, be easy to engineering reality
It is existing.
Description of the drawings
Fig. 1 is the echo data of one circle of radar antenna scanning.
Specific implementation mode
The present invention will now be described in further detail with reference to the accompanying drawings and the accompanying drawings, but embodiments of the present invention
It is without being limited thereto.
Embodiment 1：
As shown in Figure 1.
A kind of target merging method in marine navigation radar ARPA target followings, includes the following steps：
Obtain echo data：Store the echo data of one circle of radar antenna scanning；
Obtain target range unit：Range cell is divided into target range unit and non-according to the range value in echo data
Target range unit, target range unit are the range cell for having range value, non-targeted range cell be not range value away from
From unit；
Constitute small connected region：One will be constituted in the continuous target range unit connection of the upper range cell number of same orientation number
A small connected region, the minimum range unit number in a small connected region are starting distance unit number, a small connected region
In maximum distance unit number be terminating distance unit number；
For example, as shown in FIG. 1, FIG. 1 is the echo data that radar scanning one is enclosed, the transverse horizontal direction expression side in Fig. 1
Position is to vertical direction indicates distance to entire shadow region is a big connected region, and each blockage represents an orientation
On a range cell, and hypographous blockage represents target range unit in Fig. 1, and the blockage of blank represents non-targeted
Range cell is worth to target range unit according to the amplitude in echo data.
Constitute small connected region：It will be connected to composition group in the continuous target range unit of the upper range cell number of same orientation number
At a small connected region, the minimum range unit number in a small connected region is starting distance unit number, a small connection
Maximum distance unit number in region is terminating distance unit number；For example, in Fig. 1, A11 ~ A14 is constituted on orientation n
One small connected region, A21 ~ A24 constitute a small connected region on orientation n+1, and A31 ~ A33 constitutes orientation n+
A small connected region on 2.
Constitute big connected region：If the starting distance unit number and terminating distance of the small connected region in previous orientation
Unit number is respectively S1, E1, starting distance unit number and terminating distance the unit number difference of present orientation small connected region upwards
For S2, E2, if meeting：
,
Then the small connected region in previous orientation is adjacent with the small connected region that present orientation is upward；By adjacent little Lian
Logical regional connectivity constitutes big connected region；For example, in Fig. 1, the starting distance unit of a small connected region on orientation n
Number be m+1（S1）, terminating distance unit number be m+4（E1）, the starting distance unit of a small connected region on orientation n+1
Number be m+2（S2）, terminating distance unit number be m+5 (E2), it can be seen that m+2 > m+1&& m+2 < m+4 meet above-mentioned item
Part, therefore a small connected region in the small connected region and orientation n on orientation n+1 may be constructed a Dalian
Logical region, similarly, the small connected region and orientation n+2 in a small connected region and orientation n on orientation n+1
On a small connected region may be constructed a final big connected region, what is finally merged is exactly a big connected region.
For above-mentioned small connected region and big connected region, the barycenter of big connected region is found below by following methods,
So that it is determined that the distance and orientation of the big connected region after merging, that is, find the orientation and distance of target.
Obtain in single orientation the barycenter of small connected region and amplitude and：
The range value of each target range unit in small connected region is read,
Pass throughThe barycenter of the small connected region in single orientation is obtained,
Pass throughObtain the small connected region in single orientation amplitude and,
Indicate the barycenter of a certain small connected region on orientation j,Indicate the small connection on orientation j
The amplitude in region and,Indicate the range value of i-th target range unit of small connected region in j orientations,Indicate the side j
The range cell number of i-th target range unit of the upward small connected region in position, regards the result of calculation of barycenter as the small connection
The range cell number in region；
Obtain the barycenter of big connected region：
Pass throughThe orientation N of the barycenter of big connected region is obtained,
Pass throughThe range cell M of the barycenter of big connected region on orientation N is obtained,
A indicates that the orientation N, R of the barycenter of big connected region indicate the barycenter of big connected region on orientation N
Range cell M,Indicate the orientation number that big connected region includes, the result of calculation of the barycenter of big connected region includes orientation
Range cell M on number N and orientation N.
The present invention design principle be：After first obtaining a circle radar return data, then carry out based on connected region
Target merges, and the barycenter of big connected region is finally obtained according to the data processing of the small connected region of merging and big connected region,
Finally obtain one merge after target, and to be radar receive a frame echo data i.e. into row distance to merging, often to conventional method
A CPI carries out orientation and merges again, this way by a target when two or more CPI, can be merged into two or
Multiple targets.
The concrete operations for constituting small connected region are：Read each target range unit distance to range cell number and
The orientation number of orientation will be apart from list when the range cell consecutive hours of the target range unit in same orientation number
The continuous target range unit connection one small connected region of composition of member number.
Judge that the method for being completely received the echo data of one circle of radar antenna scanning is：Judge currently received data packet
In include angular coding whether be less than the previous bag data angular coding that is included, be completely received radar if being considered as less than if
The echo data that antenna scanning one is enclosed.
The detailed process of echo data of one circle of storage radar antenna scanning is：Real-time reception is per frame radar data and deposits
Storage represents the echo amplitude data in an orientation per frame radar data.
The above is only presently preferred embodiments of the present invention, not does limitation in any form to the present invention, it is every according to
According to the technical spirit of the present invention to any simple modification, equivalent variations made by above example, the protection of the present invention is each fallen within
Within the scope of.
Claims (4)
1. the target merging method in a kind of marine navigation radar ARPA target followings, which is characterized in that include the following steps：
Obtain echo data：Store the echo data of one circle of radar antenna scanning；
Obtain target range unit：Range cell is divided into target range unit and non-targeted according to the range value in echo data
Range cell, target range unit are the range cell for having range value, and non-targeted range cell is the distance list of not range value
Member；
Constitute small connected region：It will be constituted in the continuous target range unit connection of the upper range cell number of same orientation number one small
Connected region, the minimum range unit number in a small connected region are starting distance unit number, in a small connected region
Maximum distance unit number is terminating distance unit number；
Constitute big connected region：If the starting distance unit number and terminating distance unit of the small connected region in previous orientation
Number be respectively S1, E1, the starting distance unit number and terminating distance unit number of present orientation small connected region upwards be respectively S2,
E2, if meeting：
,
Then the small connected region in previous orientation is adjacent with the small connected region that present orientation is upward；By adjacent small connected region
Domain connection constitutes big connected region；
Obtain in single orientation the barycenter of small connected region and amplitude and：
The range value of each target range unit in small connected region is read,
Pass throughThe barycenter of the small connected region in single orientation is obtained,
Pass throughObtain the small connected region in single orientation amplitude and,
Indicate the barycenter of a certain small connected region on orientation j,Indicate the small connected region on orientation j
Amplitude and,Indicate the range value of i-th target range unit of small connected region in j orientations,It indicates in j orientations
The range cell number of i-th target range unit of small connected region, the result of calculation of barycenter be the small connected region away from
From unit number；
Obtain the barycenter of big connected region：
Pass throughThe orientation N of the barycenter of big connected region is obtained,
Pass throughThe range cell M of the barycenter of big connected region on orientation N is obtained,
A indicates that the orientation N, R of the barycenter of big connected region indicate the distance of the barycenter of big connected region on orientation N
Unit number M,Indicate the orientation number that big connected region includes, the result of calculation of the barycenter of big connected region includes orientation N
With the range cell M on orientation N.
2. the target merging method in a kind of marine navigation radar ARPA target followings according to claim 1, feature
It is：The concrete operations for constituting small connected region are：Read each target range unit distance to range cell number and
The orientation number of orientation, when the range cell consecutive hours of the target range unit in same orientation number, by range cell
Number continuous target range unit connection one small connected region of composition.
3. the target merging method in a kind of marine navigation radar ARPA target followings according to claim 1 or 2, special
Sign is：Judge that the method for being completely received the echo data of one circle of radar antenna scanning is：Judge currently received data packet
In include angular coding whether be less than the previous bag data angular coding that is included, be completely received radar if being considered as less than if
The echo data that antenna scanning one is enclosed.
4. the target merging method in a kind of marine navigation radar ARPA target followings according to claim 1 or 2, special
Sign is：The detailed process of echo data of one circle of storage radar antenna scanning is：Real-time reception is per frame radar data and stores,
The echo amplitude data in an orientation are represented per frame radar data.
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| CN106970360B (en) * | 2017-05-25 | 2019-07-16 | 哈尔滨工业大学 | A kind of pathfinder multiple reflections false echo suppressing method |
| CN112835010B (en) * | 2021-03-17 | 2022-06-17 | 中国人民解放军海军潜艇学院 | Weak and small target detection and combination method based on interframe accumulation |
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| CN104166135A (en) * | 2014-09-05 | 2014-11-26 | 武汉中原电子集团有限公司 | Method for processing original point trace condensation of broadband radar target |
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| CN104166135A (en) * | 2014-09-05 | 2014-11-26 | 武汉中原电子集团有限公司 | Method for processing original point trace condensation of broadband radar target |
| CN104569950A (en) * | 2015-01-27 | 2015-04-29 | 西安电子科技大学 | Sea-surface target clustering method based on relative power and phase linearity |
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