CN106405537A - Radar track initiation method based on location information and Doppler information - Google Patents

Radar track initiation method based on location information and Doppler information Download PDF

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Publication number
CN106405537A
CN106405537A CN201610708469.XA CN201610708469A CN106405537A CN 106405537 A CN106405537 A CN 106405537A CN 201610708469 A CN201610708469 A CN 201610708469A CN 106405537 A CN106405537 A CN 106405537A
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track
radial velocity
direction finding
effective dose
doppler
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CN106405537B (en
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周生华
康鹏
刘宏伟
但晓东
刘洪亮
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Xidian University
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Xidian University
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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
    • 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 invention puts forward a radar track initiation method based on location information and Doppler information in order to solve the technical problem that the existing sequential processing technical method is of low track initiation efficiency. The method is implemented by the steps as follows: calculating the maximum unambiguous velocity; selecting a track head from measurement vectors scanned at the kth time, and calculating a radial velocity set; building a distance constraint accord to the radial velocity; building a space constraint according to the maximum velocity; during (k+1)th scanning, associating measurement vectors which are on the same Doppler channel with the track head and meet the two constraints; using effective measurement vectors to update the distance constraint, and continuing the association operation; building a stable track according to the track initiation criterion; and traversing the measurement vectors scanned at the kth time and a corresponding radial velocity set. The method of the invention is of high track initiation efficiency, and can be used in target tracking.

Description

Radar track initial mode based on positional information and doppler information
Technical field
The invention belongs to Radar Technology field, it is related to a kind of radar track initial mode and in particular to a kind of be based on position The radar track initial mode of information and doppler information, can be used for target following.
Background technology
Track initiation is the first step of target following, and it is the decision-making technique setting up new file object, and main inclusion is temporarily When flight path and flight path determine two aspects, its cardinal principle is to be selected using observation data and actual scene data configuration constraints Take the corresponding vector that measures to set up flight path, be the matter of utmost importance that targetpath is processed, its task is according to the multiple observation of radar Data determines potential target in scanning area, and provides the Initial state estimation of target.Track initiation is as target following Premise and basis, directly affect the tracking performance of radar system.
According to the difference of data processing method, track initiation method is divided into two big class：Sequential processes technology class and batch processing Technology class.The representative method of sequential processes technology has direct-vision method and logical approach.The main roadmap of direct-vision method is, using maximum , as constraints, association meets the measurement vector of this constraints as effective dose direction finding amount, such as speed and peak acceleration In fruit continuous n times scanning, effective dose direction finding amount, more than M then it is assumed that the flight path being made up of M effective dose direction finding amount, is target boat Mark.The main roadmap of logical approach is to form transient state flight path first with conditions such as maximal rate constraints, then passes through flight path Prediction to screen aim parameter direction finding amount with associating ripple door, if effective dose surveys number of vectors more than M in continuous n times scanning, Think that the flight path being made up of M effective dose direction finding amount is targetpath, but because sequential processes technology utilizes maximal rate about Bundle chooses effective dose direction finding amount, leads to associated region larger, easily forms false track, causes track initiation efficiency low.Logic Method is screened to aim parameter direction finding amount with associating ripple door using Trajectory Prediction, eliminates false track, simply advises with two Then to reduce and may initiate the direct-vision method of flight path and compare, to improve the probability of track initiation, effectively improve track initiation effect Rate.The representative of batch system has Hough transform method and its improved method.The main roadmap of Hough transform method is will be many The echo data of secondary scanning, depending on doing a sub-picture, by whether there is vertical element in Hough transform detection image, is judged with this With the presence or absence of targetpath, batch system utilizes Hough transform to process the data aggregate of Multiple-Scan, although permissible Preferable track initiation performance is provided, but amount of calculation is larger, is unfavorable for engineer applied.
Content of the invention
It is an object of the invention to overcoming the defect that above-mentioned prior art exists it is proposed that a kind of based on positional information and many The radar track initial mode of general Le information, for solving track initiation effect present in the method for existing sequential processes technology class The low technical problem of rate.
The technical thought of the present invention is：Build distance constraints first with flight path head, utilize maximal rate structure simultaneously Build locus constraints, be in same Doppler's passage with flight path head in correlation rader scanning next time and meet distance simultaneously The measurement vector of constraints and locus constraints, then updates distance constraints, continues association, until all of Measurement vector all completes operation associated, finally according to association results according to track initiation criterion foundation stably initial flight path.Its tool Body step includes as follows：
Based on the radar track initial mode of positional information and doppler information, comprise the steps：
(1) calculate radar and the most very much not obscure speed Vf；
(2) i-th measurement in the measurement vector not stablized track association obtaining in kth-n times scanning being gathered Vectorial zk-N,iAs flight path head, remember that this flight path head place Doppler's passage is L, according to the Doppler measurement comprising in flight path head fk-N,i, calculate flight path head corresponding radial velocity set vk-N,i, wherein, k is the time index of radar scanning, and N is track initiation Time window；
(3) from flight path head corresponding radial velocity set vk-N,iMiddle selection obscures radial velocity v that number of times is mk-N,i,m；
(4) set current radial velocity as v=vk-N,i,m, make l=k-N, n=1；
(5) according to current radial velocity v, calculate its corresponding range prediction value according to the following formulaWith range prediction mark Accurate poor
Wherein,Represent i-th in the effective dose direction finding duration set of the l time scanninglIndividual effective dose direction finding amountComprise Distance measure,Represent effective dose direction finding amountCorresponding range accuracy,Represent effective dose direction finding amountRight The rate accuracy answered, TsRepresent the time interval required to scanning next time when prewave position；
As l=k-N, in the effective dose direction finding duration set of the l time scanning, only comprise zk-N,i；As l ＞ k-N, sweep for the l time The effective dose direction finding duration set retouched comprises following measurement vector：The l time scanning in all associate with flight path head and positioned at l-th many The general measurement vector strangling passage；
(6) according to the range prediction value obtaining in step (5)With range prediction standard deviationBuild distance Constraints：
Wherein, g represents constraint factor, ρl+n,jRepresent that the l+n time scanning is located at the measurement vector set of l-th Doppler's passage Close z(l+n)∩LIn measure vectorial z j-th(l+n)∩L,jThe distance measure comprising, σρ,l+n,jRepresent and measure vectorial z(l+n)∩L,jCorresponding Range accuracy；
(7) the maximum space speed of sets target is Vmax, build locus constraints：Choose and measure vector set z(l+n)∩LIn measurement vector with effective dose direction finding amountObtain cartesian space distance less than or equal to nVmaxTs；
(8) decision content direction finding duration set z(l+n)∩LIn with the presence or absence of meeting distance constraints and locus constraint simultaneously The measurement vector of condition：
If so, as l+n ≠ k-1, by effective dose direction finding amountWith the measurement vector meeting two constraintss simultaneously It is associated respectively, and updates current radial velocity v, make n=1, l=l+n, and execution step (5)；As l+n=k-1, will Effective dose direction finding amountIt is associated respectively with the measurement vector meeting two constraintss simultaneously, and execution step (9)；
If it is not, as l+n ≠ k-1, making n=n+1, and execution step (5)；Work as l+n=k-1, execution step (9)；
(9) according to track initiation criterion, set up and stably initiate flight path；
(10) to radial direction sets of speeds vk-N,iIn all radial velocities traveled through, as radial velocity set vk-N,iIn All radial velocities be all traversed, all measurements not stablized track association obtaining in traversal kth-n times scanning Vector, obtains one or more and stably initiates flight path.
The present invention compared with prior art, has the advantage that：
The present invention due to during decision content direction finding amount, using Doppler measurement information architecture distance constraints, Adopt positional information to build space constraints simultaneously, and associate the amount simultaneously meeting distance constraints and space constraints Direction finding amount, effectively eliminate false measure vector, suppress false track, and then improve the probability of track initiation, and existing Track initiation technology is compared, and effectively improves track initiation efficiency.
Brief description
Fig. 1 be the present invention realize FB(flow block)；
Fig. 2 is the present invention and logical approach false track probability simulation comparison figure；
Fig. 3 is the present invention and logical approach false track par simulation comparison figure；
Fig. 4 is the present invention and logical approach track initiation probabilistic simulation comparison diagram.
Specific embodiment
Referring to the drawings and embodiment, the present invention is described in further detail：
With reference to Fig. 1, the present invention to realize step as follows：
Step 1, calculates radar and the most very much not obscures speed Vf.
Calculate radar and the most very much not obscure speed Vf：
Wherein, λ represents radar emission signal wavelength, frRepresent pulse recurrence frequency.
Step 2, calculates radial velocity set vk-N,i.
According to flight path head zk-N,iIn doppler frequency measurement value fk-N,iThe most very much not obscure speed Vf, amount of calculation direction finding amount zk-N,iCorresponding radial velocity set vk-N,i, described below measurement is vectorial all to represent the measurement not stablized track association Vector, and measurement vector comprises distance measure, azimuth determination value and Doppler measurement：
(2.1) calculate zk-N,iMiddle doppler frequency measurement value fk-N,iCorresponding radial velocity v⊥：
Wherein, measure vectorial zk-N,iRepresent the amount not stablized track association obtaining in radar kth-n times scanning Vector is measured i-th in direction finding duration set；
(2.2) obscure the difference of number of times, build and calculate radial velocity set vk-N,i：
vk-N,i={ v⊥+2wVf| abs (v⊥+2wVf)≤Vmax, w=0, ± 1, ± 2 ...,
Wherein, | represent conditional code, the symbol left side is set element, the right is the condition that element meets, w represents fuzzy Number of times, abs () expression takes absolute value.
Step 3, initializes to current radial velocity, and arranges counter cycle-index is recorded.
(3.1) from flight path head corresponding radial velocity set vk-N,iMiddle selection obscures radial velocity v that number of times is mk-N,i,m
(3.2) set current radial velocity as v=vk-N,i,m；
(3.3) counter is set：Make l=k-N, n=1.
Step 4, builds distance constraints.
4.1) according to radial velocity v, calculate radial velocity corresponding range prediction value according to the following formulaAnd range prediction Standard deviation
Wherein,Represent i-th in the effective dose direction finding duration set of the l time scanninglIndividual effective dose direction finding amountComprise Distance measure,Represent effective dose direction finding amountCorresponding range accuracy,Represent effective dose direction finding amountRight The rate accuracy answered, TsRepresent the time interval required to scanning next time when prewave position；
(4.2) according to the range prediction value obtaining in step (4.1)With range prediction standard deviationBuild Distance constraints：
Wherein, g represents constraint factor, ρl+n,jRepresent that the l+n time scanning is located at the measurement vector set of l-th Doppler's passage Close z(l+n)∩LIn measure vectorial z j-th(l+n)∩L,jThe distance measure comprising, σρ,l+n,jRepresent and measure vectorial z(l+n)∩L,jCorresponding Range accuracy；
Step 5, builds locus constraints.
Maximum space speed V of sets targetmax, build locus constraints：Choose and measure vectorial set z(l+n)∩L In with effective dose direction finding amountCartesian space distance less than or equal to nVmaxTsMeasurement vector；
Step 6, judges whether to meet above-mentioned constraints, and analyzes judged result.
(6.1) constraints according to step 4 and step 5, decision content direction finding duration set z(l+n)∩LIn with the presence or absence of with When meet the measurement vector of distance constraints and locus constraints；
(6.2) analyze judged result：
If so, as l+n ≠ k-1, by effective dose direction finding amountWith the measurement vector meeting two constraintss simultaneously It is associated respectively, and updates current radial velocity v, make n=1, l=l+n, and execution step 4；As l+n=k-1, will have Effect measures vectorIt is associated respectively with the measurement vector of meet the constraint condition simultaneously, and execution step 7；
If it is not, as l+n ≠ k-1, make n=n+1, and step 4；As l+n=k-1, execution step 7；
Wherein, update radial velocity v to carry out as follows：
(6.2a) calculate effective dose direction finding amountMiddle doppler frequency measurement valueCorresponding radial velocity vN：
(6.2b) it is calculated as follows effective dose direction finding amountIn fuzzy number of times be the radial velocity of mAnd update work as Front radial velocity v：
Step 7, sets up and stably initiates flight path.
According to the association results of step 6, set up according to track initiation criterion and stably initiate flight path, track initiation criterion calls When being more than or equal to the minimum direction finding amount number needed for initial flight path when the vectorial number of associated measurement in association results, then will This association results is changed into stably initial flight path, otherwise, deletes this association results.Described setting track initiation criterion, including 2/2 Logic initiates method, 2/3 logic initiates method, 3/3 logic initiates method and 3/4 logic initiates method.
Step 8, because target velocity is likely to occur fuzzy, traversal radial velocity set.
Traversal radial velocity set vk-N,iIn all radial velocities, as radial velocity set vk-N,iIn all radial directions Speed is all traversed, then execution step 9；
Step 9, because track initiation is to multiobject detection, it is understood that there may be a plurality of flight path, traversal measures vector set zk-N.
The all measurement vectors not stablized track association obtaining in traversal kth-n times scanning.
Below in conjunction with emulation experiment, the technique effect of the present invention is described further：
1. simulating scenes：Test using 2D radar it is believed that radar is seated the origin of coordinates, if carrier frequency fc=1GHz, light velocity c =3 × 108M/s, transmitted signal bandwidth B=2MHz, beam angle θBeam=3dB, pulse width τ=30us, the pulse repetition period Tr=1ms, radar emission signal wavelength lambda=0.3m, pulse recurrence frequency fr=1MHz, needed for when scanning next time of prewave position Time interval Ts=10s, constraint factor g=4, maximum space speed V of targetmax=400m/s, radar measurement parameter is distance Measured value, azimuth determination value and Doppler measurement.
2. emulation content：
Emulation 1：Using above experiment scene, using the track initiation method of logical approach and the present invention, false to flight path general Rate carries out simulation comparison, result such as Fig. 2；
Emulation 2：Using above experiment scene, using the track initiation method of logical approach and the present invention, false track is put down All quantity carries out simulation comparison, result such as Fig. 3；
Emulation 3：Using above experiment scene, using the track initiation method of logical approach and the present invention, general to track initiation Rate simulation comparison, result such as Fig. 4；
3. interpretation：
With reference to Fig. 2, X-axis represents false-alarm probability, and Y-axis represents false track probability.When false-alarm probability is 10-4When, logical approach False track probability be 0.6559, the false track probability of the present invention is 0.00158 it can be seen that the false boat of the present invention Mark probability is about logical approachGreatly reduce the probability of false track.
With reference to Fig. 3, X-axis represents false-alarm probability, and Y-axis represents false track par.When false track par is When 0.4999, the required false-alarm probability of logical approach detection is 10-6, the required false-alarm probability of present invention detection is 2.684 × 10-5, As can be seen that the false-alarm probability of the present invention is 26.84 times of logical approach.
With reference to Fig. 4, X-axis represents signal to noise ratio, and Y-axis represents track initiation probability when signal to noise ratio is for 15dB, logical approach flight path Initial probability is 0.4287, and track initiation probability of the present invention is 0.514 it can be seen that the track initiation probability of the present invention is to patrol 1.2 times of the method for collecting.
In sum, the present invention effectively reject false measure vector it is suppressed that the formation of false track, and then improve The probability of track initiation, improves track initiation efficiency.

Claims (4)

1. a kind of radar track initial mode based on positional information and doppler information, comprises the steps：
(1) calculate radar and the most very much not obscure speed Vf；
(2) measure vector i-th in the measurement vector not stablized track association obtaining in kth-n times scanning being gathered zk-N,iAs flight path head, remember that this flight path head place Doppler's passage is L, according to the Doppler measurement comprising in flight path head fk-N,i, calculate flight path head corresponding radial velocity set vk-N,i, wherein, k is the time index of radar scanning, and N is track initiation Time window；
(3) from flight path head corresponding radial velocity set vk-N,iMiddle selection obscures radial velocity v that number of times is mk-N,i,m；
(4) set current radial velocity as v=vk-N,i,m, make l=k-N, n=1；
(5) according to current radial velocity v, calculate its corresponding range prediction value according to the following formulaWith range prediction standard deviation
ρ ^ m , l + n , i l = ρ l , i l + nvT s σ ρ ^ , l + n , i l = σ ρ , l , i l 2 + n 2 T s 2 σ v , l , i l 2
Wherein,Represent i-th in the effective dose direction finding duration set of the l time scanninglIndividual effective dose direction finding amountThe distance comprising Measured value,Represent effective dose direction finding amountCorresponding range accuracy,Represent effective dose direction finding amountCorresponding Rate accuracy, TsRepresent the time interval required to scanning next time when prewave position；
As l=k-N, in the effective dose direction finding duration set of the l time scanning, only comprise zk-N,i；Work as l>During k-N, the l time scanning Effective dose direction finding duration set comprises following measurement vector：All in the l time scanning associate with flight path head and positioned at l-th Doppler The measurement vector of passage；
(6) according to the range prediction value obtaining in step (5)With range prediction standard deviationBuild distance restraint bar Part：
a b s ( ρ l + n , j - ρ ^ m , l + n , i l ) ≤ g σ ρ ^ , l + n , i l 2 + σ ρ , l + n , j 2
Wherein, g represents constraint factor, ρl+n,jRepresent that the l+n time scanning is located at the measurement vector set of l-th Doppler's passage z(l+n)∩LIn measure vectorial z j-th(l+n)∩L,jThe distance measure comprising, σρ,l+n,jRepresent and measure vectorial z(l+n)∩L,jCorresponding Range accuracy；
(7) the maximum space speed of sets target is Vmax, build locus constraints：Choose and measure vector set z(l+n)∩LIn measurement vector with effective dose direction finding amountObtain cartesian space distance less than or equal to nVmaxTs；
(8) decision content direction finding duration set z(l+n)∩LIn with the presence or absence of meeting distance constraints and locus constraints simultaneously Measurement vector：
If so, as l+n ≠ k-1, by effective dose direction finding amountWith the measurement vector meeting two constraintss simultaneously respectively It is associated, and updates current radial velocity v, make n=1, l=l+n, and execution step (5)；As l+n=k-1, will be effectively Measure vectorIt is associated respectively with the measurement vector meeting two constraintss simultaneously, and execution step (9)；
If it is not, as l+n ≠ k-1, making n=n+1, and execution step (5)；Work as l+n=k-1, execution step (9)；
(9) according to track initiation criterion, set up and stably initiate flight path；
(10) to radial direction sets of speeds vk-N,iIn all radial velocities traveled through, as radial velocity set vk-N,iIn all Radial velocity is all traversed, all measurement vectors not stablized track association obtaining in traversal kth-n times scanning, obtains Stably initiate flight path to one or more.
2. the radar track initial mode being associated with Doppler based on space according to claim 1 is it is characterised in that walk Suddenly fuzzy speed V described in (1)f, its calculation expression is：
V f = λ 4 f r
Wherein, λ represents radar emission signal wavelength, frRepresent pulse recurrence frequency.
3. the radar track initial mode based on positional information and doppler information according to claim 1, its feature exists In, the described track initiation criterion of step (9), initiate method including 2/2 logic, 2/3 logic initiates method, 3/3 logic initiates method and 3/4 Logic initiates method.
4. the radar track initial mode based on positional information and doppler information according to claim 1, its feature exists In, current radial velocity v of renewal described in step (8), carry out as follows：
(8a) calculate effective dose direction finding amountMiddle doppler frequency measurement valueCorresponding radial velocity vN：
v N = λ 2 f l ∩ L , i l Δ
(8b) it is calculated as follows effective dose direction finding amountIn fuzzy number of times be the radial velocity of mAnd update current radially speed Degree v：
v l , i l , m Δ = v N + 2 mV f
v = v l , i l , m Δ .
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CN109633626A (en) * 2017-10-05 2019-04-16 通用汽车环球科技运作有限责任公司 The method for tracking object
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