CN106443662B - A kind of target steady correlating method under low repetition system when velocity ambiguity - Google Patents
A kind of target steady correlating method under low repetition system when velocity ambiguity Download PDFInfo
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Abstract
The invention discloses the steady correlating methods of target under a kind of low repetition system when velocity ambiguity comprising the steps of: S1, determines detection threshold value；S2, it takes every frame radar return distance-speed dimensional plane to be greater than the target point of detection threshold value, obtains distance dimension target dot matrix R (n mR) and speed dimension target point matrix V (n mV), wherein n indicates frame index, mRIndicate distance dimension index, mVIndicate that speed dimension index, matrix value indicate no target for 0 or 1,0,1 indicates target；S3, it is tieed up in distance, according to the removal of the first preset algorithm apart from the upper biggish miscellaneous noise of difference, obtains updated distance dimension target dot matrix R ' (n mR)；S4, it is tieed up in speed, the miscellaneous noise in speed dimension is removed according to the second preset algorithm, obtain updated speed dimension target point matrix V ' (n mV)；The step S3 and the sequence of step S4 is interchangeable.Calculation amount of the present invention is smaller, and real-time is higher, the tracking association suitable for radar target in the case of velocity ambiguity.
Description
Technical field
The present invention relates to radar target trackings to be associated with field, and in particular to the mesh under a kind of low repetition system when velocity ambiguity
Mark steady correlating method.
Background technique
As battlefield surroundings become increasingly complex, the requirement to missile-borne radar signal processor processing speed becomes increasingly
It is high.This proposes challenge to the calculation amount of target association method during radar target tracking.It is limited in missile-borne radar resource
In the case of, the high-speed flight target radar returns under low repetition system will appear velocity ambiguity.In the case where velocity ambiguity, such as
What can be realized the robust tracking association of target, also be a problem to be solved.
Application No. is 201410422500.4 Chinese patent literatures disclose it is a kind of based on improve particle filter target with
Track method, this method realize the detection and tracking of radar weak target by the improvement to particle filter method.Particle filter
Method needs the posterior probability density of a large amount of good approximation system of sample size ability, and operand is larger, is not suitable for reality
The demanding missile-borne radar of when property.
Application No. is 201410707302.2 Chinese patent literatures to disclose one kind based on connected component and template matching
Radar plot correlating method, this method by extract connected component and template matching method, realize Targets Dots pass
Connection, but the velocity characteristic of target is not used in this method, has certain limitation for target velocity tracking.
Application No. is 201610339346.3 Chinese patent literatures to disclose band Doppler under a kind of direction cosines coordinate system
The radar target tracking method of measurement, this method measure and extract Descartes's status information by the way that construction is pseudo-, realize radar target
Tracking, but this method does not consider velocity ambiguity situation, in velocity ambiguity, this method is not applicable.
Non-patent literature " the sky based on multiple target tracking being published on the 12nd phase in 2012 " electronic information journal " periodical
Intercentrum target micro-doppler frequency extraction method " a kind of describe target velocity tracking correlating method, pass through and utilizes more mesh
The method of mark tracking realizes micro-doppler frequency abstraction, but this method does not account for micro-doppler in the case of velocity ambiguity
Related question is tracked, the tracking related question of radar target in the case of velocity ambiguity is not suitable for.
The non-patent literature on the 4th phase in 2012 " radar journal " periodical is published in " based on the different of nearest o- topological diagram
Class sensor target correlating method " a kind of target association method based on nearest o- topological diagram is described, pass through arest neighbors method
With topological diagram, target association is realized.This method does not utilize velocity information, has certain limitation to target velocity tracking.
Summary of the invention
The purpose of the present invention is to provide the steady correlating methods of target under a kind of low repetition system when velocity ambiguity, calculate
Amount is smaller, and real-time is higher, the tracking association suitable for radar target in the case of velocity ambiguity.
In order to achieve the above object, the invention is realized by the following technical scheme: velocity ambiguity under a kind of low repetition system
When the steady correlating method of target, its main feature is that comprising the steps of:
S1, detection threshold value is determined；
S2, it takes every frame radar return distance-speed dimensional plane to be greater than the target point of detection threshold value, obtains distance dimension target point
Matrix R (n mR) and speed dimension target point matrix V (n mV), wherein n indicates frame index, mRIndicate distance dimension index, mVIt indicates
Speed dimension index, matrix value indicate no target for 0 or 1,0, and 1 indicates target；
S3, tieed up in distance, according to the removal of the first preset algorithm apart from the biggish miscellaneous noise of upper difference, obtain it is updated away from
From dimension target dot matrix R ' (n mR)；
S4, it is tieed up in speed, the miscellaneous noise in speed dimension is removed according to the second preset algorithm, obtain updated speed dimension mesh
Punctuate matrix V ' (n mV)；
The step S3 and the sequence of step S4 is interchangeable.
Include in the step S2:
S2.1, n-th frame radar return is set as Xn(mR mV)；
S2.2, initialization distance dimension target dot matrix R (n mR)=0, n=1,2,3......N, mR=1,2,
3......MR, speed dimension target point matrix V (n mV)=0, mV=1,2,3......MV；
S2.3, traversal Xn(mR mV), n=1,2,3......N work as Xn(mR mVWhen) >=ζ, by corresponding mRThe distance of position
Tie up matrix R (n mR) 1 is set, corresponding mVThe speed of position ties up matrix V (n mV) set 1.
Include in the step S3:
S3.1, set distance allowable error are Δ R；
S3.2, R (1 m is taken outR) intermediate value be 1 corresponding distance value, make average treatment, obtain distance dimension average value, will
The corresponding m of the average valueRDisposition 1, remaining sets 0；
S3.3, setting n=2；
S3.4, frame index n is updated, compares vector R (n mR) intermediate value is 1 corresponding distance value and R (1 mR) intermediate value be 1 pair
Range difference is greater than R (the n m of Δ R by the distance value answeredR) set 0；
S3.5, R (n m is taken outR) intermediate value be 1 corresponding distance value, make average treatment, obtain distance dimension average value, will
The corresponding m of the average valueRDisposition 1, remaining sets 0；
S3.6, update n=n+1 go to step S3.4 if n≤N, if n > N, goes to step S3.7；
After the completion of S3.7, traversal, update distance dimension matrix R ' (the n m that distance dimension goes removal of impurities noise is obtainedR)。
The first preset algorithm is arest neighbors method in the step S3.
Include in the step S4:
S4.1, initialization n=1, setting speed allowable error are Δ v；
S4.2, V (1 m is taken outV) intermediate value be 1 corresponding velocity amplitude, make average treatment, obtain speed dimension average value v1, will
The corresponding m of the average valueVDisposition 1, remaining sets 0；
S4.3, the up-and-down boundary [K for determining fuzzy number K, Lmin Kmax]、[Lmin Lmax]；
S4.4, setting n=2；
S4.5, frame index n is updated, takes out V (n mV) intermediate value be 1 corresponding velocity vectorPrevious frame speed ties up average value vn-1, ambiguity period VnAnd Vn-1；
S4.6, initialization K=Kmin, initialize i=1；
S4.7, K, i are updated, the value of L are calculated by formula (1):
S4.8, judge boundary condition；
IfAndThen enable
IfAndThen enable
IfAndThen enable
IfOrIt is then invalid；
If S4.9, boundary are effective, judgeWithBetween whether there is integer, integer, then go to step if it exists
S4.10；Integer if it does not exist enables K=K+1, if K≤Kmax, step S4.7 is gone to, otherwise willCorresponding V (n mV) 0 is set,
And go to step S4.10；
S4.10, V (n m is taken outV) intermediate value be 1 corresponding velocity amplitude, make average treatment, obtain speed dimension average value vn,
By the corresponding m of the average valueVDisposition 1, remaining sets 0；
S4.11, i=i+1, K=K are enabledminIf i≤I, step S4.7 is gone to, otherwise goes to step S4.12；
S4.12, n=n+1 is enabled, if n≤N, goes to step S4.5, otherwise go to S4.13；
S4.13, updated speed tie up target point matrix V ' (n mV)。
The second preset algorithm is linear programming method in the step S4.
The steady correlating method of target under a kind of low repetition system of the present invention when velocity ambiguity has compared with prior art
Following advantages: calculation amount of the present invention is smaller, and real-time is higher, is suitably applied the demanding missile-borne radar of adaptability to changes；At a high speed
Airbound target radar return will appear velocity ambiguity, influence the association of before and after frames target, the method that the present invention utilizes linear programming,
Radar target robust tracking is associated in the case of realizing velocity ambiguity
Detailed description of the invention
The flow chart of the steady correlating method of target when Fig. 1 is velocity ambiguity under a kind of low repetition system of the present invention；
Fig. 2 is linear programming method schematic diagram.
Specific embodiment
The present invention is further elaborated by the way that a preferable specific embodiment is described in detail below in conjunction with attached drawing.
As shown in Figure 1, the steady correlating method of target under a kind of low repetition system when velocity ambiguity comprising the steps of:
S1, detection threshold value is determined.
S2, it takes every frame radar return distance-speed dimensional plane to be greater than the target point of detection threshold value, obtains distance dimension target point
Matrix R (n mR) and speed dimension target point matrix V (n mV), wherein n indicates frame index, mRIndicate distance dimension index, mVIt indicates
Speed dimension index, matrix value indicate no target for 0 or 1,0, and 1 indicates target.
S2.1, n-th frame radar return is set as Xn(mR mV)；
S2.2, initialization distance dimension target dot matrix R (n mR)=0, n=1,2,3......N, mR=1,2,
3......MR, speed dimension target point matrix V (n mV)=0, mV=1,2,3......MV；
S2.3, traversal Xn(mR mV), n=1,2,3......N work as Xn(mR mVWhen) >=ζ, by corresponding mRThe distance of position
Tie up matrix R (n mR) 1 is set, corresponding mVThe speed of position ties up matrix V (n mV) set 1.
S3, tieed up in distance, according to the removal of arest neighbors method apart from the biggish miscellaneous noise of upper difference, obtain it is updated away from
From dimension target dot matrix R ' (n mR)。
S3.1, set distance allowable error are Δ R；
S3.2, R (1m is taken outR) intermediate value be 1 corresponding distance value, make average treatment, obtain distance dimension average value, by this
The corresponding m of average valueRDisposition 1, remaining sets 0；
S3.3, setting n=2；
S3.4, frame index n is updated, compares vector R (n mR) intermediate value is 1 corresponding distance value and R (1mR) intermediate value is 1 corresponding
Distance value, by range difference be greater than Δ R R (n mR) set 0；
S3.5, R (n m is taken outR) intermediate value be 1 corresponding distance value, make average treatment, obtain distance dimension average value, will
The corresponding m of the average valueRDisposition 1, remaining sets 0；
S3.6, update n=n+1 go to step S3.4 if n≤N, if n > N, goes to step S3.7；
After the completion of S3.7, traversal, update distance dimension matrix R ' (the n m that distance dimension goes removal of impurities noise is obtainedR)。
S4, it is tieed up in speed, the miscellaneous noise in speed dimension is removed according to linear programming method, obtain updated speed dimension mesh
Punctuate matrix V ' (n mV), as shown in Fig. 2, utilizing linear gauge by the restriction to fuzzy number and adjacent two frame speeds error
The method drawn realizes the association of front and back frame speed in the case where not solving fuzzy number, and shadow region indicates that integer is searched in figure
Rope region, if indicating that front and back frame speed meets qualifications there are integer in shadow region, realizing front and back frame speed with this
Association.
S4.1, initialization n=1, setting speed allowable error are Δ v；
S4.2, V (1 m is taken outV) intermediate value be 1 corresponding velocity amplitude, make average treatment, obtain speed dimension average value v1, will
The corresponding m of the average valueVDisposition 1, remaining sets 0；
S4.3, the up-and-down boundary [K for determining fuzzy number K, Lmin Kmax]、[Lmin Lmax]；
S4.4, setting n=2；
S4.5, frame index n is updated, takes out V (n mV) intermediate value be 1 corresponding velocity vectorPrevious frame speed ties up average value vn-1, ambiguity period VnAnd Vn-1；
S4.6, initialization K=Kmin, initialize i=1；
S4.7, K, i are updated, the value of L are calculated by formula (1):
S4.8, judge boundary condition；
IfAndThen enable
IfAndThen enable
IfAndThen enable
IfOrIt is then invalid；
If S4.9, boundary are effective, judgeWithBetween whether there is integer, integer, then go to step if it exists
S4.10；Integer if it does not exist enables K=K+1, if K≤Kmax, step S4.7 is gone to, otherwise willCorresponding V (n mV) 0 is set,
And go to step S4.10；
S4.10, V (n m is taken outV) intermediate value be 1 corresponding velocity amplitude, make average treatment, obtain speed dimension average value vn,
By the corresponding m of the average valueVDisposition 1, remaining sets 0；
S4.11, i=i+1, K=K are enabledminIf i≤I, step S4.7 is gone to, otherwise goes to step S4.12；
S4.12, n=n+1 is enabled, if n≤N, goes to step S4.5, otherwise go to S4.13；
S4.13, updated speed tie up target point matrix V ' (n mV)。
The steady correlating method of target as described in claim 1, which is characterized in that the second pre- imputation in the step S4
Method is linear programming method.
It is discussed in detail although the contents of the present invention have passed through above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read above content, for of the invention
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (4)
1. the steady correlating method of target under a kind of low repetition system when velocity ambiguity, which is characterized in that comprise the steps of:
S1, detection threshold value is determined；
S2, it takes every frame radar return distance-speed dimensional plane to be greater than the target point of detection threshold value, obtains distance dimension target dot matrix
R(n mR) and speed dimension target point matrix V (n mV), wherein n indicates frame index, mRIndicate distance dimension index, mVIndicate speed
Dimension index, matrix value indicate no target for 0 or 1,0, and 1 indicates target；
S3, it is tieed up in distance, according to the removal of the first preset algorithm apart from the upper biggish miscellaneous noise of difference, obtains updated distance dimension
Target dot matrix R ' (n mR)；Wherein, include in the step S3:
S3.1, set distance allowable error are Δ R；
S3.2, R (1 m is taken outR) intermediate value be 1 corresponding distance value, make average treatment, obtain distance dimension average value, this is averaged
It is worth corresponding mRDisposition 1, remaining sets 0；
S3.3, setting n=2；
S3.4, frame index n is updated, compares vector R (n mR) intermediate value is 1 corresponding distance value and R (1 mR) intermediate value is 1 corresponding
Range difference is greater than R (the n m of Δ R by distance valueR) set 0；
S3.5, R (n m is taken outR) intermediate value be 1 corresponding distance value, make average treatment, obtain distance dimension average value, this is averaged
It is worth corresponding mRDisposition 1, remaining sets 0；
S3.6, update n=n+1 go to step S3.4 if n≤N, if n > N, go to step S3.7；
After the completion of S3.7, traversal, update distance dimension matrix R ' (the n m that distance dimension goes removal of impurities noise is obtainedR)；
S4, it is tieed up in speed, the miscellaneous noise in speed dimension is removed according to the second preset algorithm, obtain updated speed dimension target point
Matrix V ' (n mV)；Wherein, include in the step S4:
S4.1, initialization n=1, setting speed allowable error are Δ v；
S4.2, V (1 m is taken outV) intermediate value be 1 corresponding velocity amplitude, make average treatment, obtain speed dimension average value v1, this is put down
The corresponding m of mean valueVDisposition 1, remaining sets 0；
S4.3, the up-and-down boundary [K for determining fuzzy number K, Lmin Kmax]、[Lmin Lmax]；
S4.4, setting n=2；
S4.5, frame index n is updated, takes out V (n mV) intermediate value be 1 corresponding velocity vectorUpper one
Frame speed ties up average value vn-1, ambiguity period VnAnd Vn-1；
S4.6, initialization K=Kmin, initialize i=1；
S4.7, K, i are updated, the value of L are calculated by formula (1):
S4.8, judge boundary condition；
IfAndThen enable
IfAndThen enable
IfAndThen enable
IfOrIt is then invalid；
If S4.9, boundary are effective, judgeWithBetween whether there is integer, integer, then go to step S4.10 if it exists；If
There is no integers, enable K=K+1, if K≤Kmax, step S4.7 is gone to, otherwise willCorresponding V (n mV) 0 is set, and go to step
Rapid S4.10；
S4.10, V (n m is taken outV) intermediate value be 1 corresponding velocity amplitude, make average treatment, obtain speed dimension average value vn, by this
The corresponding m of average valueVDisposition 1, remaining sets 0；
S4.11, i=i+1, K=K are enabledminIf i≤I, step S4.7 is gone to, otherwise goes to step S4.12；
S4.12, n=n+1 is enabled, if n≤N, goes to step S4.5, otherwise go to S4.13；
S4.13, updated speed tie up target point matrix V ' (n mV)；
The step S3 and the sequence of step S4 is interchangeable.
2. the steady correlating method of target as described in claim 1, which is characterized in that include in the step S2:
S2.1, n-th frame radar return is set as Xn(mR mV)；
S2.2, initialization distance dimension target dot matrix R (n mR)=0, n=1,2,3......N, mR=1,2,3......MR, speed
Degree dimension target point matrix V (n mV)=0, mV=1,2,3......MV；
S2.3, traversal Xn(mR mV), n=1,2,3......N work as Xn(mR mVWhen) >=ζ, by corresponding mRThe distance of position ties up matrix
R(n mR) 1 is set, corresponding mVThe speed of position ties up matrix V (n mV) set 1.
3. the steady correlating method of target as described in claim 1, which is characterized in that the first preset algorithm in the step S3
For arest neighbors method.
4. the steady correlating method of target as described in claim 1, which is characterized in that the second preset algorithm in the step S4
For linear programming method.
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| CN109444838B (en) * | 2018-09-12 | 2020-11-03 | 上海无线电设备研究所 | Method and system for solving velocity ambiguity based on pulse accumulation frame dual frequency |
| CN109521420B (en) * | 2018-12-20 | 2022-10-04 | 西安电子科技大学 | Multi-target tracking method based on multi-feature matching |
| CN112166341B (en) * | 2019-08-23 | 2024-04-05 | 深圳市大疆创新科技有限公司 | Speed determination method, apparatus and storage medium |
| CN111289953B (en) * | 2020-01-14 | 2022-04-26 | 北京理工大学 | Space-based radar distance/speed ambiguity resolution method based on fuzzy matrix updating |
| CN113269682B (en) * | 2021-04-21 | 2023-03-24 | 海纳云物联科技有限公司 | Non-uniform motion blur video restoration method combined with interframe information |
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