CN106772355A - A kind of compensation method for calculating track association door center - Google Patents
A kind of compensation method for calculating track association door center Download PDFInfo
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- CN106772355A CN106772355A CN201710099219.5A CN201710099219A CN106772355A CN 106772355 A CN106772355 A CN 106772355A CN 201710099219 A CN201710099219 A CN 201710099219A CN 106772355 A CN106772355 A CN 106772355A
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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
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- Radar, Positioning & Navigation (AREA)
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- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses it is a kind of periodic measurement report is realized Track In Track associate when, calculate the next period forecasting position of flight path, that is the compensation method of track association door center, the method considers tracking targetpath motion state and radar antenna scanning direction relativeness, in the next period position of prediction flight path, on the basis of the conventional only consideration antenna rotation fixed cycle, compensate because predetermined period that target motion is caused changes, so as to obtain more accurate predicted position, i.e. track association thresholding center, reaches the purpose for improving track association accuracy rate.
Description
Technical field
, it is necessary at the metrical information reported radar sensor in all kinds of radars and monitoring Information Handling System
Reason, forms the flight path information of monitoring target steady and continuous, and it is whole Track In Track that measurement report therein is associated with targetpath
The core of system, difference association door center computational methods will influence the association degree of accuracy and finally influence tracking effect.
Compensation mechanism is calculated the present invention relates to a kind of association door center in period tracking system track association, effectively
The degree of accuracy of track association is improved, what clutter area's track association particularly more to false measurement report and intermittent scanning were tracked
Track association, on the basis of associated gate is set up in conventional Trajectory Prediction position, by effective compensation mechanism, improves and calculates flight path
Prediction center is the accuracy for associating door center, so that the degree of accuracy of association is improved, to targetpath tracking scheme
Design and implement have considerable influence.
Background technology
In cycle surveillance radar Track In Track field, the Track In Track method for generally using is as follows：1）Measured with radar etc.
Centered on standing, 360 ° of monitoring spatial domains are divided into different treatment sectors, the sector according to where measurement report and flight path is carried out just
Step association selection.
2）It is pointed to process the targetpath position being had built up in sector, calculate the prediction bits of next cycle flight path
Put, it is association door center with the position, associating for measurement report and flight path is set up, to current
The measurement report that cycle falls in track association door, is further associated judgement with flight path, and one is determined according to correlation rule
Final correlation measurement report；Wherein symbolRepresent the coordinate position of k-1 moment flight paths, symbolRepresent the k-1 moment
The movement velocity of flight path, symbolThe targetpath predicted position at k moment is predicted in expression by the k-1 moment, and T represents measurement report
Accuse the update cycle.
3）Report that substituting into filtering equations is filtered treatment with selected correlation measurement, obtain the filtering position of this cycle flight path
Put.
4）To measurement report not associated in treatment sector, according to treatment rule, it is defined as clutter or newly-built system flight path
Deng.
Above-mentioned processing method is to adapt to the track association tracking process of most simple scenarios, it is also possible to aligned
True association and tracking effect, but or target more situation more for complex scene, particularly falseness measurement report point, if
Association door Center Prediction is not punctual, is easy for measurement report and the track association by false measurement report or other targets, and then
The influence association degree of accuracy.
The present invention provides a kind of compensation method for improving the track association degree of accuracy and occurs mainly in above-mentioned tracking processing method
The 2nd step in, update cycle for using is T when it calculates predicted position, does not consider that flight path motion scans rotation with radar antenna
Between relativeness change, the present invention is boat the next period forecasting position of target is calculated according to targetpath motion state
During mark association door center, the compensation mechanism based on target motion is added, forecasting accuracy is improved, such that it is able to be associated with more
Plus accurate measurement report, reach the purpose for improving association accuracy.
The content of the invention
The position of the status predication k moment flight paths according to k-1 moment flight paths, i.e. k moment track association door center, press
According to such as following formula（1）Method is calculated：
,（1）
WhereinThe coordinate position component of k-1 moment flight paths is represented,The velocity component of k-1 moment flight paths is represented,The target predicted position component at k moment is predicted in expression by the k-1 moment, and T represents the measurement report update cycle,Represent and mend
Repay the time.
The compensation time, as shown in Figure 1, according to such as following formula（2）Method is calculated：
（2）
WhereinWithThe k moment azimuth of targets that the azimuth of k-1 moment flight paths, k-1 moment are predicted are represented respectively,
The former passes through given dataDirectly calculate, the latter then first passes through complete cycle T predictions, is then iterated again.Work as formula（2）
CalculateWhen, representing that flight path is moved along radar antenna scanning direction, predicted time is more than a cycle, whenWhen, represent
Flight path is moved against radar antenna scanning direction, and predicted time is less than a cycle.
Iterative process press following scheme：
Predicted by cycle T, obtained, and thus calculate, bring formula into（2）CalculateCompensation
Time, pressTime, calculate predicted position, and thus obtain iteration, when
Front and rear iteration result twiceWhen difference is less than 1 degree, stop iteration.
Beneficial effect
By Trajectory Prediction position compensation mechanism of the invention, the meter of correlation threshold center during Track In Track is have modified
Calculation process, by improving the accuracy of predicted position, reaches the purpose for improving the association degree of accuracy, while multiple to reducing clutter area etc.
The influence of the false measurement of miscellaneous scene plays a significant role.
Accompanying drawing
Fig. 1 improves the time bias schematic diagram of tracking association accuracy.
Fig. 2 inventive method implementing procedure figures.
Implementation steps
Implementation steps flow is as shown in Fig. 2 be described as follows：
The first step：Use k-1 moment, flight path positionRepresent, speed is usedRepresent, radar antenna scan period T, calculate k-
1 moment azimuth of target：。
Second step：The orientation initial parameter for calculating k moment iteration predicted positions is set：Predetermined period initial value T, pre- interception
Initial value。
3rd step：Predicted by cycle T and calculated, k moment predicted positions, obtain position use
Represent, then,, thus calculateIteration result is：。
4th step：Calculate the compensation time。
5th step：WithT is replaced, the 3rd step, the 4th step is repeated, when what is calculated twiceWhen difference is less than 1 degree,
Iteration ends, obtain final。
6th step：Determine the predicted position at k moment：, and centered on the position
Set up the association door at k moment.
Claims (3)
1. a kind of compensation method for calculating track association door center, it is characterised in that：State according to k-1 moment flight paths is pre-
K moment flight paths position, i.e. k moment track association thresholdings center are surveyed, according to such as following formula（1）Method is calculated： ,（1）
Wherein The location components of k-1 moment flight paths are represented, The velocity component of k-1 moment flight paths is represented, Represent by
The k-1 moment predicts the flight path position at k moment, and T represents the measurement report update cycle, Represent the compensation time.
2. as shown in claim 1, It it is the compensation time, according to such as following formula（2）Method is calculated：
Wherein With The k moment flight path azimuthangles that the azimuth of k-1 moment flight paths, k-1 moment are predicted are represented respectively, it is preceding
Person passes through given data Directly calculate, the latter then first passes through complete cycle T predictions, is then iterated again；Work as formula（2）Meter
Calculate result When, representing that flight path is moved along radar antenna scanning direction, predicted time is more than a cycle, when When, table
Show that flight path is moved against radar antenna scanning direction, predicted time is less than a cycle.
3. as shown in claim 2, Iterative process be：Predicted by cycle T, obtained
, and thus calculate , bring formula into（2）Calculate The compensation time, press Time, iterate to calculate predicted position , and thus obtain iteration , when front and rear iteration result twice Difference is small
When 1 degree, stop iteration.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710099219.5A CN106772355B (en) | 2017-02-23 | 2017-02-23 | A kind of compensation method calculating track association door center |
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| CN201710099219.5A CN106772355B (en) | 2017-02-23 | 2017-02-23 | A kind of compensation method calculating track association door center |
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| CN106772355A true CN106772355A (en) | 2017-05-31 |
| CN106772355B CN106772355B (en) | 2019-10-18 |
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| CN102981154A (en) * | 2012-12-05 | 2013-03-20 | 西安电子工程研究所 | Flight track processing method for chain points and whole chain of high voltage wires |
| CN103278826A (en) * | 2013-05-14 | 2013-09-04 | 南京航空航天大学 | Beidou B1 frequency point intermediate frequency signal simulation method |
| CN104851286A (en) * | 2014-12-18 | 2015-08-19 | 北京市交通运行监测调度中心 | Method utilizing bus vehicle GPS data for evaluating road traffic condition dynamically |
| CN105894117A (en) * | 2016-03-31 | 2016-08-24 | 北京航空航天大学 | Track prediction method and track prediction device |
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2017
- 2017-02-23 CN CN201710099219.5A patent/CN106772355B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08219799A (en) * | 1995-02-15 | 1996-08-30 | Mazda Motor Corp | Traveling route estimating apparatus for vehicle |
| CN101625797A (en) * | 2009-08-05 | 2010-01-13 | 中国人民解放军国防科学技术大学 | Early warning method when automobile closes at high speed and early warning device |
| CN102981154A (en) * | 2012-12-05 | 2013-03-20 | 西安电子工程研究所 | Flight track processing method for chain points and whole chain of high voltage wires |
| CN103278826A (en) * | 2013-05-14 | 2013-09-04 | 南京航空航天大学 | Beidou B1 frequency point intermediate frequency signal simulation method |
| CN104851286A (en) * | 2014-12-18 | 2015-08-19 | 北京市交通运行监测调度中心 | Method utilizing bus vehicle GPS data for evaluating road traffic condition dynamically |
| CN105894117A (en) * | 2016-03-31 | 2016-08-24 | 北京航空航天大学 | Track prediction method and track prediction device |
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