CN106842136A - The method for carrying out fusion treatment to radar detection result with reference to geographical environment - Google Patents
The method for carrying out fusion treatment to radar detection result with reference to geographical environment Download PDFInfo
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- CN106842136A CN106842136A CN201611265598.2A CN201611265598A CN106842136A CN 106842136 A CN106842136 A CN 106842136A CN 201611265598 A CN201611265598 A CN 201611265598A CN 106842136 A CN106842136 A CN 106842136A
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
Abstract
The method that a kind of combination geographical environment disclosed by the invention carries out fusion treatment to radar detection result, it is desirable to provide one kind possesses and calculate in real time and display, it is possible to increase the method that the Intellisense of detection accuracy detects fusion treatment.The technical scheme is that：Using existing global geographic environmental data, the Intellisense detection system based on geographical environment is created using the method for computer combination DSP hardware, perceive the transmission of detection geographical data using TCP/IP internetwork connection modes between computer terminal and DSP ends；And in a computer, calibration position coordinate, using geographical basic environment data around obtaining, all external geographical basis data sources are transformed into local data source format, obtain general geographical basis data by the geographical data of generation Intellisense detection；The geographical data of the radar Intellisense detection of mesh generation is pressed in generation；DSP combinations geographical data carries out Intelligent Fusion calculating, and fusion treatment obtains detection data.
Description
Technical field
The present invention relates to a kind of method used when target acquisition is carried out in radar system, more particularly to a kind of knot
Close the method that geographical environment carries out fusion treatment to radar detection result.
Technical background
Geo-spatial information science is with skies such as global positioning system (GPS), GIS-Geographic Information System (GIS), remote sensing (RS)
Between information technology be main contents, and with computer technology and mechanics of communication be main technical support, for gathering, measuring, divide
Analysis, storage, management, display, propagate and application and the earth and spatial distribution about data a comprehensive and integrated Information Center
Learn and technology, Spatial information processing includes：RS information processings, GIS information processings, GPS information process three aspects.Geography information
It is " GeoscienceInformation System " that system GIS is sometimes referred to as.It is a kind of specific highly important space information system.It is in meter
Under calculation machine hardware and software system is supported, to the relevant geographical distribution number in earth top layer (including atmosphere) space all or in part
According to being acquired, store, manage, computing, the technological system analyzing, be shown and described.Intelligent environment is a kind of based on calculating, letter
The Internet of Things space environment of message communication equipment and various perception and display device, its basic point of departure is that computer is embedded into day
In often life and working environment or everyday tools, allow computer to be disappeared from the sight line of people in itself, enable people at any time
Everywhere, the powerful ability of computer and its unlimited information service for bringing conveniently and freely are enjoyed, while will not also disperse people
Notice.Intelligent environment has merged the technologies such as ubiquitous calculating, ubiquitous communication and man-machine interaction in itself,
For people provide a kind of electronic environment with intelligent characteristic.Data perception is that intelligent environment provides the user personalized service
Premise, it is related to the collection of surrounding environment and individual data items and represents.Data fusion be then perception data is carried out it is many-sided,
At many levels, multi-level comprehensive fusion treatment.With people for the degree of concern more and more higher of environmental problem, it is necessary to collection
Environmental data is also more and more.Prior art is usually deployed a large amount of sensor nodes to obtain precise information in monitored area,
Be likely to be breached it is thousands of, it is even more many.The extensive property of sensor network includes both sides implication:On the one hand it is sensor
Node distribution carries out forest fire protection using sensor network in very big geographic area, such as in original fully stocked wood and environment is supervised
Survey, it is necessary to dispose substantial amounts of sensor section, point node may be operated in open-air atmosphere, be subjected to Exposure to Sunlight, wind, drenched with rain, or even
Destroyed by human or animal.On the other hand, sensor node deployment is very intensive, in the less space of area, dense deployment
Substantial amounts of sensor node.Limitation and sensor node huge amount due to monitored area environment, it is impossible to artificial " to shine
Turn round and look at " each sensor node, the maintenance of network is very difficult can even not to be safeguarded.In sensor network application, normal conditions
Lower sensor node is placed on the place without foundation structure, and the position of sensor node can not accurately set in advance, node
Between mutual neighborhood also do not know in advance.Sensor node storage capacity and communication capacity are relatively weak, by little Rong
Amount battery is powered.From network function, each sensor node will also in addition to carrying out local information and collecting with data processing
The data that the forwarding of other nodes comes are stored, managed and merged.During sensor network use, operative sensor section
Point due to depleted of energy or environmental factor cause failure, also have some nodes in order to make up failure node, increase monitoring accuracy and
Add in network, the node number so in sensor network is just dynamically increased or reduced, so that the topology of network
Structure dynamically changes therewith.The self-organization of sensor network will can adapt to the dynamic change of this network topology structure.
The topological structure of sensor network probably due to following factors and change:1. environmental factor or electric energy exhaust the sensor section for causing
Point failure or failure；2. changes in environmental conditions is likely to result in the change of wireless communication link bandwidth, in addition when it is disconnected when it is logical.Due to single
The service behaviour of sensor, under some environmental conditions, system cannot be monitored.Such as, monitored for the visible ray commonly used
System, just cannot normally monitor at night.For Infrared Monitor System, the details monitoring effect to scene is bad, and target is sometimes
It is difficult to differentiate between.Therefore, using the conventional monitoring systems of single-sensor, cannot work round-the-clock, all the period of time, be that public safety is protected
Barrier leaves dead angle, and the prevention in advance and ex-post analysis to occurred events of public safety bring difficulty.In order to solve these problems, very
The method that many researchers propose many background modelings, its basic skills is to calculate the moment with same point in moment two field pictures
Displacement, obtain the movement velocity of the point.Computationally intensive, the poor real of the method.In imaging, transmission, storage, treatment, aobvious
Show etc. in the realization of links, technical difficulty is larger, and cost is also high, at present, it is difficult in Intelligent Fusion information Perception system
Realize application.And non-line-of-sight investigation is carried out to air activity information.It is usually that this is carried out using radar in the case of existing
Item work.Radar detection carries out the difficulty that air activity information detection is faced by determining it the characteristics of itself, due to multiple
The influence of miscellaneous geographical environment, target information mixes in geographical environment so that the detection to true air information situation becomes very
It is difficult.One geographical environment of complexity is simplified, influence of the geographical environment to air activity information detection is become very low,
This is accomplished by a radar detection result and surrounding geographical environment combines and processed, and could release the influence of geographical environment.
The application of electronic computer, can by electronic computer technology combining geographic information environment to realize that this functionality is laid a good foundation
It is preferably minimized with the influence geographical environment to radar detection.In radar detection target, it is necessary to clutter point is arranged more than possible
Remove, false-alarm could be reduced, mitigate radar asorbing paint and treatment workload, improve the ability of radar detection target.But it is current
Radar-probing system is generally basede on two-dimensional stage and aerial target (i.e. moving air target) is detected, and two-dimentional description pattern is deposited
In following deficiency, it is impossible to intuitively know the surrounding enviroment of radar disposition, it is impossible to accurately, intuitively obtain by after the influence of topography
Investigative range in radar detection entire scope and different height layer, it is impossible to three-dimensional space that is accurate, intuitively perceiving aerial target
Between position and property information.
The content of the invention
The purpose of the present invention is directed to the weak point of prior art presence, there is provided one kind possesses and calculate in real time and show,
Detection accuracy can be improved, is distributed based on geographical environment around radar, Intellisense detection carried out to radar detection result and is melted
The method for closing treatment.
Above-mentioned purpose of the invention can be realized that one kind is entered with reference to geographical environment to radar detection result by following measures
The method of row fusion treatment, it is characterised in that comprise the following steps：Geographical position according to residing for radar, uses the existing whole world
Geographical data, the intelligence based on geographical environment is created using the method for computer combination digital signal processor DSP hardware
Detection system is perceived, the geographical ring of perception detection is carried out using the connected mode of TCP/IP networks between computer terminal and DSP ends
The transmission of border data；And in a computer, radar absolute position and due north are demarcated, obtain the geographical basic environment of surrounding
Data, the geographical data detected using this geographical data generation Intellisense, by all external geographical basis data
Source is transformed into local data source format, obtains general geographical basis data；Local data source storage is stored using file mode,
The definition of native data formats file name and file content is carried out to local data source storage file, mesh generation is pressed in generation
The geographical data of radar Intellisense detection；After radar detection provides original detection data, DSP is according to the thunder for receiving
Up to detection data, Intelligent Fusion calculating is carried out with reference to geographical data, Intelligent Fusion treatment is carried out to detection data, obtain new
Detection data.
The present invention has the advantages that compared to prior art.
Possess and calculate in real time and display.Geographical position of the present invention according to residing for radar, uses existing global geographic ring
Border data, the Intellisense radar-probing system based on geographical environment, and structure are created using the method for computer combination DSP hardware
The vivid three dimensional geographical environment comprising information such as the various map elements vector datas such as landform, landforms is built, has been realized intricately
The real-time calculating and display of radar three-dimensional detection power range and two dimensional height layer section under the conditions of shape.Using geographical data
All external geographical basis data sources are transformed into local data source lattice by the geographical data needed for generation Intellisense detection
Formula, local data source is stored using file mode；File name is carried out to local data source storage file and file content is determined
Justice, the radar Intellisense that mesh generation is pressed in generation detects required geographical data；After generation geographical data, can be with
Make graphically to be modified geographical data；Revised geographical data can be entered by the way of three-dimensional
Row is checked；It is this to be distributed based on geographical environment around radar, Intellisense detection fusion treatment knot is carried out to radar detection result
Geographical data is closed, intuitively geographical environment around can be checked.
Detection accuracy can be improved.The present invention is complete respectively in two parts using the method for computer combination DSP hardware
Into corresponding function, a part is present in terminal computer, and another part is present in DSP, the perception based on geographical environment
It is to run in dsp that detection fusion treatment is specifically calculated, and geographical data prepares to be completed in terminal computer.Work as radar
After detection provides original result of detection, result of detection data are calculated, check it whether in geographical occlusion area, such as
Fruit then removes in region using this original result of detection as false-alarm point, and information to detecting is entered based on geographical environment
Row fusion treatment, the influence surrounding environment to result of detection is reduced to minimum, detection accuracy is greatly improved, compared to it
It is without the detection system combined with geographical data, and detection is accurate high.
Brief description of the drawings
Fig. 1 is the operational flow diagram that the present invention carries out fusion treatment with reference to geographical environment to radar detection result.
Fig. 2 is the geographical data generation schematic diagram of Fig. 1 Intellisenses detection.
Fig. 3 is the schematic flow sheet that Fig. 1 checks geographical data around radar.
Fig. 4 is Fig. 1 Intellisenses detection geographical data amendment schematic diagram.
Fig. 5 is geographical data transfer process schematic diagram around Fig. 1.
Fig. 6 is that Fig. 1 carries out Intellisense detection fusion treatment schematic flow sheet using geographical environment.
Specific embodiment
Refering to Fig. 1.According to the present invention, it is respectively completed in two parts accordingly using the method for computer combination DSP hardware
Function.Intellisense detection based on geographical environment is divided into two parts, and a part is present in terminal computer, another part
It is present in DSP.The specific calculating of Intellisense detection is run in dsp, and geographical data is generated in terminal computer.
In computer, radar absolute position and due north are demarcated first, the geographical basic environment data of surrounding are obtained, using this place
All external geographical basis data sources are transformed into this by the geographical data needed for reason environmental data generation Intellisense detection
Ground data source format, obtains general geographical basis data；It is right according to network style after obtaining general geographical basis data
Geographical basis data are processed, and are stored according to the filename and file content form made by oneself.Local data source is using text
Part mode is stored；The definition of file name and file content is carried out to local data source storage file；According to the dress of radar site
Order the geographical data detected using geographical basis data and by mesh generation generation radar Intellisense.Generation radar intelligence
After perceiving the geographical data of detection, with reference to the friendly man-machine interface of computer, to the geographical environment number of Intellisense detection
According to being modified.After the geographical data for having obtained Intellisense detection, to the ground near radar by the way of three-dimensional
Reason environment carries out display and checks.After radar detection provides original detection data, DSP according to the GPR Detection Data for receiving,
Intelligent Fusion calculating is carried out with reference to geographical data, Intelligent Fusion treatment is carried out to detection data, obtain new detection data.
The external geographical basis environmental data for having multiple format can be used, and the external data source format that the present embodiment is used is
SRTM SRTM (Shuttle Radar Topography Mission) data.In order to allow data
The compatible various data forms in source, therefore data conversion need to be carried out between external geographical basis data source and local geographical data source,
All external geographical basis data sources need to be transformed into local data source format.Local data source is stored using file mode, therefore is needed
The definition of file name and file content is carried out to local data source storage file, local data source storage is with longitude and latitude
5 degree of range sizes carry out mesh generation.And then carry out net in the horizontal and vertical distance according to 5 meters in the range of 5 degree of grids
Lattice are divided.
Native data formats filename names rule for " A-B.CDEM ", and A-B is two integers, and insufficient section mends 0,
Wherein, CDEM is the data form of storage, and A, B value rule are shown in formula 1 and formula 2.
In native data formats file grid data put in order be since the upper left corner in region, according to from a left side to
The right side, order from top to bottom is discharged, and the data form hereof of the data value on mesh point is shown in Table 1.
The local data source storage format of table 1
| Sequence number | Content | Remarks |
| 1 | Check bit | 1, it is worth the ranks value modulus 2 where mesh point |
| 2 | Mesh point height value | 15, position storage order is low after first height |
So, by after data conversion, any external geographical data source format can include this according to data above form
Used in embodiment.
Refering to Fig. 2.In order to extend and using needs, the Intellisense used using the generation of CDEM forms environmental data is detected
During required geographical data, stored using 5 meters of checkered manners, the data memory format of 5 meters of checkered manners is left with region
Inferior horn is origin, and grid middle position is according to radar, and mode from down to up is stored to data from left to right.Due to
This radar operating range is 6 kilometers, therefore size of data is stored according to 2401 rows and 2401 row.Intellisense is generated in Fig. 1
Detection geographical data has been cost function, and the geographical data of generation is preserved according to method as shown in Figure 2.
After ambient intelligence perceives detection geographical data generation, the geographical environment needed for being obtained according to below equation
Data,
Wherein, iCol is row, and iRow is row, and iLocal is position, and iCheck is verified to calculate, and dR is the relative radar of listed point
Distance, dA is the angle of relative radar, and dE is the elevation angle of relative radar.
Refering to Fig. 3.After the geographical data of surrounding is generated, can check that Intellisense is detected by the way of three-dimensional
Required geographical data.Based on graphic package interface OpenGL (Open Graphics Library), engine is initial
Change, read Intellisense detection geographical data, using geographical data around gridding method combination carry out grid create and
Coordinate projection is converted and texture mapping, shows surrounding geographical environment, is carried out geographical environment and is checked, Intellisense is checked in Fig. 1
Detection geographical data has been cost function.OpenGL refers to and defines one across programming language, cross-platform DLL
The professional graphic package interface of specification.It is used for 3-D view (two dimension also can), is powerful One function, calls convenient
Underlying graphics storehouse.Such that it is able to intuitively recognize geographical environment around.
Refering to Fig. 4.Because global geographical data is not very accurate, and geographical environment compares radar detection influence
Greatly, the geographical data therefore needed for need to being detected to Intellisense be modified.Devise the mould to geographical data amendment
Block, in this module, using the good human-computer interaction interface of computer nowadays, interface is changed by geographical data, is used
Artificial method is directly modified to the geographical data in certain region.Radar is in the middle of geographical environment as shown in Figure 4
At position, the geographical data of display is 6000 meters of scopes around radar, and data grid is 2401*2401, and radar is in
1201 row 1201 arranges intersection, the grid in respective distance orientation in selection figure, you can carry out geographical environment number to relative position
According to amendment.
Refering to Fig. 5, Fig. 6.The input of the geographical data needed for carrying out Intellisense detection in a computer, transmits number
According to and complete to the artificial correction of geographical data, the correctness of verification transmission data, data transfer is finished, and obtains sensing point
Coordinate, calculate consecutive points, check whether geographical data causes on result of detection and block influence.It is then fusion detection knot
Really, it is no, recalculate consecutive points.Then in being transferred to DSP by the way of the network.Geographical ring needed for Intellisense detection
Border DSR, after the original detection data of radar is received in dsp, Intellisense spy can be carried out with reference to geographical data
Fusion calculation is surveyed, original detection data is processed.As shown in figure 4, the location of radar is 1201 rows and 1201 row handing over
At remittance, after distance, orientation, the pitch information of sensing point is known, the method according to ranks are calculated in formula 3, from distance zero
According to the orientation and pitch information of sensing point, it is overlapped with 5 meters of distance interval, is often superimposed once, just from geographical environment number
The height value at corresponding distance is obtained according to iLocal values in formula 3 in, then using BBN (Bayesian belief
Network) intelligent algorithm calculates influence of this height value to radar detection point, and domain of influence weighted value scope is 0~1, this
It is 0.7 that thresholding is taken in method, thinks that this height value have impact on the detection of radar completely if the domain of influence is more than or equal to 0.7, this
The original result of detection of radar is disarmed state.By this calculating i.e. can obtain influence of the surrounding environment to detection data, and ring
The related interference removal in border, and the unrelated detection data of environment is retained.
Claims (10)
1. a kind of method that combination geographical environment carries out fusion treatment to radar detection result, it is characterised in that including following step
Suddenly：Geographical position according to residing for radar, using existing global geographic environmental data, at computer combined digital signal
The method for managing device DSP hardware creates the Intellisense detection system based on geographical environment, is used between computer terminal and DSP ends
The connected mode of TCP/IP networks perceive the transmission of detection geographical data；And in a computer, to the absolute position of radar
Put and due north is demarcated, obtain the geographical basic environment data of surrounding, visited using this geographical data generation Intellisense
All external geographical basis data sources are transformed into local data source format by the geographical data of survey, obtain general geography
Basic data；Local data source storage carries out native data formats using file mode storage to local data source storage file
The geographical data of the radar Intellisense detection of mesh generation is pressed in the definition of file name and file content, generation；Work as thunder
After providing original detection data up to detection, DSP carries out intelligence according to the GPR Detection Data for receiving with reference to geographical data
Fusion calculation, Intelligent Fusion treatment is carried out to detection data, obtains new detection data.
2. as claimed in claim 1 to combine the method that geographical environment carries out fusion treatment to radar detection result, its feature exists
In：Being combined using computer and DSP carries out the Intellisense computing based on geographical environment, and Intellisense spy is carried out in a computer
Survey the input processing of geographical data and manual amendment is carried out to geographical data, then transmitted by the way of network
To in DSP, detection data is processed.
3. as claimed in claim 2 to combine the method that geographical environment carries out fusion treatment to radar detection result, its feature exists
In：After amendment geographical data, checked by the way of three-dimensional, check errorless geographical data using network
Mode is sent in DSP, after DSP receives GPR Detection Data, Intelligent Fusion calculating is carried out with reference to geographical data, to detection
Data are processed.
4. as claimed in claim 3 to combine the method that geographical environment carries out fusion treatment to radar detection result, its feature exists
In：After general geographical basis data are obtained, according to network style, geographical basic data is processed, according to what is made by oneself
Filename and file content form are stored.
5. as claimed in claim 4 to combine the method that geographical environment carries out fusion treatment to radar detection result, its feature exists
In：According to the bookbinding of radar site, using geographical basis data, the geography of the radar Intellisense detection of mesh generation is pressed in generation
Environmental data.
6. as claimed in claim 5 to combine the method that geographical environment carries out fusion treatment to radar detection result, its feature exists
In：Local data source storage is to carry out mesh generation with 5 degree of range sizes of longitude and latitude.
7. the method that the combination geographical environment as described in claim 1 or 6 carries out fusion treatment to radar detection result, its feature
It is：Native data formats filename names rule for " A-B.CDEM ", and A-B is two integers, and insufficient section mends 0, its
In, CDEM is the data form of storage, and A, B value rule are
8. as claimed in claim 7 to combine the method that geographical environment carries out fusion treatment to radar detection result, its feature exists
In：In order to extend and using needs, using the geographical ring needed for the Intellisense detection that the generation of CDEM forms environmental data is used
During the data of border, stored using 5 meters of checkered manners, the data memory format of 5 meters of checkered manners is, with the region lower left corner as origin, to press
Grid middle position is according to radar, mode from down to up is stored to data from left to right.
9. as claimed in claim 8 to combine the method that geographical environment carries out fusion treatment to radar detection result, its feature exists
In：After ambient intelligence perceives detection geographical data generation, the geographical data needed for being obtained according to below equation.
Wherein, iCol is row, and iRow is row, and iLocal is position, and iCheck is verified to calculate, and dR is the relative radar of listed point
Distance, dA is the angle of relative radar, and dE is the elevation angle of relative radar.
10. as claimed in claim 9 to combine the method that geographical environment carries out fusion treatment to radar detection result, its feature exists
In：After the geographical data of surrounding is generated, the required geographical environment number of Intellisense detection is checked by the way of three-dimensional
According to based on graphic package interface OpenGL, using geographical data around gridding method combination, carrying out geographical environment around
Display；After distance, orientation, the pitch information of sensing point are known in front end, according in formula 3 calculate ranks method, from away from
According to the orientation and pitch information of sensing point away from zero, it is overlapped with 5 meters of distance interval, is often superimposed once, just from geography
The height value at corresponding distance is obtained according to iLocal values in formula 3 in environmental data, then using intelligent algorithm BBN
Influence of this height value to radar detection point is calculated, domain of influence weighted value scope is 0~1.
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| CN111460066B (en) * | 2020-03-30 | 2023-10-13 | 拉扎斯网络科技（上海）有限公司 | Data processing method, device, server and storage medium |
| CN115032605A (en) * | 2022-08-10 | 2022-09-09 | 中国航天科工集团八五一一研究所 | Radar target system analysis method based on target capability portrait |
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