CN106842165A - One kind is based on different distance angular resolution radar centralization asynchronous fusion method - Google Patents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- G—PHYSICS
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- 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
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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
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
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Abstract
The invention discloses one kind based on different distance angular resolution radar centralization asynchronous fusion method, it is related to different distance resolution radar to measure alignment and multi-radar data fusion technical research.The present invention initially sets up target motion and measurement equation under the polar coordinate system of radar；Then divided using space lattice, the method alignd with grid is on the radar measurement alignment of data of different distance and angular resolution to identical size, then data fusion is carried out to the metric data of multiple radars using the method for centralized asynchronous fusion, and the data after fusion is processed using DP TBD methods and is recovered target trajectory.The present invention efficiently solves the problems, such as that the radar of different distance in actual applications and angular resolution is difficult by the dynamic programming algorithm based on tracking before detection and carries out central fusion, it is achieved thereby that carrying out centralized asynchronous fusion to different distance and angular resolution radar measurement, the tracking effect to weak signal target can be effectively lifted.
Description
Technical field
The invention belongs to Radar Technology field, it is related to different distance resolution radar to measure alignment and multi-radar data fusion
Technical research.
Background technology
Tracking (track-before-detect) is that TBD technologies are that target is entered in the case of low signal to noise ratio before detection
A kind of technology of row detect and track.Difference with general detection method is that it uses a kind of new thought：In list
Frame in does not announce testing result, but by single frames echo data information digitalization and stores, after multiframe data processing
The flight path of testing result and target is announced simultaneously.Its essence is to carry out Frame accumulation by echo signal, highlights target letter
Clutter reduction interference while breath, with the temporal raising for accumulating and exchanging signal to noise ratio for, calculation is tracked after solving traditional detection
The problem that method target information useful caused by processing each frame data may lose, is effectively improved strong miscellaneous
Detect and track ability of the radar to weak signal target under ripple, strong jamming, low signal-to-noise ratio.
Realizing the algorithm of TBD technologies has a lot, including Dynamic Programming (Dynamic Programming), particle filter
(Particle Filter), Hough transformation (Hough Transform), maximum likelihood probability data fusion (ML-PDA) etc..
Wherein, track algorithm (DP-TBD) has certain mobility with permission target before the detection based on Dynamic Programming, easily
The features such as realizing, it has also become the focus of current TBD area researches.In recent years, DP-TBD technologies track mesh as one kind detection
Target high efficiency method, wide development space is suffered from civil and military field.
For many radar fusion methods based on DP-TBD, by using the metric data of multiple radars, detection can be made
It is obviously improved and the spatial gain of target radar reflection cross section (RCS) can be obtained with tracking effect.But based on DP-
The multiple sensor integrated method research of TBD is few, and how a large amount of initial data of multiple sensors are processed and asynchronous measurement number
It is difficult to solve according to how to carry out fusion problem.In document " An Amplitude Association Dynamic
Programming TBD Algorithm with Multistatic Radar, Control Conference (CCC), 35th
In Chinese TCCT, 5076-5079,2016 ", many radar fusions based on DP-TBD algorithms are realized, and effectively improve
Tracking effect to weak signal target and achieve the spatial gain of target radar reflection cross section (RCS).But this model can only be solved
The certainly fusion problem of same distance and angular resolution radar, it is impossible to which the radar fusion for being applied to solve different distance resolution ratio is asked
Topic.
The content of the invention
The purpose of the present invention is directed to the defect of prior art presence, and research and design one kind can realize different distance and angle
The central fusion method based on DP-TBD of resolution radar is spent, the radar number of existing different distance and angular resolution is solved
According to the problem that can not be processed using dynamic (DP) planning algorithm based on tracking (TBD) before detection.
Solution of the invention is that space is carried out into grid division according to its distance and angular resolution first, then
Modeled under the polar coordinate system of true radar.Measure the radar number different distance resolution ratio by the way of space lattice alignment
According to snapping on identical lattice dimensions, a grid size for determination is selected first, all quantify to examine according to this grid size
Survey region.When radar lattice dimensions are less than this grid size, measurement maximum in grid in the range of closing on is taken out as this
Grid is measured.When radar coral lattice are more than grid size is determined, the measurement of these radar coral lattice is corresponded into specified grid respectively
Position, remaining grid measure be all the Gaussian reflectivity mirrors that 0 variance is 1 plus average.The method is efficiently solved in reality
The problem that the radar data of different distance and angular resolution can not be processed with DP-TBD methods in the application of border, and profit
With the central fusion of multiple radar datas, so as to realize the lifting to the detectability of weak signal target.
Present disclosure is described for convenience, and following term is explained first：
Term 1：Polar coordinate system (polar coordinates)
Polar coordinate system (polar coordinates) refers to the coordinate system being planar made up of limit, pole axis and polar diameter.
A fixed point O, referred to as limit are taken in the plane.Go out to carry out the coffin upon burial a ray Ox, referred to as pole axis from O.A fixed long measure is taken again, is led to
Normal predetermined angular is taken counterclockwise as just.So, in plane the position of any point P just can with the length ρ of line segment OP and
Angle, θ from Ox to OP determines have ordinal number that the polar coordinates of P points are known as to (ρ, θ), and ρ is referred to as the polar diameter of P points, and θ is referred to as P points
Polar angle.
Term 2：Grid
Grid refer to by detections of radar region division into several specified sizes rectangular grid, be the of DP-TBD algorithms
One step
Term 3：Central fusion
Central fusion will each radar metric data it is untreated, being passed directly to a fusion center carries out data
The amalgamation mode for the treatment of
Term 4：Fusion center
Will pass to the data of fusion center carrying out data processing and recovering the motion of target according to the algorithm specified
One data processing centre of state estimation
Term 5：Distance by radar and azimuth resolution
Radar resolution ratio refers to the echo data that two objects produce on radar screen can be distinguished
The minimum actual range for coming.Between angular resolution is imaging system or system element can differentially distinguish two adjacent objects minimum
Away from ability.Resolving power is typically represented opening angular dimension between two minimum discernable targets with imaging system.
Term 6：Radar Cross Section
Radar cross section Radar cross-section (RCS) refers to the reflection cross section of radar, the principle of radar detection
It is transmitting electromagnetic wave irradiation to body surface being reflected back reception antenna, and radar wave is irradiated to body surface according to original route return
Electromagnetic wave it is fewer, radar cross section is smaller, and radar is just smaller to the signal characteristic of target, and detection range is also shorter.
The present invention proposes a kind of based on different distance angular resolution radar centralization asynchronous fusion method, the method bag
Include：
Step 1：Each radar obtains the echo-signal for measuring space；
Step 2：Each radar carries out grid division according to the angle and distance resolution ratio of itself to the measurement space of itself；
Step 3：Determine the grid template in measurement space, each radar is measured into space according to selected grid template
Mapped, so as to each radar measurement space is carried out into size unification；
Step 4：By the measurement spatial data transmission after each radar map to fusion center, fusion center is sequentially in time
Each measurement spatial data is ranked up；
Step 5：Metric data to each radar same time is merged；
Step 6：Judge target trajectory according to data after fusion.
Further, the specific method of the step 2 is：
Step 2.1：Determine each radar intermediate-resolution radar placed in the middle；
Step 2.2：The radar measurement space is carried out into grid division, the range cell that each grid includes is determined
Number；
Step 2.3：Grid division is carried out to other radar measurement spaces, makes the distance list included in each grid after division
First number is identical with range cell number in radar grid in step 2.2.
Further, the specific method of the step 3 is：
Step 3.1：Each radar resolution radar grid division mode placed in the middle is defined as grid template；
Step 3.2：When grid mapping is carried out to the high-resolution radar higher than radar resolution in step 3.1, first really
Which grid that space corresponds to high-resolution radar is measured residing for each grid in fixed grid grid template, then from high resolution radar
The grid maximum corresponding to measuring value is selected in all grids of same template grid, the grid that will be selected is mapped to template grid
On lattice；
Step 3.3：When grid mapping is carried out to the low resolution radar less than radar resolution in step 3.1, using such as
Lower formula carries out grid mapping：
Z " (i, j)=Z (m, n), i=nrl× m, j=nθl×n；
Position is the measuring value of the grid of (i, j) after wherein Z " (i, j) represents mapping, and Z (m, n) is set to for mapping anteposition
The measuring value of the grid of (m, n), nrlRepresent the range resolution ratio of radar to be mapped and the range resolution ratio of grid template radar
Ratio, nθlThe ratio of the angular resolution of radar to be mapped and the angular resolution of grid template radar is represented, will be not mapped to
Grid to use average be 0, variance is that 1 white Gaussian noise is filled.
Beneficial effects of the present invention：The method of the present invention is using different distance and the radar spatial measurement grid of angular resolution
, in distance and bearing be modeled target upwards first by the method that lattice align with centralized asynchronous fusion, then enters space
The radar measurement data of different distance and angular resolution are carried out grid size alignment by row grid division, then by alignment
Metric data is sent to fusion center, then metric data is ranked up in chronological order and DP-TBD algorithms are moved processed,
So as to solve the problems, such as that different distance and angular resolution radar cannot realize data fusion with DP-TBD algorithms.The present invention
Advantage be that can effectively be lifted the detecting and tracking effect of target and to realize different distance and angular resolution by above method
Radar Data Fusion, solution procedure is simple.Present invention could apply to Radar Signal Processing and early warning radar tracking target etc.
Field.
Brief description of the drawings
Fig. 1 is the FB(flow block) of the method provided by the present invention.
Fig. 2 is of different sizes the showing of different distance and the division of angular resolution radar coral lattice in the specific embodiment of the invention
It is intended to.
Fig. 3 be in the specific embodiment of the invention many radars according to obtaining, the measurement time carries out measuring sequence and centralization is different
Walk the schematic diagram of fusion.
Fig. 4 be in the specific embodiment of the invention first radar to target accurate tracking number of times with the change feelings of frame number
Condition.
Fig. 5 be in the specific embodiment of the invention second radar to target accurate tracking number of times with the change feelings of frame number
Condition.
Fig. 6 be in the specific embodiment of the invention the 3rd radar to target accurate tracking number of times with the change feelings of frame number
Condition.
Fig. 7 is with the change of frame number in the specific embodiment of the invention by central fusion to target accurate tracking number of times
Change situation.
Specific embodiment
The main method using emulation experiment of the invention is verified that all steps, conclusion are all on MatlabR2013a
Checking is correct.With regard to specific embodiment, the present invention is described in further detail below.
Step 1：Determine moving equation；
There is P radar setting detection zone the inside, each radar treatment F frames, and targetpath is a series of continuous states, from
1st frame is as follows to P × F frame definitions：
Wherein P × F represents that fusion center carries out total treatment frame number of a Dynamic Programming；
Step 2：Space grating is measured to format；
Consider the region that detection zone is made up of distance and angle；The measurement space of selected determination lattice dimensions
Z″′；The measurement spatial choice is the mid-resolution radar in multiple radars；Because when resolution ratio is higher, radar with
The amount of calculation of track can be lifted largely, when radar resolution is relatively low, detection error increase；
It is N that the measurement space of this determination is evenly dividing on range directionr=a grid, divides in an angular direction
It is Nθ=b grid；Here grid division number is range resolution ratio and angular resolution based on radar；For more rise
High Resolution radar, it is assumed that its grid number on range direction is Nr'=a × nrh, grid number in an angular direction
For N 'θ=b × nθh；nxhRepresent measurement space lattice size and high-resolution radar with determination on angle direction on range direction
The ratio between lattice dimensions size；For low range resolution ratio radar, it is assumed that it is respectively N in r direction grids numberr"=a/nrl
With N "θ=b/nθl；
Step 3：Different distance and velocity resolution radar coral lattice number align；
Alignment includes rise digression degree resolution radar and low all snaps to determination grid apart from angular resolution radar
Size measurement space Z " '；For high-resolution radar, due to there is very how useless amount in the measurement of high-resolution radar
Survey, these are measured can only lift false-alarm probability but detection probability will not have been lifted；Therefore, for DP iteration, we adopt
A kind of method divided with bigger lattice dimensions.These most significant high-amplitude measuring values have been retained in new grid and have worked as
In.Conversion formula is as follows
Zk(i, j) represents the measuring value that kth frame measures space the inside (i, j) individual resolution cell.Z′kRepresent kth frame treatment
Metric data afterwards.And 1≤i≤a, 1≤j≤b, wherein M (i, j) represent all grids corresponding to coral lattice (i, j).
Mi,j={ (m, n):m∈(np×i-np+1,...,np×i),n∈(np×j-np+1,...,np×j)} (3)
For the radar of low range resolution ratio, in DP iteration, we employ a kind of smaller lattice dimensions size of division
Method.From original measurement space Zk(m, n) is arrived and is measured space Zk" (i, j) conversion formula is as follows
Zk" (i, j)=Zk(m,n) (4)
Zk" the measurement of kth frame after representative treatment.And 1≤i≤a, 1≤j≤b, 1≤m≤Nr", and i=nrl×
M, j=nθl×n.In this scene, Z is being measuredkIn each grid will corresponding to measure in Zk" in several grids.Therefore,
After converted, Z "kIn many grids do not include any measurement information.Due to believing not comprising any target in these grids
Breath, so the measurement information of these grids is 0 with average, variance is that 1 white Gaussian noise is filled.
Step 4：Central fusion
After grid matching is measured, the radar measurement grid of different resolution matches same grid size.Then
These metric data for coming from different radars are sent to fusion center.Fusion center is different from different resolution and different cycles
These metric data Z ' is received in step radar1…Z′k,Z″1…Z″k,Z″′1…Z″′k, then by these metric data according to acquisition
Time sequencing be ranked up.After collated, these metric data are Z1,Z2…ZP×F, (P represents radar total number, and F represents every
The totalframes of individual radar DP treatment).ZiRepresent according to the i-th frame metric data after time-sequencing.Afterwards using DP algorithm to this
A little metric data are processed.
Step 5：Value function and state transition function are initialized
In initial time i=1, the polar coordinate system equation of motion of targetAnd
Wherein I is value function, and Ψ is used for recording status transfer relationship, and current time is initial time, therefore makes it be equal to
Zero.
Step 6：Dynamic Programming recurrence
As 2≤i≤P × F, to the state x of the i-th framei, have
Set D is the region of state transfer.
Step 7：Flight path terminates
Threshold judgement was carried out to last frame value function maximum, was just judged to the presence of target more than thresholding：
Wherein VTThreshold value is represented, is drawn by Monte Carlo simulation, meet CFAR.
Step 8：Flight path is recalled：
It is rightAs i=P × F-1, P × F-2 ... ..., when 2,1, order
The status switch estimated：
The track of target motion can be recovered by step 1 to step 7.And the real motion track with target is compared
The tracking effect of the flight path that can be restored out.
Fig. 4 to Fig. 7 is respectively the accurate tracking design sketch of three radars of the different distance resolution ratio of implementation method use
With the accurate tracking design sketch after central fusion, its corresponding parameter list is table 1.And selected grid size and radar 2
Grid division size it is identical.
Table 1
By the specific embodiment of the invention as can be seen that the present invention can be very good to realize to different distance and angle point
The radar of resolution carries out centralized asynchronous fusion, and lifts the tracking effect to target using DP-TBD algorithms.
One of ordinary skill in the art will be appreciated that embodiment described here is to aid in reader and understands this hair
Bright principle, it should be understood that protection scope of the present invention is not limited to such especially statement and embodiment.This area
Those of ordinary skill can according to these technical inspirations disclosed by the invention make it is various do not depart from essence of the invention other are each
Plant specific deformation and combine, these deformations and combination are still within the scope of the present invention.
Claims (3)
1. a kind of based on different distance angular resolution radar centralization asynchronous fusion method, the method includes：
Step 1：Each radar obtains the echo-signal for measuring space；
Step 2：Each radar carries out grid division according to the angle and distance resolution ratio of itself to the measurement space of itself；
Step 3：Determine the grid template in measurement space, the measurement space of each radar is carried out according to selected grid template
Mapping, so as to each radar measurement space is carried out into size unification；
Step 4：By the measurement spatial data transmission after each radar map to fusion center, fusion center is sequentially in time to each
Spatial data is measured to be ranked up；
Step 5：Metric data to each radar same time is merged；
Step 6：Judge target trajectory according to data after fusion.
2. as claimed in claim 1 a kind of based on different distance angular resolution radar centralization asynchronous fusion method, it is special
Levy is that the specific method of the step 2 is：
Step 2.1：Determine each radar intermediate-resolution radar placed in the middle；
Step 2.2：The radar measurement space is carried out into grid division, the individual of the range cell that each grid includes is determined
Number；
Step 2.3：Grid division is carried out to other radar measurement spaces, makes the range cell included in each grid after division
Number is identical with range cell number in radar grid in step 2.2.
3. as claimed in claim 1 a kind of based on different distance angular resolution radar centralization asynchronous fusion method, it is special
Levy is that the specific method of the step 3 is：
Step 3.1：Each radar resolution radar grid division mode placed in the middle is defined as grid template；
Step 3.2：When grid mapping is carried out to the high-resolution radar higher than radar resolution in step 3.1, it is first determined grid
Which grid that space corresponds to high-resolution radar is measured residing for each grid in grid template, then from high resolution radar correspondence
The maximum grid of measuring value is selected in all grids of same template grid, the grid that will be selected is mapped to template grid
On；
Step 3.3：When grid mapping is carried out to the low resolution radar less than radar resolution in step 3.1, using following public affairs
Formula carries out grid mapping：
Z " (i, j)=Z (m, n), i=nrl× m, j=nθl×n；
Position is the measuring value of the grid of (i, j) after wherein Z " (i, j) represents mapping, and Z (m, n) is set to (m, n) for mapping anteposition
Grid measuring value, nrlThe ratio of the range resolution ratio of radar to be mapped and the range resolution ratio of grid template radar is represented,
nθlRepresent the ratio of the angular resolution of radar to be mapped and the angular resolution of grid template radar, the grid that will be not mapped to
To use average be 0, and variance is that 1 white Gaussian noise is filled.
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Cited By (13)
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| CN107340517A (en) * | 2017-07-04 | 2017-11-10 | 电子科技大学 | Tracking before a kind of multisensor multi frame detection |
| CN107346020A (en) * | 2017-07-05 | 2017-11-14 | 电子科技大学 | A kind of distribution for asynchronous multi-static radar system batch estimation fusion method |
| CN107783104A (en) * | 2017-10-17 | 2018-03-09 | 杭州电子科技大学 | Tracking before a kind of more asynchronous sensor single goals detection based on particle filter |
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| CN111427036A (en) * | 2020-04-14 | 2020-07-17 | 南京莱斯电子设备有限公司 | Short-baseline multi-radar signal level fusion detection method |
| CN111474528A (en) * | 2020-05-14 | 2020-07-31 | 中国电子科技集团公司第二十八研究所 | Accurate grid locking method for target composite tracking system in terminal area |
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