CN106872971B - A kind of flying bird multiple targets tracking based on Swarm Intelligent Model - Google Patents
A kind of flying bird multiple targets tracking based on Swarm Intelligent Model Download PDFInfo
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- CN106872971B CN106872971B CN201710155755.2A CN201710155755A CN106872971B CN 106872971 B CN106872971 B CN 106872971B CN 201710155755 A CN201710155755 A CN 201710155755A CN 106872971 B CN106872971 B CN 106872971B
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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
- G01S13/726—Multiple target tracking
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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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a kind of flying bird multiple targets tracking based on Swarm Intelligent Model, flying bird multiple targets tracking proposed by the present invention is based on the flock of birds target data obtained in real time, the swarm intelligence in-flight embodied using flock of birds is priori knowledge, comprehensively consider influence of the motion state to individual goal of adjacent objects, the speed and location information of individual goal are estimated, and combine the mass motion trend of multiple targets, the predicted state of individual goal is modified, realizes the tracking to target each in flock of birds.
Description
Technical field
The present invention relates to a kind of flying bird multiple targets tracking based on Swarm Intelligent Model belongs to low altitude airspace and supervises safely
Depending on technical field, it is related to Radar Targets'Detection and tracking.
Background technique
The important technical that bird radar is the Birds Nature Reserves such as estuarine wetland bird feelings observation and research is visited, it can be right
Birds population scale and mechanics in protection zone make accurate statistics, and relevant department is assisted to carry out the daily prison of protection zone birds
It surveys and research work, realization whole day migratory bird feelings monitors.
Bird feelings data processing is to visit the core of bird radar, and flock of birds target following is the important content of bird feelings data processing.It passes
The flying bird multiple targets tracking of system only focuses on the mass motion of flock of birds, only tracks to the center of flock of birds target, it is difficult to quasi-
Really count the quantity of flying bird target in flock of birds.
In fact, flock of birds still is able to cooperate with flight well in the case where no centralized control, by between individual
Interactive process keep " linear team " or " focus type team ".The flight of each individual follows following basic principle in flock of birds:
Individual speed individual adjacent thereto as far as possible is consistent, all individual avoids mutually touching between group center's aggregation, each individual
It hits, embodies certain " swarm intelligence ".
Summary of the invention
The purpose of the present invention is to solve the above problem, propose a kind of flying bird multiple targets based on Swarm Intelligent Model with
Track method, this method are suitable for realizing the accurate statistics to flock of birds destination number based on the flying bird multiple targets tracking for visiting bird radar.
A kind of flying bird multiple targets tracking based on swarm intelligence, includes the following steps:
Step 1, individual goal state estimations；
Step 2, multiple targets state estimation；
Step 3, individual goal state revision.
The present invention has the advantages that
Flying bird multiple targets tracking based on swarm intelligence can utilize " group's intelligence embodied in flock of birds collaboration flight
Can ", the motion state of each target in flock of birds is tracked, the destination number that accurate statistics flock of birds is included provides each target
Motion profile.
Detailed description of the invention
Fig. 1 is the schematic diagram of the flying bird multiple targets tracking of the invention based on Swarm Intelligent Model；
Fig. 2 is the adjustment location schematic diagram of the 1st frame image in the image sequence of the embodiment of the present invention；
Fig. 3 is the flying bird multiple targets tracking result schematic diagram of the embodiment of the present invention.
Specific embodiment
Below in conjunction with drawings and examples, the present invention is described in further detail.
The present invention is a kind of flying bird multiple targets tracking based on Swarm Intelligent Model, as shown in Figure 1, including following step
It is rapid:
Step 1, individual goal state estimations；
If the flying bird multiple targets being made of N number of flying bird target, it is combined into the location of k-1 moment all flying bird targets collectionWherein,Indicate the position of k-1 moment target i, i ∈ { 1,2 ..., N }, all flying birds
The sets of speeds of target isWherein,Indicate the speed of k-1 moment target i.Firstly, meter
Each target i is calculated at a distance from target all other in group, and picks out s with target i apart from nearest target, is denoted as setMeet the following conditions
In formula,Indicate the position of k-1 moment target j,Indicate the speed of k-1 moment target j, θ is apart from threshold
Value.
It is influenced in the movement velocity at k moment, each target i by s adjacent objects, discreet valueIt is calculated by following formula
In formula, θiAdjustment factor is estimated for speed.
Then position is estimated locating for k moment target i are as follows:
In formula,For the position of estimating of k moment target i, Δ t indicates the data update cycle of radar.
Step 2, multiple targets state estimation；
Position is estimated locating for the k moment all flying bird targets obtained based on step 1It calculates
Estimate position in multiple targets centerFor
Calculate the movement velocity of multiple targets entiretyFor
Meanwhile the flying bird multiple targets measurement information that the k moment obtains isWherein,When indicating k
The adjustment location of target i is carved, the position that multiple targets measure center is calculatedAre as follows:
Step 3, individual goal state revision；
Using step 2 obtain multiple targets state estimation result, to the flying bird individual goal speed discreet value in step 1 into
Row amendment, such as following formula
In formula,For the erection rate of k moment target i,Adjustment factor is corrected for speed.
Then the present position k moment target i is modified to
In formula,For the correction position of k moment target i.
Embodiment:
The flying bird multiple targets tracking result in middle two-dimensional space based on radar data proposes the present invention with reference to the accompanying drawing
The flying bird multiple targets tracking based on Swarm Intelligent Model illustrated and described.
The present invention is a kind of flying bird multiple targets tracking based on Swarm Intelligent Model, is included the following steps:
Step 1, individual goal state estimations；
As shown in Fig. 2, radar image size be 480 × 480, the image lower left corner be coordinate origin, X-axis horizontally to the right, Y-axis
Vertically upward, a group flying bird target is along X-axis negative direction horizontal movement.Preceding scan cycle is labeled as k-1=0, Current Scan week
Phase is labeled as k=1, the scan period Δ t=1 of radar.
In Fig. 2, the flying bird multiple targets being made of N=35 flying bird target, locating for k-1=0 moment all flying bird targets
Position beThe speed of all flying bird targets isAll targets with
" " marks in polar coordinate system.
By taking the target 1 in Fig. 2 as an example, firstly, calculating target i=1 at a distance from target all other in group, and pick out
S=3 apart from nearest target, is denoted as set with target i=1Meet the following conditions
In formula, θ=50 are distance threshold.The coordinate of target 1 is [252,356], the coordinate point of 3 targets adjacent thereto
Not Wei [239,356], [241,375] and [260,345]；The speed of target 1 is [- 9,0], the speed of 3 targets adjacent thereto
Degree is respectively [- 8, -0.5], [- 9.5,0] and [- 10, -1].
It is influenced in the movement velocity at k=1 moment, each target i=1 by s=3 adjacent objects, discreet value
It is calculated by following formula
In formula,For the movement velocity of k-1=0 moment target 1,For the speed of target j in 1 adjacent objects set of target
Degree, θ1Adjustment factor is estimated for speed.Based on formula (2), the movement velocity of target 1 is influenced by neighbouring 3 targets, enables θ1
=1, estimating speed is
Then estimating position locating for k=1 moment target 1 is
In formula,Position is estimated for k=1 moment target 1,For the position of k-1=0 moment target 1, Δ t=1 generation
The data update cycle of table sensor.In this example, the position of estimating of target 1 is
Step 2, multiple targets state estimation；
Position is estimated locating for the k=1 moment all flying bird targets obtained based on step 1
Calculate multiple targets center estimates positionFor
Calculate the movement velocity of multiple targets entiretyFor
Meanwhile the flying bird multiple targets measurement information that the k=1 moment obtains isCalculate multiple targets amount
The position of measured centerFor
Step 3, individual goal state revision；
The multiple targets state estimation result obtained using step 2, estimates the speed of the flying bird individual goal 1 in step 1
Value is modified, such as following formula
In formula,For the erection rate of k=1 moment target 1,Adjustment factor is corrected for speed.It enablesThen
Then 1 present position of k=1 moment target is modified to
In formula,For the correction position of k=1 moment target 1.
The state that k=1 moment all 35 targets have been demarcated in Fig. 3, the correction position of each target is represented by " ", by
A piece short-term represents its revised direction of motion, and is added in satellite map.
Claims (2)
1. a kind of flying bird multiple targets tracking based on Swarm Intelligent Model, includes the following steps:
Step 1, individual goal state estimations；
Obtain k moment, the movement velocity discreet value of each target iEstimate position
Specifically:
If the flying bird multiple targets being made of N number of flying bird target, it is combined into the location of k-1 moment all flying bird targets collectionWherein,Indicate the position of k-1 moment target i, i ∈ { 1,2 ..., N }, all flying birds
The sets of speeds of target isWherein,Indicate the speed of k-1 moment target i；Firstly, meter
Each target i is calculated at a distance from target all other in group, and picks out s with target i apart from nearest target, is denoted as setMeet the following conditions
In formula,Indicate the position of k-1 moment target j,Indicate the speed of k-1 moment target j, θ is distance threshold；
It is influenced in the movement velocity at k moment, each target i by s adjacent objects, discreet valueAre as follows:
In formula, θiAdjustment factor is estimated for speed；
Then position is estimated locating for k moment target i are as follows:
In formula,For the position of estimating of k moment target i, Δ t indicates the data update cycle of radar；
Step 2, multiple targets state estimation；
The k moment is obtained, multiple targets measure the position at center
Specifically:
Position is estimated locating for the k moment all flying bird targets obtained based on step 1Calculate group
Target's center estimates positionFor
Calculate the movement velocity of multiple targets entiretyFor
Meanwhile the flying bird multiple targets measurement information that the k moment obtains isWherein,Indicate k moment target
The adjustment location of i calculates the position that multiple targets measure centerAre as follows:
Step 3, individual goal state revision；
Obtain the correction position of k moment target i.
2. a kind of flying bird multiple targets tracking based on Swarm Intelligent Model according to claim 1, the step
Three specifically:
The multiple targets state estimation result obtained using step 2 carries out the flying bird individual goal speed discreet value in step 1
Amendment, such as following formula
In formula,For the erection rate of k moment target i,Adjustment factor is corrected for speed；
Then the present position k moment target i is modified to
In formula,For the correction position of k moment target i.
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| CN107783103B (en) * | 2017-09-26 | 2019-07-09 | 武汉三江中电科技有限责任公司 | A kind of flying bird tracking intelligent method of the lightweight with self-learning function |
| CN109242886B (en) * | 2018-09-06 | 2021-03-12 | 中国人民解放军63921部队 | Space cluster target motion trajectory modeling and forecasting method |
| CN110687532A (en) * | 2019-09-06 | 2020-01-14 | 中国人民解放军空军工程大学 | Multi-group target tracking system and method |
| CN112101443B (en) * | 2020-09-09 | 2023-10-20 | 中国航空工业集团公司雷华电子技术研究所 | Small group track starting method based on measurement processing under multi-group target scene |
| CN116644862B (en) * | 2023-07-24 | 2023-09-22 | 志成信科(北京)科技有限公司 | Bird flight trajectory prediction method and device |
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