CN106959441B - A kind of airport surface detection radar multipath false target track suppressing method - Google Patents
A kind of airport surface detection radar multipath false target track suppressing method Download PDFInfo
- Publication number
- CN106959441B CN106959441B CN201710110366.8A CN201710110366A CN106959441B CN 106959441 B CN106959441 B CN 106959441B CN 201710110366 A CN201710110366 A CN 201710110366A CN 106959441 B CN106959441 B CN 106959441B
- Authority
- CN
- China
- Prior art keywords
- track
- multipath
- candidate
- target
- echo
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
- G01S7/40—Means for monitoring or calibrating
-
- 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
Abstract
The invention discloses a kind of airport surface detection radar multipath false target track suppressing methods, the following steps are included: first, mechanism, the rule, feature generated according to scene surveillance radar multipath, the constraint of airdrome scene target motion path, airport geography information is made full use of, the irregular multipath that airdrome scene marks off different type or disturbance degree is easily sent out into region, functional areas；Secondly, in targetpath initial phase, the auxiliary prior information in region is easily sent out using multipath locating for target, differentiate the geometry site of potential multipath false target and real goal, the many factors integrated treatments such as combining target kinematics character, echo outer dimension, echo signal amplitude, echo durations number, judgement, inhibit the false target track as caused by multipath false echo.
Description
Technical field
It is a kind of from data level level inhibition airport surface detection radar the invention belongs to radar data processing technology field
The method that multipath echo false track generates.
Background technique
Scene surveillance radar is easy when detecting the aircraft in the regions such as airfield runway, taxiway, airplane parking area, access road, vehicle
Stronger multipath effect occurs, jamming target Detection And Tracking also results in BREAK TRACK, or leads to thunder when serious
False target track is originated up to automatic extraction equipment, increases air traffic control automation system burden.Ground, airport building, Sign Board,
Spurious echo caused by fence etc. reflects, is presented certain geometry site and motion feature, in machine with real goal often
The some specific regions in field are since the reflection radar electromagnetic wave in scene reverberation, face is easy to repeat that multipath effect frequently occurs, with week
Certain regularity or correlativity can be presented by enclosing target, environment.
Summary of the invention
Goal of the invention: the invention reside in provide a kind of airport surface detection radar multipath false target track inhibition side
Method.
Method of the present invention, comprising the following steps:
Step 1, the function type region of airdrome scene is divided: based on airdrome scene plan view (or satellite mapping, electronically
Figure) and surveillance radar echo video situation, it is moved according to scene moving target (aircraft of such as landing, vehicle for various purposes)
Rule, feature and the geographical conditions to take place frequently that road constraint limitation, radar multipath effect generate, by entire airport plane according to not
The polymorphic type region that congenerous and radar multipath effect are easily sent out carries out completeness division, i.e., each position in airport is divided into spy
Determine in type area, and the definition of BIT bit is carried out to area type value, obtains region multilayer graph；
Step 2, using radar base station as origin, region multilayer graph is converted into using orientation distance measurements under radar polar coordinate system
Change the traffic pattern static map of unit marks, to establish the expression of any position azran index and region under radar polar coordinates
Mapping relations one by one between types value；Under normal circumstances, orientation quantifying unit range 0~8191, apart from quantifying unit range
It is 0~8191；
Step 3, it is created potential in targetpath automatic initial phase based on the echo that radar real-time detects, i.e. point mark
The candidate track of newborn target；
Step 4, in the candidate track maintenance stage, candidate track is carried out at the association of multicycle point mark track data and maintenance
Reason counts the echo outer dimension of candidate track, signal amplitude, kinematics character (course, the speed of a ship or plane and its change rate) and persistently
Periodicity, each periodic searches have built up the reference object of formal track, construct false target caused by radar multipath echo
Geometric position topological relation between candidate track and the track position of real goal, and count the topological relation duration (with
Radar antenna scan period number is measured)；
Step 5, decision-making period is originated automatically in targetpath, according to the azran location information of candidate track, obtain
Its area type value deletes undesirable candidate track；
Step 6, if the BIT bit of multipath effect Yi Faqu is effective in the area type value of candidate track present position,
Whether candidate track (is scanned with the stable topology relationship duration of same reference object with radar antenna in judgment step 4
Periodicity calculates) it is greater than threshold value (threshold value is determined that threshold value 4 indicates 4 radar antenna scan period numbers by engineering experience),
If so, determining that it is the false target track with multipath echo, and delete processing is carried out, otherwise, it is determined that it is non-multipath
Echo class candidate track simultaneously carries out subsequent automatic flight path processing；
Step 7, in step 6, falling in multipath effect Yi Faqu, but reference object cannot be expressly identified as with multipath and
The candidate track of delete processing, based on airport moving target route of movement constrain, further judge its course whether with road side
Exist between compared with mitre, if so, being determined as may be false target track caused by multipath or other interference, deleting should
Candidate track, otherwise, it is determined that it is non-multipath echo class candidate track and carries out subsequent automatic flight path processing；
Step 8, if candidate track is in the multipath effect uncertain region divided in step 1, judge its no and same reference
The stable topology relationship duration of target is greater than threshold value, if so, the false target track with multipath echo is determined that it is,
And delete processing is carried out, otherwise, it is determined that it is non-multipath echo class candidate track and carries out subsequent automatic flight path processing (method is same
It is identical in step 6, judge whether candidate track with the stable topology relationship duration of same reference object is greater than threshold value, herein
Situation, threshold value generally take empirical value 5, in principle not less than the threshold value in step 6, can be determined by project situation)；
Step 9, to the candidate track of non-multipath echo class, based on target kinematics feature, echo outer dimension, echo letter
Area type in number amplitude, echo durations number and locating traffic pattern multilayer graph carries out comprehensive descision and simultaneously rises automatically
Beginning targetpath rejects false track, realize airdrome scene universe moving target is enrolled automatically (step 9 belongs to the prior art,
And non-present invention innovative point).
Wherein, step 1 includes the following steps:
Step 1-1 demarcates radar origin position, correcting plane figure and radar system error on airdrome scene plan view,
Overlapping display scene plan view and surveillance radar echo video；
Step 1-2 is based on airport geography information, draws various functional closed areas, realizes to the complete of airdrome scene
Property divide；It is various functionality closed areas include: runway, taxiway, lawn, access road, airplane parking area, multipath effect Yi Faqu,
Multipath blind zone and multipath effect uncertain region；
Step 1-3, definition region types value: Bit0 is runway, Bit1 is taxiway, Bit2 is lawn, Bit3 is communication
Road, Bit4 are airplane parking area, Bit5 be multipath effect Yi Faqu, Bit6 be multipath effect blind zone, Bit7 is that multipath effect is not true
Determine area；When area type value bit is 1, then it represents that corresponding region type is effective；
Step 1-4, artificial observation airdrome scene radar reflection video echo, the rule generated according to radar multipath effect,
The factors such as feature and scene moving target route of movement restrict, it is artificial to identify, confirm airdrome scene multipath effect Yi Faqu
(due to the aircraft of scene movement, vehicle by certain local electromagnetic wave strong reflection face/when be easy to induce multipath effect, multipath echo
In regularity, continually fall in the regional area), (real goal may be fallen in multipath echo for multipath effect blind zone
The inactive region such as aircraft, vehicle) and multipath effect uncertainty area, various functional closed area bases are drawn in step 1-2
On plinth, the regional area classified with multipath angle is drawn in superposition, obtains region multilayer graph；In the multilayer graph of region, same position
The overlay region of different functionalities closed area can be belonged to simultaneously.
Step 4 includes the following steps:
Step 4-1, on the basis of the candidate track of newborn target, in the sector using candidate track as orient core,
Between radar origin and the candidate track position of newborn target, search whether there is real goal track, and if it exists, then determining should
Target is the reference object of candidate track；
Step 4-2 records candidate track lot number and reference object lot number table in the maintenance stage of candidate track, and statistics is waited
It selects track and reference object to maintain the number of geometry of position topological relation, judges whether candidate's track is with multipath to be subsequent
False track caused by echo provides foundation.
In step 5, if there is the area type value BIT bit of multipath effect blind zone in the area type of candidate track
Effect, indicates that candidate track falls in multipath effect blind zone, then directly deletes the candidate track by falling in the generation of this area echo, keep away
Exempt from because may be false target track initiation caused by multipath effect.For example, the local lawn by runway can be by multiple definition
For multipath effect blind zone, the candidate track for falling in the region is forbidden originating automatically.
In step 6, the false target flight path processing for caused by with multipath echo is handled in two kinds of situation:
Situation one: inhibit to originate automatically with the consistent candidate track of the real goal direction of motion of reference, processing step
It is as follows:
Step 6-1-1, it is assumed that the kth after the creation of candidate trackiA radar antenna scan period carries out target and formally navigates
The starting decision of mark；
Assuming that candidate track course is dCandTrkCoursei, i=1,2 ..., ki, speed of a ship or plane dCandTrkSpeedi,
The course of reference object is dRefTrkCoursej, j=1,2 ..., kj, speed of a ship or plane dRefTrkSpeedj, wherein kj>ki≥4；
I, j respectively indicate the antenna scan period counting variable of candidate track and the antenna scan period counting variable of targetpath, kj
Indicate radar antenna scan period number；
Step 6-1-2 calculates separately the course difference of multicycle between candidate track and reference object using following formula
dDeltaCoursel, and between candidate track and reference object the multicycle speed of a ship or plane difference dDeltaSpeedl:
dDeltaCoursel=| dCandTrkCoursei-dRefTrkCoursej|,
dDeltaSpeedl=| dCandTrkSpeedi-dRefTrkSpeedj|,
Wherein, constant l >=4；
Step 6-1-3 counts the course dDeltaCourse of multicycle between candidate track and reference objectlIt navigates with candidate
The speed error dDeltaSpeed of multicycle between mark and reference objectlAll no more than threshold value, (two threshold values are engineering warp herein
Test value) number, if meeting " N/M " logical decision criterion, (n times judgement is set up in M logic judgment, and M >=N takes such as " N/M "
" 3/4 " has 3 times to meet judgment condition in that is, continuous 4 judgements；dDeltaSpeedlThreshold value takes 2 meter per seconds, and threshold value generally takes work
Journey empirical value), then determine that candidate track is consistent with the direction of motion of reference object, determine candidate track be by reference object compared with
Stablize the false target generated with multipath echo, delete processing candidate's track；If being unsatisfactory for decision rule, temporarily exclude
It is that false track is possible, carries out subsequent processing；
Situation two: being suppressed to reference object, radially feature rises and falls void caused by big, the complicated multipath that reflects more than twice
Decoy candidate's track, processing step are as follows:
Step 6-2-1, it is assumed that the kth after the creation of candidate trackiA radar antenna scan period carries out multipath echo
False track determines that quantifying unit number, azimuth width shared by target echo are respectively as follows: apart from width
nEchoShapeSizeUnitsi、nEchoAzimuthWidthi、nEchoDistanceWidthi；
Step 6-2-2 calculates separately the course difference of multicycle between candidate track and reference object by following formula
dDeltaEchoCoursemUnit is degree；The speed of a ship or plane difference of multicycle between candidate track and reference object
dDeltaEchoSpeedm, unit is meter per second；Quantifying unit number difference shared by neighbouring two target cycle echoes
nDeltaEchoShapeSizeUnitsm, unit is unit number；Neighbouring two target cycle echo bearing width differentials
nDeltaEchoAzimuthWidthm, unit is orientation quantifying unit；Neighbouring two periodic distance width differentials
nDeltaDistanceWidthm, unit is apart from quantifying unit:
dDeltaEchoCoursem=| dCandTrkCoursei-dCandTrkCoursei-1|,
dDeltaEchoSpeedm=| dCandTrkSpeedi-dCandTrkSpeedi-1|,
nDeltaEchoShapeSizeUnitsm=| nEchoShapeSizeUnitsi-nEchoShapeSizeUnitsi-1
|,
nDeltaEchoAzimuthWidthm=| nEchoAzimuthWidthi-nEchoAzimuthWidthi-1|,
nDeltaDistanceWidthm=| nEchoDistanceWidthi-nEchoDistanceWidthi-1|,
I=2 ... ki, m=1 ..., ki- 1,
Wherein, m indicates to calculate variable；
Step 6-2-3, Statistic analysis parameter dDeltaEchoCoursem、dDeltaEchoSpeedm、
NDeltaEchoShapeSizeUnits and nDeltaEchoAzimuthWidthm、nDeltaDistanceWidthmAll it is not less than
The number of threshold value determines the direction of motion basic one of candidate track and reference object if meeting " N/M " logical decision criterion
It causes, determines that candidate track is false target candidate's track caused by multiple reflections complexity multipath, delete candidate's track, if discontented
Sufficient decision rule then temporarily excludes to be that false track is possible, carries out subsequent processing.Under normal circumstances,
dDeltaEchoCoursem、dDeltaEchoSpeedm, nDeltaEchoShapeSizeUnits with
nDeltaEchoAzimuthWidthm、nDeltaDistanceWidthmThreshold value, and in " N/M " M, N value by engineering
It is empirically determined.
For example, according to project situation, the course difference dDeltaEchoCourse of targetm, speed of a ship or plane difference
dDeltaEchoSpeedm, quantifying unit number difference nDeltaEchoShapeSizeUnits and target echo shared by target echo
Azimuth width difference target echo is apart from width differential nDeltaEchoAzimuthWidthm、nDeltaDistanceWidthmDeng
Characteristic quantity threshold value take respectively 10 °, 5m/s, 20 unit numbers, 10 orientation quantifying units, 4 apart from quantifying unit etc., use
" 3/4 " logical decision criterion, i.e., there are 3 times or more for all characteristic quantities in continuous 4 judging process for each characteristic quantity difference
Both greater than characteristic threshold value situation, the visual target signature big rise and fall situation.
Step 7 includes the following steps:
Step 7-1, selected multipath effect Yi Faqu road (such as access road, taxiway, runway) two, center identification line
Endpoint；
Step 7-2 calculates the distance between position and two endpoints of center line of candidate track newest 4 historical junctures pair
Sequence:
(ATk1,BTk1),(ATk2,BTk2),(ATk3,BTk3),(ATk4,BTk4),
Wherein, k1, k2, k3, k4 indicate newest 4 historical junctures, ATk1Indicate k1 moment track position and centerline end point
The distance between A, ATk2Indicate the distance between k2 moment track position and centerline end point A, ATk3Indicate k3 moment track position
Set the distance between centerline end point A, ATk4Indicate the distance between k4 moment track position and centerline end point A, BTk1Table
Show the distance between the moment track position k1 and centerline end point B, BTk2Indicate k2 moment track position and centerline end point B it
Between distance, BTk3Indicate the distance between k3 moment track position and centerline end point B, BTk4Indicate k4 moment track position
The distance between centerline end point B, if ATk1>ATk2>ATk3>ATk4And BTk1<BTk2<BTk3<BTk4It sets up, then road vectors
Direction isCalculate road vectors directionWith the angle theta between the candidate track direction of motion；If ATk1<ATk2<AT<ATk4
And BTk1>BTk2>BTk3>BTk4It sets up, then road vectors direction isIt calculatesWith the folder between the candidate track direction of motion
Angle θ；
Step 8-3, it is contemplated that error existing for radar surveying, estimation and certainty, if angle theta is greater than (larger) threshold value,
Threshold value generally takes 10 degree of engineering experience value, can optionally can adjust.Then when track formal initial phase, then be considered as multipath or
False track caused by other interference then deletes candidate's track.
The method of the present invention is the mechanism generated according to scene surveillance radar multipath effect, rule, feature, airdrome scene mesh
Motion path constraint is marked, airport geography information is made full use of, airdrome scene is marked off into different type or disturbance degree
Irregular multipath easily sends out region, functional areas；In targetpath initial phase, make full use of the different function area of construction and radar more
This auxiliary prior information of the area Jing Yifa, differentiates the geometry site of potential multipath false target and real goal, in conjunction with mesh
The many factors integrated treatments such as mark kinematics character, echo outer dimension, echo signal amplitude, echo durations number are sentenced
Certainly, inhibit the false target track as caused by multipath false echo.
The utility model has the advantages that rule and feature that the present invention is generated according to scene surveillance radar multipath effect, propose a kind of base
In geography information and multiple target geometry site, combining target kinematics character, echo outer dimension, echo signal amplitude,
The many factors integrated treatment such as echo durations number and the constraint of airport roadway target sports rule, judgement, inhibit by more
False target track caused by diameter false echo provides for the advanced guidance control system of airdrome scene moving target and stablizes, is reliable
Track information is of great significance.Mechanism, rule and the feature that the present invention is generated according to scene surveillance radar multipath, track from
Dynamic initial phase, building radar multipath easily send out this auxiliary prior information of region, differentiate potential multipath false target and true mesh
Target geometry site, combining target kinematics character, echo outer dimension, echo signal amplitude, echo durations number
With many factors integrated treatment such as target present position geography information, judgement, inhibit the falseness mesh as caused by multipath false echo
Mark track, overcome in conventional radar track initiation method merely with the information such as target position, motion state carry out track initiation and
The problem of being easy to produce false track, the targetpath improved under the complex environment of airport originate accuracy automatically, so that it is guaranteed that
Scene surveillance radar provides the targetpath of high quality, high confidence level for the advanced guidance control system of airdrome scene moving target.
Compared with prior art, the present invention its remarkable advantage is: (1) according to airport geography information, airport radar multipath
The rule and the position that takes place frequently that effect generates, mark off different type for airdrome scene or irregular multipath easily send out region, functional areas,
Priori is assisted to inhibit the generation of false track caused by potential multipath echo to provide certain priori, multipath effect is improved and adjudicates
Accuracy.(2) mechanism generated according to field prison radar multipath effect, searches for reference object, constructs potential radar multipath
The geometry site of spurious echo and real goal, combining target kinematics character, echo outer dimension, echo-signal width
The many factors such as degree, echo durations number carry out integrated treatment, judgement, inhibit the falseness mesh as caused by multipath effect echo
Mark track initiation.(3) region prior information is easily sent out using radar multipath, according to the road planning constraint of airport target movement, sentenced
Whether disconnected echo kinematics character meets constraint rule, inhibit it is potential because caused by multipath echo or other interference false target navigate
Mark starting.
Detailed description of the invention
Fig. 1 is that airport surface detection radar multipath false track inhibits process flow diagram.
Fig. 2 is that the surface area based on airport plane divides signal.
Fig. 3 is that the area type based on radar polar coordinates " azimuth-range " quantifying unit identifies schematic diagram.
Fig. 4 is geometric topo-relationship of the radar with multipath echo and reference object position.
Fig. 5 a and Fig. 5 b be fall in lawn slide aircraft with multipath echo.
Fig. 6 be fall in runway slide aircraft with multipath echo.
Fig. 7 is that the radar return direction of motion and road axis form an angle schematic diagram.
Specific embodiment
The present invention is done with reference to the accompanying drawings and detailed description and is further illustrated.The present invention being capable of basis
Rule, feature and the constraint of scene moving target route of movement that airport surface detection radar multipath effect generates, by airdrome scene
It marks off different function type and radar multipath effect easily sends out region；In targetpath automatic initial phase, construction is made full use of
Different function area and this auxiliary prior information of the area radar multipath Yi Fa, search for reference object, construct potential radar multipath
The geometry site of spurious echo and real goal, combining target kinematics character, echo outer dimension, echo-signal width
The many factors such as degree, echo durations number carry out integrated treatment, judgement, inhibit the falseness mesh as caused by radar multipath effect
Mark track initiation.
It is illustrated with reference to Fig. 1 of the invention a kind of from data level level inhibition airport surface detection radar multipath echo falseness boat
The method that mark generates.
Illustrate that step 1, the completeness of step 2 airdrome scene different function class area divide in conjunction with Fig. 2, Fig. 3, multipath effect
Easily identification, the determination in hair region, and candidate track present position area type acquisition methods.
Illustrate the geometric position topological relation construction method of step 5 candidate track and real goal in conjunction with Fig. 4.
Illustrate that false target candidate track caused by coherent multipath effect in step 6~step 9 is deleted in conjunction with Fig. 5~Fig. 7
Method.
As shown in Figure 1, the present invention includes the following steps:
Step 1, the function type region of airdrome scene is divided: based on airdrome scene plan view (or satellite mapping, electronically
Figure) and surveillance radar echo video situation, it is moved according to scene moving target (aircraft of such as landing, vehicle for various purposes)
Rule, feature and the geographical conditions to take place frequently that road constraint limitation, radar multipath effect generate, by entire airport plane according to not
The polymorphic type region that congenerous and radar multipath effect are easily sent out carries out completeness division, i.e., each position in airport is divided into spy
Determine in type area, and the definition of BIT bit is carried out to area type value, as shown in Fig. 2, obtaining region multilayer graph；
Step 2, using radar base station as origin, region multilayer graph is converted into using orientation distance measurements under radar polar coordinate system
Change the traffic pattern static map of unit marks, to establish the expression of any position azran index and region under radar polar coordinates
Mapping relations one by one between types value；Under normal circumstances, orientation quantifying unit range 0~8191, apart from quantifying unit range
It is 0~8191, as shown in Figure 3；
Step 3, it is created potential in targetpath automatic initial phase based on the echo that radar real-time detects, i.e. point mark
The candidate track of newborn target；
Step 4, in the candidate track maintenance stage, candidate track is carried out at the association of multicycle point mark track data and maintenance
Reason counts the echo outer dimension of candidate track, signal amplitude, kinematics character (course, the speed of a ship or plane and its change rate) and persistently
Periodicity, each periodic searches have built up the reference object of formal track, construct false target caused by radar multipath echo
Geometric position topological relation between candidate track and the track position of real goal, and count the topological relation duration (with
Radar antenna scan period number is measured)；
Step 5, decision-making period is originated automatically in targetpath, according to the azran location information of candidate track, obtain
Its area type value deletes undesirable candidate track；
Step 6, if the BIT bit of multipath effect Yi Faqu is effective in the area type value of candidate track present position,
Whether candidate track with the stable topology relationship durations number of same reference object is greater than threshold value (threshold value one in judgment step 4
As take empirical value 4, can be determined according to project situation), if so, determining that it is the false target track with multipath echo, go forward side by side
Row respective handling；
Step 7, in step 6, fall in multipath effect Yi Faqu but reference object cannot be expressly identified as with multipath and
The candidate track of delete processing, based on airport moving target route of movement constrain, further judge its course whether with road side
Exist between compared with mitre, if so, being determined as may be false target track caused by multipath or other interference, deleting should
Candidate track, otherwise, it is determined that it is non-multipath echo class candidate track and carries out subsequent automatic flight path processing；
Step 8, if candidate track is in multipath effect uncertain region defined in step 1, judge whether it may be ginseng
It is false target candidate track caused by simple multipath echo according to target, consistent with referring to real goal direction of motion hard constraints
(method with identical in step 6, judgement selects whether track with the stable topology relationship durations number of same reference object is greater than threshold
Value, threshold value generally take empirical value 5, determine constraint condition threshold value, can determine according to project situation), if so, determining candidate's track
For multipath echo false target candidate's track, make delete processing；It goes forward side by side if it is not, then regarding it as non-multipath echo class candidate's track
The subsequent automatic flight path processing of row；
Step 9, to the candidate track of non-multipath echo class, based on target kinematics feature, echo outer dimension, echo letter
Area type in number amplitude, echo durations number and locating traffic pattern multilayer graph carries out comprehensive descision and simultaneously rises automatically
Beginning targetpath, rejects false track, and airdrome scene universe moving target is enrolled in realization automatically.
Wherein, step 1 includes the following steps:
Step 1-1 demarcates radar origin position, correcting plane figure and radar system error on airdrome scene plan view,
Overlapping display scene plan view and surveillance radar echo video；
Step 1-2 is based on airport geography information, draws various functional closed areas, realizes to the complete of airdrome scene
Property divide；It is various functionality closed areas include: runway, taxiway, lawn, access road, airplane parking area, multipath effect Yi Faqu,
Multipath blind zone and multipath effect uncertain region,
Step 1-3, definition region types value: Bit0 is runway, Bit1 is taxiway, Bit2 is lawn, Bit3 is communication
Road, Bit4 are airplane parking area, Bit5 be multipath effect Yi Faqu, Bit6 be multipath effect blind zone, Bit7 is that multipath effect is not true
Determine area；When area type value bit is 1, then it represents that corresponding region type is effective；
Step 1-4, the airdrome scene reflection video echo that manually observation radar detects for a long time, according to radar
The factors such as rule, feature and the scene moving target route of movement restrict that multipath effect generates identify, confirmation airdrome scene
Multipath effect Yi Faqu (due to the aircraft of scene movement, vehicle by certain local electromagnetic wave strong reflection face/when be easy to induce multipath
Effect, multipath echo in regularity, continually fall in the regional area), (real goal is with multipath for multipath effect blind zone
Echo may fall in the inactive region such as aircraft, vehicle) and multipath effect uncertainty area, various functions are drawn in step 1-2
Property closed area on the basis of, the regional area classified with multipath angle is drawn in superposition, obtains region multilayer graph；In region multilayer graph
In, same position can belong to the overlay region of different functionalities closed area simultaneously.
Step 4 includes the following steps:
Step 4-1, on the basis of the candidate track of newborn target, (sector is big in the sector centered on candidate track
It is small to make centainly to extend out on the basis of candidate track echo), in the side at radar origin short distance, search is with the presence or absence of true
Targetpath, and if it exists, then determine that the target is the reference object of candidate track, the geometry of multipath echo and reference object position
Topological relation is shown in Fig. 4；
Step 4-2 records candidate track lot number and reference object lot number table in the maintenance stage of candidate track, and statistics is waited
It selects track and reference object to maintain the number of geometry of position topological relation, judges whether candidate's track is with multipath to be subsequent
False track caused by echo provides foundation.
In step 5, if there is the area type value BIT bit of multipath effect blind zone in the area type of candidate track
Effect, as 1, then delete candidate's track.It avoids because may be false target track initiation caused by multipath effect.For example, exist
Local lawn by runway can be multipath effect blind zone by multiple definition, and the candidate track for falling in the region is forbidden rising automatically
Begin, as shown in figure 5 a and 5b.
In step 6, the false target flight path processing for caused by with multipath echo is handled in two kinds of situation:
Situation one: inhibiting to originate automatically with the consistent candidate track of the real goal direction of motion of reference, as shown in fig. 6,
Its processing step is as follows:
Step 6-1-1, it is assumed that the kth after the creation of candidate trackiA radar antenna scan period carries out target and formally navigates
The starting decision of mark,
Assuming that candidate track course is dCandTrkCoursei, i=1,2 ..., ki, speed of a ship or plane dCandTrkSpeedi,
The course of reference object is dRefTrkCoursej, j=1,2 ..., kj, speed of a ship or plane dRefTrkSpeedj, wherein kj>ki≥4；
Step 6-1-2 calculates separately the course of multicycle between candidate track and reference object using following formula
dDeltaCoursel, and between candidate track and reference object the multicycle speed error dDeltaSpeedl:
dDeltaCoursel=| dCandTrkCoursei-dRefTrkCoursej|,
dDeltaSpeedl=| dCandTrkSpeedi-dRefTrkSpeedj|,
Wherein, constant l >=4；
Step 6-1-3 counts the course dDeltaCourse of multicycle between candidate track and reference objectlIt navigates with candidate
The speed error dDeltaSpeed of multicycle between mark and reference objectlAll it is not more than the number of threshold value, is patrolled if meeting " N/M "
Volume decision rule (if " N/M " takes " 3/4 ", i.e., has 3 times and meets judgment condition) in continuous 4 judgements, then determine candidate track with
The direction of motion of reference object is consistent, determines that candidate track is the falseness generated by the more stable adjoint multipath echo of reference object
Target makees delete processing；
Situation two: be suppressed to reference object radially feature big rise and fall, multiple reflections complicated multipath caused by falseness
Target candidate track, processing step are as follows:
Step 6-2-1, it is assumed that the kth after the creation of candidate trackiA radar antenna scan period carries out multipath echo
False track determines that quantifying unit number, azimuth width shared by target echo are respectively as follows: apart from width
nEchoShapeSizeUnitsi、nEchoAzimuthWidthi、nEchoDistanceWidthi；
Step 6-2-2 calculates separately the course difference of multicycle between candidate track and reference object by following formula
dDeltaEchoCoursemUnit is degree；The speed of a ship or plane difference of multicycle between candidate track and reference object
dDeltaEchoSpeedm, unit is meter per second；Quantifying unit number difference shared by neighbouring two target cycle echoes
nDeltaEchoShapeSizeUnitsm, unit is unit number；Neighbouring two target cycle echo bearing width differentials
nDeltaEchoAzimuthWidthm, unit is orientation quantifying unit；Neighbouring two periodic distance width differentials
nDeltaDistanceWidthm, unit is apart from quantifying unit:
dDeltaEchoCoursem=| dCandTrkCoursei-dCandTrkCoursei-1|,
dDeltaEchoSpeedm=| dCandTrkSpeedi-dCandTrkSpeedi-1|,
nDeltaEchoShapeSizeUnitsm=| nEchoShapeSizeUnitsi-nEchoShapeSizeUnitsi-1
|,
nDeltaEchoAzimuthWidthm=| nEchoAzimuthWidthi-nEchoAzimuthWidthi-1|,
nDeltaDistanceWidthm=| nEchoDistanceWidthi-nEchoDistanceWidthi-1|,
I=2 ... ki, m=1 ..., ki-1
Step 7-2-3, Statistic analysis parameter dDeltaEchoCoursem、dDeltaEchoSpeedm、
NDeltaEchoShapeSizeUnits and nDeltaEchoAzimuthWidthm、nDeltaDistanceWidthmAll it is not less than
The number of threshold value determines the direction of motion basic one of candidate track and reference object if meeting " N/M " logical decision criterion
It causes, determines that candidate track is false target candidate's track caused by multiple reflections complexity multipath, make delete processing.
For example, according to project situation, the course difference dDeltaEchoCourse of targetm, speed of a ship or plane difference
dDeltaEchoSpeedm, quantifying unit number difference nDeltaEchoShapeSizeUnits and target echo shared by target echo
Azimuth width difference target echo is apart from width differential nDeltaEchoAzimuthWidthm、nDeltaDistanceWidthmDeng
Characteristic quantity threshold value take respectively 10 °, 5m/s, 20 unit numbers, 10 orientation quantifying units, 4 apart from quantifying unit etc., use
" 3/4 " logical decision criterion, i.e., there are 3 times or more for all characteristic quantities in continuous 4 judging process for each characteristic quantity difference
Both greater than characteristic threshold value situation, the visual target signature big rise and fall situation.
Step 7 includes the following steps:
Step 7-1, selected multipath effect Yi Faqu road (such as access road, taxiway, runway) two, center identification line
Endpoint；
Step 7-2, calculate between candidate track two endpoints of newest neighbouring 4 historical positions and road axis away from
From a group sequence:
(ATk1,BTk1),(ATk2,BTk2),(ATk3,BTk3),(ATk4,BTk4),
K1, k2, k3, k4 indicate newest 4 historical junctures, ATk1It indicates between k1 moment track position and centerline end point A
Distance, ATk2Indicate the distance between k2 moment track position and centerline end point A, ATk3Indicate k3 moment track position with
The distance between centerline end point A, ATk4Indicate the distance between k4 moment track position and centerline end point A, BTk1Indicate k1
The distance between moment track position and centerline end point B, BTk2It indicates between k2 moment track position and centerline end point B
Distance, BTk3Indicate the distance between k3 moment track position and centerline end point B, BTk4Indicate k4 moment track position in
The distance between heart line endpoints B, the movement echo schematic diagram to form an angle with road axis are shown in Fig. 7.If ATk1>ATk2>
ATk3>ATk4And BTk1<BTk2<BTk3<BTk4It sets up, then road vectors direction isCalculate road vectors directionWith candidate
Angle theta between the track direction of motion；If ATk1<ATk2<AT<ATk4And BTk1>BTk2>BTk3>BTk4It sets up, then road vectors side
Xiang WeiIt calculatesWith the angle theta between the candidate track direction of motion；
Step 8-3, it is contemplated that error existing for radar surveying, estimation and certainty, if angle theta is greater than (larger) threshold value
(such as 10 degree, visual project situation value), then when track formal initial phase, then caused by being considered as multipath or other interference
False track then deletes candidate's track.
The present invention provides a kind of airport surface detection radar multipath false target track suppressing methods, implement the skill
There are many method and approach of art scheme, the above is only a preferred embodiment of the present invention, it is noted that this technology is led
For the those of ordinary skill in domain, various improvements and modifications may be made without departing from the principle of the present invention, these
Improvements and modifications also should be regarded as protection scope of the present invention.The available prior art of each component part being not known in the present embodiment
It is realized.
Claims (6)
1. a kind of airport surface detection radar multipath false target track suppressing method, which comprises the steps of:
Step 1, the function type region of airdrome scene is divided: by entire airport plane according to different function and radar multipath effect
The polymorphic type region easily sent out carries out completeness division, i.e., each position in airport is divided into specific type region, and to area
Field type value carries out the definition of BIT bit, obtains region multilayer graph；
Step 2, using radar base station as origin, region multilayer graph is converted into using orientation distance measurements list under radar polar coordinate system
The traffic pattern static map of member mark, to establish the expression of any position azran index and area type under radar polar coordinates
Mapping relations one by one between value；
Step 3, potential new life is created based on the echo that radar real-time detects, i.e. point mark in targetpath automatic initial phase
The candidate track of target；
Step 4, in the candidate track maintenance stage, the association of multicycle point mark track data is carried out to candidate track and maintenance is handled,
Echo outer dimension, signal amplitude, kinematics character and the durations number of candidate track are counted, each periodic searches have been built
The reference object of formula of attentioning track constructs the track position of false target candidate track and real goal caused by radar multipath echo
Geometric position topological relation between setting, and count the topological relation duration；
Step 5, decision-making period is originated automatically in targetpath, according to the azran location information of candidate track, obtain its area
Field type value deletes undesirable candidate track；
Step 6, if the BIT bit of multipath effect Yi Faqu is effective in the area type value of candidate track present position, judgement
Whether candidate track with the stable topology relationship duration of same reference object is greater than threshold value in step 4, if so, determining it
And to carry out delete processing with the false target track of multipath echo, otherwise, it is determined that it is non-multipath echo class candidate's track
And carry out subsequent automatic flight path processing；
Step 7, in step 6, falling in multipath effect Yi Faqu, but cannot be expressly identified as reference object with multipath and delete
Except the candidate track of processing, constrained based on airport moving target route of movement, further judge its course whether with road direction
Between exist compared with mitre, if so, being determined as false target track, delete the candidate track, otherwise, it is determined that its be non-multipath
Echo class candidate track simultaneously carries out subsequent automatic flight path processing；
Step 8, if candidate track be in the multipath effect uncertain region divided in step 1, judge that candidate track is no and same ginseng
It is greater than threshold value according to the stable topology relationship duration of target, navigates if so, determining that it is with the false target of multipath echo
Mark, and delete processing is carried out, otherwise, it is determined that candidate track is non-multipath echo class candidate track and carries out at subsequent automatic track
Reason；
Step 9, it realizes and airdrome scene universe moving target is enrolled automatically.
2. a kind of airport surface detection radar multipath false target track suppressing method according to claim 1, feature
It is, step 1 includes the following steps:
Step 1-1 demarcates radar origin position, correcting plane figure and radar system error, superposition on airdrome scene plan view
Show scene plan view and surveillance radar echo video；
Step 1-2 is based on airport geography information, draws various functional closed areas, realizes and draw to the integrality of airdrome scene
Point；Various functionality closed areas include: runway, taxiway, lawn, access road, airplane parking area, multipath effect Yi Faqu, multipath
Blind zone and multipath effect uncertain region；
Step 1-3, definition region types value: Bit0 is runway, Bit1 is taxiway, Bit2 is lawn, Bit3 be access road,
Bit4 is airplane parking area, Bit5 be multipath effect Yi Faqu, Bit6 be multipath effect blind zone, Bit7 is that multipath effect is uncertain
Area；When area type value bit is 1, then it represents that corresponding region type is effective；
Step 1-4, according to rule, feature and scene moving target route of movement restrict that radar multipath effect generates, mirror
Not, airdrome scene multipath effect Yi Faqu, multipath effect blind zone and multipath effect uncertainty area are confirmed, in step 1-2
On the basis of drawing various functional closed areas, the regional area classified with multipath angle is drawn in superposition, obtains region multilayer graph；
In the multilayer graph of region, same position can belong to the overlay region of different functionalities closed area simultaneously.
3. a kind of airport surface detection radar multipath false target track suppressing method according to claim 2, feature
It is, step 4 includes the following steps:
Step 4-1, on the basis of the candidate track of newborn target, in the sector using candidate track as orient core, in radar
Between origin and the candidate track position of newborn target, search whether there is real goal track, and if it exists, then determine the target
For the reference object of candidate track；
Step 4-2 records candidate track lot number and reference object lot number table in the maintenance stage of candidate track, counts candidate boat
Mark and reference object maintain the number of geometry of position topological relation.
4. a kind of airport surface detection radar multipath false target track suppressing method according to claim 3, feature
It is, in step 5, if the area type value BIT bit of multipath effect blind zone is effective in the area type of candidate track, table
Show that candidate track falls in multipath effect blind zone, then directly deletes the candidate track by falling in the generation of this area echo.
5. a kind of airport surface detection radar multipath false target track suppressing method according to claim 4, feature
It is, in step 6, the false target flight path processing for caused by with multipath echo is handled in two kinds of situation:
Situation one: inhibit to originate automatically with the consistent candidate track of the real goal direction of motion of reference, processing step is as follows:
Step 6-1-1, it is assumed that the kth after the creation of candidate trackiA radar antenna scan period carries out rising for the formal track of target
Beginning decision；
Assuming that candidate track course is dCandTrkCoursei, i=1,2 ..., ki, speed of a ship or plane dCandTrkSpeedi, reference
The course of target is dRefTrkCoursej, j=1,2 ..., kj, speed of a ship or plane dRefTrkSpeedj, wherein kj> ki≥4；i,j
Respectively indicate the antenna scan period counting variable of candidate track and the antenna scan period counting variable of targetpath, kjIt indicates
Radar antenna scan period number；
Step 6-1-2 calculates separately the course difference of multicycle between candidate track and reference object using following formula
dDeltaCoursel, and between candidate track and reference object the multicycle speed of a ship or plane difference dDeltaSpeedl:
dDeltaCoursel=| dCandTrkCoursei-dRefTrkCoursej|,
dDeltaSpeedl=| dCandTrkSpeedi-dRefTrkSpeedj|,
Wherein, constant l >=4；
Step 6-1-3 counts course dDeltaCourselWith speed error dDeltaSpeedlAll it is not more than the number of threshold value, if
Meet N/M logical decision criterion, then determine that candidate track is consistent with the direction of motion of reference object, determines that candidate track is by joining
According to the false target that the more stable adjoint multipath echo of target generates, candidate's track is deleted；If being unsatisfactory for decision rule, temporarily
When exclude be false track may, carry out subsequent processing；
Situation two: being suppressed to reference object, radially feature rises and falls falseness mesh caused by big, the complicated multipath that reflects more than twice
Candidate track is marked, processing step is as follows:
Step 6-2-1, it is assumed that the kth after the creation of candidate trackiA radar antenna scan period carries out the false boat of multipath echo
Mark determines that quantifying unit number, azimuth width shared by target echo are respectively as follows: nEchoShapeSizeUnits apart from widthi、
nEchoAzimuthWidthi、nEchoDistanceWidthi；
Step 6-2-2 calculates separately the course difference of multicycle between candidate track and reference object by following formula
dDeltaEchoCoursem, between candidate track and reference object the multicycle speed of a ship or plane difference dDeltaEchoSpeedm, it is neighbouring
Quantifying unit number difference nDeltaEchoShapeSizeUnits shared by two target cycle echoesm, neighbouring two target cycles
Echo bearing width differential nDeltaEchoAzimuthWidthmWith neighbouring two periodic distance width differentials
nDeltaDistanceWidthm:
dDeltaEchoCoursem=| dCandTrkCoursei-dCandTrkCoursei-1|,
dDeltaEchoSpeedm=| dCandTrkSpeedi-dCandTrkSpeedi-1|,
nDeltaEchoShapeSizeUnitsm=| nEchoShapeSizeUnitsi-nEchoShapeSizeUnitsi-1|,
nDeltaEchoAzimuthWidthm=| nEchoAzimuthWidthi-nEchoAzimuthWidthi-1|,
nDeltaDistanceWidthm=| nEchoDistanceWidthi-nEchoDistanceWidthi-1|,
I=2 ... ki, m=1 ..., ki- 1,
Wherein, m indicates counting variable；
Step 6-2-3, Statistic analysis parameter dDeltaEchoCoursem、dDeltaEchoSpeedm、
NDeltaEchoShapeSizeUnits and nDeltaEchoAzimuthWidthm、nDeltaDistanceWidthmAll it is not less than
The number of threshold value determines that the direction of motion of candidate track and reference object is almost the same if meeting N/M logical decision criterion,
Determine that candidate track is false target candidate's track caused by multiple reflections complexity multipath, candidate's track is deleted, if being unsatisfactory for
Decision rule then temporarily excludes to be that false track is possible, carries out subsequent processing.
6. a kind of airport surface detection radar multipath false target track suppressing method according to claim 5, feature
It is, step 7 includes the following steps:
Step 7-1 selectes two endpoints of multipath effect Yi Faqu road-center tag line；
Step 7-2 calculates the distance between position and two endpoints of center line of candidate track newest 4 historical junctures to sequence
Column:
(ATk1,BTk1),(ATk2,BTk2),(ATk3,BTk3),(ATk4,BTk4),
Wherein, k1, k2, k3, k4 indicate newest 4 historical junctures, ATk1Indicate k1 moment track position and centerline end point A it
Between distance, ATk2Indicate the distance between k2 moment track position and centerline end point A, ATk3Indicate k3 moment track position
The distance between centerline end point A, ATk4Indicate the distance between k4 moment track position and centerline end point A, BTk1It indicates
The distance between the moment track position k1 and centerline end point B, BTk2It indicates between k2 moment track position and centerline end point B
Distance, BTk3Indicate the distance between k3 moment track position and centerline end point B, BTk4Indicate k4 moment track position with
The distance between centerline end point B, if ATk1> ATk2> ATk3> ATk4And BTk1< BTk2< BTk3< BTk4It sets up, then road
Direction vector isCalculate road vectors directionWith the angle theta between the candidate track direction of motion；If ATk1< ATk2<
AT < ATk4And BTk1> BTk2> BTk3> BTk4It sets up, then road vectors direction isIt calculatesWith candidate track movement side
Angle theta between；
Step 7-3 deletes candidate's track if angle theta is greater than threshold value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710110366.8A CN106959441B (en) | 2017-02-28 | 2017-02-28 | A kind of airport surface detection radar multipath false target track suppressing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710110366.8A CN106959441B (en) | 2017-02-28 | 2017-02-28 | A kind of airport surface detection radar multipath false target track suppressing method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106959441A CN106959441A (en) | 2017-07-18 |
| CN106959441B true CN106959441B (en) | 2019-05-31 |
Family
ID=59470681
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710110366.8A Active CN106959441B (en) | 2017-02-28 | 2017-02-28 | A kind of airport surface detection radar multipath false target track suppressing method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106959441B (en) |
Families Citing this family (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107918122A (en) * | 2017-10-24 | 2018-04-17 | 上海无线电设备研究所 | A kind of portable scene surveillance radar system |
| CN107942293B (en) * | 2017-10-30 | 2019-11-19 | 中国民用航空总局第二研究所 | The Target dots processing method and system of airport surface detection radar |
| CN108205320A (en) * | 2017-12-18 | 2018-06-26 | 深圳市奇虎智能科技有限公司 | Map data processing method and device |
| CN108513644A (en) * | 2017-12-18 | 2018-09-07 | 深圳市大疆创新科技有限公司 | Unmanned plane barrier-avoiding method and unmanned plane |
| CN108226890B (en) * | 2018-01-19 | 2021-08-13 | 成都赛英科技有限公司 | Airport foreign matter radar detection method based on time direction statistics |
| CN108919269B (en) * | 2018-06-29 | 2021-06-15 | 安徽四创电子股份有限公司 | Multi-model temporary track initial judgment method based on unmanned aerial vehicle monitoring radar |
| CN109085555B (en) * | 2018-08-08 | 2023-03-03 | 中国航空工业集团公司雷华电子技术研究所 | False target suppression method based on multi-channel characteristics |
| CN109283533A (en) * | 2018-10-12 | 2019-01-29 | 中国民用航空总局第二研究所 | Automated system is supervised in adaptive false target detection method, system and field |
| CN109283532A (en) * | 2018-10-12 | 2019-01-29 | 中国民用航空总局第二研究所 | Multipath false target detection method, system and air traffic control automation system |
| CN110297222B (en) * | 2019-06-20 | 2021-04-06 | 西安电子科技大学 | Track starting method based on multi-dimensional measurement information |
| CN110426697A (en) * | 2019-07-05 | 2019-11-08 | 上海矽杰微电子有限公司 | A kind of radar target detection method and system |
| CN110531337B (en) * | 2019-09-29 | 2021-06-29 | 北京润科通用技术有限公司 | Target reliability calculation method and device based on membership analysis |
| CN111324686B (en) * | 2020-02-28 | 2021-09-17 | 浙江大华技术股份有限公司 | Target measurement track acquisition method and device, storage medium and electronic device |
| CN111488848B (en) * | 2020-04-17 | 2022-07-05 | 中国民航大学 | Method for identifying characteristics of horse race field-shaped spiral in track |
| CN111537973A (en) * | 2020-05-15 | 2020-08-14 | 山东汇贸电子口岸有限公司 | Method and device for processing echo received by radar |
| CN112835026B (en) * | 2020-12-31 | 2024-02-20 | 福瑞泰克智能系统有限公司 | Radar mirror image target detection method and device, radar equipment and vehicle |
| CN112986945B (en) * | 2021-03-05 | 2022-08-02 | 森思泰克河北科技有限公司 | Radar target identification method, device, equipment and storage medium |
| CN113376595B (en) * | 2021-05-18 | 2022-03-22 | 中国船舶重工集团公司第七二三研究所 | Evaluation method for initial comprehensive quality of search radar track |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11328600A (en) * | 1998-02-20 | 1999-11-30 | Northrop Grumman Corp | Device and method for multipath reduction |
| CN103412291A (en) * | 2013-08-16 | 2013-11-27 | 四川九洲空管科技有限责任公司 | Secondary-radar-based achieving method of target multipath effect suppression technology |
| CN105445732A (en) * | 2015-11-25 | 2016-03-30 | 电子科技大学 | Object track initialization method using multipath observation under dense clutter condition |
| CN106291534A (en) * | 2016-09-21 | 2017-01-04 | 电子科技大学 | A kind of track confirmation method of improvement |
| JP2017106859A (en) * | 2015-12-11 | 2017-06-15 | 三井造船株式会社 | Reception data calibration method in radar device, and radar device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8717223B2 (en) * | 2010-08-26 | 2014-05-06 | Lawrence Livermore National Security, Llc | Classification of subsurface objects using singular values derived from signal frames |
-
2017
- 2017-02-28 CN CN201710110366.8A patent/CN106959441B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11328600A (en) * | 1998-02-20 | 1999-11-30 | Northrop Grumman Corp | Device and method for multipath reduction |
| CN103412291A (en) * | 2013-08-16 | 2013-11-27 | 四川九洲空管科技有限责任公司 | Secondary-radar-based achieving method of target multipath effect suppression technology |
| CN105445732A (en) * | 2015-11-25 | 2016-03-30 | 电子科技大学 | Object track initialization method using multipath observation under dense clutter condition |
| JP2017106859A (en) * | 2015-12-11 | 2017-06-15 | 三井造船株式会社 | Reception data calibration method in radar device, and radar device |
| CN106291534A (en) * | 2016-09-21 | 2017-01-04 | 电子科技大学 | A kind of track confirmation method of improvement |
Non-Patent Citations (3)
| Title |
|---|
| "Multipath Exploitation and Suppression for SAR Imaging of Building Interiors: An overview of recent advances";Leigsnering M 等;《IEEE Signal Processing Magazine》;20141231;第110-119页 |
| "基于多假设目标跟踪算法";楼晓祥;《指挥信息系统与技术》;20121231;第3卷(第6期);第36-40页 |
| "面向安全进近的航空自组网合作通信方法研究";李华;《中国博士学位论文全文数据库 信息科技辑》;20160215(第02期);全文 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106959441A (en) | 2017-07-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106959441B (en) | A kind of airport surface detection radar multipath false target track suppressing method | |
| CN102081801B (en) | Multi-feature adaptive fused ship tracking and track detecting method | |
| CN102183773B (en) | Method for filtering ineffective drift signal of global positioning system (GPS) equipment | |
| CN110296713A (en) | Trackside automatic driving vehicle Position Fixing Navigation System and single, multiple vehicle positioning and navigation methods | |
| CN107255803A (en) | A kind of ship track logic start algorithm could | |
| CN109407697A (en) | A kind of unmanned plane pursuit movement goal systems and method based on binocular distance measurement | |
| Clark et al. | Simultaneous localisation and map building using millimetre wave radar to extract natural features | |
| CN104849702B (en) | Radar system error combined estimation method is filtered using the GM EPHD of ADS B datas | |
| CN110097763A (en) | A kind of multilane Vehicle Velocity Measurement Method and system | |
| CN110491174A (en) | A kind of inland navigation craft bridge-collision-avoidance detection system and method | |
| CN108614580A (en) | Layered obstacle avoidance control method in target tracking of unmanned aerial vehicle | |
| CN110320507A (en) | A kind of low small slow target detects automatically, tracks, identifying system | |
| CN103116743B (en) | A kind of railway obstacle detection method based on on-line study | |
| CN104569963A (en) | Moving target one-dimensional detecting and tracking method for ultra-wideband through-wall radar | |
| CN103995257A (en) | Target detection method and device | |
| CN109523835A (en) | It is a kind of based on slide Covered face of Smooth Slide sensor aircraft position detect and intelligent control device | |
| CN106022372A (en) | Target abnormal behavior detection method based multidimensional characteristics | |
| RU2562616C1 (en) | Method of acquiring radio information and radio system therefor | |
| CN110274596B (en) | Intelligent obstacle avoidance method based on time nodes | |
| Lee et al. | UWB-based multiple UAV control system for indoor ground vehicle tracking | |
| JP2021189030A (en) | Radar device and radar system | |
| Ulmschneider et al. | Association of transmitters in multipath-assisted positioning | |
| CN110207545A (en) | A kind of unmanned plane intercepting system | |
| CN113933876B (en) | Multi-star communication time difference positioning data fusion processing method | |
| RU2348944C1 (en) | Method of independent formation of landing information for flying machine and system for its realisation (versions) |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20181107 Address after: 210007 the 5 building of Tianan Digital City, 36 Yongfeng Avenue, Qinhuai District, Nanjing, Jiangsu. Applicant after: Nanjing Lesi Electronic Equipment Co., Ltd. Address before: 210007 1 East Street, alfalfa garden, Nanjing, Jiangsu Applicant before: China Electronic Technology Corporation (Group) 28 Institute |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |