CN107024692A - The multi-track method for tracking target and system of a kind of marine navigation radar flight path management - Google Patents
The multi-track method for tracking target and system of a kind of marine navigation radar flight path management Download PDFInfo
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Classifications
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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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Abstract
The present invention relates to the multi-track method for tracking target and system in Radar Technology field, more particularly to a kind of management of marine navigation radar flight path.It includes gathering multigroup radar data from radar；According to tracking time length and tracking mode, suitable ripple door parameter is selected；Tracking mode of the tracking target in the frame is tentatively provided according to data interconnection midpoint mark and flight path corresponding relation, while calculating the physical parameter of tracking target；Standard is cancelled according to flight path, according to the tracking mode before the tracking target, judges whether the tracking target loses；Calculate tracking target following quality and flight path number；This frame tracking dbjective state and relevant parameter are updated, the flight path archives of tracking target are updated；According to tracking quality and flight path number, to confirm whether tracking targetpath exports, and flight path is exported.
Description
Technical field
The present invention relates to Radar Technology field, more particularly to a kind of management of marine navigation radar flight path multi-track target with
Track method and system.
Background technology
In recent years, it is complicated and changeable with application environment, it is desirable to which that radar has multi-track target traceability, and can be simultaneously
Realize multi-track target following；The basic conception of multi-track target following is the one of applicating physical magazine by Wax in nineteen fifty-five
Put forward in piece article, 1964 afterwards Si Teer deliver an entitled " optimal data pass in monitoring theory on IEEE
The paper of connection problem " turns into the guide of multi-track target following, but Kalman filtering is not yet commonly used at that time, and Si Teer is used
Be that a kind of Track Furcation method solves the problems, such as data correlation；Early 1970s start in the presence of having false-alarm, profit
Systematically to multi-track target following and handled with kalman filter method (Kalman)；Singer is proposed most within 1971
Nearest neighbour method is to solve the simplest method of data correlation, but correct association rate of the nearest neighbor method under clutter environment is relatively low；Herein
Period, Y.Bar-Shalom plays the important and pivotal role, he proposed in 1975 be particularly suitable for use in it is right under clutter environment
The Probabilistic Data Association Algorithm (PDA) that single tracking target is tracked, efficiently solve multi-track target under clutter environment with
Track problem；T.E.Formann and Y.Bar-Shalom etc. proposes Joint Probabilistic Data Association algorithm (JPDA), and JPDA will own
Tracking target and measure and carry out permutation and combination, and select rational joint event and calculate joint probability, JPDA, which is considered, to be come
The possibility in same tracking target interworking domain is in from multiple measurements of other tracking targets, clutter ring can be solved well
The measurement problem of multi-track target in the next interworking domain in border；It is computationally intensive but at the same time, JPDA is more complicated, and with
The growth of tracking number of targets, confirms that the situation of multiple shot array occurs in the fractionation of matrix.Therefore, JPDA is realized in engineering
Come relatively difficult.
Flight path quality is managed, and flight path can be originated accurately and in time to set up new tracking target folder, can also in time,
Flight path is cancelled exactly to eliminate unnecessary tracking target folder.Tracking targetpath start algorithm could has direct-vision method, logical approach, Hough
(Hough) method of changing etc., and flight path terminates algorithm and has complete adjacent Bayes (Bayes) algorithm, tracking gate algorithm, sequential probability ratio to examine
Checking method.
The present invention starts flight path, flight path revocation and flight path maintain to merge, and combination ripple door parameter is set up and data correlation
Tracking dbjective state, the practical application based on marine navigation radar gives a kind of evaluation of marine navigation radar flight path quality
Standard, selection criterion, track confirmation criterion, flight path revocation criterion including tracking gate parameter, it is proposed that a kind of peculiar to vessel
The multi-track method for tracking target and system of pathfinder flight path management.
The content of the invention
It is an object of the invention to provide a kind of multi-track method for tracking target of marine navigation radar flight path management and system,
This method and system can effectively carry out flight path multi-track target following, solve prior art tracking mode unstable not smart
Really the problem of.
The invention provides a kind of multi-track method for tracking target of marine navigation radar flight path management, including following step
Suddenly：
Multigroup tracking time data, tracking mode data, point mark data and boat are gathered by radar data acquiring unit
Mark data；
By ripple door parameter selection unit according to tracking time length and tracking mode, selection ripple door parameter；
Computing unit is judged by tracking mode, tracking mesh is tentatively provided according to a mark data and track data corresponding relation
The tracking mode parameter of the frame is marked on, the physical parameter for tracking target is calculated according to tracking mode parameter and Bo Men parameters；
Standard is cancelled according to flight path, according to the tracking mode data before the tracking target, whether the tracking target is judged
Lose；
If tracking target is not lost, and flight path length is equal to 1 frame, then it is new tracking target to assert the tracking target；Such as
Fruit tracking target is not lost, and flight path length is more than 1 frame, then it is not new tracking target to assert the tracking target, judges tracking mesh
The energy value of target point mark data, if energy value is less than threshold value, the frame is predicted, and otherwise the frame data are added to tracking mesh
Mark in track estimation and prediction；
Calculate the tracking quality and flight path number of tracking target；
Tracking time data, tracking mode data, point mark data and the track data of the tracking target of this frame are updated, is updated
Track the flight path archives of target；
According to tracking quality and flight path number, to confirm whether the track data for tracking target exports, and flight path is exported.
Further, the ripple door parameter is divided into big ripple door parameter, medium wave door parameter and small echo three kinds of parameter of door by size.
Further, using the mathematical computations mould set up based on following mathematical formulae during the physical parameter of calculating tracking target
Type：
In formula：TPower--- the energy of tracking target；
EPower--- the energy of point mark；
Further, when judging whether tracking target loses according to tracking time and tracking quality, using following standard
Judgment models：
A) Tlast and current time TN differences are more than 20 frames at the time of last frame is associated with mark；
If b) the tracking targetpath confirms, target following quality T is trackedQuality<0.4, and the tracking target is not
It is fusion tracking target；
If c) the tracking targetpath is unconfirmed, tracking target following quality TQuality<0.5；
As long as meeting any of which bar is considered as tracking target loss.
Further, flight path number N is calculatedlinkWhen, using the mathematics computing model set up based on following mathematical formulae：
NLink=NTotal-Npre-α·Ncan
In formula：
NTotal--- tracking target following totalframes；
Npre--- prediction frame number；
Ncan--- treat candidate's frame number；
α --- link the number factor to be selected, span (0,1]；
Further, tracking aimed quality T is calculatedQualityWhen, using the mathematical computations set up based on following mathematical formulae
Model：
TQuality=β TQuality+(1-β)·η
In formula:β --- quality updating factor, span (0,1]；
η --- this frame tracking target compares with the interconnection of point mark, and span is in [0,1].
Present invention also offers a kind of multi-track Target Tracking System of marine navigation radar flight path management, its feature exists
In, including：
Radar data acquiring unit, the data for obtaining radar collection；
Ripple door parameter selection unit, the radar data for receiving the acquisition of radar data acquiring unit, and during according to tracking
Between length and tracking mode, select suitable ripple door parameter；
Tracking mode judges computing unit, for tentatively provide tracking target the frame tracking mode, while calculate with
The physical parameter of track target；
New tracking object judgement unit, for judging whether tracking target loses, determines whether newly to track target；
Target following quality, flight path number calculating unit are tracked, for receiving newly to track after the screening of object judgement unit
Target following status data is tracked, and calculates tracking target following quality and flight path number；
Tracking mode updating block, for receiving tracking target following quality, flight path number data, and updates the tracking of this frame
Dbjective state and relevant parameter, update the flight path archives of tracking target；
Tracking targetpath judges output unit, for judging whether tracking targetpath exports, and output tracking target
Flight path.
Further, the multi-track Target Tracking System of the marine navigation radar flight path management is electrically connected to radar asorbing paint
Device.
The present invention has the following advantages that compared with prior art：
The present invention starts flight path, flight path revocation and flight path maintain to merge, and combination ripple door parameter is set up and data correlation
Tracking dbjective state, a kind of practical application based on marine navigation radar, it is proposed that marine navigation radar flight path quality evaluation
Standard, selection criterion, track confirmation criterion including tracking gate parameter, flight path revocation criterion, and when a certain frame or
A few frames do not interconnect echo, understand next frame acknowledgment again, the tracking target will not be given up easily.Therefore, if small tracking mesh
Mark or signal to noise ratio very weak tracking target, are confirmed also confirm the tracking targetpath by long-time, are not resulted in tracking mesh
Mark detection leakage phenomenon.
Brief description of the drawings
Below in conjunction with drawings and examples, the invention will be further described.
Fig. 1 is the method and step block diagram of the present invention；
Fig. 2 is the module connection block diagram of the present invention.
Embodiment
The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although showing the disclosure in accompanying drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
Limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
Complete conveys to those skilled in the art.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singulative " one " used herein, " one
It is individual ", " described " and "the" may also comprise plural form.It is to be further understood that what is used in the specification of the present invention arranges
Diction " comprising " refer to there is the feature, integer, step, operation, element and/or component, but it is not excluded that in the presence of or addition
Other one or more features, integer, step, operation, element, component and/or their group.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific terminology), with the general understanding identical meaning with the those of ordinary skill in art of the present invention.Should also
Understand, those terms defined in such as general dictionary, it should be understood that with the context with prior art
The consistent meaning of meaning, and unless by specific definitions, otherwise will not be explained with idealization or excessively formal implication.
As shown in Figure 1 and Figure 2, the invention provides a kind of multi-track target following side of marine navigation radar flight path management
Method, comprises the following steps：
Multigroup radar data is gathered from radar；
According to tracking time length and tracking mode, suitable ripple door parameter is selected；
The ripple door parameter is divided into big ripple door parameter, medium wave door parameter and small echo three kinds of parameter of door by size.Primary data
During interconnection, big ripple door parameter is selected to carry out point mark and track association；When the quality TQuality of the tracking target is more than or equal to
Quality threshold ThrQuality and when point mark and flight path are correctly interconnected, selects the ripple door parameter of medium-width；When judging the flight path
During output, small ripple door parameter is selected to carry out data interconnection.
Tracking mode of the tracking target in the frame is tentatively provided according to data interconnection midpoint mark and flight path corresponding relation, simultaneously
Calculate the physical parameter of tracking target；
Tracking target following state is judged according to data interconnection situation.Under the multi-track target conditions, point mark and flight path
Relation has following several：Only one of which point mark in the related ripple door parameter of target is tracked, then the mark belongs to the tracking target, should
It is hit tracking (Hit-Target) to track target standing state；If a single point mark falls into multiple ripple door parameter intersecting areas
It is interior, or occur multiple marks fall into it is single tracking target related ripple door parameter in, now the tracking dbjective state be candidate
Target (Candidate-Target) is tracked, if wherein when two tracking targets are to mark, the two tracking targets claim
For fusion tracking target (Merge-Target)；, should if not associated to point mark in the corresponding ripple door parameter of the tracking target
Tracking dbjective state is predicting tracing target (Predict-Target).
Using the mathematics computing model set up based on following mathematical formulae during the physical parameter of calculating tracking target：
In formula：TPower--- the energy of tracking target；
EPower--- the energy of point mark；
Standard is cancelled according to flight path, according to the tracking mode before the tracking target, judges whether the tracking target loses；
When judging whether tracking target loses according to tracking time and tracking quality, using the judgment models of following standard：
A) Tlast and current time TN differences are more than 20 frames at the time of last frame is associated with mark；
If b) the tracking targetpath confirms, target following quality T is trackedQuality<0.4, and the tracking target is not
It is fusion tracking target；
If c) the tracking targetpath is unconfirmed, tracking target following quality TQuality<0.5；
As long as meeting any of which bar is considered as tracking target loss.
If tracking target is not lost, and flight path length is equal to 1, then it is new tracking target to assert the tracking target；
If tracking target is not new tracking target, the energy of tracking Targets Dots is judged, should if energy is less than threshold value
Frame is predicted, and otherwise the frame data are added in the estimation of tracking targetpath and prediction；
Calculate tracking target following quality and flight path number；
Calculate tracking aimed quality TQualityWhen, using the mathematics computing model set up based on following mathematical formulae：
TQuality=β TQuality+(1-β)·η
In formula:β --- quality updating factor, span (0,1]；
η --- this frame tracking target compares with the interconnection of point mark, and span is in [0,1].
Calculate flight path number NlinkWhen, using the mathematics computing model set up based on following mathematical formulae：
NLink=NTotal-Npre-α·Ncan
In formula：
NTotal--- tracking target following totalframes；
Npre--- prediction frame number；
Ncan--- treat candidate's frame number；
α --- link the number factor to be selected, span (0,1]；
This frame tracking dbjective state and relevant parameter are updated, the flight path archives of tracking target are updated；
According to tracking quality and flight path number, to confirm whether tracking targetpath exports, and flight path is exported.
According to tracking aimed quality TQuality and tracking targetpath number N Link, work as TQuality>ThrQuality
And NLink>During MinHitNum, judge the flight path of the tracking target to confirm flight path：Otherwise, judged again by next frame.
Present invention also offers a kind of multi-track Target Tracking System of marine navigation radar flight path management, its feature exists
In, including：
Radar data acquiring unit, the data for obtaining radar collection；
Ripple door parameter selection unit, the radar data for receiving the acquisition of radar data acquiring unit, and during according to tracking
Between length and tracking mode, select suitable ripple door parameter；
Tracking mode judges computing unit, for tentatively provide tracking target the frame tracking mode, while calculate with
The physical parameter of track target；
New tracking object judgement unit, for judging whether tracking target loses, determines whether newly to track target；
Target following quality, flight path number calculating unit are tracked, for receiving newly to track after the screening of object judgement unit
Target following status data is tracked, and calculates tracking target following quality and flight path number；
Tracking mode updating block, for receiving tracking target following quality, flight path number data, and updates the tracking of this frame
Dbjective state and relevant parameter, update the flight path archives of tracking target；
Tracking targetpath judges output unit, for judging whether tracking targetpath exports, if it is determined that target is accorded with
Close output to require, otherwise target output, is not exported until meeting output condition.It is defeated always if outputed before the target
Go out, further judge whether also to export when condition is unsatisfactory for.
Further, the multi-track Target Tracking System of the marine navigation radar flight path management is electrically connected to radar asorbing paint
Device.
The present invention starts flight path, flight path revocation and flight path maintain to merge, and combination ripple door parameter is set up and data correlation
Tracking dbjective state, a kind of practical application based on marine navigation radar, it is proposed that marine navigation radar flight path quality evaluation
Standard, selection criterion, track confirmation criterion including tracking gate parameter, flight path revocation criterion, and when a certain frame or
A few frames do not interconnect echo, understand next frame acknowledgment again, the tracking target will not be given up easily.Therefore, if small tracking mesh
Mark or signal to noise ratio very weak tracking target, are confirmed also confirm the tracking targetpath by long-time, are not resulted in tracking mesh
Mark detection leakage phenomenon.
Device embodiment described above is only schematical, wherein the unit illustrated as separating component can
To be or may not be physically separate, the part shown as unit can be or may not be physics list
Member, you can with positioned at a place, or can also be distributed on multiple NEs.It can be selected according to the actual needs
In some or all of module realize the purpose of this embodiment scheme.Those of ordinary skill in the art are not paying creativeness
Work in the case of, you can to understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
Realized by the mode of software plus required general hardware platform, naturally it is also possible to pass through hardware.Understood based on such, on
The part that technical scheme substantially in other words contributes to prior art is stated to embody in the form of software product, should
Computer software product can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD, including some fingers
Order is to cause a computer equipment (can be personal computer, server, or network equipment etc.) to perform each implementation
Method described in some parts of example or embodiment.
Although in addition, it will be appreciated by those of skill in the art that some embodiments in this include institute in other embodiments
Including some features rather than further feature, but not the combination of the feature of be the same as Example mean be in the scope of the present invention
Within and form different embodiments.For example, in the following claims, embodiment claimed it is any it
One mode can use in any combination.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used
To be modified to the technical scheme described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic；
And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical scheme spirit and
Scope.
Claims (8)
1. a kind of multi-track method for tracking target of marine navigation radar flight path management, it is characterised in that comprise the following steps：
Multigroup tracking time data, tracking mode data, point mark data and flight path number are gathered by radar data acquiring unit
According to；
By ripple door parameter selection unit according to tracking time length and tracking mode, selection ripple door parameter；
Computing unit is judged by tracking mode, tentatively providing tracking target according to a mark data and track data corresponding relation exists
The tracking mode parameter of the frame, the physical parameter for tracking target is calculated according to tracking mode parameter and Bo Men parameters；
Standard is cancelled according to flight path, according to the tracking mode data before the tracking target, judges whether the tracking target loses；
If tracking target is not lost, and flight path length is equal to 1 frame, then it is new tracking target to assert the tracking target；If with
Track target is not lost, and flight path length is more than 1 frame, then it is not new tracking target to assert the tracking target, judges tracking target
The energy value of point mark data, if energy value is less than threshold value, the frame is predicted, and otherwise the frame data are added to tracking target boat
During mark is estimated and predicted；
Calculate the tracking quality and flight path number of tracking target；
Tracking time data, tracking mode data, point mark data and the track data of the tracking target of this frame are updated, tracking is updated
The flight path archives of target；
According to tracking quality and flight path number, to confirm whether the track data for tracking target exports, and flight path is exported.
2. the multi-track method for tracking target of marine navigation radar flight path management according to claim 1, it is characterised in that
The ripple door parameter is divided into big ripple door parameter, medium wave door parameter and small echo three kinds of parameter of door by size.
3. the multi-track method for tracking target of marine navigation radar flight path management according to claim 2, it is characterised in that
Using the mathematics computing model set up based on following mathematical formulae during the physical parameter of calculating tracking target：
In formula：TPower--- the energy of tracking target；
EPower--- the energy of point mark.
4. the multi-track method for tracking target of marine navigation radar flight path management according to claim 3, it is characterised in that
When judging whether tracking target loses according to tracking time and tracking quality, using the judgment models of following standard：
A) Tlast and current time TN differences are more than 20 frames at the time of last frame is associated with mark；
If b) the tracking targetpath confirms, target following quality T is trackedQuality<0.4, and the tracking target is not fusion
Track target；
If c) the tracking targetpath is unconfirmed, tracking target following quality TQuality<0.5；
As long as meeting any of which bar is considered as tracking target loss.
5. the multi-track method for tracking target of marine navigation radar flight path management according to claim 4, it is characterised in that
Calculate flight path number NlinkWhen, using the mathematics computing model set up based on following mathematical formulae：
NLink=NTotal-Npre-α·Ncan
In formula：
NTotal--- tracking target following totalframes；
Npre--- prediction frame number；
Ncan--- treat candidate's frame number；
α --- link the number factor to be selected, span (0,1].
6. the multi-track method for tracking target of marine navigation radar flight path management according to claim 5, it is characterised in that
Calculate tracking aimed quality TQualityWhen, using the mathematics computing model set up based on following mathematical formulae：
TQuality=β TQuality+(1-β)·η
In formula:β --- quality updating factor, span (0,1]；
η --- this frame tracking target compares with the interconnection of point mark, and span is in [0,1].
7. a kind of multi-track Target Tracking System of marine navigation radar flight path management, it is characterised in that including：
Radar data acquiring unit, tracking time data, tracking mode data, point mark data and the flight path number multigroup for gathering
According to；
Ripple door parameter selection unit, the radar data for receiving the acquisition of radar data acquiring unit, and it is long according to the tracking time
Short and tracking mode, selects suitable ripple door parameter；
Tracking mode judges computing unit, for tentatively providing tracking mode of the tracking target in the frame, while calculating tracking mesh
Target physical parameter；
New tracking object judgement unit, for judging whether tracking target loses, determines whether newly to track target；
Target following quality, flight path number calculating unit are tracked, for receiving the tracking after new tracking object judgement unit screening
Target following status data, and calculate tracking target following quality and flight path number；
Tracking mode updating block, for receiving tracking target following quality, flight path number data, and updates this frame tracking target
State and relevant parameter, update the flight path archives of tracking target；
Tracking targetpath judges output unit, for judging whether tracking targetpath exports, and output tracking targetpath.
8. the multi-track Target Tracking System of marine navigation radar flight path management according to claim 7, it is characterised in that
The multi-track Target Tracking System of the marine navigation radar flight path management is electrically connected to radarscope.
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| CN108562893A (en) * | 2018-04-12 | 2018-09-21 | 武汉大学 | A kind of external illuminators-based radar multistation combined tracking method |
| CN108896968A (en) * | 2018-07-03 | 2018-11-27 | 西安电子工程研究所 | A kind of monostatic radar Interference Detection and tracking |
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| CN112036422A (en) * | 2019-06-04 | 2020-12-04 | 广州汽车集团股份有限公司 | Flight path management method and system based on multi-sensor information fusion and computer readable medium |
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| CN107144837A (en) * | 2017-04-24 | 2017-09-08 | 北京海兰信数据科技股份有限公司 | The multi-object tracking method and system of a kind of navigation radar data interconnection |
| CN110031834A (en) * | 2018-01-12 | 2019-07-19 | 西安艾索信息技术有限公司 | A kind of improved multiple target radar track processing method |
| CN108562893A (en) * | 2018-04-12 | 2018-09-21 | 武汉大学 | A kind of external illuminators-based radar multistation combined tracking method |
| CN108562893B (en) * | 2018-04-12 | 2021-08-17 | 武汉大学 | External radiation source radar multi-station hybrid tracking method |
| CN108535713A (en) * | 2018-05-09 | 2018-09-14 | 深圳市华讯方舟雷达技术装备有限公司 | A kind of radar and the tracking of AIS joints and information fusion method |
| CN108896968A (en) * | 2018-07-03 | 2018-11-27 | 西安电子工程研究所 | A kind of monostatic radar Interference Detection and tracking |
| CN108896968B (en) * | 2018-07-03 | 2022-04-08 | 西安电子工程研究所 | Single-station radar interference detection and tracking method |
| CN109212513A (en) * | 2018-09-29 | 2019-01-15 | 河北德冠隆电子科技有限公司 | Multiple target between radar data transmitting, data fusion and localization method is continuously tracked |
| CN109212513B (en) * | 2018-09-29 | 2021-11-12 | 河北德冠隆电子科技有限公司 | Data transfer, data fusion and continuous tracking and positioning method for multiple targets between radars |
| CN112036422A (en) * | 2019-06-04 | 2020-12-04 | 广州汽车集团股份有限公司 | Flight path management method and system based on multi-sensor information fusion and computer readable medium |
| CN112036422B (en) * | 2019-06-04 | 2024-03-05 | 广州汽车集团股份有限公司 | Track management method, system and computer readable medium based on multi-sensor information fusion |
| CN111273268A (en) * | 2020-01-19 | 2020-06-12 | 北京百度网讯科技有限公司 | Obstacle type identification method and device and electronic equipment |
| CN113406587A (en) * | 2021-04-29 | 2021-09-17 | 军事科学院系统工程研究院网络信息研究所 | Multi-radar track fusion method |
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