CN107024692B - Multi-tracking target tracking method and system for marine navigation radar track management - Google Patents
Multi-tracking target tracking method and system for marine navigation radar track management Download PDFInfo
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
The invention relates to the technical field of radars, in particular to a multi-tracking target tracking method and a multi-tracking target tracking system for marine navigation radar track management. It includes collecting multiple sets of radar data from a radar; selecting proper wave gate parameters according to the tracking time and the tracking state; preliminarily providing the tracking state of the tracking target in the frame according to the corresponding relation between the point track and the flight track in the data interconnection, and simultaneously calculating the physical parameters of the tracking target; according to a flight path canceling standard and a tracking state before the tracking target, judging whether the tracking target is lost; calculating the tracking quality and the track number of the tracked target; updating the state and related parameters of the tracking target of the frame, and updating a track file of the tracking target; and confirming whether the tracking target track is output or not according to the tracking quality and the track number, and outputting the track.
Description
Technical Field
The invention relates to the technical field of radars, in particular to a multi-tracking target tracking method and a multi-tracking target tracking system for marine navigation radar track management.
Background
In recent years, along with the complexity and changeability of application environments, the radar is required to have multi-tracking target tracking capability and simultaneously realize multi-tracking target tracking; the basic concept of multi-tracking target tracking is proposed by Wax in an article applying a physical journal in 1955, and then in 1964, stull published a paper named as "optimal data association problem in monitoring theory" on IEEE to become a precursor of multi-tracking target tracking, but then kalman filtering is not generally applied, and stull adopts a track bifurcation method to solve the data association problem; in the early 70 s of the 20 th century, under the condition that a false alarm exists, a Kalman filtering method (Kalman) is utilized to systematically track and process multiple tracking targets; the nearest neighbor method proposed by Singer in 1971 is the simplest method for solving data association, but the correct association rate of the nearest neighbor method in a clutter environment is low; in the period, the Y.Bar-Shalom plays a role in lifting the weight, and a probability data association algorithm (PDA) particularly suitable for tracking a single tracking target in a clutter environment is proposed in 1975, so that the problem of tracking multiple tracking targets in the clutter environment is effectively solved; T.E.Formann and Y.Bar-Shalom and the like propose a joint probability data association algorithm (JPDA), the JPDA arranges and combines all tracking targets and measurements and selects a reasonable joint event to calculate joint probability, the JPDA considers the possibility that a plurality of measurements from other tracking targets are in the same tracking target interconnected domain, and can well solve the measurement problem of a plurality of tracking targets in one interconnected domain in a clutter environment; but at the same time, the JPDA is complex and large in calculation amount, and as the number of tracking targets increases, the splitting of the confirmation matrix may cause a situation of combination explosion. Therefore, JPDA is difficult to implement in engineering.
And the track quality management can timely and accurately start the track to establish a new tracking target file and also timely and accurately cancel the track to eliminate redundant tracking target files. The initial algorithm of tracking the target track comprises an intuitive method, a logic method, a Hough (Hough) change method and the like, and the final algorithm of the track comprises a full-neighbor Bayes (Bayes) algorithm, a tracking gate algorithm and a sequence probability ratio test algorithm.
The invention provides a ship navigation radar track quality evaluation standard by combining track starting, track canceling and track maintaining and merging, establishing a tracking target state associated with data by combining wave gate parameters and based on the practical application of the ship navigation radar, wherein the evaluation standard comprises a selection criterion of tracking wave gate parameters, a track confirmation criterion and a track canceling criterion, and the invention provides a multi-tracking target tracking method and a multi-tracking target tracking system for ship navigation radar track management.
Disclosure of Invention
The invention aims to provide a multi-tracking target tracking method and a multi-tracking target tracking system for marine navigation radar track management, which can effectively track tracks of multiple tracking targets and solve the problem that the tracking state in the prior art is unstable and inaccurate.
The invention provides a multi-tracking target tracking method for marine navigation radar track management, which comprises the following steps:
collecting multiple groups of tracking time data, tracking state data, point track data and flight track data through a radar data acquisition unit;
selecting a wave gate parameter through a wave gate parameter selection unit according to the tracking time length and the tracking state;
preliminarily providing tracking state parameters of the tracking target in the frame according to the corresponding relation between the point track data and the flight track data through a tracking state judgment and calculation unit, and calculating physical parameters of the tracking target according to the tracking state parameters and the wave gate parameters;
according to a flight path canceling standard and tracking state data before the tracking target, judging whether the tracking target is lost;
if the tracking target is not lost and the track length is equal to 1 frame, determining the tracking target as a new tracking target; if the tracking target is not lost and the track length is greater than 1 frame, determining that the tracking target is not a new tracking target, judging the energy value of the trace point data of the tracking target, if the energy value is less than a threshold value, predicting the frame, otherwise, adding the frame data into track estimation and prediction of the tracking target;
calculating the tracking quality and the track number of the tracked target;
updating the tracking time data, the tracking state data, the point track data and the track data of the tracking target of the frame, and updating the track file of the tracking target;
and confirming whether the track data of the tracked target is output or not according to the tracking quality and the track number, and outputting the track.
Further, the wave gate parameters are divided into three types, namely large wave gate parameters, medium wave gate parameters and small wave gate parameters according to the size.
Further, a mathematical calculation model established based on the following mathematical formula is adopted when calculating the physical parameters of the tracking target:
in the formula: t isPower-tracking the energy of the target;
EPower-the energy of the trace points;
further, when judging whether the tracking target is lost according to the tracking time and the tracking quality, adopting a judgment model with the following standard:
a) the difference between the time Tlast of the last frame associated with the trace point and the current time TN exceeds 20 frames;
b) if the tracked target track is confirmed, the tracked target tracking quality TQuality<0.4, and the tracking target is not a fusion tracking target;
c) if the track of the tracked target is not confirmed, the tracking quality T of the tracked targetQuality<0.5；
The tracking target is considered lost as long as any one of them is satisfied.
Further, calculating the number of tracks NlinkIn time, a mathematical calculation model is established based on the following mathematical formula:
NLink＝NTotal-Npre-α·Ncan
in the formula:
NTotal-tracking the target tracking total frame number;
Npre-predicting a frame number;
Ncan-a number of frames to be candidate;
α -link number candidate factor, the value range is (0,1 ];
further, a tracking target quality T is calculatedQualityIn time, a mathematical calculation model is established based on the following mathematical formula:
TQuality＝β·TQuality-1+(1-β)·η
in the formula, TQuality-1β -quality update factor with the value range of (0, 1) for the data obtained by the last calculation]；
η -the interconnection ratio of the tracking target and the trace point in the frame has a value range of [0,1 ].
The invention also provides a multi-tracking target tracking system for marine navigation radar track management, which is characterized by comprising the following components:
the radar data acquisition unit is used for acquiring data acquired by a radar;
the wave gate parameter selection unit is used for receiving the radar data acquired by the radar data acquisition unit and selecting proper wave gate parameters according to the tracking time and the tracking state;
the tracking state judgment and calculation unit is used for preliminarily giving the tracking state of the tracking target in the frame and calculating the physical parameters of the tracking target;
a new tracking target judging unit for judging whether the tracking target is lost or not and judging whether the tracking target is a new tracking target or not;
the tracking target tracking quality and track number calculating unit is used for receiving the tracking state data of the tracking target screened by the new tracking target judging unit and calculating the tracking quality and track number of the tracking target;
the tracking state updating unit is used for receiving the tracking quality and track number data of the tracking target, updating the state and relevant parameters of the tracking target of the current frame and updating a track file of the tracking target;
and the tracking target track judging and outputting unit is used for judging whether the tracking target track is output or not and outputting the tracking target track.
Further, the multi-tracking target tracking system for the marine navigation radar track management is electrically connected to a radar display.
Compared with the prior art, the invention has the following advantages:
the invention combines track starting, track canceling and track maintaining, combines the wave gate parameter establishment and data associated tracking target state, and provides a ship navigation radar track quality evaluation standard based on the practical application of the ship navigation radar, wherein the ship navigation radar track quality evaluation standard comprises a selection criterion of the tracking wave gate parameter, a track confirmation criterion and a track canceling criterion, and when a certain frame or a certain frames are not connected with each other, the echo is confirmed again in the next frame, and the tracking target cannot be easily discarded. Therefore, if the tracking target is a small tracking target or a tracking target with a weak signal-to-noise ratio, the track of the tracking target can be confirmed through long-time confirmation, and the phenomenon of missed detection of the tracking target cannot be caused.
Drawings
The invention is further illustrated by the following figures and examples.
FIG. 1 is a block diagram of the method steps of the present invention;
fig. 2 is a block diagram of the module connections of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
As shown in fig. 1 and fig. 2, the invention provides a multi-tracking target tracking method for marine navigation radar track management, comprising the following steps:
collecting multiple groups of radar data from a radar;
selecting proper wave gate parameters according to the tracking time and the tracking state;
the wave gate parameters are divided into a large wave gate parameter, a medium wave gate parameter and a small wave gate parameter according to the size. When initial data are interconnected, selecting large wave gate parameters to perform point track and flight track association; when the quality TQquality of the tracking target is greater than or equal to a quality threshold ThrQuality and the point track is correctly interconnected with the flight track, selecting a wave gate parameter with medium width; and when the track output is judged, selecting small wave gate parameters for data interconnection.
Preliminarily providing the tracking state of the tracking target in the frame according to the corresponding relation between the point track and the flight track in the data interconnection, and simultaneously calculating the physical parameters of the tracking target;
and judging the tracking state of the tracking target according to the data interconnection condition. Under the condition of multiple tracking targets, the relationship between the point track and the flight track is as follows: only one trace point exists in the relevant wave gate parameters of the tracking Target, the trace point belongs to the tracking Target, and the existing state of the tracking Target is Hit tracking (Hit-Target); if a single trace point falls into the intersection area of a plurality of gate parameters or a plurality of trace points fall into the related gate parameters of a single tracking Target, the tracking Target state is a Candidate tracking Target (Candidate-Target), wherein if two tracking targets are aligned to one trace point, the two tracking targets are called as a fusion tracking Target (Merge-Target); if the trace point is not associated in the wave gate parameter corresponding to the tracking Target, the tracking Target state is a predicted-Target.
When the physical parameters of the tracking target are calculated, a mathematical calculation model established based on the following mathematical formula is adopted:
in the formula: t isPower-tracking the energy of the target;
EPower-the energy of the trace points;
according to a flight path canceling standard and a tracking state before the tracking target, judging whether the tracking target is lost;
when judging whether the tracking target is lost according to the tracking time and the tracking quality, adopting a judgment model with the following standard:
a) the difference between the time Tlast of the last frame associated with the trace point and the current time TN exceeds 20 frames;
b) if the tracked target track is confirmed, the tracked target tracking quality TQuality<0.4，
And the tracking target is not a fusion tracking target;
c) if the track of the tracked target is not confirmed, the tracking quality T of the tracked targetQuality<0.5；
The tracking target is considered lost as long as any one of them is satisfied.
If the tracking target is not lost and the track length is equal to 1, determining the tracking target as a new tracking target;
if the tracking target is not the new tracking target, judging the energy of the track of the tracking target point, if the energy is less than a threshold value, predicting the frame, otherwise, adding the frame data into the track estimation and prediction of the tracking target;
calculating the tracking quality and the track number of the tracked target;
calculating tracking target mass TQualityIn time, a mathematical calculation model is established based on the following mathematical formula:
TQuality＝β·TQuality-1+(1-β)·η
in the formula, TQuality-1β -quality update factor with the value range of (0, 1) for the data obtained by the last calculation]；
η -the interconnection ratio of the tracking target and the trace point in the frame has a value range of [0,1 ].
Calculating the number of tracks NlinkIn time, a mathematical calculation model is established based on the following mathematical formula:
NLink＝NTotal-Npre-α·Ncan
in the formula:
NTotal-tracking the target tracking total frame number;
Npre-predicting a frame number;
Ncan-a number of frames to be candidate;
α -link number candidate factor, the value range is (0,1 ];
updating the state and related parameters of the tracking target of the frame, and updating a track file of the tracking target;
and confirming whether the tracking target track is output or not according to the tracking quality and the track number, and outputting the track.
According to the tracking target quality TQavailability and the tracking target track number NLink, when the TQavailability is greater than ThrQuavailability and the NLink is greater than MinHitNum, judging that the track of the tracking target is a confirmed track: otherwise, judging again through the next frame.
The invention also provides a multi-tracking target tracking system for marine navigation radar track management, which is characterized by comprising the following components:
the radar data acquisition unit is used for acquiring data acquired by a radar;
the wave gate parameter selection unit is used for receiving the radar data acquired by the radar data acquisition unit and selecting proper wave gate parameters according to the tracking time and the tracking state;
the tracking state judgment and calculation unit is used for preliminarily giving the tracking state of the tracking target in the frame and calculating the physical parameters of the tracking target;
a new tracking target judging unit for judging whether the tracking target is lost or not and judging whether the tracking target is a new tracking target or not;
the tracking target tracking quality and track number calculating unit is used for receiving the tracking state data of the tracking target screened by the new tracking target judging unit and calculating the tracking quality and track number of the tracking target;
the tracking state updating unit is used for receiving the tracking quality and track number data of the tracking target, updating the state and relevant parameters of the tracking target of the current frame and updating a track file of the tracking target;
and the tracking target track judging and outputting unit is used for judging whether the tracking target track is output or not, if the tracking target track is judged to meet the output requirement, the tracking target track is output, and if not, the tracking target track is not output until the tracking target track meets the output condition. If the target is output before, the target is output until the condition is not met, and whether the target is output is further judged.
Further, the multi-tracking target tracking system for the marine navigation radar track management is electrically connected to a radar display.
The invention combines track starting, track canceling and track maintaining, combines the wave gate parameter establishment and data associated tracking target state, and provides a ship navigation radar track quality evaluation standard based on the practical application of the ship navigation radar, wherein the ship navigation radar track quality evaluation standard comprises a selection criterion of the tracking wave gate parameter, a track confirmation criterion and a track canceling criterion, and when a certain frame or a certain frames are not connected with each other, the echo is confirmed again in the next frame, and the tracking target cannot be easily discarded. Therefore, if the tracking target is a small tracking target or a tracking target with a weak signal-to-noise ratio, the track of the tracking target can be confirmed through long-time confirmation, and the phenomenon of missed detection of the tracking target cannot be caused.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Furthermore, those skilled in the art will appreciate that while some embodiments herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (7)
1. A multi-tracking target tracking method for marine navigation radar track management is characterized by comprising the following steps:
collecting multiple groups of tracking time data, tracking state data, point track data and flight track data through a radar data acquisition unit;
selecting a wave gate parameter through a wave gate parameter selection unit according to the tracking time length and the tracking state;
preliminarily providing tracking state parameters of the tracking target in the frame according to the corresponding relation between the point track data and the flight track data through a tracking state judgment and calculation unit, and calculating physical parameters of the tracking target according to the tracking state parameters and the wave gate parameters;
according to a flight path canceling standard and tracking state data before the tracking target, judging whether the tracking target is lost;
if the tracking target is not lost and the track length is equal to 1 frame, determining the tracking target as a new tracking target; if the tracking target is not lost and the track length is greater than 1 frame, determining that the tracking target is not a new tracking target, judging the energy value of the trace point data of the tracking target, if the energy value is less than a threshold value, predicting the frame, otherwise, adding the frame data into track estimation and prediction of the tracking target;
calculating the tracking quality and the track number of the tracked target;
updating the tracking time data, the tracking state data, the point track data and the track data of the tracking target of the frame, and updating the track file of the tracking target;
confirming whether track data of a tracking target is output or not according to the tracking quality and the track number, and outputting a track; when the physical parameters of the tracking target are calculated, a mathematical calculation model established based on the following mathematical formula is adopted:
in the formula: TPower-energy of a tracked target;
EPower-energy of the trace of dots.
2. The method for tracking multiple tracked targets for marine navigation radar track management according to claim 1, wherein the gate parameters are divided into three types, namely large gate parameters, medium gate parameters and small gate parameters according to size.
3. The method for tracking multiple tracking targets for ship navigation radar track management according to claim 2, wherein when judging whether the tracking target is lost according to the tracking time and the tracking quality, a judgment model with the following standards is adopted:
a) the difference between the time Tlast of the last frame associated with the trace point and the current time TN exceeds 20 frames;
b) if the tracking target track is confirmed, the tracking quality Tquality of the tracking target is less than 0.4, and the tracking target is not a fusion tracking target;
c) if the tracking target track is not confirmed, the tracking quality TQavailability of the tracking target is less than 0.5;
the tracking target is considered lost as long as any one of them is satisfied.
4. The multi-tracking target tracking method for ship navigation radar track management according to claim 3, wherein when calculating the number of tracks Nlink, a mathematical calculation model is established based on the following mathematical formula:
NLink＝NTotal-Npre-α·Ncan
in the formula:
NTotal-tracking target tracking total frame number;
npre-predicted frame number;
ncan-number of frames to be candidate;
α -link number candidate factor, the value range is (0, 1).
5. The method for tracking multiple tracking targets for ship navigation radar track management according to claim 4, wherein when calculating the tracking target quality Tquality, a mathematical calculation model based on the following mathematical formula is adopted:
TQuality＝β·TQuality+(1-β)·η
β -quality updating factor, the value range is (0, 1);
η -the interconnection ratio of the tracking target and the trace point in the frame has a value range of [0,1 ].
6. A multi-tracking target tracking system for marine navigation radar track management, comprising:
the radar data acquisition unit is used for acquiring multiple groups of tracking time data, tracking state data, point track data and track data;
the wave gate parameter selection unit is used for receiving the radar data acquired by the radar data acquisition unit and selecting proper wave gate parameters according to the tracking time and the tracking state;
the tracking state judgment and calculation unit is used for preliminarily giving the tracking state of the tracking target in the frame and calculating the physical parameters of the tracking target;
a new tracking target judging unit for judging whether the tracking target is lost or not and judging whether the tracking target is a new tracking target or not;
the tracking target tracking quality and track number calculating unit is used for receiving the tracking state data of the tracking target screened by the new tracking target judging unit and calculating the tracking quality and track number of the tracking target;
the tracking state updating unit is used for receiving the tracking quality and track number data of the tracking target, updating the state and relevant parameters of the tracking target of the current frame and updating a track file of the tracking target;
the tracking target track judging and outputting unit is used for judging whether the tracking target track is output or not and outputting the tracking target track; when the physical parameters of the tracking target are calculated, a mathematical calculation model established based on the following mathematical formula is adopted:
in the formula: TPower-energy of a tracked target;
EPower-energy of the trace of dots.
7. The multi-tracked-target tracking system for marine navigation radar track management according to claim 6, wherein the multi-tracked-target tracking system for marine navigation radar track management is electrically connected to a radar display.
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| 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 |
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