CN107290731A - A kind of radar track initial mode based on image area template matches - Google Patents
A kind of radar track initial mode based on image area template matches Download PDFInfo
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Abstract
A kind of radar track initial mode based on image area template matches, the present invention relates to image procossing and target data process field.The invention aims to solve existing template matching method, to there is algorithm under the background of strong clutter computationally intensive, processing time is long, can not meet track initiation for real-time requirement the problem of, and track initiation result false alarm rate is high, the problem of accuracy is low.Process is：One：Obtain the point mark data marked with the number of turns；Two：Three comprising radar are obtained to punctuate mark data；Three：Obtain radar single layer image matrix；Four：Obtain multidimensional image matrix；Five：Until three containing radar punctuate mark data；Six：Matched, result is preserved if success, given up if failure；Judge whether that frame choosing is finished, if performing five without if；If finished, judge whether that whole sliding windows are completed, if performing two without if；If so, then terminating.The present invention is used for radar track and originates field.
Description
Technical field
The present invention relates to image procossing and target data process field.
Background technology
Track initiation is the problem of target tracking domain first has to solution, is the premise that flight path is maintained.Track initialization algorithm
Accuracy and complexity, directly affect whole object tracking process.Limitation yet with radar performance itself and various outer
The influence of boundary's environmental factor, can cause to lose the problems such as a little mutually tangling, cover between target.These problems further increase boat
The difficulty of mark starting.
Traditional track initiation method disposition under conditions of light clutter, simple target is preferable, and when in strong clutter
Under background or in the case of multiple target even intersection flight path, process performance drastically declines.For traditional template matching method,
Under the background of strong clutter, algorithm is computationally intensive, and processing time is long, it is impossible to meet requirement of the track initiation for real-time, and
Track initiation result false alarm rate is high, and accuracy is low.
The content of the invention
The invention aims to solve existing template matching method to have algorithm amount of calculation under the background of strong clutter
Greatly, processing time is long, it is impossible to meet track initiation for real-time requirement the problem of, and track initiation result false-alarm
Rate is high, the problem of accuracy is low, and proposes a kind of radar track initial mode based on image area template matches.
A kind of radar track initial mode detailed process based on image area template matches is：
Step one：Number of turns mark is carried out to radar original point mark data, the point mark data marked with the number of turns are obtained；
Matching stencil is constructed, matching stencil includes target maximum speed Vmax, target minimum speed Vmin, target maximum accelerate
Spend amax, target maximum drift angle ThetaMax, target maximum distance than RRatio_max, minimum target range than RRatio_min,
Target signal to noise ratio threshold value SNRthr, target range span threshold value Rangthr；
Step 2：Kth in the point mark data marked with the number of turns obtained to step one is slided to the k+2 data enclosed
Window value, judging data that kth enclosed to k+2, whether three comprising radar punctuate mark data, if three comprising radar punctuate mark
Data, then perform step 3；
If three not comprising radar punctuate mark data, from the point mark data marked with the number of turns that step one is obtained
The data of k+1 to k+3 circles carry out sliding window value, judge whether data that kth+1 is enclosed to k+3 include the three of radar and punctuate mark number
According to until obtaining three punctuating mark data comprising radar；
Step 3：The three of the radar obtained to step 2 punctuate the resolution cell sizes of mark data, positional information, number of turns letter
Breath (number of turns of point mark data is labeled as lap information) carries out pixelation processing, obtains the radar single layer image after pixelation processing
Matrix；
Step 4：The three of the radar obtained according to step 2 punctuate coordinate layer, time horizon, RGB-R layers, the RGB- of mark data
G layers, RGB-B layers, call number mark layer, the radar single layer image matrix obtained to step 3 carry out image multiple stratification processing, obtain
Punctuated the coordinate layers of mark data, time horizon, RGB-R layers, RGB-G layers, RGB-B layers, the three-dimensional of call number mark layer to comprising three
Image array；
The coordinate layer includes polar angle and polar diameter；
Step 5：The three-dimensional image matrix obtained to step 4 carries out square area frame choosing, judges currently available frame choosing
Whether three containing radar are punctuated mark data for image array in region, if three containing radar punctuate mark data, frame is selected
Image array in region carries out point mark association, obtains M kind relating dot mark images, and M values are positive integer, then perform step 6；
If not containing the three of radar to punctuate mark data, square-shaped frame favored area is moved into a pixel, rejudged currently available
Whether three containing radar punctuate mark data for image array in frame favored area, until three containing radar punctuate mark data；
Step 6：Speed V, acceleration a in the M kind relating dot mark images that step 5 is obtained, drift angle Theta, distance
The three-dimensional image matrix obtained than RRatio, step 4 searches constructed in signal to noise ratio snr, distance Rang and step one
With the target maximum speed V in masterplatemax, target minimum speed Vmin, target maximum acceleration amax, target maximum drift angle
ThetaMax, target maximum distance is than RRatio_max, minimum target range than RRatio_min, target signal to noise ratio threshold value
SNRthr, target range span threshold value RangthrMatched, result, as radar track starting point are preserved if the match is successful；
Give up if it fails to match；The three of the radar that judgment step two is obtained are punctuated, and whether frame choosing is finished mark data, if without frame choosing
Finish, then perform step 5；If frame choosing is finished, whether judgment step one obtains all sliding with the point mark data that the number of turns is marked
Window is completed, if no sliding window is finished, performs step 2；If sliding window is finished, terminate.
Beneficial effects of the present invention are：
The present invention have studied a kind of radar track initial mode based on image area template matches, innovatively propose by
Digital image processing techniques are applied to target with tracking field.Thought is selected using target prescreening and regional frame, in strong clutter
Under background, reduce algorithm amount of calculation, shorten the processing time of track initiation, meet requirement of the track initiation for real-time, carry
The accuracy of high track initiation result, reduces false alarm rate, there is very big engineering application value.The research of the project is to China
The reliability of national defence and give warning in advance significant.
1st, image procossing is used to solve track initiation maintenance problem first by the present invention, simplifies algorithm design, reduces and calculate
Method amount of calculation, shortens the processing time of track initiation, meets requirement of the track initiation for real-time, excellent with certain algorithm
More property, can realize multiple target and intersect the detection of flight path, be adapted under clutter background enter true flight path the start of line and tracking.
2nd, the present invention innovatively proposes the method selected with image-region frame, greatly reduces amount of calculation, is handled in real time
In have an enormous advantage, reduce the cost of experiment, the adaptivity of system is stronger.
3rd, the scale invariability that binding characteristic of the present invention is extracted, the feature of extraction is kept not to rotation, scaling change
Denaturation, a certain degree of stability is also kept to visual angle change, affine transformation, noise.
4th, measured data result shows：Template matching method degree of accuracy height proposed by the present invention based on image procossing,
Real-time is good, improves the accuracy of track initiation result, reduces false alarm rate, is also to have very under strong clutter environment
Good effect, with very strong actual application value.
Such as table 1 and Fig. 6 a, 6b, 7a, 7b experiment simulation figures, it be can be seen that from emulation data experiment result figure using a kind of
Radar track initial mode based on image area template matches originates track under light clutter background, can reach false dismissed rate and
False alarm rate reaches 0%, and effect is ideal.
Such as table 2 and Fig. 8 a, Fig. 8 b light clutter region measured data experiment；Can from measured data experimental result picture
Go out, track, energy are originated under light clutter background using a kind of radar track initial mode based on image area template matches
Reach that false dismissed rate and false alarm rate reach 0%, effect is ideal.
Such as table 2 and Fig. 9 a, 9b heavy clutter region measured data experiment；It can be seen that from measured data experimental result picture
Using a kind of radar track initial mode based on image area template matches track, false dismissed rate are originated under weight clutter background
It can be controlled with false alarm rate within 2%, filter effect is fine.
Brief description of the drawings
Fig. 1 is a kind of flow chart of the radar track initial mode based on image area template matches of the present invention；
Fig. 2 is a kind of step flow chart of the detailed processing of the radar track initial mode based on image area template matches；
Fig. 3 ties for the distribution of original point mark, delta divisions, pixelation processing of step 3 image pixel process of the present invention
Fruit flow chart；
Fig. 4 is the flow chart of step 4 information layeredization process of the present invention；
Fig. 5 is the present invention Step 5: six flow charts handled in detail；
Fig. 6 a are the design sketch that original point mark figure carries out track initiation under light clutter background to emulation data；
Fig. 6 b are the design sketch that result figure of the present invention carries out track initiation under light clutter background to emulation data；
Fig. 7 a are the design sketch that original point mark figure of the present invention carries out track initiation under weight clutter background to emulation data；
Fig. 7 b are the design sketch that result figure of the present invention carries out track initiation under weight clutter background to emulation data；
Fig. 8 a are the design sketch that original point mark figure of the present invention carries out track initiation under light clutter background to measured data；
Fig. 8 b are the design sketch that result figure of the present invention carries out track initiation under light clutter background to measured data；
Fig. 9 a are the design sketch that original point mark figure of the present invention carries out track initiation under weight clutter background to measured data；
Fig. 9 b are the design sketch that result figure of the present invention carries out track initiation under weight clutter background to measured data.
Embodiment
Embodiment one：Illustrate present embodiment with reference to Fig. 1, Fig. 2, one kind of present embodiment is based on image area mould
Plate matching radar track initial mode detailed process be：
Step one：Number of turns mark is carried out to radar original point mark data, the point mark data marked with the number of turns are obtained；
Matching stencil is constructed, matching stencil includes target maximum speed Vmax, target minimum speed Vmin, target maximum accelerate
Spend amax, target maximum drift angle ThetaMax, target maximum distance than RRatio_max, minimum target range than RRatio_min,
Target signal to noise ratio threshold value SNRthr, target range span threshold value Rangthr；
These values are constructed according to the priori characteristic of target；
Step 2：Kth in the point mark data marked with the number of turns obtained to step one is slided to the k+2 data enclosed
Window value, judging data that kth enclosed to k+2, whether three comprising radar punctuate mark data, if three comprising radar punctuate mark
Data, then perform step 3；
If three not comprising radar punctuate mark data, from the point mark data marked with the number of turns that step one is obtained
The data of k+1 to k+3 circles carry out sliding window value, judge whether data that kth+1 is enclosed to k+3 include the three of radar and punctuate mark number
According to if three comprising radar punctuate mark data, performing step 3；
If three not comprising radar punctuate mark data, from the point mark data marked with the number of turns that step one is obtained
The data of k+2 to k+4 circles carry out sliding window value, judge whether data that kth+2 is enclosed to k+4 include the three of radar and punctuate mark number
According to if three comprising radar punctuate mark data, performing step 3；
If three not comprising radar punctuate mark data, from the point mark data marked with the number of turns that step one is obtained
The data of k+3 to k+5 circles carry out sliding window value, judge whether data that kth+3 is enclosed to k+5 include the three of radar and punctuate mark number
According to if three comprising radar punctuate mark data, performing step 3；
If three not comprising radar punctuate mark data, from the point mark data marked with the number of turns that step one is obtained
The data of k+4 to k+6 circles carry out sliding window value, judge whether data that kth+4 is enclosed to k+6 include the three of radar and punctuate mark number
According to until obtaining three punctuating mark data comprising radar；
Step 3：The three of the radar obtained to step 2 punctuate the resolution cell sizes of mark data, positional information, number of turns letter
Breath (number of turns of point mark data is labeled as lap information) carries out pixelation processing, obtains the radar single layer image after pixelation processing
Matrix；
Step 4：The three of the radar obtained according to step 2 punctuate coordinate layer, time horizon, RGB-R layers, the RGB- of mark data
G layers, RGB-B layers, call number mark layer, the radar single layer image matrix obtained to step 3 carry out image multiple stratification processing, obtain
Punctuated the coordinate layers of mark data, time horizon, RGB-R layers, RGB-G layers, RGB-B layers, the three-dimensional of call number mark layer to comprising three
Image array；
The coordinate layer includes polar angle and polar diameter；
Step 5：The three-dimensional image matrix obtained to step 4 carries out square area frame choosing, judges currently available frame choosing
Whether three containing radar are punctuated mark data for image array in region, if three containing radar punctuate mark data, frame is selected
Image array in region carries out point mark association, obtains M kind relating dot mark images, and M values are positive integer, then perform step 6；
If not containing the three of radar to punctuate mark data, square-shaped frame favored area is moved into a pixel, rejudged currently available
Whether three containing radar punctuate mark data (re-executing step 5) for image array in frame favored area, until containing radar
Three punctuate mark data；
Step 6：Speed V, acceleration a in the M kind relating dot mark images that step 5 is obtained, drift angle Theta, distance
The three-dimensional image matrix obtained than RRatio, step 4 searches constructed in signal to noise ratio snr, distance Rang and step one
With the target maximum speed V in masterplatemax, target minimum speed Vmin, target maximum acceleration amax, target maximum drift angle
ThetaMax, target maximum distance is than RRatio_max, minimum target range than RRatio_min, target signal to noise ratio threshold value
SNRthr, target range span threshold value RangthrMatched, result, as radar track starting point are preserved if the match is successful；
Give up if it fails to match；The three of the radar that judgment step two is obtained are punctuated, and whether frame choosing is finished mark data, if without frame choosing
Finish, then perform step 5；If frame choosing is finished, whether judgment step one obtains all sliding with the point mark data that the number of turns is marked
Window is completed, if no sliding window is finished, performs step 2；If sliding window is finished, terminate.
Embodiment two：Present embodiment from unlike embodiment one：It is specific in the step one
Process comprises the following steps：
Step one by one, radar original point mark packet containing call number, the time, polar angle, polar diameter, signal to noise ratio, distance letter
Breath；Number of turns mark is carried out according to the temporal information of all radar original point mark data first；
In formula, tagiFor the lap information of i-th mark data in radar original point mark, timeiFor in radar original point mark
The time of i-th mark data, timeminFor the minimum value of temporal information in radar original point mark, T is the radar scanning cycle；i
Value is positive integer；
Step one two, by setting a series of constraints to construct matching stencil, wherein constraints includes target most
Big speed Vmax, target minimum speed Vmin, target maximum acceleration amax, target maximum drift angle ThetaMax, target maximum distance
Than RRatio_max, minimum target range than RRatio_min, target signal to noise ratio threshold value SNRthr, target range span threshold value
Rangthr；
400≤V of target maximum speedmax≤ 600, unit is m/s；50≤V of target minimum speedmin≤ 200, unit is m/
s；0≤a of target maximum accelerationmax≤ 10, unit is m/s2；Target maximum drift angle 135≤ThetaMax≤180, unit is
Degree；Target maximum distance is than 1.2≤RRatio_max≤1.6；Minimum target range is than 0.5≤RRatio_min≤0.7；Target
0≤SNR of snr thresholdthr≤35；75≤Rang of target range span threshold valuethr≤ 300, unit is m；
First, second and third number of turns with a, b, c according to being represented respectively；aiRepresent i-th mark in first lap data, bjRepresent the
J-th mark of two number of turns in, ckRepresent k-th mark of the 3rd number of turns in；I, j, k value are positive integer；ThenRepresent point mark aiTo bjDistance, thenRepresent point mark bjTo ckDistance；Distance is expressed as one than RRatio,
Two circle between distance and two, three punctuate between ratio of distances constant；I.e.
The maximum of the angle (obtuse angle) of straight line where straight line where sail angle ThetaMax represents a, b point and b, c point,
The setting of this value enables this method detecting motor-driven flight path target to a certain degree；
Scale invariant feature conversion (Scale-invariant feature transform, SIFT) algorithm is by brother's human relations
Proposed than sub- university David professors Lowe, be the algorithm of a kind of local shape factor and description；It is carried out in metric space
Feature extraction, and the feature extracted is to rotating, scaling change maintains the invariance, to visual angle change, affine transformation, noise
Also a certain degree of stability is kept；How to be rotated on metric space without argument mark, stretching, a gist feature and line are special
Levy and meet maximal rate Vmax, minimum speed Vmin, peak acceleration amax, sail angle ThetaMax, ultimate range ratio
The threshold value constraint of RRatio_max, minimum range than RRatio_min, you can be considered targetpath.
Embodiment three：Present embodiment from unlike embodiment one or two：It is right in the step 3
The three of the radar that step 2 is obtained punctuate the resolution cell sizes of mark data, positional information, the lap information (number of turns of point mark data
Labeled as lap information) pixelation processing is carried out, obtain the radar single layer image matrix after pixelation processing；Detailed process is：
Step 3 one, set resolution cell and represented with delta, the three of the radar that step 2 is obtained punctuates mark data coordinates structure
Into two dimensional surface according to delta point be PixelNumXPixelNumY grid, each grid is a pixel；If step
The mark data of punctuating of the three of rapid two obtained radars are fallen into some grid, then represent the mark with the grid；
If the three of the radar that step 2 is obtained punctuate mark data coordinates composition two dimensional surface horizontal direction (X-direction)
Number of pixels is PixelNumX, and the number of pixels of vertical direction (Y-direction) is PixelNumY, then
Wherein max_x is maximum horizontal direction coordinate value, and min_x is minimum level direction coordinate value, and max_y is maximum perpendicular
Nogata is to coordinate value, and min_y is minimum vertical direction coordinate value；Horizontal direction is the pole axis under polar coordinate system, and vertical direction is
The axle vertical with pole axis under polar coordinate system；
If two-dimensional matrix img, its line number is PixelNumX, and columns is PixelNumY；The then element in two-dimensional matrix img
The grid divided with two dimensional surface according to delta is corresponded, if the three of the radar that step 2 is obtained mark data of punctuating fall into certain
In individual grid, then the call number of this mark data is put into two-dimensional matrix img corresponding position, completes pixelation processing, obtain
Radar single layer image matrix to after pixelation processing.
Embodiment four：Unlike one of present embodiment and embodiment one to three：It is described to differentiate single
First delta is according to target minimum speed VminDetermined with radar scanning cycle T, i.e.,
If it should be noted that delta chooses improper, can cause to fall into the point mark of two and the above in same lattice.
Image pixel processing procedure is shown in accompanying drawing 3.
Embodiment five：Unlike one of present embodiment and embodiment one to four：The step 4
The three of the middle radar obtained according to step 2 punctuate the coordinate layers of mark data, time horizon, RGB-R layers, RGB-G layers, RGB-B layers,
Call number mark layer, the radar single layer image matrix obtained to step 3 carries out image multiple stratification processing, obtains punctuating comprising three
Coordinate layer, time horizon, RGB-R layers, RGB-G layers, RGB-B layers, the three-dimensional image matrix of call number mark layer of mark data；Specifically
Process is：
On the basis of two-dimensional matrix img, different layers are separated on the basis of call number information matrix, three-dimensional matrice is generated
Img_all, its line number is PixelNumX, and columns is PixelNumY, and the number of plies is PixelNumZ, then in three-dimensional matrice img_all
The grid that each layer of element is divided with two dimensional surface according to delta is corresponded；
Call number information matrix is the two-dimensional matrix img containing call number information；
Three dimensions of three-dimensional image matrix are row dimension, row dimension and layer dimension respectively；Its middle level dimension includes coordinate
Layer, time horizon, RGB-R layers, RGB-G layers, RGB-B layers, call number mark layer；
Coordinate layer, time horizon, RGB-R layers, RGB-G layers, RGB-B layers, call number mark layer is one in the row and column of matrix
One correspondence；(1 radar data point marked as 10 such as, is shown in the 3rd row the 5th of call number mark layer, then in time horizon
3rd row the 5th row can find the temporal information of the point)；
Three number of turns of three-dimensional matrice img_all images are set in, the point of first lap is represented with red (R), the second circle
Point represent that the point of the 3rd circle is represented with blue (B) with green (G), three layers are needed in three-dimensional matrice img_all and is used for marking
Remember rgb value；This layered shaping is for a convenience for mark information inquiry；If certain pixel coordinate of point mark in the picture is (x0,
y0), then the signal-tonoise information of the mark can signal-tonoise information layer (x0,y0) position enquiring arrives, distance information can away from
From (the x of span Information Level0,y0) position enquiring arrives.
Accompanying drawing 4 is shown in information layeredization processing.
Other steps and parameter are identical with one of embodiment one to four.
Embodiment six：Unlike one of present embodiment and embodiment one to five：The step 5
In the three-dimensional image matrix that is obtained to step 4 carry out square area frame choosing, judge the image moment in currently available frame favored area
Whether threes' battle array containing radar punctuate mark data；Detailed process is：
The three-dimensional image matrix center obtained to step 4 selects SizeModel × SizeModel square area,
Judging the image array in currently available frame favored area, whether three containing radar punctuate mark data；
The length of side of square-shaped frame favored area is weighed with number of pixels, is expressed as SizeModel；
Matched with the template that step one is obtained, then square-shaped frame favored area moves right a pixel unit, then
The secondary point by frame favored area carries out track association and template matches, until square-shaped frame favored area is moved to image lower right corner knot
Beam；The purpose of choice box favored area is to reduce amount of calculation, if carrying out template matches, the situation of track association with full images region
It can be exponentially increased with amount of calculation；If it is noted that frame favored area length of side SizeModel selections are too small, easily causing a boat
3 points on mark exceed frame favored area, cause missing inspection, if SizeModel selections are too big, can increase amount of calculation.
SizeModel is based on maximal rate Vmax, scan period T and resolution cell delta determine；I.e.
The process matched for the ease of description template, it is assumed that have 5 points in certain square-shaped frame favored area, be one respectively
First lap data point a, three the second number of turns strong point b1、b2、b3, the 3rd number of turns strong point c；Then this time track association situation is total to
There are three kinds, be a-b respectively1-c、a-b2-c、a-b3-c；According to front construction template constraints, to three kinds of track association
Situation is screened, and meet template constraints is considered flight path.
The flow chart that regional frame is selected and template matches are handled in detail is shown in accompanying drawing 5.
Other steps and parameter are identical with one of embodiment one to five.
Beneficial effects of the present invention are verified using following examples：
Embodiment one：
A kind of radar track initial mode based on image area template matches of the present embodiment is specifically according to following steps system
Standby：
Emulation experiment
1 emulation setting
105×105There are five navigation targets to do linear uniform motion in region, initial position is random, and the direction of motion is random,
Movement velocity scope is 50m/s~500m/s, and radar carries out three scanning, and the scan period is 5s, is obeyed per batch clutter number
Parameter is 50 Poisson distribution, and distance by radar observation standard deviation is not 40m and 0.3 ° with range angle observation standard difference.Using upper
State the track initiation that method carries out three batches.
2 emulation experiment statistical results see attached list 1.
Table 1
| Light clutter | Weight clutter | |
| False alarm rate | 0% | 1.6026% |
| False dismissed rate | 0% | 0% |
3 experiment simulation figures are shown in accompanying drawing 6a, 6b, 7a, 7b.
It can be seen that from emulation data experiment result figure and utilize a kind of radar track starting based on image area template matches
Method originates track under light clutter background, can reach that false dismissed rate and false alarm rate reach 0%, effect is ideal.
Measured data is tested
1. light clutter region actual measurement experiment
It can be seen that from measured data experimental result picture and utilize a kind of radar track starting based on image area template matches
Method originates track under light clutter background, can reach that false dismissed rate and false alarm rate reach 0%, effect is ideal.
Actual-structure measurement result sees attached list 2.
Table 2
| Light clutter | Weight clutter | |
| False alarm rate | 0% | 0.4396% |
| False dismissed rate | 0% | 0% |
Measured data lab diagram is shown in accompanying drawing 8a, 8b.
2. heavy clutter region actual measurement experiment
It can be seen that from measured data experimental result picture and utilize a kind of radar track starting based on image area template matches
Method originates track under weight clutter background, and false dismissed rate and false alarm rate can be controlled within 2%, and filter effect is fine.
Actual-structure measurement result sees attached list 2.
Measured data lab diagram is shown in accompanying drawing 9a, 9b.
The present invention can also have other various embodiments, in the case of without departing substantially from spirit of the invention and its essence, this area
Technical staff works as can make various corresponding changes and deformation according to the present invention, but these corresponding changes and deformation should all belong to
The protection domain of appended claims of the invention.
Claims (6)
1. a kind of radar track initial mode based on image area template matches, it is characterised in that：Methods described detailed process is：
Step one：Number of turns mark is carried out to radar original point mark data, the point mark data marked with the number of turns are obtained；
Matching stencil is constructed, matching stencil includes target maximum speed Vmax, target minimum speed Vmin, target maximum acceleration
amax, target maximum drift angle ThetaMax, target maximum distance is than RRatio_max, minimum target range than RRatio_min, mesh
Mark snr threshold SNRthr, target range span threshold value Rangthr；
Step 2：Kth in the point mark data marked with the number of turns obtained to step one carries out sliding window to the data that k+2 is enclosed and taken
Value, judges whether data that kth is enclosed to k+2 include the three of radar and punctuate mark data, if three comprising radar punctuate mark data,
Then perform step 3；
If three not comprising radar punctuate mark data, the k+ from the point mark data marked with the number of turns that step one is obtained
1 to the k+3 data enclosed carry out sliding window value, judge whether data that kth+1 is enclosed to k+3 include the three of radar and punctuate mark data,
Until obtaining three punctuating mark data comprising radar；
Step 3：The punctuate resolution cell sizes of mark data, positional information, the lap information of the three of the radar obtained to step 2 enters
The processing of row pixelation, obtains the radar single layer image matrix after pixelation processing；
Step 4：The three of the radar obtained according to step 2 punctuate the coordinate layers of mark data, time horizon, RGB-R layers, RGB-G layers,
RGB-B layers, call number mark layer, the radar single layer image matrix obtained to step 3 carry out image multiple stratification processing, are wrapped
Punctuated the coordinate layers of mark data, time horizon, RGB-R layers, RGB-G layers, RGB-B layers, the 3-D view of call number mark layer containing three
Matrix；
Step 5：The three-dimensional image matrix obtained to step 4 carries out square area frame choosing, judges currently available frame favored area
Whether threes' interior image array containing radar punctuate mark data, if three containing radar punctuate mark data, to frame favored area
Interior image array carries out point mark association, obtains M kind relating dot mark images, and M values are positive integer, then perform step 6；If
Do not contain the three of radar to punctuate mark data, then square-shaped frame favored area is moved into a pixel, rejudge currently available frame choosing
Whether three containing radar punctuate mark data for image array in region, until three containing radar punctuate mark data；
Step 6：Speed V, acceleration a, drift angle Theta, distance in the M kind relating dot mark images that step 5 is obtained than
The three-dimensional image matrix that RRatio, step 4 are obtained searches signal to noise ratio snr, distance Rang and matching for being constructed in step one
Target maximum speed V in masterplatemax, target minimum speed Vmin, target maximum acceleration amax, target maximum drift angle
ThetaMax, target maximum distance is than RRatio_max, minimum target range than RRatio_min, target signal to noise ratio threshold value
SNRthr, target range span threshold value RangthrMatched, result, as radar track starting point are preserved if the match is successful；
Give up if it fails to match；The three of the radar that judgment step two is obtained are punctuated, and whether frame choosing is finished mark data, if without frame choosing
Finish, then perform step 5；If frame choosing is finished, whether judgment step one obtains all sliding with the point mark data that the number of turns is marked
Window is completed, if no sliding window is finished, performs step 2；If sliding window is finished, terminate.
2. a kind of radar track initial mode based on image area template matches according to claim 1, it is characterised in that：Institute
The detailed process stated in step one comprises the following steps：
Step one by one, radar original point mark packet contain call number, time, polar angle, polar diameter, signal to noise ratio, distance information；It is first
Number of turns mark is first carried out according to the temporal information of all radar original point mark data；
<mrow>
<msub>
<mi>tag</mi>
<mi>i</mi>
</msub>
<mo>=</mo>
<mo>&lsqb;</mo>
<mfrac>
<mrow>
<msub>
<mi>time</mi>
<mi>i</mi>
</msub>
<mo>-</mo>
<msub>
<mi>time</mi>
<mi>min</mi>
</msub>
</mrow>
<mi>T</mi>
</mfrac>
<mo>&rsqb;</mo>
<mo>+</mo>
<mn>1</mn>
</mrow>
In formula, tagiFor the lap information of i-th mark data in radar original point mark, timeiFor in radar original point mark i-th
The time of individual mark data, timeminFor the minimum value of temporal information in radar original point mark, T is the radar scanning cycle；I values
For positive integer；
Step one two, by set constraints construct matching stencil, wherein constraints include target maximum speed Vmax, mesh
Mark minimum speed Vmin, target maximum acceleration amax, target maximum drift angle ThetaMax, target maximum distance is than RRatio_
Max, minimum target range are than RRatio_min, target signal to noise ratio threshold value SNRthr, target range span threshold value Rangthr；
400≤V of target maximum speedmax≤ 600, unit is m/s；50≤V of target minimum speedmin≤ 200, unit is m/s；Mesh
Mark 0≤a of peak accelerationmax≤ 10, unit is m/s2；Target maximum drift angle 135≤ThetaMax≤180, unit is degree；Mesh
Ultimate range is marked than 1.2≤RRatio_max≤1.6；Minimum target range is than 0.5≤RRatio_min≤0.7；Target signal
Than 0≤SNR of threshold valuethr≤35；75≤Rang of target range span threshold valuethr≤ 300, unit is m；
First, second and third number of turns with a, b, c according to being represented respectively；aiRepresent i-th mark in first lap data, bjRepresent that second encloses
J-th mark in data, ckRepresent k-th mark of the 3rd number of turns in；I, j, k value are positive integer；ThenTable
Show a mark aiTo bjDistance, thenRepresent point mark bjTo ckDistance；Distance is expressed as one, two circle spacing than RRatio
Punctuated from two, three a ratio of distances constant；I.e.
<mrow>
<mi>R</mi>
<mi>R</mi>
<mi>a</mi>
<mi>t</mi>
<mi>i</mi>
<mi>o</mi>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mi>Len</mi>
<mrow>
<msub>
<mi>b</mi>
<mi>j</mi>
</msub>
<mo>~</mo>
<msub>
<mi>c</mi>
<mi>k</mi>
</msub>
</mrow>
</msub>
</mrow>
<mrow>
<msub>
<mi>Len</mi>
<mrow>
<msub>
<mi>a</mi>
<mi>i</mi>
</msub>
<mo>~</mo>
<msub>
<mi>b</mi>
<mi>j</mi>
</msub>
</mrow>
</msub>
</mrow>
</mfrac>
</mrow>
The maximum of the angle of straight line where straight line where sail angle ThetaMax represents a, b point and b, c point.
3. a kind of radar track initial mode based on image area template matches according to claim 2, it is characterised in that：Institute
The three of the radar for obtaining step 2 in step 3 the punctuate resolution cell sizes of mark data, positional information, lap information is stated to enter
The processing of row pixelation, obtains the radar single layer image matrix after pixelation processing；Detailed process is：
Step 3 one, set resolution cell and represented with delta, the three of the radar that step 2 is obtained punctuates mark data coordinates composition
Two dimensional surface is PixelNumXPixelNumY grid according to delta points, and each grid is a pixel；If step 2
The mark data of punctuating of the three of obtained radar are fallen into some grid, then represent the mark with the grid；
If the three of the radar that step 2 the is obtained number of pixels of horizontal direction of two dimensional surface for punctuating mark data coordinates composition are
PixelNumX, the number of pixels of vertical direction is PixelNumY, then
<mrow>
<mi>P</mi>
<mi>i</mi>
<mi>x</mi>
<mi>e</mi>
<mi>l</mi>
<mi>N</mi>
<mi>u</mi>
<mi>m</mi>
<mi>X</mi>
<mo>=</mo>
<mfrac>
<mrow>
<mi>max</mi>
<mo>_</mo>
<mi>x</mi>
<mo>-</mo>
<mi>min</mi>
<mo>_</mo>
<mi>x</mi>
</mrow>
<mrow>
<mi>d</mi>
<mi>e</mi>
<mi>l</mi>
<mi>t</mi>
<mi>a</mi>
</mrow>
</mfrac>
</mrow>
<mrow>
<mi>P</mi>
<mi>i</mi>
<mi>x</mi>
<mi>e</mi>
<mi>l</mi>
<mi>N</mi>
<mi>u</mi>
<mi>m</mi>
<mi>Y</mi>
<mo>=</mo>
<mfrac>
<mrow>
<mi>m</mi>
<mi>a</mi>
<mi>x</mi>
<mo>_</mo>
<mi>y</mi>
<mo>-</mo>
<mi>m</mi>
<mi>i</mi>
<mi>n</mi>
<mo>_</mo>
<mi>y</mi>
</mrow>
<mrow>
<mi>d</mi>
<mi>e</mi>
<mi>l</mi>
<mi>t</mi>
<mi>a</mi>
</mrow>
</mfrac>
</mrow>
Wherein max_x is maximum horizontal direction coordinate value, and min_x is minimum level direction coordinate value, and max_y is maximum vertical side
To coordinate value, min_y is minimum vertical direction coordinate value；Horizontal direction is the pole axis under polar coordinate system, and vertical direction is sat for pole
The lower axle vertical with pole axis of mark system；
If two-dimensional matrix img, its line number is PixelNumX, and columns is PixelNumY；The then element and two in two-dimensional matrix img
The grid that dimensional plane is divided according to delta is corresponded, if the three of the radar that step 2 is obtained mark data of punctuating fall into some side
In lattice, then the call number of this mark data is put into two-dimensional matrix img corresponding position, completes pixelation processing, obtain picture
Radar single layer image matrix after plainization processing.
4. a kind of radar track initial mode based on image area template matches according to claim 3, it is characterised in that：Institute
Resolution cell delta is stated according to target minimum speed VminDetermined with radar scanning cycle T, i.e.,
<mrow>
<mi>d</mi>
<mi>e</mi>
<mi>l</mi>
<mi>t</mi>
<mi>a</mi>
<mo>&le;</mo>
<mfrac>
<mrow>
<msub>
<mi>V</mi>
<mrow>
<mi>m</mi>
<mi>i</mi>
<mi>n</mi>
</mrow>
</msub>
<mo>&times;</mo>
<mi>T</mi>
</mrow>
<msqrt>
<mn>2</mn>
</msqrt>
</mfrac>
<mo>.</mo>
</mrow>
5. a kind of radar track initial mode based on image area template matches according to claim 4, it is characterised in that：Institute
State the three of the radar obtained in step 4 according to step 2 punctuate the coordinate layers of mark data, time horizon, RGB-R layers, RGB-G layers,
RGB-B layers, call number mark layer, the radar single layer image matrix obtained to step 3 carry out image multiple stratification processing, are wrapped
Punctuated the coordinate layers of mark data, time horizon, RGB-R layers, RGB-G layers, RGB-B layers, the 3-D view of call number mark layer containing three
Matrix；Detailed process is：
On the basis of two-dimensional matrix img, different layers, generation three-dimensional matrice img_ are separated on the basis of call number information matrix
All, its line number is PixelNumX, and columns is PixelNumY, and the number of plies is PixelNumZ, then each in three-dimensional matrice img_all
The grid that the element of layer is divided with two dimensional surface according to delta is corresponded；
Call number information matrix is the two-dimensional matrix img containing call number information；
Three dimensions of three-dimensional image matrix are row dimension, row dimension and layer dimension respectively；Its middle level dimension comprising coordinate layer, when
Interbed, RGB-R layers, RGB-G layers, RGB-B layers, call number mark layer；
Coordinate layer, time horizon, RGB-R layers, RGB-G layers, RGB-B layers, one a pair in the row and column of matrix of call number mark layer
Should；
Three number of turns of three-dimensional matrice img_all images are set in, the point of first lap is represented with R, the point G tables of the second circle
Show, the point of the 3rd circle is represented with B, R is red, G is green, and B is blueness.
6. a kind of radar track initial mode based on image area template matches according to claim 5, it is characterised in that：Institute
State the three-dimensional image matrix obtained in step 5 to step 4 and carry out square area frame choosing, judge in currently available frame favored area
Image array whether three containing radar punctuate mark data；Detailed process is：
The three-dimensional image matrix center obtained to step 4 selects SizeModel × SizeModel square area, judges
Whether three containing radar punctuate mark data for image array in currently available frame favored area；
SizeModel is based on maximal rate Vmax, scan period T and resolution cell delta determine；I.e.
<mrow>
<mi>S</mi>
<mi>i</mi>
<mi>z</mi>
<mi>e</mi>
<mi>M</mi>
<mi>o</mi>
<mi>d</mi>
<mi>e</mi>
<mi>l</mi>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mi>V</mi>
<mrow>
<mi>m</mi>
<mi>a</mi>
<mi>x</mi>
</mrow>
</msub>
<mo>&times;</mo>
<mi>T</mi>
</mrow>
<mrow>
<mi>d</mi>
<mi>e</mi>
<mi>l</mi>
<mi>t</mi>
<mi>a</mi>
</mrow>
</mfrac>
<mo>.</mo>
</mrow>
3
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