CN107728123A - The extremely straight Coordinate Conversion accuracy of observation analysis method of radar, device and system - Google Patents
The extremely straight Coordinate Conversion accuracy of observation analysis method of radar, device and system Download PDFInfo
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- CN107728123A CN107728123A CN201710807919.5A CN201710807919A CN107728123A CN 107728123 A CN107728123 A CN 107728123A CN 201710807919 A CN201710807919 A CN 201710807919A CN 107728123 A CN107728123 A CN 107728123A
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
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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
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Abstract
The present embodiments relate to a kind of extremely straight Coordinate Conversion accuracy of observation analysis method of radar, device and system, methods described specifically includes：Obtain observation of the target to be measured in radar polar coordinate system；Observation of the target to be measured in radar polar coordinate system is converted to the observation in rectangular coordinate system；Obtain the united information entropy of observation of the target to be measured in rectangular coordinate system；Precision analysis is observed to the united information entropy.The extremely straight Coordinate Conversion accuracy of observation analysis method of radar proposed by the present invention, device and system, by the way that observation of the target to be measured in radar polar coordinate system to be converted to the observation in rectangular coordinate system, and obtain the united information entropy of observation of the target to be measured in rectangular coordinate system, by analyzing factor of the united information entropy so as to accuracy of observation described in analyzing influence, radar tracking is instructed to detect.
Description
Technical field
The invention belongs to radar data processing technology field, more particularly to a kind of radar pole-straight Coordinate Conversion accuracy of observation
Analysis, device and system.
Background technology
In target following, filtering system model includes state equation and measurement equation.The measuring value of target to be measured is (relative
In the distance and bearing angle of radar or the angle of pitch (angle of pitch for including 3D radars)) obtained under radar polar coordinate system.In order to
It is easy to describe the motion state of target, target is moved generally described in rectangular coordinate system corresponding with radar polar coordinate system.Cause
And the relation between target dynamic parameter and radar observation data is nonlinear, radar tracking system is necessarily nonlinear.
In actual applications, for target caused by the non-linear relation between radar observation data and target dynamic parameter
Nonlinear problem in tracking, current research mainly solve non-linear, including expansion using different non-linear filtering methods
Kalman filtering (EKF) method of exhibition, unscented kalman filter (UKF) algorithm and particle filter (PF) algorithm etc..It is however, seldom
Research is observed by polar coordinates obtains the progress gauge and analysis of rectangular co-ordinate state degree of uncertainty.
Observation is generally obtained in two-dimensional/three-dimensional polar coordinate system for radar, and target motion is then in rectangular co-ordinate
Described in system, the present invention uses comentropy quantitative measurement to observe the information for obtaining target rectangular co-ordinate position by radar polar coordinates
Amount, and based on this, analyzed being transformed into the influence factor of precision of rectangular coordinate system observation.
For the ease of understanding the general principle of the present invention, the comentropy in information theory is briefly introduced below.
In information theory, entropy is a particularly important concept, and for the system of a broad sense, entropy can be used as system
The confusion of state or the measurement of randomness.In general entropy is smaller, and the degree of systematic uncertainty is with regard to smaller.Similarly, believe
Breath entropy is the measurement of stochastic variable uncertainty, and it is also the measurement that the information content needed for stochastic variable is described on average,
One comentropy with the random variable of continuous type W that f (w) is density function is defined as formula (1)
H (W)=- ∫ f (w) ln f (w) dw formula 1
Wherein H (W) is stochastic variable W comentropy, and f (w) is stochastic variable W probability density function.
Joint probability density function is f (w1,w2,…,wn) one group of stochastic variable W1,W2,…,WnUnited information entropy determine
Justice is formula (2)
H(W1,W2,…,Wn)=- ∫ f (wn)ln f(wn)dwnFormula 2
If stochastic variable W and S joint probability density function f (w, s), defining conditional information entropy is
H (W | S)=- ∫ f (w, s) ln f (w | s) dwds formula 3
Wherein, H (W | S) is the comentropy of the stochastic variable W under the conditions of S, and the joint that f (w, s) is stochastic variable W and S is general
Rate density function, f (w | s) for the stochastic variable W under the conditions of S probability density function.
The content of the invention
The purpose of the embodiment of the present invention be propose a kind of radar pole-straight Coordinate Conversion accuracy of observation analysis method, device and
System, it is intended to solve existing analysis method and do not measured to observing acquisition rectangular co-ordinate state degree of uncertainty by polar coordinates
The problem of with analysis.
The embodiment of the present invention proposes a kind of radar pole-straight Coordinate Conversion accuracy of observation analysis method, and methods described includes：
Obtain observation of the target to be measured in radar polar coordinate system；Observation of the target to be measured in radar polar coordinate system is turned
The observation being changed in rectangular coordinate system；Obtain the united information entropy of observation of the target to be measured in rectangular coordinate system；It is right
The united information entropy is observed precision analysis.
In an embodiment of the invention, the observation for obtaining target to be measured in radar polar coordinate system is specifically wrapped
Include：Obtain observed range r and observed azimuth a of the target to be measured in radar polar coordinate system.
In an embodiment of the invention, methods described also includes obtaining the target to be measured in radar according to formula (4)
The relation of observation and actual value in polar coordinate system；
R=r0+nr；A=a0+naFormula 4
Wherein, r0For actual distance of the target to be measured in radar polar coordinate system, a0It is the target to be measured in radar
True bearing angle in polar coordinate system, nrFor distance measuring noises, naFor angle measurement noise, and the distance measuring noises nrWith angle measurement noise na
Be average be zero, standard deviation be respectively σrAnd σaStatistical iteration white Gaussian noise.
In an embodiment of the invention, observation of the target to be measured in radar polar coordinate system is converted into right angle
Observation in coordinate system, it is specially：According to pole-straight Formula of Coordinate System Transformation (5) by the target to be measured in radar polar coordinate system
In observation be converted to observation in rectangular coordinate system；
X=r cos a；Y=r sin a formula 5
Wherein, x is transverse axis position measurements of the target to be measured in rectangular coordinate system, and y is target to be measured in rectangular co-ordinate
Longitudinal axis positions measuring value in system.
In an embodiment of the invention, methods described also includes：According to obtaining pole-straight Formula of Coordinate System Transformation (5)
Actual value of the target to be measured in rectangular coordinate system；
x0=r0cos a0；y0=r0sin a0Formula 6
Wherein, x0The transverse axis position actual value for being target to be measured in rectangular coordinate system, y0It is target to be measured in rectangular co-ordinate
Longitudinal axis positions actual value in system.
In an embodiment of the invention, methods described also includes：According to the pole-straight Formula of Coordinate System Transformation and the pole
Coordinate survey statistical property, obtain the rectangular co-ordinate observation that the target polar coordinates observation to be measured is transformed into rectangular coordinate system
The error co-variance matrix of value.
In an embodiment of the invention, the error co-variance matrix is specially formula (7)：
Wherein, RcFor rectangular co-ordinate observation error covariance matrix, E () is the mathematic expectaion for seeking stochastic variable, R11、
R22、R12And R21For the element in the error co-variance matrix.
In an embodiment of the invention, the Gauss being independently distributed is obeyed according to the polar coordinates observation as shown in formula (4)
Distribution, and pole-straight Formula of Coordinate System Transformation (5) and (6), obtain the element R in error co-variance matrix11、R22、R12And R21Such as
Shown in formula (8), formula (9) and formula (10)；
Wherein, e is natural constant.
In an embodiment of the invention, the joint letter of observation of the acquisition target to be measured in rectangular coordinate system
Entropy is ceased, specifically, obtaining the observation of the target to be measured in rectangular coordinate system according to Gaussian Profile and comentropy formula (2)
United information entropy is formula (11)
Wherein, H (x, y) is rectangular co-ordinate observation information entropy, and sinh () is hyperbolic sine function, and cosh () is hyperbolic
Cosine function.
In an embodiment of the invention, precision analysis is observed to the united information entropy specifically, analysis radar
With distance, azimuth and the accuracy of observation and the relation of the united information entropy of the target to be measured.
In an embodiment of the invention, methods described also includes：The value for presetting the united information entropy is H0, when described
The united information entropy H (x, y) of the observation of target to be measured is less than or equal to the default united information entropy H0When, the target to be measured
Observation be effective observation；When the united information entropy H (x, y) of the observation of the target to be measured is more than the default joint
Comentropy H0When, the observation of the target to be measured is invalid observation, need to adjust the radar and the target to be measured away from
From or accuracy of observation, reacquire effective target observation value to be measured so as to obtain.
The embodiment of the present invention also proposed a kind of radar pole-straight Coordinate Conversion accuracy of observation analytical equipment, described device bag
Include：First acquisition unit, for obtaining observation of the target to be measured in radar polar coordinate system；Converting unit, for by described in
Observation of the target to be measured in radar polar coordinate system is converted to the observation in rectangular coordinate system；Second acquisition unit, it is used for
Obtain the united information entropy of observation of the target to be measured in rectangular coordinate system；Analytic unit, for the united information
Entropy is observed precision analysis.
The embodiment of the present invention also proposed a kind of radar pole-straight Coordinate Conversion accuracy of observation analysis system, including：Such as preceding institute
State described radar pole-straight Coordinate Conversion accuracy of observation analytical equipment of any embodiment.
The radar pole that the embodiment of the present invention proposes-straight Coordinate Conversion accuracy of observation analysis method, device and system, pass through by
Observation of the target to be measured in radar polar coordinate system is converted to the observation in rectangular coordinate system, and obtains the target to be measured
It is smart so as to be observed described in analyzing influence by analyzing the united information entropy in the united information entropy of the observation of rectangular coordinate system
The factor of degree, instructs radar tracking to detect.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
In the required accompanying drawing used be briefly described, it should be apparent that, drawings in the following description be only the present invention some
Embodiment, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these
Accompanying drawing obtains other accompanying drawings.
Fig. 1 is radar pole-straight Coordinate Conversion accuracy of observation analysis method flow chart of the embodiment of the present invention；
Fig. 2 is the simulation result figure of influence of the radar ranging accuracy of the embodiment of the present invention to rectangular co-ordinate comentropy；
Fig. 3 is the simulation result figure of influence of the radar angle measurement accuracy of the embodiment of the present invention to rectangular co-ordinate comentropy；
Fig. 4 is the emulation knot of influence of the target radial distance to be measured of the embodiment of the present invention to rectangular co-ordinate observation information entropy
Fruit is schemed；
Fig. 5 is the structural representation of radar pole-straight Coordinate Conversion accuracy of observation analytical equipment of the embodiment of the present invention.
Embodiment
Below by drawings and examples, technical scheme is described in further detail.
The radar pole of the embodiment of the present invention-straight Coordinate Conversion accuracy of observation analysis method, device and system, by will be to be measured
Observation of the target in radar polar coordinate system is converted to the observation in rectangular coordinate system, and obtains the target to be measured straight
The united information entropy of the observation of angular coordinate system, by analyzing the united information entropy so as to accuracy of observation described in analyzing influence
Factor, radar tracking is instructed to detect.
Fig. 1 is radar pole-straight Coordinate Conversion accuracy of observation analysis method flow chart of the embodiment of the present invention, as shown in figure 1,
The radar pole of the embodiment of the present invention-straight Coordinate Conversion accuracy of observation analysis method specifically comprises the following steps：
Step 101：Obtain observation of the target to be measured in radar polar coordinate system；
Specifically, by radar tracking system, observation of the target to be measured in radar polar coordinate system is taken.Need
Bright is in radar tracking system, is influenceed by factors such as radar resolution ratio, beam angle and signal to noise ratio, radar tracking system
The measuring value obtained in system is not the actual value of target to be measured, but the random quantity with random noise.And target to be measured exists
The relation of observation and actual value in radar polar coordinate system is formula (4)
R=r0+nr；A=a0+naFormula 4
Wherein, r0And a0Respectively actual distance and azimuth of the target relative to radar.Distance measuring noises nrWith angle measurement noise
naBe average be zero, standard deviation be respectively σrAnd σaStatistical iteration white Gaussian noise.
Step 102：Observation of the target to be measured in radar polar coordinate system is converted to the observation in rectangular coordinate system；
Specifically, by pole-straight Formula of Coordinate System Transformation, by target to be measured described in step 101 in radar polar coordinate system
Observation be converted to observation in rectangular coordinate system, in an embodiment of the invention, the pole-straight Formula of Coordinate System Transformation
(5) it is specially：
X=r cos a；Y=r sin a formula 5
Wherein, x is transverse axis position measurements of the target to be measured in rectangular coordinate system, and y is target to be measured in rectangular co-ordinate
Longitudinal axis positions measuring value in system.
Meanwhile in an embodiment of the invention, the target to be measured can be obtained according to pole-straight Formula of Coordinate System Transformation (5)
Actual value in rectangular coordinate system；
x0=r0cos a0；y0=r0sin a0Formula 6
Wherein, x0The transverse axis position actual value for being target to be measured in rectangular coordinate system, y0It is target to be measured in rectangular co-ordinate
Longitudinal axis positions actual value in system.
Step 103：Obtain united information entropy of the target to be measured in the observation of rectangular coordinate system；
Specifically, before the united information entropy of observation of the target to be measured in rectangular coordinate system is obtained, can be according to step
Polar coordinates observe statistical property in rapid 101, and pole-straight Formula of Coordinate System Transformation obtains the target polar coordinates observation to be measured and turned
The error co-variance matrix for the rectangular co-ordinate observation changed in rectangular coordinate system.In an embodiment of the invention, the mistake
Poor covariance matrix is specially formula (7)：
Wherein, RcFor rectangular co-ordinate observation error covariance matrix, E () is the mathematic expectaion for seeking stochastic variable, R11、
R22、R12And R21For the element in the error co-variance matrix.
In an embodiment of the invention, the Gauss being independently distributed is obeyed according to the polar coordinates observation as shown in formula (4)
Distribution, and pole-straight Formula of Coordinate System Transformation (5) and (6), obtain the element R in error co-variance matrix formula (7)11、R22、R12
And R21As shown in formula (8), formula (9) and formula (10)；
Wherein, e is natural constant.
In an embodiment of the invention, when radar pole-straight Coordinate Conversion Gaussian distributed, and according to above-mentioned association side
Poor Matrix Formula understands that the joint of observation of the target to be measured in rectangular coordinate system is believed in combination with comentropy formula (2)
Breath entropy is formula (11)
Wherein, H (x, y) is rectangular co-ordinate observation information entropy, and sinh () is hyperbolic sine function, and cosh () is hyperbolic
Cosine function.
Step 104：Precision analysis is observed to the united information entropy.
Specifically, by analyzing formula (8) to formula (11), sight of the target to be measured in rectangular coordinate system
The united information entropy of measured value has relation with target range, azimuth and accuracy of observation.Analyzed by mathematics derivation, the joint
The numerical value of comentropy increases with the reduction of the increase of target range, ranging and angle measurement accuracy, but with azimuth of target without
Close.It follows that by the target rectangular co-ordinate positional precision that radar polar coordinates obtain with the increase, ranging and survey of target range
The reduction of angular accuracy and be deteriorated, and in target respectively to the mesh in the case of scattering properties identical, observed in two-dimensional coordinate system
The visual angle of mark rectangular co-ordinate positional precision radar relative with target is unrelated, i.e., single portion's radar sees the letter that target obtains from different directions
Breath amount is identical.
Accompanying drawing 2- accompanying drawings 4 are using the simulation result figure in above-described embodiment, respectively describe radar ranging accuracy, angle measurement
Precision, target are with respect to influence of the radar radial distance to rectangular co-ordinate observation information entropy (namely information content or precision).
Accompanying drawing 2 is the simulation result figure of influence of the radar ranging accuracy of the embodiment of the present invention to rectangular co-ordinate comentropy.
Fig. 3 is the simulation result figure of influence of the radar angle measurement accuracy of the embodiment of the present invention to rectangular co-ordinate comentropy.Its simulation parameter
Set as follows.
It is (1 × 10 in target location coordinate if radar site (0,0)3,1×103) m when, under following two groups of parameters point
Analyse influence of the measurement accuracy to observation information entropy.
(a) influence of range accuracy：Range accuracy increases to 100m from 0.1m by 5m step-length, and angle measurement accuracy is 1 × 10- 3Rad, as a result such as accompanying drawing 2.
(b) influence of angle measurement accuracy：Angle measurement accuracy excursion is 1 × 10hRad, h=(- 6:0.5:0), range accuracy
For 10m, as a result such as accompanying drawing 3.
From accompanying drawing 2 and accompanying drawing 3, as radar measurement accuracy, including the change of range accuracy and angle measurement accuracy are big, information
Entropy increases, i.e., the target position information that radar surveying includes is fewer.
Accompanying drawing 4 is the emulation of influence of the target radial distance to be measured of the embodiment of the present invention to rectangular co-ordinate observation information entropy
Result figure.Its simulation parameter sets as follows.
Radar angle measurement accuracy is 1 × 10-3Rad, range accuracy 10m, target is with respect to distance by radar (1：1×103：1×105)
m.Under this scene, target radial is apart from increasing, and azimuth of target and radar measurement accuracy are constant, now only mesh
Radial distance change is marked, so as to analyze its influence to observation information entropy, as a result as shown in Figure 4.
From simulation result accompanying drawing 4, with the increase of target radial distance, comentropy increase, i.e. radar surveying includes
Target position information it is fewer.
To sum up, from accompanying drawing 2- accompanying drawings 4, as radar measurement accuracy, including the change of range accuracy and angle measurement accuracy are big,
The increase of target radial distance, the observation information entropy increase of conversion rectangular co-ordinate, i.e., the target position information that radar surveying includes are got over
It is few.
In an embodiment of the invention, the value that methods described can also pre-set united information entropy is H0, H0Value
According to being specifically configured to the demand of the accuracy of observation of target to be measured, the sight of the target to be measured is obtained by formula (10)
The actual united information entropy H (x, y) of measured value, by the united information entropy H (x, y) and the united information entropy H pre-set0Phase
Compare, when the united information entropy H (x, y) of the observation of the target to be measured is less than or equal to the default united information entropy H0When,
Within the acceptable range, the observation of the target to be measured is effective observation to the precision of the observation of the target to be measured.
When the united information entropy H (x, y) of the observation of the target to be measured is more than the default united information entropy H0When, the mesh to be measured
The error of target observation is excessive, and the observation of the target to be measured is invalid observation, need to adjust the radar and be treated with described
The distance or accuracy of observation of target are surveyed, effective target observation value to be measured is reacquired so as to obtain.
The radar pole of the embodiment of the present invention-straight Coordinate Conversion accuracy of observation analysis method, by by target to be measured in radar
Observation in polar coordinate system is converted to the observation in rectangular coordinate system, and obtains the target to be measured in rectangular coordinate system
The united information entropy of observation, by analyzing factor of the united information entropy so as to accuracy of observation described in analyzing influence, simultaneously
By the way that the united information actually obtained entropy is compared with default united information entropy, the mesh to be measured of radar acquisition can be intuitively obtained
Whether target accuracy of observation meets the requirements, so as to effectively instruct the aimed at precision that radar tracking detects.
The embodiment of the present invention also proposed a kind of radar pole-straight Coordinate Conversion accuracy of observation analytical equipment, and Fig. 5 is the present invention
The structural representation of the radar pole of embodiment-straight Coordinate Conversion accuracy of observation analytical equipment, as shown in figure 5, the embodiment of the present invention
Radar pole-straight Coordinate Conversion accuracy of observation analytical equipment specifically include：First acquisition unit 10 exists for obtaining target to be measured
Observation in radar polar coordinate system；Converting unit 20 is used to turn observation of the target to be measured in radar polar coordinate system
The observation being changed in rectangular coordinate system；Second acquisition unit 30 is used to obtain observation of the target to be measured in rectangular coordinate system
The united information entropy of value；Analytic unit 40 is used to be observed precision analysis to the united information entropy.
The first acquisition unit 10 that the embodiment of the present invention proposes is additionally operable to obtain the target to be measured in radar polar coordinate system
In observed range r and observed azimuth a.And the first acquisition unit 10 be additionally operable to according to formula (4) obtain it is described to be measured
The relation of observation and actual value of the target in radar polar coordinate system；
R=r0+nr；A=a0+naFormula 4
Wherein, r0For actual distance of the target to be measured in radar polar coordinate system, a0It is the target to be measured in radar
True bearing angle in polar coordinate system, nrFor distance measuring noises, naFor angle measurement noise, and the distance measuring noises nrWith angle measurement noise na
Be average be zero, variance be respectivelyWithStatistical iteration white Gaussian noise.
The converting unit 20 is additionally operable to be sat the target to be measured in radar pole according to pole-straight Formula of Coordinate System Transformation (5)
Observation in mark system is converted to the observation in rectangular coordinate system；
X=r cos a；Y=r sin a formula 5
Wherein, x is transverse axis position measurements of the target to be measured in rectangular coordinate system, and y is target to be measured in rectangular co-ordinate
Longitudinal axis positions measuring value in system.
Meanwhile the converting unit 20 is additionally operable to obtain the target to be measured straight according to pole-straight Formula of Coordinate System Transformation (5)
Actual value in angular coordinate system；
x0=r0cos a0；y0=r0sin a0Formula 6
Wherein, x0The transverse axis position actual value for being target to be measured in rectangular coordinate system, y0It is target to be measured in rectangular co-ordinate
Longitudinal axis positions actual value in system.
The second acquisition unit 30 is additionally operable to according to the pole-straight Formula of Coordinate System Transformation and polar coordinates observation statistics
Characteristic, obtain the error association side that the target polar coordinates observation to be measured is transformed into the rectangular co-ordinate observation in rectangular coordinate system
Poor matrix.
In an embodiment of the invention, the error co-variance matrix that second acquisition unit 30 obtains is specially formula
(7)：
Wherein, RcFor rectangular co-ordinate observation error covariance matrix, E () is the mathematic expectaion for seeking stochastic variable, R11、
R22、R12And R21For the element in the error co-variance matrix..
In an embodiment of the invention, the Gauss being independently distributed is obeyed according to the polar coordinates observation as shown in formula (4)
Distribution, and pole-straight Formula of Coordinate System Transformation (5) and (6), obtain the element R in error co-variance matrix11、R22、R12And R21Such as
Shown in formula (8), formula (9) and formula (10)；
Wherein, e is natural constant.
The second acquisition unit 30 obtains the united information entropy of observation of the target to be measured in rectangular coordinate system, tool
Body is that the joint that observation of the target to be measured in rectangular coordinate system is obtained according to Gaussian Profile and comentropy formula (2) is believed
Breath entropy is formula (11)：
Wherein, H (x, y) is rectangular co-ordinate observation information entropy, and sinh () is hyperbolic sine function, and cosh () is hyperbolic
Cosine function.
Analytic unit 40, by analyzing formula (11), observation of the target to be measured in rectangular coordinate system
United information entropy and target range, azimuth and accuracy of observation have relation.Analyzed by mathematics derivation, the united information
The numerical value of entropy increases with the reduction of the increase of target range, ranging and angle measurement accuracy, but unrelated with azimuth of target.By
This understands, by the target rectangular co-ordinate positional precision that radar polar coordinates obtain with increase, ranging and the angle measurement essence of target range
The reduction of degree and be deteriorated, and in target respectively in the case of scattering properties identical, the target observed in two-dimensional coordinate system is straight
The visual angle of angular coordinate positional precision radar relative with target is unrelated, i.e., single portion's radar sees the information content that target obtains from different directions
It is identical.
The radar pole of the embodiment of the present invention-straight Coordinate Conversion accuracy of observation analytical equipment also includes default unit, for pre-
The value for first setting united information entropy is H0, H0Value according to being specifically configured to the demand of the accuracy of observation of target to be measured,
The actual united information entropy H (x, y) of the observation of the target to be measured is obtained by formula (11), by the united information entropy H
(x, y) and the united information entropy H pre-set0Compare, when the observation of the target to be measured united information entropy H (x,
Y) it is less than or equal to the default united information entropy H0When, the precision of the observation of the target to be measured within the acceptable range,
The observation of the target to be measured is effective observation.When the united information entropy H (x, y) of the observation of the target to be measured is more than
The default united information entropy H0When, the error of the observation of the target to be measured is excessive, and the observation of the target to be measured is
Invalid observation, the distance or accuracy of observation of the radar and the target to be measured need to be adjusted, be reacquired effectively so as to obtain
Target observation value to be measured.
The radar pole of the embodiment of the present invention-straight Coordinate Conversion accuracy of observation analytical equipment, by by target to be measured in radar
Observation in polar coordinate system is converted to the observation in rectangular coordinate system, and obtains the target to be measured in rectangular coordinate system
The united information entropy of observation, by analyzing factor of the united information entropy so as to accuracy of observation described in analyzing influence, simultaneously
By the way that the united information actually obtained entropy is compared with default united information entropy, the mesh to be measured of radar acquisition can be intuitively obtained
Whether target accuracy of observation meets the requirements, so as to effectively instruct the aimed at precision that radar tracking detects.
The embodiment of the present invention also proposed a kind of radar pole-straight Coordinate Conversion accuracy of observation analysis system, the system bag
Radar pole-straight Coordinate Conversion accuracy of observation analytical equipment of foregoing any embodiment is contained.
Above-described embodiment, the purpose of the present invention, technical scheme and beneficial effect are carried out further
Describe in detail, should be understood that the embodiment that the foregoing is only the present invention, be not intended to limit the present invention
Protection domain, within the spirit and principles of the invention, any modification, equivalent substitution and improvements done etc., all should include
Within protection scope of the present invention.
Claims (20)
1. a kind of radar pole-straight Coordinate Conversion accuracy of observation analysis method, it is characterised in that methods described includes：
Obtain observation of the target to be measured in radar polar coordinate system；
Observation of the target to be measured in radar polar coordinate system is converted to the observation in rectangular coordinate system；
Obtain the united information entropy of observation of the target to be measured in rectangular coordinate system；
Precision analysis is observed to the united information entropy.
2. the method as described in claim 1, it is characterised in that the observation for obtaining target to be measured in radar polar coordinate system
Value specifically includes：Obtain observed range r and observed azimuth a of the target to be measured in radar polar coordinate system.
3. method as claimed in claim 2, it is characterised in that methods described also includes described to be measured according to formula (4) acquisition
The relation of observation and actual value of the target in radar polar coordinate system；
R=r0+nr；A=a0+naFormula 4
Wherein, r0For actual distance of the target to be measured in radar polar coordinate system, a0Sat for the target to be measured in radar pole
True bearing angle in mark system, nrFor distance measuring noises, naFor angle measurement noise, and the distance measuring noises nrWith angle measurement noise naIt is equal
Value is zero, standard deviation is respectively σrAnd σaStatistical iteration white Gaussian noise.
4. the method as described in claim 1, it is characterised in that by observation of the target to be measured in radar polar coordinate system
The observation in rectangular coordinate system is converted to, is specially：According to pole-straight Formula of Coordinate System Transformation (5) by the target to be measured in thunder
The observation in rectangular coordinate system is converted to up to the observation in polar coordinate system；
X=rcosa；Y=rsina formula 5
Wherein, x is transverse axis position measurements of the target to be measured in rectangular coordinate system, and y is target to be measured in rectangular coordinate system
Longitudinal axis positions measuring value.
5. method as claimed in claim 4, it is characterised in that methods described also includes：According to pole-straight Formula of Coordinate System Transformation
(5) actual value of the target to be measured in rectangular coordinate system is obtained；
x0=r0cosa0；y0=r0sina0Formula 6
Wherein, x0The transverse axis position actual value for being target to be measured in rectangular coordinate system, y0It is target to be measured in rectangular coordinate system
Longitudinal axis positions actual value.
6. method as claimed in claim 5, it is characterised in that methods described also includes：It is public according to the pole-straight Coordinate Conversion
The Gaussian Profile being independently distributed is obeyed in formula and polar coordinates observation, is obtained the target polar coordinates observation to be measured and is transformed into directly
The error co-variance matrix of rectangular co-ordinate observation in angular coordinate system.
7. method as claimed in claim 6, it is characterised in that the error co-variance matrix is specially formula (7)：
Wherein, RcFor rectangular co-ordinate observation error covariance matrix, E () is the mathematic expectaion for seeking stochastic variable, R11、R22、R12
And R21For the element in the error co-variance matrix.
8. method as claimed in claim 7, it is characterised in that the Gaussian Profile being independently distributed is obeyed according to polar coordinates observation,
And pole-straight Formula of Coordinate System Transformation (5) and (6), obtain the element R in the error co-variance matrix11、R22、R12And R21
As shown in formula (8), formula (9) and formula (10)：
Wherein, e is natural constant.
9. method as claimed in claim 8, it is characterised in that the observation for obtaining the target to be measured in rectangular coordinate system
The united information entropy of value, specifically, obtaining the target to be measured in rectangular coordinate system according to Gaussian Profile and comentropy formula (2)
The united information entropy of observation be formula (11)
Wherein, H (x, y) is rectangular co-ordinate observation information entropy, and sinh () is hyperbolic sine function, and cosh is hyperbolic cosine letter
Number.
10. the method as described in claim 1 or 9, it is characterised in that precision analysis tool is observed to the united information entropy
Body is analysis radar and distance, azimuth and the accuracy of observation of the target to be measured and the relation of the united information entropy.
11. method as claimed in claim 9, it is characterised in that methods described also includes：Preset the value of the united information entropy
For H0, when the united information entropy H (x, y) of the observation of the target to be measured is less than or equal to the default united information entropy H0When, institute
The observation for stating target to be measured is effective observation；When the united information entropy H (x, y) of the observation of the target to be measured is more than institute
State default united information entropy H0When, the observation of the target to be measured is invalid observation, need to adjust the radar and be treated with described
The distance or accuracy of observation of target are surveyed, effective target observation value to be measured is reacquired so as to obtain.
12. a kind of radar pole-straight Coordinate Conversion accuracy of observation analytical equipment, it is characterised in that described device includes：
First acquisition unit, for obtaining observation of the target to be measured in radar polar coordinate system；
Converting unit, for observation of the target to be measured in radar polar coordinate system to be converted to the sight in rectangular coordinate system
Measured value；
Second acquisition unit, for obtaining the united information entropy of observation of the target to be measured in rectangular coordinate system；
Analytic unit, for being observed precision analysis to the united information entropy.
13. device as claimed in claim 12, it is characterised in that the first acquisition unit is additionally operable to obtain the mesh to be measured
The observed range r and observed azimuth ɑ being marked in radar polar coordinate system.
14. device as claimed in claim 13, it is characterised in that the first acquisition unit is additionally operable to be obtained according to formula (4)
Take the relation of observation and actual value of the target to be measured in radar polar coordinate system；
R=r0+nr；A=a0+naFormula 4
Wherein, r0For actual distance of the target to be measured in radar polar coordinate system, a0Sat for the target to be measured in radar pole
True bearing angle in mark system, nrFor distance measuring noises, naFor angle measurement noise, and the distance measuring noises nrWith angle measurement noise naIt is equal
Value is zero, standard deviation is respectively σrAnd σaStatistical iteration white Gaussian noise.
15. device as claimed in claim 12, it is characterised in that the converting unit is additionally operable to according to pole-straight Coordinate Conversion
Formula (5) is converted to observation of the target to be measured in radar polar coordinate system the observation in rectangular coordinate system；
X=rcosa；Y=rsina formula 5
Wherein, x is transverse axis position measurements of the target to be measured in rectangular coordinate system, and y is target to be measured in rectangular coordinate system
Longitudinal axis positions measuring value.
16. device as claimed in claim 15, it is characterised in that the converting unit is additionally operable to according to pole-straight Coordinate Conversion
Formula (5) obtains actual value of the target to be measured in rectangular coordinate system；
x0=r0cosa0；y0=r0sina0Formula 6
Wherein, x0The transverse axis position actual value for being target to be measured in rectangular coordinate system, y0It is target to be measured in rectangular coordinate system
Longitudinal axis positions actual value.
17. device as claimed in claim 16, it is characterised in that the second acquisition unit is additionally operable to according to the pole-straight
The Gaussian Profile being independently distributed is obeyed in Formula of Coordinate System Transformation and polar coordinates observation, obtains the target polar coordinates observation to be measured
Value is transformed into the error co-variance matrix of the rectangular co-ordinate observation in rectangular coordinate system.
18. device as claimed in claim 16, it is characterised in that the second acquisition unit obtains the target to be measured straight
The united information entropy of the observation of angular coordinate system, specifically, obtaining the mesh to be measured according to Gaussian Profile and comentropy formula (2)
The united information entropy for being marked on the observation of rectangular coordinate system is formula (11)
Wherein, H (x, y) is rectangular co-ordinate observation information entropy, and sinh () is hyperbolic sine function, and cosh is hyperbolic cosine letter
Number.
19. the device as described in claim 12 or 18, it is characterised in that described device also includes default unit, for presetting
The value of the united information entropy is H0, when the target to be measured observation united information entropy H (x, y) be less than or equal to it is described pre-
If united information entropy H0When, the observation of the target to be measured is effective observation；When the connection of the observation of the target to be measured
Close comentropy H (x, y) and be more than the default united information entropy H0When, the observation of the target to be measured is invalid observation, is needed
The distance or accuracy of observation of the radar and the target to be measured are adjusted, effective target observation to be measured is reacquired so as to obtain
Value.
A kind of 20. radar pole-straight Coordinate Conversion accuracy of observation analysis system, it is characterised in that including：Such as above-mentioned claim
Radar pole-straight Coordinate Conversion accuracy of observation analytical equipment any one of 12-19.
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