CN108107423A - Distributed networked Radar Targets'Detection Tracking Integrative processing method - Google Patents
Distributed networked Radar Targets'Detection Tracking Integrative processing method Download PDFInfo
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- CN108107423A CN108107423A CN201711293366.2A CN201711293366A CN108107423A CN 108107423 A CN108107423 A CN 108107423A CN 201711293366 A CN201711293366 A CN 201711293366A CN 108107423 A CN108107423 A CN 108107423A
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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
Abstract
The present invention proposes a kind of distributed networked Radar Targets'Detection Tracking Integrative processing method, to each probe node information first using distributed pretreatment, obtain tracking treated flight path information to be confirmed before the point mark information after conventional threshold detection and low threshold detection, pass through transmission of network to fusion center again, after spatial position registration and error correction, Contact fusion processing is carried out to multinode conventional threshold test point mark information, it is preferred that the flight path to be confirmed that tracking is handled before being detected to multinode low threshold carries out joint-detection, merger finally is carried out with merging to the flight path that two kinds of processing modes obtain, realize central fusion processing.The present invention carries out integrated design processing by " conventional threshold detection+Contact fusion " and " tracking+joint-detection is adjudicated before low threshold+detection " two kinds of parallel modes, improves the detecting and tracking ability to target, and is easy to engineer application realization.
Description
Technical field
The invention belongs to Radar Targets'Detection technical fields, more particularly to distributed networked Radar Targets'Detection.
Background technology
Distributed networked radar is a kind of new reason of the new system radar occurred in recent years radar operational exertion in other words
It reads, is made of the multiple transmitting-receiving nodes physically split, based on these working frequency range, bandwidth of operation, transmitted waveform, antenna polarization
The different transmitting-receiving node of mode interconnects interoperability, realize one support Agile scheduling, merged by multinode information it is efficient
Extract the organic whole of target information.In space time/frequency coverage, multi-Dimensional parameters high-resolution and high-precision estimation etc.
Possess the incomparable system sexual clorminance of conventional radar systems, this radar system obtained by more transmitting-receiving node comprehensive integrations,
Comprehensive structure, three-dimensional, multi-level information countermeasure system are not only helped, and can and attack defensive with powerful guarantee
The information requirement of property weapon system.From the point of view of radar information processing, compared with traditional single radar system, distributed networked thunder
Up to most significant advantage in the target sight that can obtain various visual angles, multiband, multipolarization, more bandwidth simultaneously in single observation
Measured data namely the abundant degree higher obtained within the unit interval for target information, therefore, distributed networked radar exists
Tackle such as intercontinental ballistic missile, long-range cruise missile, stealthy fighter plane/bomber and the contour threat of low-altitude low-velocity small targets
Target side face has apparent advantage.Since distributed networked radar respectively detects signal form, parameter of branch use etc. no
It is identical to the greatest extent to promote target detection ability of tracking, it is necessary to study multi-node combination information processing method to maximize.
In document《Multi-Sensor Target joint-detection track algorithm based on stochastic finite collection theory》(the National University of Defense technology
Journal, 2013, Vol.35, No.1, pp:A kind of Multi-Sensor Target based on stochastic finite collection theory is proposed in 89-96)
Dbjective state and measurement are described as random collection by joint-detection track algorithm, the algorithm, establish dbjective state stochastic finite collection
The joint-detection tracking problem of target, is configured to the Bayes Optimum estimation problem of dbjective state set by model, and based on
Machine finite aggregate theory derives the recursive expression of the Bayesian Estimation algorithm, is realized and calculated using sequential Monte Carlo technology
The Recursive Filtering of method；In document《Multi-Sensor Target detecting and tracking and sorting algorithm》(Computer Simulation, 2014, Vol.31,
No.9, pp:Proposed in 364-368) it is a kind of based on particle probabilities assume density filter multisensor joint-detection, with
Track and sorting algorithm by being modeled to each sensor signal, extract the property measurements of target, the attribute for the target that then induces one
Information models dbjective state space again, obtains target comprehensive state, finally using the measurement of multiple sensors to comprehensive
Conjunction state carry out Sequential processing, the algorithm can accurate judgement multiple target classification and improve target numbers estimated accuracy and tracking essence
Degree；But both approaches calculating is complex, and estimated result fluctuation easily affected by environment is larger.In document《Based on distribution
The long-time energy accumulation technique study of formula coherent radio frequency detection system》In (University of Electronic Science and Technology's master thesis, 2012)
A kind of method based on long-time energy accumulation under distributed system is proposed, Dim targets detection tracking energy can be effectively improved
Power, but this method needs long-time energy accumulation, without engineer application.
The content of the invention
The present invention, from application of engineering project, proposes a kind of distributed networked thunder for background technology application demand
Up to target detection Tracking Integrative processing method, Contact fusion and low threshold are detected according to conventional threshold respectively to multinode information
Tracking parallel processing before detection using hybrid-type fusion treatment framework and detecting and tracking integral treatment method, completes distribution
Each nodal information fusion treatment of formula radar system and mutually complementation are blind.Processing procedure is：Each probe node information is first adopted
It is pre-processed with distribution, obtains tracking treated boat to be confirmed before the point mark information after conventional threshold detection and low threshold detection
Mark information, then by transmission of network to fusion center, after spatial position registration and error correction, to multinode conventional threshold
Test point mark information carries out Contact fusion processing, and the flight path to be confirmed that tracking is handled before being detected to multinode low threshold carries out
Joint-detection is preferred, and finally the flight path that two kinds of processing modes obtain is carried out merger and merged, and realizes central fusion processing.
The innovative point of the present invention be to the observation data of each probe node according to " conventional threshold detection+Contact fusion " and
" tracking+joint-detection judgement before low threshold+detection " two kinds of parallel modes carry out integrated design processing, mutually complementary blind, to fill
Divide target information in extraction various visual angles, multiband, multipolarization observation data, promoted continuous to the fast Acquisition ability and height of target
Degree, high precision tracking ability；This kind of processing mode only carries out the transmitting-receiving of flight path grade information and location information, information between node
Measure small, real-time is high, and engineer application can be realized.
Description of the drawings
Fig. 1 is distributed networked Radar Targets'Detection Tracking Integrative process flow figure of the present invention.
Specific embodiment
Distributed networked Radar Targets'Detection Tracking Integrative processing method process flow of the present invention is as shown in Figure 1, knot
Flow chart is closed, the embodiment of the method for the present invention is specifically addressed, process is as follows：
Step 1：Conventional threshold detection is carried out to each probe node initial data, extracts the point mark letter of each probe node
Breath；
Step 2：Low threshold detection is carried out to each probe node initial data, is carried using tracking processing method before detection
Take the flight path information to be confirmed of each probe node；
Step 3：Point mark, flight path to be confirmed and the location information of each node are passed through into transmission of network to fusion center；
Step 4：Point mark, flight path to be confirmed to each node carry out spatial position registration and error correction, obtain merging
Center is point/flight path information of each node of referential；
Step 5：Contact fusion processing is carried out to the point mark information of each node, obtains the flight path letter under conventional detection thresholding
Breath；
Step 6：It is preferred that joint-detection is carried out to the flight path information to be confirmed of each node, based on target movement letter in space
Uniqueness is ceased, using the position, course and the speed of a ship or plane of flight path as foundation, flight path cluster is carried out to the flight path to be confirmed of different probe nodes
Processing；If a certain track distanceWith a certain track distance in certain a kind of flight pathIt is closing
In the range of connectionThis flight path is then included into such, Δ R is true according to different detection branch space registration errors
It is fixed；If all do not associated with all cluster flight paths, a flight path class is created, all flight paths are traveled through, completes flight path
Thick clustering processing；It for all flight paths in each flight path class, is clustered again with the flight path speed of a ship or plane and course, if two boats
The speed of a ship or plane of markAnd courseIn association range
{Trkmi,Trkmj∈TRACKm, then gather for a kind of TRACKmk, Δ C according to it is different detection branch space registration errors determine；Root
Detection criteria is set to each flight path class TRACK according to the node number for participating in detectionmkJudged, meet the flight path of decision criteria
Class is then declared as confirming targetpath, is weighted fusion treatment, otherwise deletes the flight path class；
Step 7：Merger is carried out with merging to the flight path of parallel processing result, when all probe node information is by collection
After the Contact fusion and flight path joint-detection of Chinese style are preferred, merger and fusion treatment are carried out to the flight path that parallel processing obtains, adopted
Judged with "or" logic, as long as then exporting this flight path there are one there are flight path in i.e. two handling results；When parallel place
When reason flow all generates flight path to same target, then Weighted Fusion is a flight path.
Claims (1)
1. distributed networked Radar Targets'Detection Tracking Integrative processing method, it is characterised in that：First, each detection is saved
Point initial data carries out conventional threshold detection and low threshold detection respectively, and conventional threshold detects to obtain the point mark information of each node,
The flight path information to be confirmed of each probe node is extracted after low threshold detection using tracking processing method before detection；It then, will be each
Point mark, flight path to be confirmed and the location information of node are by transmission of network to fusion center, by spatial position registration and error
After amendment, using detecting and tracking integral treatment method, multinode conventional threshold test point mark information is carried out at Contact fusion
Reason, the flight path to be confirmed progress joint-detection that tracking is handled before being detected to multinode low threshold is preferred, finally at two kinds
The flight path that reason mode obtains carries out merger and merges, and realizes central fusion processing.
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| CN110018472A (en) * | 2019-04-25 | 2019-07-16 | 中国航天系统科学与工程研究院 | A kind of distributed networked radar system spatial synchronization scan method |
| CN112130223A (en) * | 2020-08-29 | 2020-12-25 | 扬州船用电子仪器研究所(中国船舶重工集团公司第七二三研究所) | Distributed light-operated array cooperative processing system |
| CN113093121A (en) * | 2021-04-12 | 2021-07-09 | 北京无线电测量研究所 | Adaptive threshold detection method based on trace point density feedback |
| CN113835078A (en) * | 2021-11-30 | 2021-12-24 | 中国电子科技集团公司信息科学研究院 | Signal level joint detection method and device based on local three-dimensional grid |
| CN116482673A (en) * | 2023-04-27 | 2023-07-25 | 电子科技大学 | Distributed radar detection tracking integrated waveform implementation method based on reinforcement learning |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110018472A (en) * | 2019-04-25 | 2019-07-16 | 中国航天系统科学与工程研究院 | A kind of distributed networked radar system spatial synchronization scan method |
| CN112130223A (en) * | 2020-08-29 | 2020-12-25 | 扬州船用电子仪器研究所(中国船舶重工集团公司第七二三研究所) | Distributed light-operated array cooperative processing system |
| CN113093121A (en) * | 2021-04-12 | 2021-07-09 | 北京无线电测量研究所 | Adaptive threshold detection method based on trace point density feedback |
| CN113093121B (en) * | 2021-04-12 | 2022-08-02 | 北京无线电测量研究所 | Adaptive threshold detection method based on trace point density feedback |
| CN113835078A (en) * | 2021-11-30 | 2021-12-24 | 中国电子科技集团公司信息科学研究院 | Signal level joint detection method and device based on local three-dimensional grid |
| CN113835078B (en) * | 2021-11-30 | 2022-03-04 | 中国电子科技集团公司信息科学研究院 | Signal level joint detection method and device based on local three-dimensional grid |
| CN116482673A (en) * | 2023-04-27 | 2023-07-25 | 电子科技大学 | Distributed radar detection tracking integrated waveform implementation method based on reinforcement learning |
| CN116482673B (en) * | 2023-04-27 | 2024-01-05 | 电子科技大学 | Distributed radar detection tracking integrated waveform implementation method based on reinforcement learning |
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