CN108375764A - A kind of track initiation method that band Doppler is measured - Google Patents
A kind of track initiation method that band Doppler is measured Download PDFInfo
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- CN108375764A CN108375764A CN201810038860.2A CN201810038860A CN108375764A CN 108375764 A CN108375764 A CN 108375764A CN 201810038860 A CN201810038860 A CN 201810038860A CN 108375764 A CN108375764 A CN 108375764A
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- 230000000977 initiatory effect Effects 0.000 title claims abstract description 32
- 238000012790 confirmation Methods 0.000 claims abstract description 22
- 238000012360 testing method Methods 0.000 claims abstract description 16
- 239000011159 matrix material Substances 0.000 claims abstract description 4
- 238000007476 Maximum Likelihood Methods 0.000 claims description 25
- 238000005259 measurement Methods 0.000 claims description 21
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- 238000012552 review Methods 0.000 claims description 3
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- 238000005516 engineering process Methods 0.000 description 2
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- 238000004519 manufacturing process Methods 0.000 description 2
- 238000001617 sequential probability ratio test Methods 0.000 description 2
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
Abstract
The present invention relates to a kind of track initiation methods that band Doppler is measured comprising：Step S1, calculate each target the temporary flight path at k moment predicted value；Step S2, the observation point mark to the target at the k moment are associated threshold test with temporary flight path；Step S3, calculate the target the temporary flight path at k moment state estimation；Step S4, calculate the target the temporary flight path at k moment radial velocity estimated value, and according to the target the radial velocity estimated value of the temporary flight path at k moment judge the target the k moment temporary flight path whether be confirm flight path；And step S5, initial estimate and its evaluated error covariance matrix of t-th of the initial target of calculating in the confirmation flight path at k moment.The present invention assumes branch's flight path growth more using, to effectively increase the track initiation probability of success；Doppler is introduced simultaneously and is measured and enters correlation threshold test, and carries out radial velocity consistency check in confirmation stage, so as to greatly reduce decoy generating probability.
Description
Technical field
The present invention relates in intelligent driving perception field target following technology more particularly to a kind of band Doppler it is (how general
Strangle) measure track initiation method.
Background technology
Track initiation is the primary link of target following, is present in all kinds of detecting sensor data processing systems, in
Culvert is to detect real goal in a pile observation point trace set and provide Initial state estimation, and essence belongs to decision problem.
Classical track initiation method includes mainly：Heuristic, the method for logic-based rule, Hough transform method,
Sequential probability ratio test etc., mainly processing only has the target starting under location dimension observed case to these classical ways at the beginning of proposition
Problem.However, these methods are respectively present following defect：
1) heuristic only utilizes the prior information that position data and target move, and ensure that simply may be used in realization
Row, but decoy production rate is high under the more scene of clutter；
2) logic rules method is extrapolated using data set self-law to form subsequent time associated region, once nothing
Observation drops into associated region and then terminates this track initiation process immediately, lower in detection probability, it is difficult to ensure
Target successfully originates；
3) Hough transform method has good initiation performance, but algorithm to target line form scene under lower hybrid wave environment
Complexity it is high, it is difficult to meet the high system requirements of real-time；
4) sequential probability ratio test algorithm is realized complicated, it is difficult to the threshold value during accurately setting decision logic is realized.
For example, the initial mode key step of existing logic-based rule includes：
1) maximum speed and minimum speed for utilizing target, form 2 points of temporary flight paths；
2) single order polynomial extrapolation is utilized to form subsequent time associated region, the measurement for falling into associated region further updates
Temporary flight path；
3) it is extrapolated using second order polynomial to 3 points of temporary flight paths, it is similar to be handled with step 2), it completes to measure association；
4) above process continues N frames (N=5~8), and fitting forms targetpath, and as approximate true value；By comparing quasi-
The accumulative new breath of conjunction value and measuring value adjudicates whether temporary flight path is real goal flight path.
However, position data is used only in this existing method, the radar target with Doppler information is risen at first
Speech, does not make full use of Doppler information, and the initiating process continues N frames and restarts if wherein a frame is not associated,
To which initial time can be postponed, in addition, this method is required for storage N frame historical informations, therefore space to the temporary flight path of each
Expense is big.
For this purpose, followed by many improved methods, including some other observation information amount such as radial velocities of introducing
(Doppler measurements), energy, echo character etc.；For example, containing radial speed disclosed in Patent Application Publication 201410180308.9
The circular motion targetpath initial mode for spending information, devises " wave door ", and only by radial velocity (i.e. Doppler information)
For wave gate test.These other observation information amounts introduced are only used as correlation threshold test elements, although it is certain
The generation of decoy is reduced in degree, but excessive correlation threshold test can increase the possibility of association failure, and then cause
Real goal production rate is low.
Invention content
In order to solve the above-mentioned problems of the prior art, the present invention is intended to provide the flight path that a kind of band Doppler is measured
Initial mode originates the probability of success to improve vehicle-mounted radar track under clutter environment, reduces decoy generating probability.
The track initiation method that a kind of band Doppler of the present invention is measured comprising following steps：
Step S1, calculate each target the temporary flight path at k moment predicted value；
Step S2, according to target the temporary flight path at k moment predicted value and the target the k moment observation point mark
Metric data, the observation point mark to the target at the k moment are associated threshold test with temporary flight path；
Step S3, it is assumed that j-th of observation point mark of target is tested by correlation threshold, according to j-th of observation point mark
Metric data calculate the target the temporary flight path at k moment state estimation；
It is temporary at the k moment to calculate the target according to target in the state estimation of the temporary flight path at k moment by step S4
The radial velocity estimated value of flight path, and the radial velocity estimated value according to the target in the temporary flight path at k moment judges the target
Whether it is to confirm flight path in the temporary flight path at k moment, if so, the target is denoted as initial target；And
Step S5 calculates initial estimate and its evaluated error association side of t-th of initial target in the confirmation flight path at k moment
Poor battle array.
In the track initiation method that above-mentioned band Doppler is measured, the step S1 includes：
The X-axis position prediction value of temporary flight path of each target at the k moment is calculated according to formula (1)With Y-axis position
Set predicted value
Wherein,For target the temporary flight path at k-1 moment X-axis position estimation value,It is target in k-1
The Y-axis position estimation value for the temporary flight path carved,For target the temporary flight path at k-1 moment X-axis velocity estimation value,It is target in the Y-axis velocity estimation value of the temporary flight path at k-1 moment, T is time interval.
In the track initiation method that above-mentioned band Doppler is measured, the step S2 includes：
When temporary flight path of the target at the k moment is flight path head or the temporary flight path of single-point, if target is at j-th of the k moment
The metric data of observation point mark meets formula (2) with the target in the predicted value of the temporary flight path at k moment, then correlation threshold is tested
Pass through：
When target is not when the temporary flight path at k moment is flight path head or the temporary flight path of single-point, if target is in the jth at k moment
The metric data of a observation point mark meets formula (3) with the target in the predicted value of the temporary flight path at k moment, then correlation threshold is surveyed
It pinged：
In formula (2), (3), T is time interval,For maximum radial acceleration value,It is target in k-1
The radial velocity for the temporary flight path carved,For target j-th of observation point mark at k moment radial velocity,For maximum
Magnitude of angular velocity, θk-1It is target in the azimuth of the temporary flight path at k-1 moment, θk,jFor target the k moment j-th of observation point mark
Azimuth；For maximum radial velocity amplitude, rk-1It is target in the radial distance of the temporary flight path at k-1 moment, rk,jFor
Radial distance of the target in j-th of observation point mark at k moment；For X-axis relative velocity,It is target in k
The X-axis position prediction value for the temporary flight path carved, xk,jSlave polar coordinate system for target in j-th of observation point mark at k moment is transformed into
X-axis measuring value after cartesian coordinate system, σxFor the X-axis error in measurement standard after being transformed into cartesian coordinate system from polar coordinate system
Difference；For Y-axis relative velocity,It is target in the Y-axis position prediction value of the temporary flight path at k moment, yk,jFor
Y-axis measuring value of the target after the slave polar coordinate system of j-th of observation point mark at k moment is transformed into cartesian coordinate system, σyFor from
Polar coordinate system is transformed into the Y-axis error in measurement standard deviation after cartesian coordinate system.
In the track initiation method that above-mentioned band Doppler is measured, the step S3 includes：
X-axis, Y-axis position estimation value of the target in the temporary flight path at k moment is calculated according to formula (4)Root
X-axis of the target in the temporary flight path at k moment, Y-axis speed maximum likelihood estimation is calculated according to formula (5)
Wherein, T is time interval, xk,jSlave polar coordinate system for target in j-th of observation point mark at k moment is transformed into flute
X-axis measuring value after karr coordinate system, yk,jSlave polar coordinate system for target in j-th of observation point mark at k moment is transformed into flute card
Y-axis measuring value after your coordinate system,For target the temporary flight path at k-1 moment X-axis speed maximum likelihood estimation,For target the temporary flight path at k-1 moment Y-axis speed maximum likelihood estimation,It is target temporary at the k-1 moment
When flight path X-axis position estimation value,For target the temporary flight path at k-1 moment Y-axis position estimation value.
In the track initiation method that above-mentioned band Doppler is measured, the step S4 includes：
Whether review time window length reaches the first setting frame number, if so, temporary boat of the continuation test-target at the k moment
Whether the cumulative correlation frame number of mark is greater than or equal to the second setting frame number, if so, calculating the target in k according to formula (6)
The radial velocity estimated value for the temporary flight path carved
Wherein,Respectively X-axis, Y-axis position estimation value of the target in the temporary flight path at k moment,Point
It Wei not X-axis of the target in the temporary flight path at k moment, Y-axis speed maximum likelihood estimation；
If target is in the radial velocity estimated value of the temporary flight path at k momentMeet formula (7), then by the target in k
The temporary flight path carved is judged to confirming flight path, is initial target by the target label：
Wherein,For Doppler error in measurement standard deviations,For target the temporary flight path at k moment radial velocity.
Further, in the step S4：Described first sets frame number as 5 frames, and described second sets frame number as 3 frames.
In the track initiation method that above-mentioned band Doppler is measured, the step S5 includes：
According to formula (8) and (9) calculate separately t-th of initial target the k moment confirmation flight path initial estimate
And its evaluated error covariance matrix
Wherein,The X-axis position estimation value for confirming flight path for t-th of initial target at the k moment,It is originated for t-th
The Y-axis position estimation value that confirms flight path of the target at the k moment,For t-th of initial target the k moment confirmation flight path X-axis
Speed maximum likelihood estimation,For t-th of initial target the k moment confirmation flight path Y-axis speed Maximum-likelihood estimation
Value, n are the corresponding item number for confirming flight path of t-th of initial target,The h articles for t-th of initial target at the k moment confirms
The X-axis position estimation value of flight path,The h articles Y-axis position estimation value for confirming flight path for t-th of initial target at the k moment,The h articles X-axis speed maximum likelihood estimation for confirming flight path for t-th of initial target at the k moment,To be t-th
Beginning target is in the Y-axis speed maximum likelihood estimation of the h articles confirmation flight path at k moment, σxTo be transformed into flute card from polar coordinate system
X-axis error in measurement standard deviation after your coordinate system, σyFor the Y-axis error in measurement after being transformed into cartesian coordinate system from polar coordinate system
Standard deviation.
As a result of above-mentioned technical solution, the present invention draws under existing logic rules initial mode frame
The test of Doppler measurements (radial velocity) dimension correlation threshold is entered, more hypothesis growths, radial velocity consistency check, has weighted and melt
Doppler measurements (radial velocity) are not only used correlation threshold test wrapper by the operations such as conjunction, compared with prior art, the present invention
Section, and in judgement link, decoy generating probability is further decreased by radial velocity consistency check；Meanwhile this hair
It is bright propose it is a kind of temporary flight path cartesian coordinate system speed is estimated based on the speed estimator of maximum likelihood, in addition
Use is pushed away, and assumes to grow using in temporary flight path extension link more, has fully ensured that true flight path can be originated correctly；Separately
Outside, present invention assumes that a flight path head at most originates a target, then target initial time state estimation can be shared by merging
The confirmation flight path state estimation of flight path head obtains.To sum up, beneficial effects of the present invention are as follows：1) real goal track initiation
Success rate is high, and decoy generating probability is low；2) logic simple and clear is realized, algorithm complexity is low, is convenient for Project Realization；3) general
Property it is high portable strong, easily scale in vehicle-mounted other detecting sensor track initiations processing, and can also be answered by improving
For aerospace, the target of intelligent traffic monitoring system, ground early warning system, anti-missile system, carrier-borne spaceborne sensory perceptual system
Tracking initiation link.
Description of the drawings
Fig. 1 is the flow chart for the track initiation method that a kind of band Doppler of the present invention is measured；
Fig. 2 is to measure associated schematic diagram in the track initiation method that a kind of band Doppler of the present invention is measured；
Fig. 3 is that temporarily flight path assumes the signal of growth more in the track initiation method that a kind of band Doppler of the present invention is measured
Figure.
Specific implementation mode
Below in conjunction with the accompanying drawings, presently preferred embodiments of the present invention is provided, and is described in detail.
As shown in Figure 1, of the invention, i.e., the track initiation method that a kind of band Doppler is measured comprising following steps：
Step S1, prediction：
The X-axis position prediction value of temporary flight path of each target at the k moment is calculated according to formula (1)With Y-axis position
Set predicted value
Wherein,For target the temporary flight path at k-1 moment X-axis position estimation value,It is target in k-1
The Y-axis position estimation value for the temporary flight path carved,For target the temporary flight path at k-1 moment X-axis velocity estimation value,It is target in the Y-axis velocity estimation value of the temporary flight path at k-1 moment, T is time interval.
Step S2 measures association：
It is associated threshold test：
For flight path head or the temporary flight path of single-point, if target j-th of observation point mark at k moment metric data (including：
Radial distance, azimuth, radial velocity, and the X-axis position converted according to radial distance and azimuth and Y-axis position,
Totally 5 tie up information) meet formula (2) in the predicted value of the temporary flight path at k moment with the target, then correlation threshold test passes through, that is,
J-th of observation point mark and the success of temporary track association：
For other temporary flight paths, if target is when the metric data of j-th of observation point mark at k moment and the target are in k
The predicted value for the temporary flight path carved meets formula (3), then correlation threshold test passes through, that is, j-th of observation point mark and temporary flight path
It is successfully associated：
In formula (2), (3), T is time interval,It (is needed according to tracking scene people for maximum radial acceleration value
For setting),Doppler for target in the temporary flight path at k-1 moment measures (i.e. radial velocity),It is target in k
The radial velocity of j-th of observation point mark at moment,It (is needed according to tracking scene artificial settings) for maximum angular rate value,
θk-1It is target in the azimuth of the temporary flight path at k-1 moment, θk,jIt is target in the orientation of j-th of observation point mark at k moment
Angle；For maximum radial velocity amplitude (needing to be manually set according to tracking scene), rk-1For target the k-1 moment temporary boat
The radial distance of mark, rk,jFor target j-th of observation point mark at k moment radial distance；For X-axis relative velocity
(needing to be manually set according to tracking scene),It is target in the X-axis position prediction value of the temporary flight path at k moment, xk,jFor
X-axis measuring value of the target after the slave polar coordinate system of j-th of observation point mark at k moment is transformed into cartesian coordinate system, σxFor from
Polar coordinate system is transformed into the X-axis error in measurement standard deviation after cartesian coordinate system (for prior information)；For Y-axis maximum phase
Speed (is needed according to tracking scene artificial settings),For target the temporary flight path at k moment Y-axis position prediction
Value, yk,jThe Y-axis for being target after the slave polar coordinate system of j-th of observation point mark at k moment is transformed into cartesian coordinate system measures
Value, σyFor the Y-axis error in measurement standard deviation after being transformed into cartesian coordinate system from polar coordinate system (for prior information).
As shown in Fig. 2, symbol "○" represents predicted position of the temporary flight path at current time, symbol "×" represents current see
Measuring point mark (i.e. measuring point), it is big oval to represent the associated region delimited, if × fall into associated region if represent the measuring point with temporarily
When track association success.
Step S3, position and speed estimation：
Each target is calculated in the state estimation of the temporary flight path at k moment, including position estimation value and speed are greatly seemingly
Right estimated value；Specifically, it is assumed that j-th of observation point mark of targetIt is tested by correlation threshold, then
X-axis, Y-axis position estimation value of the target in the temporary flight path at k moment is calculated according to formula (4)According to formula
(5) X-axis of the target in the temporary flight path at k moment, Y-axis speed maximum likelihood estimation is calculated
Wherein, T is time interval, xk,jSlave polar coordinate system for target in j-th of observation point mark at k moment is transformed into flute
X-axis measuring value after karr coordinate system, yk,jSlave polar coordinate system for target in j-th of observation point mark at k moment is transformed into flute card
Y-axis measuring value after your coordinate system,For target the temporary flight path at k-1 moment X-axis speed maximum likelihood estimation,For target the temporary flight path at k-1 moment Y-axis speed maximum likelihood estimation,It is target temporary at the k-1 moment
When flight path X-axis position estimation value,For target the temporary flight path at k-1 moment Y-axis position estimation value.
Step S4, track confirmation：
Whether review time window length reaches 5 frames, if so, continue test-target the k moment temporary flight path it is accumulative
It is associated with whether frame number is greater than or equal to 3 frames, if so, it is fast in the radial direction of the temporary flight path at k moment to calculate target according to formula (6)
Spend estimated value
Wherein,Respectively X-axis, Y-axis position estimation value of the target in the temporary flight path at k moment,Point
It Wei not X-axis of the target in the temporary flight path at k moment, Y-axis speed maximum likelihood estimation；
If target is in the radial velocity estimated value of the temporary flight path at k momentMeet formula (7), then by the target in k
The temporary flight path carved is judged to confirming that flight path (expression originates successfully), the target are then initial target (i.e. real goal)：
Wherein,For Doppler error in measurement standard deviations,For target the temporary flight path at k moment radial velocity.
Herein, time window refers to the interval of time (being indicated with frame number) of radar scanning, often increases single pass, when
Between window increase, when increasing to time window length (such as 5 frames) of setting, then started counting up again from 1, it should be noted that 5 frames
For experience setting value, generally it is adapted with tracking scene and task；Cumulative correlation frame number be and the observation on temporary track association
The number of mark is put, temporary flight path is often associated with an observation point mark in single pass, and cumulative correlation frame number adds once, main attention
, 3 frames are empirical value, are generally adapted with tracking scene and task.
As shown in figure 3, temporarily flight path is assumed to grow more, wherein horizontal axis represents frame number, and since flight path head, the 2nd frame represents
There are 4 observation point marks (measuring point) to be successfully associated with flight path head, then flight path splits into four temporary flight paths；And so on, until the 5th
Frame, common property gives birth to 5 branches in the whole process, wherein there is 2 temporary flight paths to be judged as confirming that (i.e. symbol " √ " corresponds to flight path
Branch).
Step S5, Initial state estimation：
According to formula (8) and (9) calculate separately t-th of initial target the k moment confirmation flight path initial estimate
And its evaluated error covariance matrix
Wherein,The X-axis position estimation value for confirming flight path for t-th of initial target at the k moment,It is originated for t-th
The Y-axis position estimation value that confirms flight path of the target at the k moment,For t-th of initial target the k moment confirmation flight path X-axis
Speed maximum likelihood estimation,For t-th of initial target the k moment confirmation flight path Y-axis speed Maximum-likelihood estimation
Value, n are the corresponding item number for confirming flight path of t-th of initial target, that is, share the item number of confirmation flight path of same flight path head (such as
Shown in Fig. 3, an initial target can correspond to one or several and confirm flight path),It is t-th of initial target the of the k moment
H items confirm the X-axis position estimation value (being obtained according to above-mentioned formula (4)) of flight path,It is t-th of initial target the of the k moment
H items confirm the Y-axis position estimation value (being obtained according to above-mentioned formula (4)) of flight path,It is t-th of initial target the of the k moment
H items confirm the X-axis speed maximum likelihood estimation (being obtained according to above-mentioned formula (5)) of flight path,For for t-th of initial target
In the Y-axis speed maximum likelihood estimation (being obtained according to above-mentioned formula (5)) of the h articles confirmation flight path at k moment, σxTo be sat from pole
Mark system is transformed into the X-axis error in measurement standard deviation (for prior information) after cartesian coordinate system, σyTo be transformed into from polar coordinate system
Y-axis error in measurement standard deviation after cartesian coordinate system (for prior information).
According to formula (8) as can be seen that assuming that a flight path head at most originates a target, then originates mesh when calculating herein
Mark initial estimation is the Weighted Fusion of the confirmation flight path state of shared flight path head, for example, two confirm that flight path corresponds to a starting
Target, X-axis position estimation value are respectively 5 and 6, then the X-axis position estimation value of the initial target is (5+6)/2 after Weighted Fusion
=5.5.
In conclusion will produce the Targets Dots quality of more clutter and extraction since trailer-mounted radar is protected from environmental
It is unstable, therefore, branch's flight path growth is assumed present invention employs, to effectively increase the track initiation probability of success more；Together
When invention introduces Doppler measure enter correlation threshold test, and confirmation stage carry out radial velocity consistency inspection
It tests, so as to greatly reduce decoy generating probability.
Above-described, only presently preferred embodiments of the present invention is not limited to the scope of the present invention, of the invention is upper
Stating embodiment can also make a variety of changes.Made by i.e. every claims applied according to the present invention and description
Simply, equivalent changes and modifications fall within the claims of patent of the present invention.The not detailed description of the present invention is
Routine techniques content.
Claims (8)
1. a kind of track initiation method that band Doppler is measured, which is characterized in that the described method comprises the following steps：
Step S1, calculate each target the temporary flight path at k moment predicted value；
Step S2, according to target the temporary flight path at k moment predicted value and the target the observation point mark at k moment measurement
Data, the observation point mark to the target at the k moment are associated threshold test with temporary flight path；
Step S3, it is assumed that j-th of observation point mark of target is tested by correlation threshold, according to the measurement of j-th of observation point mark
Data calculate the target the temporary flight path at k moment state estimation；
Step S4, according to target the temporary flight path at k moment state estimation, calculate the target the k moment temporary flight path
Radial velocity estimated value, and according to the target when the radial velocity estimated value of the temporary flight path at k moment judges the target in k
Whether the temporary flight path carved is to confirm flight path, if so, the target is denoted as initial target；And
Step S5, initial estimate and its evaluated error covariance of t-th of the initial target of calculating in the confirmation flight path at k moment
Battle array.
2. the track initiation method that band Doppler according to claim 1 is measured, which is characterized in that the step S1 packets
It includes：
The X-axis position prediction value of temporary flight path of each target at the k moment is calculated according to formula (1)It is pre- with Y-axis position
Measured value
Wherein,For target the temporary flight path at k-1 moment X-axis position estimation value,It is target at the k-1 moment
The Y-axis position estimation value of temporary flight path,For target the temporary flight path at k-1 moment X-axis velocity estimation value,For
For target in the Y-axis velocity estimation value of the temporary flight path at k-1 moment, T is time interval.
3. the track initiation method that band Doppler according to claim 2 is measured, which is characterized in that in the step S1
In：If temporary flight path of the target at the k moment is flight path head or the temporary flight path of single-point, X of the target in the temporary flight path at k-1 moment
Axis and Y-axis velocity estimation value
4. the track initiation method that band Doppler according to claim 1 is measured, which is characterized in that the step S2 packets
It includes：
When temporary flight path of the target at the k moment is flight path head or the temporary flight path of single-point, if j-th observation of the target at the k moment
The metric data of point mark meets formula (2) with the target in the predicted value of the temporary flight path at k moment, then correlation threshold test is logical
It crosses：
When target is not when the temporary flight path at k moment is flight path head or the temporary flight path of single-point, if j-th sight of the target at the k moment
The metric data of measuring point mark meets formula (3) with the target in the predicted value of the temporary flight path at k moment, then correlation threshold test is logical
It crosses：
In formula (2), (3), T is time interval,For maximum radial acceleration value,It is target at the k-1 moment
The radial velocity of temporary flight path,For target j-th of observation point mark at k moment radial velocity,For maximum angular speed
Angle value, θk-1It is target in the azimuth of the temporary flight path at k-1 moment, θK, jFor target the k moment j-th observation point mark
Azimuth；For maximum radial velocity amplitude, rk-1It is target in the radial distance of the temporary flight path at k-1 moment, rK, jFor target
In the radial distance of j-th of observation point mark at k moment；For X-axis relative velocity,It is target at the k moment
The X-axis position prediction value of temporary flight path, xK, jSlave polar coordinate system for target in j-th of observation point mark at k moment is transformed into flute card
X-axis measuring value after your coordinate system, σxFor the X-axis error in measurement standard deviation after being transformed into cartesian coordinate system from polar coordinate system；For Y-axis relative velocity,It is target in the Y-axis position prediction value of the temporary flight path at k moment, yK, jFor target
Y-axis measuring value after the slave polar coordinate system of j-th of observation point mark at k moment is transformed into cartesian coordinate system, σyTo be sat from pole
Mark system is transformed into the Y-axis error in measurement standard deviation after cartesian coordinate system.
5. the track initiation method that band Doppler according to claim 1 is measured, which is characterized in that the step S3 packets
It includes：
X-axis, Y-axis position estimation value of the target in the temporary flight path at k moment is calculated according to formula (4)According to public affairs
X-axis of the target in the temporary flight path at k moment, Y-axis speed maximum likelihood estimation is calculated in formula (5)
Wherein, T is time interval, xK, jSlave polar coordinate system for target in j-th of observation point mark at k moment is transformed into Descartes
X-axis measuring value after coordinate system, yK, jDescartes is transformed into for target in the slave polar coordinate system of j-th of observation point mark at k moment to sit
Y-axis measuring value after mark system,For target the temporary flight path at k-1 moment X-axis speed maximum likelihood estimation,
For target the temporary flight path at k-1 moment Y-axis speed maximum likelihood estimation,For target the k-1 moment temporary boat
The X-axis position estimation value of mark,For target the temporary flight path at k-1 moment Y-axis position estimation value.
6. the track initiation method that band Doppler according to claim 1 is measured, which is characterized in that the step S4 packets
It includes：
Whether review time window length reach the first setting frame number, if so, continue test-target the k moment temporary flight path
Whether cumulative correlation frame number is greater than or equal to the second setting frame number, if so, calculating the target at the k moment according to formula (6)
The radial velocity estimated value of temporary flight path
Wherein,Respectively X-axis, Y-axis position estimation value of the target in the temporary flight path at k moment,Respectively
X-axis of the target in the temporary flight path at k moment, Y-axis speed maximum likelihood estimation；
If target is in the radial velocity estimated value of the temporary flight path at k momentMeet formula (7), then by the target at the k moment
Temporary flight path is judged to confirming flight path, is initial target by the target label：
Wherein,For Doppler error in measurement standard deviations,For target the temporary flight path at k moment radial velocity.
7. the track initiation method that band Doppler according to claim 6 is measured, which is characterized in that in the step S4
In：Described first sets frame number as 5 frames, and described second sets frame number as 3 frames.
8. the track initiation method that band Doppler according to claim 1 is measured, which is characterized in that the step S5 packets
It includes：
According to formula (8) and (9) calculate separately t-th of initial target the k moment confirmation flight path initial estimateAnd its
Evaluated error covariance matrix
Wherein,The X-axis position estimation value for confirming flight path for t-th of initial target at the k moment,For t-th of initial target
The k moment confirmation flight path Y-axis position estimation value,For t-th of initial target the k moment confirmation flight path X-axis speed
Maximum likelihood estimation,The Y-axis speed maximum likelihood estimation for confirming flight path for t-th of initial target at the k moment, n are
The corresponding item number for confirming flight path of t-th of initial target,For t-th of initial target the h articles of k moment confirmation flight path X
Shaft position estimated value,The h articles Y-axis position estimation value for confirming flight path for t-th of initial target at the k moment,For t
The h article X-axis speed maximum likelihood estimation that confirms flight path of a initial target at the k moment,For for t-th of initial target
In the Y-axis speed maximum likelihood estimation of the h articles confirmation flight path at k moment, σxTo be transformed into cartesian coordinate from polar coordinate system
X-axis error in measurement standard deviation after system, σyFor the Y-axis error in measurement standard after being transformed into cartesian coordinate system from polar coordinate system
Difference.
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