CN108490407A - A kind of multiple radar system error correction automated process based on AIS - Google Patents
A kind of multiple radar system error correction automated process based on AIS Download PDFInfo
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- CN108490407A CN108490407A CN201810407989.6A CN201810407989A CN108490407A CN 108490407 A CN108490407 A CN 108490407A CN 201810407989 A CN201810407989 A CN 201810407989A CN 108490407 A CN108490407 A CN 108490407A
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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
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Abstract
The present invention provides a kind of multiple radar system error correction automated process based on AIS, and this method includes obtaining radar and AIS information；Coordinate is converted；Selection association flight path；Time unifying；Systematic error estimation；Systematic Error Correction, the present invention can be using the higher AIS flight paths information of precision as benchmark, selection multi-section radar carries out measurement statistics with the targetpath that AIS is observed jointly, can in use dynamic measurement, dynamic estimation with correct multi-section radar system error, and high degree of automation, it is convenient to realize, no hardware cost expenditures are practical.
Description
Technical field
The present invention relates to marine radar field of signal processing, more particularly to a kind of multiple radar system error school based on AIS
Positive automated process.
Background technology
The difficulties such as the environment complication, heavy dense targets, demand high-endization that occur in coastal waters maritime control under the new situation
Topic has been difficult to adapt to contemporary navigation traffic administration by the autonomous working of single-sensor monitoring system or coastal waters monitors demand.Cause
This, multi-section radar and AIS (ship automatic system), CCTV (video monitoring system), infrared etc. are integrated using Data fusion technique
Some foreign peoples's monitoring systems, obtain more comprehensively, accurately, real-time Ship dynamic situation information, improve ship tracking progress and monitoring be wide
Degree already becomes the important research direction and development trend of present coastal waters monitoring system.
Data fusion has strict requirements to the measurement system error of each portion's radar, if in blending algorithm, radar is surveyed
It is bad to measure Systematic Error Correction, the optimality of fusion will be lost, influence flight path quality.System possibly can not utilize more radars
Data carry out target starting, can not carry out track association using more radar datas, are accurately tracked to target and timely motor-driven judgement
When heavy dense targets, easily there is the erroneous association within different radar targets, generates false target or division target etc..This
May be more fatal to certain applications, such as operator is when judging situation according to display interface, it may be because
For the fuzzy generation erroneous judgement of destination number and position.Therefore, before carrying out multi-radar data fusion, radar system is missed
Difference carries out estimation and is of great significance with calibration.
There are two types of the main reason for causing systematic error：When the fixed northern error in the orientation of each radar, but the original of each radar
Point fix error.The method for correcting radar system error in the prior art is mainly the following：
1, north finder and GPS receiver are installed on each radar, for the precision of north finder up to 1 °, the positioning accuracy of GPS can
Up to 15 meters；
2, GPS positioning correction method removes correction radar system coordinate value using the coordinate true value of platform itself GPS positioning,
As real-time detection, the foundation of tracking system error change；
3, fixed echo correction method, this is also a kind of most common method, it is with the true value of fixed target location come school
The coordinate absolute error of positive radar track；
4, benchmark radar correction method, it is to correct standard radar flight path with the fixation target true value of standard radar
Coordinate absolute error and then the coordinate relative error that the radar track of other radars is corrected with the radar track of standard radar.
In above system error calibration method, the 1st kind of method has been supplied in a small amount of New Type Radar dispatched from the factory recently, but
It is that original a large amount of old radar is substantially all and does not install, repacking acquires a certain degree of difficulty, and funds are also high.It, can be in 2nd kind of method
The side that the original fix error of radar is corrected, but Radar Servo driving element precision and benchmark difference etc. can not be brought
The fixed northern error in position is corrected.In 3rd kind and the 4th kind of method, the fixed echo that multi-section radar can be seen is not easy to find, and
And this fixed echo is frequently not real point target, practical radar often has the case where pitching antenna, thus fixed target meeting
Elegant with antenna pitching, therefore, it is difficult to utilize.
Invention content
The technical problem to be solved by the present invention is to：Multiple radar system errors under AIS systems how are now based in fact to carry out
Correction.Concrete scheme is as follows：
A kind of multiple radar system error correction automated process based on AIS, this approach includes the following steps：
Step 1：Obtain radar and AIS information；
Step 2：Coordinate is converted；
Step 3：Selection association flight path；
Step 4：Time unifying；
Step 5：Systematic error estimation；
Step 6：Systematic Error Correction.
Wherein, the detailed process of step 1 is as follows：
The geographical position coordinates residing for N number of radar are obtained respectively, wherein i-th of radar geographical position coordinates is expressed as
[Li,Bi]′；
The targetpath information of N number of radar is obtained respectively, wherein the targetpath information of i-th of radar is with itself position
It is set under the polar coordinate system of coordinate origin and is expressed as
The targetpath information for obtaining AIS systems is expressed as X in the information under geographic coordinate systemAIS=[L, B] '.
Wherein, the detailed process of step 2 is as follows：
Respectively with the location of N number of radar for coordinate origin, AIS flight path information is transformed into phase from geographic coordinate system
Under the polar coordinate system of corresponding radar, wherein AIS marks information using i-th of radar position as coordinate origin when be expressed as
XAISi=[ρ, θ] '.
Wherein, the detailed process of step 3 is as follows：
Respectively by the flight path information of i-th of radarWith corresponding transformed AIS flight paths information XAISi
=[ρ, θ] ' is associated judgement, selects the associated flight path group of m groups success, that is, selects m radar track for belonging to same target
Information and m AIS flight path information.
N number of radar selects N × m group flight paths altogether.
Wherein, the detailed process of step 4 is as follows：
By radar track information and the AIS flight paths information in every group of flight path from kthi1Frame is to ki1+n-1Frame is into row interpolation pair
Together, ki1Observe that the start frame of the target, n are the frame number for measure statistics jointly for AIS and radar.
Wherein, the detailed process of step 5 is as follows：
Using AIS flight paths information as approximate true value, the systematic error of N number of radar is respectively obtained, radar is in the present invention
System error is indicated by difference, mean value.Wherein, the range error estimated value of i-th of radar is：
The azimuthal error estimated value of i-th of radar is：
Wherein, the detailed process of step 6 is as follows：
It carries out flight path information respectively to N number of radar to be corrected, wherein i-th of radar calibration formula is as follows：
ρi′=ρi+Δρi
θi′=θi+Δθi
Compared with prior art, the beneficial effects of the invention are as follows：
1, since AIS flight path information has the characteristics that high-precision, being selected as the evaluated error that benchmark obtains also has height
Precision；
2, can in use dynamic measurement, dynamic estimation and correct multi-section radar system error；
3, high degree of automation, it is convenient to realize, no hardware cost expenditures are practical.
Description of the drawings
Fig. 1 is a kind of multiple radar system automatic error correction method flow block diagram based on AIS.
Fig. 2 is the flight path information emulator figure that AIS, radar 1, the radar 2 under polar coordinate system obtain.
Fig. 3 is the partial enlarged view of Fig. 2.
Fig. 4 is the 10 groups of flight path information emulator figures for being used for estimation error manually chosen.
Fig. 5 is radar 1, radar 2 and the AIS flight path information emulator figures after calibration.
Fig. 6 is the partial enlarged view of Fig. 5.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
The embodiment of the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
See Fig. 1, the present invention provides a kind of multiple radar system error correction automated process based on AIS, this method include with
Lower step：
Step 1：Obtain radar and AIS information
The geographical position coordinates residing for N number of radar are obtained respectively, wherein i-th of radar geographical position coordinates is expressed as
[Li,Bi]′；
The targetpath information of N number of radar is obtained respectively, wherein the targetpath information of i-th of radar is with itself position
It is set under the polar coordinate system of coordinate origin and is expressed as
The targetpath information for obtaining AIS systems is expressed as X in the information under geographic coordinate systemAIS=[L, B] '；
Step 2：Coordinate is converted
Respectively with the location of N number of radar for coordinate origin, AIS flight path information is transformed into phase from geographic coordinate system
Under the polar coordinate system of corresponding radar, wherein AIS marks information using i-th of radar position as coordinate origin when be expressed as
XAISi=[ρ, θ] '.
Step 3：Selection association flight path
Respectively by the flight path information of i-th of radarWith corresponding transformed AIS flight paths information XAISi
=[ρ, θ] ' is associated judgement, selects the associated flight path group of m groups success, that is, selects m radar track for belonging to same target
Information and m AIS flight path information.
N number of radar selects N × m group flight paths altogether.
Step 4：Time unifying
By radar track information and the AIS flight paths information in every group of flight path from kthi1Frame is to ki1+n-1Frame is aligned into row interpolation,
ki1Observe that the start frame of the target, n are the frame number for measure statistics jointly for AIS and radar.
Step 5：Systematic error estimation
Using AIS flight paths information as approximate true value, the systematic error of N number of radar is respectively obtained, radar is in the present invention
System error is indicated by difference, mean value.Wherein, the range error estimated value of i-th of radar is：
The azimuthal error estimated value of i-th of radar is：
Step 6：Systematic Error Correction
It carries out flight path information respectively to N number of radar to be corrected, wherein i-th of radar calibration formula is as follows：
ρi′=ρi+Δρi
θi′=θi+Δθi
Understanding for the ease of those skilled in the art to technical solution of the present invention, the present invention mainly use actual AIS
Flight path information report and 2 Active Radar flight path information count off are according to being verified, and for clarity, two radars are named respectively
For radar 1 and radar 2, it is as follows：
Step 1：Obtain radar and AIS targetpath information
The position that radar 1 and radar 2 are obtained by GPS is：
(L1,B1)=(L2,B2)=(107.9951489,21.716764600)；
AIS targetpath information is intercepted, the position information under geographic coordinate system is expressed as XAIS=[L, B] ', starting
0 divides 0 second when time stamp is day month x 0 x in 2015, and data length is 30 minutes.
The targetpath information of 2 radars, the targetpath information of intercept radar 1, under polar coordinate system are obtained respectively
Position information be expressed asThe targetpath information of radar 2, the position information under polar coordinate system are expressed as0 divides 0 second when starting time stamp is day month x 0 x in 2015, and data length is 30 minutes.
Step 2：Coordinate is converted
With (L1,B1) it is reference coordinate point, by Gauss-Lv Kege projection algorithms, AIS is obtained into position information XAIS=
[L, B] ' be transformed into right-angle plane coordinate system obtains xAIS′=[x, y] ', then it is transformed into from right-angle plane coordinate system
X is obtained under polar coordinate systemAIS″=[ρ, θ] '.The flight path information that unified radar 1, radar 2 and AIS under polar coordinates is obtained is such as
Shown in Fig. 2, by can be seen that the flight path information of radar 1, radar 2 and AIS acquisitions in azimuth-range in Fig. 3 partial enlarged views
There is obvious deviation.
Step 3：Selection association flight path
The flight path information and corresponding transformed AIS flight paths of the flight path information of radar 1 and radar 2 are believed respectively
Breath is associated judgement, selects 10 groups of associated flight path groups of success, that is, selects 10 radar track information for belonging to same target
With 10 AIS flight path information.
2 radars select 20 groups of flight paths altogether, as shown in Figure 4.
Step 4：Time unifying
By 1 flight path information of radar, 2 flight path information of radar and the AIS flight paths information in every group of flight path from the 1st frame to 20 frames
It is aligned into row interpolation.
Step 5：Systematic error estimation
Using AIS flight paths information as approximate true value, the systematic error of 2 radars is respectively obtained, radar is in the present invention
System error is indicated by difference, mean value.Wherein, range error estimated value calculation formula is：
Its azimuthal error estimated value calculation formula is：
It is obtained by the above calculation formula：
The range error estimated value of radar 1 is 1149.39m, and azimuthal error estimated value is -0.3635 °；The distance of radar 2
Error estimate is 733.67m, and azimuthal error estimated value is 0.0760 °.
Step 6：Systematic Error Correction
The flight path information of radar 1, radar 2 is corrected respectively：
ρi′=ρi+Δρi
θi′=θi+Δθi
The results are shown in Figure 5 after correction, and partial enlarged view is as shown in Figure 6.Flight path information before being corrected with Fig. 3, Fig. 4
Than, hence it is evident that find out that this method can effectively realize the systematic error calibration of more radars.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (7)
1. a kind of multiple radar system error correction automated process based on AIS, this approach includes the following steps：
Step 1：Obtain radar and AIS information；
Step 2：Coordinate is converted；
Step 3：Selection association flight path；
Step 4：Time unifying；
Step 5：Systematic error estimation；
Step 6：Systematic Error Correction.
2. according to the method described in claim 1, it is characterized in that：The detailed process of step 1 is as follows：
The geographical position coordinates residing for N number of radar are obtained respectively, wherein i-th of radar geographical position coordinates is expressed as [Li,
Bi]′；
The targetpath information of N number of radar is obtained respectively, wherein the targetpath information of i-th of radar is being with self-position
It is expressed as under the polar coordinate system of coordinate origin
The targetpath information for obtaining AIS systems is expressed as X in the information under geographic coordinate systemAIS=[L, B] '.
3. according to the method described in claim 1, it is characterized in that：The detailed process of step 2 is as follows：
Respectively with the location of N number of radar for coordinate origin, AIS flight paths information is transformed into corresponding thunder from geographic coordinate system
Under the polar coordinate system reached, wherein AIS marks information using i-th of radar position as coordinate origin when be expressed as XAISi=[ρ,
θ]′。
4. according to the method described in claim 1, it is characterized in that：The detailed process of step 3 is as follows：
Respectively by the flight path information of i-th of radarWith corresponding transformed AIS flight paths information XAISi=[ρ,
θ] ' be associated judgement, select the associated flight path group of m groups success, that is, select m radar track information for belonging to same target and
M AIS flight path information.
N number of radar selects N × m group flight paths altogether.
5. according to the method described in claim 1, it is characterized in that：The detailed process of step 4 is as follows：
By radar track information and the AIS flight paths information in every group of flight path from kthi1Frame is to ki1+n-1Frame is aligned into row interpolation, ki1For
AIS observes that the start frame of the target, n are the frame number for measure statistics with radar jointly.
6. according to the method described in claim 1, it is characterized in that：The detailed process of step 5 is as follows：
Using AIS flight paths information as approximate true value, the systematic error of N number of radar is respectively obtained, the system of radar is missed in the present invention
Difference is indicated by difference, mean value.Wherein, the range error estimated value of i-th of radar is：
The azimuthal error estimated value of i-th of radar is：
7. according to the method described in claim 1, it is characterized in that：The detailed process of step 6 is as follows：
It carries out flight path information respectively to N number of radar to be corrected, wherein i-th of radar calibration formula is as follows：
ρi′=ρi+Δρi
θi′=θi+Δθi。
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Cited By (8)
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| CN109856619A (en) * | 2019-01-03 | 2019-06-07 | 中国人民解放军空军研究院战略预警研究所 | A kind of radar direction finding relative systematic error modification method |
| CN110687508A (en) * | 2019-10-12 | 2020-01-14 | 内蒙古工业大学 | Method for correcting monitoring data of micro-varying radar |
| CN110907903A (en) * | 2019-10-30 | 2020-03-24 | 中电科技（合肥）博微信息发展有限责任公司 | Self-adaptive tracking processing method based on multiple sensors |
| CN111326022A (en) * | 2020-02-25 | 2020-06-23 | 广州中交通信有限公司 | AIS-based ship correction coordinate correction method, system, device and storage medium |
| CN111580053A (en) * | 2020-05-30 | 2020-08-25 | 中国人民解放军海军航空大学 | Combined calculation and correction method for measuring errors of scattering center of large ship target time-varying radar |
| CN112556722A (en) * | 2020-11-12 | 2021-03-26 | 北京电子工程总体研究所 | System error compensation method based on automatic selection of preferred source |
| CN116380148A (en) * | 2023-04-06 | 2023-07-04 | 中国人民解放军93209部队 | Two-stage space-time error calibration method and device for multi-sensor target tracking system |
| CN117665780A (en) * | 2024-01-31 | 2024-03-08 | 武汉大学 | Laser scanner system error calibration target selection method, system and storage medium |
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| CN109856619B (en) * | 2019-01-03 | 2020-11-20 | 中国人民解放军空军研究院战略预警研究所 | Radar direction finding relative system error correction method |
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| CN111326022B (en) * | 2020-02-25 | 2020-12-25 | 广州中交通信有限公司 | Ship coordinate correction method, system and device based on AIS and storage medium |
| CN111326022A (en) * | 2020-02-25 | 2020-06-23 | 广州中交通信有限公司 | AIS-based ship correction coordinate correction method, system, device and storage medium |
| CN111580053A (en) * | 2020-05-30 | 2020-08-25 | 中国人民解放军海军航空大学 | Combined calculation and correction method for measuring errors of scattering center of large ship target time-varying radar |
| CN112556722A (en) * | 2020-11-12 | 2021-03-26 | 北京电子工程总体研究所 | System error compensation method based on automatic selection of preferred source |
| CN112556722B (en) * | 2020-11-12 | 2023-07-28 | 北京电子工程总体研究所 | System error compensation method based on automatic selection of preferred sources |
| CN116380148A (en) * | 2023-04-06 | 2023-07-04 | 中国人民解放军93209部队 | Two-stage space-time error calibration method and device for multi-sensor target tracking system |
| CN116380148B (en) * | 2023-04-06 | 2023-11-10 | 中国人民解放军93209部队 | Two-stage space-time error calibration method and device for multi-sensor target tracking system |
| CN117665780A (en) * | 2024-01-31 | 2024-03-08 | 武汉大学 | Laser scanner system error calibration target selection method, system and storage medium |
| CN117665780B (en) * | 2024-01-31 | 2024-04-19 | 武汉大学 | Laser scanner system error calibration target selection method, system and storage medium |
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