CN108490409A - The automatic initial mode of three-dimensional radar based on flight path risk assessment - Google Patents
The automatic initial mode of three-dimensional radar based on flight path risk assessment Download PDFInfo
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- CN108490409A CN108490409A CN201810182068.4A CN201810182068A CN108490409A CN 108490409 A CN108490409 A CN 108490409A CN 201810182068 A CN201810182068 A CN 201810182068A CN 108490409 A CN108490409 A CN 108490409A
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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
- 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
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/411—Identification of targets based on measurements of radar reflectivity
-
- 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
Abstract
The present invention proposes a kind of automatic initial mode of the three-dimensional radar based on flight path risk assessment, while extracting three-dimensional radar point mark location information, it is multiple range cells, the multiple wave beam echo characteristics calculation point mark quality of point mark based on cohesion, it is then based on Hough transform and forms temporary flight path, again based on the point mark quality for forming temporary flight path and speed of a ship or plane change rate calculates every temporary flight path risks and assumptions during temporary flight path week, it is finally based on risks and assumptions temporary flight path is carried out to assess preferred output, completes track initiation.The method of the present invention is not under conditions of changing available data processing framework, by the quality for calculating congealing point mark while mark extracts, on the basis of based on Hough transform track initiation method, risk assessment is carried out to the flight path of starting, it realizes that flight path is preferred, Hough transform method is better than to the rejection of false track.
Description
Technical field
The invention belongs to radar target tracking technical fields, the more particularly to automatic initial mode of three-dimensional radar flight path.
Background technology
Track initiation is the starting stage of target following, there is artificial/design for originating automatically in modern radar system,
For undertaking the three-dimensional radar of warning search mission, when carrying out multiple target search and track especially under complex environment, automatically
Starting can greatly reduce the pressure that radar controller manually has found target.Common Track initialization algorithm is main in engineering at present
It is divided into two major classes：Sequential processes and batch processing, it is modified logical approach that the former is more representational, is suitable for weak clutter background
Under track initiation；More representational the latter is Hough transform method, the track initiation being suitable under strong clutter background.
Under modern complicated battlefield surroundings, the false track quantity originated automatically in order to control, most of radar systems, which are all made of, to be similar to
The batch system of Hough transform method.
In document《The performance evaluation of track algorithm before detection based on Hough transform》(modern radar, 2004, Vol.26,
No.12,pp:Using track algorithm before the detection based on Hough transform to the Swerling II of linear uniform motion in 37-41)
Type low observable target detection emulated with tracking, and give the detection probability under K Distribution Clutter plus noise backgrounds with
False-alarm probability analytical expression；In document《A Multi-Dimensional Hough Transform-Based Track-
Before-Detect Technique for Detecting Weak Targets in Strong Clutter
Backgrounds》(IEEE Transactions on Aerospace and Electronic Systems,2011,
Vol.47,No.4,pp:Comprehensive utilization target location, speed are proposed in 3062-3068) and cross the various dimensions such as threshold number letter
Breath, tracking technique realizes that target detection is extracted under strong clutter background before the detection based on Hough transform；But the side provided in document
Method has only carried out simulation analysis, and in engineer application, when facing the clutter environment of non-homogeneous non-stationary, false track quantity will
It can not effectively control.
In document《A Novel Dynamic Programming Algorithm for Track-Before-Detect
in Radar Systems》(IEEE Transactions on Signal Processing,2013,Vol.61,No.10,
pp:Author proposes multicycle joint-detection track algorithm in 2608-2619), and a mark extraction is carried out after being detected by low threshold,
Track algorithm realizes final joint-detection tracking processing before mark grade is using based on the detection of Dynamic Programming, and in document
《Track-Before-Detect for Sea Clutter Rejection:Tests With Real Data》(IEEE
Transactions on Aerospace and Electronic Systems,2016,Vol.52,No.3,pp:1035-
1045) verification of sea-surface target detecting and tracking has been carried out based on Observed sea clutter in.But since three-dimensional radar mainly detects
Target type is null object, and the velocity interval of null object is differed from tens metre per second (m/s)s to hundreds of metre per second (m/s)s, and even more than km is every
Second, the flight path quantity that dynamic hypothesis is formed makees growth exponentially using the part letter miscellaneous noise ratio of point mark in article
For target function, performance can also deteriorate under strong clutter environment.
Invention content
The present invention proposes that a kind of three-dimensional radar based on flight path risk assessment is automatic for defect existing for background technology
Initial mode, while extracting three-dimensional radar point mark location information, based on cohesion be mark multiple range cells,
Multiple wave beam echo characteristics calculation point mark quality are then based on Hough transform and form temporary flight path, then are based on forming temporary flight path
Point mark quality and speed of a ship or plane change rate calculates every temporary flight path risks and assumptions during temporary flight path week, be finally based on risks and assumptions
Temporary flight path is carried out to assess preferred output, completes track initiation.
Step 1：The extraction of point mark and point mark Mass Calculation；
Three-dimensional radar Plot coherence processing, extraction point mark position are carried out according to distance dimension, the sequence of pitching peacekeeping azimuth dimension
The quality set, temporal information, and calculate congealing point mark is Qplot=wrQr+weQe+waQa, wherein Qr=min (Q0,Nr_plot-Mr)
Quality, Q are agglomerated for distance0For the initial mass factor, Nr_plotFor the range cell number that cohesion is current point mark, MrIt is solidifying for distance
Poly- desired minimum range unit number, wrFor apart from quality weighting coefficient；Qe=min (Q0,Ne_plot-Me) it is that matter is agglomerated in pitching
Amount, Ne_plotIt is pitching wave position number, M shared by the echo of current point mark for cohesioneThe minimum pitching wave position required for pitching cohesion
Number, weFor pitching quality weighting coefficient；Qa=min (Q0,Na_plot-Ma) it is that quality, N are agglomerated in orientationa_plotIt is current for cohesion
Orientation wave position number shared by the echo of point mark, MaFor the minimum orientation wave position number that orientation cohesion requires, waIt is weighted for orientation quality
Coefficient；
Step 2：Temporary Track forming based on Hough transform；
For each point mark, corresponding (x, y) coordinate is calculated using distance and bearing, to continuous NcycleA antenna week
The point mark data of phase carry out accumulation detection judgement in the transform domain as illustrated using Hough transform ρ=xcos θ+ysin θ, originate out straight
The temporary flight path of line movement；For every temporary flight path, the elevation value of this flight path all the points mark is counted, calculates the point mark elevation angle most
Big difference DELTA Emax, according to radar detection elevation accuracy δE, reject Δ Emax3 δ of ＞ETemporary flight path；
Step 3：Temporary flight path risks and assumptions calculate；
For the temporary flight path of each, if NcycleAssociated mark number is M in a periodplot, this track association point
Mark average quality isTo MplotA mark calculates speed two-by-two according to mark position and time
Spend vij=Sij/tij, wherein SijFor the displacement between two marks, tijFor two mark time differences, if vijMiddle maximum value is
vmax, minimum value vmin, flight path risks and assumptions calculation formula isWherein CqFor flight path risk
Factor normaliztion constant；
Step 4：Flight path based on risk assessment is preferred；
Set flight path risks and assumptions detection threshold VT_r, reject flight path risks and assumptions rtrackMore than VT_rTemporary flight path, it is defeated
Go out the temporary flight path that risks and assumptions are met the requirements, completes track initiation.
Innovative point the present invention is based on the automatic initial mode of the three-dimensional radar of flight path risk assessment be do not change it is existing
Under conditions of data processing architecture, by calculating the quality of congealing point mark while mark extracts, navigate based on Hough transform
On the basis of mark initial mode, risk assessment is carried out to the flight path of starting, realizes that flight path is preferred, can effectively inhibit false track
It generates.
Description of the drawings
Fig. 1 is that the present invention is based on the automatic initial mode process charts of the three-dimensional radar of flight path risk assessment.
Fig. 2 is in the specific embodiment of the invention to the whole comprehensive Plot coherence handling result of measured data.
Fig. 3 is in the specific embodiment of the invention to wherein a collection of Targets Dots Mass Calculation result.
Fig. 4 is in the specific embodiment of the invention using 2km as the 2-20km clutter point mark average qualities of interval stats.
Fig. 5 be in the specific embodiment of the invention the method for the present invention to measured data track initiation result.
Fig. 6 is with Hough transform method in the specific embodiment of the invention to measured data track initiation result.
Fig. 7 is enlarged drawing in the method for the present invention handling result ± 20km in the specific embodiment of the invention.
Fig. 8 is enlarged drawing in Hough transform method handling result ± 20km in the specific embodiment of the invention.
Fig. 9 is the method for the present invention and Hough transform method starting flight path quantity statistics figure in the specific embodiment of the invention.
Specific implementation mode
The present invention is based on the automatic initial mode process flow of the three-dimensional radar of flight path risk assessment as shown in Figure 1, in conjunction with
Flow chart and embodiment are specifically addressed the embodiment of the method for the present invention, and process is as follows：
Step 1：The extraction of point mark and point mark Mass Calculation.
Three-dimensional radar Plot coherence process is handled successively according to distance dimension, the sequence of pitching peacekeeping azimuth dimension, is carried
Mark position, a temporal information are taken, while calculating the quality of congealing point mark；The calculation formula of point mark quality is Qplot=wrQr+weQe+
waQa, wherein Qr=min (Q0,Nr_plot-Mr) it is distance cohesion quality, Q0For the initial mass factor, Nr_plotIt is current for cohesion
The range cell number of point mark, MrFor the minimum range unit number that distance cohesion requires, wrFor apart from quality weighting coefficient；Qe
=min (Q0,Ne_plot-Me) it is that quality, N are agglomerated in pitchinge_plotIt is pitching wave position number shared by the echo of current point mark for cohesion,
MeFor the minimum pitching wave position number that pitching cohesion requires, weFor pitching quality weighting coefficient；Qa=min (Q0,Na_plot-Ma) be
Agglomerate quality, N in orientationa_plotIt is orientation wave position number, M shared by the echo of current point mark for cohesionaIt is required most for orientation cohesion
Small orientation wave position number, waFor orientation quality weighting coefficient.
With one group of actual measurement three-dimensional radar data instance, Plot coherence result such as Fig. 2 of 60 antenna cycle datas altogether
It is shown that (null object in search coverage is mainly airliner and helicopter, to compare the method for the present invention and Hough transform method strong
Track initiation performance under clutter background, this group of data do not carry out moving-target detection process, therefore there are a large amount of clutter points near region
Mark), by taking the target marked in scheming as an example, if Q0=3, each periodic point mark Mass Calculation is as shown in figure 3, not because of the 43rd period
Point mark can be formed, point mark quality is 0；To the clutter point mark of 2-20km using 2km as interval stats mean clutter point mark quality, such as scheme
Shown in 4.
Step 2：Temporary Track forming based on Hough transform.
Hough transform will observe data (x, y) by ρ=xcos θ+ysin θ and transform to parameter space in rectangular coordinate system
In (ρ, θ), wherein θ ∈ [0, π] correspond to a curve for a coordinate points in rectangular coordinate system in parameter space, right
Multiple point (the x being located on the same line in rectangular coordinate systemi,yi) corresponding a plurality of curve can intersect in parameter space
In a bit (ρ0,θ0), ρ0For the distance of origin to this straight line, θ0For the angle of this straight line and x-axis.Mark is put for each,
Corresponding (x, y) coordinate is calculated using distance and bearing, to continuous NcycleThe point mark data in a antenna period are become using Hough
Change the temporary flight path for originating out linear motion；For every temporary flight path, the elevation value of this flight path all the points mark is counted, is calculated
Point mark elevation angle maximum difference Δ Emax, according to radar detection elevation accuracy δE, reject Δ Emax3 δ of ＞ETemporary flight path.
Step 3：Temporary flight path risks and assumptions calculate.
Temporary flight path risks and assumptions are calculated according to relating dot mark quality and flight path velocity change rate, relating dot mark average quality
Higher, flight path risk is lower；Flight path velocity change rate is smaller, and flight path risk is lower.For the temporary flight path of each, if NcycleIt is a
Associated mark number is M in periodplot, this track association point mark average quality is
To MtolpA mark, according to mark position and time, calculating speed v two-by-twoij=Sij/tij, wherein SijFor the position between two marks
Shifting amount, tijFor two mark time differences, if vijMiddle maximum value is vmax, minimum value vmin, flight path risks and assumptions calculation formula isWherein CqFor flight path risks and assumptions normaliztion constant.
Step 4：Flight path based on risk assessment is preferred.
Set flight path risks and assumptions detection threshold VT_r, reject flight path risks and assumptions rtrackMore than VT_rTemporary flight path, it is defeated
Go out the temporary flight path that risks and assumptions are met the requirements, completes track initiation；Detection threshold VT_rIt is averaged matter according to the clutter of statistics point mark
The maximum flight path velocity change rate for measuring size and permission determines.This group of measured data is risen automatically according to the method for the present invention
Begin, if Ncycle=4, successful flight path is originated using arest neighbors and Kalman filter into line trace, and 60 period treatment results are such as
Shown in Fig. 5, batch 377 flight paths are played altogether, using Hough method of changing handling result as shown in fig. 6, playing batch 1236 flight paths altogether, this
Enlarged drawing difference is as shown in Figure 7 and Figure 8 in inventive method and Hough method of changing handling results ± 20km, statistics each cycle processing
Flight path sum as shown in Figure 9.From handling result as can be seen that under strong clutter environment, the present invention is based on flight path risk assessment
The automatic initial mode of three-dimensional radar under conditions of ensureing that targetpath normally originates, relative to Hough transform method, generate
False track number reduce about 70%.
Claims (1)
1. the automatic initial mode of three-dimensional radar based on flight path risk assessment, it is characterised in that：
Step 1：The extraction of point mark and point mark Mass Calculation；
Carry out three-dimensional radar Plot coherence processing according to distance dimension, the sequence of pitching peacekeeping azimuth dimension, an extraction point mark position, when
Between information, and calculate congealing point mark quality be Qplot=wrQr+weQe+waQa, wherein Qr=min (Q0,Nr_plot-Mr) it is distance
Agglomerate quality, Q0For the initial mass factor, Nr_plotFor the range cell number that cohesion is current point mark, MrIt is required for distance cohesion
Minimum range unit number, wrFor apart from quality weighting coefficient；Qe=min (Q0,Ne_plot-Me) it is that quality is agglomerated in pitching,
Ne_plotIt is pitching wave position number, M shared by the echo of current point mark for cohesioneThe minimum pitching wave position required for pitching cohesion
Number, weFor pitching quality weighting coefficient；Qa=min (Q0,Na_plot-Ma) it is that quality, N are agglomerated in orientationa_plotIt is current point for cohesion
Orientation wave position number, M shared by the echo of markaFor the minimum orientation wave position number that orientation cohesion requires, waIt is weighted for orientation quality and is
Number；
Step 2：Temporary Track forming based on Hough transform；
For each point mark, corresponding (x, y) coordinate is calculated using distance and bearing, to continuous NcycleA antenna period
Point mark data carry out accumulation detection judgement in the transform domain as illustrated using Hough transform ρ=x cos θ+y sin θs, originate out straight line
The temporary flight path of movement；For every temporary flight path, the elevation value of this flight path all the points mark is counted, it is maximum to calculate the point mark elevation angle
Difference DELTA Emax, according to radar detection elevation accuracy δE, reject Δ Emax3 δ of ＞ETemporary flight path；
Step 3：Temporary flight path risks and assumptions calculate；
For the temporary flight path of each, if NcycleAssociated mark number is M in a periodplot, this track association point mark is flat
Equal quality isTo MplotA mark, according to mark position and time, calculating speed v two-by-twoij
=Sij/tij, wherein SijFor the displacement between two marks, tijFor two mark time differences, if vijMiddle maximum value is vmax, most
Small value is vmin, flight path risks and assumptions calculation formula isWherein CqFor flight path risks and assumptions normalizing
Change constant；
Step 4：Flight path based on risk assessment is preferred；
Set flight path risks and assumptions detection threshold VT_r, reject flight path risks and assumptions rtrackMore than VT_rTemporary flight path, export wind
The temporary flight path that the dangerous factor is met the requirements completes track initiation.
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Cited By (5)
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| CN109856629A (en) * | 2019-01-11 | 2019-06-07 | 中国船舶重工集团公司第七二四研究所 | The parallel track initiation method of region rasterizing Multiple feature association based on Hough transformation |
| CN110456341A (en) * | 2019-09-11 | 2019-11-15 | 安徽隼波科技有限公司 | A kind of Radar Target Track method for quality control based on double sliding windows |
| CN111781592A (en) * | 2020-06-12 | 2020-10-16 | 中国船舶重工集团公司第七二四研究所 | Rapid automatic starting method based on fine-grained characteristic analysis |
| CN113376595A (en) * | 2021-05-18 | 2021-09-10 | 中国船舶重工集团公司第七二三研究所 | Evaluation method for initial comprehensive quality of search radar track |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109856629A (en) * | 2019-01-11 | 2019-06-07 | 中国船舶重工集团公司第七二四研究所 | The parallel track initiation method of region rasterizing Multiple feature association based on Hough transformation |
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| CN111781592A (en) * | 2020-06-12 | 2020-10-16 | 中国船舶重工集团公司第七二四研究所 | Rapid automatic starting method based on fine-grained characteristic analysis |
| CN111781592B (en) * | 2020-06-12 | 2023-12-22 | 中国船舶集团有限公司第七二四研究所 | Rapid automatic starting method based on fine granularity characteristic analysis |
| CN113376595A (en) * | 2021-05-18 | 2021-09-10 | 中国船舶重工集团公司第七二三研究所 | Evaluation method for initial comprehensive quality of search radar track |
| CN113376595B (en) * | 2021-05-18 | 2022-03-22 | 中国船舶重工集团公司第七二三研究所 | Evaluation method for initial comprehensive quality of search radar track |
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