CN108919268A - A kind of Track initialization algorithm based on unmanned plane surveillance radar - Google Patents
A kind of Track initialization algorithm based on unmanned plane surveillance radar Download PDFInfo
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- CN108919268A CN108919268A CN201810699176.9A CN201810699176A CN108919268A CN 108919268 A CN108919268 A CN 108919268A CN 201810699176 A CN201810699176 A CN 201810699176A CN 108919268 A CN108919268 A CN 108919268A
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- 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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
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Abstract
The invention discloses a kind of Track initialization algorithms based on unmanned plane surveillance radar, including：System carries out the related judgement of unilateral more hypothesis to the point mark of radar scanning, forms the temporary track of unilateral more hypothesis；The temporary track initiation of multi-model is carried out to the unilateral temporary tracks assumed to determine more, forms the temporary track for meeting track initiation condition；Track filtering judgement is carried out to the temporary track for meeting track initiation condition, is formed and stablizes track.The present invention solves the problems, such as that unmanned aerial vehicle flight path starting is difficult, clutter area false-alarm is serious, improves the monitoring efficiency of unmanned plane.
Description
Technical field
The present invention relates to three coordinate Connectors for Active Phased Array Radar low-altitude surveillance fields, especially a kind of to monitor thunder based on unmanned plane
The Track initialization algorithm reached.
Background technique
In recent years, with the rapid development of unmanned air vehicle technique, unmanned plane is expanded to from original military markets on a large scale
Commercial market, black winged caused safety accident is commonplace, and the field control of China low latitude is made to subject grave danger.Frontier defense,
The national security such as people's air defense, public security are defendd under the urgent need of department, and unmanned plane surveillance radar gradually rises.
Since civilian unmanned plane generallys use nonmetallic fuselage and body volume is small, cause RCS reflection cross section small, radar
Detect that echo is weak, and especially flying speed is slow, flying height is low, the flexible feature of flight, allow the detection and tracking of unmanned plane at
For problem generally acknowledged in the industry, wherein since prior information is insufficient, target maneuver is big, the discontinuous feature of target detection, cause
Unmanned aerial vehicle flight path starting is difficult, difficulties that clutter area false-alarm seriously has become unmanned plane monitoring.
Summary of the invention
In order to overcome the defects of the prior art described above, the present invention provides a kind of track initiation based on unmanned plane surveillance radar
Algorithm solves the problems, such as that unmanned aerial vehicle flight path starting is difficult, clutter area false-alarm is serious, improves the monitoring efficiency of unmanned plane.
To achieve the above object, the present invention uses following technical scheme, including：
A kind of Track initialization algorithm based on unmanned plane surveillance radar, which is characterized in that include the following steps：
S1, system receives the first frame point mark data of radar scanning, to all the points mark in the first frame point mark data
Establish temporary track；Described mark data include：Three-dimensional coordinate information, temporal information, attribute value, the range value of point mark；
S2, system receive radar scanning next frame point mark data, by each of this next frame point mark data mark with
Established every temporary track carry out it is unilateral assume it is related determine, judge this next frame point mark whether deposit with it is established
Temporary track is related, if the certain point mark in this next frame point mark is related to established a certain temporary track, by the correlation
Point mark is associated with forms the unilateral temporary track assumed more on the established temporary track；If a certain in this next frame point mark
Point mark and established every temporary track are uncorrelated, then establish temporary track according to the mark；
S3 carries out the temporary track initiations of multi-model to the unilateral temporary tracks more assumed and determines, judges unilateral more hypothesis
Whether temporary track meets track initiation condition, will the be unilateral multiple temporary track initiation models of temporary track cascade assumed more,
Judge whether the unilateral temporary track assumed meets the initial conditions of one of them temporary track initiation model more, if satisfied, then
The unilateral temporary tracks assumed are the temporary track for meeting track initiation condition more；If being not satisfied, unilateral more hypothesis
Temporary track be unsatisfactory for track initiation condition, the unilateral temporary tracks assumed more wait carried out with next frame point mark data it is single
Side assume more it is related determine, and if the unilateral temporary tracks assumed more there is no reference point mark in certain continuous frame number,
Then delete the unilateral temporary tracks assumed more；
S4 carries out track filtering judgement to the temporary track for meeting track initiation condition, and judgement meets track initiation condition
Temporary track whether by track filtering handle, if by track filtering processing, meet the temporary boat of track initiation condition
Mark forms stable track；If not handling by track filtering, the temporary track for meeting track initiation condition is deleted；
Wherein, step S1, in S2, the point mark for establishing temporary track is track head.
In step S2, unilateral more hypothesis are related to be determined to use Comprehensis pertaining related algorithm, the Comprehensis pertaining
Related algorithm is specific as follows：According to the degree of membership of established every temporary track and point mark characterization factor, and according to having been established
Every temporary track and point the mark motion state factor degree of membership, calculate point mark and established every temporary track synthesis
Degree of membership, Comprehensis pertaining meet thresholding set by user for correlation.
If multiple marks in established temporary track and this next frame point mark are related, temporary track carries out optimal
Reference point mark is selected, established temporary track only retain a reference point mark formed it is unilateral assume temporary track, it is described most
Advantage mark is selected：According to the Comprehensis pertaining of established temporary track and each mark, it is highest to select Comprehensis pertaining
Point mark is the optimal reference point mark of temporary track, retains this optimal reference point mark.
In step S3, the temporary track initiation of multi-model determines, comprises the following specific steps that：
S31 calculates each frame point mark and the unilateral temporary track more assumed for forming the unilateral temporary track assumed more
Comprehensis pertaining, statistic for receiver degree of membership belong to the frame number HighSubCnt of high degree of membership, belong to the frame number of very high degree of membership
VeryHighSubCnt；
S32 calculates each frame point mark and the unilateral temporary track more assumed for forming the unilateral temporary track assumed more
Course consistency, statistics course consistency belong to the consistent frame number HighCourseUniformCnt in course, belong to course height
Consistent frame number VeryHighCourseUniformCnt；
S33, each frame point mark that statistics forms the unilateral temporary track assumed more belong to clutter area frame number CluterCnt；
S34 judges whether the unilateral temporary track assumed belongs to clutter area more according to clutter area frame number CluterCnt, if
No, then the starting for carrying out temporary track initiation model 1 to the unilateral temporary tracks assumed determines more, executes step S35；
If so, the starting for carrying out temporary track initiation model 2 to the unilateral temporary tracks assumed determines more, step S36 is executed；
S35, judges whether the unilateral temporary track assumed meets the initial conditions of temporary track initiation model 1 more, if so,
Then the unilateral temporary tracks assumed meet the initial conditions of temporary track more；If it is not, then to the unilateral temporary boats assumed more
The starting that mark carries out temporary track initiation model 3 determines, executes step S38；
S36, judges whether the unilateral temporary track assumed meets the initial conditions of temporary track initiation model 2 more, if so,
Then the unilateral temporary tracks assumed meet the initial conditions of temporary track more；If it is not, thening follow the steps S37；
S37, judges whether the unilateral temporary tracks assumed belong to similar clear area more, if so, unilateral mostly false to this
If temporary track carry out temporary track initiation model 3 starting determine, execute step S38；If it is not, then this unilateral assumes more
Temporary track is unsatisfactory for the initial conditions of temporary track；The similar clear area：Temporary track belongs to clutter area frame number
The ratio of CluterCnt and temporary Track forming frame number FrameCnt is less than clutter area frame number threshold value
CleanFrameThresold；
S38, judges whether the unilateral temporary track assumed meets the initial conditions of temporary track initiation model 3 more, if so,
Then the unilateral temporary tracks assumed meet the initial conditions of temporary track more；If it is not, the then unilateral temporary tracks assumed more
It is unsatisfactory for the initial conditions of temporary track；
Wherein, the track initiation condition of temporary track initiation model 1：
HighSubThresold is high degree of membership frame number thresholding；
HighCourseUniformThresold is the consistent frame number thresholding in course；
The track initiation condition of temporary track initiation model 2：
VeryHighSubThresold is very high degree of membership frame number thresholding；
VeryHighCourseUniformThresold is the consistent frame number thresholding of course height；
The track initiation condition of temporary track initiation model 3：
FrameCnt is the formation frame number of the unilateral temporary track assumed more；
CleanFrameThresold is clutter area frame number thresholding；
InitFrameCnt is the unilateral temporary track initiation frame number assumed more；
InitFrameThresold is starting thresholding；
LostCnt is to lose a frame number；
FrameCnt is the unilateral temporary Track forming frame number assumed more；
Sub is Comprehensis pertaining；
SubThresold is dependent threshold.
In step S31, if the Comprehensis pertaining is more than or equal to 0.8 and less than 0.85, belong to high degree of membership；
If the Comprehensis pertaining is more than or equal to 0.85 and less than 1, belong to very high degree of membership.
In step S32, if the course consistency is to belong to course one greater than 0.5 degree and when being less than or equal to 1.5 degree
It causes；If the course consistency is that it is consistent to belong to course height less than or equal to 0.5 degree and when being greater than 0 degree.
In step S4, the track filtering determines to carry out first order filtering, the first order filtering：It is every according to radar scanning
The distance that the point mark data calculating of one frame meets the temporary track head and the tail point of track initiation condition meets track initiation condition with this
Temporary track after voyage ratio, judge the ratio whether be greater than clutter shake thresholding, if so, passing through the first order
Filtering；If it is not, then deleting the temporary track for meeting track initiation condition.
Second level filtering, the second level filter are carried out by the temporary track for meeting track initiation condition that the first order filters
Wave：Whether meet the continuity point mark that belongs in the temporary track of track initiation condition forbid in initiation region using the judgement of sliding window method
Reach the threshold value of setting, if so, deleting the temporary track for meeting track initiation condition；If it is not, then being filtered by the second level
Wave is determined by track filtering, formed and stablize track；It is described that initiation region is forbidden not allow to establish temporarily for user setting
The region of track.
The advantage of the invention is that：
(1) present invention determines solve since target maneuver is big and noise jamming causes using unilateral more hypothesis are related
The problem that mark cannot be related to established temporary track is put, meanwhile, avoid temporary track establishes quantity explosive increase, section
Save computer resource.
(2) present invention is determined using multi-model track initiation, and temporary track initiation model is according to the state of flight of target
It is extended with clutter environment, ensure that unmanned plane can be originated quickly under varying environment, different flight state.
(3) of the invention 3 temporary track initiation models be respectively suitable for temporary track belong to clutter area, non-clutter area,
Similar clear area in clutter area, ensure that target start efficiency, while can be effectively controlled false-alarm.
(4) present invention is determined using track filtering, is eliminated interference of the clutter to temporary track, is reduced false alarm rate.
(5) two-stage track filtering of the invention processing, the first order are filtered into clutter reduction interference, and the second level is filtered into user
Field optimizing is provided, this mode is suitable for different user community and usage scenario, improves user experience.
Detailed description of the invention
Fig. 1 is the algorithm flow chart of Track initialization algorithm of the invention.
Fig. 2 is the unilateral method flow diagrams for assuming related judgement of the invention more.
Fig. 3 is the method flow diagram that the temporary track initiation of multi-model of the invention determines.
Fig. 4 is the method flow diagram that temporary track filtering of the invention determines.
Specific embodiment
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 description, 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
Embodiment in 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.
As shown in Figure 1, a kind of Track initialization algorithm based on unmanned plane surveillance radar, includes the following steps：
S1, radar carry out the scanning of first frame, the received first frame point mark data of system, and point mark data include：Point mark
Three-dimensional coordinate information, temporal information, attribute value, range value, and all the points mark in first frame point mark data is established temporarily
Track.
S2, radar carry out the scanning of the second frame, this received frame point mark data of system, by each of this frame point mark data
Point mark and established every temporary track carry out it is unilateral more than the related judgement of hypothesis, judge by the point mark in this frame point mark whether
Related to established temporary track, certain point mark is related to established a certain temporary track if it exists, then by the reference point
Mark is associated with forms the unilateral temporary track assumed more on the established temporary track；If certain point mark and every established
Temporary track is uncorrelated, then establishes temporary track with the mark.
S3 carries out the temporary track initiations of multi-model to the unilateral temporary tracks more assumed and determines, judges unilateral more hypothesis
Whether temporary track meets track initiation condition, and will the be unilateral temporary track 3 temporary track initiation models of cascade assumed are sentenced more
Whether the unilateral temporary track assumed that breaks meets the initial conditions of one of them temporary track initiation model more, if satisfied, then should
The unilateral temporary track assumed is the temporary track for meeting track initiation condition more；If being not satisfied, unilateral more hypothesis
Temporary track is unsatisfactory for track initiation condition, using the unilateral temporary tracks assumed more as established temporary track wait with
Third frame point mark data carry out the related judgement of unilateral mostly hypothesis, and so on, it is unsatisfactory for unilateral more hypothesis of track initiation condition
Temporary track wait and carry out the related judgement of unilateral more hypothesis with next frame point mark data, and if the unilateral mostly hypothesis temporary boats
Mark does not have reference point mark in continuous three frame, then deletes the unilateral temporary tracks assumed more.
S4 carries out track filtering judgement to the temporary track for meeting track initiation condition, rejects clutter and rise to temporary track
The interference of beginning, track filtering are divided into two stage filter, and the first order is filtered into clutter shaking point and filters out, and the second level, which is filtered into, to be forbidden originating
Temporary track in region filters out, and whether the temporary track that judgement meets track initiation condition passes through the two-stage filter of track filtering
Wave, if by two stage filter, which then forms stable track；If not filtered by two-stage
Wave then deletes the temporary track for meeting track initiation condition.
Wherein, the point mark that temporary track step S1, is established in S2 is track head.
In step S2, as shown in Figure 2, the unilateral methods assuming temporary track correlation and determining include the following steps more：
S21 calculates the degree of membership SubAttribute of established temporary track and point mark characterization factor, such as 1 institute of formula
Show, wherein plotAttributeiFor the point mark attribute value of mark characterization factor i, TTAttributeiFor temporary track attribute value,
normalizedAttributeiFor normalized value, the maximum fluctuation range of this feature factor, Factor are usually takeniFor a mark spy
Factor i is levied to a contribution for mark feature degree of membership, maximum value takes 1, and the degree of membership of point mark characterization factor is to calculate n mark spies
Levy the Comprehensis pertaining of the factor.
S22 calculates the degree of membership SubDynamic of established temporary track and the point mark motion state factor, such as formula 2
It is shown, wherein plotDynamiciFor a state of motion value of mark motion state factor i, TTDynamiciFor the movement of temporary track
State value, normalizedDynamiciFor normalized value, the maximum fluctuation range of the motion state factor, Factor are usually takeni
It is a mark motion state factor i to a contribution for mark motion state degree of membership, maximum value takes 1, puts the degree of membership of mark motion state
For the Comprehensis pertaining for calculating m mark motion states.
S23, according to the degree of membership SubAttribute of established temporary track and point mark characterization factor, and according to built
The degree of membership SubDynamic of vertical temporary track and the point mark motion state factor, calculates Comprehensis pertaining Sub, such as 3 institute of formula
Show, wherein k is point mark characterization factor degree of membership ratio, and maximum value takes 1, has measured point mark characterization factor and the point mark motion state factor
To a ratio for mark degree of membership contribution.
Sub=SubAttribute × k+SubDynamic × (1-k)；Formula 3
S24 judges whether Comprehensis pertaining Sub is greater than thresholding set by user, in the present embodiment, is by this threshold sets
0.6, if so, temporarily track is related to point mark, execute step S25；If it is not, thening follow the steps S26.
S25 carries out optimal reference point mark to all reference point marks that temporary track has been established and selects, established temporary boat
Mark finally only retains a reference point mark and forms unilateral more temporary tracks of hypothesis；All reference point marks are selected：It compares established
The Comprehensis pertaining of temporary track and each mark, highest mark of Comprehensis pertaining are the optimal reference point mark of temporary track,
Retain this optimal reference point mark.
Finally only retain reference point mark is associated on established temporary track and forms unilateral more hypothesis by S26
Temporary track.
Wherein, established temporary track is at most only related to mark in each frame point mark data, is formed unilateral
The temporary track more assumed.
In step S3, as shown in figure 3, the method that the temporary track initiation of multi-model determines, includes the following steps：
S31, calculates the point mark for forming the unilateral temporary track assumed more and unilateral the comprehensive of the temporary track assumed is subordinate to more
Category degree, statistic for receiver degree of membership belong to the frame number HighSubCnt of high degree of membership, belong to the frame number of very high degree of membership
VeryHighSubCnt；
The Comprehensis pertaining is the Comprehensis pertaining Sub that is calculated in step S23, and in the present embodiment, synthesis is subordinate to
Degree is then to belong to high degree of membership more than or equal to 0.8 and less than 0.85；Comprehensis pertaining be more than or equal to 0.85 and less than 1,
Then belong to very high degree of membership.
S32 calculates the course of the point mark for forming the unilateral temporary track assumed and the unilateral temporary track assumed more more
Consistency, statistics course consistency belong to the consistent frame number HighCourseUniformCnt in course, it is consistent to belong to course height
Frame number VeryHighCourseUniformCnt；
The course consistency is the point mark and this unilateral temporary boat assumed to form the unilateral temporary track assumed more more
The heading crossing angle of mark, in the present embodiment, course consistency is that it is consistent then to belong to course less than or equal to 1.5 degree and greater than 0.5 degree；
Course consistency is that it is consistent then to belong to course height less than or equal to 0.5 degree and greater than 0 degree.
S33, the point mark that statistics forms the unilateral temporary track assumed more belongs to clutter area frame number CluterCnt, to temporary
Track carries out the judgement of clutter area, if belonging to non-clutter area, i.e. clutter area frame number CluterCnt is 0, thens follow the steps S34；If belonging to
In clutter area, i.e. clutter area frame number CluterCnt is greater than 0, thens follow the steps S35.
S34 judges whether the initial conditions for meeting temporary track initiation model 1, if satisfied, thening follow the steps S38；If no
Meet, thens follow the steps S37；The initial conditions：The frame number HighSubCnt of high degree of membership, the consistent frame number in course
HighCourseUniformCnt meets high degree of membership frame number thresholding HighSubThresold, the consistent frame number thresholding in course
HighCourseUniformThresold, as shown in relational expression 1.
S35 judges whether the initial conditions for meeting temporary track initiation model 2, if satisfied, thening follow the steps S38；If no
Meet, thens follow the steps S36；The initial conditions：The frame number VeryHighSubCnt of very high degree of membership, course height are consistent
Frame number VeryHighCourseUniformCnt meets very high degree of membership frame number thresholding VeryHighSubThresold, course height
Consistent frame number thresholding VeryHighCourseUniformThresold is spent, as shown in relational expression 2.
S36 judges whether to belong to similar clear area, if so, thening follow the steps S37；If it is not, thening follow the steps S39；Institute
State similar clear area：The unilateral temporary track assumed more belong to clutter area frame number CluterCnt and it is unilateral assume it is temporary
Track forming frame number FrameCnt ratio is less than clutter area frame number threshold value CleanFrameThresold.
S37 judges whether the initial conditions for meeting temporary track initiation model 3, if satisfied, thening follow the steps S38；If no
Meet, thens follow the steps S39；The initial conditions：Target flight track is discontinuous, that is, exists and lose a frame number LostCnt, originates
Frame number InitFrameCnt dynamically increases on the basis of originating thresholding InitFrameThresold loses a frame number, judges unilateral
Whether the temporary Track forming frame number FrameCnt more assumed, which meets, is greater than starting frame number, and whether Comprehensis pertaining Sub meets
Greater than degree of membership threshold value SubThresold, as shown in relational expression 3.
S38, which is the temporary track for meeting track initiation condition.
S39 is waited and next frame point mark data more using the unilateral temporary tracks assumed as established temporary track
Carry out it is unilateral assume it is related determine, and if the unilateral temporary tracks assumed more there is no reference point mark in continuous three frame,
Then delete the unilateral temporary tracks assumed more.
Wherein, the temporary track initiation of multi-model determines to be applicable in all temporary tracks, in the present embodiment, to step S2
The unilateral temporary tracks assumed of middle formation carry out the temporary track initiation of multi-model and determine more.
The temporary track initiation model that the temporary track initiation of multi-model determines is according to the state of flight of target and clutter ring
What border was extended, in the present embodiment, the temporary track initiation of multi-model determines to include 3 temporary track initiation models, wherein temporarily
When track initiation model 1：Suitable for belonging to the temporary track in non-clutter area；Temporary track initiation model 2：Suitable for belonging to clutter
The temporary track in area；Temporary track initiation model 3：The temporary of track initiation model 1 is unsatisfactory for suitable for belonging to non-clutter area
Track, and apply also for belonging to the temporary track of the similar clear area in clutter area.
In the present embodiment, high degree of membership frame number thresholding HighSubThresold is 3 frames；
Very high degree of membership frame number thresholding VeryHighSubThresold is 4 frames；
The consistent frame number thresholding HighCourseUniformThresold in course is 3 frames；
Height consistent frame number thresholding VeryHighCourseUniformThresold in course is 4 frames；
Clutter area frame number thresholding CleanFrameThresold is 3/8；
Degree of membership threshold value SubThresold is 0.8.
In step S4, as shown in figure 3, the method that temporarily track filtering determines, includes the following steps：
S41, record meet first point location information FirstX, FirstY when the temporary track creation of track initiation condition；
Record meets the voyage information TotalRoute of each frame of temporary track of track initiation condition；Record meets track initiation condition
Temporary track tail dot position information EndX, EndY.
S42 calculates the ratio between the distance for meeting the temporary track head and the tail point of track initiation condition and voyage.
Whether S43, the temporary track that judgement meets track initiation condition are filtered by the first order, and judgement meets track initiation
Whether the ratio between distance and voyage of the temporary track head and the tail point of condition, which are less than clutter, is shaken thresholding ShakeThresold, this implementation
In example, it is 0.7 that clutter, which shakes thresholding ShakeThresold, as shown in formula 4, if so, not passing through, executes step S47；It is no
Then, it is filtered by the first order, executes step S44.
S44, one fan-shaped region of user setting are to forbid initiation region, and forbidding initiation region is not allow to establish temporary boat
The region of mark.
S45, judges whether temporary track is filtered by the second level, method of the second level filtering using sliding window filtering, sliding
Fan-shaped starting initiation region, traversal form all the points mark of temporary track, and judgement meets the temporary track of track initiation condition
In belong to the quantity for forbidding the mark of the continuity point in initiation region whether to reach setting, in the present embodiment, the quantity set as 3,
If so, not passing through, step S47 is executed；Otherwise, it is filtered by the second level, executes step S46；
S46 is formed and is stablized track.
S47 deletes the temporary track for meeting track initiation condition.
Wherein, the first order is filtered into filtering clutter and shakes point, when the formation point mark of temporary track is that clutter shakes point
When, then the distance of temporary track head and the tail point be less than temporary track after voyage；The second level, which is filtered into filter out, has forbidden
The temporary track formed in beginning region.
The above is only the preferred embodiments of the invention, are not intended to limit the invention creation, all in the present invention
Made any modifications, equivalent replacements, and improvements etc., should be included in the guarantor of the invention within the spirit and principle of creation
Within the scope of shield.
Claims (8)
1. a kind of Track initialization algorithm based on unmanned plane surveillance radar, which is characterized in that include the following steps：
S1, system receive the first frame point mark data of radar scanning, build to all the points mark in the first frame point mark data
Found temporary track；Described mark data include：Three-dimensional coordinate information, temporal information, attribute value, the range value of point mark；
S2, system receive radar scanning next frame point mark data, by each of this next frame point mark data mark with it is built
The temporary track of vertical every carry out it is unilateral assume it is related determine, judge this next frame point mark whether deposit with it is established temporarily
Track is related, if the certain point mark in this next frame point mark is related to established a certain temporary track, by the reference point mark
It is associated with and forms the unilateral temporary track assumed more on the established temporary track；If the certain point mark in this next frame point mark
It is uncorrelated to established every temporary track, then temporary track is established according to the mark；
S3 carries out the temporary track initiations of multi-model to the unilateral temporary tracks more assumed and determines, judges the temporary of unilateral more hypothesis
Whether track meets track initiation condition, will be unilateral more the temporary track assumed cascade multiple temporary track initiation models, judgement
Whether the unilateral temporary track assumed meets the initial conditions of one of them temporary track initiation model more, if satisfied, the then list
The temporary track that side is assumed more is the temporary track for meeting track initiation condition；If being not satisfied, this it is unilateral assume it is temporary
When track be unsatisfactory for track initiation condition, the unilateral temporary tracks assumed more wait carried out with next frame point mark data it is unilateral more
Assuming that related determine, and if the unilateral temporary tracks assumed more there is no reference point mark in certain continuous frame number, delete
Except the unilateral temporary tracks assumed more；
S4 carries out track filtering judgement to the temporary track for meeting track initiation condition, and judgement meets the temporary of track initiation condition
When track whether by track filtering handle, if by track filtering processing, meet the temporary track shape of track initiation condition
At stablizing track；If not handling by track filtering, the temporary track for meeting track initiation condition is deleted；
Wherein, step S1, in S2, the point mark for establishing temporary track is track head.
2. a kind of Track initialization algorithm based on unmanned plane surveillance radar according to claim 1, which is characterized in that step
In S2, unilateral more hypothesis are related to be determined to use Comprehensis pertaining related algorithm, and the Comprehensis pertaining related algorithm is specific
It is as follows：It temporarily navigates according to the degree of membership of established every temporary track and point mark characterization factor, and according to established every
The degree of membership of mark and the point mark motion state factor calculates the Comprehensis pertaining of point mark and established every temporary track, comprehensive
Degree of membership meets thresholding set by user for correlation.
3. a kind of Track initialization algorithm based on unmanned plane surveillance radar according to claim 2, which is characterized in that if
When the multiple marks in temporary track and this next frame point mark established are related, temporary track carries out optimal reference point mark and selects for a post
Choosing, established temporary track only retain a reference point mark and form unilateral more temporary tracks of hypothesis, and the optimum point mark is selected：
According to the Comprehensis pertaining of established temporary track and each mark, selecting highest mark of Comprehensis pertaining is temporarily to navigate
The optimal reference point mark of mark retains this optimal reference point mark.
4. a kind of Track initialization algorithm based on unmanned plane surveillance radar according to claim 3, which is characterized in that step
In S3, the temporary track initiation of multi-model determines, comprises the following specific steps that：
S31 calculates the synthesis of each frame point mark for forming the unilateral temporary track assumed and the unilateral temporary track assumed more more
Degree of membership, statistic for receiver degree of membership belong to the frame number HighSubCnt of high degree of membership, belong to the frame number of very high degree of membership
VeryHighSubCnt；
S32 calculates the course of each frame point mark for forming the unilateral temporary track assumed and the unilateral temporary track assumed more more
Consistency, statistics course consistency belong to the consistent frame number HighCourseUniformCnt in course, it is consistent to belong to course height
Frame number VeryHighCourseUniformCnt；
S33, each frame point mark that statistics forms the unilateral temporary track assumed more belong to clutter area frame number CluterCnt；
S34 judges whether the unilateral temporary track assumed belongs to clutter area more according to clutter area frame number CluterCnt, if it is not, then
The starting for carrying out temporary track initiation model 1 to the unilateral temporary tracks assumed determines more, executes step S35；If so,
The starting for then carrying out temporary track initiation model 2 to the unilateral temporary tracks assumed determines more, executes step S36；
S35, judges whether the unilateral temporary track assumed meets the initial conditions of temporary track initiation model 1 more, if so, should
The unilateral temporary track assumed meets the initial conditions of temporary track more；If it is not, then to the unilateral temporary tracks assumed more into
The starting of the temporary track initiation model 3 of row determines, executes step S38；
S36, judges whether the unilateral temporary track assumed meets the initial conditions of temporary track initiation model 2 more, if so, should
The unilateral temporary track assumed meets the initial conditions of temporary track more；If it is not, thening follow the steps S37；
S37, judges whether the unilateral temporary tracks assumed belong to similar clear area more, if so, to unilateral more hypothesis
The starting that temporary track carries out temporary track initiation model 3 determines, executes step S38；If it is not, then this it is unilateral assume it is temporary
Track is unsatisfactory for the initial conditions of temporary track；The similar clear area：Temporary track belong to clutter area frame number CluterCnt with
The ratio of temporary Track forming frame number FrameCnt is less than clutter area frame number threshold value CleanFrameThresold；
S38, judges whether the unilateral temporary track assumed meets the initial conditions of temporary track initiation model 3 more, if so, should
The unilateral temporary track assumed meets the initial conditions of temporary track more；If it is not, then the unilateral temporary tracks assumed discontented more
The initial conditions of the temporary track of foot；
Wherein, the track initiation condition of temporary track initiation model 1：
HighSubThresold is high degree of membership frame number thresholding；
HighCourseUniformThresold is the consistent frame number thresholding in course；
The track initiation condition of temporary track initiation model 2：
VeryHighSubThresold is very high degree of membership frame number thresholding；
VeryHighCourseUniformThresold is the consistent frame number thresholding of course height；
The track initiation condition of temporary track initiation model 3：
FrameCnt is the formation frame number of the unilateral temporary track assumed more；
CleanFrameThresold is clutter area frame number thresholding；
InitFrameCnt is the unilateral temporary track initiation frame number assumed more；
InitFrameThresold is starting thresholding；
LostCnt is to lose a frame number；
FrameCnt is the unilateral temporary Track forming frame number assumed more；
Sub is Comprehensis pertaining；
SubThresold is dependent threshold.
5. a kind of Track initialization algorithm based on unmanned plane surveillance radar according to claim 4, which is characterized in that step
In S31, if the Comprehensis pertaining is more than or equal to 0.8 and less than 0.85, belong to high degree of membership；If the comprehensive person in servitude
When category degree is more than or equal to 0.85 and less than 1, then belong to very high degree of membership.
6. a kind of Track initialization algorithm based on unmanned plane surveillance radar according to claim 4, which is characterized in that step
In S32, if the course consistency is that it is consistent to belong to course greater than 0.5 degree and when being less than or equal to 1.5 degree；If the boat
When to consistency being less than or equal to 0.5 degree and greater than 0 degree, then it is consistent to belong to course height.
7. a kind of Track initialization algorithm based on unmanned plane surveillance radar according to claim 1, which is characterized in that step
In S4, the track filtering determines to carry out first order filtering, the first order filtering：According to the point mark number of each frame of radar scanning
It is gone through according to the temporary track that the distance for calculating the temporary track for meeting track initiation condition head and the tail point meets track initiation condition with this
The ratio of the voyage of warp, judges whether the ratio is greater than clutter and shakes thresholding, if so, being filtered by the first order；If it is not, then
Delete the temporary track for meeting track initiation condition.
8. a kind of Track initialization algorithm based on unmanned plane surveillance radar according to claim 7, which is characterized in that pass through
The temporary track for meeting track initiation condition of first order filtering carries out second level filtering, the second level filtering：Using sliding window
Method judgement, which meets to belong in the temporary track of track initiation condition, forbids whether the continuity point mark in initiation region reaches setting
Threshold value, if so, deleting the temporary track for meeting track initiation condition；If it is not, then filtering by the second level, that is, pass through boat
Mark filtering determines, is formed and stablizes track；It is described to forbid initiation region for the region for not allowing to establish temporary track of user setting.
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