CN109143192A - Multiple target effectively originates confirmation management method, system and computer readable storage medium - Google Patents
Multiple target effectively originates confirmation management method, system and computer readable storage medium Download PDFInfo
- Publication number
- CN109143192A CN109143192A CN201810929157.0A CN201810929157A CN109143192A CN 109143192 A CN109143192 A CN 109143192A CN 201810929157 A CN201810929157 A CN 201810929157A CN 109143192 A CN109143192 A CN 109143192A
- Authority
- CN
- China
- Prior art keywords
- target
- point mark
- mark
- track
- starting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- G01S7/414—Discriminating targets with respect to background clutter
-
- 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
- G01S7/418—Theoretical aspects
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a kind of multiple targets effectively to originate confirmation management method, system and computer readable storage medium, the method first divides different zones according to longitude and latitude positional information, the multiple target point mark of primary study is extracted, except research range, radar plot is not extracted including false target point mark, then overlapping cases are differentiated to the original point mark before the cohesion of preservation, Reliability estimation analysis is carried out further according to target navigation feature, then special objective is individually handled respectively, target analysis and multiple target division processing at a slow speed, inhibit target starting at a slow speed, delay judges to originate with close-target, it obtains final tracking stability and preferably confirms target.False track caused by the effective clutter reduction of this method reduces the associated mistake of False Intersection Points mark with also ensuring the quick starting of multiple target, providing effective management to the stability of multiple target tracking under clutter environment.
Description
Technical field
The present invention relates to radar data processing technology field more particularly to a kind of multiple targets effectively to originate confirmation manager
Method, system and computer readable storage medium.
Background technique
Multiple target tracking generally comprises track initiation, and track maintains and track deletes three phases.Track initiation refers to not
Into the track establishment process stablized before track (track maintenance), it is the matter of utmost importance in multiple target tracking field, and
In the most difficult stage, a good track initiation is as a result, be not only able to effectively reject a large amount of false targets, for track maintenance
It reduces the heavy burdens, and can find fresh target in time.But some factors, such as strong clutter, high false alarm rate interference there are serious
Constrain the performance of track initiation.There are false tracks for track initiation method under dense clutter background based on data processing
The problems such as more, starting velocity is slowly and target starting is difficult.If track initiation mistake, it will lead to target loss, completely can not
Realize the tracking of target.
Therefore, the performance for track initiation being improved under clutter environment is necessary problem.
Summary of the invention
Confirmation management method, system and storage is effectively originated the main purpose of the present invention is to provide a kind of multiple target to be situated between
Matter, the new method specifically quickly and effectively originated based on one kind that the parameter informations such as multiple target motion feature are established, can subtract
Few false alarm rate under clutter environment, improves the initiation performance of multiple target.
To achieve the above object, a kind of multiple target provided by the invention effectively originates confirmation management method, the method packet
Include following steps:
Step S10, divides predeterminable area, obtains target area；
Step S20, analyze the target area point mark whether with stablize track association；
Step S30, if it is not, then analyze the target area point mark whether with temporary track association；
Step S40, if so, corresponding mark is added in temporary track；
Step S50 carries out the analysis of track initiation to temporary track；
Step S60 carries out temporary track initiation based on the analysis results and determines.
Preferably, the step S50 includes:
Step S51 judges the overlapping cases of the Targets Dots in temporary track；
Step S52 adjusts the starting coefficients and Targets Dots confidence level of Targets Dots according to the overlapping cases of Targets Dots；
Step S53, judges whether the starting coefficients of Targets Dots are more than or equal to starting coefficients threshold value；
Step S54 judges target when the starting coefficients of the Targets Dots are more than or equal to starting coefficients threshold value
Whether point mark confidence level is more than or equal to confidence level threshold value；
Step S55, if so, carrying out starting confirmation to the Targets Dots.
Preferably, the set-up procedure of the starting coefficients of Targets Dots includes: in the step S52
Step S521 carries out start mark using the original point mark overlapping cases of point mark ring before cohesion, when present frame is original
Point mark is be overlapped in distance or orientation with former frame point mark, then temporary track initiation coefficient cumulative 1, if not being overlapped, will work as
The prediction congealing point mark of preceding radar original point mark and temporary track is associated processing, calculates it and integrates correlation factor value, if meter
Calculate the comprehensive correlation factor value is greater than 1, then temporary track initiation coefficient cumulative 1；
Step S522, if current radar original point mark and previous frame point mark be not be overlapped, and solidifying with the prediction of temporary track
Accumulation mark cannot be associated with, then when its starting coefficients is more than or equal to n1 and is less than n2, then starting coefficients reduce κ1, work as starting
When coefficient is more than or equal to n2, then starting coefficients accordingly reduce κ2, and κ2> κ1。
Preferably, the set-up procedure of the confidence level of Targets Dots includes: in the step S52
Step S521a, the primary default confidence level of the temporary every update of track increase (η1+η2+η3), present frame congealing point mark with
When speed and/or course between former frame point mark are abnormal, then confidence level increasing degree lacks η1；
It is abnormal with the speed of first three frame point mark and/or course, then confidence level increasing degree lacks η2；
Speed is slower than preset value or than predetermined value block, and confidence level increasing degree lacks η3；
If course deflection is not less than right angle twice in succession, in this temporary track renewal process, confidence level does not increase.
Preferably, after the step S30 further include:
If extracted mark can not be associated with temporary track, re-established using the mark as isolated point mark new temporary
When track.
Preferably, the method also includes:
Step S101, judges whether Targets Dots are characterized target；
Step S102, if so, judging whether Targets Dots are target at a slow speed；
Step S103, if so, the distance between target and first point and speed seek its coefficient at a slow speed at a slow speed according to this；
Step S104 judges whether to carry out starting confirmation to the Targets Dots according to the coefficient at a slow speed.
Preferably, after the step S101 further include:
Step is 1011, if the Targets Dots are characterized target, judges whether the Targets Dots are the multiple of overlapping
The division target of radar plot；
Step S1011, if so, judging that the division target belongs to any division situation；
Step S1023 carries out default processing according to the division affiliated situation of target.
Preferably, before the step S20 further include:
Step S21 extracts the Targets Dots of the target area；
Step S22 carries out pretreatment and agglomeration process to the Targets Dots.
In addition, to achieve the above object, the present invention also provides a kind of multiple targets effectively to originate confirmation management system, it is described more
Target effective starting confirmation management system includes: memory, processor and is stored on the memory and can be in the processing
The multiple target run on device effectively originates confirmation management program, and the multiple target effectively originates confirmation management program by the processing
The step of device realizes method as described above when executing.
In addition, to achieve the above object, it is described computer-readable the present invention also provides a kind of computer readable storage medium
It is stored with multiple target on storage medium and effectively originates confirmation management program, the multiple target effectively originates confirmation management program and located
Reason device realizes the step of multiple target as described above effectively originates confirmation management method when executing.
Interference of the method for the present invention according to target motion characteristics information and external environment to target, proposes a kind of multiple target
Effectively starting confirmation management method, the method for the embodiment of the present invention have the advantage that
1. fixed clutter can be filtered out by establishing fixed atural object clutter map based on electronic chart, on its basis, establish
Target area divides, and auxiliary inhibitory effect well can be played to target except erratic motion clutter or viewing area, is prevented
The only interference of irrelevant moving target or clutter influences the tracking stability of object observing；
2. within a scan period, the change in location of ship is little since ship's speed is slower, according to distance and bearing, to solidifying
Original point mark overlapping cases are differentiated before poly-, can inhibit a large amount of false clutter point mark to a certain extent；
3. utilizing the priori knowledge of real goal, clarification of objective parameter is obtained, confidence level is carried out to each parameter information
Estimation analysis, using a measurement of the comprehensive feature information whether confidence level originates as target, not mobility
Same real goal is distinguished from false clutter information.
Detailed description of the invention
Fig. 1 is the flow diagram that multiple target of the present invention effectively originates confirmation management method first embodiment；
Fig. 2 is another flow diagram that multiple target of the present invention effectively originates confirmation management method first embodiment；
Fig. 3 is the flow diagram that multiple target of the present invention effectively originates confirmation management method second embodiment；
Fig. 4 is aims of systems starting effect diagram；
Fig. 5 (a) and Fig. 5 (b) is that target delay starting judges simulation comparison schematic diagram under the abnormal conditions of course；
Fig. 6 is the schematic diagram that multiple target of the present invention effectively originates confirmation management system.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
The present invention provides a kind of multiple target and effectively originates confirmation management method, in the first embodiment, referring to Fig. 1, Fig. 2,
Fig. 4, Fig. 5 a and Fig. 5 b, the multiple target effectively originate confirmation management method and include the following steps:
Step S10, divides predeterminable area, obtains target area；
In the present embodiment, it is a behave with professional target following that target area, which divides, prevents irrelevant target
Or the interference of clutter, to improve the stability and accuracy of target following.According to sea chart longitude and latitude positional information, island, land
The original echo that equal clutters divide region will not extract its radar plot to participate in initiated process, extract research emphatically and divide region
The radar plot on (such as sea).It should be noted that the division of target area can according to need and be configured.
After getting target area, pretreatment and agglomeration process, herein pre- are carried out to the radar plot of target area
Processing, which refers to, will first save original radar plot data, then carry out a mark data coordinates transformation, finally hang over time index chain
It is to be processed on table etc., when subsequent progress Plot coherence, then the off-take point mark from mark time index chained list, carry out Plot coherence.
Step S20, analyze the target area point mark whether with stablize track association；
After preprocessed and agglomeration process, first with stablize track and be associated processing, wherein the radar points on not associated
Mark carries out starting judgement processing with temporary track again, if the mark and temporary track association not on, with the identity weight of isolated point
Newly establish temporary track.
Step S30, if it is not, then analyze extracted mark whether with temporary track association；
Step S40, if so, corresponding mark is added in temporary track；
Whether with the point mark of stablizing track association can with temporary track not be associated, convenient for subsequent to temporary if prejudging
When track carry out starting determination.
Step S50 carries out the analysis of track initiation to temporary track；
Step S60 carries out temporary track initiation based on the analysis results and determines.
Wherein, include: referring to Fig. 2, the step S50
Step S51 judges the overlapping cases of the Targets Dots in temporary track；
It should be noted that point mark is uniformly defaulted as before cohesion under the premise of point mark type is not known in this step
Radar original point mark.As referred to herein mark starting coefficients indicate that the radix of temporary track initiation confirmation, overlap coefficient refer to weight
Folded probability.Since the time is shorter between two continuous frames, the position (distance and bearing) of ship's navigation easily overlaps situation, root
According to the starting coefficients for being associated with situation and carrying out adjustment target appropriate between overlapping cases or original point mark and prediction congealing point mark.
Step S52 adjusts the starting coefficients and Targets Dots confidence level of Targets Dots according to the overlapping cases of Targets Dots；
Step S53, judges whether the starting coefficients of Targets Dots are more than or equal to starting coefficients threshold value；
Step S54 judges target when the starting coefficients of the Targets Dots are more than or equal to starting coefficients threshold value
Whether point mark confidence level is more than or equal to confidence level threshold value；
Step S55, if so, carrying out starting confirmation to the Targets Dots.
Specifically, the set-up procedure of the starting coefficients of Targets Dots includes: in the step S52
It is (wherein described original to carry out start mark using the original point mark overlapping cases of point mark ring before cohesion by step S521
Point mark needs to retain N frame), when present frame original point mark and former frame point mark apart from or orientation on be overlapped, then temporary track
The prediction congealing point mark of current radar original point mark and temporary track is associated place if not being overlapped by starting coefficients cumulative 1
Reason calculates its and integrates correlation factor value, if calculate the comprehensive correlation factor value is greater than 1, temporary track initiation coefficient is tired
Add 1；
During temporary track confirmation is established and stablizes track, the uncongealed original that will retain in temporary track points mark ring
Initial point mark data are taken out one by one according to the point mark number of ring and current index, and both direction is then divided to carry out data processing, and one
A direction is that several radar original point marks taken out in a mark ring are condensed into mark, then the congealing point mark and temporarily
It is credible that the information such as position, course, the speed of a ship or plane of congealing point mark (temporary track congealing point) that track history updates carry out the matching analysis
Degree；
Another direction is to calculate the radar original point mark and specify the synthesis correlation factor value of temporary track, is analyzed to identify
The starting coefficients of temporary track, the specific steps are as follows:
First determine whether the synthesis correlation factor of the congealing point mark of current radar original point mark and temporary track real-time update
Value Sub, if more than 1, then starting coefficients cumulative 1, otherwise starting coefficients reduction appropriate, i.e., when its starting coefficients is greater than or waits
In n1 and be less than n2 when, then starting coefficients reduce κ1, when starting coefficients are more than or equal to n2, then starting coefficients are accordingly reduced
κ2, and κ2> κ1, wherein comprehensive correlation factor value is by the weight between current radar original point mark and upper radar original point mark
Folded coefficient is determined with the degree of association of temporary Trajectory Prediction congealing point mark.
If the distance between current radar original point mark position and the current congealing point mark of temporary track are greater than 1 kilometer,
Think that original point mark is uncorrelated to temporary track, with regard to not having to carry out following overlap coefficient and association analysis processing；If they it
Between distance be not more than 1 kilometer, then it is whether be overlapped with upper mark to judge current radar original point mark, because ship's speed is slower, one
In a scan period, the change in location of ship is little, in two o'clock mark time difference less (i.e. previous frame original point mark and current point mark
Relative time difference was no more than 5 seconds) under the premise of, it is calculated according to the intersection situation of distance and bearing overlapping with upper mark
Coefficient, if overlap coefficient is greater than η (η=0.1), correlation factor value Sub=1.0+ η, temporary track initiation coefficient correspondingly increases
Add 1, if overlap coefficient is not more than η, the prediction congealing point mark of current radar original point mark and temporary track is associated place
Reason, the X of the congealing point mark position first currently updated according to temporary track, Y value, the mean velocity and radar original point mark of X, Y
It is poor with the relative time of temporary track, to analogize the prediction congealing point mark of its next frame, and it is coordinately transformed (rectangular co-ordinate turn
Change polar coordinates radial distance prev_r and azimuth prev_a into), it finds out between prediction congealing point mark and current original point mark
Radial distance difference dr and gun parallax da, if radial distance difference be less than original point mark apart from thickness rw, and gun parallax is less than it
Azimuth width aw, then have following formula
Cr=(dr* γ)/rw, ca=(da* γ)/aw
Then integrate correlation factor value
Sub=γ-cr*P1-ca*P2
Wherein, P1, P2The weight of cr and ca are referred respectively to, γ refers to flare factor, and P1=0.6, P2=0.4, γ=
1.5。
If comprehensive correlation factor value is greater than 1, temporary track initiation coefficient cumulative 1, when temporary track initiation coefficient is greater than
Equal to n0(n0< N), wherein N value puts the original point mark number that mark environmental protection is stayed before referring to cohesion, in conjunction with temporary track confidence level
Judgement, is confirmed as stablizing track to judge whether temporary track originates.
Step S522, if current radar original point mark and previous frame point mark be not be overlapped, and solidifying with the prediction of temporary track
Accumulation mark cannot be associated with, then when its starting coefficients is more than or equal to n1 and is less than n2, then starting coefficients reduce κ1, work as starting
When coefficient is more than or equal to n2, then starting coefficients accordingly reduce κ2, and κ2> κ1。
In this step, if current radar original point mark is not be overlapped with previous frame point mark and not pre- with temporary track
The association of congealing point mark is surveyed, then when its starting coefficients is more than or equal to n1And it is less than n2, then starting coefficients reduce κ1, when starting coefficients exist
n2Except (include n2), then accordingly reduce κ2(κ2> κ1), it is relatively large to confidence level (to be not less than [η+3* (η1+η2+η3)]) it is temporary
When track starting coefficients n0It is appropriate to be adjusted to n0-Δ2(Δ2Refer to starting regulation coefficient), wherein η refers to that confidence level is initial
Change value, (η1+η2+η3) refer to the primary confidence level default value added of the every update of temporary track, if specifying the starting system of temporary track
Number is more than or equal to n0Or n0-Δ2, then the step of jumping to the confidence level of analysis Targets Dots, it is finally decided whether giving temporary boat
Mark starting is confirmed as stablizing track.
In addition, the set-up procedure of the confidence level of Targets Dots includes: in the step S52
Step S521a, the primary default confidence level of the temporary every update of track increase (η1+η2+η3), present frame congealing point mark with
When speed and/or course between former frame point mark are abnormal, then confidence level increasing degree lacks η1；
It is abnormal with the speed of first three frame point mark and/or course, then confidence level increasing degree lacks η2；
Speed is slower than preset value or than predetermined value block, and confidence level increasing degree lacks η3；
If course deflection is not less than right angle twice in succession, in this temporary track renewal process, confidence level does not increase.
Target signature confidence level (ψ) estimation analysis, during temporary track confirmation stablizes track, if this processing is not received
It to any point mark data, carries out losing a processing, is not less than radar scanning frame number when losing a number, or lose a number and be not less than 3,
Then it is judged as false track, gives subsequent delete processing；If losing a little 1, temporary track confidence level accordingly reduces, if losing a little not
Less than 2, then confidence level is defaulted as smaller value (ψ=7).
When this occurs losing a situation or centainly scanning within the scope of frame number in radar not originating, then it is assumed that be false boat
Mark is no longer verified, and temporary track, which is given, to be deleted, and otherwise carries out temporary track update processing, and confidence level initialization value is (ψ=η),
The primary default confidence level of the temporary every update of track increases (η1+η2+η3)；
Present frame congealing point mark is abnormal with the speed of former frame point mark or course, and confidence level increasing degree lacks η1；
When the speed or course with front three-point are abnormal, confidence level increasing degree lacks η2；
When speed is slower than preset value or (quick threshold value and at a slow speed threshold value are navigated according between two continuous frames than predetermined value block
Always divide, course drift angle is excessive, and threshold value tunes up at a slow speed, and quick threshold value is turned down), confidence level increasing degree lacks η3；
If course deflection is not less than right angle twice in succession, in this temporary track renewal process, confidence level does not increase.
It is when speed and/or course between above-mentioned present frame congealing point mark and former frame point mark are abnormal, then credible
Degree increasing degree lacks η1Detailed process is as follows:
Continuous three radar scanning periods are enabled, the speed and course of present frame point mark and former frame point mark are respectively Vk1[0],
Vk1[1], Vk1[2], Ck1[0], Ck1[1], Ck1[2]；Similarly, present frame point mark is respectively with the speed of first three frame point mark and course
Vk3[0], Vk3[1], Vk3[2], Ck3[0], Ck3[1], Ck3[2]。
For meeting simultaneously with speed of a ship or plane course the case where former frame point mark
|Vk1[i]-Vk1[i+1] | > MaxS1, i=0,1
|Ck1[i]-Ck1[i+1] | > MaxC1, i=0,1
Wherein, MaxS1, MaxC1It is maximum speed, the heading crossing angle (MaxS of present frame Yu former frame point mark respectively1=10m/
S, MaxC1=45*pi/180), then temporary track confidence level increasing degree lacks η1；
Above-mentioned is abnormal with the speed of first three frame point mark and/or course, then confidence level increasing degree lacks η2It is specific
Process is as follows:
For meeting simultaneously with speed of a ship or plane course the case where first three frame point mark
|Vk3[i]-Vk3[i+1] | > MaxS3, i=0,1
|Ck3[i]-Ck3[i+1] | > MaxC3, i=0,1
Wherein, MaxS3, MaxC3It is maximum speed, the heading crossing angle (MaxS of present frame Yu first three frame point mark respectively3=5m/s,
MaxC3=25*pi/180), then temporary track confidence level increasing degree lacks η2；
Above-mentioned speed is slower than preset value or than predetermined value block, and confidence level increasing degree lacks η3Detailed process is as follows:
Judge whether too fast or too slow, target threshold value and quick threshold value point at a slow speed according to target present frame speed threshold
It is not defaulted as
MinSlow1=2.0, MaxFast1=16.5,
If temporary track present frame and the course of former frame point mark are abnormal, target door limit value is tuned up at a slow speed, quickly
Target door limit value is turned down, i.e.,
MinSlow2=2.5, MaxFast2=10.5,
When the current frame speed of temporary track is less than target door limit value at a slow speed, or it is greater than fast target threshold value, then temporary boat
Mark confidence level increasing degree lacks η3。
Confidence level threshold value [η+3* (η is initialized first1+η2+η3)] and starting coefficients threshold value n0If speed is smaller by (one
As be less than 2m/s), then confidence level threshold value increase δ1If temporary track initiation coefficient is not less than n0, then confidence level threshold value is corresponding
Reduce Δ1If temporary track confidence level is not less than [η+3* (η1+η2+η3)], then starting coefficients thresholding also accordingly reduces Δ2, finally
Temporary track initiation confirmation judgement is carried out, if temporarily track confidence level is not less than its thresholding, and starting coefficients are not less than its door
Limit, then starting is confirmed as stablizing track, and deletes the temporary track.
Interference of the embodiment of the present invention according to target motion characteristics information and external environment to target proposes a kind of more mesh
Effect starting confirmation management method is indicated, the method for the embodiment of the present invention has the advantage that
1. fixed clutter can be filtered out by establishing fixed atural object clutter map based on electronic chart, on its basis, establish
Target area divides, and auxiliary inhibitory effect well can be played to target except erratic motion clutter or viewing area, is prevented
The only interference of irrelevant moving target or clutter influences the tracking stability of object observing；
2. within a scan period, the change in location of ship is little since ship's speed is slower, according to distance and bearing, to solidifying
Original point mark overlapping cases are differentiated before poly-, can inhibit a large amount of false clutter point mark to a certain extent；
3. utilizing the priori knowledge of real goal, clarification of objective parameter is obtained, confidence level is carried out to each parameter information
Estimation analysis, using a measurement of the comprehensive feature information whether confidence level originates as target, not mobility
Same real goal is distinguished from false clutter information.
Further, referring to Fig. 3, effectively originating confirmation management method first embodiment based on multiple target of the present invention,
Multiple target of the present invention effectively originates in confirmation management method second embodiment, the method also includes:
Step S101, judges whether Targets Dots are characterized target；
Step S102, if so, judging whether Targets Dots are target at a slow speed；
Step S103, if so, the distance between target and first point and speed seek its coefficient at a slow speed at a slow speed according to this；
Step S104 judges whether to carry out starting confirmation to the Targets Dots according to the coefficient at a slow speed.
In the present embodiment, specially treated further is carried out to different characteristic targets, for target at a slow speed, with first point straight line
Apart from small, speed is small, with first point linear distance be less than voyage λ times (λ is coefficient of hovering, 0 λ≤0.6 <), if being unsatisfactory for other
It is not originated under the premise of starting criterion, in the case where coefficient at a slow speed is less than 5, coefficient increases the temporary track of this frame at a slow speed, for
Non- target at a slow speed, coefficient accordingly reduces temporary track at a slow speed, when greater than certain value, (coefficient threshold value is set as coefficient at a slow speed at a slow speed
3) when, then inhibit its starting.
For overlapping multiple radar plots division target there are three types of situation.
Situation one, centered on the congealing point mark real-time update position of the stabilization track confirmed for the first time, around other are temporary
If the current congealing point mark of track is located in the regional scope of the center, the confidence level of the temporary track restores default value
(ψ=η), temporary track initiation coefficient reduce, and are set as reducing by 1 in the present embodiment, carry out delay disposal to the temporary track,
Its stringent initial conditions inhibit close-in target division starting.Stablize track real-time update point mark location finding range be by
Stablize the filtering speed decision of track, if targetpath speed is larger (being not less than 10 sections), search range radius is not less than
One kilometer, otherwise in relatively a small range, (resolution distance of radar original echo is each temporarily track in the present embodiment
135 meters) it searches for and stablizes track.
Situation two (includes: reference azimuth OriginAzimuth and original by temporary track current radar original point mark position
Begin distance OriginRange) and apart from thickness RangeWidth, azimuth width AzimuthWidth come calculate start away from
From, terminating distance, start orientation and terminate orientation, process is as follows:
Start orientation Abgn=OriginAzimuth-AzimuthWidth/2,
Terminate orientation Aend=OriginAzimuth+AzimuthWidth/2,
If starting orientation Abgn < 0, Abgn=Abgn+2 π, if starting orientation Abgn >=2 π, Abgn=Abgn-2 π.
Start distance Rbgn=OriginRange-max (60, RangeWidth)/2,
Terminating distance Rend=OriginRange-max (60, RangeWidth)/2,
It is searched in the sector where temporary track current radar congealing point mark and stablizes track, if the stabilization track searched
The calculated distance of Filtering position and course, which are all located at, to be started between distance and terminating distance, start orientation and terminate orientation it
Between, then temporary track confidence level is reduced to initial default value (ψ=η), and reduces starting coefficients, carries out delay judgement processing.
Situation three, for false two boat trawler, pair problem, in the sector where temporary track current radar congealing point mark
It finds and stablizes track, if it is similar to stablize the speed of a ship or plane between track and the temporary track, course, and always and to navigation, when
The distance between stabilization track and the temporary track for searching are less than distance threshold, then temporary track delay judgement starting, sternly
Lattice initial conditions, which determined by the filtering speed of the stabilization track searched, if its filtering speed is saved in 4-6
It is interior, then distance threshold be 300 meters, if filtering speed 6-8 section in, distance threshold be 400 meters, the data result it is fused with
Track debugging gained, it is relatively preferable that target originates effect.
The present invention further provides a kind of multiple targets effectively to originate confirmation management system, and referring to Fig. 5, the multiple target is effective
Starting confirmation management system includes: storage 101, processor 102 and is stored on the memory 101 and can be in the processor
The multiple target run on 102 effectively originates confirmation management program, and the multiple target effectively originates confirmation management program by the place
Reason device 102 realizes step described in method as above when executing.
In addition, the embodiment of the present invention also proposes a kind of computer readable storage medium, the computer readable storage medium
On be stored with multiple target effectively originate confirmation management program, the multiple target effectively originate confirms management program be executed by processor
Shi Shixian method as described above.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of multiple target effectively originates confirmation management method, which is characterized in that described method includes following steps:
Step S10, divides predeterminable area, obtains target area；
Step S20, analyze the target area point mark whether with stablize track association；
Step S30, if it is not, then analyze the target area point mark whether with temporary track association；
Step S40, if so, corresponding mark is added in temporary track；
Step S50 carries out the analysis of track initiation to temporary track；
Step S60 carries out temporary track initiation based on the analysis results and determines.
2. multiple target according to claim 1 effectively originates confirmation management method, which is characterized in that the step S50 packet
It includes:
Step S51 judges the overlapping cases of the Targets Dots in temporary track；
Step S52 adjusts the starting coefficients and Targets Dots confidence level of Targets Dots according to the overlapping cases of Targets Dots；
Step S53, judges whether the starting coefficients of Targets Dots are more than or equal to starting coefficients threshold value；
Step S54 judges Targets Dots when the starting coefficients of the Targets Dots are more than or equal to starting coefficients threshold value
Whether confidence level is more than or equal to confidence level threshold value；
Step S55, if so, carrying out starting confirmation to the Targets Dots.
3. multiple target according to claim 2 effectively originates confirmation management method, which is characterized in that in the step S52
The set-up procedure of the starting coefficients of Targets Dots includes:
Step S521 carries out start mark using the original point mark overlapping cases of point mark ring before cohesion, when present frame original point mark
It is be overlapped in distance or orientation with former frame point mark, then temporary track initiation coefficient cumulative 1, if not being overlapped, by current thunder
Prediction congealing point mark up to original point mark and temporary track is associated processing, calculates it and integrates correlation factor value, if calculating
The comprehensive correlation factor value is greater than 1, then temporary track initiation coefficient cumulative 1；
Step S522, if current radar original point mark and previous frame point mark be not be overlapped, and the prediction congealing point with temporary track
Mark cannot be associated with, then when its starting coefficients is more than or equal to n1 and is less than n2, then starting coefficients reduce κ1, work as starting coefficients
When more than or equal to n2, then starting coefficients accordingly reduce κ2, and κ2> κ1。
4. multiple target according to claim 2 effectively originates confirmation management method, which is characterized in that in the step S52
The set-up procedure of the confidence level of Targets Dots includes:
Step S521a, the primary default confidence level of the temporary every update of track increase (η1+η2+η3), present frame congealing point mark with it is previous
When speed and/or course between frame point mark are abnormal, then confidence level increasing degree lacks η1；
It is abnormal with the speed of first three frame point mark and/or course, then confidence level increasing degree lacks η2；
Speed is slower than preset value or than predetermined value block, and confidence level increasing degree lacks η3；
If course deflection is not less than right angle twice in succession, in this temporary track renewal process, confidence level does not increase.
5. multiple target according to claim 1 effectively originate confirmation management method, which is characterized in that the step S20 it
Before further include:
Step S21 extracts the Targets Dots of the target area；
Step S22 carries out pretreatment and agglomeration process to the Targets Dots.
6. multiple target according to claim 1 effectively originate confirmation management method, which is characterized in that the step S30 it
Afterwards further include:
If extracted mark can not be associated with temporary track, which is re-established into new temporary boat as isolated point mark
Mark.
7. described in any item multiple targets effectively originate confirmation management method according to claim 1~6, which is characterized in that described
Method further include:
Step S101, judges whether Targets Dots are characterized target；
Step S102, if so, judging whether Targets Dots are target at a slow speed；
Step S103, if so, the distance between target and first point and speed seek its coefficient at a slow speed at a slow speed according to this；
Step S104 judges whether to carry out starting confirmation to the Targets Dots according to the coefficient at a slow speed.
8. multiple target according to claim 7 effectively originate confirmation management method, which is characterized in that the step S101 it
Afterwards further include:
Step is 1011, if the Targets Dots are characterized target, judges whether the Targets Dots are the multiple radars being overlapped
The division target of point mark；
Step S1011, if so, judging that the division target belongs to any division situation；
Step S1023 carries out default processing according to the division affiliated situation of target.
9. a kind of multiple target effectively originates confirmation management system, which is characterized in that the multiple target effectively originates confirmation management system
System includes: memory, processor and is stored in the multiple target that can be run on the memory and on the processor and effectively rises
Begin confirmation management program, and the multiple target effectively originates when confirmation management program is executed by the processor and realizes such as claim
The step of 1-8 described in any item methods.
10. a kind of computer readable storage medium, which is characterized in that be stored with multiple target on the computer readable storage medium
Effectively starting confirmation management program, the multiple target are effectively originated when confirmation management program is executed by processor and are realized as right is wanted
The step of asking the described in any item multiple targets of 1-8 effectively to originate confirmation management method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810929157.0A CN109143192B (en) | 2018-08-15 | 2018-08-15 | Multi-target effective start confirmation management method, system and computer readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810929157.0A CN109143192B (en) | 2018-08-15 | 2018-08-15 | Multi-target effective start confirmation management method, system and computer readable storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109143192A true CN109143192A (en) | 2019-01-04 |
| CN109143192B CN109143192B (en) | 2023-05-09 |
Family
ID=64789652
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810929157.0A Active CN109143192B (en) | 2018-08-15 | 2018-08-15 | Multi-target effective start confirmation management method, system and computer readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109143192B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110208789A (en) * | 2019-05-29 | 2019-09-06 | 西安空间无线电技术研究所 | A kind of multi-frame joint targetpath recognition methods |
| CN110764083A (en) * | 2019-10-29 | 2020-02-07 | 中国电子科技集团公司第三十八研究所 | Anti-intrusion data fusion method and system for millimeter wave radar |
| 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 |
| CN111929655A (en) * | 2020-09-08 | 2020-11-13 | 中国电子科技集团公司第三十八研究所 | Automobile millimeter wave radar road target tracking method and system |
| CN112731296A (en) * | 2020-11-30 | 2021-04-30 | 惠州市德赛西威智能交通技术研究院有限公司 | Automobile millimeter wave radar point trace condensation method and system |
| CN112835001A (en) * | 2020-12-29 | 2021-05-25 | 西安电子科技大学 | Sea surface target radar trace condensation method, electronic equipment and storage medium |
| CN114740465A (en) * | 2022-03-18 | 2022-07-12 | 四川九洲防控科技有限责任公司 | Radar track rapid batching method and device, storage medium and electronic equipment |
| CN116990773A (en) * | 2023-09-27 | 2023-11-03 | 广州辰创科技发展有限公司 | Low-speed small target detection method and device based on self-adaptive threshold and storage medium |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004309166A (en) * | 2003-04-02 | 2004-11-04 | Mitsubishi Electric Corp | Target tracking apparatus |
| JP2005227184A (en) * | 2004-02-13 | 2005-08-25 | Mitsubishi Electric Corp | Multi-target tracking apparatus |
| US20140118187A1 (en) * | 2012-10-29 | 2014-05-01 | Furuno Electric Company Limited | Tracking processing device and tracking processing method |
| CN104280723A (en) * | 2014-10-22 | 2015-01-14 | 四川大学 | Method for processing newly built system track in radar clutter area |
| CN104991235A (en) * | 2015-06-15 | 2015-10-21 | 南京航空航天大学 | Method for rapid tracking target based on radar trace points |
| CN105093215A (en) * | 2015-08-31 | 2015-11-25 | 西安电子科技大学 | Doppler information based method for tracking low-altitude low-speed small target through radar |
| CN107255803A (en) * | 2017-07-24 | 2017-10-17 | 中电科技（合肥）博微信息发展有限责任公司 | A kind of ship track logic start algorithm could |
| CN107479044A (en) * | 2017-08-23 | 2017-12-15 | 西安电子工程研究所 | Based on an adaptive track initiation method of mark density real-time statistics |
-
2018
- 2018-08-15 CN CN201810929157.0A patent/CN109143192B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004309166A (en) * | 2003-04-02 | 2004-11-04 | Mitsubishi Electric Corp | Target tracking apparatus |
| JP2005227184A (en) * | 2004-02-13 | 2005-08-25 | Mitsubishi Electric Corp | Multi-target tracking apparatus |
| US20140118187A1 (en) * | 2012-10-29 | 2014-05-01 | Furuno Electric Company Limited | Tracking processing device and tracking processing method |
| CN104280723A (en) * | 2014-10-22 | 2015-01-14 | 四川大学 | Method for processing newly built system track in radar clutter area |
| CN104991235A (en) * | 2015-06-15 | 2015-10-21 | 南京航空航天大学 | Method for rapid tracking target based on radar trace points |
| CN105093215A (en) * | 2015-08-31 | 2015-11-25 | 西安电子科技大学 | Doppler information based method for tracking low-altitude low-speed small target through radar |
| CN107255803A (en) * | 2017-07-24 | 2017-10-17 | 中电科技（合肥）博微信息发展有限责任公司 | A kind of ship track logic start algorithm could |
| CN107479044A (en) * | 2017-08-23 | 2017-12-15 | 西安电子工程研究所 | Based on an adaptive track initiation method of mark density real-time statistics |
Non-Patent Citations (9)
| Title |
|---|
| DARKO MUSICKI ET AL.: "Multi-target tracking in clutter without measurement assignment", 《IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS》 * |
| SANTIAGO MANEN ET AL.: "Leveraging single for multi-target tracking using a novel trajectory overlap affinity measure", 《2016 IEEE WINTER CONFERENCE ON APPLICATIONS OF COMPUTER VISION》 * |
| 方青等: "一种雷达仙波航迹抑制方法", 《雷达科学与技术》 * |
| 林晓斌等: "脉冲多普勒雷达目标航迹自动起始方法研究", 《科技视界》 * |
| 汪永军等: "一种基于岸基多雷达的船舶监视管理系统", 《舰船电子对抗》 * |
| 罗兴旺等: "雷达数据处理中的杂波抑制方法", 《系统工程与电子技术》 * |
| 赵艳丽等: "多目标跟踪中的数据关联和航迹管理", 《现代雷达》 * |
| 陈晓曼等: "基于模糊决策的密集多回波环境下航迹起始算法", 《雷达与对抗》 * |
| 靳俊峰等: "基于航迹质量的多目标跟踪算法", 《火力与指挥控制》 * |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110208789A (en) * | 2019-05-29 | 2019-09-06 | 西安空间无线电技术研究所 | A kind of multi-frame joint targetpath recognition methods |
| CN110764083A (en) * | 2019-10-29 | 2020-02-07 | 中国电子科技集团公司第三十八研究所 | Anti-intrusion data fusion method and system for millimeter wave radar |
| CN110764083B (en) * | 2019-10-29 | 2023-04-18 | 中国电子科技集团公司第三十八研究所 | Anti-intrusion data fusion method and system for millimeter wave radar |
| 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 |
| CN111929655A (en) * | 2020-09-08 | 2020-11-13 | 中国电子科技集团公司第三十八研究所 | Automobile millimeter wave radar road target tracking method and system |
| CN112731296A (en) * | 2020-11-30 | 2021-04-30 | 惠州市德赛西威智能交通技术研究院有限公司 | Automobile millimeter wave radar point trace condensation method and system |
| CN112731296B (en) * | 2020-11-30 | 2024-03-08 | 惠州市德赛西威智能交通技术研究院有限公司 | Method and system for condensing points of millimeter wave radar of automobile |
| CN112835001A (en) * | 2020-12-29 | 2021-05-25 | 西安电子科技大学 | Sea surface target radar trace condensation method, electronic equipment and storage medium |
| CN112835001B (en) * | 2020-12-29 | 2023-08-08 | 西安电子科技大学 | Sea surface target radar trace condensation method, electronic equipment and storage medium |
| CN114740465A (en) * | 2022-03-18 | 2022-07-12 | 四川九洲防控科技有限责任公司 | Radar track rapid batching method and device, storage medium and electronic equipment |
| CN116990773A (en) * | 2023-09-27 | 2023-11-03 | 广州辰创科技发展有限公司 | Low-speed small target detection method and device based on self-adaptive threshold and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109143192B (en) | 2023-05-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109143192A (en) | Multiple target effectively originates confirmation management method, system and computer readable storage medium | |
| CN110361727A (en) | A kind of millimetre-wave radar multi-object tracking method | |
| CN110390292B (en) | Remote sensing video vehicle target detection and tracking method based on dynamic correlation model | |
| CN104730510B (en) | A kind of many radar track fusion methods | |
| CN115661204B (en) | Collaborative searching and tracking positioning method for moving target by unmanned aerial vehicle cluster | |
| KR101628154B1 (en) | Multiple target tracking method using received signal strengths | |
| CN107436434B (en) | Track starting method based on bidirectional Doppler estimation | |
| CN112991391A (en) | Vehicle detection and tracking method based on radar signal and vision fusion | |
| CN106405510B (en) | A kind of track delet method based on pseudo- sliding window L decision rule | |
| CN110133612A (en) | A kind of extension target detection method based on tracking feedback | |
| CN110488273B (en) | Vehicle tracking detection method and device based on radar | |
| CN109814074A (en) | Multiple targets tracking based on image aspects processing | |
| CN102981154B (en) | Flight track processing method for chain points and whole chain of high voltage wires | |
| CN108733042A (en) | The method for tracking target and device of automatic driving vehicle | |
| CN114114242A (en) | Radar target tracking method based on point-selected flight path and flight path extrapolation | |
| Qin et al. | Research on information fusion structure of radar and AIS | |
| CN104020468B (en) | The computational methods of a kind of close-in target update cycle based on secondary radar | |
| CN115220002B (en) | Multi-target data association tracking method and related device for fixed single station | |
| CN116593978A (en) | Gesture detection method, system and storage medium based on point cloud | |
| CN105388472A (en) | Interlaced and overlapped object tracking method in sea radar system | |
| CN112083388B (en) | Trace point quality evaluation method based on secondary radar response signal | |
| JP3199623B2 (en) | Target tracking method and radar apparatus using the method | |
| Wang et al. | Research on Real-time Monitoring and Tracking Method of Ship Trajectory | |
| CN110672117B (en) | Small-route shortcut moving target track acquisition method based on single observation whistle digital telescope | |
| Mo et al. | Research on maritime target tracking for high frequency over-the-horizon radar |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |