CN109143192B - Multi-target effective start confirmation management method, system and computer readable storage medium - Google Patents
Multi-target effective start confirmation management method, system and computer readable storage medium Download PDFInfo
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- CN109143192B CN109143192B CN201810929157.0A CN201810929157A CN109143192B CN 109143192 B CN109143192 B CN 109143192B CN 201810929157 A CN201810929157 A CN 201810929157A CN 109143192 B CN109143192 B CN 109143192B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/414—Discriminating targets with respect to background clutter
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/418—Theoretical aspects
Abstract
The invention discloses a multi-target effective start confirmation management method, a system and a computer readable storage medium, wherein the method firstly divides different areas according to longitude and latitude position information, extracts multi-target point traces of heavy point research, does not extract radar point traces including false target point traces outside a research range, judges overlapping conditions of stored original point traces before aggregation, carries out credibility estimation analysis according to target navigation characteristics, and then carries out independent processing, slow target analysis and multi-target splitting processing on special targets respectively to inhibit slow target start, and delays judging to approach target start to obtain a confirmation target with better final tracking stability. The method effectively suppresses false tracks caused by clutter, reduces false tracking associated with false points, ensures quick starting of multiple targets, and provides effective management for stability of multi-target tracking in a clutter environment.
Description
Technical Field
The present invention relates to the field of radar data processing technologies, and in particular, to a method and a system for multi-objective efficient initiation confirmation management, and a computer readable storage medium.
Background
Multi-target tracking generally includes three phases, track initiation, track maintenance and track deletion. The track initiation refers to a track establishment process before a stable track (track maintenance) is not entered, is a primary problem in the multi-target tracking field, is the most difficult stage, and is a good track initiation result, so that a large number of false targets can be effectively removed, the load is reduced for the track maintenance, and new targets can be found in time. However, the performance of track initiation is severely restricted by the existence of interference such as strong clutter and high false alarm rate. The track initiation method based on data processing under the dense clutter background has the problems of more false tracks, low initiation speed, difficult target initiation and the like. If the track is started incorrectly, the target is lost, and the tracking of the target cannot be realized at all.
Thus, improving performance of track initiation in clutter environments is a necessary issue.
Disclosure of Invention
The invention mainly aims to provide a multi-target effective starting confirmation management method, a system and a storage medium, in particular to a novel rapid and effective starting method established based on parameter information such as multi-target motion characteristics and the like, which can reduce false alarm rate in clutter environment and improve starting performance of multiple targets.
In order to achieve the above object, the present invention provides a multi-objective effective start confirmation management method, which includes the following steps:
step S10, dividing a preset area to obtain a target area;
step S20, analyzing whether the track of the target area is related to a stable track;
step S30, if not, analyzing whether the track of the target area is related to the temporary track;
step S40, if yes, adding the corresponding point track into the temporary track;
s50, analyzing the temporary track in a track initiation mode;
and step S60, performing temporary track initiation determination according to the analysis result.
Preferably, the step S50 includes:
step S51, judging the overlapping condition of target point tracks in the temporary track;
step S52, adjusting the initial coefficient and the credibility of the target point trace according to the overlapping condition of the target point trace;
step S53, judging whether the initial coefficient of the target trace is larger than or equal to the initial coefficient threshold value;
step S54, judging whether the reliability of the target point trace is greater than or equal to a reliability threshold value when the initial coefficient of the target point trace is greater than or equal to an initial coefficient threshold value;
and step S55, if yes, performing initial confirmation on the target point trace.
Preferably, the step of adjusting the start coefficient of the target trace in step S52 includes:
step S521, performing initial marking by utilizing the overlapping condition of the original tracks of the track ring before condensation, accumulating a temporary track initial coefficient by 1 when the original tracks of the current frame are overlapped with the tracks of the previous frame in distance or azimuth, performing association processing on the current radar original track and the predicted condensation track of the temporary track if the original tracks are not overlapped, calculating a comprehensive correlation factor value of the current radar original track and the predicted condensation track, and accumulating the temporary track initial coefficient by 1 if the calculated comprehensive correlation factor value is larger than 1;
step S522, if the current radar original track is not overlapped with the previous frame track and cannot be correlated with the predicted condensation track of the temporary track, the initial coefficient is reduced by κ when the initial coefficient is greater than or equal to n1 and less than n2 1 When the initial coefficient is greater than or equal to n2, then the initial coefficient is correspondingly reduced by kappa 2 And kappa is 2 ＞κ 1 。
Preferably, the step of adjusting the reliability of the target trace in step S52 includes:
step S521a, the default reliability is increased (η) for each update of the temporary track 1 +η 2 +η 3 ) When the speed and/or heading between the current frame condensation point and the previous frame point are abnormal, the reliability increase amplitude is less by eta 1 ；
Abnormal speed and/or course of the previous three frames of points, the reliability increase amplitude is less than eta 2 ；
The speed is slower than the preset value or is smaller than the preset value block, and the reliability increase amplitude is smaller than the preset value block by eta 3 ；
If the deflection degree of the continuous course is not smaller than the right angle, the reliability is not increased in the temporary course updating process.
Preferably, the step S30 further includes:
if the extracted track cannot be correlated with the temporary track, the track is taken as an isolated track to reestablish a new temporary track.
Preferably, the method further comprises:
step S101, judging whether the target point trace is a characteristic target;
step S102, if yes, judging whether the target trace is a slow target;
step S103, if yes, calculating a slow coefficient according to the distance and the speed between the slow target and the initial point;
step S104, judging whether to perform initial confirmation on the target trace according to the slow coefficient.
Preferably, the step S101 further includes:
step 1011, if the target point trace is a characteristic target, judging whether the target point trace is a split target of a plurality of overlapped radar point traces;
step S1011, if yes, judging which splitting situation the splitting target belongs to;
step S1023, performing preset processing according to the situation of the split target.
Preferably, before the step S20, the method further includes:
s21, extracting target points of the target area;
and S22, preprocessing and condensing the target trace.
In addition, to achieve the above object, the present invention also provides a multi-objective valid initiation acknowledgement management system, including: a memory, a processor, and a multi-target valid initiation validation manager stored on the memory and executable on the processor, which when executed by the processor, performs the steps of the method as described above.
In addition, in order to achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon a multi-objective valid start confirmation management program which, when executed by a processor, implements the steps of the multi-objective valid start confirmation management method as described above.
The method of the invention provides a multi-target effective initial confirmation management method according to the characteristic information of target movement and the interference of external environment to the target, and the method of the embodiment of the invention has the following advantages:
(1) the fixed clutter can be filtered by establishing a fixed ground clutter map based on the electronic chart, and the target area division can be established based on the fixed clutter map, so that a good auxiliary inhibition effect can be achieved on irregular moving clutter or targets outside an observation area, and the interference of incoherent moving targets or clutter is prevented, and the tracking stability of the observation target is influenced;
(2) because the ship speed is slower, the position of the ship is not changed greatly in one scanning period, and the overlapping condition of the original points before condensation is judged according to the distance and the azimuth, so that a large number of false clutter points can be restrained to a certain extent;
(3) the prior knowledge of the real target is utilized to acquire the characteristic parameters of the target, reliability estimation analysis is carried out on each parameter information, the reliability is utilized as a measure of whether the target starts comprehensive characteristic information, and the real targets with different maneuvering performances are distinguished from false clutter information.
Drawings
FIG. 1 is a flowchart of a multi-objective effective start confirmation management method according to a first embodiment of the present invention;
FIG. 2 is a flow chart of a multi-objective effective start confirmation management method according to a first embodiment of the present invention;
FIG. 3 is a flowchart of a multi-objective valid start confirmation management method according to a second embodiment of the present invention;
FIG. 4 is a schematic diagram of a system target initiation effect;
FIG. 5 (a) and FIG. 5 (b) are schematic diagrams of simulation contrast of target delay initiation determination in case of heading anomaly;
FIG. 6 is a diagram of a multi-objective active start confirmation management system according to the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The present invention provides a multi-objective valid initiation acknowledgement management method, in a first embodiment, referring to fig. 1, 2, 4, 5a and 5b, the multi-objective valid initiation acknowledgement management method includes the following steps:
step S10, dividing a preset area to obtain a target area;
in this embodiment, the target area division is an approach with professional target tracking to prevent interference of incoherent targets or clutter, so as to improve stability and accuracy of target tracking. According to the longitude and latitude position information of the sea chart, the original echoes of clutter dividing areas such as islands, lands and the like do not extract radar traces thereof to participate in the initial processing, and the radar traces of the important research dividing areas (such as sea surfaces) are extracted. It should be noted that the division of the target area may be set as needed.
After the target area is obtained, preprocessing and condensing the radar trace of the target area, wherein the preprocessing refers to firstly storing original radar trace data, then carrying out coordinate transformation on the trace data, finally hanging on a time index linked list to wait for processing, and then taking out the trace from the trace time index linked list to carry out trace condensing when the trace condensing is carried out.
Step S20, analyzing whether the track of the target area is related to a stable track;
after pretreatment and condensation treatment, carrying out association treatment with a stable track, wherein, the unassociated radar track and the temporary track are subjected to initial judgment treatment, and if the track is unassociated with the temporary track, the temporary track is reestablished by the identity of the isolated point.
Step S30, if not, analyzing whether the extracted track is associated with the temporary track;
step S40, if yes, adding the corresponding point track into the temporary track;
whether the point track which is not associated with the stable track can be associated with the temporary track or not is judged in advance, so that the initial determination of the temporary track is facilitated.
S50, analyzing the temporary track in a track initiation mode;
and step S60, performing temporary track initiation determination according to the analysis result.
Wherein, referring to fig. 2, the step S50 includes:
step S51, judging the overlapping condition of target point tracks in the temporary track;
on the premise that the trace type is not clear in the step, the trace is unified and defaults to the radar original trace before condensation. The track start coefficient referred to herein represents the cardinality of the temporary track start validation, and the overlap coefficient refers to the probability of overlap. Because the time between two continuous frames is shorter, the ship navigation position (distance and azimuth) is easy to overlap, and the initial coefficient of the target is properly adjusted according to the overlapping condition or the association condition between the original point trace and the predicted condensation point trace.
Step S52, adjusting the initial coefficient and the credibility of the target point trace according to the overlapping condition of the target point trace;
step S53, judging whether the initial coefficient of the target trace is larger than or equal to the initial coefficient threshold value;
step S54, judging whether the reliability of the target point trace is greater than or equal to a reliability threshold value when the initial coefficient of the target point trace is greater than or equal to an initial coefficient threshold value;
and step S55, if yes, performing initial confirmation on the target point trace.
Specifically, the step of adjusting the start coefficient of the target trace in step S52 includes:
step S521, performing initial marking by utilizing the overlapping condition of the original points of the point track ring before condensation (wherein the original points need to be reserved for N frames), accumulating a temporary track initial coefficient by 1 when the original points of the current frame are overlapped with the points of the previous frame in distance or azimuth, if not overlapped, performing association processing on the current radar original points and the predicted condensation points of the temporary track, calculating the comprehensive correlation factor value, and if calculated, accumulating the temporary track initial coefficient by 1;
in the process of establishing a stable track through temporary track confirmation, the unagglomerated original point track data reserved in a temporary track point track ring are taken out one by one according to the number of the point tracks of the ring and the current index, then data processing is carried out in two directions, one direction is to condense a plurality of radar original point tracks taken out from the point track ring into one point track, and then the condensation point track is matched with information such as the position, the heading, the speed and the like of the condensation point track (temporary track condensation point) updated by the temporary track history, so that the reliability is analyzed;
the other direction is to calculate the comprehensive correlation factor value of the radar original track and the appointed temporary track, and analyze and confirm the initial coefficient of the temporary track, and the specific steps are as follows:
firstly, judging the comprehensive correlation factor value Sub of the current radar original point track and the condensation point track updated in real time by the temporary track, if the current radar original point track is larger than 1, accumulating the initial coefficient by 1, otherwise, properly reducing the initial coefficient, namely reducing the initial coefficient by kappa when the initial coefficient is larger than or equal to n1 and smaller than n2 1 When the initial coefficient is greater than or equal to n2, then the initial coefficient is correspondingly reduced by kappa 2 And kappa is 2 ＞κ 1 Wherein the integrated correlation factor value is determined by the overlap coefficient between the current radar origin trace and the previous radar origin trace or the association degree between the current radar origin trace and the temporary track predicted condensation point trace.
If the distance between the current radar original point track position and the current condensation point track of the temporary track is more than 1 km, the original point track is considered to be irrelevant to the temporary track, and the following overlapping coefficient and correlation analysis processing are not needed; if the distance between them is not greater than 1 km, judging whether the current Lei Dayuan initial track and the previous track overlap or not, because the ship speed is slow, in one scanning period, the ship position change is not big, on the premise that the time difference between the previous track and the current track is not big (i.e. the relative time difference between the previous track and the current track cannot exceed 5 seconds), calculating the overlap coefficient with the previous track according to the intersection condition of the distance and the azimuth, if the overlap coefficient is greater than eta (eta=0.1), the correlation factor value sub=1.0+eta, the temporary track initial coefficient is correspondingly increased by 1, if the overlap coefficient is not greater than eta, the current radar initial track and the predicted condensation point of the temporary track are processed in a correlation manner, firstly, according to the X, Y values of the current updated condensation point positions of the temporary track, the mean value of X, Y and the relative time difference between the radar initial track and the previous track, the predicted condensation point of the next frame are analytically calculated, and the predicted condensation point of the previous track is transformed (rectangular coordinate conversion to radial coordinate distance_v_r) and azimuth, and if the radial distance between the previous track is smaller than the original track, and the distance w is calculated by the radial direction difference is smaller than the original distance w
cr＝(dr*γ)/rw，ca＝(da*γ)/aw
Then the correlation factor values are integrated
Sub＝γ-cr*P 1 -ca*P 2
Wherein P is 1 ，P 2 Respectively, cr and ca, γ is the expansion coefficient, and P 1 ＝0.6，P 2 ＝0.4，γ＝1.5。
If the integrated correlation factor value is greater than 1, the temporary track start coefficient is accumulated by 1, and when the temporary track start coefficient is greater than or equal to n 0 (n 0 And < N), wherein the value of N refers to the original point track number reserved by the point track ring before condensation, and whether the temporary track starts to be confirmed as a stable track is judged by combining the judgment of the reliability of the temporary track.
Step S522, if the current radar original track is not overlapped with the previous frame track and cannot be correlated with the predicted condensation track of the temporary track, the initial coefficient is reduced by κ when the initial coefficient is greater than or equal to n1 and less than n2 1 When the initial coefficient is greater than or equal to n2, then the initial coefficient is correspondingly reduced by kappa 2 And kappa is 2 ＞κ 1 。
In this step, if the current radar original track is not overlapped with the previous frame track or is not associated with the predicted condensation track of the temporary track, when the initial coefficient is greater than or equal to n 1 And is smaller than n 2 The initial coefficient is reduced by kappa 1 When the initial coefficient is n 2 Outside (contain n 2 ) Then correspondingly reduce kappa 2 (κ 2 ＞κ 1 ) For a relatively large degree of reliability (not less than [ eta+3 ] (eta 1 +η 2 +η 3 )]) The starting coefficient n of the temporary track of (2) 0 Appropriately adjusted to n 0 -Δ 2 (Δ 2 Refers to the initial adjustment coefficient), where η refers to the confidence initialization value, (η) 1 +η 2 +η 3 ) The default reliability increment value of each time the temporary track is updated is defined, if the initial coefficient of the temporary track is greater than or equal to n 0 Or n 0 -Δ 2 And then jumping to the step of analyzing the credibility of the target point track, and finally determining whether to give the temporary track start confirmation as the stable track.
In addition, the step of adjusting the reliability of the target trace in step S52 includes:
step S521a, the default reliability is increased (η) for each update of the temporary track 1 +η 2 +η 3 ) When the speed and/or heading between the current frame condensation point and the previous frame point are abnormal, the reliability increase amplitude is less by eta 1 ；
Abnormal speed and/or course of the previous three frames of points, the reliability increase amplitude is less than eta 2 ；
The speed is slower than the preset value or is smaller than the preset value block, and the reliability increase amplitude is smaller than the preset value block by eta 3 ；
If the deflection degree of the continuous course is not smaller than the right angle, the reliability is not increased in the temporary course updating process.
Estimating and analyzing the reliability (psi) of the target characteristics, and in the process of confirming the stable track by the temporary track, if no point track data is received in the process, carrying out point loss processing, and if the number of the point loss is not less than the number of radar scanning frames or the number of the point loss is not less than 3, judging the track as a false track, and giving subsequent deletion processing; if 1 point is lost, the temporary track reliability is correspondingly reduced, and if the number of the points is not less than 2 points, the reliability defaults to a smaller value (psi=7).
When the point losing situation occurs or the point losing situation does not start within a certain scanning frame number range of the radar, the point losing situation is considered as a false track, verification is not performed any more, the temporary track is deleted, otherwise, temporary track updating processing is performed, the reliability initialization value is (psi=eta), and the default reliability is increased (eta) when the temporary track is updated once 1 +η 2 +η 3 )；
Currently, the method is thatAbnormal speed or course of frame condensation point trace and previous frame point trace occurs, and reliability increase amplitude is less by eta 1 ；
When the speed or the heading of the first three points are abnormal, the reliability increase amplitude is less than eta 2 ；
When the speed is slower than the preset value or is larger than the preset value (the fast threshold value and the slow threshold value are divided according to the heading direction between two continuous frames), the heading deflection angle is overlarge, the slow threshold value is adjusted to be larger, the fast threshold value is adjusted to be smaller), and the reliability increase amplitude is smaller by eta 3 ；
If the deflection degree of the continuous course is not smaller than the right angle, the reliability is not increased in the temporary course updating process.
When the speed and/or heading between the current frame condensation point and the previous frame point are abnormal, the reliability increase amplitude is less by eta 1 The specific process of (2) is as follows:
the continuous three radar scanning periods are respectively V for the speed and the course of the current frame point trace and the previous frame point trace k1 [0]，V k1 [1]，V k1 [2]，C k1 [0]，C k1 [1]，C k1 [2]The method comprises the steps of carrying out a first treatment on the surface of the Similarly, the speeds and the heading of the current frame point trace and the previous three frame point trace are respectively V k3 [0]，V k3 [1]，V k3 [2]，C k3 [0]，C k3 [1]，C k3 [2]。
For the situation of the track point of the previous frame, the course speed and course simultaneously meet
|V k1 [i]-V k1 [i+1]|＞MaxS 1 ，i＝0，1
|C k1 [i]-C k1 [i+1]|＞MaxC 1 ，i＝0，1
Wherein MaxS 1 ，MaxC 1 The maximum speed and heading difference (MaxS) 1 ＝10m/s，MaxC 1 =45×pi/180), then the transient track reliability increase is less by η 1 ；
The reliability increase is less by eta when the speed and/or the course of the trace point with the previous three frames are abnormal 2 The specific process of (2) is as follows:
for the situation of the point trace of the previous three frames, the course speed and the course direction simultaneously meet
|V k3 [i]-V k3 [i+1]|＞MaxS 3 ，i＝0，1
|C k3 [i]-C k3 [i+1]|＞MaxC 3 ，i＝0，1
Wherein MaxS 3 ，MaxC 3 The maximum navigational speed and the course difference (MaxS) of the current frame and the previous three frame point tracks respectively 3 ＝5m/s，MaxC 3 =25×pi/180), then the transient track reliability increase is less by η 2 ；
The speed is slower than the preset value or is smaller than the preset value block, and the reliability increase amplitude is smaller than eta 3 The specific process of (2) is as follows:
judging whether the target is too fast or too slow according to the current frame rate threshold of the target, and respectively defaulting the target slow threshold and the fast threshold to be
MinSlow 1 ＝2.0，MaxFast 1 ＝16.5，
If the heading of the current frame and the previous frame of the temporary track is abnormal, the threshold value of the slow target is increased, and the threshold value of the fast target is decreased, namely
MinSlow 2 ＝2.5，MaxFast 2 ＝10.5，
When the current frame speed of the temporary track is smaller than the slow target threshold value or larger than the fast target threshold value, the reliability of the temporary track is increased by less eta 3 。
First, a confidence threshold value [ eta+3 ] (eta 1 +η 2 +η 3 )]And a start coefficient threshold value n 0 If the speed is small (typically less than 2 m/s), the confidence threshold is increased by δ 1 If the temporary track start coefficient is not less than n 0 The confidence threshold value is correspondingly reduced by delta 1 If the reliability of the temporary track is not less than [ eta+3 ] (eta 1 +η 2 +η 3 )]The start coefficient threshold is correspondingly reduced by delta 2 And finally, carrying out initial confirmation judgment on the temporary track, if the reliability of the temporary track is not less than the threshold, and the initial coefficient is not less than the threshold, confirming the initial confirmation as a stable track, and deleting the temporary track.
According to the characteristic information of the target movement and the interference of the external environment on the target, the embodiment of the invention provides a multi-target effective initial confirmation management method, and the method of the embodiment of the invention has the following advantages:
(1) the fixed clutter can be filtered by establishing a fixed ground clutter map based on the electronic chart, and the target area division can be established based on the fixed clutter map, so that a good auxiliary inhibition effect can be achieved on irregular moving clutter or targets outside an observation area, and the interference of incoherent moving targets or clutter is prevented, and the tracking stability of the observation target is influenced;
(2) because the ship speed is slower, the position of the ship is not changed greatly in one scanning period, and the overlapping condition of the original points before condensation is judged according to the distance and the azimuth, so that a large number of false clutter points can be restrained to a certain extent;
(3) the prior knowledge of the real target is utilized to acquire the characteristic parameters of the target, reliability estimation analysis is carried out on each parameter information, the reliability is utilized as a measure of whether the target starts comprehensive characteristic information, and the real targets with different maneuvering performances are distinguished from false clutter information.
Further, referring to fig. 3, based on the first embodiment of the multi-objective valid start confirmation management method of the present invention, in the second embodiment of the multi-objective valid start confirmation management method of the present invention, the method further includes:
step S101, judging whether the target point trace is a characteristic target;
step S102, if yes, judging whether the target trace is a slow target;
step S103, if yes, calculating a slow coefficient according to the distance and the speed between the slow target and the initial point;
step S104, judging whether to perform initial confirmation on the target trace according to the slow coefficient.
In this embodiment, different characteristic targets are further specially processed, for a slow target, the linear distance from the first point is small, the speed is small, the linear distance from the first point is less than lambda times of the range (lambda is a loiter coefficient, 0 < lambda is less than or equal to 0.6), if the slow target does not meet other starting criteria, the slow coefficient of the temporary track of the frame is increased, for a non-slow target, the slow coefficient of the temporary track is correspondingly reduced, and when the slow coefficient is greater than a certain value (the slow coefficient threshold value is set to 3), the start of the slow coefficient is inhibited.
There are three situations for splitting targets of overlapping multiple radar signatures.
In the first case, the first confirmed real-time updating position of the condensation point trace of the stable track is taken as the center, if the current condensation point trace of other temporary tracks around is located in the area range of the center position, the reliability of the temporary track is restored to a default value (ψ=η), the temporary track start coefficient is reduced, in this embodiment, 1 temporary track is reduced, delay processing is performed on the temporary track, the start condition is strict, and the short-distance target split start is inhibited. The range of the stable track real-time updating point track position search is determined by the filtering speed of the stable track, if the target track speed is larger (not less than 10 knots), the radius of the search range is not less than one kilometer, otherwise, each temporary track searches the stable track in a relatively smaller range (the resolution distance of the radar original echo, which is 135 meters in the embodiment).
In case two, the starting distance, the ending distance, the starting azimuth and the ending azimuth are calculated from the current radar original track position (comprising the original azimuth and the original distance origin), the distance thickness range width and the azimuth width, and the procedures are as follows:
the start azimuth abgn=origin azimuth-azimuth width/2,
end orientation ajnd = origin azimuth + azimuth width/2,
if the start azimuth Abgn < 0, abgn=abgn+2pi, and if the start azimuth Abgn is equal to or greater than 2pi, abgn=abgn-2pi.
The start distance rbgn=origin range-max (60, range width)/2,
end distance rend=origin range-max (60, range width)/2,
searching a stable track in a sector where the current radar condensation point of the temporary track is located, if the distance and the course calculated by the searched stable track filtering position are both between the starting distance and the ending distance and between the starting azimuth and the ending azimuth, reducing the reliability of the temporary track to an initial default value (psi=eta), reducing the initial coefficient, and performing delay judgment processing.
And thirdly, for the false double-towed fishing boat problem, searching a stable track in a sector where a current radar condensation point track of the temporary track is located, if the speed and the course between the stable track and the temporary track are almost equal, and the temporary track is always sailed in parallel, when the distance between the searched stable track and the temporary track is smaller than a distance threshold, the temporary track delays to judge the starting condition, the starting condition is strict, the distance threshold is determined by the filtering speed of the searched stable track, if the filtering speed is within 4-6 sections, the distance threshold is 300 meters, if the filtering speed is within 6-8 sections, the distance threshold is 400 meters, and the data result is obtained through fusion tracking debugging, so that the target starting effect is relatively good.
The present invention further provides a multi-objective valid initiation acknowledgement management system, referring to fig. 5, comprising: a memory 101, a processor 102, and a multi-target valid start validation manager stored on the memory 101 and executable on the processor 102, which when executed by the processor 102, performs the steps of the method as described above.
In addition, the embodiment of the invention also provides a computer readable storage medium, wherein the computer readable storage medium is stored with a multi-objective valid start confirmation management program, and the multi-objective valid start confirmation management program realizes the method when being executed by a processor.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (7)
1. A multi-objective efficient initiation validation management method, the method comprising the steps of:
step S10, dividing a preset area to obtain a target area;
step S20, analyzing whether the track of the target area is related to a stable track;
step S30, if not, analyzing whether the track of the target area is related to the temporary track;
step S40, if yes, adding the corresponding point track into the temporary track;
s50, analyzing the temporary track in a track initiation mode;
step S60, carrying out temporary track initiation determination according to the analysis result,
wherein, the step S50 includes:
step S51, judging the overlapping condition of target point tracks in the temporary track;
step S52, adjusting the initial coefficient and the credibility of the target point trace according to the overlapping condition of the target point trace;
step S53, judging whether the initial coefficient of the target trace is larger than or equal to the initial coefficient threshold value;
step S54, judging whether the reliability of the target point trace is greater than or equal to a reliability threshold value when the initial coefficient of the target point trace is greater than or equal to an initial coefficient threshold value;
step S55, if yes, performing initial confirmation on the target trace,
the step of adjusting the start coefficient of the target trace in step S52 includes:
step S521, performing initial marking by utilizing the overlapping condition of the original tracks of the track ring before condensation, accumulating a temporary track initial coefficient by 1 when the original tracks of the current frame are overlapped with the tracks of the previous frame in distance or azimuth, performing association processing on the current radar original track and the predicted condensation track of the temporary track if the original tracks are not overlapped, calculating a comprehensive correlation factor value of the current radar original track and the predicted condensation track, and accumulating the temporary track initial coefficient by 1 if the calculated comprehensive correlation factor value is larger than 1;
step S522, if the current radar original track is not overlapped with the previous frame track and cannot be correlated with the predicted condensation track of the temporary track, the initial coefficient is reduced by κ when the initial coefficient is greater than or equal to n1 and less than n2 1 When the initial coefficient is greater than or equal to n2, then the initial coefficient is correspondingly reduced by kappa 2 And kappa is 2 ＞κ 1 And (2) and
the step of adjusting the reliability of the target trace in step S52 includes:
step S521a, the default reliability is increased (η) for each update of the temporary track 1 +η 2 +η 3 ) When the speed and/or heading between the current frame condensation point and the previous frame point are abnormal, the reliability increase amplitude is less by eta 1 ；
Abnormal speed and/or course of the previous three frames of points, the reliability increase amplitude is less than eta 2 ；
The speed is slower than the preset value or is smaller than the preset value block, and the reliability increase amplitude is smaller than the preset value block by eta 3 ；
If the deflection degree of the continuous course is not smaller than the right angle, the reliability is not increased in the temporary course updating process.
2. The multi-objective valid start confirmation management method according to claim 1, wherein the step S20 further comprises:
s21, extracting target points of the target area;
and S22, preprocessing and condensing the target trace.
3. The multi-objective valid start-up acknowledgement management method as set forth in claim 1, wherein after step S30, further includes:
if the extracted track cannot be correlated with the temporary track, the track is taken as an isolated track to reestablish a new temporary track.
4. A multi-objective efficient initiation acknowledgement management method as claimed in any one of claims 1 to 3, further comprising:
step S101, judging whether the target point trace is a characteristic target;
step S102, if yes, judging whether the target trace is a slow target;
step S103, if yes, calculating a slow coefficient according to the distance and the speed between the slow target and the initial point;
step S104, judging whether to perform initial confirmation on the target trace according to the slow coefficient.
5. The method for multi-objective valid start-up acknowledgement management as set forth in claim 4, wherein after step S101, further includes:
step 1011, if the target point trace is a characteristic target, judging whether the target point trace is a split target of a plurality of overlapped radar point traces;
step S1011, if yes, judging which splitting situation the splitting target belongs to;
step S1023, performing preset processing according to the situation of the split target.
6. A multi-objective active initiation validation management system, the multi-objective active initiation validation management system comprising: memory, a processor and a multi-target valid initiation acknowledgement manager stored on the memory and executable on the processor, which multi-target valid initiation acknowledgement manager when executed by the processor implements the steps of the method according to any of claims 1-5.
7. A computer readable storage medium, wherein a multi-objective active initiation validation management program is stored on the computer readable storage medium, which when executed by a processor implements the steps of the multi-objective active initiation validation management method according to any of claims 1-5.
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| 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 |
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