CN109343021A - A kind of Plot coherence method - Google Patents
A kind of Plot coherence method Download PDFInfo
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- CN109343021A CN109343021A CN201811464751.3A CN201811464751A CN109343021A CN 109343021 A CN109343021 A CN 109343021A CN 201811464751 A CN201811464751 A CN 201811464751A CN 109343021 A CN109343021 A CN 109343021A
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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Abstract
The invention discloses a kind of Plot coherence methods, the described method comprises the following steps: according to radar measurements, extracting the information of all measurement points；It to all measurement points, is ranked up according to ranking criteria, obtains sequence measurement point；Selecting at first point in the sequence measurement point is reference point, all left points are comparison point, the comparison point is compared judgement according to Plot coherence condition with the reference point, meet the point of the Plot coherence condition labeled as identical point, is unsatisfactory for the point of the Plot coherence condition labeled as difference；The identical point is condensed according to Plot coherence criterion, obtains congealing point, and rejects the information of the identical point from the sequence measurement point；Reference point, comparison point are reselected to the difference, carry out Plot coherence until the reference point traverses all the points of the sequence measurement point.Solve the problems, such as that existing method is computationally intensive, it is poor to calculate time length, real-time.
Description
Technical field
The present invention relates to radar data process field more particularly to a kind of Plot coherence methods.
Background technique
Electronically scanned radar is during beam scanning, mechanic scan radar can all occur in servo scanning process to same target
Repeatedly measurement, resource repeat consumption when radar data being caused to post-process, it is therefore desirable to which the identical point in measurement result is carried out a little
Mark agglomerative algorithm.Plot coherence algorithm merges the information of measurement point same in radar measurements, reduces radar processing
Redundancy before processing, can effectively improve radar measurement accuracy.Existing Plot coherence algorithm is suitable for the seat of ground three mostly
Radar is marked, circulation comparison is carried out using distance dimension, angle dimension, speed dimension of the point-to-point comparison method to measurement result, calculating occupies empty
Between resource is big, elapsed time resource is long, real-time is poor, be not suitable for the high radar system of requirement of real-time.
Summary of the invention
The present invention provides a kind of Plot coherence method, and solution existing method is computationally intensive, it is long to calculate the time, real-time difference
Problem.
In view of this, present invention provide the technical scheme that a kind of Plot coherence method characterized by comprising
According to radar measurements, the information of all measurement points is extracted；
It to all measurement points, is ranked up according to ranking criteria, obtains sequence measurement point；
Selecting at first point in the sequence measurement point is reference point, and all left points are comparison point, by the comparison point
It is compared judgement according to Plot coherence condition with the reference point, meets the point of the Plot coherence condition labeled as identical
Point is unsatisfactory for the point of the Plot coherence condition labeled as difference；
The identical point is condensed according to Plot coherence criterion, obtains congealing point, and from the sequence measurement point
Reject the information of the identical point；
Reference point, comparison point are reselected to the difference, carry out Plot coherence until described in reference point traversal
The all the points for the measurement point that sorts.
The present invention realize it is following significant the utility model has the advantages that
It realizes simple comprising the steps of: according to radar measurements, extract the information of all measurement points, the measurement
The information of point includes: distance value, orientation angles, pitch angle, doppler values, performance number；To all measurement points, according to row
Sequence criterion is ranked up, and obtains sequence measurement point；Selecting at first point in the sequence measurement point is reference point, all left points
For comparison point, the comparison point is compared judgement according to Plot coherence condition with the reference point, it is solidifying to meet described mark
The point of poly- condition is labeled as identical point, is unsatisfactory for the point of the Plot coherence condition labeled as difference；The identical point is pressed
It is condensed according to Plot coherence criterion, obtains congealing point, and reject the information of the identical point from the sequence measurement point；It is right
The difference reselects reference point, comparison point, carries out Plot coherence until the reference point traverses the sequence measurement point
All the points.Plot coherence method proposed by the present invention is ranked up all measurement points before carrying out Plot coherence, and according to
Ranking results carry out Plot coherence algorithm, and cycle-index when calculating can be effectively reduced, and improve computational efficiency, reduce calculating
Time, the radar system high for requirement of real-time carries out having stronger application when radar data post-processing, and is easy to engineering
It realizes.
Detailed description of the invention
Fig. 1 is a kind of Plot coherence method flow diagram of the invention；
Fig. 2 is the embodiment flow chart of method shown in Fig. 1.
Specific embodiment
The present invention is described in further detail below in conjunction with the drawings and specific embodiments, is wanted according to following explanation and right
Book is sought, advantages and features of the invention will become apparent from.It should be noted that attached drawing is all made of very simplified form and is applicable in
Non-accurate ratio, only for the purpose of facilitating and clarifying the purpose of the embodiments of the invention.
It should be noted that present invention spy is for multiple embodiments with further in order to clearly demonstrate the contents of the present invention
Illustrate different implementations of the invention, wherein multiple embodiment is enumeration and non-exhaustive.In addition, in order to illustrate
Succinctly, the content having been mentioned in preceding embodiment is often omitted in rear embodiment, therefore, unmentioned interior in rear embodiment
Appearance can accordingly refer to preceding embodiment.
Although the invention can modification in a variety of forms and replacement extend, also listed in specification some specific
Implement legend and is described in detail.It should be understood that the starting point of inventor is not that the invention is limited to illustrated spy
Determine embodiment, antithesis, the starting point of inventor is to protect in all spirit or scope given and defined by this rights statement
The improvement of progress, equivalent alterations and modifications.Same component number is likely to be used for all attached drawings to represent identical or class
As part.
Embodiment 1:
Fig. 1 is a kind of Plot coherence method flow diagram, a kind of Plot coherence method characterized by comprising according to radar
Measurement result extracts the information of all measurement points；To all measurement points, it is ranked up, is sorted according to ranking criteria
Measurement point；Selecting at first point in the sequence measurement point be reference point, and all left points are comparison point, by the comparison point and
The reference point is compared judgement according to Plot coherence condition, and the point for meeting the Plot coherence condition is labeled as identical point,
The point of the Plot coherence condition is unsatisfactory for labeled as difference；The identical point is condensed according to Plot coherence criterion,
Congealing point is obtained, and rejects the information of the identical point from the sequence measurement point；Reference is reselected to the difference
Point, comparison point carry out Plot coherence until the reference point traverses all the points of the sequence measurement point.
In one embodiment, the information of the measurement point includes: distance value, orientation angles, pitch angle, Doppler
Value, performance number.
In one embodiment, the ranking criteria are as follows: according to the performance number of the measurement point is descending or Doppler
Value is arranged in descending order.
In one embodiment, the Plot coherence condition is distance dimension coherence condition: the reference point and comparison point
Distance value differs range and is not more than distance threshold.
In one embodiment, the distance value is the average value of all distance values in the identical point.
In one embodiment, the Plot coherence condition is azimuth coherence condition: the orientation angles differ range
No more than orientation angular threshold.
In one embodiment, the Plot coherence condition is pitch angle coherence condition: the pitch angle differs range
No more than pitching angular threshold.
In one embodiment, the Plot coherence condition is that Doppler ties up coherence condition: the doppler values differ model
It encloses no more than Doppler thresholds, doppler values are the doppler values of performance number maximum point in the identical point.
In one embodiment, it to all measurement points, is ranked up according to ranking criteria, obtains sequence measurement and click through
One step include: when the orientation angles range of the measurement point is between -180 degree~180 degree, in described pair of all measurement points,
It is ranked up according to ranking criteria, sequence measurement point is obtained, by orientation angles range in the measurement point in -180 degree~0 degree
Point, azimuth angle value adds 360 degree.
In one embodiment, the identical point is condensed according to Plot coherence criterion, obtains congealing point, and from institute
It states and rejects the information of the identical point in sequence measurement point and further comprise: by orientation angles range in the congealing point 180
The azimuth angle value degree that subtracts 360 of point in~360 degree of degree.
As specific embodiment, the embodiment of the present invention provides a kind of Plot coherence method, comprising the following steps:
Step 101, according to radar measurements, the information of all measurement points is extracted, the information of the measurement point includes: away from
From value, orientation angles, pitch angle, doppler values, performance number.
In a step 101, the radar measurements are obtained by radar system, are that the priori of the Plot coherence method is believed
Breath, the radar system can be mechanic scan radar system, be also possible to electronically scanned radar system, be not specially limited here.
Step 102, it to all measurement points, is ranked up according to ranking criteria, obtains sequence measurement point.
In one embodiment, the ranking criteria are as follows: the performance number of the measurement point is descending or doppler values by
It arrives greatly small.
In a step 102, it should be noted that the ranking criteria can be the performance number in the embodiment of the present invention by big
It is descending to small or doppler values, it is also possible to other ranking criterias, is not specially limited here.The ranking criteria is function
When rate value is descending, the Plot coherence method is ranked up and agglomerates according to the signal-to-noise ratio size of measurement result, is suitable for
Big target detection；When the ranking criteria is that doppler values are descending, the Plot coherence method is according to the more of measurement result
Pu Le value size is ranked up and agglomerates, the Plot coherence suitable for fast-moving target.
Step 103, selecting at first point in the sequence measurement point is reference point, and all left points are comparison point, by institute
It states comparison point and is compared judgement according to Plot coherence condition with the reference point, meet the point label of the Plot coherence condition
For identical point, the point of the Plot coherence condition is unsatisfactory for labeled as difference.
In one embodiment, the Plot coherence condition includes distance dimension coherence condition, azimuth coherence condition, pitching
Angle coherence condition, Doppler tie up coherence condition, be respectively as follows: the reference point differ with the distance value of comparison point range no more than away from
From thresholding, orientation angles differ range and are not more than orientation angular threshold, and pitch angle differs range and is not more than pitching angular threshold, how general
Le value differs range and is not more than Doppler thresholds.
In step 103, the distance value difference range is the exhausted of the difference of the reference point and the comparison point distance value
To value；The orientation angles difference range is the exhausted of the difference of the absolute angle of the reference point and comparison point azimuth angle value
To value, for example, the orientation of the azimuth angle value be -180 degree to 180 degree when, the azimuth of the reference point and the comparison point
Angle value is respectively -179 degree, 179 degree, and the orientation angles difference range is 2 degree；The pitch angle difference range is the ginseng
The absolute value of the difference of examination point and the comparison point pitch angle angle value；Doppler values difference range be the reference point with it is described
The absolute value of the difference of comparison point doppler values.
In step 103, in one embodiment, the distance threshold is 50m, orientation angular threshold is 10 degree, pitch angle
Thresholding is 10 degree, Doppler thresholds 50Hz.It should be noted that the distance threshold, orientation angular threshold, pitching angular threshold, more
General thresholding of strangling needs to be chosen according to the parameter of radar system and the kinetic characteristic of target, can be the ginseng in the embodiment of the present invention
Number, is also possible to other parameters, is not specially limited here.
Step 104, the identical point is condensed according to Plot coherence criterion, obtains congealing point, and from the sequence
The information of the identical point is rejected in measurement point.
At step 104, further, the Plot coherence criterion are as follows: the distance value of the congealing point is described identical
The average value of all distance values in point, doppler values are the doppler values of performance number maximum point in the identical point, the cohesion
The orientation angles of point, pitch angle are respectively as follows:
Wherein, FY, FZ are the orientation angles of the congealing point, and i is the point of serial number i in the identical point, and n is the phase
With the number put, FYiFor i-th point in the identical point of orientation angles, AiFor i-th point in the identical point of performance number.
Step 105, reference point, comparison point are reselected to the difference, carries out Plot coherence until the reference point
Traverse all the points of the sequence measurement point.
In step 105, reference point, comparison point selection are re-started to the difference, and according to the Plot coherence
Condition, Plot coherence criterion carry out Plot coherence, until the selection of reference point traverses all sequence measurement points.
Plot coherence algorithm provided in an embodiment of the present invention carries out radar surveying point according to target property according to sequence standard
Sequence improves the real-time of computational efficiency and radar data processing.
Fig. 2 is a kind of flow chart of Plot coherence embodiment of the method comprising orientation angles conversion, and the embodiment of the present invention mentions
The Plot coherence algorithm of confession is applied in azimuth angle value range in -180 degree~180 degree radar system, specifically comprising following
Step:
Step 101, according to radar measurements, the information of all measurement points is extracted, the information of the measurement point includes: away from
From value, orientation angles, pitch angle, doppler values, performance number.
Step 102, it to all measurement points, is ranked up according to ranking criteria, obtains sequence measurement point.
Step 106, the point by orientation angles range in the measurement point in -180 degree~0 degree, azimuth angle value add 360
Degree.
In step 106, when the orientation angles range of the measurement point be -180 degree~180 degree when, by the measurement point
Orientation angles range be converted to 0 degree~360 degree, it is therefore an objective to convenient for computer azimuth angle differ range.
Step 103, selecting at first point in the sequence measurement point is reference point, and all left points are comparison point, by institute
It states comparison point and is compared judgement according to Plot coherence condition with the reference point, meet the point label of the Plot coherence condition
For identical point, the point of the Plot coherence condition is unsatisfactory for labeled as difference.
Step 104, the identical point is condensed according to Plot coherence criterion, obtains congealing point, and from the sequence
The information of the identical point is rejected in measurement point.
Step 107, the azimuth angle value of the point by orientation angles range in the congealing point in 180 degree~360 degree subtracts
360 degree.
In step 107, the orientation angles of the point by orientation angles range in the congealing point in 180 degree~360 degree
The purpose of value subtracts 360 degree is that orientation angles range is converted back to -180 degree~+180 degree.
Step 105, reference point, comparison point are reselected to the difference, carries out Plot coherence until the reference point
Traverse all the points of the sequence measurement point.
As specific embodiment, a kind of Plot coherence method of the invention comprising the steps of: according to radar surveying knot
Fruit extracts the information of all measurement points, and the information of the measurement point includes: distance value, orientation angles, pitch angle, Doppler
Value, performance number；It to all measurement points, is ranked up according to ranking criteria, obtains sequence measurement point；The sequence is selected to survey
First point in amount point is reference point, and all left points are comparison point, and the comparison point is coagulated with the reference point according to a mark
Poly- condition is compared judgement, meets the point of the Plot coherence condition labeled as identical point, is unsatisfactory for the Plot coherence item
The point of part is labeled as difference；The identical point is condensed according to Plot coherence criterion, obtains congealing point, and from the row
The information of the identical point is rejected in sequence measurement point；Reference point, comparison point are reselected to the difference, carry out Plot coherence
Until the reference point traverses all the points of the sequence measurement point.
In one embodiment, the ranking criteria are as follows: the performance number of the measurement point is descending or doppler values by
It arrives greatly small.
In one embodiment, the Plot coherence condition includes distance dimension coherence condition, azimuth coherence condition, pitching
Angle coherence condition, Doppler tie up coherence condition, be respectively as follows: the reference point differ with the distance value of comparison point range no more than away from
From thresholding, orientation angles differ range and are not more than orientation angular threshold, and pitch angle differs range and is not more than pitching angular threshold, how general
Le value differs range and is not more than Doppler thresholds.
Further, the Plot coherence criterion are as follows: the distance value of the congealing point is all distances in the identical point
The average value of value, doppler values be the identical point in performance number maximum point doppler values, the orientation angles of the congealing point,
Pitch angle is respectively as follows:
Wherein, FY, FZ are the orientation angles of the congealing point, and i is the point of serial number i in the identical point, and n is the phase
With the number put, FYiFor i-th point in the identical point of orientation angles, AiFor i-th point in the identical point of performance number.
In one embodiment, when the orientation angles range of the measurement point is between -180 degree~180 degree, described
After the step of to all measurement points, being ranked up according to ranking criteria, obtaining sequence measurement point, the method is further wrapped
Contain: by point of the orientation angles range in the measurement point in -180 degree~0 degree, azimuth angle value adds 360 degree；Described to phase
It is condensed with putting according to Plot coherence criterion, obtains congealing point, and reject the identical point from the sequence measurement point
After the step of information, the method is further included: by orientation angles range in the congealing point in 180 degree~360 degree
Point the azimuth angle value degree that subtracts 360.
In one embodiment, the distance threshold is 50m, orientation angular threshold is 10 degree, pitching angular threshold is 10 degree, more
General Le thresholding is 50Hz.
Plot coherence algorithm provided in an embodiment of the present invention includes the conversion of orientation angles, and azimuth angle value is tied due to measurement
Fruit, which artificially draws the line, produces discontinuity, therefore carries out that phenomenon of failing to judge can be generated when Plot coherence condition judges, the present invention
Embodiment method efficiently solves azimuth angle value discontinuity bring and fails to judge phenomenon, improves the precision of Plot coherence.
The present invention realize it is following significant the utility model has the advantages that
It realizes simple comprising the steps of: according to radar measurements, extract the information of all measurement points, the measurement
The information of point includes: distance value, orientation angles, pitch angle, doppler values, performance number；To all measurement points, according to row
Sequence criterion is ranked up, and obtains sequence measurement point；Selecting at first point in the sequence measurement point is reference point, all left points
For comparison point, the comparison point is compared judgement according to Plot coherence condition with the reference point, it is solidifying to meet described mark
The point of poly- condition is labeled as identical point, is unsatisfactory for the point of the Plot coherence condition labeled as difference；The identical point is pressed
It is condensed according to Plot coherence criterion, obtains congealing point, and reject the information of the identical point from the sequence measurement point；It is right
The difference reselects reference point, comparison point, carries out Plot coherence until the reference point traverses the sequence measurement point
All the points.Plot coherence method proposed by the present invention is ranked up all measurement points before carrying out Plot coherence, and according to
Ranking results carry out Plot coherence algorithm, and cycle-index when calculating can be effectively reduced, and improve computational efficiency, reduce calculating
Time, the radar system high for requirement of real-time carries out having stronger application when radar data post-processing, and is easy to engineering
It realizes.
Obviously, the above embodiments are merely examples for clarifying the description, rather than the restriction to embodiment.For
For person of an ordinary skill in the technical field, other various forms of variations can also be made on the basis of the above description
Or it changes.There is no necessity and possibility to exhaust all the enbodiments.And obvious variation extended from this
Or change the protection scope for still falling within the invention.
Claims (10)
1. a kind of Plot coherence method characterized by comprising
According to radar measurements, the information of all measurement points is extracted；
It to all measurement points, is ranked up according to ranking criteria, obtains sequence measurement point；
Selecting at first point in the sequence measurement point is reference point, and all left points are comparison point, by the comparison point and institute
It states reference point and is compared judgement according to Plot coherence condition, meet the point of the Plot coherence condition labeled as identical point, no
Meet the point of the Plot coherence condition labeled as difference；
The identical point is condensed according to Plot coherence criterion, obtains congealing point, and reject from the sequence measurement point
The information of the identical point；
Reference point, comparison point are reselected to the difference, carry out Plot coherence until the reference point traverses the sequence
The all the points of measurement point.
2. Plot coherence method according to claim 1, it is characterised in that: the information of the measurement point includes: distance value,
Orientation angles, pitch angle, doppler values, performance number.
3. Plot coherence method according to claim 1, which is characterized in that the ranking criteria are as follows: according to the measurement
The performance number of point is descending or doppler values are arranged in descending order.
4. Plot coherence method according to claim 1, which is characterized in that the Plot coherence condition is distance dimension cohesion
Condition: the reference point differs range with the distance value of comparison point no more than distance threshold.
5. Plot coherence method according to claim 4, which is characterized in that the distance value is to own in the identical point
The average value of distance value.
6. Plot coherence method according to claim 1, which is characterized in that the Plot coherence condition is azimuth cohesion
Condition: the orientation angles difference range is not more than orientation angular threshold.
7. Plot coherence method according to claim 1, which is characterized in that the Plot coherence condition is pitch angle cohesion
Condition: the pitch angle difference range is not more than pitching angular threshold.
8. Plot coherence method according to claim 1, which is characterized in that the Plot coherence condition is that Doppler's dimension is solidifying
Poly- condition: the doppler values difference range is not more than Doppler thresholds, and doppler values are that performance number is maximum in the identical point
The doppler values of point.
9. Plot coherence method according to claim 1, which is characterized in that quasi- according to sequence to all measurement points
It is then ranked up, obtaining sequence measurement point further comprises: when the orientation angles range of the measurement point is in -180 degree~180 degree
Between when, in described pair of all measurement points, be ranked up according to ranking criteria, obtain sequence measurement point, will be in the measurement point
Point of the orientation angles range in -180 degree~0 degree, azimuth angle value add 360 degree.
10. Plot coherence method according to claim 1, which is characterized in that the identical point according to Plot coherence standard
It is then condensed, obtains congealing point, and the information for rejecting from the sequence measurement point identical point further comprises: by institute
State the azimuth angle value degree that subtracts 360 of point of the orientation angles range in 180 degree~360 degree in congealing point.
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| CN110879390B (en) * | 2019-12-02 | 2023-03-24 | 西安电子工程研究所 | Distance Doppler plane point trace agglomeration method based on parent-child node traversal |
| CN111123205A (en) * | 2019-12-18 | 2020-05-08 | 南京理工大学 | Ground reconnaissance radar target point trace condensing method |
| CN111123205B (en) * | 2019-12-18 | 2023-11-03 | 南京理工大学 | Ground reconnaissance radar target point trace aggregation method |
| CN111610521A (en) * | 2020-05-27 | 2020-09-01 | 西安长远电子工程有限责任公司 | Radar terrain data processing method |
| CN112986926A (en) * | 2021-04-13 | 2021-06-18 | 北京无线电测量研究所 | PD radar ghost suppression method based on trace point attribute correlation discrimination |
| CN112986926B (en) * | 2021-04-13 | 2022-11-08 | 北京无线电测量研究所 | PD radar ghost suppression method based on trace point attribute association discrimination |
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