CN110018450A - AIS is associated with calibration method with radar angular system deviation - Google Patents
AIS is associated with calibration method with radar angular system deviation Download PDFInfo
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- CN110018450A CN110018450A CN201910364589.6A CN201910364589A CN110018450A CN 110018450 A CN110018450 A CN 110018450A CN 201910364589 A CN201910364589 A CN 201910364589A CN 110018450 A CN110018450 A CN 110018450A
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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
- G01S7/40—Means for monitoring or calibrating
Abstract
A kind of AIS proposed by the present invention is associated with calibration method with radar angular system deviation, it is intended to during processing is to extra large detection radar long-play, calibrate to radar accuracy decline.The technical scheme is that: the maximum magnitude empirical value of radar system angular deviation range is provided using priori knowledge, estimates the angular deviation range of radar system deviation；Angular deviation range is quantified；Assuming that angular deviation isUsing assuming that angular deviation corrects radar measurement, and AIS is obtained target earth coordinates position, under rate conversion to radar polar coordinate system, the degree of membership of statistical correlation result；All angular deviations in array are traversed to assume, calculate the sum of the degree of membership of all target associations, the fuzzy membership of all targets is added up, select the maximum numerical value of the sum of degree of membership as final association results, clap is carried out to association results to examine more, unified association process is carried out, calibrates radar system error using association results.
Description
Technical field
The present invention relates in marine radar signal fused process field, realized using AIS and radar fusion to radar calibration
Method.Detect radar equipment calibration method
Background technique
Current communication navigational aid mainly has radar, VHF radio station peculiar to vessel, AIS equipment etc., they are for water transportation
Management plays the role of very important.Ship automatic identification system (AIS) is a kind of novel navigating equipment, can be automatically provided
Urine scent information.AIS can provide the name of vessel of object ship, identification code, captain, the beam, the static informations such as ship type and accommodation, boat
To it has the advantages that containing much information, precision is high to the multidate informations such as speed of a ship or plane, but it is that passively monitoring tracks target, Er Feiqiang
Honour an agreement ship and buoy object etc. of property processed must can be just monitored to by radar.Radar range is remote, and real-time is high, can be right
Naval vessel carries out detection and tracking, while can also find remote low altitude aircraft.Radar can be used to observe that water in range can be surveyed
The fixation or floating material situation in domain, can not only obtain ship's navigation position, and can judge between ship with the presence or absence of touching
Danger is hit, therefore, mutual supplement with each other's advantages can be reached by merging to AIS with the information of radar target, improve the precision and target of position
The reliability of information, it is ensured that the safety of ship's navigation.Since ship meeting is frequent, be easy to happen collision, cause marine pollution and
Life and property loss.All the time, the management information of various maritime traffic systems all source radars, but the target observation of radar
Vulnerable to environmental disturbances, the measurement accuracy and resolving power of target are very limited, lack the relevant information of target, it is difficult to meet sea-freight pipe
Reason requires.AIS is different with the format of radar data, and the coordinate system of use is different, and data transfer rate is also different, so that observes comes
The information obtained from two sensors of same target is not consistent.Radar is to determine target position according to distance and bearing
, AIS then uses longitude and latitude to position target, before judgement is related, first has to carry out coordinate conversion, the mesh for measuring the two
Cursor position information is transformed under the same coordinate system, just can be carried out next step operation.Radar is different with the information data rate of AIS, needle
The location information that same target measures is also impossible to from synchronization, so also need to carry out space-time uniformity, that is, allows two
The information of sensor synchronizes, and the target position information for obtaining the same moment so just can be carried out judgement correlation.Judge phase
Pass is a most important step, and most important influence vessel position has three speed of a ship or plane, course, distance factors.And track association
It is the indispensable stage that AIS is merged with radar track, the quality for being associated with performance directly affects the quality of Track Fusion, it is to improve ship
Oceangoing ship navigation safety improves necessary to sea early warning detection ability.Radar and AIS it is important as two kinds sea target surveillance prison
Survey means can provide the track information of target in observation or monitor area.Track is that target is formed in a time series
Motion profile, in situation map, track allows to track target usual Target track displaying.System for high-frequency earth wave radar
From AIS base station operation in different platforms, overlay area is also different, and the two has the information processing system of oneself, and is respectively
A large amount of targetpath information is all had collected in system.When track information is sent into processing center, it is necessary to judge from two
Whether two tracks of system represent the same target, and here it is track association problems.By being associated with of radar and AIS data,
Fusion treatment recycles the static message of AIS, and VTS can obtain unified target situation, to preferably carry out to ship
Monitoring, management, avoid ship from colliding.
Track Fusion processing can be divided into four parts: coordinate conversion, when ask calibration, track association and Track Fusion.When
Between alignment and coordinate transform be referred to as pre-processing, track association and Track Fusion are the cores of fusion center, wherein track association
It is emphasis.Track association is exactly for solving the problems, such as the repeat track in monitor area, thus track association is alternatively referred to as duplicate removal
It is multiple.Existing AIS and radar data correlating method are more, commonly include, based on fuzzy Double-Threshold Track Correlation method, double wave
The methods of Men Fa, k nearest neighbor domain method, neural network, gray scale association and fuzzy theory, but algorithm above is all based on measurement and is not present
In the case where systematic error.When the angle measurement of radar is there are unknown systematic error, and target is in intensive, intersects or machine
In the case of dynamic track is more, above traditional association method can all generate leakage association very serious and erroneous association.And
In practice, radar is universal there are systematic error, thus how to be effectively performed AIS with there are radars in the case of systematic error
Targetpath association is urgently to be resolved.
Radar, AIS sensor data correlation processing when, ground wave radar tests the speed to target radial, range accuracy is higher, and
It is lower to the precision of target bearing measurement, less apart from radar base station remote position track, and in the track close to base station
Quantity is more.Tangential distance error due to caused by remote target direction angular accuracy is low is bigger, the formation far from base station track
It is often relatively difficult.So ground wave radar Track forming is less in remote situation.In the factor for influencing track association
In, it removes attribute and target classification is outside the factor that can not be obscured, speed, distance, direction of target etc. can all obscure
Relation factor.There are track associations when certain unknown system bias for radar detection angle shown in Fig. 4.Due in VTS system, ship
Quantity is and relatively intensive generally at hundreds of.Although the range measurement accuracy of radar is higher, its angle-measurement accuracy is not high
(about 0.6 °) in long-term rotation process, can slowly cause certain angle system inclined in addition, radar is mostly mechanical antenna
Difference or radar inherently have the improper caused system deviation of antenna zeroing can all cause large quantities of even if angular deviation is smaller
The erroneous association of target influences the use of system.
Data fusion has strict requirements to the measurement system error of each portion's radar, if radar is surveyed in blending algorithm
It is bad to measure Systematic Error Correction, the optimality of fusion will be lost, influence flight path quality.System possibly can not utilize more radar numbers
According to target starting is carried out, track association can not be carried out using more radar datas, target is accurately tracked and timely motor-driven judgement is worked as
When heavy dense targets, easily there is the erroneous association within different radar targets, generates false target or division target etc..This is to certain
A little applications may be more fatal, such as operator is when judging situation according to display interface, may be because of mesh
Mark the fuzzy generation erroneous judgement of quantity and position.Therefore, before carrying out multi-radar data fusion, radar system error is carried out
Estimation is of great significance with calibration.AIS is associated with Radar Target Track under systematic error, in radar there are when systematic error,
Radar angular is calibrated using the fusion results of radar, AIS, be first need to solve under radar angular system deviation with
The accurate correlation of AIS is carrying out multiple target, prolonged error correction on the basis of accurate correlation, can obtain steady
Fixed, accurate radar system error, realizes the calibration to radar.There are two types of the main reason for causing systematic error: first is that each thunder
The fixed northern error in the orientation reached, but the origin fix error of each radar.The method master of radar system error is corrected in the prior art
Have following several:
1, north finder and GPS receiver are installed on each radar, the precision of north finder is up to 1 °, and the positioning accuracy of GPS is up to 15
Rice；
2, GPS positioning correction method removes correction radar system coordinate value using the coordinate true value of platform itself GPS positioning, as
The foundation of real-time detection, tracking system error change；
3, fixed echo correction method, this is also a kind of most common method, it is to correct thunder with the true value of fixed target position
Up to the coordinate absolute error of track；
4, benchmark radar correction method, it is exhausted in the coordinate for correcting standard radar track with the fixation target true value of standard radar
The coordinate relative error of the radar track of other radars is corrected to error and then with the radar track of standard radar.
In above system error calibration method, the 1st kind of method is had been supplied in a small amount of New Type Radar dispatched from the factory recently, still
Original a large amount of old radar, which is substantially all, not to be installed, and repacking acquires a certain degree of difficulty, and funds are also high.It, can be to thunder in 2nd kind of method
It is corrected up to original fix error, but can not be to the brings such as Radar Servo driving element precision and benchmark difference orientation Ding Bei
Error is corrected.In 3rd kind and the 4th kind of method, the fixed echo that multi-section radar can be seen is not easy to find, and this solid
Determining echo is frequently not real point target, and practical radar often has the case where pitching antenna, thus fixed target can bow with antenna
It faces upward and elegant, therefore, it is difficult to utilize.
Be commonly divided into two classes currently used for AIS and the associated algorithm of Radar Target Track: one kind is the side based on statistics
Method is somebody's turn to do AIS and Radar Target Track correlating method based on statistical method and track association problem is converted to Hypothesis Testing Problem,
Construction obeys the test statistics of specific distribution using the track estimation of AIS and radar, and according to pre-determined threshold value come
Judge whether two tracks come from same target；Another kind of is the method based on fuzzy mathematics, due to depositing in track association is adjudicated
In biggish ambiguity, and this ambiguity can be indicated with the subordinating degree function of fuzzy mathematics, that is, use degree of membership
Concept describes the similarity degrees of two tracks.However the correlating method based on statistics needs to assume the typical regularity of distribution；Fortune
It is also required to subordinating degree function when fuzzy mathematics method subjective given, this is just that the track association of AIS and radar target is brought
Many problems.Above-mentioned is processing AIS mostly with fuzzy method based on statistics and there is no Radar Target Tracks under systematic error
Related question, and it is attained by preferable association performance, still, when radar is there are when systematic error, this problem just becomes
Very intractable, and in practice, radar is universal there are systematic error, therefore AIS how is effectively performed and there are systems
Radar Target Track association is urgently to be resolved under error condition.
Summary of the invention
In order to solve conventional radar, AIS association in, since radar angular deviation causes largely to miss related question, this hair
It is bright to provide that a kind of association adaptability is good, accuracy is high, the AIS to calibrate for error to radar and radar angular system can be realized automatically
The association calibration method of deviation calibrates radar accuracy decline during handling to extra large detection radar long-play.
Above-mentioned purpose of the invention can be obtained by following measures, a kind of pass of AIS and radar angular system deviation
Join calibration method, it is characterised in that the following steps are included: providing the maximum of radar system angular deviation range using priori knowledge
Range empirical value α estimates the angular deviation range [- α, α] of radar system deviation；To angular deviation range [- α, the α] amount of progress
Change, the angle value between [- α, α] is quantified as array；Assuming that angular deviation isAnd on this basis, inclined using hypothesis angle
Difference amendment radar measurement, and AIS is obtained target earth coordinates position, under rate conversion to radar polar coordinate system, same
Under one coordinate system, processing, the degree of membership μ of statistical correlation result are associated to radar AIS；Traverse all angular deviations in array
It is assumed that different information to be established to unified fuzzy membership, the sum of degree of membership μ of all target associations ∑ μ is calculated, will be owned
The fuzzy membership of target is cumulative, selects the maximum numerical value of the sum of degree of membership ∑ μ as final association results, to association results into
Clap of row is examined more, carries out unified association process, calibrates radar system error using association results.
The present invention has the following beneficial effects: compared with the prior art
Associated adaptability is good.When due to the presence of radar angular system deviation and unknown size, traditional correlating method can be brought
Biggish associated errors and be not suitable for.And the present invention utilizes priori knowledge, provides the maximum model of radar system angular deviation range
Empirical value α is enclosed, then the range [- α, α] of radar angular system deviation；The angular deviation range [- α, α] is quantified, priori is utilized
Knowledge determines the deviation range [- α, α] of radar；2) deviation range [- α, α] is quantified, obtains array [- alpha+beta ,-α+2
β ... 0 ,-β+α, α]；When assuming that angular deviationIt is equal to or when very close real angle deviation, all targets is subordinate to
The sum of degree maximum, i.e. global association accuracy are maximum.Error statistics analysis is done to associated track again and further limits wave door
Range, to improve to the accurate correlation under different angle error.Radar angular system deviation of this method to unknown size
With good applicability, meanwhile, the system for being also applied for not angular deviation has good applicability.Deviation has good
Good applicability, meanwhile, the system for being also applied for not angular deviation has good applicability.
Associated stability is high.The present invention is based on angular error it is assumed that the information such as calculating position, attribute, speed obscure
Degree of membership is associated, and the sum of calculates target overall situation degree of membership, traverse it is all it is assumed that select the sum of degree of membership maximum as
Association results.This method takes full advantage of all track information, and different information is established to unified fuzzy membership, into
The unified association process of row, has preferable stability.
Associated accuracy is high.The present invention is associated place to radar AIS using angular deviation amendment radar measurement is assumed
Reason, the degree of membership μ of statistical correlation result；Track amendment, revised ground wave radar track are done based on the statistical analysis to error
Location error is obviously reduced between true track.After the amendment of ground wave radar track, lean on the position of ground wave radar track more
Nearly AIS track, each factor error are reduced, and the tracking accuracy to ground wave radar is improved.Than traditional nearest neighbor method energy
Enough reduce False Rate.A large amount of statistical information has been used in track association, has been counted by association results, has been needed in available operation
The parameter information wanted can intuitively show the specific distribution situation of statistical error information, facilitate the data analysis in later period.Finally
It is confirmed by example in the case where target is more, track is more complex, blur method has better than mean value nearest neighbor method
Stability, and after amendment, improve the correct association rate of track association.
It can be realized automatically and calibrate for error to radar.It, can be with after using multiple target, a large amount of association results at more moment
Using the accurate location of AIS, the true angle of target is calculated, it is hereby achieved that the system perspective error of target.To a large amount of
Angular error accumulated, average, can be obtained close to true systematic error.Shown in fig. 5 is to utilize the high-precision of AIS
Latitude and longitude information is spent, the association results with radar are modified the angular error of radar.It is a large amount of due to existing in sea area
Target, and there is radar and the associated objects of AIS for a long time, by multiple targets, and it is prolonged accumulative, it can be effective
Elimination radar measurement systematic error.
Detailed description of the invention
For a clearer understanding of the present invention, now will embodiment through the invention, referring concurrently to attached drawing, to describe this hair
It is bright.
Fig. 1, which is AIS of the present invention, is associated with flow chart with radar angular system deviation.
Fig. 2 is the earth coordinates position of AIS target to radar polar coordinate system shift process figure.
Fig. 3 is the earth coordinates speed of AIS target to radar polar coordinate system shift process figure.
Fig. 4 is to carry out calibration schematic diagram to the measurement system error of radar using the actual position of AIS.
Fig. 5 is that prior art radar systematic error causes erroneous association, the associated schematic diagram of leakage.
Specific embodiment
Refering to fig. 1.According to the present invention, the maximum magnitude experience of radar system angular deviation range is provided using priori knowledge
The angular deviation range [- α, α] of value α estimation radar system deviation；Angular deviation range [- α, α] is quantified, will [- α,
α] between angle value quantization array be [- alpha+beta ,-α+2 β ... 0 ,-β+α, α], wherein the α of β=2/(K-1), K be quantization after
Array number；Assuming that angular deviation isAnd on this basis, using assuming that angular deviation corrects radar measurement, and by AIS
Under the target earth coordinates position of acquisition, rate conversion to radar polar coordinate system, under the same coordinate system, to radar AIS into
Row association process, the degree of membership μ of statistical correlation result；In being subordinate to of statistical correlation result, foundation
Fuzzy membership function, calculate the degree of association of radar and AIS, reset associated decision threshold, according to decision threshold, determine
Target in association and without the target numbers in association, not associated upper target is subordinate to angle value and is set as 0, the target in association with
Subject to calculated result；Traversal in array [- alpha+beta ,-α+2 β ... 0 ,-β+α, α] all angular deviations it is assumed that calculating all targets
The sum of associated degree of membership μ ∑ μ, by the fuzzy membership of all targets the sum of add up, and select degree of membership ∑ μ it is maximum as
Final association results, after obtaining the accurate correlation result at multiple, more moment, i.e., using the accurate location of AIS to radar
Angular error is counted, and accurate error information is obtained, to realize the calibration to radar.
AIS can be realized with being associated with for radar angular system deviation by following steps:
1) deviation range [- α, α] of radar is determined using priori knowledge；
2) deviation range [- α, α] is quantified, obtains array [- alpha+beta ,-α+2 β ... 0 ,-β+α, α], the α of β=2/(K- 1), K
For the array number after quantization；
3) assume that angular deviation isAnd radar angular is modified on this basis, while by AIS target earth coordinates
Under position, under rate conversion to radar polar coordinate system；
4) radar and AIS are associated calculating, according to fuzzy membership functionCalculate radar and AIS
The degree of association, reset decision threshold, determine target in association and without the target numbers in association, not associated upper target person in servitude
Belong to angle value and be set as 0, the target in association is subject to calculated result；5) fuzzy membership of all targets is added up, obtains ∑
μ；6) all angular deviations in array [- alpha+beta ,-α+2 β ... 0 ,-β+α, α] are traversed it is assumed that calculating the sum of the degree of membership of target
∑ μ, and it is maximum as final result the sum of to select degree of membership；7) with time change, multiple authentication is carried out to hypothesis result,
Ensure to assume the correct of result.8) the calibrating to radar using associated result.
Step 1: the angular range [- α, α] of estimation radar system deviation, wherein α can provide maximum magnitude by empirical value,
The time is calculated to reduce hypothesis；
Step 2: to radar angular deviationIt carries out it is assumed that being incited somebody to action since angular deviation may be any one value in [- α, α]
Angle value between [- α, α] is quantified as array [- alpha+beta ,-α+2 β ... 0 ,-β+α, α], then true deviation affirmative is in array
Some value, the α of angle value β=2/(K-1), K are the number assumed；
Step 3: assuming that the angular deviation of radar isIn,For some in array [- alpha+beta ,-α+2 β ... 0 ,-β+α, α]
Value, and radar measurement angle compensation is carried out on this basis, the radar surveying value after being calibrated, while by the big of AIS target
Under position, rate conversion to radar polar coordinate system under ground coordinate system；
Step 4: radar, AIS are associated calculating, and the parameter of calculating includes location information (ρ, θ) and speed v, calculate separately
The fuzzy membership of parameterWherein, xiIndicate observation i, xjIndicate observation j, σijIndicate observation i and
Observe the variance of j；
Step 5: according to associated decision threshold, determine target in association and it is not associated on target numbers, wherein in association
Target be subject to calculated result, it is not associated on target be subordinate to angle value and be set as 0, then by the calculated mould of all target associations
Paste degree of membership is cumulative to seek ∑ μ；
Step 6: traversal angular deviation all in array [- alpha+beta ,-α+2 β ... 0 ,-β+α, α] is it is assumed that calculate being subordinate to for target
The sum of degree, and it is maximum as final result the sum of to select degree of membership；
Step 7: being calculated using clap morely, multiple authentication is carried out to hypothesis result, it is ensured that assuming that result is correct；
Step 8: the association results using multiple target, more clapped solve the real angle and radar measurement angular error of target, when
It averages to a large amount of angular errors, can be obtained radar close to true systematic error, to realize the calibration to radar.
AIS is different with the detection coordinate system of radar, and the polar coordinate system centered on radar base station that radar obtains, AIS is obtained
What is obtained is that target earth coordinates measure.Therefore its position, speed must be uniformly transformed under radar polar coordinate system, in radar
Polar coordinate system under to the parameters such as the distance, angle, speed of radar, AIS carry out degree of membership calculating.
Radar may be mounted in aircraft, ship, or fixed bank, and Unify legislation is carrier aircraft here.If it is ship
Only, then deck spherical coordinate system, deck rectangular coordinate system, deck geographic coordinate system are corresponded to.If it is fixed position, then radar is corresponded to
The coordinate position of base station.
Under normal circumstances, the detection result of ground wave radar is that the azimuth-range with ship target relative to radar base station is come
It indicates, is a kind of polar coordinate representation method, and be the position for describing target with longitude and latitude in AIS report, using
WGS-84 earth coordinates, it is necessary to the two uniformly be arrived into the same coordinate system just and can be carried out subsequent association.Carrying out coordinate
After unified transformation, the longitude and latitude of AIS information is become it to the distance of ground wave radar base station and relative to the main wave in radar base station
The position coordinates conversion process at the azimuth of beam angle, AIS information is as shown in Figure 2.But since ground wave radar detection result provides
The speed of a ship or plane of target is the radial velocity relative to radar base station, and AIS provides true velocity and the course of ship, and the two does not have also
There is the unification for reaching final, so needing to carry out projective transformation to the speed of AIS information, is translated into along target and earthwave
Projection amount on radar method line method, process flow are as shown in Figure 3.
Refering to Fig. 2, Fig. 3.The target of incidence relation has been determined, has utilized the high coordinate of the high-precision longitude and latitude of AIS and radar
The high coordinate of longitude and latitude can solve angle, the distance of target range radar.Each associated objects can obtain current time radar
Angular error, which includes that random error and radar system error can be obtained more when multiple associated objects
A moment averages.
Carrier aircraft spherical coordinate system S1: distance indicates the absolute distance of target to carrier aircraft mass center, and azimuth indicates target in carrier aircraft
The angle of the projection of Master Datum Plane and head forward direction, the target wing to the right are positive, and the wing to the left is negative, value range for [- 180 °,
180 °), pitch angle indicates target and carrier aircraft mass center line and Master Datum Plane angle, and target, which is located above carrier aircraft, to be positive, position
Be negative below the carrier aircraft, value range be [- 90 °, 90 °).
Carrier aircraft rectangular coordinate system S2: using coordinate origin as carrier aircraft mass center, Master Datum Plane is X/Y plane, and the parallel arbor of X-axis refers to
In front of to head, the vertical arbor of Y-axis is directed toward right flank, and the vertical Master Datum Plane of Z axis is directed toward below ventral.
Carrier aircraft geographic coordinate system S3: with selecting east northeast coordinate system, abbreviation NED (North-East-Down) coordinate system, carrier aircraft
Mass center is coordinate origin, and X-axis is directed toward geographical compass direction, and Y-axis direction carrier aircraft position earth rotation is tangentially eastern, and Z axis hangs down
Straight NE plane is downwardly directed.When target is located near extremely northern axis, if X-axis and ECEF coordinate system X-axis are antiparallel, it is located at extremely southern axis
When neighbouring, if X-axis is parallel with ECEF coordinate system X-axis, under above two situation, Y-axis is each parallel to ECEF coordinate system Y-axis；
ECEF coordinate system S4: for ECEF coordinate system, also referred to as WGS-84 rectangular coordinate system, 1987 by U.S. Department of Defense
Map service establishes.Its coordinate origin is located at the mass center of the earth, and Z axis is directed toward the agreement earth direction to the north pole that BIH1984.0 is defined, X
Axis is directed toward the initial meridian plane of BIH1984.0 and the intersection point in equator, and Y-axis and X-axis and Z axis constitute right-handed system；
E earth coordinates S5: the high coordinate system of general longitude and latitude enables a=6378137 meters of terrestrial equator radius, b=here
6356752.3142 rice, the first eccentricity square of meridian circle e2=0.00669438.When target is located at polar axis, longitude is set as always
0°。
The definition of E airborne platform attitude angle:
X, y indicate that the position coordinates under each coordinate, ε are pitch angle,
Yaw angle β: carrier aircraft arbor forward direction projects in S3 coordinate system NE horizontal plane and N is to angle, increases clockwise for angle
Add direction, value range be [0 °, 360 °)；
Pitch angleThe angle of carrier aircraft arbor forward direction and NE horizontal plane, top are positive, and lower section is negative, value range be [- 90 °,
90°)；
Roll angle γ: the angle between the longitudinally asymmetric face of carrier aircraft and longitudinal vertical guide, arbor bottom right, which is inclined, to be positive, and lower-left, which is inclined, to be negative,
Value range be [- 180 °, 180 °), attitude angle: (β, ε, γ).
E in the conversion under different coordinates, is defined as follows in target position, speed:
S1 coordinate system:ρ indicates that distance, θ are azimuth, vρFor radial velocity, vθFor azimuth speed
Degree,For rate of pitch；
S2 coordinate system: (x2,y2,z2),Respectively indicate target position under S2 coordinate system, speed.
S3 coordinate system: (x3,y3,z3),Respectively indicate target position under S3 coordinate system, speed.
S4 coordinate system: (x4,y4,z4),Respectively indicate target position under S4 coordinate system, speed.
S5 coordinate system: (l, m, h), (α, vρ,vh), respectively indicate through, latitude, height, course angular speed, the speed of a ship or plane, high low rate of change.
In the coordinate transform of position, E coordinate system S2 → coordinate system S1, distance
IfThen azimuth angle theta=0
IfThen azimuth
IfThen pitch angleIf
The then pitch angle of radar
Coordinate system S1 → coordinate system S2
If ρ≤0.001,If ρ > 0.001,Then
IfThen
From coordinate system S2 → coordinate system S3 coordinate transfer matrix M
Then have
Coordinate system S3 → coordinate system S2
Coordinate system S5 → coordinate system S4, as (N+h) cosm≤0.001, then x4=y4=0,Its
In, ellipsoid radius of curvature in prime vertical N,As (N+h) cosm > 0.001,
Coordinate system S4 → coordinate system S5, longitude
WhenWhen,
WhenWhen, latitude m and height h need to use solution by iterative method, and iteration starts season
Then it is iterated by following stepping type
Until the limit value that the difference of latitude m and the adjacent iterative value of height h two is less than a certain requirement, require here iteration four times,
Precision reaches grade.
E is from S3 coordinate system → coordinate system S4 transfer matrix S
Then haveWhereinFor carrier aircraft ECEF coordinate value, it is calculated by formula (7).
E coordinate system S4 → coordinate system S3,
Coordinate transform function is given above to summarize as shown in Figure 4:
Speed coordinate transformation: speed takes the form of radial velocity, Azimuth, Speed, Altitude and rate of pitch under S1 coordinate system；
The form of expression of the speed under target position S3 (hereinafter referred to as S3*) coordinate system is course, the speed of a ship or plane and high low rate of change；Speed
It is the velocity component on tri- directions X, Y, Z in the form of expression under coordinate system S2, coordinate system S3, coordinate system S4 coordinate system.
E coordinate system S1 → coordinate system S2
As ρ > 0.001, ifTransfer matrix
Then haveIfOrder matrixThen
As ρ≤0.001,
Coordinate system S2 → coordinate system S1
WhenWhen,
IfThen
IfThen
WhenWhen,
Coordinate system S2 → coordinate system S3
Coordinate system S3 → coordinate system S2
Coordinate system S3 → coordinate system S4
Coordinate system S4 → coordinate system S3
Coordinate system S4 coordinate system → S3*
For measured target, position longitude l' and latitude m' can be obtained by previous trifle coordinate transform, enable transfer matrixThen have
Coordinate system S3* → coordinate system S4
Work as vpWhen > 0.001,Work as vpWhen≤0.001,Then,
Thus three-dimensional velocity vector can be realized in any conversion between the two of five canonical coordinates systems.
E radar error specifically includes that the random error in the systematic error and distance, angle direction of angle measurement.And
AIS precision is equal to GPS accuracy, it is believed that does not have systematic error, only random error, then observation indicates are as follows:
Wherein,For the real angle value of target i, ηθFor the angle system error of radar,It is missed for the angle random of target i
Difference, when assuming that systematic errorClosely or equal to true systematic error ηθWhen, radar, AIS to same target close
The degree of membership of connectionIt is maximum.
E is coordinately transformed the AIS longitude and latitude height of the target of incidence relation, is transformed under radar fix system.It can obtain
θAISAnd ρAIS, wherein the precision of AIS is within 20 meters, and all after target range radar is more than 10 kilometers, angular error is less than
It 0.1 °, can be ignored.Therefore, incidence relation target takes farther away target here.
Δθ=ηRd-ξRd-ξAIS (28)
According to formula 28 as can be seen that the differential seat angle Δ of incidence relationθIt include radar system error ηRdAnd radar is with chance error
Poor ξRd, AIS random error ξAI0.Different target, different moments, random error each other is all white Gaussian noise, because
This:By a large amount of targets, multiple moment it is accumulative, so that it may obtain accurate radar system and miss
Difference, to be calibrated to radar.
The present invention is not limited to the above-described embodiments, anyone can obtain other various forms under the inspiration of the present invention
Product, however, making any variation, without departing from the idea case in the present invention described above, root in its shape or structure
According to ordinary skill knowledge and customary means, various replacements and change are made, protection scope of the present invention should all be included in
It is interior.
Claims (10)
1. a kind of AIS is associated with calibration method with radar angular system deviation, it is characterised in that the following steps are included: utilizing priori
Knowledge provides the maximum magnitude empirical value α of radar system angular deviation range, estimates the angular deviation range of radar system deviation
[- α, α]；Angular deviation range [- α, α] is quantified, the angle value between [- α, α] is quantified as array；Assuming that angle is inclined
Difference isAnd on this basis, radar measurement is corrected using hypothesis angular deviation, and ship automatic identification system AIS is obtained
Under target earth coordinates position, rate conversion to radar polar coordinate system, under the same coordinate system, radar AIS is associated
Processing, the degree of membership μ of statistical correlation result；All angular deviations in array are traversed it is assumed that different information is established unification
Fuzzy membership calculates the sum of degree of membership μ of all target associations ∑ μ, the fuzzy membership of all targets is added up, and selection is subordinate to
The maximum numerical value of the sum of category degree ∑ μ carries out clap to association results more and examines, carry out at unified association as final association results
Reason calibrates radar system error using association results.
2. AIS as described in claim 1 is associated with calibration method with radar angular system deviation, it is characterised in that: will [- α,
α] between angle value quantization array be [- alpha+beta ,-α+2 β ... 0 ,-β+α, α], wherein the α of β=2/(K-1), K be quantify after number
Group number.
3. AIS as described in claim 1 is associated with calibration method with radar angular system deviation, it is characterised in that: estimation thunder
Up to the angular range [- α, α] of system deviation, wherein α provides maximum magnitude by empirical value.
4. AIS as described in claim 1 is associated with calibration method with radar angular system deviation, it is characterised in that: counting
In being subordinate to of association results, foundationFuzzy membership function, calculate radar and AIS the degree of association,
Associated decision threshold is reset, according to decision threshold, the target in association is determined and without the target numbers on being associated with, does not close
Target is subordinate to angle value and is set as 0 on connection, and the target in association is subject to calculated result, wherein xiIndicate the observation i in the direction x,
xjIndicate observation j, σijIndicate the variance of observation i and observation j.
5. AIS as described in claim 1 is associated with calibration method with radar angular system deviation, it is characterised in that: assuming that
The angular deviation of radar isIn,For some value in array [- alpha+beta ,-α+2 β ... 0 ,-β+α, α], and carry out on this basis
Radar measurement angle compensation, the radar surveying value after being calibrated.
6. AIS as claimed in claim 4 is associated with calibration method with radar angular system deviation, it is characterised in that: radar, ship
The parameter that oceangoing ship automatic recognition system AIS is associated calculating includes location information (ρ, θ) and speed v, calculates separately parameter
Fuzzy membershipWherein, ρ is distance, and θ is azimuth, xiIndicate observation i, xjIndicate observation j, σij
Indicate the variance of observation i and j.
7. AIS as described in claim 1 is associated with calibration method with radar angular system deviation, it is characterised in that: utilize more
Target, the association results more clapped solve the real angle and radar measurement angular error of target, ask equal to a large amount of angular errors
Value obtains radar close to true systematic error.
8. AIS as described in claim 1 is associated with calibration method with radar angular system deviation, it is characterised in that: carrying out
After coordinate unification transformation, the longitude and latitude of AIS information is become it to distance of ground wave radar base station and relative to radar base station
The azimuth at main beam angle when the position coordinates conversion process of AIS information, carries out projective transformation to the speed of AIS information, by it
It is converted into along the projection amount in target and ground wave radar method line method.
9. AIS as described in claim 1 is associated with calibration method with radar angular system deviation, it is characterised in that: in determination
After the target of incidence relation, using the high coordinate of the high-precision longitude and latitude of AIS and the high coordinate of longitude and latitude of radar, solve target away from
Angle from radar, with a distance from, obtain the angular error of each associated objects current time radar, when multiple associated objects,
Obtaining multiple moment averages.
10. AIS as described in claim 1 is associated with calibration method with radar angular system deviation, it is characterised in that: when assuming that
Systematic errorClosely or equal to true systematic error ηθWhen, radar, AIS are subordinate to same target association
DegreeIt is maximum, wherein θAISFor the measuring value of AIS, θRdFor the measuring value of radar, σ is radar and AIS
Variance.
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