CN110286363A - A kind of tangential flight track speed difference reconditioning correction method of target long-time - Google Patents
A kind of tangential flight track speed difference reconditioning correction method of target long-time Download PDFInfo
- Publication number
- CN110286363A CN110286363A CN201910568698.XA CN201910568698A CN110286363A CN 110286363 A CN110286363 A CN 110286363A CN 201910568698 A CN201910568698 A CN 201910568698A CN 110286363 A CN110286363 A CN 110286363A
- Authority
- CN
- China
- Prior art keywords
- track
- radial
- difference
- target
- speed difference
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/415—Identification of targets based on measurements of movement associated with the target
Abstract
The application belongs to airborne multi-function radar technical field of data processing, in particular to tangential flight track speed difference rebuilds correction method to a kind of target for a long time, includes the following steps: to be associated measured value and existing track；Slide window processing is carried out to the low magnitude of resurveying being successfully associated；Radial distance change rate is subjected to ambiguity solution processing with the radial velocity for resurveying magnitude when frame is low, obtains difference weight information；Calculate every group of the sum of radial distance error；Track is judged with the presence or absence of radial velocity difference weight problem, if it is present statistical difference weight information according to every group of the sum of radial distance error；The most poor tuple of frequency of occurrence in statistical difference weight information；The difference for calculating track radial velocity Yu the true radial velocity of target, as track correction value next time.Tangential flight track speed difference rebuilds correction method to an object of the application for a long time, is modified by speed of the speed difference to track, thus because flight path velocity difference leads to track loss again when solving the problems, such as tangential flight for a long time.
Description
Technical field
The application belongs to airborne multi-function radar technical field of data processing, in particular to a kind of target is tangential for a long time to fly
Row flight path velocity difference rebuilds correction method.
Background technique
When airborne radar Tracking Maneuvering Targets, when target ground velocity is when the component of carrier aircraft radially is smaller, radar return
Doppler frequency can fall into the main clutter area of detection, so that echo signal can not be detected, it is excessively general that this phenomenon is known as target
Strangle blind area.If target tangentially flight for a long time, can enter Doppler blind area in the long period, so that facing nothing for a long time has
Effect detection echo leads to the situation of track loss.Currently, low heavy waveform is mostly used for the signal detection in Doppler blind area, it should
What strategy was capable of greater probability detects target echo, since the distance value that low heavy waveforms detection arrives is more accurate, traditional association
The confidence level for dimension of adjusting the distance in method is higher, if to spend the Doppler blind area time shorter for target, although track can deviate at the beginning
But track can be corrected by subsequent accurate measurements, but if target crosses Doppler blind area, traditional association side for a long time
Method can have the following disadvantages:
Since velocity ambiguity degree is high, the problem of difference weight is easy after measured value ambiguity solution with real goal speed, if boat
Mark long-time speed difference weight, then the distance of track can increasingly deviate the actual distance of target, eventually lead to track interruption.
Summary of the invention
At least one in order to solve the above-mentioned technical problem, this application provides a kind of target, tangential flight track is fast for a long time
Degree difference reconditioning correction method.
This application discloses a kind of target, tangential flight track speed difference rebuilds correction method for a long time, includes the following steps:
Step 1: being associated to when the measured value of frame input with existing track, if the four-dimensional information of measured value is fallen
Enter track Bo Mennei, then judges that track is successfully associated with measured value；
Step 2: whether the measured value that is successfully associated of judgement is low to resurvey magnitude；Magnitude is resurveyed if it is low, then to association
Radial distance error between successful track and measured value carries out slide window processing, when sliding window length is equal to predetermined length, into
Row step 3；
Step 3: calculating target radial range rate according to the radial distance difference of slide window processing and frame period, then
Radial distance change rate is subjected to ambiguity solution processing with the radial velocity for resurveying magnitude when frame is low, counts the low diameter for resurveying magnitude
To the difference weight information of speed and target radial range rate；
Step 4: by the low history radial distance control information for resurveying magnitude is grouped with track association in sliding window,
Calculate every group of the sum of radial distance error；
Step 5: judging that track whether there is radial velocity difference weight problem according to every group of the sum of radial distance error, such as
Fruit exists, then counts in sliding window the low difference weight information for resurveying magnitude radial velocity with track association；
Step 6: counting the poor tuple that frequency of occurrence is most in the difference weight information of step 5, and judge the difference tuple
Whether frequency of occurrence is greater than predetermined probability；If it is greater, then determining track, there are speed difference reconstructed images, and carry out step 7；
Step 7: to calculate track radial velocity true with target for the poor tuple and PRI information that are obtained according to step 6
The difference of radial velocity, and the target radial speed correction value using the difference as track next time when scheduled.
It in the step 5, is judged according to following threshold condition (1) according at least one embodiment of the application
Track is with the presence or absence of radial velocity difference weight problem:
Wherein, n is radial distance error sliding window predetermined length, and m is group number, and L is every group of sliding window length；ΔRiFor single window
The radial distance error of mouth；I is sliding window array index serial number；
Indicate the sum of every group of radial distance error；R1, R2 are respectively predetermined threshold.
According at least one embodiment of the application, in the step 6, predetermined probability 0.5.
It is the radial speed according to poor tuple and PRI in the step 7 according at least one embodiment of the application
The product of degree obtains track radial velocity and the true radial velocity difference of target.
According at least one embodiment of the application, in said step 1, when frame refers to the same radar frame period.
According at least one embodiment of the application, in said step 1, four-dimensional information include radial distance information,
Radial velocity information, azimuth information and pitch angle information.
At least there are following advantageous effects in the application:
Tangential flight track speed difference rebuilds correction method to an object of the application for a long time, by speed difference to the speed of track
Degree is modified, thus because flight path velocity difference leads to track loss again when solving the problems, such as tangential flight for a long time；This method mentions
High target following robustness of the airborne multi-function radar in Doppler blind area, and for target in Doppler blind area
Key technology research provides important method.
Detailed description of the invention
Fig. 1 is the flow chart of the tangential flight track speed difference reconditioning correction method of the application target long-time；
Fig. 2 is the target following track distance dimension figure under the conditions of Doppler blind area；
Fig. 3 is the target following flight path velocity dimension figure under the conditions of Doppler blind area；
Fig. 4 is that the speed difference under the conditions of Doppler blind area rebuilds positive goal track apart from dimension figure；
Fig. 5 is the speed difference reconditioning positive goal track speed dimension figure under the conditions of Doppler blind area；
Wherein, the black circles in Fig. 2-Fig. 5 are measured value, and solid black lines GPS, plus sige is track, and abscissa is frame
Number, Fig. 2-Fig. 4 ordinate is respectively distance, and Fig. 3-Fig. 5 ordinate is respectively speed.
Specific embodiment
To keep the purposes, technical schemes and advantages of the application implementation clearer, below in conjunction in the embodiment of the present application
Attached drawing, technical solutions in the embodiments of the present application is further described in more detail.In the accompanying drawings, identical from beginning to end or class
As label indicate same or similar element or element with the same or similar functions.Described embodiment is the application
A part of the embodiment, instead of all the embodiments.The embodiments described below with reference to the accompanying drawings are exemplary, it is intended to use
In explanation the application, and it should not be understood as the limitation to the application.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without creative efforts, shall fall in the protection scope of this application.Under
Face is described in detail embodiments herein in conjunction with attached drawing.
When target tangential flight for a long time, it will lead to target and be within Doppler blind area for a long time, Doppler blind area
Within target generally returned without effective detection echo, even if signal detection has detection echo to return using low heavy waveform, but
Also can there is a problem of speed difference weight.
For this purpose, tangential flight track speed difference rebuilds correction method to an object of the application for a long time, by believing historical context
The statistics and analysis of breath, the speed and true velocity for judging track calculate speed difference in the presence of poor reconstructed image, finally
It is modified with speed of the calculated speed difference to track, thus because flight path velocity is poor when solving tangential flight for a long time
Lead to track loss problem again.
To an object of the application, tangential flight track speed difference rebuilds correction method into one to 1- Fig. 5 for a long time with reference to the accompanying drawing
Step is described in detail.
This application discloses a kind of target, tangential flight track speed difference rebuilds correction method for a long time, includes the following steps:
Step 1: being closed to when the measured value of frame (i.e. this frame refers to the same radar frame period) input with existing track
Connection, if the four-dimensional information (i.e. radial distance, radial velocity, azimuth, pitch angle) of measured value falls into track Bo Mennei (i.e. door
Limit), then judge that track is successfully associated with measured value.
Step 2: whether the measured value that is successfully associated of judgement is low to resurvey magnitude；Magnitude is resurveyed if it is low, then to association
Radial distance error between successful track and measured value carries out slide window processing, when sliding window length is equal to predetermined length, into
Row step 3.
Wherein, judge the measured value being successfully associated whether be it is low resurvey magnitude, be by judging that frame where measured value uses
Waveform detection frame form, be generally divided into low heavy, middle heavy, Gao Chong.
Step 3: calculating target radial range rate according to the radial distance difference of slide window processing and frame period, then
Radial distance change rate is subjected to ambiguity solution processing with the radial velocity for resurveying magnitude when frame is low, counts the low diameter for resurveying magnitude
To the difference weight information of speed and target radial range rate.
Step 4: by the low history radial distance control information for resurveying magnitude is grouped with track association in sliding window,
Calculate every group of the sum of radial distance error.
Step 5: judging that track whether there is radial velocity difference weight problem according to every group of the sum of radial distance error, such as
Fruit exists, then counts in sliding window the low difference weight information for resurveying magnitude radial velocity with track association.
Specifically judging track with the presence or absence of radial velocity difference weight problem according to following threshold condition (1):
Wherein, n is radial distance error sliding window predetermined length, and m is group number, and L is every group of sliding window length；ΔRiFor single window
The radial distance error of mouth；I is sliding window array index serial number；
Indicate the sum of every group of radial distance error；R1, R2 are respectively predetermined threshold.
Step 6: counting step for the track statistical history correlation measurement value speed difference weight information of doubtful speed difference weight
The most poor tuple (being assumed to be N weight) of frequency of occurrence in rapid five difference weight information, and judge the difference tuple frequency of occurrence whether
Greater than predetermined probability；If it is greater, then determining track, there are speed difference reconstructed images, and carry out step 7.
Step 7: the poor tuple and PRI (pulse recurrence interval) information that are obtained according to step 6 calculate track radial direction
The difference of speed and the true radial velocity of target, and corrected the difference as target radial speed of track next time when scheduled
Value.
Specifically obtaining the radial speed of track according to the product of poor tuple and the radial velocity of PRI (pulse recurrence interval)
Degree and the true radial velocity difference of target.In the present embodiment, preferably predetermined probability is 0.5, if the probability of N frequency of occurrence is greater than
0.5, then determine that there are speed difference weight problem, N number of PRI speed is differed with the speed of real goal for the track.
Further, flight path velocity is modified using the speed correction having calculated that when next time dispatches the target.
In conclusion tangential flight track speed difference rebuilds correction method to an object of the application for a long time, pass through speed difference
The speed of track is modified, thus because flight path velocity difference causes track loss to be asked again when solving tangential flight for a long time
Topic；The target following robustness that the method increase airborne multi-function radars in Doppler blind area, and for target more
Key technology research in general Le blind area provides important method.
Below in conjunction with a specific example, to an object of the application, tangential flight track speed difference rebuilds correction method for a long time
It is described further:
In above-mentioned steps three, counts the low radial velocity for resurveying magnitude and the difference of target radial range rate is believed again
Breath, if target away from variability is 135.88m/s, measured value speed is 88.47m/s, a PRF speed is 50m/s, then poor tuple is
1。
In above-mentioned steps four, step 5, by the low history radial distance for resurveying magnitude misses with track association in sliding window
Poor information is grouped, it is assumed that range error sliding window length is 20, is divided into 5 groups, then every group of sliding window length is 4, such as 1 institute of table
Show:
Table 1
| Sliding window subscript | 1 | 2 | 3 | 4 | The sum of every grouping error |
| Residual distance error | 152.39 | 146.18 | 152.53 | 125.46 | 576.56 |
| Sliding window subscript | 5 | 6 | 7 | 8 | The sum of every grouping error |
| Residual distance error | 132.53 | 132.24 | 127.12 | 125.28 | 517.17 |
| Sliding window subscript | 9 | 10 | 11 | 12 | The sum of every grouping error |
| Residual distance error | 117.08 | 110.17 | 99.15 | 106.36 | 432.76 |
| Sliding window subscript | 13 | 14 | 15 | 16 | The sum of every grouping error |
| Residual distance error | 101.92 | 100.71 | 91.72 | 91.69 | 386.04 |
| Sliding window subscript | 17 | 18 | 19 | 20 | The sum of every grouping error |
| Residual distance error | 85.34 | 85.28 | 78.74 | 68.71 | 318.07 |
Every group of the sum of range error is calculated first, then statistical packet control information, if control information meets formula
(1) three conditions in, R1 takes 500, R2 to take 300 herein, then judge the track it is doubtful there are speed difference weight problem.
In above-mentioned steps six, step 7, predetermined probability is set as 0.5, N 1；Then according to the poor weight values that count and
PRI information calculates flight path velocity and target true velocity difference, and correction value is -50 in this example.Finally, next time dispatches the target
The speed correction that Shi Liyong has calculated that is modified flight path velocity, and velocity measurement is -87.85 in this example, after amendment -
137.85。
Target in comparison diagram 2- Fig. 5, Fig. 2-Fig. 3 since long-time is in Doppler blind area, cause track it is final in
It is disconnected, although and Fig. 4-5 distance dimension is also drawn partially at the beginning, since using speed difference weight correction technique, final track is repaired
Just and continued association is to subsequent measured value.
The above, the only specific embodiment of the application, but the protection scope of the application is not limited thereto, it is any
Within the technical scope of the present application, any changes or substitutions that can be easily thought of by those familiar with the art, all answers
Cover within the scope of protection of this application.Therefore, the protection scope of the application should be with the scope of protection of the claims
It is quasi-.
Claims (6)
1. tangential flight track speed difference rebuilds correction method to a kind of target for a long time, which comprises the steps of:
Step 1: being associated to when the measured value of frame input with existing track, if the four-dimensional information of measured value falls into boat
Mark Bo Mennei then judges that track is successfully associated with measured value；
Step 2: whether the measured value that is successfully associated of judgement is low to resurvey magnitude；Magnitude is resurveyed if it is low, then to being successfully associated
Track and measured value between radial distance error carry out slide window processing, when sliding window length be equal to predetermined length when, walked
Rapid three；
Step 3: target radial range rate is calculated according to the radial distance difference of slide window processing and frame period, then by diameter
Ambiguity solution processing is carried out with the radial velocity for resurveying magnitude when frame is low to range rate, counts the low radial speed for resurveying magnitude
The difference weight information of degree and target radial range rate；
Step 4: being calculated the low history radial distance control information for resurveying magnitude is grouped with track association in sliding window
The sum of every group radial distance error；
Step 5: judging track with the presence or absence of radial velocity difference weight problem, if deposited according to every group of the sum of radial distance error
Then counting in sliding window the low difference weight information for resurveying magnitude radial velocity with track association；
Step 6: counting the poor tuple that frequency of occurrence is most in the difference weight information of step 5, and judge the appearance of the difference tuple
Whether number is greater than predetermined probability；If it is greater, then determining track, there are speed difference reconstructed images, and carry out step 7；
Step 7: the poor tuple and PRI information that are obtained according to step 6 calculate track radial velocity and target really radial direction
The difference of speed, and the target radial speed correction value using the difference as track next time when scheduled.
2. tangential flight track speed difference rebuilds correction method to target according to claim 1 for a long time, which is characterized in that
It is to be judged track with the presence or absence of radial velocity difference weight problem according to following threshold condition (1) in the step 5:
Wherein, n is radial distance error sliding window predetermined length, and m is group number, and L is every group of sliding window length；ΔRiFor single window
Radial distance error；I is sliding window array index serial number；Table
Show the sum of every group of radial distance error；R1, R2 are respectively predetermined threshold.
3. tangential flight track speed difference rebuilds correction method to target according to claim 1 for a long time, which is characterized in that
In the step 6, predetermined probability 0.5.
4. tangential flight track speed difference rebuilds correction method to target according to claim 1 for a long time, which is characterized in that
It is that track radial velocity and target really radial direction are obtained according to the product of the radial velocity of poor tuple and PRI in the step 7
Speed difference.
5. tangential flight track speed difference rebuilds correction method to target according to claim 1 for a long time, which is characterized in that
In the step 1, when frame refers to the same radar frame period.
6. tangential flight track speed difference rebuilds correction method to target according to claim 1 for a long time, which is characterized in that
In the step 1, four-dimensional information includes radial distance information, radial velocity information, azimuth information and pitch angle information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910568698.XA CN110286363B (en) | 2019-06-27 | 2019-06-27 | Target long-time tangential flight track speed difference re-correction method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910568698.XA CN110286363B (en) | 2019-06-27 | 2019-06-27 | Target long-time tangential flight track speed difference re-correction method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110286363A true CN110286363A (en) | 2019-09-27 |
| CN110286363B CN110286363B (en) | 2022-05-17 |
Family
ID=68019324
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910568698.XA Active CN110286363B (en) | 2019-06-27 | 2019-06-27 | Target long-time tangential flight track speed difference re-correction method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110286363B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000214252A (en) * | 1999-01-25 | 2000-08-04 | Nec Corp | Tracking processing method and system therefor |
| CN102778671A (en) * | 2012-06-21 | 2012-11-14 | 武汉滨湖电子有限责任公司 | Radar target simulation method based on correction network |
| CN105242260A (en) * | 2015-09-08 | 2016-01-13 | 南京长江电子信息产业集团有限公司 | Interactive software signal and data fusion processing method |
| CN108680918A (en) * | 2018-05-18 | 2018-10-19 | 森思泰克河北科技有限公司 | Speed-measuring method, speed measuring device and electronic equipment applied to radar |
| CN109508000A (en) * | 2018-12-16 | 2019-03-22 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | Isomery multi-sensor multi-target tracking method |
-
2019
- 2019-06-27 CN CN201910568698.XA patent/CN110286363B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000214252A (en) * | 1999-01-25 | 2000-08-04 | Nec Corp | Tracking processing method and system therefor |
| CN102778671A (en) * | 2012-06-21 | 2012-11-14 | 武汉滨湖电子有限责任公司 | Radar target simulation method based on correction network |
| CN105242260A (en) * | 2015-09-08 | 2016-01-13 | 南京长江电子信息产业集团有限公司 | Interactive software signal and data fusion processing method |
| CN108680918A (en) * | 2018-05-18 | 2018-10-19 | 森思泰克河北科技有限公司 | Speed-measuring method, speed measuring device and electronic equipment applied to radar |
| CN109508000A (en) * | 2018-12-16 | 2019-03-22 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | Isomery multi-sensor multi-target tracking method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110286363B (en) | 2022-05-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108490410B (en) | Two-coordinate radar sea target joint detection and tracking method | |
| US6677886B1 (en) | Weather and airborne clutter suppression using a cluster shape classifier | |
| CN101452075B (en) | At-sea small target detecting method based on average period | |
| EP1980873B1 (en) | History or image based methods for altitude determination in a radar altimeter | |
| CN110501700A (en) | A kind of personnel amount method of counting based on millimetre-wave radar | |
| CN107607916B (en) | Self-defense type speed and distance joint deception jamming resisting method | |
| CN103412291A (en) | Secondary-radar-based achieving method of target multipath effect suppression technology | |
| CN109100696B (en) | Slow-speed moving target elimination method based on dot clutter map | |
| CN107576959B (en) | High repetition frequency radar target tracking method before detection based on area mapping deblurring | |
| CN105974375A (en) | Method of suppressing timing jitter in ultra-wideband through-wall radar | |
| CN110456315A (en) | A kind of irregular repetition object detection method based on position prediction | |
| CN104931939A (en) | Missile-borne forwarding type interference inhibition method based on false target characteristics | |
| EP2856203B1 (en) | Method for de-interleaving received radar pulses using dynamically updated weights | |
| CN105116387A (en) | PD radar velocity pull-off resisting method based on position and Doppler velocity information | |
| CN106468772B (en) | A kind of multistation radar human body tracing method measured based on distance-Doppler | |
| CN109471091A (en) | Method for simultaneously resolving ambiguity, detecting and tracking intermediate repetition frequency PD radar | |
| CN104199002B (en) | The radar information processing method of suppression wind-power electricity generation vane false-alarm targets | |
| CN110286363A (en) | A kind of tangential flight track speed difference reconditioning correction method of target long-time | |
| RU2746799C1 (en) | Statistical method of mimic protection of an over-the-horizon surface wave radar station | |
| CN110208731B (en) | High frame rate non-fuzzy underwater sound positioning method | |
| CN102981154A (en) | Flight track processing method for chain points and whole chain of high voltage wires | |
| US20110095939A1 (en) | Process and system for determining the position and velocity of an object | |
| Wei et al. | Detection and localization of high speed moving targets using a short-range UWB impulse radar | |
| CN104483661B (en) | System and method for detecting probability statistics target based on constant false alarm rate | |
| CN110244289A (en) | A kind of adaptive particle filter ground wave radar target integrative detection method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |