CN110286363B - Target long-time tangential flight track speed difference re-correction method - Google Patents
Target long-time tangential flight track speed difference re-correction method Download PDFInfo
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- CN110286363B CN110286363B CN201910568698.XA CN201910568698A CN110286363B CN 110286363 B CN110286363 B CN 110286363B CN 201910568698 A CN201910568698 A CN 201910568698A CN 110286363 B CN110286363 B CN 110286363B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/415—Identification of targets based on measurements of movement associated with the target
Abstract
The application belongs to the technical field of airborne multifunctional radar data processing, and particularly relates to a method for revising speed difference of long-time tangential flight tracks of targets, which comprises the following steps: correlating the measured value with the existing flight path; carrying out sliding window processing on the low weight measurement value successfully associated; performing deblurring processing on the radial distance change rate and the radial speed of the current frame low-weight measurement value to obtain difference weight information; calculating the sum of the radial distance errors of each group; judging whether the track has the radial speed difference problem according to the sum of the radial distance errors of each group, and counting difference information if the track has the radial speed difference problem; counting the difference weight number with the most occurrence times in the difference weight information; and calculating the difference value between the track radial speed and the target real radial speed to be used as the next track correction value. According to the target long-time tangential flight track speed difference re-correction method, the speed of the track is corrected through the speed difference, and therefore the problem of track loss caused by the track speed difference during long-time tangential flight is solved.
Description
Technical Field
The application belongs to the technical field of airborne multifunctional radar data processing, and particularly relates to a target long-time tangential flight track speed difference re-correction method.
Background
When the airborne radar tracks a maneuvering target, when the component of the target ground speed in the radial direction of the airborne is small, the Doppler frequency of the radar echo falls into a main clutter area to be detected, so that a target signal cannot be detected, and the phenomenon is called that the target passes through a Doppler blind area. If the target flies tangentially for a long time, the target enters a Doppler blind area for a long time, so that the situation that the track is lost due to no effective detection echo for a long time is faced. At present, low-gravity waveforms are mostly adopted for signal detection in a Doppler blind area, a target echo can be detected with high probability by the strategy, a distance value detected by the low-gravity waveforms is accurate, the confidence coefficient of a distance dimension in a traditional association method is high, if a target passes through the Doppler blind area for a short time, although a flight path can deviate at first, a subsequent accurate measurement value can correct the flight path, but if the target passes through the Doppler blind area for a long time, the traditional association method has the following defects:
because the speed fuzzy degree is high, the measured value is easy to have a heavy difference with the real target speed after being subjected to fuzzy resolution, and if the speed difference of the track is heavy for a long time, the distance of the track deviates from the real distance of the target more and more, and finally the track is interrupted.
Disclosure of Invention
In order to solve at least one of the technical problems, the application provides a method for re-correcting the speed difference of the long-time tangential flight path of the target.
The application discloses long-time tangential flight track speed difference re-correction method of target, including following step:
step one, associating a measured value input when a frame with an existing track, and if four-dimensional information of the measured value falls into a track wave gate, judging that the track and the measured value are successfully associated;
step two, judging whether the measured value successfully correlated is a low-weight measured value; if the measured value is a low-weight measured value, performing sliding window processing on the radial distance error between the successfully associated flight path and the measured value, and performing a third step when the length of the sliding window is equal to a preset length;
step three, calculating a target radial distance change rate according to the radial distance difference processed by the sliding window and the frame period, then performing deblurring processing on the radial distance change rate and the radial speed of the current frame low-weight measurement value, and counting difference weight information of the radial speed of the low-weight measurement value and the target radial distance change rate;
grouping historical radial distance error information of low-weight measurement values related to the flight path in the sliding window, and calculating the sum of the radial distance errors of each group;
step five, judging whether the track has the radial speed difference problem or not according to the sum of the radial distance errors of each group, and if so, counting the difference weight information of the low weight measurement value radial speed associated with the track in the sliding window;
step six, counting the difference weight with the most occurrence times in the difference weight information in the step five, and judging whether the occurrence times of the difference weight is greater than a preset probability; if so, judging that the track has a speed difference phenomenon, and performing the seventh step;
and step seven, calculating the difference value between the track radial speed and the target real radial speed according to the difference weight number obtained in the step six and the PRI information, and taking the difference value as a target radial speed correction value when the track is scheduled next time.
According to at least one embodiment of the present application, in the step five, whether the track has a radial velocity difference problem is determined according to the following threshold condition (1):
wherein n is the preset length of the radial distance error sliding window, m is the number of groups, and L is the length of each group of sliding windows; Δ RiRadial distance error for a single window; i is the subscript number of the sliding window array;
representing the sum of the radial distance errors of each group; r1, R2 are predetermined thresholds, respectively.
According to at least one embodiment of the present application, in the step six, the predetermined probability is 0.5.
According to at least one embodiment of the present application, in the seventh step, the track radial speed and the target true radial speed difference value is obtained according to a product of the difference weight number and the radial speed of the PRI.
According to at least one embodiment of the present application, in the step one, when the frames refer to the same radar frame period.
According to at least one embodiment of the present application, in the step one, the four-dimensional information includes radial distance information, radial velocity information, azimuth angle information, and pitch angle information.
The application has at least the following beneficial technical effects:
according to the target long-time tangential flight track speed difference re-correction method, the speed of the track is corrected through the speed difference, and therefore the problem of track loss caused by the track speed difference during long-time tangential flight is solved; the method improves the target tracking robustness of the airborne multifunctional radar in the Doppler blind area, and provides an important method for the key technical research of the target in the Doppler blind area.
Drawings
FIG. 1 is a flow chart of a long term tangential flight trajectory speed difference re-correction method of the present application;
FIG. 2 is a range dimension plot of target tracking trajectory under Doppler blind zone conditions;
FIG. 3 is a velocity dimension plot of a target tracking track under Doppler blind spot conditions;
FIG. 4 is a velocity difference re-corrected target tracking track distance dimension map under Doppler blind zone conditions;
FIG. 5 is a velocity dimension graph of velocity difference re-corrected target tracking track for a Doppler blind zone condition;
in fig. 2 to 5, the black circle is a measurement value, the black solid line is a GPS, the plus sign is a track, the abscissa is a frame number, the ordinate of fig. 2 to 4 is a distance, and the ordinate of fig. 3 to 5 is a speed.
Detailed Description
In order to make the implementation objects, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the drawings in the embodiments of the present application. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are a subset of the embodiments in the present application and not all embodiments in the present application. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application. Embodiments of the present application will be described in detail below with reference to the accompanying drawings.
When the target flies tangentially for a long time, the target is positioned in a Doppler blind area for a long time, the target in the Doppler blind area generally has no effective detection echo return, and even if the signal detection adopts a low-weight waveform and the detection echo returns, the problem of heavy speed difference also exists.
Therefore, according to the target long-time tangential flight track speed difference re-correction method, through statistics and analysis of historical associated information, the fact that the track speed is different from the real speed in weight is judged, the speed difference value is calculated, and finally the speed of the track is corrected through the calculated speed difference value, so that the problem that the track is lost due to the fact that the track speed difference is heavy during long-time tangential flight is solved.
The method for re-correcting the target long-time tangential flight path velocity difference according to the present application will be described in further detail with reference to fig. 1 to 5.
The application discloses long-time tangential flight track speed difference re-correction method of target, including following step:
step one, the measured value input in the current frame (namely the current frame, which refers to the same radar frame period) is associated with the existing track, and if the four-dimensional information (namely the radial distance, the radial speed, the azimuth angle and the pitch angle) of the measured value falls within the track wave gate (namely the threshold), the track and the measured value are successfully associated.
Step two, judging whether the measured value successfully correlated is a low-weight measured value; if the measured value is a low-weight measured value, performing sliding window processing on the radial distance error between the successfully associated flight path and the measured value, and performing the step three when the length of the sliding window is equal to the preset length.
The determination of whether the successfully correlated measurement value is a low-weight measurement value is performed by determining a waveform detection frame form adopted by a frame in which the measurement value is located, and the determination is generally classified into low-weight, medium-weight and high-weight.
And step three, calculating the target radial distance change rate according to the radial distance difference processed by the sliding window and the frame period, then performing deblurring processing on the radial distance change rate and the radial speed of the current frame low-weight measurement value, and counting the difference weight information between the radial speed of the low-weight measurement value and the target radial distance change rate.
And fourthly, grouping the historical radial distance error information of the low-weight measurement value associated with the flight path in the sliding window, and calculating the sum of the radial distance errors of each group.
And step five, judging whether the track has the radial speed difference problem or not according to the sum of the radial distance errors of each group, and counting the difference information of the radial speed of the low-weight measurement value associated with the track in the sliding window if the track has the radial speed difference problem.
Specifically, whether the track has a radial speed difference problem is judged according to the following threshold condition (1):
wherein n is the preset length of the radial distance error sliding window, m is the number of groups, and L is the length of each group of sliding windows; Δ RiRadial distance error for a single window; i is the subscript number of the sliding window array;
representing the sum of the radial distance errors of each group; r1, R2 are predetermined thresholds, respectively.
Step six, counting historical associated measured value speed difference weight information of the track with suspected speed difference weight, counting the difference weight (assumed to be N weight) with the largest occurrence frequency in the difference weight information in the step five, and judging whether the occurrence frequency of the difference weight is larger than a preset probability or not; and if so, judging that the track has a speed difference phenomenon, and performing the seventh step.
And step seven, calculating the difference value between the track radial speed and the target real radial speed according to the difference weight number obtained in the step six and the PRI (pulse repetition interval) information, and taking the difference value as a target radial speed correction value when the track is scheduled next time.
Specifically, the difference between the track radial velocity and the target true radial velocity is obtained according to the product of the difference weight and the radial velocity of PRI (pulse repetition interval). In this embodiment, the predetermined probability is preferably 0.5, and if the probability of the number of occurrences of N is greater than 0.5, it is determined that the flight path has a speed difference problem, and the speed difference is N PRI speeds from the speed of the real target.
And further, correcting the track speed by using the calculated speed correction value when the target is scheduled next time.
In summary, the target long-time tangential flight track speed difference re-correction method corrects the speed of the track through the speed difference, so that the problem of track loss caused by the track speed difference during long-time tangential flight is solved; the method improves the target tracking robustness of the airborne multifunctional radar in the Doppler blind area, and provides an important method for the key technical research of the target in the Doppler blind area.
The method for re-correcting the target long-time tangential flight path velocity difference according to the present application will be further described with reference to a specific example:
in the third step, the difference weight information of the radial velocity of the low weight measurement value and the target radial distance change rate is counted, and if the target range rate is 135.88m/s, the measurement value velocity is 88.47m/s, and one PRF velocity is 50m/s, the difference weight is 1.
In the fourth step and the fifth step, historical radial distance error information of low-weight measurement values associated with the flight path in the sliding windows is grouped, and assuming that the distance error sliding window length is 20 and the distance error sliding window is divided into 5 groups, the sliding window length of each group is 4, as shown in table 1:
TABLE 1
| Sliding window subscript | 1 | 2 | 3 | 4 | Sum of errors in each group |
| Distance residual | 152.39 | 146.18 | 152.53 | 125.46 | 576.56 |
| Sliding window subscript | 5 | 6 | 7 | 8 | Sum of errors in each group |
| Distance residual | 132.53 | 132.24 | 127.12 | 125.28 | 517.17 |
| Sliding window subscript | 9 | 10 | 11 | 12 | Sum of errors in each group |
| Distance residual | 117.08 | 110.17 | 99.15 | 106.36 | 432.76 |
| Sliding window subscript | 13 | 14 | 15 | 16 | Sum of errors in each group |
| Distance between two adjacent platesResidual error | 101.92 | 100.71 | 91.72 | 91.69 | 386.04 |
| Sliding window subscript | 17 | 18 | 19 | 20 | Sum of errors in each group |
| Distance residual | 85.34 | 85.28 | 78.74 | 68.71 | 318.07 |
Firstly, calculating the sum of the distance errors of each group, then counting the grouping error information, and if the error information meets three conditions in formula (1), wherein R1 is 500, and R2 is 300, judging that the speed difference problem exists in the track.
In the sixth step and the seventh step, the preset probability is set to be 0.5, and N is set to be 1; then the difference between the track speed and the target real speed is calculated according to the counted difference weight value and the PRI information, and the correction value is-50 in the example. Finally, the next time the target is dispatched, the track speed is corrected using the calculated speed correction value, which in this example is-87.85, corrected-137.85.
In contrast to fig. 2-5, the target in fig. 2-3 is in the doppler blind zone for a long time, resulting in the final interruption of the flight path, while fig. 4-5, although the distance dimension is also initially biased, the final flight path is corrected and continuously correlated to the subsequent measurement values due to the speed difference re-correction technique.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (6)
1. A method for re-correcting a target long-time tangential flight path speed difference is characterized by comprising the following steps:
step one, associating a measured value input when a frame with an existing track, and if four-dimensional information of the measured value falls into a track wave gate, judging that the track and the measured value are successfully associated;
step two, judging whether the measured value successfully correlated is a low-weight measured value; if the measured value is a low-weight measured value, performing sliding window processing on the radial distance error between the successfully associated flight path and the measured value, and performing a third step when the length of the sliding window is equal to a preset length;
step three, calculating a target radial distance change rate according to the radial distance difference processed by the sliding window and the frame period, then performing deblurring processing on the radial distance change rate and the radial speed of the current frame low-weight measurement value, and counting difference weight information of the radial speed of the low-weight measurement value and the target radial distance change rate;
grouping historical radial distance error information of low-weight measurement values related to the flight path in the sliding window, and calculating the sum of the radial distance errors of each group;
step five, judging whether the track has the radial speed difference problem or not according to the sum of the radial distance errors of each group, and if so, counting the difference weight information of the low weight measurement value radial speed associated with the track in the sliding window;
step six, counting the difference weight with the most occurrence times in the difference weight information in the step five, and judging whether the occurrence times of the difference weight is greater than a preset probability; if so, judging that the track has a speed difference phenomenon, and performing the seventh step;
and step seven, calculating the difference value between the track radial speed and the target real radial speed according to the difference weight number obtained in the step six and the PRI information, and taking the difference value as a target radial speed correction value when the track is scheduled next time.
2. The method for re-correcting the speed difference of the target long-time tangential flight path according to claim 1, wherein in the step five, whether the path has the radial speed difference problem is judged according to the following threshold condition (1):
wherein n is the preset length of the radial distance error sliding window, m is the number of groups, and L is the length of each group of sliding windows; Δ RiRadial distance error for a single window; i is the subscript number of the sliding window array;
representing the sum of the radial distance errors of each group; r1, R2 are predetermined thresholds, respectively.
3. The method for re-correcting the target long time tangential flight path velocity difference according to claim 1, wherein in the sixth step, the predetermined probability is 0.5.
4. The method for revising the target long time tangential flight path velocity difference as claimed in claim 1, wherein in the seventh step, the difference between the path radial velocity and the target true radial velocity is obtained according to the product of the difference weight and the radial velocity of the PRI.
5. The method for re-correcting the long-time tangential flight path velocity difference of the target according to claim 1, wherein in the step one, when the frames refer to the same radar frame period.
6. The method for re-correcting long time tangential flight path velocity difference of a target according to claim 1, wherein in the step one, the four-dimensional information comprises radial distance information, radial velocity information, azimuth angle information and pitch angle information.
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| JP2000214252A (en) * | 1999-01-25 | 2000-08-04 | Nec Corp | Tracking processing method and system therefor |
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| 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 |
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| 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 |
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