CN110308420A - A method of the false track amount based on Multi-Station passive location is estimated - Google Patents

A method of the false track amount based on Multi-Station passive location is estimated Download PDF

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Publication number
CN110308420A
CN110308420A CN201910674167.9A CN201910674167A CN110308420A CN 110308420 A CN110308420 A CN 110308420A CN 201910674167 A CN201910674167 A CN 201910674167A CN 110308420 A CN110308420 A CN 110308420A
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track
point
false
detection
square
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CN201910674167.9A
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汪飞
卢文峰
周建江
谢丁速
代赛
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0205—Details
    • G01S5/0215—Interference

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The method that the false track amount based on Multi-Station passive location that the invention discloses a kind of is estimated.Judge that condition existing for a track is that have continuous m measuring point to constitute straight line, when only there is enough measuring points, a track could be generated.For doing the target radiation source of linear uniform motion, straight-line detection is carried out to all measuring point according to Hough transform, detects the real trace of target radiation source with this, but simultaneously because false test point presence, the track detected also includes false track.The detection that track amount is carried out on two-dimensional surface, has obtained the lower limit of false track amount and the relationship of noise intensity and false track amount.The present invention can be improved when Passive Detention System faces the not scouting scene of prior information and detect the determination of the lower limit value of false track quantity theoretically to Passive Detention System.

Description

A method of the false track amount based on Multi-Station passive location is estimated
Technical field
The present invention relates to passive detection technology fields, in particular to a kind of false track based on Multi-Station passive location Measure the method estimated.
Background technique
As the saying goes: Know the enemy and know yourself, and you can fight a hundred battles with no danger of defeat.Through the ages, battle reconnaissance is crucial the triumph for obtaining war, The demand of war has also greatly facilitated the progress of science and technology.In the local war occurred between nearly 15 years, countermeasures set Effect embody dripping exquisiteness, to some degree, modern war is exactly information countermeasure.Radar is as electronic reconnaissance Capital equipment has just played huge effect since World War I period.However on modern battlefield, due to invisbile plane appearance and The development of low-level penetration tactics, the survival ability of Active Radar receive great test.Just so-called " enemy motionless I motionless ", When not yet knowing situation of battlefield, radar is opened rashly and is undoubtedly very dangerous, and Passive Detention System provides a kind of scouting Do not leak the solution of self-position while battlefield cruelly again, this vital characteristic makes it obtain more and more weights Depending on achieving rapid development.Relative to Active Radar, Passive Detention System operating distance is farther and is difficult to be discovered by place, Independent reconnaissance system is still either used as the supplement of Active Radar, all greatly perfect area defence system, machine Combat system and EW system are carried, and is gradually called as a ring indispensable in electronic warfare.In addition, Passive Detention System The radio frequency Stealth Fighter for strengthening aircraft and naval vessel, greatly improves its battlefield survival, has important research significance.
The working method of Passive Detention System is ELECTROMAGNETIC RADIATION SIGNATURE present in reception space, from complicated battlefield electromagnetism The information that target radiation source is extracted in environment after handling data, obtains type, technical parameter and the state letter of target Breath, to assess its threat degree, refers to that war personnel take counter measure.With the development of highly sensitive Acquisition Receiver, The precision of passive location has been sufficient for operational need, can replace Active Radar completely under certain operation scenes, and next pair Target radiation source is positioned and is tracked, its motion profile is detected.It, can be very smart using the Passive Detention System of multiple observation stations The track of true detection target aircraft, is research hotspot in recent years.
The main purpose of Passive Detention System is detection target and tracking target, and track initiation is from detection target to mesh The step of mark track, what track detection to be completed is the metric data according to passive location system, to reduce multiple sights The multiple shot array that the point mark surveyed in the moment is formed further filters out having in observation area to mitigate the computational burden of system Threaten the motion profile of target.Therefore, track initiation is a ring important in Passive Detention System, and the quality of initial results will be right The performance of system generates important influence.In general, the clutter that system detects will affect true mesh in actual operational environment Association between scalar measuring point, if clutter being associated together in target measuring point mistake, just will form false track, to rear Continuous tracking causes very big influence.In the track initiation stage, the prior information of the typically no target of Passive Detention System is not known The quantity and motion state of road potential target, this just increases the difficulty of target following, therefore, improves targetpath initial probability It is a critical issue in passive detection research.
Summary of the invention
Goal of the invention: a kind of method that the false track amount based on Multi-Station passive location is estimated is provided, for two-dimensional surface The false track amount of linear motion target has carried out theoretic lower limit estimation and has navigated to the falseness under Multi-Station passive location The research of mark amount estimation, has obtained the theory lower bound value of false track amount and the relationship of noise intensity and false track amount.
The utility model has the advantages that more research achievement is had been achieved at present to single station multistation location in passive detection technology, But it is also fewer to the research of false track amount and detection probability.The present invention can face no priori in Passive Detention System When the scouting scene of information, improving can detect that the lower limit value of false track quantity carries out theoretically really to Passive Detention System It is fixed, for situation of battlefield analysis, instruct electronic reconnaissance war significant.The present invention passes through research Multi-Station passive location falseness boat The theoretical value of mark amount is emulated, and then demonstrates calculated value with reference significance.
Detailed description of the invention
Fig. 1 is the flow chart that the false track amount based on Multi-Station passive location is estimated；
Fig. 2 is the basic schematic diagram of Hough transform；
Fig. 3 is that two-dimentional track amount emulates schematic diagram；
Fig. 4 is two-dimentional false track amount expectation and standard deviation figure；
Specific embodiment
Further explanation is done to the present invention with reference to the accompanying drawing.
A method of the false track amount based on Multi-Station passive location is estimated, and Multi-Station passive location false track amount is studied Theoretical value.For doing the target radiation source of linear uniform motion, straight line inspection is carried out to all measuring points according to Hough transform Survey, detect the real trace of target radiation source with this, but simultaneously because false test point presence, the track detected also includes False track.On two-dimensional surface carry out track amount detection, obtained false track amount lower limit and noise intensity and The relationship of false track amount.As can be seen that this method, which can actually be improved, detects false track number to Passive Detention System The lower limit value of amount carries out theoretic determination.
Fig. 1 show the exemplary flow that embodiment of the present invention is estimated based on the false track amount of Multi-Station passive location, Itself the following steps are included:
1. judging to whether there is this rectilinear path in image space in several points mark using Hough transform.
Some point (x in plane0, y0) it is mapped to the curve representation formula in parameter plane are as follows:
ρ=x0cos θ+y0Sin θ, θ ∈ [0 °, 180 °]
It is wherein available according to this mapping relations, multiple points of same straight line are belonged in rectangular coordinate system, are corresponded to Curve intersects at a point in parameter plane, and the characteristic parameter of the straight line is exactly the coordinate (ρ of this intersection point0, θ0), wherein ρ0It is Normal distance of the straight line to origin, θ0It is the angle of X-axis forward direction Yu the normal, the basic principle of Hough transform is as shown in Figure 2.
Parameter plane is divided into N*N unit, referred to as accumulative element, all units form a matrix, referred to as To accumulate matrix.Wherein, the quantized interval of θ is rθThe quantized interval r of=π/N, ρρ=(ρmax-ρmin)/N, each accumulative element Center is (θj, ρk), j, k=1,2 ..., N, wherein θj=(j-0.5) × rθ, ρk=(k-0.5) × rρ+ρmin, by above-mentioned curve Formula can obtain some point (x in plane0, y0) it is mapped to parameter plane.To accumulation matrix ballot, for accumulative element (k, j), If ρk-dρ/2≤ρij≤ρk+dρ/ 2, then accumulative element value adds one.The value of all accumulative elements is counted, is more than threshold value Accumulative element, then it is assumed that the corresponding straight line of its parameter attribute is a targetpath.
2. false track amount lower limit on Judge plane
For entire two-dimensional surface, several line segments can be broken down into and analyzed, calculated and detected on two-dimensional surface To the expectation of track quantity.The case where consideration only exists noise, it is assumed that noise obeys bi-distribution, and 1 probability occurred is pn。
It is located at there are three types of the M points taken on the two-dimensional surface that N × N number of point is constituted point-blank and follows the example of:
(1) when line segment is parallel to the side of square:
The line segment one for being parallel to certain square one side shares 2N item, and length is all N, if taken in these line segments continuous M point, adjacent spacing are followed the example of less than 1 as k21=2L (L-M+1), and M point is all the expectation of measuring point:
E2d1=k21·P2
Standard deviation are as follows:
SD2d1=k21·P2·(1-P2)
In formula, L is the length for following the example of lower line segment, P2It is the probability that continuous N point is all measuring point at this time.
(2) when line segment is parallel to the diagonal line of square:
Taken in square continuous N point follow the example of forWherein:
And M point is all the expectation of measuring point:
E2d2=k22·P2
Standard deviation are as follows:
SD2d2=k22·P2·(1-P2)
In formula, L is the mean value for following the example of offline segment length, P2It is the probability that continuous N point is all measuring point at this time.
(3) when the side of square and line segment are at θ angle:
The side of square and line segment at line segment length when θ angle in M andBetween following the example of for region be:
And the side of square and line segment are at line segment length when θ angleWhen constitute a parallelogram, parallel four Line segment length is in the shape of sideThe following the example of of region of the quantity between N (1-tan θ) is:
Following the example of for continuous N point is taken in square are as follows:
k23=2 (kr+kw)
And M point is all the expectation of measuring point:
E2d3=k23·P2
Standard deviation are as follows:
SD2d3=k23·P2·(1-P2)
In formula, P2It is the probability that continuous N point is all measuring point at this time.
In summary three kinds of situations, it is all the expectation of measuring point that continuous N point is taken on two-dimensional surface:
E2d=E2d1+E2d2+E2d3
3. carrying out false track amount lower limit emulation experiment in plane
The NxN dot matrix for obeying bi-distribution is generated, is detected using Hough transform, for the same luv space, is divided Hough transform minimum detection length is not set as M and M+1, and the number of straight segments detected under the conditions of two kinds is subtracted each other, as continuously The case where M measuring point, as shown in figure 3, the track quantity that detection minimum length is M point is 6, detection minimum length is M+1 The track quantity of point is 2, and the track quantity that detection length is M point, which can be obtained, 4.
To different detection range N, different clutter quantity p is setnValue, to continuous 4 points to 10 the case where, imitate Very, every kind of condition does 500 Monte-Carlo experiments, detects quantity theoretical value and the simulation value such as Fig. 4 institute of false track Show.
By the reasonability of the provable theory deduction of Fig. 4, while available such as drawing a conclusion: (1) it is smaller to detect length M value, The false track quantity detected is more；(2) when M increases, false track quantity sharply declines, when reaching certain value, falseness boat Mark quantity is less than 1；(3) clutter quantity will affect the quantity for detecting false track, for same detection length M, clutter quantity More, false track quantity is more；(4) in the case that clutter quantity is constant, detection range N is bigger, the false track detected It measures more.
Straight-line detection is carried out to all measuring points herein by Hough transform, the true of target radiation source is detected with this Track, but simultaneously because false test point presence, the track detected also includes false track, carries out on two-dimensional surface The detection of track amount has obtained the lower limit of false track amount and the relationship of noise intensity and false track amount.It is detected Length M value is smaller, the false track quantity detected is more and when M increases, false track quantity sharply declines, and reaches certain value When, false track quantity is less than 1, and clutter quantity will affect the quantity for detecting false track, for same detection length M, clutter quantity is more, and false track quantity is more, and in the case where clutter quantity is constant, detection range N is bigger, detects The more conclusion of false track amount.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered It is considered as protection scope of the present invention.

Claims (4)

1. a kind of method that the false track amount based on Multi-Station passive location is estimated, judges that condition existing for a track is that have company M continuous measuring point constitutes straight line, when only there is enough measuring points, could generate a track, at the uniform velocity straight for doing The target radiation source of line movement carries out straight-line detection to all measuring points according to Hough transform, detects target radiation source with this Real trace, but simultaneously because false test point presence, the track detected also includes false track, in two-dimensional surface The upper detection for carrying out track amount, has obtained the lower limit of false track amount and the relationship of noise intensity and false track amount, the party Method the following steps are included:
Step 1, Taxonomic discussion take three kinds of expectations and standard followed the example of of M point on the two-dimensional surface of N*N point-blank Difference: the diagonal line and into θ angle with square for being parallel to the side of square, being parallel to square, comprehensive three kinds are followed the example of, and are connected The expectation of continuous M point；
Step 2, it is random to generate the N*N dot matrix for obeying bi-distribution, the minimum length using Hough transform detection straight line be M and The straightway of M+1 has just obtained length using the number of straight segments that the number of straight segments of minimum length M subtracts minimum length M+1 The exactly number of straight segments of M；
Step 3 sets different clutter quantitative values under different detection ranges, under conditions of continuous different M point into Row experiment, it is concluded that.
2. the method that a kind of false track amount based on Multi-Station passive location according to claim 1 is estimated, feature exist Three kinds of M point point-blank are taken to follow the example of in the two-dimensional surface that N*N point is constituted in above-mentioned steps one: in line segment Be parallel to square while when, line segment be parallel to square diagonal line when and square while and line segment at θ angle When expectation, it is all the expectation of measuring point that continuous N point is taken on two-dimensional surface:
E2d=E2d1+E2d2+E2d3
E in formula2dIt is the desired value that continuous N point is all measuring point, and E2d1、E2d2And E2d3It is parallel to the side of square respectively, puts down Row in the diagonal line of square and with the continuous N points of square three kinds of situations into θ angle be all measuring point desired value.
3. the method that a kind of false track amount based on Multi-Station passive location according to claim 1 is estimated, feature exist The detection of N*N dot matrix is carried out using Hough transform in above-mentioned steps two, setting Hough transform minimum detection length is M and M+1 Track quantity that is a, being M with minimum detection length subtracts the track quantity that minimum detection length is M+1, as length just For the track quantity of M.
4. the method that a kind of false track amount based on Multi-Station passive location according to claim 1 is estimated, feature exist Different clutter quantitative values is set in three couples of difference detection range N of above-mentioned steps, the case where continuous N is emulated, often Kind condition does Monte-Carlo experiment.
CN201910674167.9A 2019-07-23 2019-07-23 A method of the false track amount based on Multi-Station passive location is estimated Pending CN110308420A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111352067A (en) * 2020-04-01 2020-06-30 北京理工大学 Passive positioning method for multi-target passive synthetic aperture

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111352067A (en) * 2020-04-01 2020-06-30 北京理工大学 Passive positioning method for multi-target passive synthetic aperture
CN111352067B (en) * 2020-04-01 2020-12-29 北京理工大学 Passive positioning method for multi-target passive synthetic aperture

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Application publication date: 20191008