CN111060877B - Data processing method for shore-based radar - Google Patents

Data processing method for shore-based radar Download PDF

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Publication number
CN111060877B
CN111060877B CN201911359370.3A CN201911359370A CN111060877B CN 111060877 B CN111060877 B CN 111060877B CN 201911359370 A CN201911359370 A CN 201911359370A CN 111060877 B CN111060877 B CN 111060877B
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shore
radar
ship
information
echo
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CN111060877A (en
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王晓原
夏媛媛
姜雨函
柴垒
朱慎超
高杰
孙正濮
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Navigation Brilliance Qingdao Technology Co Ltd
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Navigation Brilliance Qingdao Technology Co Ltd
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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
    • G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • 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
    • G01S7/28—Details of pulse systems
    • G01S7/285—Receivers
    • G01S7/292—Extracting wanted echo-signals
    • G01S7/2923—Extracting wanted echo-signals based on data belonging to a number of consecutive radar periods
    • 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
    • G01S7/28—Details of pulse systems
    • G01S7/285—Receivers
    • G01S7/295—Means for transforming co-ordinates or for evaluating data, e.g. using computers
    • G01S7/2955—Means for determining the position of the radar coordinate system for evaluating the position data of the target in another coordinate system
    • 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
    • G01S7/35—Details of non-pulse systems
    • G01S7/352—Receivers
    • 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
    • G01S7/35—Details of non-pulse systems
    • G01S7/352—Receivers
    • G01S7/354—Extracting wanted echo-signals
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A10/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE at coastal zones; at river basins
    • Y02A10/40—Controlling or monitoring, e.g. of flood or hurricane; Forecasting, e.g. risk assessment or mapping

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

Abstract

The invention discloses a data processing method for a shore-based radar, which comprises the following steps: receiving first detection information sent by a plurality of shore radars; receiving second detection information sent by sensing equipment on the ship; according to the ground feature echo clutter map of each shore radar, carrying out cancellation processing on the first detection information to obtain echo information of the ship detected by each shore radar; judging whether the monitoring ship is located in a detection area of the single-shore radar or not according to the second detection information; if yes, the echo information of the ship detected by the single-shore radar and the second detection information are fused, and the identification information of the monitored ship is obtained. If the monitoring ship is located in the cross detection area of the shore radars, the echo information of all the shore radars corresponding to the cross detection area is fused with the second detection information, and the identification information of the monitoring ship is obtained. The method can greatly improve the ship discovery probability and the ship tracking and identifying precision.

Description

Data processing method for shore-based radar
Technical Field
The invention relates to a shore radar technology, in particular to a data processing method for a shore radar.
Background
The shore-based radar system is a monitoring system which is erected along a certain distance near a coastline and comprises a radar, an AIS and a camera, and is used for realizing monitoring and sensing of sea navigation situation in the offshore field, thereby assisting maritime departments in unified dispatching of coastal ships and remote control of an intelligent shipping system on intelligent ships. Because the radar is assumed to be on the shore, the feedback echo is not only from the sea surface, but also from the shore, such as peaks, buildings, tower bridges and other clutter which are useless to the system, the clutter needs to be filtered to prevent the clutter from interfering with the radar monitoring efficiency, and the conventional clutter filtering method is only suitable for the condition that the radar site is stationary, and if the radar site is changed or newly built, the radar site cannot be changed in a self-adaptive way.
Therefore, how to effectively identify the target ship based on the radar detection information and the detection information of the ship sensing device becomes a problem to be solved at present.
Disclosure of Invention
The invention aims to provide a data processing method for a shore radar, which can realize self-adaptive filtering of the shore radar on fixed ground clutter, and simultaneously perform multi-source heterogeneous data fusion, so that tracking and identifying precision of ships is improved.
In order to achieve the above purpose, the main technical scheme adopted by the invention comprises the following steps:
in a first aspect, the present invention provides a data processing method for a shore-based radar, including:
s1, receiving first detection information sent by more than two shore radars;
s2, receiving second detection information sent by sensing equipment on the ship;
s3, performing cancellation processing on the first detection information of each shore radar according to a ground feature echo clutter map to which the shore radar belongs to obtain echo information of a ship detected by the shore radar;
s4, determining coordinate information of the monitored ship according to the second detection information; judging whether the monitoring ship is located in a detection area of a single-shore radar or not according to the coordinate information of the monitoring ship;
s5, if the monitoring ship is located in the detection area of the single-shore radar, fusing echo information of the ship detected by the single-shore radar with the second detection information to obtain identification information of the monitoring ship;
the ground object echo clutter map is established by adopting a sliding window method based on detection information of each shore radar in advance.
Optionally, the method further comprises:
and S6, if the monitoring ship is located in the cross detection area of the shore radars, fusing echo information of all the shore radars corresponding to the cross detection area with the second detection information to obtain identification information of the monitoring ship.
Optionally, after the step S1, before the step S3, the method further includes:
s10, according to the first detection information of each shore radar, a sliding window method is adopted to establish a ground object echo clutter map of the shore radar.
Optionally, the first probe information includes: ground object echo information and echo information of a moving ship.
Optionally, the step S10 includes:
s10-1, aiming at each shore radar, carrying out grid division on the detection range of the shore radar in a polar coordinate system mode, and obtaining a divided azimuth distance unit;
s10-2, marking the amplitude of the echo of the azimuth distance unit according to the first detection information of the shore radar; acquiring the average value of the amplitude values of each azimuth distance unit in a preset scanning period;
s10-3, determining a fixed ground clutter zone according to the amplitude value average value, and acquiring a ground echo clutter map.
Optionally, the method further comprises:
and updating the clutter map of the ground object echo in real time according to the received first detection information.
Optionally, the step S5 includes:
s5-1, respectively converting echo information and second detection information of the ship detected by the shore-based radar into a unified coordinate system, registering data with shorter time to data with longer time, and acquiring respective local tracks;
s5-2, judging whether the two local tracks belong to tracks of the same monitoring target or not by adopting a cluster analysis mode;
and S5-3, if the ship belongs to the monitoring ship, carrying out weighted fusion on the two local tracks to acquire the identification information of the monitoring ship.
Optionally, the step S6 includes:
s6-1, respectively converting echo information of two shore radars of a cross detection area and the second detection into a unified coordinate system, registering data with shorter time to data with longer time, and acquiring respective local tracks;
s6-2, judging whether the tracks of two adjacent shore radars belong to the tracks of the same monitoring ship by adopting a nearest neighbor track pairing algorithm;
s6-3, if the tracks of the two shore radars belong to the tracks of the same monitoring ship, judging whether the tracks of the shore radars with high detection precision and the tracks corresponding to the second detection information belong to the tracks of the same monitoring target by adopting a cluster analysis method;
and S6-4, if the two paths belong to the same type, carrying out weighted fusion on all the paths to acquire the identification information of the monitored ship, wherein the bank radars with high accuracy determination weight coefficients have large weights.
Optionally, the step S6-2 includes:
adopting a nearest neighbor track pairing algorithm, wherein the state estimation difference of a track i from a first shore radar and a track j from a second shore radar at the moment k is as follows:
let the threshold vector be e= [ e x ,e y ,e z ] T ,
If the threshold condition expressed by the following formula is met, determining that the track i and the track j are tracks from a ship;
(|x ij (k|k)|≤e x )∩(|y ij (k|k)|≤e y )∩(|z ij (k|k)|≤e z )。
in a second aspect, the present invention also provides a data processing device based on a shore-based radar, the data processing device being located in a vessel or a shore-based control centre, the data processing device comprising: the data processing system comprises a memory and a processor, wherein the memory stores a program, and the processor executes the stored program in the memory, and is specifically configured to execute the data processing method according to any one of the first aspect.
The beneficial effects of the invention are as follows:
according to the invention, the adaptive fixed clutter filtering method is adopted, so that not only can the interference of clutter on the radar be avoided, but also the requirement of adaptive adjustment can be met, and after the radar site changes or the surrounding clutter environment changes, the fixed clutter map can change in an adaptive manner.
Further, a method based on monitoring area discrimination is adopted, a multi-radar and AIS target data fusion method is used in the radar repeated monitoring sea area, and a single radar and AIS target fusion algorithm is used in the single radar monitoring sea area, so that the accuracy of ship target identification is effectively improved.
Particularly, the tracking recognition of different positions of the ship can be satisfied based on the algorithm of multi-radar and AIS data fusion of region recognition, the defect of low radar monitoring accuracy of the radar monitoring edge zone single radar can be overcome through double-radar data fusion, the ship discovery probability can be greatly improved, and the ship tracking recognition accuracy is improved.
Drawings
Fig. 1 is a flow chart of a data processing method for a shore-based radar according to an embodiment of the present invention;
FIG. 2 is a diagram of meshing of a detection range of a shore-based radar according to an embodiment of the present invention;
FIG. 3 is a schematic view of a shoreside radar area intersection in accordance with one embodiment of the present invention;
fig. 4 is a flow chart of a data processing method for a shore-based radar according to another embodiment of the present invention.
Detailed Description
The invention will be better explained for understanding by referring to the following detailed description of the embodiments in conjunction with the accompanying drawings.
Example 1
As shown in fig. 1, fig. 1 shows a flow chart of a data processing method for a shore-based radar according to an embodiment of the present invention, where the method of the embodiment includes the following steps:
s1, receiving first detection information sent by more than two shore radars;
s2, receiving second detection information sent by sensing equipment on the ship;
and S3, performing cancellation processing on the first detection information of each shore radar according to the ground feature echo clutter map of each shore radar to obtain echo information of the ship detected by each shore radar.
The ground echo clutter map in the embodiment is based on the ground echo clutter map of each shore radar established by adopting a sliding window method according to the detection information of the shore radar in advance.
S4, determining coordinate information of the monitored ship according to the second detection information; judging whether the monitoring ship is located in a detection area of a single-shore radar or not according to the coordinate information of the monitoring ship;
and S5, if the monitoring ship is located in the detection area of the single-shore radar, fusing echo information of the ship detected by the single-shore radar with the second detection information to acquire identification information of the monitoring ship.
For example, the step S5 may include the following sub-steps:
s5-1, respectively converting echo information and second detection information of the ship detected by the shore-based radar into a unified coordinate system, registering data with shorter time to data with longer time, and acquiring respective local tracks;
s5-2, judging whether the two local tracks belong to tracks of the same monitoring target or not by adopting a cluster analysis mode;
and S5-3, if the ship belongs to the monitoring ship, carrying out weighted fusion on the two local tracks, and carrying out Kalman filtering processing to obtain the identification information of the monitoring ship.
And S6, if the monitoring ship is located in the cross detection area of the shore radars, namely, the cross detection areas of two adjacent shore radars, fusing echo information of all shore radars corresponding to the cross detection areas with the second detection information to acquire identification information of the monitoring ship.
For example, the step S6 may include the following sub-steps:
s6-1, respectively converting echo information of two shore radars of a cross detection area and the second detection into a unified coordinate system, registering data with shorter time to data with longer time, and acquiring respective local tracks;
s6-2, judging whether the tracks of two adjacent shore radars belong to the tracks of the same monitoring ship by adopting a nearest neighbor track pairing algorithm.
For example, the state estimation difference at time k between the track i from the first shore radar and the track j from the second shore radar is:
let the threshold vector be e= [ e x ,e y ,e z ] T ,
If the threshold condition expressed by the following formula is met, determining that the track i and the track j are tracks from a ship;
(|x ij (k|k)|≤e x )∩(|y ij (k|k)|≤e y )∩(|z ij (k|k)|≤e z )。
s6-3, if the tracks of the two shore radars belong to the tracks of the same monitoring ship, judging whether the tracks of the shore radars with high detection precision and the tracks corresponding to the second detection information belong to the tracks of the same monitoring target by adopting a cluster analysis method.
In practical application, the track of the shore-based radar with low detection precision and the track corresponding to the second detection information may be selected and judged by adopting a cluster analysis method. The present embodiment is not limited thereto, and is selected according to actual needs.
And S6-4, if the two paths belong to the same type, carrying out weighted fusion on all the paths to acquire the identification information of the monitored ship, wherein the bank radars with high accuracy determination weight coefficients have large weights.
In this embodiment, by establishing a self-adaptively changed fixed ground clutter map, the method can realize flexible fixed ground clutter filtering without being affected by radar position change and fixed object change. Meanwhile, multisource heterogeneous data fusion is adopted in subsequent processing, so that ship discovery probability and ship tracking and identifying precision are improved. The method of the embodiment is developed towards the shore radar and meets the actual requirements of the shore radar.
In addition, in practical applications, after the aforementioned step S1 and before the step S3, the method may further include a step S10, which is not shown in the following figures:
s10, according to the first detection information of each shore radar, a sliding window method is adopted to establish a ground object echo clutter map of the shore radar.
For example, the first probe information of the present embodiment may include: ground object echo information and echo information of a moving ship.
In practical application, the clutter map of the ground object echo can be updated in real time according to the received first detection information.
The step S10 may include the following sub-steps for the above:
s10-1, aiming at each shore radar, carrying out grid division on the detection range of the shore radar in a polar coordinate system mode, and obtaining a divided azimuth distance unit;
s10-2, marking the amplitude of the echo of the azimuth distance unit according to the first detection information of the shore radar; acquiring the average value of the amplitude values of each azimuth distance unit in a preset scanning period;
s10-3, determining a fixed ground clutter zone according to the amplitude value average value, and acquiring a ground echo clutter map.
The method of the embodiment adopts a self-adaptive fixed ground clutter filtering method, so that not only can the interference of the ground clutter on the radar be avoided, but also the self-adaptive adjustment requirement can be met, and after the radar site changes or the surrounding ground clutter environment changes, the fixed ground clutter map can change in a self-adaptive way.
Example two
The method of the present embodiment is described below with reference to fig. 2 to 4.
A shoreside radar refers to a detection device that is erected along a distance near a coastline. In this embodiment, a shore-based radar (simply referred to as radar) adaptive fixed clutter filtering method may be used to process data collected by the radar, for example, accumulating and counting point trace data obtained after radar sweeping, firstly, dividing a radar detection range into azimuth distance units by using a grid, and determining whether clutter exists in or is interfered by an area corresponding to each azimuth distance unit as shown in fig. 2 in real time in a radar scanning process, so as to identify a fixed clutter area, and establish a clutter map of ground clutter.
In the meshing diagram shown in fig. 2, an annular region made up of a plurality of meshes is formed with an origin as a reference point, and each mesh unit can be represented by an azimuth and a distance from the origin.
And then, in operation, echo received by the radar is canceled with the fixed ground clutter map, and only the moving ship echo information is left. The method for establishing the clutter map of the object echo specifically includes the following steps for the detection information of each radar, namely, the clutter map (namely, the image generated after each radar scans is the clutter map):
the clutter map is annularly divided into grid cells by using a polar coordinate system in azimuth and distance, as shown in fig. 2, the azimuth distance cells are numbered sequentially from inside to outside in the north direction, and in this embodiment, each grid cell is conveniently distinguished, and then each azimuth distance cell is numbered.
Let z be ij (k)(i＝1,…,n k ,j＝1,…,m k ) For the kth frame, the ith cell, the jth measurement trace,a set of grid cells scanned for the kth frame, is->Measured for each cell of the kth frame.
Wherein:
in the present embodiment, by means of z ij (k) Statistics in each grid cell, the radar falls on the trace of the cell after each sweep, e.g. z i (k) That is, all the traces detected by the ith grid cell after a certain sweep. z ij (k) And (3) representing all the traces obtained by each sweep of the radar on the annular graph, and dividing according to grid cells.
Radar scans each cell z i (k) According to the echo amplitude value, counting each trace on the azimuth distance unit, and counting the number of traces falling on the grid unit after each sweep. Wherein the statistical interval is divided into n 1 Segments, each segment being divided into n 2 Frames, each segment passing through n 2 A secondary radar scan cycle.
Same trace z for same unit and same direction ij (k) The average value of the amplitude values at the positions is calculated, if the average amplitude value is larger than zero, the corresponding section of the position of the point trace is marked, and n is analogized in sequence 1 Segments. If the mark value is larger than a certain proportion coefficient in the total segment number, the corresponding point trace is marked as a fixed clutter point.
Each azimuth of the grid cell is traversed, and the number of fixed-point traces (trace density) on the unit area of each cell is counted. If the clutter density of the fixed ground object points is larger than the preset clutter threshold value, the corresponding grid cells can be directly identified as the fixed ground object clutter area.
The fixed ground object point trace density of each grid unit is calculated by adopting a sliding window method according to the quantity of fixed point traces which are accumulated by the azimuth distance unit to fall into each unit cell in the current period (taking a radar scanning period as the time window length). And dynamically updating the clutter map in real time according to the state of the discrimination threshold identification cell.
In the multisource data fusion method, the shore radars which are arranged continuously at a certain distance have monitoring coverage overlapping areas, the ship in the overlapping areas can be monitored by two radars, but the discovery probability is not high because the shore radars are positioned in the edge zone of the radar monitoring area, and the system knows that the discovery probability of one ship in the repeated areas by the two radars is p respectively through fusion of the multispeed radars to the detection data of the same ship 1 ,p 2 The discovery probability after data fusion is p=1- (1-p) 1 )(1-p 2 )。
As shown in fig. 3, the target sea area is divided according to the performance of the radars and the sweep range, and if the area is located in the repeated monitoring areas of the two radars, the area is marked as 1, and if the area is only in the monitoring area of the single radar, the area is marked as 0. For a certain ship, if the ship coordinates obtained by analyzing the ship AIS information are located in the area 0, the radar in the area 0 and the ship AIS data are fused to realize tracking and identification of the ship; if the ship coordinates are located in the area 1, the two radars in the detectable area 1 fuse the detection data of the ship, and then the ship is tracked and identified after the fusion of the ship AIS data.
For the vessels in zone 0, the following data fusion method was used:
the method mainly comprises three parts of space-time registration, correlation judgment and point trace merging.
Step A1: space-time registration, by registering shorter data to longer data, due to the different time lengths of the radar and AIS acquired data. The longitude and latitude information of the AIS is uniformly transformed into a rectangular coordinate system, and the origin of coordinates is the real-time position of the track.
Step A2: and judging the correlation, namely mainly judging whether different data are derived from the same target data. After the AIS and the radar acquire data, the local tracks are calculated immediately, then the rectangular coordinate system is converted into a parameter space, and the correlation of the two paths of tracks is calculated through cluster analysis.
Step A3: and (3) merging the points, if the two paths of tracks are judged to be derived from the same target in the step (2), carrying out weighted fusion on the two paths of tracks, taking the accuracy of the radar and the AIS as the calculation basis of the weight, and carrying out Kalman filtering processing on the fused data to further eliminate noise and other errors.
For the vessels in zone 1, the following data fusion method was used:
firstly, a double-radar data fusion system is established, and the steps are as follows
Step B1: spatio-temporal registration, herein referred to as spatial-temporal registration between the multi-radar system and the AIS system. Firstly, registering the time and space of double radars, unifying the radar system time in a radar network, carrying out spatial registration, adopting a geographic longitude and latitude coordinate system as the same coordinate system, adopting the origin of the coordinate system as the position of a main radar station, then converting the measured values of the two radars into the coordinate system, and obtaining longitude and latitude data corresponding to a target according to the track parameters of each radar station. The spatial-temporal registration between radar and AIS systems is the same.
Step B2: the state estimation difference of the track i from the radar 1 and the track j from the radar 2 at the moment k is as follows by adopting a nearest neighbor track pairing algorithm:
let the threshold vector be e= [ e x ,e y ,e z ] T If the threshold condition expressed by the following expression is satisfied, it is possible to determine that the track i and the track j are tracks from one ship.
(|x ij (k|k)|≤e x )∩(|y ij (k|k)|≤e y )∩(|z ij (k|k)|≤e z )
After judging that two radar data are the same ship, the correlation judgment is needed to be carried out with the AIS system, and the method is the same as that described above.
Step B3: the track fusion is carried out by firstly fusing track data obtained by radars meeting track association, fusing by adopting a weighted average mode, determining a weight coefficient according to the precision of the radars, and carrying out large weight on the radars with high precision, otherwise carrying out small weight.
And the method for fusing the radar data and the AIS data is the same as that for fusing the radar data and the AIS data.
In this embodiment, not only the interference of ground clutter on the radar can be avoided, but also the requirement of self-adaptive adjustment can be satisfied, and after the radar site changes or the surrounding ground environment changes, the fixed ground clutter map can change in a self-adaptive manner.
Further, a method based on monitoring area discrimination is adopted, a multi-radar and AIS target data fusion method is used in the radar repeated monitoring sea area, and a single radar and AIS target fusion algorithm is used in the single radar monitoring sea area, so that the accuracy of ship target identification is effectively improved.
Particularly, the algorithm based on the multi-radar and AIS data fusion of the region identification can meet the tracking identification of different positions of the ship, overcomes the defect that the single radar monitoring precision of the radar monitoring edge zone can be met through the double-radar data fusion, can greatly improve the ship discovery probability and improve the ship tracking identification precision.
Example III
The embodiment of the invention also provides a data processing device based on the shore-based radar, which is positioned in a ship or a shore-based control center or a radar system, and comprises: the data processing system comprises a memory and a processor, wherein the memory stores a program, and the processor executes the program stored in the memory and is specifically used for executing the data processing method according to any one of the embodiments.
The above description of the specific embodiments of the present invention is merely for illustrating the technical route and features of the present invention, and is intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly, but the present invention is not limited to the above-described specific embodiments. All changes or modifications that come within the scope of the appended claims are intended to be embraced therein.

Claims (7)

1. A data processing method for a shore-based radar, characterized in that an execution body is a data processing device located in a ship or a shore-based control center, the method comprising:
s1, receiving first detection information sent by more than two shore radars;
s2, receiving second detection information sent by sensing equipment on the ship;
s3, performing cancellation processing on the first detection information of each shore radar according to a ground feature echo clutter map to which the shore radar belongs to obtain echo information of a ship detected by the shore radar;
s4, determining coordinate information of the monitored ship according to the second detection information; judging whether the monitoring ship is located in a detection area of a single-shore radar or not according to the coordinate information of the monitoring ship;
s5, if the monitoring ship is located in the detection area of the single-shore radar, fusing echo information of the ship detected by the single-shore radar with the second detection information to obtain identification information of the monitoring ship;
s6, if the monitoring ship is located in the cross detection area of the shore radars, merging echo information of all the shore radars corresponding to the cross detection area with the second detection information to obtain identification information of the monitoring ship;
the step S5 includes:
s5-1, respectively converting echo information and second detection information of the ship detected by the shore-based radar into a unified coordinate system, registering data with shorter time to data with longer time, and acquiring respective local tracks;
s5-2, judging whether the two local tracks belong to tracks of the same monitoring target or not by adopting a cluster analysis mode;
s5-3, if the ship belongs to the monitoring ship, carrying out weighted fusion on the two local tracks, and carrying out Kalman filtering processing to obtain the identification information of the monitoring ship;
the step S6 includes:
s6-1, respectively converting echo information of two shore radars of a cross detection area and the second detection into a unified coordinate system, registering data with shorter time to data with longer time, and acquiring respective local tracks;
s6-2, judging whether the tracks of two adjacent shore radars belong to the tracks of the same monitoring ship by adopting a nearest neighbor track pairing algorithm;
s6-3, if the tracks of the two shore radars belong to the tracks of the same monitoring ship, judging whether the tracks of the shore radars with high detection precision and the tracks corresponding to the second detection information belong to the tracks of the same monitoring target by adopting a cluster analysis method;
s6-4, if the two paths belong to the same type, carrying out weighted fusion on all the paths to acquire the identification information of the monitored ship, wherein the weight of the shore radar with high accuracy determination weight coefficient is large;
the ground object echo clutter map is established by adopting a sliding window method based on detection information of each shore radar in advance.
2. The method according to claim 1, wherein after step S1 and before step S3, the method further comprises:
s10, according to the first detection information of each shore radar, a sliding window method is adopted to establish a ground object echo clutter map of the shore radar.
3. The method of claim 2, wherein the first probe information comprises: ground object echo information and echo information of a moving ship.
4. A method according to claim 3, wherein said step S10 comprises:
s10-1, aiming at each shore radar, carrying out grid division on the detection range of the shore radar in a polar coordinate system mode, and obtaining a divided azimuth distance unit;
s10-2, marking the amplitude of the echo of the azimuth distance unit according to the first detection information of the shore radar; acquiring the average value of the amplitude values of each azimuth distance unit in a preset scanning period;
s10-3, determining a fixed ground clutter zone according to the amplitude value average value, and acquiring a ground echo clutter map.
5. The method as recited in claim 4, further comprising:
and updating the clutter map of the ground object echo in real time according to the received first detection information.
6. The method according to claim 1, wherein the step S6-2 comprises:
adopting a nearest neighbor track pairing algorithm, wherein the state estimation difference of a track i from a first shore radar and a track j from a second shore radar at the moment k is as follows:
let the threshold vector be e= [ e x ,e y ,e z ] T ,
If the threshold condition expressed by the following formula is met, determining that the track i and the track j are tracks from a ship;
(|x ij (k|k)|≤e x )∩(|y ij (k|k)|≤e y )∩(|z ij (k|k)|≤e z )。
7. a data processing device based on a shore-based radar, wherein the data processing device is located in a ship or a shore-based control center, the data processing device comprising: a memory and a processor, wherein the memory stores a program, and the processor executes the stored program in the memory, in particular for executing the data processing method according to any one of the preceding claims 1 to 6.
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