CN111199537A - VTS system radar target trace extraction method based on image processing, terminal device and computer readable storage medium - Google Patents
VTS system radar target trace extraction method based on image processing, terminal device and computer readable storage medium Download PDFInfo
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Abstract
The invention has proposed VTS system radar target trace extraction method, terminal equipment and computer storage medium based on image processing, the said method accumulates the original echo of all positions of radar present scanning cycle at first and forms a frame of omnibearing echo diagram, carry on bilateral filtering to each echo unit amplitude of echo diagram of the present frame and filter the isolated noise point smoothly; carrying out self-adaptive threshold filtering on the smoothed echo, and extracting a target envelope connected domain; and performing characteristic analysis on each connected domain, deleting the connected domains which do not accord with the target characteristics, extracting the central point of each connected domain as the target point trace of the radar frame, and outputting the trace after deleting the trace which falls into the range of the chart land or the island. The invention adopts the image processing technology to extract the trace points, can fully utilize the neighborhood information of the echo unit, adopts the self-adaptive threshold value for extracting the connected domain, and has better applicability and robustness compared with the fixed threshold value.
Description
Technical Field
The invention relates to the technical field of radar target trace extraction, in particular to a VTS system radar target trace extraction method based on image processing, a terminal device and a computer readable storage medium.
Background
The point trace extraction of the target is one of the most basic functions of the VTS radar system. Under a complex clutter environment, common climate clutter such as rain clutter, sea clutter and other interference false clutter are kneaded with real target information, and point trace extraction is to judge and extract the state of a target echo signal under the influence of the interference.
The conventional trace point extraction method mainly adopts a constant false alarm algorithm and a sliding window detection algorithm, for example, a power detection threshold is estimated by taking the mean value of power values of all reference units in a one-dimensional reference window (distance dimension) as a background noise power estimation value by a unit average constant false alarm (CA-CFAR), and the sliding window detection algorithm judges whether the target is the trace point or not by adopting digital accumulation counting according to the non-correlation of noise and the correlation of target echo on the basis of the constant false alarm threshold. The method only considers the relevant information of the distance dimension neighborhood of the echo unit, the small target is easy to lose in a complex and changeable environment, target splitting is easy to occur on a larger target, trace point condensation processing is needed for target splitting, and the calculation complexity is increased.
In the existing reference documents for radar system point trace extraction by using an image processing technology in recent years, inter-frame difference or background difference is usually adopted to extract the point trace of a target, but the method is only suitable for detecting a moving target, cannot extract a static target point trace and has a high false alarm rate in a complex environment.
Therefore, a VTS radar trace point extraction method suitable for complex and variable environments needs to be designed, correlation of the neighborhood of an echo unit is fully considered, and applicability under different environments is improved. The invention adopts connected domain analysis in the field of image processing, accumulates a complete scanning period, and takes the echo of the complete scanning period as a frame of image to carry out trace point extraction.
Disclosure of Invention
The invention mainly aims to provide a VTS system radar target trace extraction method based on image processing, a terminal device and a computer readable storage medium, aiming at solving the problem of poor adaptability and robustness in the existing trace extraction method.
In order to achieve the above object, the present invention provides a VTS system radar target trace extraction method based on image processing, the method comprising the steps of:
step 10, accumulating original echoes of all directions in the current scanning period of the radar to form a frame of omnibearing echo diagram, and carrying out bilateral filtering on the amplitude of the frame of echo diagram to filter out isolated noise points smoothly;
step 20, setting a self-adaptive threshold value for each echo unit after smoothing according to a preset rule, filtering and removing impurities, and then extracting a target envelope connected domain;
and step 30, performing feature analysis on the connected domains, deleting the connected domains which do not accord with the target features, extracting the central points of the connected domains, deleting the central points falling into the land or island range in the chart, and outputting the reserved central points as target traces of the frame of radar.
Preferably, the step S10 of filtering the isolated noise points in the echo map smoothly uses bilateral filtering:
the method is composed of two functions, one function is a space distance determination coefficient, the other function is an amplitude distance determination coefficient, therefore, the target envelope information can be kept while isolated noise points are filtered, and the output expression of each echo unit after passing through a filter is as follows:
the weighting factor w (i, j, k, l) depends on the product of the domain kernel d (i, j, k, l) and the value domain kernel r (i, j, k, l):
where (i, j) is the center coordinate of the operator, (k, l) is the coordinate of the other coefficients of the operator, f (i, j) represents the amplitude at the echo unit (x, y), σdIs the standard deviation of spatial distance, σrIs the amplitude distance standard deviation.
Preferably, the step of setting the adaptive threshold for filtering out the adaptive threshold in clutter according to a preset rule for each echo unit after the smoothing in step S20 includes:
calculating a circular region S with a radius R by using the echo unit as a circle centerRTaking the mean value of the amplitudes of all the echo units as a threshold TH of the echo unit, wherein the mean value is a reinforced fixed value a; if the echo amplitude is smaller than TH, the echo unit amplitude is set to be 0, and if the echo amplitude is higher than the threshold value, the actual amplitude is reserved; the threshold TH expression is as follows:
wherein m is a circular region S with a radius RRTotal number of inner echo units.
Preferably, the step S30 includes:
performing feature analysis on each extracted connected domain, and deleting the connected domains containing the number of echo units which is greater than the maximum echo number threshold value and less than the minimum echo number threshold value; deleting connected domains with the distance span larger than the maximum distance span threshold value and smaller than the minimum distance span threshold value; deleting the connected domain with the azimuth span range larger than the maximum azimuth span threshold and smaller than the minimum azimuth span threshold; finding out the minimum external rectangles of the rest connected domains, and taking the center points of the rectangles as target traces of the current frame; and deleting target traces falling within the range of lands or islands in the chart, and outputting the retained traces.
Furthermore, to achieve the above object, the present invention also provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method according to any one of the above methods when executing the computer program.
Furthermore, to achieve the above object, the present invention also proposes a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of the method according to any one of the above.
The invention has proposed a VTS system radar target trace extraction method, terminal equipment and computer storage medium based on image processing, the said method accumulates the original echo of all positions of radar present scanning cycle at first and forms a frame of omnibearing echo diagrams, carry on bilateral filtering to each echo unit amplitude of echo diagram of the current frame and filter the isolated noise point smoothly; carrying out self-adaptive threshold filtering on the smoothed echo, and extracting a target envelope connected domain; and performing characteristic analysis on each connected domain, deleting the connected domains which do not accord with the target characteristics, extracting the central point of each connected domain as the target trace of the radar frame, and outputting the trace after deleting the trace which falls into the land or island range in the chart. According to the invention, the image processing technology is adopted for trace point extraction, the neighborhood information of an echo unit can be fully utilized, bilateral filtering is adopted for echo data smoothing, the target envelope information can be protected while isolated noise points are restrained, the adaptive threshold value is adopted for extraction of a connected domain, the applicability and robustness are better compared with the fixed threshold value, the echo of sea waves and rain and snow can be effectively restrained by means of characteristic analysis of the connected domain, and the interference of ground object noise is effectively eliminated by deleting trace points falling into the land or island range in a sea chart. The method has strong robustness, can effectively inhibit clutter, has small target loss, and is suitable for target point trace extraction in a complex and variable environment.
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The accompanying drawings, which are included to provide a further understanding of the invention, are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without limiting the invention to the right. It is obvious that the drawings in the following description are only some embodiments, and that for a person skilled in the art, other drawings can be obtained from these drawings without inventive effort. In the drawings:
FIG. 1 is a flow chart of a VTS system radar target trace extraction method based on image processing;
FIG. 2 is a diagram of a frame VTS system after normalization of the amplitude of an omni-directional echo map;
FIG. 3 is a schematic diagram of an echo after bilateral filtering smoothing;
FIG. 4 is a schematic diagram of an echo after adaptive filtering and connected component analysis, the image being enhanced to show a target connected component with a smaller amplitude;
fig. 5 is a schematic diagram of a terminal device according to an embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical problems solved, the technical solutions adopted and the technical effects achieved by the embodiments of the present invention are clearly and completely described below with reference to the accompanying drawings and the specific embodiments. It is to be understood that the described embodiments are merely a few, and not all, of the embodiments of the present application. All other equivalent or obviously modified embodiments obtained by the person skilled in the art on the basis of the embodiments presented in the present application fall within the scope of protection of the invention without inventive step. The embodiments of the invention can be embodied in many different ways as defined and covered by the claims.
It should be noted that in the following description, numerous specific details are set forth in order to provide an understanding. It may be evident, however, that the subject invention may be practiced without these specific details.
It should be noted that, unless explicitly defined or conflicting, the embodiments and technical features in the present invention may be combined with each other to form a technical solution.
The invention mainly aims to provide a VTS system radar target trace extraction method based on image processing, and aims to solve the problem that the target trace extraction process is poor in adaptivity and robustness in the existing detection method.
In an embodiment of the present invention, referring to fig. 1 to 4, the method includes the following steps:
step 10, accumulating original echoes of all directions in the current scanning period of the radar to form a frame of omnibearing echo diagram, and carrying out bilateral filtering on the amplitude of the frame of echo diagram to filter out isolated noise points smoothly;
the formation mode of a frame of omnibearing echo diagram is that the echo from the first azimuth in the current scanning period is recorded and stored until the last azimuth in the period, and the echo is arranged in a polar coordinate according to the azimuth, as shown in figure 2, the correlation of the echo unit neighborhood can be fully considered when the echo unit is extracted on the basis, the echo unit neighborhood is used as a radar target of a VTS system, the ship navigation speed is low, the position change in a radar scanning period is small, and the basis is provided for extracting the point trace based on a frame of omnibearing echo diagram. The processing of the isolated noise points often causes the loss of target envelope edge information, thereby reducing the target resolution, therefore, the bilateral filtering is used for smoothing the amplitude of each echo unit, the method comprehensively considers the spatial proximity and the amplitude similarity to set a smoothing operator, the isolated noise points are inhibited, meanwhile, the target envelope information is effectively protected, the loss of the target resolution is reduced, and the output amplitude of each echo unit is as follows:
the weighting factor w (i, j, k, l) depends on the product of the domain kernel d (i, j, k, l) and the value domain kernel r (i, j, k, l):
where (i, j) is the center coordinate of the operator, (k, l) is the coordinate of the other coefficients of the operator, f (i, j) represents the amplitude at the echo unit (x, y), σdIs the standard deviation of spatial distance, σrIs the amplitude distance standard deviation. The parameters of the operator need to be set according to the echo characteristics of the VTS system.
Step 20, setting a self-adaptive threshold value for each echo unit after smoothing according to a preset rule, filtering and removing impurities, and then extracting a target envelope connected domain;
neglecting the situation of elevation angle, in the radar detection process, the closer the echo energy is, the stronger the echo energy is, the inverse proportion of the echo energy received by the radar receiver and the fourth power of the distance is, in the VTS system, the influence is very obvious in the short-range sea area, if a global threshold value is directly set according to experience, if the threshold value is too small, the short-range sea wave clutter and the target echo data are almost completely retained, if the threshold value is too large, most of the long-range target can be filtered, contradiction exists all the time in the setting of the global threshold value, in addition, rain and snow also have great influence on the echo energy, if the threshold value is too small, a large amount of rain clutter can be retained, and if the threshold value is too large, the target loss in the non-rain and snow area. Therefore, it is necessary to fully consider the correlation of the neighborhood of the echo unit, and set the threshold value for each echo unit according to a certain rule by using local information, so as to realize the adaptive threshold value of the echo, relative to the globalThe threshold can effectively adapt to the transformation of the environment and has higher resolution, and the self-adaptive threshold setting steps for each echo unit are as follows: calculating a circular region S with a radius R by using the echo unit as a circle centerRAnd taking the mean value of the amplitudes of all the echo units as the threshold TH of the echo unit, wherein the mean value is reinforced to be a fixed value a. If the echo amplitude is smaller than TH, the echo unit amplitude is set to 0, and if the echo amplitude is higher than the threshold value, the actual amplitude is reserved. The threshold TH expression is as follows:
wherein m is a circular region S with a radius RRThe total number of the internal echo units, the fixed value a and the parameter R need to be set according to the echo characteristics of the VTS system.
After the adaptive threshold value filtering, the target connected domain is extracted by adopting an 8-adjacency mode, and the probability of splitting the target caused by 8-adjacency relative to 4-adjacency is lower.
And step 30, performing feature analysis on the connected domains, deleting the connected domains which do not accord with the target features, extracting the central points of the connected domains, deleting the central points falling into the land or island range in the chart, and outputting the reserved central points as target traces of the frame of radar.
As a VTS system radar target, the size of a ship is within a certain interval range, and accordingly, the extracted connected domains are subjected to characteristic analysis, and the connected domains containing the number of echo units which is greater than a maximum echo number threshold value and less than a minimum echo number threshold value are deleted; deleting connected domains with the distance span larger than the maximum distance span threshold value and smaller than the minimum distance span threshold value; deleting the connected domain with the azimuth span range larger than the maximum azimuth span threshold and smaller than the minimum azimuth span threshold; and finding out the minimum rectangle capable of containing the connected domains for each connected domain, and taking the central point of the rectangle as a target point trace. For a target, the distribution difference of the amplitude values in the envelopes among different frames is large, and the outline difference of the envelopes is small, so that the error caused by taking a central point relative to an extreme point or a mass center point is smaller and more reliable; since the VTS system is targeted to ships on the water, regardless of land or island targets, target traces falling within the range of land or islands in the chart are deleted, and remaining ones are output.
The invention has proposed a VTS system radar target trace extraction method, terminal equipment and computer storage medium based on image processing, the said method accumulates the original echo of all positions of radar present scanning cycle at first and forms a frame of omnibearing echo diagrams, carry on bilateral filtering to each echo unit amplitude of echo diagram of the current frame and filter the isolated noise point smoothly; carrying out self-adaptive threshold filtering on the smoothed echo, and extracting a target envelope connected domain; and performing characteristic analysis on each connected domain, deleting the connected domains which do not accord with the target characteristics, extracting the central point of each connected domain as the target trace of the radar frame, and outputting the trace after deleting the trace which falls into the land or island range in the chart. According to the invention, the image processing technology is adopted for trace point extraction, the neighborhood information of an echo unit can be fully utilized, bilateral filtering is adopted for echo data smoothing, the target envelope information can be protected while isolated noise points are restrained, the adaptive threshold value is adopted for extraction of a connected domain, the applicability and robustness are better compared with the fixed threshold value, the echo of sea waves and rain and snow can be effectively restrained by means of characteristic analysis of the connected domain, and the interference of ground object noise is effectively eliminated by deleting trace points falling into the land or island range in a sea chart. The method has strong robustness, can effectively inhibit clutter, has small target loss, and is suitable for target point trace extraction in a complex and variable environment.
Fig. 5 is a schematic diagram of a terminal device according to an embodiment of the present invention. As shown in fig. 5, the embodiment/terminal device 6 includes: a processor 60, a memory 61 and a computer program 62 stored in said memory 61 and executable on said processor 60, such as a VTS system radar target trace extraction program based on image connected domain analysis. The processor 60 executes the computer program 62 to implement the steps in each embodiment of the above VTS system radar target trace extraction method based on image connected domain analysis.
Illustratively, the computer program 62 may be divided into one or more modules/units, which are stored in the memory 61 and executed by the processor 60 to accomplish the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 62 in the terminal device 6.
The terminal device 6 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The terminal 6 device may include, but is not limited to, a processor 60, a memory 61. It will be understood by those skilled in the art that fig. 5 is only an example of the terminal device 6, and does not constitute a limitation to the terminal device 6, and may include more or less components than those shown, or combine some components, or different components, for example, the terminal device 6 may further include an input-output device, a network access device, a bus, etc.
The Processor 60 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 61 may be an internal storage unit of the terminal device 6, such as a hard disk or a memory of the terminal device 6. The memory 61 may also be an external storage device of the terminal device 6, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the terminal device. Further, the memory 61 may also include both an internal storage unit of the terminal device 6 and an external storage device. The memory 61 is used for storing the computer programs and other programs and data required by the terminal device. The memory 61 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to requirements, that is, the internal structure of the apparatus is divided into different functional units or modules, so as to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used to limit the scope of protection of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when the actual implementation is performed, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, that is, may be located in one place, or may also be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. . Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, etc. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as subject to legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (6)
1. A VTS system radar target trace extraction method based on image processing is characterized by comprising the following steps:
step 10, accumulating original echoes of all directions in the current scanning period of the radar to form a frame of omnibearing echo diagram, and carrying out bilateral filtering on the amplitude of the frame of echo diagram to filter out isolated noise points smoothly;
step 20, setting a self-adaptive threshold value for each echo unit after smoothing processing according to a preset rule, filtering and removing impurities, and then extracting a target envelope connected domain;
and step 30, performing feature analysis on the connected domains, deleting the connected domains which do not accord with the target features, extracting the central points of the connected domains, deleting the central points falling into the land or island range in the chart, and outputting the reserved central points as target traces of the frame of radar.
2. The image processing-based VTS system radar target trace extraction method according to claim 1, wherein in step S10, a bilateral filter is used for filtering isolated noise points smoothly from the echo map, the bilateral filter is composed of two functions, one function is a spatial distance determination coefficient, and the other function is an amplitude distance determination coefficient, so that target envelope information can be maintained while filtering isolated noise points, and an output expression of each echo unit after passing through a filter is:
the weighting factor w (i, j, k, l) depends on the product of the domain kernel d (i, j, k, l) and the value domain kernel r (i, j, k, l):
where (i, j) is the center coordinate of the operator, (k, l) is the coordinate of the other coefficients of the operator, f (i, j) represents the amplitude at the echo unit (x, y), σdIs the standard deviation of spatial distance, σrIs the amplitude distance standard deviation.
3. The image processing based VTS system radar target trace extraction method of claim 1, wherein the step of setting the adaptive threshold in the step of extracting the target envelope connected domain after setting the adaptive threshold according to the preset rule and filtering out the smoothed echo units in step S20 is:
calculating a circular region S with a radius R by using the echo unit as a circle centerRAdding a preset fixed value a to the average value of the amplitudes of all the echo units to serve as a threshold value TH of the echo unit; if the echoSetting the amplitude of the echo unit to be 0 if the unit amplitude is smaller than TH, and keeping the actual amplitude if the unit amplitude is higher than a threshold value; the threshold TH expression is as follows:
wherein m is a circular region S with a radius RRTotal number of inner echo units.
4. The image-processing-based VTS system radar target trace extraction method according to claim 1, wherein the step S30 comprises:
performing characteristic analysis on the connected domain, and deleting the connected domain containing the number of echo units which is greater than a maximum echo number threshold value and less than a minimum echo number threshold value; deleting connected domains with the distance span larger than the maximum distance span threshold value and smaller than the minimum distance span threshold value; deleting connected domains with the azimuth span range larger than the maximum azimuth span threshold and smaller than the minimum azimuth span threshold; finding out the minimum external rectangles of the rest connected domains, and taking the center points of the rectangles as target traces of the current frame; and deleting target traces falling within the range of lands or islands in the chart, and outputting the retained traces.
5. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 4 when executing the computer program.
6. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 4.
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| CN114415142A (en) * | 2022-01-28 | 2022-04-29 | 北京海兰信数据科技股份有限公司 | Rain clutter identification method and system based on navigation radar |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114415142A (en) * | 2022-01-28 | 2022-04-29 | 北京海兰信数据科技股份有限公司 | Rain clutter identification method and system based on navigation radar |
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