CN111279215A

CN111279215A - Target detection method and device, track management method and device and unmanned aerial vehicle

Info

Publication number: CN111279215A
Application number: CN201880069284.6A
Authority: CN
Inventors: 王俊喜; 林灿龙; 王春明
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2018-12-03
Filing date: 2018-12-03
Publication date: 2020-06-12
Also published as: WO2020113357A1

Abstract

A method of target detection, comprising: acquiring detection coordinate information of a target and motion information of the carrying platform (S1); determining current predicted coordinate information of the object based on the detected coordinate information of the object at the previous time and the current motion information of the platform (S2); estimating according to the current predicted coordinate information and the current detected coordinate information to obtain current corrected coordinate information of the target (S3). The method is beneficial to improving the accuracy of detecting the target so as to accurately determine the information such as the position, the track and the like of the target.

Description

Target detection method and device, track management method and device and unmanned aerial vehicle

Technical Field

The invention relates to the technical field of detection, in particular to a target detection method, a target detection device, a flight path management method, a flight path management device and an unmanned aerial vehicle.

Background

The radar is mainly used for detecting a target, however, due to the existence of noise, the detection result of the radar on the target is not accurate, and problems of target missing detection, target superposition, target extension, noise false alarm and the like may occur.

And under a lot of present scenes, the radar is not immovable, but sets up in carrying on the platform, and carrying on the platform is removed, and the radar removes along with carrying on the platform, under this kind of condition, can bring bigger influence to the detection effect of radar, leads to the testing result more inaccurate.

Disclosure of Invention

The embodiment of the invention provides a target detection method, a target detection device, a flight path management method, a flight path management device and an unmanned aerial vehicle, and aims to solve the technical problems in the related art.

According to a first aspect of the embodiments of the present disclosure, a target detection method is provided, which is applied to a radar disposed in a mounting platform, and the method includes:

acquiring detection coordinate information of a target and motion information of the carrying platform;

determining current predicted coordinate information of the target according to the detected coordinate information of the target at the previous moment and the current motion information of the carrying platform;

and estimating according to the current predicted coordinate information and the current detection coordinate information to obtain the current correction coordinate information of the target.

According to a second aspect of the embodiments of the present disclosure, a method for managing a flight path is provided, which includes the method of the above embodiments, and further includes:

determining the track of the target according to the current correction coordinate information of the target;

determining a confidence level of the detected trajectories of the plurality of targets;

and deleting the tracks with the reliability lower than the preset reliability.

According to a third aspect of the embodiments of the present disclosure, there is provided an object detecting apparatus, adapted to a radar, which is disposed in a mounting platform, the apparatus including a processor,

According to a fourth aspect of the embodiments of the present disclosure, a flight path management apparatus is provided, including a processor, configured to determine a trajectory of the target according to current corrected coordinate information of the target determined by the target detection apparatus according to the above embodiments;

and deleting the tracks with the reliability lower than the preset reliability.

According to a fifth aspect of an embodiment of the present disclosure, an unmanned aerial vehicle is proposed, comprising the object detection device and/or the track management device of any one of the preceding claims.

According to the embodiment of the disclosure, since the radar is disposed in the mounting platform, and the mounting platform is movable, this may cause the radar in the mounting platform to move relative to the detection target. Under the condition, the detection coordinate information of the target at the previous moment, the current detection coordinate information and the motion information of the carrying platform can be obtained, then the current prediction coordinate information of the target is determined according to the detection coordinate information of the target at the previous moment and the current motion information of the carrying platform, and estimation is carried out according to the current prediction coordinate information and the current detection coordinate information so as to obtain the current correction coordinate information of the target.

When the current predicted coordinate information of the target is determined, the current motion information of the carrying platform is considered, so that the current predicted coordinate information of the target obtained by prediction is more accurate, and the current corrected coordinate information of the target obtained by estimation according to the more accurate current predicted coordinate information of the target and the current detection coordinate information is more accurate. Therefore, the accuracy of target detection is improved, and information such as the position and the track of the target can be accurately determined.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

Fig. 1 is a schematic flow chart diagram illustrating a method of object detection in accordance with an embodiment of the present disclosure.

Fig. 2 is a schematic flow chart illustrating a method of acquiring current detection coordinate information of an object and motion information of the mounting platform according to an embodiment of the present disclosure.

FIG. 3 is a schematic diagram illustrating a radar and dock-mounted positional relationship according to an embodiment of the present disclosure.

Fig. 4 is a schematic flow chart illustrating another method for acquiring the detected coordinate information of the target and the motion information of the mounting platform according to the embodiment of the disclosure.

Fig. 5 is a schematic flow chart illustrating a method for determining current predicted coordinate information of the object according to the detected coordinate information of the object at the previous time and the current motion information of the platform according to an embodiment of the disclosure.

FIG. 6 is a schematic flow chart diagram illustrating an estimation based on the current predicted coordinate information and the current detected coordinate information to obtain current corrected coordinate information of the target according to an embodiment of the present disclosure.

FIG. 7 is another schematic flow chart diagram illustrating an estimation based on the current predicted coordinate information and the current detected coordinate information to obtain current corrected coordinate information of the target according to an embodiment of the present disclosure.

Fig. 8 is a schematic flow chart illustrating a process of determining currently detected coordinate information in at least one coordinate detected at the current time by a preset correlation algorithm according to an embodiment of the present disclosure.

Fig. 9 is another schematic flow chart illustrating a process of determining currently detected coordinate information in at least one coordinate detected at the current time by a preset correlation algorithm according to an embodiment of the present disclosure.

Fig. 10 is a schematic diagram illustrating a method of determining current detection coordinate information according to an embodiment of the present disclosure.

Fig. 11 is a schematic flow chart illustrating a method for determining a filter according to a motion model of the mounting platform and/or a type of the geodetic coordinate system according to an embodiment of the disclosure.

FIG. 12 is a schematic flow chart diagram illustrating a method of flight path management according to an embodiment of the present disclosure.

FIG. 13 is a schematic flow chart diagram illustrating another method of flight path management according to an embodiment of the present disclosure.

FIG. 14 is a schematic flow chart diagram illustrating yet another method of flight path management according to an embodiment of the present disclosure.

FIG. 15 is a schematic flow chart diagram illustrating one method of determining confidence in the trajectory of a plurality of detected targets according to an embodiment of the present disclosure.

Detailed Description

The embodiment of the disclosure provides a target detection method, which is suitable for a target detection device, such as a radar, an image acquisition device, an unmanned aerial vehicle and the like, and can detect a target to be detected.

In one embodiment, the object detection device is mobile, or the object detection device itself does not move, but can be mounted on a movable platform, and can detect a stationary object. And estimating the motion information of the object relative to the object detection device based on the object detection value and the motion information of the object.

In one embodiment, the object detection device is mobile, or the object detection device itself does not move, but can be mounted on a movable platform, and can detect a moving object. And estimating motion information of the object relative to the object detection means based on the object detection value and the motion information of the object itself.

In one embodiment, the object detection device is capable of detecting at least one object and estimating motion information of the object relative to the object detection device based on the object detection value.

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. In addition, the features in the embodiments and the examples described below may be combined with each other without conflict. Fig. 1 is a schematic flow chart diagram illustrating a method of object detection in accordance with an embodiment of the present disclosure. In the following, an example will be described mainly using radar as the target detection device. The target detection method of the embodiment may be applied to a radar, the radar is disposed in a carrying platform, and the carrying platform may be a road vehicle, such as a vehicle, an air vehicle, such as an unmanned aerial vehicle, or a water vehicle, such as a ship, for example, which is not limited in this disclosure. The mounting platform may be mobile and the radar may move with the mounting platform. By implementing the target detection method disclosed by the embodiment of the disclosure, the radar can improve the measurement precision and enhance the adaptability to complex environments.

As shown in fig. 1, the target detection method may include the steps of:

step S1, acquiring the detection coordinate information of the target and the motion information of the carrying platform;

it should be noted that the detection information of the target can be obtained at each time, for example, at K, K +1 and K +2, where K is a non-negative integer. The term "previous time" referred to in the following embodiments may refer to time K, and the term "current" may refer to time K +1, which is between time K and time K + 2.

The detected coordinate information of the target may include a distance and an azimuth of the target. Specifically, the distance of the target may include a horizontal distance from the target to the radar, the azimuth angle of the target may include an angle of the target in a coordinate system of the radar, for example, a yaw angle of the platform, and the detection information of the target may be obtained by radar detection.

The detection information of the target is obtained through the radar, the radar can collect echo signals of the target, and the detection coordinate information of the target can be obtained through signal processing of the echo signals.

In one embodiment, the radar is rotatable, and the radar can acquire the detection coordinate information of the target by rotating within a preset angle range. The preset angle range may be set as desired, for example, with 0 ° right in front of the radar, and the preset angle range may be-90 ° to +90 °.

The motion information of the mounting platform may include yaw (heading angle) direction information, speed information, etc., and the motion information of the mounting platform may be obtained by a sensor mounted on the carrier platform, for example, the motion information of the mounting platform is obtained by a GPS sensor (not shown in the figure).

Step S2, determining the current predicted coordinate information of the target according to the detected coordinate information of the target at the previous moment and the current motion information of the carrying platform;

specifically, the current predicted coordinate information of the target may be determined according to the detected coordinate information of the target at the previous time and the current motion information of the mounting platform based on a motion model of the mounting platform. The motion model can be a uniform velocity model or a uniform acceleration model. The present embodiment takes a constant velocity model as an example for explanation. The current motion information of the piggybacked platform may include velocity information and the target may be stationary or moving. The present embodiment is explained by taking as an example that the object is stationary.

And step S3, estimating according to the current predicted coordinate information and the current detection coordinate information to obtain the current correction coordinate information of the target.

In one embodiment, since the radar is disposed in the dock, the dock is movable, which causes the radar in the dock to move relative to the detection target. Under the condition, the detection coordinate information of the target at the previous moment, the current detection coordinate information and the motion information of the carrying platform can be obtained, then the current prediction coordinate information of the target is determined according to the detection coordinate information of the target at the previous moment and the current motion information of the carrying platform, and estimation is carried out according to the current prediction coordinate information and the current detection coordinate information so as to obtain the current correction coordinate information of the target.

When the current predicted coordinate information of the target is determined, the current motion information of the carrying platform is considered, so that the current predicted coordinate information of the target obtained by prediction is more accurate, and the current corrected coordinate information of the target obtained by estimation according to the accurate current predicted coordinate information and the current detection coordinate information of the target is more accurate. Therefore, the accuracy of target detection is improved, and information such as the position and the track of the target can be accurately determined.

On the basis of the embodiment shown in fig. 1, fig. 2 is a schematic flow chart illustrating a method for acquiring the detection coordinate information of the target and the motion information of the mounting platform according to an embodiment of the present disclosure. As shown in fig. 2, the acquiring of the detection coordinate information of the target and the motion information of the mounting platform includes:

step S11, detecting a target through a radar to determine the first coordinate of the target in a coordinate system of the radar;

and step S12, determining the current detection coordinate information corresponding to the first target in the geodetic coordinate system of the carrying platform according to the position relation between the radar and the carrying platform.

On the basis of the embodiment shown in fig. 1 or fig. 2, fig. 3 is a schematic diagram showing a radar and a mounting platform position relationship according to an embodiment of the present disclosure.

In one embodiment, as shown in fig. 3, the coordinate system of the radar may be a polar coordinate system, the distance between the target and the radar is R1, the deflection angle is θ relative to the Y axis, and the Y axis coincides with the line connecting the center of the platform to the radar, so that the first coordinate of the target in the coordinate system of the radar is:

x＝R1*sinθ，y＝R1*cosθ。

in order to take the motion state of the mounting platform into consideration, the first coordinate of the target in the radar coordinate system needs to be converted into the geodetic coordinate system of the mounting platform, wherein the positive direction of the horizontal axis is east (E) and the positive direction of the vertical axis is north (N). Wherein, the centre of a circle of the geodetic coordinate system coincides with the center of the carrying platform, the distance between the radar and the center of the carrying platform is R2, and the deflection angle is phi relative to the N direction, and in general, the radar can be arranged at the center of the carrying platform, then R2 is 0, then the corresponding current detection coordinate information of the first target in the geodetic coordinate system of the carrying platform is:

x＝R1*sin(φ+θ)，y＝R1*cos(φ+θ)。

accordingly, the first coordinate of the target in the coordinate system of the radar can be converted into the geodetic coordinate system of the carrying platform, so that the current detection coordinate information corresponding to the target in the geodetic coordinate system of the carrying platform can be obtained, and the target can be detected in the condition of considering the motion information of the carrying platform.

On the basis of the embodiment shown in fig. 1, fig. 4 is a schematic flow chart illustrating another method for acquiring the detected coordinate information of the target and the motion information of the mounting platform according to the embodiment of the present disclosure. As shown in fig. 4, the acquiring of the detection coordinate information of the target and the motion information of the mounting platform includes:

and step S13, compensating position deviation according to the position relation between the radar and the carrying platform to determine the detection coordinate information.

In one embodiment, if the radar is not arranged at the center of the mounting platform, R2 ≠ 0, in this case, it is necessary to compensate the position deviation according to the position relationship between the radar and the mounting platform, i.e. when determining the corresponding current detection coordinate information of the first target in the geodetic coordinate system of the mounting platform, it is first necessary to perform compensation based on R2, for example, to compensate the installation error when performing coordinate system conversion, so as to ensure the accuracy of the subsequent calculation.

Based on the embodiment shown in fig. 1, fig. 5 is a schematic flowchart illustrating a method for determining current predicted coordinate information of the object according to the detected coordinate information of the object at the previous time and the current motion information of the platform according to an embodiment of the disclosure. As shown in fig. 5, the determining current predicted coordinate information of the object according to the detected coordinate information of the object at the previous time and the current motion information of the platform includes:

step S21, determining a motion model of the carrying platform, and determining current predicted coordinate information of the target according to the motion model, the detected coordinate information of the target at the previous moment and the current motion information of the carrying platform.

In one embodiment, since the mounting platform is movable and the radar moves on the mounting platform along with the mounting platform, the displacement of the mounting platform from the previous moment to the current moment is different based on the difference of the motion mode, so that the prediction can be performed based on the motion model of the mounting platform and the detected coordinate information of the target at the previous moment in order to predict the current predicted coordinate information of the target.

The motion model of the carrying platform may be a uniform acceleration model, a uniform velocity model, etc., and the uniform velocity model is mainly used as an example for description below.

The state variable of the target at the previous time K may be taken:

wherein x is the abscissa of the target at the previous moment K, y is the ordinate of the target at the previous moment K,

the velocity of the target along the horizontal axis at the previous time K,

to the eyesThe velocity along the vertical axis at the previous instant K is marked.

The current predicted coordinate information of the target at the previous moment K to the current moment K +1 is as follows:

X(K+1)＝φ*X(K)；

wherein t is the time interval between the current moment K +1 and the previous moment K.

The resulting target has an abscissa of the current time-point prediction coordinate of

The ordinate is

Based on the embodiment shown in fig. 5, fig. 6 is a schematic flowchart illustrating a method for obtaining current corrected coordinate information of the target by performing estimation according to the current predicted coordinate information and the current detected coordinate information according to the embodiment of the disclosure. As shown in fig. 6, the estimating according to the current predicted coordinate information and the current detected coordinate information to obtain the current corrected coordinate information of the target includes:

step S31, determining a filter according to the motion model of the carrying platform and/or the type of the geodetic coordinate system where the carrying platform is located;

step S32, estimating, by the filter, based on the current predicted coordinate information and the current detected coordinate information to obtain the current corrected coordinate information, where the current corrected coordinate information is used to determine the predicted coordinate information at the next time.

In an embodiment, the process of estimating according to the current predicted coordinate information and the current detected coordinate information to obtain the current corrected coordinate information of the target may be implemented by a filter, and different filters have different filtering models, and in order to make the current predicted coordinate information and the previous detected coordinate information be suitable for the filter, the filter may be determined according to a motion model of the mounting platform and/or a type of a geodetic coordinate system in which the mounting platform is located, so as to estimate the current predicted coordinate information and the current detected coordinate information subsequently through the filter.

For example, if the motion model of the mounting platform is a linear model, the filter may be a linear filter, and if the geodetic coordinate system is a rectangular coordinate system, the filter may be a linear filter, wherein the linear filter may be an α - β filter, a kalman filter, or the like.

Accordingly, for example, if the motion model of the mounting platform is a non-linear model, then the filter may be a non-linear filter; for example the geodetic coordinate system is of the polar coordinate system type, the filter may also be a non-linear filter. The nonlinear filter may be an Extended Kalman Filter (EKF), a lossless kalman filter (UKF), or the like.

Based on the embodiment shown in fig. 6, fig. 7 is another schematic flow chart illustrating the estimation according to the current predicted coordinate information and the current detected coordinate information to obtain the current corrected coordinate information of the target according to the embodiment of the disclosure. As shown in fig. 7, the estimating according to the current predicted coordinate information and the current detected coordinate information to obtain the current corrected coordinate information of the target further includes:

step S33, determining the current detection coordinate information in at least one second coordinate detected at the current moment through a preset association algorithm;

the estimating, by the filter, based on the current predicted coordinate information and the current detected coordinate information to obtain the current corrected coordinate information comprises:

step S321, calculating the current correction coordinate information according to the first weight and the current predicted coordinate information, and the second weight and the current detected coordinate information.

In one embodiment, at least one second coordinate may be obtained for the target detection, for example, the target may be approximated to a point, and then the detected second coordinate is one, in which case, the current detection coordinate information may be determined according to the one second coordinate, that is, the second coordinate is taken as the current detection coordinate.

However, in general, the target is regarded as one point, that is, the calculation is performed based on one coordinate of the second coordinates of the target, and then a most reasonable second coordinate needs to be determined among the second coordinates.

When the current correction coordinate information is calculated through the filter, the current prediction coordinate information can be weighted through the first weight value, the detection coordinate information is weighted through the second weight value, taking α - β filters as an example, the first weight value is α, the second weight value is β, and the current time is K +1, so that the current correction coordinate information calculation mode is as follows:

where Z (K +1) is the current detected coordinate information, X (K +1| K) is the current predicted coordinate information, when K is 1, then when X (K +1| K) is first calculated, X (K +1| K) is X (K +1) ═ X (K), and when K is greater than 1, i.e., when X (K +1| K) is not first calculated, X (K +1) ═ X (K), where X (K) is used as X (K) and X (K) is calculated for the first time

Instead, in this case

On the basis of the embodiment shown in fig. 7, fig. 8 is a schematic flowchart illustrating a method for determining currently detected coordinate information in at least one coordinate detected at the current time by using a preset association algorithm according to an embodiment of the present disclosure. As shown in fig. 8, the determining the currently detected coordinate information in the at least one coordinate detected at the current time by the preset association algorithm includes:

step S331, calculating a distance from the at least one second coordinate to a predicted coordinate corresponding to the current predicted coordinate information;

step S332, determining the current detection coordinate information according to the coordinate with the minimum distance to the predicted coordinate in the at least one second coordinate.

In one embodiment, when only one second coordinate is obtained for target detection, the coordinate with the minimum distance to the predicted coordinate is the second coordinate, and thus the second coordinate may be used as the current detection coordinate information.

When a plurality of second coordinates are obtained by detecting the target, the distance from each second coordinate to the predicted coordinate can be calculated, and the smaller the distance is, the closer the detected coordinate is to the predicted coordinate is, and the coordinate corresponding to the real position of the target can be reflected, so that the second coordinate corresponding to the smallest distance is taken as the current detected coordinate information.

On the basis of the embodiment shown in fig. 7, fig. 9 is another schematic flow chart illustrating that the currently detected coordinate information is determined in at least one coordinate detected at the current time by a preset association algorithm according to the embodiment of the present disclosure. As shown in fig. 9, the determining the currently detected coordinate information in the at least one coordinate detected at the current time by the preset association algorithm includes:

step S333, determining at least one associated coordinate located within the preset region (including an edge located within the preset region) in the at least one second coordinate;

step 334, calculating the distance from the at least one associated coordinate to the predicted coordinate corresponding to the current predicted coordinate information;

step S335, determining the current detection coordinate information according to the coordinate with the minimum distance to the predicted coordinate in the at least one associated coordinate.

In one embodiment, unlike the embodiment shown in fig. 8, the associated coordinates located within the preset area are determined in the detected second coordinates before calculating the distance from the detected coordinates to the predicted coordinates, wherein the preset area may be an area containing the predicted coordinates, such as an area centered on the predicted coordinates, or an area located near the predicted coordinates but not containing the predicted coordinates.

Coordinates that are not located within the preset area may be excluded from the at least one second coordinate based on the preset area in order to reduce the number of associated coordinates for which a distance to the predicted coordinates needs to be calculated subsequently, thereby reducing the overall amount of calculations.

On the basis of the embodiment shown in fig. 9, fig. 10 is a schematic diagram illustrating a method for determining current detection coordinate information according to an embodiment of the present disclosure.

As shown in fig. 10, the predicted coordinate is a (x) by taking the center coincidence of the radar and the mounting platform as an example₀,y₀) The three detected second coordinates are respectively B (x)₁,y₁)，C(x₂,y₂)，D(x₃,y₃) The preset area is a circular area with the predicted coordinate A as the center of a circle and the radius DIS.

First, according to step S333, it may be determined that the point D is located outside the preset region, so as to eliminate the point D, retain the point B and the point C as associated coordinates, and further calculate distances to the point a for the point B and the point C, respectively, where:

from the calculation result e can be determined₀₁Less than e₀₂To thereby convert e₀₁And the coordinates of the corresponding point B are taken as the current detection coordinate information.

Optionally, the preset area is a circular area with the predicted coordinate as a center of a circle and a first preset distance DIS as a radius;

the first weight is equal to the ratio of the distance from the detected coordinate corresponding to the current detected coordinate information to the predicted coordinate to the first preset distance, and the second weight is equal to the difference between 1 and the first weight.

In one embodiment, based on the embodiment shown in fig. 9, the first weight α ═ e₀₁DIS, the second weight β is 1- α, wherein e₀₁Is DIS, the first weight and the second weight are set accordingly, since DIS is a fixed value, the first weight α and e can be made₀₁Positive correlation is carried out, and according to a calculation formula of the current correction coordinate information:

accordingly, α represents the weight of the term X (K +1| K), and the term X (K +1| K) is the current predicted coordinate information, and the higher the reliability of the current predicted coordinate information, the higher the weight should be, and α ═ e₀₁/DIS, the first weight α and e can be guaranteed₀₁The positive correlation, that is, the closer the current detected coordinate information is to the current predicted coordinate information, indicates that the predicted coordinate is approximately close to the detected coordinate, that is, the more accurate the prediction is, that is, the higher the reliability of the current predicted coordinate information is, the larger α is.

The first preset distance DIS may be set according to parameters such as the accuracy of the radar, the moving speed of the platform, and the distance between the radar and the target. For example, the higher the accuracy of the radar, the smaller DIS; the larger the speed of carrying the platform is, the larger the DIS is; the farther the radar is from the target, the larger DIS.

On the basis of the embodiment shown in fig. 6, fig. 11 is a schematic flow chart illustrating a method for determining a filter according to a motion model of the mounting platform and/or a type of the geodetic coordinate system according to an embodiment of the present disclosure. As shown in fig. 11, the determining a filter according to the motion model of the mounting platform and/or the type of the geodetic coordinate system includes:

step S311, when the motion model of the carrying platform is a linear model and/or the type of the geodetic coordinate system is a rectangular coordinate system, determining a linear filter;

step S312, when the motion model of the carrying platform is a nonlinear model and/or the type of the geodetic coordinate system is a polar coordinate system, a nonlinear filter is determined.

In one embodiment, since the linear filter facilitates the operation on the linear model and the data in the rectangular coordinate system, and the non-linear filter facilitates the operation on the non-linear model and the data in the polar coordinate system, the filter is determined according to the embodiment, and the current predicted coordinate information and the current detected coordinate information are subsequently estimated by the filter.

Optionally, the linear filter comprises at least one of:

α - β filter, kalman filter.

Optionally, the nonlinear filter comprises at least one of:

extended kalman filter, lossless kalman filter.

Optionally, the motion information of the platform includes at least one of: position, speed.

Still taking the embodiment shown in fig. 5 as an example, the status frame at time K,

where x and y may represent the position of the mounting platform,

and

respectively, the speed of the mounting platform along the horizontal and vertical axes in the geodetic coordinate system.

Of course, this is the motion information of the carrying platform when the uniform velocity model is taken as an example, and the motion information of the carrying platform may further include an acceleration when the motion model is the uniform acceleration model.

Optionally, the target is one or more.

In an embodiment, the process of determining the current corrected coordinate information in the above embodiment may be performed for one target, or may be performed for a plurality of targets.

It should be noted that the target detection method described in the above embodiment may be applied to radar, and may also be applied to other devices, such as the image capturing device mentioned above, in which case, a coordinate system may be constructed based on the image capturing device, where the image capturing device may determine a position of the target relative to itself based on pose information of itself when capturing the image and depth information of the target in the image, so as to serve as detection coordinate information of the target.

FIG. 12 is a schematic flow chart diagram illustrating a method of flight path management according to an embodiment of the present disclosure. The track management mainly refers to track starting, track maintaining and track ending. The embodiment discloses a flight path management method, which can be used for the flight path management, and specifically can manage a free point, a reliable flight path and a destruction of a flight path of a target. The flight path management method described in this embodiment includes the target detection method described in any of the above embodiments, as shown in fig. 12, and the flight path management method further includes:

step S1', determining the track of the target according to the current correction coordinate information of the target;

the radar detects a target at a certain moment, and the detected trace points may include not only target trace points but also clutter trace points due to interference. In this embodiment, the radar can determine the current corrected coordinate information of the target according to the above embodiments, and further determine the track of the target based on the current corrected coordinate information, for example, a track obtained by connecting the current corrected coordinate information determined from N times, i.e., 0 to N, in chronological order may be used as the track of the target, where the target may be one or more.

Step S2', determining the reliability of the detected trajectories of the plurality of targets;

because the radar can simultaneously carry out track management on a plurality of targets, the tracks of the targets are managed by introducing credibility into the tracks of the targets. In one embodiment, the reliability of the trajectory of each target may be determined, the trajectory of the target is determined according to the current corrected coordinate information, and the current corrected coordinate information is determined by estimating according to the current predicted coordinate information and the current detected coordinate information, and the current predicted coordinate information is not necessarily accurate because the current predicted coordinate information is obtained by prediction, so the current corrected coordinate information obtained by estimation is not necessarily accurate, and further, the trajectory determined based on the current corrected coordinate information is not necessarily accurate, so the accuracy of the trajectory may be expressed by the reliability, where the determination of the reliability is exemplarily described in the following embodiments.

And step S3', deleting the track with the reliability lower than the preset reliability.

In one embodiment, since the radar can manage the tracks of a plurality of targets, and the track with lower reliability (for example, lower than a preset reliability) has poorer accuracy, that is, has a longer difference from the real motion track of the target, it is not necessary to continuously monitor the track, so that the track with lower reliability than the preset reliability can be deleted, only the track with higher reliability is reserved, and accordingly, the load of the radar is reduced, so that the radar only detects the target corresponding to the track with higher reliability.

It should be noted that the execution frequency of the steps in the flight path management method shown in this embodiment, that is, the frequency of updating the track of the target, may be the same as or different from the execution frequency of the steps in the target detection method in the foregoing embodiment, that is, the frequency of determining the current corrected coordinate information of the target.

And under the condition that the current corrected coordinate information is determined once aiming at the target, updating the track of the target once according to the newly determined current corrected coordinate information.

In the case that the two are different, if the execution frequency of the steps in the track management method is less than the execution frequency of the steps in the target detection method, that is, the track of the target is updated once after the current corrected coordinate information is determined for a plurality of times, in this case, the track of the target may be updated based on the current corrected coordinate information determined last time. If the execution frequency of the steps in the track management method is greater than the execution frequency of the steps in the target detection method, that is, the track of the target is updated for many times when the current correction coordinate information is determined once, in this case, the track can be updated each time based on the correction coordinate information of the nearest neighbor moment determined before the current track is updated.

The following mainly exemplifies embodiments of the present disclosure in the case where the execution frequency (e.g., 15Hz) of the steps in the trajectory management method is smaller than the execution frequency (e.g., 100Hz) of the steps in the target detection method.

Based on the embodiment shown in fig. 12, fig. 13 is a schematic flow chart of another flight path management method according to the embodiment of the disclosure. As shown in fig. 13, the track management method further includes:

step S4', calculating the track distance from each track to the origin of the geodetic coordinate system at the current moment;

and step S5', sorting each track according to the track distance.

In one embodiment, since the radar is disposed on the mounting platform and moves relative to the target, the target also moves relative to the radar, and for a track of a certain target, distances from the target to the radar at different times may change, that is, track distances from points corresponding to the target on the track to an original point of a geodetic coordinate system may change, so that when a plurality of targets are detected, tracks corresponding to the plurality of targets are different in the tracks corresponding to the radar at different times, and generally speaking, the closer the track distance from the track to the radar is, the more likely the track collides with the mounting platform, that is, the higher the threat degree is, and therefore, the tracks may be sorted according to the track distances.

The tracks with higher threat degree can be displayed in front, so that a user can conveniently make response operation in time. In addition, for deleted tracks, their numbers may be reassigned to other tracks for sorting.

Based on the embodiment shown in fig. 13, fig. 14 is a schematic flow chart of still another flight path management method according to the embodiment of the disclosure. As shown in fig. 14, the track management method further includes:

and step S6', outputting the track according to the sorting result.

In one embodiment, the user may be enabled to determine the ranking of each track by outputting the tracks according to the results of the ranking, wherein the output may be displayed on a screen or the identifiers of the tracks may be played in the ranking by audio.

Optionally, the reliability is inversely related to the number of times that the target is determined to be the current predicted coordinate information, is positively related to the number of times that the distance from the detected coordinate corresponding to the current predicted coordinate information of the calculation target to the predicted coordinate corresponding to the current predicted coordinate information is inversely related to the distance from the detected coordinate of the target to the predicted coordinate.

In one embodiment, for a track of an object, the track is determined based on current corrected coordinate information of a plurality of time instants, and the current corrected coordinate information of each time instant is estimated according to current predicted coordinate information and current detected coordinate information, wherein the current detected coordinate information is determined based on a distance from a detected coordinate (for example, the second coordinate in the above embodiment) corresponding to the current predicted coordinate information of the object to a predicted coordinate corresponding to the current predicted coordinate information, and the distance from the detected coordinate to the predicted coordinate (for example, the above e) is required₀₁) To set the weight, the specific determination manner may be performed according to the embodiment shown in fig. 8 or fig. 9.

Wherein the process of determining the current corrected coordinate information is essentially a predictive process due to the amount used for prediction in the predictive process (e.g., in the embodiment shown in FIG. 5)

And

y) may vary and therefore have a higher probability of having a larger deviation, resulting in less accurate determination of the current corrected coordinate information.

The process of determining the current detected coordinate information is essentially a detection process, and includes the above-mentioned process of calculating the distance from the detected coordinate to the predicted coordinate, and the detected coordinate is actually detected, so that the probability of large deviation is small, and the determination of the current corrected coordinate information is more accurate.

The distance from the detection coordinate to the prediction coordinate represents the difference between the detection result and the prediction result, and the larger the distance from the detection coordinate to the prediction coordinate is, the larger the difference between the detection result and the prediction result is, the more inaccurate the prediction process is, and the more inaccurate the current correction coordinate information is determined.

Therefore, since the trajectory is determined based on the current corrected coordinate information at a plurality of times, in the process of determining the trajectory of the target, the more times the current predicted coordinate information is determined, the less accurate the determined current corrected coordinate information is, that is, the lower the accuracy of the determined trajectory is, the more times the distance from the detected coordinate corresponding to the current predicted coordinate information of the target to the predicted coordinate corresponding to the current predicted coordinate information is calculated, the more accurate the determined current corrected coordinate information is, that is, the higher the accuracy of the determined trajectory is, the less accurate the predicted trajectory is, the greater the distance from the detected coordinate of the target to the predicted coordinate is, the less accurate the determined current corrected coordinate information is, that is, the lower the accuracy of the determined trajectory is.

Therefore, according to the embodiment, the reliability is set to be inversely related to the frequency of the current predicted coordinate information of the target, the frequency of the distance from the detected coordinate corresponding to the current predicted coordinate information of the calculation target to the predicted coordinate corresponding to the current predicted coordinate information is positively related to the frequency of the distance from the detected coordinate corresponding to the current predicted coordinate information of the calculation target to the predicted coordinate, and the inverse correlation to the distance from the detected coordinate of the target to the predicted coordinate is set, so that the accuracy of reliability calculation can be ensured, and whether the track of the target is reliable or not can.

Based on the embodiment shown in fig. 12, fig. 15 is a schematic flow chart illustrating a method of determining the confidence level of the detected trajectories of a plurality of targets according to an embodiment of the present disclosure. As shown in fig. 15, the determining the credibility of the trajectories of the detected plurality of targets includes:

step S21', determining whether the newly detected target belongs to the recorded track according to the current correction coordinate information of the newly detected target;

step S22', if not belonging to the recorded track, initializing the track and credibility of the newly detected target;

step S23', subtracting a first preset credibility from the initialized credibility every time predicting the current predicted coordinate information of the newly detected target;

and step S24', adding a second preset reliability from the initialized reliability every time the distance from the detected coordinate to the predicted coordinate of the newly detected target is calculated, wherein the second preset reliability is inversely related to the distance from the detected coordinate to the predicted coordinate of the newly detected target.

In one embodiment, since the reliability is inversely related to the number of times the object is determined to be the current predicted coordinate information, the number of times the distance from the detected coordinate corresponding to the current predicted coordinate information of the calculation object to the predicted coordinate corresponding to the current predicted coordinate information is positively related to the distance from the detected coordinate of the object to the predicted coordinate, and the inverse relation to the distance from the detected coordinate of the object to the predicted coordinate, the first preset reliability may be subtracted from the initialized reliability each time the current predicted coordinate information of the newly detected object is predicted, the second preset reliability may be added from the initialized reliability each time the distance from the detected coordinate of the newly detected object to the predicted coordinate is calculated, and the added second preset reliability is inversely related to the distance from the detected coordinate of the newly detected object to the predicted coordinate.

For example, if the reliability of initialization is 30 minutes, the current predicted coordinate information of the newly detected object is subtracted from the reliability of initialization by 0.5 minutes each time the current predicted coordinate information of the newly detected object is predicted, and the distance from the detected coordinate to the predicted coordinate of the newly detected object is calculated each time from the beginningAdding 10- (e) to the confidence of the initialization₀₁-0.3) × 10/(3-0.3) points, and finally, the tracks having a reliability lower than a preset reliability (for example, 20 points) may be deleted based on the calculation result of the reliability, and the remaining tracks may be sorted and output.

For example, in the case where the execution frequency of the steps in the trajectory management method is 15Hz and the execution frequency of the steps in the object detection method is 100Hz, then, for each update of the trajectory, the current predicted coordinate information of the object newly detected 6 times needs to be predicted, and 3 points are subtracted.

In addition, when the current corrected coordinate information is obtained, a flag (flag) may be set for the current corrected coordinate information, and whenever a trajectory needs to be updated, it may be determined whether the current corrected coordinate information has a flag, if the flag exists, the current predicted coordinate information of a newly detected object is predicted based on the current corrected coordinate information, and a distance from a detected coordinate of the newly detected object to a predicted coordinate is calculated once, and then the flag is deleted, and if the flag does not exist, it is stated that the distance from the detected coordinate of the newly detected object to the predicted coordinate has already been calculated for the current corrected coordinate information, then there is no need to predict the current predicted coordinate information of the newly detected object based on the current corrected coordinate information. Therefore, whether the distance from the detected coordinate of the target newly detected to the predicted coordinate is calculated once or not can be guaranteed according to the current corrected coordinate information obtained each time, and then the bonus can be accurately carried out.

Optionally, the second preset confidence level is inversely related to a distance between the detected coordinate of the newly detected target and the predicted coordinate within a first preset range, and is equal to a first preset value within a range smaller than a lower limit of the first preset range, and is equal to a second preset value within a range larger than an upper limit of the first preset range, where the first preset value is larger than the second preset value.

In one embodiment, the second predetermined confidence level may be inversely related to the distance from the detected coordinates to the predicted coordinates of the newly detected object only within a first predetermined range, e.g. at e₀₁E (0.3m,3m) and a second predetermined confidence level equal to 10- (e)₀₁-0.3) 10/(3-0.3) at e₀₁In the range of less than or equal to 0.3m, the second predetermined confidence level may be equal to 10, in e₀₁In the range of 0.3m or more, the second predetermined confidence level may be equal to 0. The first preset range can be set according to needs.

Corresponding to the embodiments of the target detection method and the flight path management method, the present disclosure also provides embodiments of a target detection device and a flight path management device.

An embodiment of the present disclosure provides an object detection apparatus, adapted for a radar disposed in a mounting platform, the apparatus including a processor configured to,

In one embodiment, the processor is configured to detect a target by a radar to determine the first coordinate of the target in a coordinate system of the radar;

and determining the detection coordinate information corresponding to the first target in the geodetic coordinate system of the carrying platform according to the position relation between the radar and the carrying platform.

In one embodiment, the processor is configured to compensate for a position deviation according to a position relationship between the radar and the mounting platform to determine the detection coordinate information.

In one embodiment, the processor is configured to determine a motion model of the mounting platform, and determine current predicted coordinate information of the target according to the motion model, detected coordinate information of a previous time of the target, and current motion information of the mounting platform.

In one embodiment, the processor is configured to determine a filter according to a motion model of the mounting platform and/or a type of a geodetic coordinate system in which the mounting platform is located;

estimating, by the filter, based on the current predicted coordinate information and the current detected coordinate information to obtain the current corrected coordinate information, wherein the current corrected coordinate information is used to determine predicted coordinate information at a next time.

In one embodiment, the processor is configured to determine the currently detected coordinate information in at least one second coordinate detected at the current time by using a preset association algorithm;

and calculating the current correction coordinate information according to the first weight and the current prediction coordinate information, and the second weight and the current detection coordinate information.

In one embodiment, the processor is configured to calculate a distance from the at least one second coordinate to a predicted coordinate corresponding to the current predicted coordinate information;

and determining the current detection coordinate information according to the coordinate with the minimum distance to the predicted coordinate in the at least one second coordinate.

In one embodiment, the processor is configured to determine, in the at least one second coordinate, at least one associated coordinate located within the preset area;

calculating the distance from the at least one associated coordinate to a predicted coordinate corresponding to the current predicted coordinate information;

and determining the current detection coordinate information according to the coordinate with the minimum distance to the predicted coordinate in the at least one associated coordinate.

In one embodiment, the preset area is a circular area with the predicted coordinate as a center and a first preset distance as a radius;

In one embodiment, the processor is configured to determine a linear filter when the motion model of the platform-mounted device is a linear model and/or the geodetic coordinate system is a rectangular coordinate system;

and when the motion model of the carrying platform is a nonlinear model and/or the type of the geodetic coordinate system is a polar coordinate system, determining a nonlinear filter.

In one embodiment, the linear filter comprises at least one of:

α - β filter, kalman filter.

In one embodiment, the nonlinear filter comprises at least one of:

extended kalman filter, lossless kalman filter.

In one embodiment, the motion information of the mounting platform includes at least one of: position, speed.

In one embodiment, the target is one or more.

The embodiment of the present disclosure provides a track management device, including a processor, where the processor determines a track of a target according to current corrected coordinate information of the target determined by a target detection device according to any one of the above embodiments;

and deleting the tracks with the reliability lower than the preset reliability.

In one embodiment, the processor is further configured to calculate a track distance of each track from an origin of the geodetic coordinate system at a current time;

and sequencing each track according to the track distance.

In one embodiment, the processor is further configured to output the trajectory according to the sorted result.

In one embodiment, the reliability is inversely related to the number of times that the target is determined to be the current predicted coordinate information, is positively related to the number of times that the distance from the detected coordinate corresponding to the current predicted coordinate information of the target to the predicted coordinate corresponding to the current predicted coordinate information is calculated, and is inversely related to the distance from the detected coordinate of the target to the predicted coordinate.

In one embodiment, the processor is configured to determine whether a newly detected target belongs to a recorded track according to current corrected coordinate information of the newly detected target;

if the target does not belong to the recorded track, initializing the track and the reliability of the newly detected target;

subtracting a first preset reliability from the initialized reliability every time the current prediction coordinate information of the newly detected target is predicted;

and adding a second preset reliability from the initialized reliability every time the distance from the detection coordinate to the prediction coordinate of the newly detected target is calculated, wherein the second preset reliability is inversely related to the distance from the detection coordinate to the prediction coordinate of the newly detected target.

In one embodiment, the second preset confidence level is inversely related to the distance from the detected coordinate of the newly detected target to the predicted coordinate within a first preset range, and is equal to a first preset value within a range smaller than the lower limit of the first preset range, and is equal to a second preset value within a range larger than the upper limit of the first preset range, wherein the first preset value is larger than the second preset value.

An embodiment of the present disclosure provides an unmanned aerial vehicle including the target detection device and/or the track management device according to any one of the above embodiments.

The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functionality of the units may be implemented in one or more software and/or hardware when implementing the present application. As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A target detection method is applicable to a radar which is arranged in a carrying platform, and comprises the following steps:

2. The method according to claim 1, wherein the acquiring of the detection coordinate information of the target and the motion information of the platform comprises:

detecting a target by a radar to determine the first coordinate of the target in a coordinate system of the radar;

3. The object detection method according to claim 1, wherein the acquiring of the detection coordinate information of the object and the motion information of the mounting platform includes:

and compensating position deviation according to the position relation between the radar and the carrying platform so as to determine the detection coordinate information.

4. The object detection method according to claim 1, wherein determining current predicted coordinate information of the object based on the detected coordinate information of the object at a previous time and the current motion information of the platform includes:

and determining a motion model of the carrying platform, and determining current prediction coordinate information of the target according to the motion model, the detection coordinate information of the target at the previous moment and the current motion information of the carrying platform.

5. The object detection method of claim 4, wherein the estimating based on the current predicted coordinate information and the current detected coordinate information to obtain current corrected coordinate information of the object comprises:

determining a filter according to the motion model of the carrying platform and/or the type of the geodetic coordinate system where the carrying platform is located;

6. The method of claim 5, wherein the estimating based on the current predicted coordinate information and the current detected coordinate information to obtain current corrected coordinate information of the target further comprises:

determining the current detection coordinate information in at least one second coordinate detected at the current moment through a preset association algorithm;

7. The method of claim 6, wherein the determining the currently detected coordinate information in the at least one coordinate detected at the current time by the preset correlation algorithm comprises:

calculating the distance from the at least one second coordinate to a predicted coordinate corresponding to the current predicted coordinate information;

8. The method of claim 6, wherein the determining the currently detected coordinate information in the at least one coordinate detected at the current time by the preset correlation algorithm comprises:

determining at least one associated coordinate located within the preset area in the at least one second coordinate;

9. The method according to claim 8, wherein the predetermined area is a circular area having the predicted coordinate as a center and a first predetermined distance as a radius;

10. The method of claim 5, wherein determining a filter from the motion model of the onboard platform and/or the type of geodetic coordinate system comprises:

when the motion model of the carrying platform is a linear model and/or the type of the geodetic coordinate system is a rectangular coordinate system, determining a linear filter;

11. The method of claim 10, wherein the linear filter comprises at least one of:

α - β filter, kalman filter.

12. The method of claim 10, wherein the nonlinear filter comprises at least one of:

extended kalman filter, lossless kalman filter.

13. The method of any of claims 1 to 12, wherein the platform-borne motion information comprises at least one of: position, speed.

14. The method of any one of claims 1 to 12, wherein the target is one or more.

15. A method of track management, comprising the method of any of claims 1-14, further comprising:

and deleting the tracks with the reliability lower than the preset reliability.

16. The method of claim 15, further comprising:

calculating the track distance from each track to the origin of the geodetic coordinate system at the current moment;

and sequencing each track according to the track distance.

17. The method of claim 16, further comprising:

and outputting the track according to the sequencing result.

18. The method according to claim 15, wherein the reliability is inversely related to a number of times the target is determined as the current predicted coordinate information, is positively related to a number of times a distance from the detected coordinate corresponding to the current predicted coordinate information of the target to the predicted coordinate corresponding to the current predicted coordinate information is calculated, and is inversely related to a distance from the detected coordinate of the target to the predicted coordinate.

19. The method of claim 18, wherein the determining the confidence level of the detected trajectories of the plurality of targets comprises:

determining whether the newly detected target belongs to the recorded track or not according to the current correction coordinate information of the newly detected target;

20. The method of claim 19, wherein the second predetermined confidence level is inversely related to a distance from the detected coordinates to the predicted coordinates of the newly detected target within a first predetermined range, and is equal to a first predetermined value within a range smaller than a lower limit of the first predetermined range, and is equal to a second predetermined value within a range larger than an upper limit of the first predetermined range, wherein the first predetermined value is larger than the second predetermined value.

21. An object detection apparatus, adapted for use with a radar disposed in a mounting platform, the apparatus comprising a processor configured to,

22. The apparatus of claim 21, wherein the processor is configured to detect a target by a radar to determine the first coordinate of the target in a coordinate system of the radar;

23. The object detecting device of claim 21, wherein the processor is configured to compensate for a position deviation according to a position relationship between the radar and the mounting platform to determine the detection coordinate information.

24. The apparatus of claim 21, wherein the processor is configured to determine a motion model of the mounting platform, and determine current predicted coordinate information of the object according to the motion model, detected coordinate information of a previous time of the object, and current motion information of the mounting platform.

25. The object detection device of claim 24, wherein the processor is configured to,

26. The apparatus of claim 25, wherein the processor is configured to determine the currently detected coordinate information in at least one second coordinate detected at the current time by a preset association algorithm;

27. The apparatus of claim 26, wherein the processor is configured to calculate a distance between the at least one second coordinate and a predicted coordinate corresponding to the current predicted coordinate information;

28. The apparatus of claim 26, wherein the processor is configured to determine at least one associated coordinate located within a predetermined area in the at least one second coordinate;

29. The apparatus of claim 28, wherein the predetermined area is a circular area with the predicted coordinate as a center and a first predetermined distance as a radius;

30. The apparatus of claim 25, wherein the processor is configured to determine a linear filter when the platform-mounted motion model is a linear model and/or the geodetic coordinate system is of the cartesian coordinate system type;

31. The apparatus of claim 30, wherein the linear filter comprises at least one of:

α - β filter, kalman filter.

32. The apparatus of claim 30, wherein the nonlinear filter comprises at least one of:

extended kalman filter, lossless kalman filter.

33. The apparatus of any of claims 21 to 32, wherein the platform-based motion information comprises at least one of: position, speed.

34. The apparatus of any one of claims 21 to 32, wherein the target is one or more.

35. A trajectory management device comprising a processor for determining a trajectory of the object due to current corrected coordinate information of the object determined by the object detection device according to any one of claims 21 to 34;

and deleting the tracks with the reliability lower than the preset reliability.

36. The apparatus of claim 35, wherein the processor is further configured to calculate a track distance of each track to an origin of the geodetic coordinate system at a current time;

and sequencing each track according to the track distance.

37. The apparatus of claim 36, wherein the processor is further configured to output the trace according to the sorted result.

38. The apparatus according to claim 35, wherein the reliability is inversely related to a number of times the object is determined as the current predicted coordinate information, is positively related to a number of times a distance from the detected coordinate corresponding to the current predicted coordinate information of the object to the predicted coordinate corresponding to the current predicted coordinate information is calculated, and is inversely related to a distance from the detected coordinate of the object to the predicted coordinate.

39. The apparatus of claim 38, wherein the processor is configured to determine whether a newly detected target belongs to a recorded track according to current revised coordinate information of the newly detected target;

40. The apparatus of claim 39, wherein the second predetermined confidence level is inversely related to a distance from the detected coordinates to the predicted coordinates of the newly detected target within a first predetermined range, and is equal to a first predetermined value within a range smaller than a lower limit of the first predetermined range, and is equal to a second predetermined value within a range larger than an upper limit of the first predetermined range, and wherein the first predetermined value is larger than the second predetermined value.

41. An unmanned aerial vehicle comprising an object detection device and/or a flight path management device as claimed in any preceding claim.