CN111366900A - Tracking radar track quality evaluation method, system and medium based on residual error statistics - Google Patents
Tracking radar track quality evaluation method, system and medium based on residual error statistics Download PDFInfo
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- CN111366900A CN111366900A CN202010099525.0A CN202010099525A CN111366900A CN 111366900 A CN111366900 A CN 111366900A CN 202010099525 A CN202010099525 A CN 202010099525A CN 111366900 A CN111366900 A CN 111366900A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The invention provides a method, a system and a medium for evaluating the track quality of a tracking radar based on residual error statistics, which comprises the following steps: step 1: calculating the normalized innovation quantity of a single parameter in a single sampling period target tracking loop; step 2: according to the normalized innovation quantity, carrying out iterative statistics to calculate the error energy at the current moment; and step 3: and processing the error energy to obtain a track quality value. The invention fully considers the correlation between the radar residual error and the error, and the radar track quality evaluation algorithm based on residual error statistics obviously improves the correctness of the track quality, and has stronger military application value.
Description
Technical Field
The invention relates to the technical field of radar, in particular to a method, a system and a medium for evaluating track quality of a tracking radar based on residual error statistics.
Background
Modern radars aim at stably and accurately acquiring parameters such as position, speed and the like of a target by detecting and tracking the target. In order to intuitively determine whether the tracking is stable and to improve the stability, a track quality assessment value is introduced as an identification parameter in a detection message. After the track quality values of a plurality of radars are obtained, the method can also be used for information fusion of subsequent data levels and the like, and has important significance for enhancing the detection and tracking capability.
The traditional radar track quality evaluation method simply defines a group of fixed numerical value ranges, and respectively performs the processing of adding 1 and subtracting 1 when the target track is successfully obtained and the target is lost, so that the stability and the good degree of the tracked track in a certain period of time cannot be really reflected sometimes, and the effect is not ideal. In a three-coordinate radar-based point trace condensation method (radar and countermeasure, 2013, Vol.33, No.4, pp: 46-50), it is proposed to calculate the detection condensation quality, i.e. the point trace quality, of each dimension by using a plurality of distance/orientation/pitch statistical units and the amplitude statistical characteristics thereof. The trace point quality needs to be processed in a signal level, and is mostly used for searching radars. In some patents, the estimation of the trace point quality is used for radar calibration, and the trace point quality value is not calculated by iterative solution and is the binary trace point quality. In the prior art, a point trace (or track) quality evaluation algorithm for weighting dimensions such as distance, doppler and frequency by using an entropy weight method is proposed, and the point trace (or track) quality evaluation algorithm is the minimum value of observed distance difference, doppler difference and frequency difference in the process of calculating the point trace quality, so that the quality of the point trace (or track) cannot be accurately reflected. The above methods cannot acquire the approximate conditions of the signal-to-noise ratio and the accuracy of the point trace, and thus cannot switch the radar tracking channel or the tracking data source, and improve the accuracy and the stability of the track. Under the condition, the improvement of the accuracy of the radar track quality evaluation becomes an important problem faced by a single radar under the current multi-radar networking situation. This patent addresses this need.
Patent document CN108896973A (application number: 201810770463.4) discloses a radar data calibration method, a trace point quality evaluation method, and a storage medium. The embodiment corresponding to the calibration method of the radar data provides that: the method comprises the steps of segmenting initial track information to obtain segmented track information, filtering the segmented track information to obtain filtered track information, selecting target track points according to a judgment result after the judgment result is determined according to the filtered track information and ADS-B data information, and determining a calibration result according to the target track points and the track information.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a tracking radar track quality evaluation method, a system and a medium based on residual error statistics.
The tracking radar track quality evaluation method based on residual error statistics provided by the invention comprises the following steps:
step 1: calculating the normalized innovation quantity of a single parameter in a single sampling period target tracking loop;
step 2: according to the normalized innovation quantity, carrying out iterative statistics to calculate the error energy at the current moment;
and step 3: and processing the error energy to obtain a track quality value.
Preferably, in step 1, the calculation formula of the normalized innovation amount is as follows:
wherein u isjiThe value of the j innovation parameter of the ith snapshot is (j is 1, 2 and 3); the U thj0The maximum range of the jth innovation parameter ξjiHas a value range of [ -1, 1 [)]。
Preferably, in the step 2, the error energy δ is calculatedjiThe expression of (a) is:
Preferably, in the step 3, the track quality phijiThe calculation formula of (2) is as follows:
φji＝1-δji
wherein phi isjiAnd updating in real time to show the stability levels of the target track slope distance, the azimuth angle and the pitch angle at the current moment and in the previous period.
The tracking radar track quality evaluation system based on residual error statistics provided by the invention comprises the following components:
module M1: calculating the normalized innovation quantity of a single parameter in a single sampling period target tracking loop;
module M2: according to the normalized innovation quantity, carrying out iterative statistics to calculate the error energy at the current moment;
module M3: and processing the error energy to obtain a track quality value.
Preferably, in the module M1, the calculation formula of the normalized innovation quantity is as follows:
wherein u isjiThe value of the j innovation parameter of the ith snapshot is (j is 1, 2 and 3); the U thj0The maximum range of the jth innovation parameter ξjiHas a value range of [ -1, 1 [)]。
Preferably, in said module M2, the error energy δ is calculatedjiThe expression of (a) is:
Preferably, in said module M3, the track quality isjiThe calculation formula of (2) is as follows:
φji＝1-δji
wherein phi isjiAnd updating in real time to show the stability levels of the target track slope distance, the azimuth angle and the pitch angle at the current moment and in the previous period.
Compared with the prior art, the invention has the following beneficial effects:
the invention fully considers the correlation between the radar residual error and the error, and the radar track quality evaluation algorithm based on residual error statistics obviously improves the correctness of the track quality, and has stronger military application value.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a comparison graph of a track quality value obtained by using a track quality estimation algorithm provided by an embodiment of the present invention and a target track quality value obtained by using an existing track quality estimation algorithm when a certain radar tracking target is in a straight flight segment.
Fig. 2 is a graph of the signal-to-noise ratio variation corresponding to a radar tracking target in a straight flight segment.
Fig. 3 is a comparison graph of a track quality value obtained by using the track quality estimation algorithm provided by the embodiment of the present invention and a target track quality value obtained by using the existing track quality estimation algorithm when a radar tracking target is in a maneuvering flight segment.
Fig. 4 is a graph of the signal-to-noise ratio variation corresponding to a certain radar tracking target in a maneuvering flight segment.
Fig. 5 is a comparison graph of a distance dimension flight path quality value and a distance dimension tracking accuracy obtained by using the flight path quality estimation algorithm provided by the embodiment of the present invention when a radar tracking target is in a maneuvering flight segment.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
The radar track quality evaluation algorithm based on residual error statistics provided by the embodiment of the invention comprises the following steps:
step one, calculating the normalized innovation quantity of a single parameter in a single sampling period target tracking loop; the formula for calculating the innovation amount is as follows:
wherein u isjiThe value of the j innovation parameter of the ith snapshot is (j is 1, 2 and 3); the U thj0The maximum range of the jth innovation parameter ξjiHas a value range of [ -1, 1 [)]。
Step two, obtaining the error energy of the current moment according to the innovation amount of the single sampling period through iterative statistical calculation; the error energy is calculated by the formula:
α is a control coefficient of the iterative solution process, and is used for adjusting the proportion of the innovation values of the current time and the historical time in the error energy.
And step three, simply processing the error energy to obtain a track quality value. Track quality phijiThe expression of (a) is:
φji＝1-δji。
in one embodiment, the target is in a flat flight state, the iterative adjustment parameter α takes a value of 0.05, the maximum ranges of innovation parameters of three dimensions of the skew angle, the azimuth angle and the pitch angle are sequentially taken as 150m, 0.25 and 0.25, the comparison between the track quality evaluation algorithm provided by the embodiment of the invention and the track quality value obtained by the existing track quality evaluation algorithm is shown in fig. 1, and the corresponding signal-to-noise ratio variation graph is shown in fig. 2, wherein the line b is the target track quality value obtained by the existing track quality evaluation algorithm, and the line a is the target track quality value obtained by the track quality evaluation algorithm provided by the embodiment of the invention;
in another embodiment, the target is a maneuvering flight state, the iterative adjustment parameter α takes a value of 0.05, the maximum range of innovation parameters of three dimensions of the skew angle, the azimuth angle and the pitch angle is sequentially taken as 150m, 0.25 and 0.25, the position of the target is calculated, the track quality evaluation algorithm provided by the embodiment of the invention and the track quality pair obtained by the existing track quality evaluation algorithm are shown in fig. 3, the corresponding signal-to-noise ratio variation graph is shown in fig. 4, fig. 5 reflects the comparison relation between the track quality evaluation value and the corresponding distance dimensional precision in the embodiment of the invention, and after the precision is deteriorated, the track quality is deteriorated through transient hysteresis.
Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (9)
1. A tracking radar track quality assessment method based on residual error statistics is characterized by comprising the following steps:
step 1: calculating the normalized innovation quantity of a single parameter in a single sampling period target tracking loop;
step 2: according to the normalized innovation quantity, carrying out iterative statistics to calculate the error energy at the current moment;
and step 3: and processing the error energy to obtain a track quality value.
2. The method for tracking radar track quality assessment based on residual statistics of claim 1, wherein in step 1, the calculation formula of the normalized innovation amount is as follows:
wherein u isjiThe value of the j innovation parameter of the ith snapshot is (j is 1, 2 and 3); the U thj0The maximum range of the jth innovation parameter ξjiHas a value range of [ -1, 1 [)]。
3. The method of claim 1, wherein in step 2, the error energy δ is calculatedjiThe expression of (a) is:
4. The method of claim 1, wherein in step 3, the track quality is φjiThe calculation formula of (2) is as follows:
φji＝1-δji
wherein phi isjiReal-time updates indicating the current time and the previous periodAnd the stability levels of the target track slope distance, the azimuth angle and the pitch angle.
5. A tracking radar track quality assessment system based on residual statistics, comprising:
module M1: calculating the normalized innovation quantity of a single parameter in a single sampling period target tracking loop;
module M2: according to the normalized innovation quantity, carrying out iterative statistics to calculate the error energy at the current moment;
module M3: and processing the error energy to obtain a track quality value.
6. The method for tracking radar track quality assessment based on residual statistics of claim 5, wherein in said module M1, the calculation formula of normalized innovation amount is:
wherein u isjiThe value of the j innovation parameter of the ith snapshot is (j is 1, 2 and 3); the U thj0The maximum range of the jth innovation parameter ξjiHas a value range of [ -1, 1 [)]。
7. The method for tracking radar track quality based on residual error statistics of claim 5, wherein in said module M2, an error energy δ is calculatedjiThe expression of (a) is:
8. The method of claim 5, wherein in the module M3, the track quality is phijiThe calculation formula of (2) is as follows:
φji＝1-δji
wherein phi isjiAnd updating in real time to show the stability levels of the target track slope distance, the azimuth angle and the pitch angle at the current moment and in the previous period.
9. 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 of any one of claims 1 to 4.
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