CN111366900B - Tracking radar track quality evaluation method, system and medium based on residual statistics - Google Patents
Tracking radar track quality evaluation method, system and medium based on residual statistics Download PDFInfo
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- CN111366900B CN111366900B CN202010099525.0A CN202010099525A CN111366900B CN 111366900 B CN111366900 B CN 111366900B CN 202010099525 A CN202010099525 A CN 202010099525A CN 111366900 B CN111366900 B CN 111366900B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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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 tracking radar track quality assessment method, a system and a medium based on residual statistics, which comprise the following steps: step 1: calculating the normalized innovation amount of a single parameter in a single sampling period target tracking loop; step 2: calculating error energy at the current moment according to the iteration statistics of the normalized innovation quantity; step 3: and processing the error energy to obtain the track quality value. The invention fully considers the correlation between radar residual error and error, and the radar track quality evaluation algorithm based on residual error statistics obviously improves the accuracy of track quality, thereby having stronger military application value.
Description
Technical Field
The invention relates to the technical field of radars, in particular to a tracking radar track quality assessment method, a tracking radar track quality assessment system and a tracking radar track quality assessment medium based on residual statistics.
Background
Modern radars detect and track targets and aim to stably and accurately acquire the position, speed and other parameters of the targets. In order to intuitively judge whether the tracking is stable or not, and to improve the stability, a track quality evaluation value is introduced as an identification parameter in the detection message. After the track quality values of a plurality of radars are obtained, the method can be used for information fusion of subsequent data levels and the like, and has important significance for enhancing the detection tracking capability.
The traditional radar track quality evaluation method simply defines a group of fixed numerical ranges, and carries out the processes of adding 1 and subtracting 1 when successfully acquiring the target track and losing the target, sometimes cannot truly reflect the stability and the good degree of the tracking track in a certain period of time, and the effect is not ideal. In literature (radar and countermeasure, 2013, vol.33, no.4, pp: 46-50) a method for condensing a trace based on a three-dimensional radar is proposed, wherein a plurality of distance/azimuth/elevation statistics units and amplitude statistics characteristics thereof are utilized to calculate detection condensing quality of each dimension, namely trace quality. The quality of the trace point needs to be processed in signal level, and is mostly used in search radars. The patent applies the trace quality evaluation to radar calibration, and the trace quality value is not calculated by iterative solution, but is binarized trace quality. There are literature proposals for a track quality evaluation algorithm that weights dimensions such as distance, doppler, frequency, etc. by using an entropy weight method, and the minimum value of the observed distance difference, doppler difference, and frequency difference is taken in the process of calculating the track quality, so that the quality of the track (or track) cannot be accurately reflected. The method can not acquire the approximate conditions of the signal-to-noise ratio and the accuracy of the track, so that the switching of a radar tracking channel or a tracking data source can not be performed, and the track accuracy and stability can not be improved. In this case, improving accuracy of radar track quality assessment becomes an important problem for single-part radars in the current multi-radar networking situation. This patent is based on this need.
Patent document CN108896973a (application number 201810770463.4) discloses a radar data calibration method, a spot quality evaluation method, and a storage medium. The method comprises the following steps of: the method comprises the steps of carrying out segmentation processing on initial track information to obtain segmented track information, carrying out filtering processing on the segmented track information to obtain filtered track information, determining a judgment result according to the filtered track information and ADS-B data information, selecting target track points according to the judgment result, and determining a calibration result according to the target track points and the track point 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 tracking radar track quality evaluation system and a tracking radar track quality evaluation medium based on residual statistics.
The tracking radar track quality evaluation method based on residual statistics provided by the invention comprises the following steps:
step 1: calculating the normalized innovation amount of a single parameter in a single sampling period target tracking loop;
step 2: calculating error energy at the current moment according to the iteration statistics of the normalized innovation quantity;
step 3: and processing the error energy to obtain the track quality value.
Preferably, in the step 1, the calculation formula of the normalized information amount is:
wherein u is ji The value of the j-th innovation parameter (j=1, 2, 3) for the i-th snapshot; u-th j0 The maximum range of the j-th innovation parameter; zeta type toy ji The value range of (C) is [ -1,1]。
Preferably, in the step 2, an error energy δ is calculated ji The expression of (2) is:
Preferably, in the step 3, the track quality phi ji The calculation formula of (2) is as follows:
φ ji ＝1-δ ji
wherein phi is ji And updating in real time, wherein the current moment and the previous period of time are represented by the stability level of the target track pitch, azimuth and pitch angle.
The tracking radar track quality evaluation system based on residual statistics provided by the invention comprises:
module M1: calculating the normalized innovation amount of a single parameter in a single sampling period target tracking loop;
module M2: calculating error energy at the current moment according to the iteration statistics of the normalized innovation quantity;
module M3: and processing the error energy to obtain the track quality value.
Preferably, in the module M1, the calculation formula of the normalized innovation amount is:
wherein u is ji The value of the j-th innovation parameter (j=1, 2, 3) for the i-th snapshot; u-th j0 The maximum range of the j-th innovation parameter; zeta type toy ji The value range of (C) is [ -1,1]。
Preferably, in said module M2, an error energy δ is calculated ji The expression of (2) is:
Preferably, in said module M3, the track quality Φ ji The calculation formula of (2) is as follows:
φ ji ＝1-δ ji
wherein phi is ji And updating in real time, wherein the current moment and the previous period of time are represented by the stability level of the target track pitch, azimuth and pitch angle.
Compared with the prior art, the invention has the following beneficial effects:
the invention fully considers the correlation between radar residual error and error, and the radar track quality evaluation algorithm based on residual error statistics obviously improves the accuracy of track quality, thereby having stronger military application value.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a graph comparing a track quality value obtained by a track quality evaluation algorithm provided by an embodiment of the present invention with a target track quality value obtained by an existing track quality evaluation algorithm when a radar tracking target is in a straight flight segment.
Fig. 2 is a graph of the corresponding signal-to-noise ratio change when a radar tracking target is in a straight flight segment.
FIG. 3 is a graph comparing a track quality value obtained by using the track quality evaluation algorithm provided by the embodiment of the invention with a target track quality value obtained by using the existing track quality evaluation algorithm when a radar tracking target is in a maneuvering flight section.
Fig. 4 is a graph of the corresponding signal-to-noise ratio change when a radar tracking target is in a maneuver flight phase.
FIG. 5 is a graph comparing distance dimension track quality values and distance dimension tracking accuracy obtained by the track quality evaluation algorithm provided by the embodiment of the invention when the radar tracking target is in a maneuvering flight section.
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 present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
The radar track quality evaluation algorithm based on residual statistics provided by the embodiment of the invention comprises the following steps:
step one, calculating the normalized innovation amount of a single parameter in a single sampling period target tracking loop; the calculation formula of the innovation amount is as follows:
wherein u is ji The value of the j-th innovation parameter (j=1, 2, 3) for the i-th snapshot; u-th j0 The maximum range of the j-th innovation parameter; zeta type toy ji The value range of (C) is [ -1,1]。
Step two, calculating and obtaining error energy at the current moment according to the iteration statistics of the innovation amount of a single sampling period; the calculation formula of the error energy is as follows:
and alpha is a control coefficient of the iterative solving process and is used for adjusting the proportion of the innovation values at the current moment and the historical moment in the error energy.
And thirdly, simply processing the error energy to obtain a track quality value. Track quality phi ji The expression of (2) is:
φ ji ＝1-δ ji 。
in one embodiment, the target is a straight flight state, and the iterative adjustment parameter α takes a value of 0.05. The maximum range of the innovation parameters of three dimensions of the pitch, the azimuth and the pitch angle is sequentially 150m, 0.25 degrees and 0.25 degrees, and the comparison between the track quality evaluation algorithm provided by the embodiment of the invention and the track quality value obtained by adopting the existing track quality evaluation algorithm is shown in a graph 1, and a corresponding signal to noise ratio change graph is shown in a graph 2. Wherein, line b is a target track quality value obtained by adopting the existing track quality evaluation algorithm, and line a is a target track quality value obtained by adopting the track quality evaluation algorithm provided by the embodiment of the invention;
in another embodiment, the goal is a maneuver state, and the iterative adjustment parameter α takes a value of 0.05. The maximum range of the innovation parameters of three dimensions of the pitch, the azimuth and the pitch angle is sequentially 150m, 0.25 degrees and 0.25 degrees, the position of a target is calculated, and the track quality pair obtained by adopting the track quality evaluation algorithm provided by the embodiment of the invention and the track quality pair obtained by adopting the existing track quality evaluation algorithm is shown in a graph in figure 3, and a corresponding signal-to-noise ratio change graph is shown in a graph in figure 4. FIG. 5 reflects the comparison of the track quality assessment value and the corresponding distance dimension accuracy in an embodiment of the present invention, and the track quality deteriorates with a short lag after the accuracy deteriorates. 1-5, the accuracy and practicality of the target track quality assessment can be effectively improved by adopting the scheme provided by the embodiment of the invention.
Those skilled in the art will appreciate that the systems, apparatus, and their respective modules provided herein may be implemented entirely by logic programming of method steps such that the systems, apparatus, and their respective modules are implemented as logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc., in addition to the systems, apparatus, and their respective modules being implemented as pure computer readable program code. Therefore, the system, the apparatus, and the respective modules thereof provided by the present invention may be regarded as one hardware component, and the modules included therein for implementing various programs may also be regarded as structures within the hardware component; modules for implementing various functions may also be regarded as being either software programs for implementing the methods or structures within hardware components.
The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the invention. The embodiments of the present application and features in the embodiments may be combined with each other arbitrarily without conflict.
Claims (5)
1. A tracking radar track quality assessment method based on residual statistics is characterized by comprising the following steps:
step 1: calculating the normalized innovation amount of a single parameter in a single sampling period target tracking loop;
step 2: calculating error energy at the current moment according to the iteration statistics of the normalized innovation quantity;
step 3: processing the error energy to obtain a track quality value;
in the step 1, the calculation formula of the normalized information amount is as follows:
wherein u is ji The value of the j-th innovation parameter is the i-th snapshot; j=1, 2,3; u-th j0 The maximum range of the j-th innovation parameter; zeta type toy ji The value range of (C) is [ -1,1]；
In the step 2, an error energy delta is calculated ji The expression of (2) is:
2. The method for evaluating the track quality of a tracking radar based on residual statistics according to claim 1, wherein in said step 3, the track quality Φ ji The calculation formula of (2) is as follows:
φ ji ＝1-δ ji
wherein phi is ji And updating in real time, wherein the current moment and the previous period of time are represented by the stability level of the target track pitch, azimuth and pitch angle.
3. A tracking radar track quality assessment system based on residual statistics, comprising:
module M1: calculating the normalized innovation amount of a single parameter in a single sampling period target tracking loop;
module M2: calculating error energy at the current moment according to the iteration statistics of the normalized innovation quantity;
module M3: processing the error energy to obtain a track quality value;
in the module M1, the calculation formula of the normalized information amount is:
wherein u is ji The value of the j-th innovation parameter is the i-th snapshot; j=1, 2,3; u-th j0 The maximum range of the j-th innovation parameter; zeta type toy ji The value range of (C) is [ -1,1]；
In the module M2, an error energy delta is calculated ji The expression of (2) is:
4. A tracking radar track quality assessment system based on residual statistics according to claim 3, characterized in that in said module M3 the track quality Φ ji The calculation formula of (2) is as follows:
φ ji ＝1-δ ji
wherein phi is ji And updating in real time, wherein the current moment and the previous period of time are represented by the stability level of the target track pitch, azimuth and pitch angle.
5. A computer-readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the steps of the method of any one of claims 1 to 2.
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