CN111751816B - Radar track starting method based on trace point characteristic information - Google Patents
Radar track starting method based on trace point characteristic information Download PDFInfo
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- CN111751816B CN111751816B CN202010646488.0A CN202010646488A CN111751816B CN 111751816 B CN111751816 B CN 111751816B CN 202010646488 A CN202010646488 A CN 202010646488A CN 111751816 B CN111751816 B CN 111751816B
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/415—Identification of targets based on measurements of movement associated with the target
Abstract
The invention relates to a radar track initiation method based on point track characteristic information, which obtains a target type of each free point track by utilizing point track characteristic information and a target classification criterion, further establishes a stable track based on the target type self-adaption of each free point track, can ensure the track initiation performance of a low-slow small target, and also can give consideration to the track initiation performance of a civil aircraft target, and the free point track of the low-slow small target can not be wrongly associated to a clutter point track, and can establish the stable track for the low-slow small target, the civil aircraft target, a bird target and the like in time and at the same time, so the radar track initiation method capable of improving the target track initiation performance of a radar system is realized.
Description
Technical Field
The invention relates to the technical field of radars, in particular to a radar track starting method based on trace point characteristic information for improving target track starting performance of a radar system.
Background
Track initiation is an important component of radar systems in radar data processing, and the tasks are as follows: on one hand, after a target enters a responsibility area of the radar, target track initiation can be established quickly and accurately, on the other hand, the number of false tracks is reduced, and the essence of the track initiation is a process of judging whether the target track is established or not according to point track characteristic information obtained by the radar through multiple detections.
The track initiation can be divided into two categories, namely a sequential processing technology and a batch processing technology according to different processing modes, specifically:
1) The main representative algorithm of the sequential processing technology comprises an intuitive method, a logic method and the like, wherein the intuitive method establishes a correlation wave gate through information such as the maximum speed, the minimum speed and the like of a target, and if the trace points exceeding M times in continuous N times of scanning detection meet related conditions, a target track is established; establishing an initial correlation gate of a logic method through information such as a target maximum speed, a target minimum speed and the like, extrapolating a subsequent correlation gate through track prediction, and establishing a target track if a trace point exceeding M times in continuous N times of scanning detection meets related conditions;
2) The batch processing technology is characterized in that a Hough transformation method and an improved algorithm thereof are typical algorithms, and the main idea is to realize incoherent accumulation by utilizing Hough transformation through joint processing of echo data obtained by multiple scanning detection, so that the signal-to-noise ratio is improved, and the track starting performance is improved. From the engineering application, a more logic starting processing method which still has a smaller calculation amount is adopted.
The existing track starting method is mainly designed based on position information of a point track, and utilization of characteristic information of the point track is not considered, so that the adopted track starting criteria are the same for free point tracks from different types of targets, and along with increase of target types such as low-slow small targets, civil aircraft targets, bird targets and the like, in order to guarantee track starting performance of the low-slow small targets, the value of the maximum space speed is small, and the track starting performance of the civil aircraft targets cannot be considered at the moment; in order to guarantee the track starting performance of the civil aircraft target, the maximum space velocity is large in value, at the moment, the free point track of the low and slow small targets is easily and wrongly related to the clutter point track, and the target track cannot be established in time.
Disclosure of Invention
The invention provides a radar track starting method based on trace point characteristic information, aiming at the defects of the prior art.
The invention discloses a radar track starting method based on trace point characteristic information, which adopts the technical scheme as follows:
s1, taking the ith free point track at the moment of k-1 as a track starting point z at the moment of k-1 k-1,i According to the track starting point z at the moment k-1 k-1,i Obtaining the flight path starting point z at the k-1 moment by the point path characteristic information and the target classification criterion k-1,i Object type c of k-1,i And according to the flight path starting point z at the moment k-1 k-1,i And a track starting point z at the time k-1 k-1,i Object type c of k-1,i Establishing an associated wave gate G at time k k,i Wherein k is a positive integer greater than 1, i is a positive integer, let initial time k 0 ＝k-1；
S2, acquiring the associated wave gate G falling into the moment k k,i Inner free point trace set Z k And from the set of free point traces Z at the time k k Selecting a track starting point z at the moment of k-1 k-1,i According to the first free point track at the time k and the flight path starting point z at the time k-1 k-1,i Establishing a transient state track;
s3, executing S1 to S2 on each free point track at the moment k-1, and acquiring a plurality of transient state tracks at the moment k;
s4, according to the mth transient state track T of the k moment k,m Establishing a correlation gate O at the time of k +1 k+1,m And obtaining the associated gate O falling into the k +1 moment k+1,m Inner set of free traces Z k+1 ；
S5, from the free point trace set Z of the k +1 moment k+1 Selecting the mth transient state track T at the k moment k,m Second free trace points with the same target type;
s6, selecting a correlation gate O at the moment k +1 from the second free point trace at the moment k +1 k+1,m The nearest third free point track of the center of the k time point, and the mth transient state track T of the k time point k,m ；
S7, setting k = k +1, and repeatedly executing S4 to S6 until k = k +1 is met for each transient track of any target type c 0 +M c 1, if the number of free point tracks contained in the transient track is more than or equal to N c A stable track is established, whichIn, M c Track confirmation window length, N, representing target type c c A track confirmation threshold representing target type c.
The radar track starting method based on the trace point characteristic information has the following beneficial effects:
the target type of each free point track is obtained by utilizing the point track characteristic information and the target classification criterion, and the stable track is further established based on the target type self-adaption of each free point track, so that the track initiation performance of the low-slow small target can be guaranteed, the track initiation performance of the civil aircraft target can be considered simultaneously, the free point track of the low-slow small target cannot be mistakenly associated with the clutter point track, and the stable track can be established for the low-slow small target, the civil aircraft target, the bird target and the like in time and at the same time.
On the basis of the scheme, the radar track starting method based on the point track characteristic information can be further improved as follows.
Further, the track starting point z according to the k-1 time k-1,i And a track starting point z at the time k-1 k-1,i Object type c of k-1,i Establishing an associated wave gate G at time k k,i The method comprises the following steps:
s10, according to the flight path starting point z at the k-1 moment k-1,i Object type c of k-1,i Determining the maximum spatial velocity V max And minimum space velocity V min ；
S11, starting point z of flight path at the moment k-1 k-1,i As the associated wave gate G at the time k k,i According to a first formula, establishing the correlation gate G of the k time k,i The first formula is:
G k,i ＝{y k |<y k ,z k-1,i >≤T s V max ,<y k ,z k-1,i >≥T s V min }，
wherein, y k Represents the track starting point z at the time k and the time k-1 k-1,i The extent to which the associated free point trace occurs, | represents a conditional symbol, the right side of which represents y k The conditions that must be met are set to be,<y k ,z k-1,i >denotes y k And a track starting point z at the time k-1 k-1,i Of the Euclidean distance between, T s Representing a radar search period.
Further, the mth transient state track T according to the k time k,m Establishing a correlation gate O at the time of k +1 k+1,m The method comprises the following steps:
s40, acquiring the mth transient state track T at the moment k k,m A position prediction value at a time k +1, the position prediction value at the time k +1 comprising: predicted distance value at time k +1
Predicted azimuth value at time k +1
And the predicted pitch value at the time k +1
S41, taking the position predicted value at the k +1 moment as the correlation gate O at the k +1 moment k+1,m The correlation gate O at the k +1 moment is obtained through a second formula k+1,m The second formula is:
wherein, y k+1 Represents the m-th transient trajectory T at the time k +1 and the time k k,m Extent of occurrence of associated free-wheeling traces, R k+1 Denotes y k+1 A distance measurement of k+1 Denotes y k+1 Azimuth measurement of (1), E k+1 Denotes y k+1 Δ R represents a distance-related gate dimension, Δ A represents an orientation-related gate dimension, Δ E represents a pitch-related gate dimension, min [ a, b ]]Indicating comparison of the input variables a and bA small value.
Further, the S40 includes:
s400, calculating the predicted distance value at the k +1 moment according to a third formula
The third formula is:
s401, calculating the azimuth predicted value at the k +1 moment according to a fourth formula
The fourth formula is:
s402, calculating the pitching predicted value at the k +1 moment according to a fifth formula
The fifth formula is:
wherein R is k-1,i Represents the track starting point z of the k-1 moment k-1,i A measured value of k-1,i Represents the track starting point z of the k-1 moment k-1,i Azimuth measurement of (E) k-1,i Represents the track starting point z of the k-1 moment k-1,i A pitch measurement of (2), R k,j Represents the track starting point z at the time k and the time k-1 k-1,i Associated distance measurement of the jth motion point trace, A k,j Represents the track starting point z at the time k and the time k-1 k-1,i Azimuth measurement of the associated j-th point trace, E k,j Represents the time at k and the track start z k-1,i Pitch measurements of the associated j-th trace.
Drawings
Fig. 1 is a schematic flowchart of a radar track initiation method based on trace point characteristic information according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of all target tracks formed using a prior art track initiation method;
fig. 3 is a schematic diagram of all target tracks formed by using a radar track initiation method based on trace point characteristic information according to an embodiment of the present invention.
Detailed Description
As shown in fig. 1, a radar track initiation method based on trace point characteristic information according to an embodiment of the present invention includes the following steps:
s1, taking the ith free point track at the moment of k-1 as a track starting point z at the moment of k-1 k-1,i According to the track starting point z at the moment k-1 k-1,i Obtaining the flight path starting point z at the k-1 moment by the point path characteristic information and the target classification criterion k-1,i Object type c of k-1,i And according to the flight path starting point z at the moment k-1 k-1,i And a track starting point z at the time k-1 k-1,i Object type c of k-1,i Establishing an associated wave gate G at time k k,i Wherein k is a positive integer greater than 1, i is a positive integer, and let the initial time k 0 ＝k-1；
S2, acquiring the associated wave gate G falling into the moment k k,i Inner set of free traces Z k And from the set of free point traces Z at the time k k Selecting a track starting point z at the moment of k-1 k-1,i According to the first free point track at the time k and the track starting point z at the time k-1 k-1,i Establishing a transient state track;
s3, executing S1 to S2 on each free point track at the moment k-1, and acquiring a plurality of transient state tracks at the moment k;
s4, according to the mth transient state track T of the k moment k,m Establishing a correlation gate O at the time of k +1 k+1,m And obtaining the associated gate O falling into the k +1 moment k+1,m Inner free point trace set Z k+1 ；
S5, from the free point trace set Z of the k +1 moment k+1 Selecting the mth transient state track at the k momentT k,m Second free-point traces with the same target type;
s6, selecting a correlation gate O at the moment k +1 from the second free point trace at the moment k +1 k+1,m The nearest third free point track of the center of the k time point, and the mth transient state track T of the k time point k,m ；
S7, setting k = k +1, and repeatedly executing S4 to S6 until k = k +1 is met for each transient track of any target type c 0 +M c 1, if the number of free point tracks contained in the transient track is more than or equal to N c A stable track is established, wherein M c Track confirmation window length, N, representing target type c c A track confirmation threshold representing target type c.
The target type of each free point track is obtained by utilizing the point track characteristic information and the target classification criterion, and the stable track is further established based on the target type self-adaption of each free point track, so that the track initiation performance of the low-slow small target can be guaranteed, the track initiation performance of the civil aircraft target can be considered simultaneously, the free point track of the low-slow small target cannot be mistakenly associated with the clutter point track, and the stable track can be established for the low-slow small target, the civil aircraft target, the bird target and the like in time and at the same time.
Wherein, the k-1 time, the k time and the k +1 time can be understood as follows:
k =2 may be set in units of radar search periods, and then the k-1 time represents the 1 st time, the k +1 time represents the 2 nd search period, the k +1 time represents the 3 rd search period, and so on.
The initial setting can be performed on the observation times required by track initiation, the track initiation criteria of different target types and the target classification criteria of different target types, specifically:
the target classification criteria comprise support vector machine criteria, decision tree criteria, neural network criteria and the like, and the target types comprise three types of low-slow small targets, low-fast small targets and civil aircraft targets, wherein the targets are classified into three typesThe track starting criterion of the low-speed small target as the mark type is that the maximum space speed is set to be 50M/s, the minimum space speed is set to be 5M/s, and the track confirmation window length is M 1 =3, track confirmation threshold N 1 =3, it is understood that if from k 0 Time k to 0 +M 1 The number of free point tracks contained in the transient track at the moment-1 exceeds N 1 If yes, establishing a stable track, otherwise deleting the transient track; the track starting criterion of the target type being a low-speed small target is that the maximum space speed is set to be 100M/s, the minimum space speed is set to be 10M/s, and the track confirmation window length is M 2 =3, track confirmation threshold N 2 =3; the track starting criterion of the target type being civil aircraft target is that the maximum space speed is set to be 200M/s, the minimum space speed is set to be 30M/s, and the track confirmation window length is M 3 =3, track confirmation threshold N 3 =3. It will be appreciated that one of the examples described above is used to illustrate the target classification criteria, target type, and track initiation criteria, and that the target classification criteria, target type, and track initiation criteria may be adjusted based on the actual situation.
The point track characteristic information comprises height, radar scattering cross section area RCS and radial speed, the height unit is meter, and then the flight track starting point z at the k-1 moment is obtained k-1,i Obtaining the flight path starting point z at the k-1 moment by using the point path characteristic information and the target classification criterion k-1,i Object type c of k-1,i 。
Wherein, if the free point trace set Z at the k time is obtained k The track starting point z at the moment k-1 is not selected k-1,i The first free point track with the same target type is deleted, the track starting point z at the moment of k-1 is deleted k-1,i I.e. deleting the ith free point trace at the time k-1, and traversing all the free point traces at the time k-1, i.e. performing S1 to S2 on the remaining free point traces at the time k-1.
Among them, it should be noted that: according to the first free point track at the time k and the track starting point z at the time k-1 k-1,i Establishing a transient track, comprising:
1) When the first free point trace at the k time is only 1, according to the first free point traceThe first free point track is the track starting point z at the moment k-1 k-1,i Establishing a transient track;
2) When the first free point track at the time k is multiple, the flight path starting point z at the time k-1 is determined according to each first free point track k-1,i Respectively establishing a transient track;
wherein, if the free point trace set Z at the k +1 moment k+1 The m-th transient track T at the moment k is not selected k,m The second free point track with the same target type, then all the transient state tracks T at the k moment are traversed k,m I.e. for the transient track T remaining at time k k,m S4 to S5 are performed.
Preferably, in the above technical solution, further, the track starting point z according to the k-1 time k-1,i And a track starting point z at the time k-1 k-1,i Object type c of k-1,i Establishing an associated wave gate G at time k k,i The method comprises the following steps:
s10, according to the flight path starting point z at the moment k-1 k-1,i Object type c of k-1,i Determining the maximum spatial velocity V max And minimum space velocity V min ；
S11, starting point z of flight path at the moment k-1 k-1,i As the associated wave gate G of the k time k,i According to a first formula, establishing the correlation gate G of the k time k,i The first formula is:
G k,i ＝{y k |<y k ,z k-1,i >≤T s V max ,<y k ,z k-1,i >≥T s V min }，
wherein, y k Represents the track starting point z at the time k and the time k-1 k-1,i The extent to which the associated free point trace occurs, | represents a conditional symbol, the right side of which represents y k The conditions which must be met are set to be,<y k ,z k-1,i >denotes y k And a track starting point z at the time k-1 k-1,i Of the Euclidean distance between, T s Representing a radar search period.
PreferablyIn the above technical solution, the mth transient trajectory T according to the k time k,m Establishing a correlation gate O at the time of k +1 k+1,m The method comprises the following steps:
s40, acquiring the mth transient state track T at the moment k k,m A position prediction value at a time k +1, the position prediction value at the time k +1 comprising: predicted distance value at time k +1
Predicted azimuth value at time k +1
And the predicted pitch value at the time k +1
S41, taking the position predicted value at the k +1 moment as the correlation gate O at the k +1 moment k+1,m The correlation wave gate O at the k +1 moment is obtained through a second formula k+1,m The second formula is:
wherein, y k+1 Represents the m-th transient trajectory T at the time k +1 and the time k k,m Extent of occurrence of associated free-point traces, R k+1 Denotes y k+1 A distance measurement of k+1 Denotes y k+1 Azimuth measurement of (1), E k+1 Denotes y k+1 Δ R represents a distance-related gate dimension, Δ A represents an orientation-related gate dimension, Δ E represents a pitch-related gate dimension, min [ a, b ]]Indicating that the smaller of the input variables a and b is sought.
Preferably, in the above technical solution, the S40 includes:
s400, calculating the predicted distance value at the k +1 moment according to a third formula
The third formula is:
s401, calculating the azimuth predicted value at the k +1 moment according to a fourth formula
The fourth formula is:
s402, calculating the pitching predicted value at the k +1 moment according to a fifth formula
The fifth formula is:
wherein R is k-1,i Represents the track starting point z of the k-1 moment k-1,i A measured value of (a) k-1,i Represents the track starting point z of the k-1 moment k-1,i Azimuth measurement of (E) k-1,i Represents the track starting point z of the k-1 moment k-1,i A pitch measurement of (2), R k,j Represents the track starting point z at the time k and the time k-1 k-1,i Associated distance measurement of the jth motion point trace, A k,j Represents the track starting point z at the time k and the time k-1 k-1,i Azimuth measurement of the associated j-th point trace, E k,j Represents the time at k and the track start z k-1,i Pitch measurements of the associated j-th trace.
The following describes the beneficial effects of the radar track initiation method based on the trace point characteristic information through simulation comparison tests:
an experimental scene: adopting a certain practical radar, wherein the working frequency band is an X wave band, the signal bandwidth is 5MHz, and the radar carries out omnibearing detection on an airspace within 10km to form point trace data comprising a plurality of free point traces;
when the existing track starting method is adopted, all the finally formed target tracks are shown in FIG. 2, wherein the track starting criterion of the existing track starting method is consistent with the track starting criterion set for the low-speed small target;
when the radar track starting method based on the point track characteristic information is adopted, the method specifically comprises the following steps:
1) Setting the dimension delta R of a distance-related wave gate to be 50 meters, setting the dimension delta A of an azimuth-related wave gate to be 3 degrees, and setting the dimension delta E of a pitching-related wave gate to be 6 degrees;
2) The track starting criterion for setting the low-slow small target is as follows: the maximum space velocity is set to 50M/s, the minimum space velocity is set to 5M/s, and the track confirmation window length is M 1 =3, track confirmation threshold N 1 =3, it is understood that if from k 0 -1 time to k 0 +M 1 The number of free point tracks contained in the transient state track at the moment-1 is more than or equal to N 1 If not, the transient state track is deleted;
the track starting criteria of the low-speed small target are as follows: the maximum space velocity is set to be 100M/s, the minimum space velocity is set to be 10M/s, and the length of a track confirmation window is M 2 =3, track confirmation threshold N 2 =3, it is understood that if from k 0 Time-1 to k + M 0 The number of free point tracks contained in the transient track at the moment-1 is more than or equal to N 2 If not, the transient state track is deleted;
the track starting criterion of the civil aircraft target is as follows: the maximum space velocity is set to 200M/s, the minimum space velocity is set to 30M/s, and the track confirmation window length is M 3 =3, track confirmation threshold N 3 =3, it is understood that if from k 0 -1 time to k 0 +M 3 The number of free point tracks contained in the transient track at the moment-1 is more than or equal to N 3 If yes, establishing a stable track of the civil aircraft target, otherwise deleting the transient track;
all the finally formed target tracks are shown in fig. 3, and it can be known from a comparison between fig. 2 and fig. 3 that tracks cannot be established for civil aircraft targets when the existing track initiation method is adopted, whereas tracks can be established for civil aircraft targets in time and tracks of other target types can be established simultaneously when the radar track initiation method based on the point track characteristic information is adopted.
In the above embodiments, although the steps are numbered S1, S2, etc., it is only a specific embodiment given in the present application, and those skilled in the art can adjust the execution sequence of S1, S2, etc. according to the actual situation, which is also within the protection scope of the present invention.
In the present invention, the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (4)
1. A radar track starting method based on track point characteristic information is characterized by comprising the following steps:
s1, taking the ith free point track at the moment of k-1 as a track starting point z at the moment of k-1 k-1,i According to the track starting point z at the moment k-1 k-1,i Obtaining the flight path starting point z at the k-1 moment by the point path characteristic information and the target classification criterion k-1,i Object type c of k-1,i And according to the flight path starting point z at the moment k-1 k-1,i And a track starting point z at the time k-1 k-1,i Object type c of k-1,i Establishing an associated wave gate G at time k k,i Wherein k is a positive integer greater than 1, i is a positive integer, let initial time k 0 ＝k-1；
S2, acquiring the associated wave gate G falling into the moment k k,i Inner free point trace set Z k And from the set of free point traces Z at the time k k Selecting a track starting point z at the moment of k-1 k-1,i According to the first free point track at the time k and the track starting point z at the time k-1 k-1,i Establishing a transient state track;
s3, executing S1 to S2 on each free point track at the moment k-1, and acquiring a plurality of transient state tracks at the moment k;
s4, according to the mth transient state track T of the k moment k,m Establishing a correlation gate O at the time of k +1 k+1,m And obtaining the associated gate O falling into the k +1 moment k+1,m Inner free point trace set Z k+1 Wherein m is a positive integer;
s5, from the free point trace set Z of the k +1 moment k+1 Selecting the mth transient state track T at the k moment k,m Second free-point traces with the same target type;
s6, selecting a correlation gate O at the moment k +1 from the second free point trace at the moment k +1 k+1,m The nearest third free point track of the center of the k time point, and the mth transient state track T of the k time point k,m ；
S7, setting k = k +1, for each transient trajectory of any target type c,repeating S4 to S6 until k = k is satisfied 0 +M c 1, if the number of free point tracks contained in the transient track is more than or equal to N c Then a stable track is established, wherein M c Track confirmation window length, N, representing target type c c A track confirmation threshold representing target type c.
2. The track starting method as claimed in claim 1, wherein the track starting point z is determined according to the time k-1 k-1,i And a track starting point z at the time k-1 k-1,i Object type c of k-1,i Establishing an associated wave gate G at time k k,i The method comprises the following steps:
s10, according to the flight path starting point z at the k-1 moment k-1,i Object type c of k-1,i Determining the maximum space velocity V max And minimum space velocity V min ；
S11, starting point z of flight path at the moment k-1 k-1,i As the associated wave gate G at the time k k,i According to a first formula, establishing a correlation wave gate G of the k time k,i The first formula is:
G k,i ＝{y k |<y k ,z k-1,i >≤T s V max ,<y k ,z k-1,i >≥T s V min }，
wherein, y k Represents the track starting point z at the time k and the time k-1 k-1,i The extent to which the associated free point trace occurs, | represents a conditional symbol, the right side of which represents y k The conditions which must be met are set to be,<y k ,z k-1,i >denotes y k And a track starting point z at the time k-1 k-1,i European distance between, T s Representing a radar search period.
3. A track start method as claimed in claim 1 or 2, characterized in that the mth transient track T according to the time k is determined k,m Establishing a correlation gate O at the time of k +1 k+1,m The method comprises the following steps:
s40, acquiring the mth transient state track T at the moment k k,m A position prediction value at a time k +1, the position prediction value at the time k +1 comprising: predicted distance value at time k +1
Predicted azimuth value at time k +1
And the predicted pitch value at the time k +1
S41, taking the position predicted value at the k +1 moment as the correlation gate O at the k +1 moment k+1,m The correlation gate O at the k +1 moment is obtained through a second formula k+1,m The second formula is:
wherein, y k+1 Represents the m-th transient trajectory T at the time k +1 and the time k k,m Extent of occurrence of associated free-point traces, R k+1 Denotes y k+1 A distance measurement of k+1 Denotes y k+1 Azimuth measurement of (1), E k+1 Denotes y k+1 Δ R represents a distance-related gate dimension, Δ A represents an orientation-related gate dimension, Δ E represents a pitch-related gate dimension, min [ a, b ]]Indicating that the smaller of the input variables a and b is sought.
4. The track starting method according to claim 3, wherein said S40 comprises:
s400, calculating the predicted distance value at the k +1 moment according to a third formula
The third formula is:
s401, calculating the predicted azimuth value at the k +1 moment according to a fourth formula
The fourth formula is:
s402, calculating the pitching predicted value at the k +1 moment according to a fifth formula
The fifth formula is:
wherein R is k-1,i Represents the track starting point z of the k-1 moment k-1,i A measured value of k-1,i Represents the track starting point z of the k-1 moment k-1,i Azimuth measurement of (E) k-1,i Represents the track starting point z of the k-1 moment k-1,i A pitch measurement of (2), R k,j Represents the track starting point z at the time k and the time k-1 k-1,i Associated distance measurement of the jth motion point trace, A k,j Represents the track starting point z at the time k and the time k-1 k-1,i Azimuth measurement of the associated j-th point trace, E k,j Represents the time at k and the track start z k-1,i Pitch measurements of the associated j-th trace.
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