CN112882013A - Track starting method and system based on target speed characteristics - Google Patents
Track starting method and system based on target speed characteristics Download PDFInfo
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- CN112882013A CN112882013A CN202110064454.5A CN202110064454A CN112882013A CN 112882013 A CN112882013 A CN 112882013A CN 202110064454 A CN202110064454 A CN 202110064454A CN 112882013 A CN112882013 A CN 112882013A
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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
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
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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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
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Abstract
The invention discloses a track starting method and a system based on target speed characteristics, wherein the method comprises the following steps: based on a sequence priority principle, sequentially carrying out track point association processing on a measuring point track at the current moment, a reliable track, a temporary track and a source flight track to obtain an associated track of the measuring point track; if the associated track is a reliable track or a temporary track, acquiring an associated measuring point track of adjacent moments, estimating the motion direction of the target, obtaining a motion speed estimation value of the target in the motion estimation direction according to the radial speed of the target, performing track quality detection corresponding to the associated track based on the speed measurement error and the mean square velocity measurement error sum, and updating the track state of the associated track according to the quality detection result. The method can effectively inhibit false flight paths caused by interference measurement point paths caused by the target and improve the starting precision of the flight paths.
Description
Technical Field
The invention relates to the technical field of target tracking, in particular to a track starting method and system based on target speed characteristics.
Background
The multi-target tracking technology is very important in engineering application, and the track initiation directly determines the performance of the multi-target tracker as the basis of the multi-target tracking technology. For the sea surface target tracking problem under the environment of serious sea clutter and under the condition that ship trails exist, at the moment, the measuring point traces not only comprise target point traces but also comprise a large number of sea clutter point traces, the sea clutter point traces also comprise trail clutter point traces related to the motion characteristics of the targets, and the measuring point traces are interfered by the targets to easily cause false tracks, so that the track tracking becomes abnormal and difficult.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a track starting method based on target speed characteristics, which can effectively inhibit false tracks in the track starting process.
The invention also provides a track starting system based on the target speed characteristic, which is provided with the track starting method based on the target speed characteristic.
The invention also provides a computer readable storage medium having the track starting method based on the target speed characteristic.
The track starting method based on the target speed characteristic comprises the following steps: s100, based on a sequence priority principle, sequentially carrying out track point association processing on the measuring point track at the current moment, the reliable track, the temporary track and the source flight track to obtain an associated track of the measuring point track; s200, if the associated track is the reliable track or the temporary track, acquiring an associated measuring point track of adjacent moments, estimating the motion direction of a target according to the measuring point track and the associated measuring point track, obtaining a motion speed estimation value of the target in the motion estimation direction according to the radial speed of the target, performing statistics on a sum of mean square velocity measurement errors based on the fact that the velocity measurement errors obey Gaussian distribution which is not 0, performing track quality detection corresponding to the associated track based on the motion characteristics of the target and the sum of mean square velocity measurement errors, and updating the track state of the associated track according to a quality detection result.
The track starting method based on the target speed characteristic has at least the following beneficial effects: the flight path is divided into three state grades of a reliable flight path, a temporary flight path and a source-generated flight path, the measuring points are preferentially associated in sequence, quality detection is carried out based on the motion characteristics of the target and the sum of the mean square velocity measurement errors, the flight path state of the flight path is further associated according to the quality detection result, the state grade is maintained, deleted or promoted, false flight path caused by interference of the measuring point caused by the target can be effectively inhibited, and the starting precision of the flight path is improved.
According to some embodiments of the invention, the measurement point trace Z passes through the correlation of the k and k +1 timesi(k) And Zj(k +1) obtaining the motion estimation direction of the target as
From the radial velocity V of the targetd(k) Obtaining the estimated value V of the movement speede(k)＝Vd(k) In,/cos θ, where Ve(k) Representing the estimated value of the motion speed, and theta represents an included angle between a radar sight line and the motion estimation direction.
According to some embodiments of the invention, the method for calculating the sum of squared velocity measurement errors comprises:
wherein the content of the first and second substances,
k denotes the observation time, ΔV (k) represents the error between the measured and estimated values of the speed of movement of said object, the speed measurement error obeying a mean value of muvVariance of
Gaussian distribution of (u)vIs not 0; e is the same asvRepresents a normalized sum of squared velocity measurement errors and obeys a chi-squared distribution with a degree of freedom N.
According to some embodiments of the present invention, if the associated track is the reliable track, the step S200 includes: s211, obtaining a first evaluation factor according to the motion characteristics of the target, wherein if the first evaluation factor is smaller than a first threshold, the quality detection result is to be deleted; if the first evaluation factor is larger than the second threshold, turning to S212; otherwise, the quality detection result is to be maintained; wherein the value of the first threshold is less than the value of a second threshold; s212, if the sum of the mean square velocity measurement errors is smaller than a third threshold, the quality detection result is to be deleted; otherwise, the quality detection result is to be maintained; s213, if the quality detection result is to be maintained, filtering the reliable track to update track display, and if the quality detection result is to be deleted, deleting the reliable track.
According to some embodiments of the present invention, if the associated track is the reliable track, the step S200 includes: s221, obtaining a first evaluation factor according to the motion characteristic and the amplitude characteristic of the target, wherein if the first evaluation factor is smaller than a first threshold, the quality detection result is to be deleted; if the first evaluation factor is greater than the second threshold, then go to S222; otherwise, the quality detection result is to be maintained; wherein the value of the first threshold is less than the value of a second threshold; s222, if the sum of the mean square velocity measurement errors is smaller than a third threshold, the quality detection result is to be deleted; otherwise, the quality detection result is to be maintained; and S223, if the quality detection result is to be maintained, filtering the reliable track to update track display, and if the quality detection result is to be deleted, deleting the reliable track.
According to some embodiments of the present invention, if the associated track is the temporary track, the step S200 includes: s231, obtaining a second evaluation factor according to the motion characteristics of the target, wherein if the second evaluation factor is smaller than a fifth threshold, the quality detection result is to be deleted; if the second evaluation factor is greater than a sixth threshold, turning to S232; otherwise, the quality detection result is to be maintained; wherein the value of the fifth threshold is less than the value of the sixth threshold; s232, if the sum of the mean square velocity measurement errors is smaller than a seventh threshold, the quality detection result is to be deleted; if the sum of the mean square velocity measurement errors is greater than an eighth threshold, the quality detection result is a determined flight path; otherwise, the quality detection result is to be maintained; wherein the value of the seventh threshold is less than the value of the eighth threshold; s233, if the quality detection result is a determined flight path, converting the temporary flight path into the reliable flight path; if the quality detection result is to be deleted, deleting the temporary track; otherwise, maintaining the temporary track.
According to some embodiments of the present invention, if the associated track is the temporary track, the step S200 includes: s241, obtaining a second evaluation factor according to the motion characteristic and the amplitude characteristic of the target, wherein if the second evaluation factor is smaller than a fifth threshold, the quality detection result is to be deleted; if the second evaluation factor is greater than a sixth threshold, turning to S242; otherwise, the quality detection result is to be maintained; wherein the value of the fifth threshold is less than the value of the sixth threshold; s242, if the sum of the mean square velocity measurement errors is smaller than a seventh threshold, the quality detection result is to be deleted; if the sum of the mean square velocity measurement errors is greater than an eighth threshold, the quality detection result is a determined flight path; otherwise, the quality detection result is to be maintained; wherein the value of the seventh threshold is less than the value of the eighth threshold; s243, if the quality detection result is that the flight path is determined, converting the temporary flight path into the reliable flight path; if the quality detection result is to be deleted, deleting the temporary track; otherwise, maintaining the temporary track.
According to some embodiments of the invention, further comprising: if the associated track is the source flight track, performing temporary track inspection, if the associated track does not meet the temporary track standard, performing track head elimination on the source flight track, and if the associated track meets the temporary track standard, converting the source flight track into the temporary track.
According to a second aspect of the invention, a track start system based on target speed characteristics comprises: the radar module is used for acquiring a measuring point trace of a target and acquiring a radial speed and a target position measured value of the target; the correlation module is used for sequentially carrying out track point correlation processing on the measuring point track at the current moment, the reliable track, the temporary track and the source flight track on the basis of a sequence priority principle to obtain a correlation track of the measuring point track; and the track processing module is used for acquiring a related measuring point track of adjacent moments if the related track is the reliable track or the temporary track, estimating the motion direction of the target according to the measuring point track and the related measuring point track, obtaining a motion speed estimation value of the target in the motion estimation direction according to the radial speed of the target, counting the sum of mean square speed measurement errors based on the fact that the velocity measurement errors obey Gaussian distribution which is not 0, executing track quality detection corresponding to the related track based on the motion characteristics of the target and the sum of mean square speed measurement errors, and updating the track state of the related track according to a quality detection result.
The track starting system based on the target speed characteristic has at least the following beneficial effects: the flight path is divided into three state grades of a reliable flight path, a temporary flight path and a source-generated flight path, the measuring points are preferentially associated in sequence, quality detection is carried out based on the motion characteristics of the target and the sum of the mean square velocity measurement errors, the flight path state of the flight path is further associated according to the quality detection result, the state grade is maintained, deleted or promoted, false flight path caused by interference of the measuring point caused by the target can be effectively inhibited, and the starting precision of the flight path is improved.
A computer-readable storage medium according to an embodiment of the third aspect of the invention has stored thereon a computer program which, when executed by a processor, implements a method according to an embodiment of the first aspect of the invention.
The computer-readable storage medium according to an embodiment of the present invention has at least the same advantageous effects as the method according to an embodiment of the first aspect of the present invention.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic flow chart of a method according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating the process of track initiation according to the method of the present invention;
FIG. 3 is a graph of absolute velocity versus radial velocity;
FIG. 4 is a second graph of absolute velocity versus radial velocity variation;
FIG. 5 is a schematic view of the range of motion of the target;
FIG. 6 is a graph illustrating the relationship between radial velocity and motion velocity estimates in a method according to an embodiment of the present invention;
FIG. 7 is a schematic view of a track quality evaluation process according to an embodiment of the present invention;
FIG. 8 is a block diagram of the modules of the system of an embodiment of the present invention.
Reference numerals:
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and more than, less than, more than, etc. are understood as excluding the present number, and more than, less than, etc. are understood as including the present number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
Referring to fig. 1, a method of an embodiment of the present invention includes the steps of: s100, based on a sequence priority principle, sequentially carrying out track point association processing on a measuring point track at the current moment, a reliable track, a temporary track and a source flight track to obtain an associated track of the measuring point track; s200, if the associated track is a reliable track or a temporary track, acquiring an associated measuring point track of adjacent moments, estimating the motion direction of the target according to the measuring point track and the associated measuring point track, obtaining a motion speed estimation value of the target in the motion estimation direction according to the radial speed of the target, obeying Gaussian distribution which is not 0 on the basis of a speed measurement error, counting the sum of mean square speed measurement errors, executing track quality detection corresponding to the associated track on the basis of the motion characteristics of the target and the sum of mean square speed measurement errors, and updating the track state of the associated track according to a quality detection result.
In the embodiment of the invention, the flight path is divided into three different types of reliable flight path, temporary flight path and source-generated flight path, the flow of the flight path starting process is as shown in fig. 2, the measuring point path at the current moment is obtained, and the flight path point path correlation processing is sequentially carried out on the measuring point path, the temporary flight path and the source-generated flight path, wherein the flight path point path correlation complies with the priority principle, namely after a certain measuring point path is correlated with the reliable flight path, the measuring point path is not correlated with the temporary flight path and the source-generated flight path, and after the measuring point path is correlated with the temporary flight path, the measuring point path is not correlated with the source-generated flight path, and finally the measuring point which is not correlated with the reliable flight path, the temporary flight path and the source-generated flight path is used as the flight path head of the newly-generated flight path. And after the track association processing is finished, performing corresponding track quality evaluation on the associated track, wherein the track quality evaluation mainly finishes the evaluation on the current track state, the track elimination processing is executed when the track quality does not meet the track quality standard, and otherwise, the current track state is maintained and the next track update data is waited. For reliable flight paths, carrying out flight path quality evaluation, if the evaluation result is maintenance, carrying out flight path updating on the flight path filtering display (such as executing a Kalman filter), maintaining the existing flight path state and waiting for flight path updating data at the next moment; and if the evaluation result is deletion, clearing the reliable track. Obviously, the reliable track can be filtered and displayed firstly, then the track quality evaluation is carried out, when the evaluation result is deletion, the reliable track and the corresponding display are removed, and if the evaluation result is maintenance, the existing track state is maintained; therefore, the display of the reliable flight path does not influence the processing result of the flight path state in the quality evaluation sequence. For the temporary track, if the evaluation result is maintenance, maintaining the existing track state and waiting for the next moment track associated data; if the evaluation result is deletion, the temporary flight path is cleared; and if the evaluation result is that the track is confirmed, transferring the temporary track to a reliable track, namely converting the track state of the temporary track into the reliable track, and adding the reliable track into the set of the reliable track. And for the source flight path, performing temporary flight path detection, performing flight path head elimination on the source flight path which does not meet the temporary flight path standard, waiting for next time point path associated data, and transferring the source flight path which meets the temporary flight path standard to the temporary flight path.
The existing track quality evaluation method usually adopts the motion characteristic of a target, but does not adopt the attribute characteristic of the target, because the attribute characteristic of the target has great uncertainty, for example, the target amplitude at different moments within the coherence time can be considered as a constant, but the target amplitude at different moments outside the coherence time is influenced and changed violently by the flicker of the RCS of the target, and the update period of the measured point trace data of the target is usually greater than the coherent processing time of the radar; the radial velocity of the target also changes dramatically due to the influence of the moving attitude of the target. As shown in fig. 3, a case is described in which the absolute velocity of the target is the same at 5 consecutive sampling instants, but the radial velocity (doppler measurement) changes significantly; as shown in fig. 4, the case where the target doppler measurement value (radial velocity) is the same at 5 consecutive sampling instants but the absolute velocity thereof is drastically changed is described.
The pulse doppler radar measures the radial velocity of the target by measuring the doppler shift, however, the radial velocity of the target is only one component of the moving velocity of the target in the line of sight direction of the radar, and as shown in fig. 3 and 4, there is no one-to-one correspondence between the actual moving velocity of the target and the radial velocity. In the target tracking problem, the range in which the actual velocity of the target is possible is within the interval formed by the target radial velocity and the maximum value of the velocity, as shown by the triangle formed by the broken line in fig. 5. Because the target radial velocity cannot accurately reflect the absolute velocity and the course of the target, the track quality evaluation method based on the target radial velocity attribute cannot effectively realize track quality evaluation, such as: when a ship moves along the direction vertical to the radar sight line and a wake generated by the ship moves approximately along the radar sight line, a temporary flight path formed by the association of a target measurement point trace and a wake clutter target measurement point trace cannot be effectively inhibited only by the aid of the single attribute characteristic of radial speed.
In order to better utilize the radial velocity attribute characteristics of the target, the embodiment of the invention estimates the motion direction of the target by using the associated measuring point traces at adjacent moments, and further estimates the absolute velocity and the heading of the target, as shown in fig. 6, by using the associated measuring point traces Z at the moments k and k +1i(k) And Zj(k +1) estimating the direction of the object motion as
Then the radial velocity V is obtained according to the projection of the target velocity in the radar sight line directiond(k) It can be obtained that the velocity value of the target in the estimated direction is Ve(k) Thus, the target movement velocity measurement may be expressed as
Vn(k)＝Ve(k)+ΔV(k)
Wherein the content of the first and second substances,
representing a target movement velocity measurement value estimated by the associated target measurement point trace, wherein T is the interval time of k and k + 1; ve(k)＝Vd(k) The/cos theta is an estimated value of the target movement speed, and the theta is an included angle between the radar sight line and the estimated value of the target movement direction; Δ v (k) is the error between the measured and estimated values of the target motion velocity, referred to as the velocity measurement noise.
For longer sampling times, the velocity measurement error is assumed to be independent of the identically distributed mean value of 0 and variance of
But is influenced by the instantaneous motion characteristics of the target, generally speaking, for a small sampling time interval, the velocity measurement error does not satisfy the mutually independent assumption, and the average value is not 0, and then the velocity measurement error is assumed to follow the average value of μvVariance of
A gaussian distribution of (a). Defining a normalized mean square error of the tachymetric measurement as
Where k is 1, 2, …, and N represents the k-th observation. Then e isv(k) Obey a standard normal distribution, so for a method that relies only on single observation data to perform track quality assessment, only when-erf-1(α)≤∈v(k)≤erf-1And (alpha), when the speed measurement error is within a confidence interval with the probability of alpha, the track quality can be considered to be effective. For a method of flight path quality evaluation relying on batch data, definitions are defined
The sum of errors is measured for normalized mean square velocity and is subject toChi-squared distribution of degree of freedom N, if and only if
The flight path is considered valid. The mean square velocity measurement error sum is used as a velocity evaluation factor, and the motion evaluation factor is combined to evaluate the flight path quality, so that the false flight path can be effectively inhibited.
The embodiment of the invention provides a track quality evaluation method based on target motion characteristics and speed characteristics, and the evaluation flow refers to FIG. 7. The method for evaluating the flight path quality is carried out by two times; the first step is evaluation based on target motion characteristics, and the second step is evaluation based on speed characteristics; the two-step evaluation adopts a cascade logic method to combine together to realize the judgment of the track quality, and the flow is as follows:
step one, obtaining motion evaluation factors, comparing the motion evaluation factors with thresholds T1 and T2(T1 is less than T2), and marking an evaluation result as to-be-deleted if the evaluation factors are less than the threshold T1; if the evaluation factor is larger than the threshold T2, continuing to evaluate the track quality based on the speed characteristics; otherwise, marking the evaluation result as to be maintained. In some embodiments of the invention, a motion evaluation factor is derived from the motion characteristics of the target; in other embodiments of the present invention, the motion estimation factor is derived based on the motion characteristic and the amplitude characteristic of the target person.
Secondly, according to the measuring trace Z of the current timej(k +1) and the measurement trace Z of the previous time associated therewithi(k) Obtaining the estimated movement direction of the target, and obtaining the speed value V of the target in the estimated direction according to the radial speed of the targete(k) Calculating the sum of squared velocity measurement errorsvThe sum of the mean square velocity measurement errors EvComparing the evaluation factors with thresholds H1 and H2(H1 < H2) respectively as speed characteristic evaluation factors, and marking the evaluation result as to-be-deleted if the sum of the mean square speed measurement errors is less than the threshold H1; if the sum of the mean square velocity measurement errors is larger than a threshold H2, marking the detection result as a confirmed track; otherwise, marking the evaluation result as to be maintained.
In one embodiment of the present invention, the same track quality evaluation method can be used for the temporary track and the reliable track. For the temporary track, if the evaluation result is to be deleted, deleting the temporary track; if the evaluation result is to be maintained, maintaining the temporary flight path to wait for the associated measuring point path at the next moment; and if the evaluation result is that the flight path is determined, transferring the temporary flight path to a reliable flight path. For the reliable track, if the evaluation result is to be deleted, deleting the reliable track; and if the evaluation result is that the track is to be maintained or determined, maintaining the reliable track. The two sets of threshold values corresponding to the temporary flight path are respectively: the device comprises a first threshold and a second threshold, wherein the value of the second threshold is larger than the first threshold; a third threshold and a fourth threshold, wherein the value of the fourth threshold is greater than the third threshold. The two sets of threshold values corresponding to the reliable flight path are respectively: a fifth threshold and a sixth threshold, wherein the value of the fifth threshold is greater than the sixth threshold; a seventh threshold and an eighth threshold, wherein the value of the eighth threshold is greater than the seventh threshold. The two sets of threshold values corresponding to the temporary flight path may be the same as the two sets of threshold values corresponding to the reliable flight path, or may be configured differently. When the associated flight path calls the flight path quality evaluation method, the configuration of the two corresponding sets of threshold values is read according to the type of the associated flight path, and then the flight path quality evaluation can be realized.
In the second embodiment of the present invention, the procedure shown in fig. 7 is performed for the track quality evaluation of the temporary track; but for the track quality evaluation of the reliable track, in the second evaluation, only comparing with the threshold H1, if the sum of the mean square velocity measurement errors is less than the threshold H1, marking the evaluation result as to be deleted; otherwise, marking the evaluation result as to be maintained.
If the current measuring point associated track is a reliable track, the track quality evaluation and track state updating comprise two methods. Wherein the first method comprises the following steps: s211, obtaining a first evaluation factor according to the motion characteristics of the target, wherein if the first evaluation factor is smaller than a first threshold, the quality detection result is to be deleted; if the first evaluation factor is larger than the second threshold, the step is shifted to S212; otherwise, the quality detection result is to be maintained; wherein the value of the first threshold is smaller than the value of the second threshold; s212, if the sum of the mean square velocity measurement errors is smaller than a third threshold, the quality detection result is to be deleted; otherwise, the quality detection result is to be maintained; s213, if the quality detection result is to be maintained, filtering the reliable track to update track display, and if the quality detection result is to be deleted, deleting the reliable track. The second method comprises the following steps: 221, obtaining a first evaluation factor according to the motion characteristic and the amplitude characteristic of the target, and if the first evaluation factor is smaller than a first threshold, determining that the quality detection result is to be deleted; if the first evaluation factor is greater than the second threshold, proceeding to S222; otherwise, the quality detection result is to be maintained; wherein the value of the first threshold is smaller than the value of the second threshold; s222, if the sum of the mean square velocity measurement errors is smaller than a third threshold, the quality detection result is to be deleted; otherwise, the quality detection result is to be maintained; and S223, if the quality detection result is to be maintained, filtering the reliable track to update track display, and if the quality detection result is to be deleted, deleting the reliable track.
If the current measuring point associated track is a temporary track, the track quality evaluation and track state updating also comprise two methods. Wherein, the first method comprises the following steps: s231, obtaining a second evaluation factor according to the motion characteristics of the target, wherein if the second evaluation factor is smaller than a fifth threshold, the quality detection result is to be deleted; if the second evaluation factor is greater than the sixth threshold, the process goes to S232; otherwise, the quality detection result is to be maintained; wherein the value of the fifth threshold is smaller than the value of the sixth threshold; s232, if the sum of the mean square velocity measurement errors is smaller than a seventh threshold, the quality detection result is to be deleted; if the sum of the mean square velocity measurement errors is larger than an eighth threshold, the quality detection result is the determined flight path; otherwise, the quality detection result is to be maintained; wherein the value of the seventh threshold is smaller than the value of the eighth threshold; s233, if the quality detection result is that the flight path is determined, converting the temporary flight path into a reliable flight path; if the quality detection result is to be deleted, deleting the temporary track; otherwise, the temporary track is maintained. The second method comprises the following steps: s241, obtaining a second evaluation factor according to the motion characteristic and the amplitude characteristic of the target, wherein if the second evaluation factor is smaller than a fifth threshold, the quality detection result is to be deleted; if the second evaluation factor is greater than the sixth threshold, the operation goes to S242; otherwise, the quality detection result is to be maintained; wherein the value of the fifth threshold is smaller than the value of the sixth threshold; s242, if the sum of the mean square velocity measurement errors is smaller than a seventh threshold, the quality detection result is to be deleted; if the sum of the mean square velocity measurement errors is larger than an eighth threshold, the quality detection result is the determined flight path; otherwise, the quality detection result is to be maintained; wherein the value of the seventh threshold is smaller than the value of the eighth threshold; s243, if the quality detection result is that the flight path is determined, converting the temporary flight path into a reliable flight path; if the quality detection result is to be deleted, deleting the temporary track; otherwise, maintaining the temporary track. It should be understood that, in the embodiment of the present invention, the first evaluation factor and the second evaluation factor may be the same or different. Different motion evaluation factors can be set for the reliable track and the temporary track respectively, and the same motion evaluation factor can also be configured.
Referring to fig. 8, a system according to an embodiment of the present invention includes: the radar module 100 is used for acquiring a measuring point trace of a target and acquiring a radial speed and a target position measured value of the target; the correlation module 200 is used for sequentially performing track point correlation processing on the measuring point track at the current moment, the reliable track, the temporary track and the source flight track based on a sequence priority principle to obtain a correlation track of the measuring point track; the track processing module 300 is configured to, if the associated track is a reliable track or a temporary track, obtain an associated measurement point track at an adjacent time, estimate a motion direction of the target according to the measurement point track and the associated measurement point track, obtain a motion velocity estimation value of the target in the motion estimation direction according to a radial velocity of the target, obey gaussian distribution other than 0 based on a velocity measurement error, count a sum of mean square velocity measurement errors, perform track quality detection corresponding to the associated track based on a motion characteristic of the target and the sum of mean square velocity measurement errors, and update a track state of the associated track according to a quality detection result.
Although specific embodiments have been described herein, those of ordinary skill in the art will recognize that many other modifications or alternative embodiments are equally within the scope of this disclosure. For example, any of the functions and/or processing capabilities described in connection with a particular device or component may be performed by any other device or component. In addition, while various illustrative implementations and architectures have been described in accordance with embodiments of the present disclosure, those of ordinary skill in the art will recognize that many other modifications of the illustrative implementations and architectures described herein are also within the scope of the present disclosure.
Certain aspects of the present disclosure are described above with reference to block diagrams and flowchart illustrations of systems, methods, systems, and/or computer program products according to example embodiments. It will be understood that one or more blocks of the block diagrams and flowchart illustrations, and combinations of blocks in the block diagrams and flowchart illustrations, respectively, can be implemented by executing computer-executable program instructions. Also, according to some embodiments, some blocks of the block diagrams and flow diagrams may not necessarily be performed in the order shown, or may not necessarily be performed in their entirety. In addition, additional components and/or operations beyond those shown in the block diagrams and flow diagrams may be present in certain embodiments.
Accordingly, blocks of the block diagrams and flowchart illustrations support combinations of means for performing the specified functions, combinations of elements or steps for performing the specified functions and program instruction means for performing the specified functions. It will also be understood that each block of the block diagrams and flowchart illustrations, and combinations of blocks in the block diagrams and flowchart illustrations, can be implemented by special purpose hardware-based computer systems that perform the specified functions, elements or steps, or combinations of special purpose hardware and computer instructions.
Program modules, applications, etc. described herein may include one or more software components, including, for example, software objects, methods, data structures, etc. Each such software component may include computer-executable instructions that, in response to execution, cause at least a portion of the functionality described herein (e.g., one or more operations of the illustrative methods described herein) to be performed.
The software components may be encoded in any of a variety of programming languages. An illustrative programming language may be a low-level programming language, such as assembly language associated with a particular hardware architecture and/or operating system platform. Software components that include assembly language instructions may need to be converted by an assembler program into executable machine code prior to execution by a hardware architecture and/or platform. Another exemplary programming language may be a higher level programming language, which may be portable across a variety of architectures. Software components that include higher level programming languages may need to be converted to an intermediate representation by an interpreter or compiler before execution. Other examples of programming languages include, but are not limited to, a macro language, a shell or command language, a job control language, a scripting language, a database query or search language, or a report writing language. In one or more exemplary embodiments, a software component containing instructions of one of the above programming language examples may be executed directly by an operating system or other software component without first being converted to another form.
The software components may be stored as files or other data storage constructs. Software components of similar types or related functionality may be stored together, such as in a particular directory, folder, or library. Software components may be static (e.g., preset or fixed) or dynamic (e.g., created or modified at execution time).
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (10)
1. A track starting method based on target speed characteristics is characterized by comprising the following steps:
s100, based on a sequence priority principle, sequentially carrying out track point association processing on a measuring point track at the current moment, a reliable track, a temporary track and a source flight track to obtain an associated track of the measuring point track;
s200, if the associated track is the reliable track or the temporary track, acquiring an associated measuring point track of adjacent moments, estimating the motion direction of a target according to the measuring point track and the associated measuring point track, obtaining a motion speed estimation value of the target in the motion estimation direction according to the radial speed of the target, performing statistics on a sum of mean square velocity measurement errors based on the fact that the velocity measurement errors obey Gaussian distribution which is not 0, performing track quality detection corresponding to the associated track based on the motion characteristics of the target and the sum of mean square velocity measurement errors, and updating the track state of the associated track according to a quality detection result.
2. The target speed feature-based track initiation method according to claim 1, wherein the correlated measurement point track Z passes through the k and k +1 time instantsi(k) And Zj(k +1) obtaining the motion estimation direction of the target as
From the radial velocity V of the targetd(k) Obtaining the estimated value V of the movement speede(k)＝Vd(k) In,/cos θ, where Ve(k) Representing the estimated value of the motion speed, and theta represents an included angle between a radar sight line and the motion estimation direction.
3. The track starting method based on the target speed feature of claim 2, wherein the mean square velocity measurement error sum is calculated by:
wherein the content of the first and second substances,
k denotes the observation time, Δ V (k) denotes the error between the measured and estimated values of the speed of movement of the object, the speed measurement error obeying a mean value μvVariance of
Gauss score ofCloth, muvIs not 0; e is the same asvThe error sum is measured for normalized mean square velocity and follows a chi-squared distribution with a degree of freedom N.
4. The method for track initiation based on target speed characteristics as claimed in claim 1, wherein if the associated track is the reliable track, the step S200 comprises:
s211, obtaining a first evaluation factor according to the motion characteristics of the target, wherein if the first evaluation factor is smaller than a first threshold, the quality detection result is to be deleted; if the first evaluation factor is larger than the second threshold, turning to S212; otherwise, the quality detection result is to be maintained; wherein the value of the first threshold is less than the value of a second threshold;
s212, if the sum of the mean square velocity measurement errors is smaller than a third threshold, the quality detection result is to be deleted; otherwise, the quality detection result is to be maintained;
s213, if the quality detection result is to be maintained, filtering the reliable track to update track display, and if the quality detection result is to be deleted, deleting the reliable track.
5. The method for track initiation based on target speed characteristics as claimed in claim 1, wherein if the associated track is the reliable track, the step S200 comprises:
s221, obtaining a first evaluation factor according to the motion characteristic and the amplitude characteristic of the target, wherein if the first evaluation factor is smaller than a first threshold, the quality detection result is to be deleted; if the first evaluation factor is greater than the second threshold, then go to S222; otherwise, the quality detection result is to be maintained; wherein the value of the first threshold is less than the value of a second threshold;
s222, if the sum of the mean square velocity measurement errors is smaller than a third threshold, the quality detection result is to be deleted; otherwise, the quality detection result is to be maintained;
and S223, if the quality detection result is to be maintained, filtering the reliable track to update track display, and if the quality detection result is to be deleted, deleting the reliable track.
6. The method for starting a track based on a target speed feature of claim 1, wherein if the associated track is the temporary track, the step S200 comprises:
s231, obtaining a second evaluation factor according to the motion characteristics of the target, wherein if the second evaluation factor is smaller than a fifth threshold, the quality detection result is to be deleted; if the second evaluation factor is greater than a sixth threshold, turning to S232; otherwise, the quality detection result is to be maintained; wherein the value of the fifth threshold is less than the value of the sixth threshold;
s232, if the sum of the mean square velocity measurement errors is smaller than a seventh threshold, the quality detection result is to be deleted; if the sum of the mean square velocity measurement errors is greater than an eighth threshold, the quality detection result is a determined flight path; otherwise, the quality detection result is to be maintained; wherein the value of the seventh threshold is less than the value of the eighth threshold;
s233, if the quality detection result is a determined flight path, converting the temporary flight path into the reliable flight path; if the quality detection result is to be deleted, deleting the temporary track; otherwise, maintaining the temporary track.
7. The method for starting a track based on a target speed feature of claim 1, wherein if the associated track is the temporary track, the step S200 comprises:
s241, obtaining a second evaluation factor according to the motion characteristic and the amplitude characteristic of the target, wherein if the second evaluation factor is smaller than a fifth threshold, the quality detection result is to be deleted; if the second evaluation factor is greater than a sixth threshold, turning to S242; otherwise, the quality detection result is to be maintained; wherein the value of the fifth threshold is less than the value of the sixth threshold;
s242, if the sum of the mean square velocity measurement errors is smaller than a seventh threshold, the quality detection result is to be deleted; if the sum of the mean square velocity measurement errors is greater than an eighth threshold, the quality detection result is a determined flight path; otherwise, the quality detection result is to be maintained; wherein the value of the seventh threshold is less than the value of the eighth threshold;
s243, if the quality detection result is that the flight path is determined, converting the temporary flight path into the reliable flight path; if the quality detection result is to be deleted, deleting the temporary track; otherwise, maintaining the temporary track.
8. The target speed feature-based track initiation method of claim 1, further comprising: if the associated track is the source flight track, performing temporary track inspection, if the associated track does not meet the temporary track standard, performing track head elimination on the source flight track, and if the associated track meets the temporary track standard, converting the source flight track into the temporary track.
9. A track initiation system based on a target speed characteristic using the method of any one of claims 1 to 8, comprising:
the radar module is used for acquiring a measuring point trace of a target and acquiring a radial speed and a target position measured value of the target;
the correlation module is used for sequentially carrying out track point correlation processing on the measuring point track at the current moment, the reliable track, the temporary track and the source flight track on the basis of a sequence priority principle to obtain a correlation track of the measuring point track;
and the track processing module is used for acquiring a related measuring point track of adjacent moments if the related track is the reliable track or the temporary track, estimating the motion direction of the target according to the measuring point track and the related measuring point track, obtaining a motion speed estimation value of the target in the motion estimation direction according to the radial speed of the target, counting the sum of mean square speed measurement errors based on the fact that the velocity measurement errors obey Gaussian distribution which is not 0, executing track quality detection corresponding to the related track based on the motion characteristics of the target and the sum of mean square speed measurement errors, and updating the track state of the related track according to a quality detection result.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method of any one of claims 1 to 8.
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| CN202110064454.5A CN112882013B (en) | 2021-01-18 | 2021-01-18 | Track starting method and system based on target speed characteristics |
| PCT/CN2021/095623 WO2022151627A1 (en) | 2021-01-18 | 2021-05-25 | Flight track initiation method and system based on target velocity characteristics |
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| CN116150040B (en) * | 2023-04-24 | 2023-07-14 | 江苏泽景汽车电子股份有限公司 | Track data testing method, display decision method, storage medium and electronic equipment |
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