CN113296092B - Radar detection method and device based on multi-source information fusion and storage medium - Google Patents
Radar detection method and device based on multi-source information fusion and storage medium Download PDFInfo
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- CN113296092B CN113296092B CN202110562451.4A CN202110562451A CN113296092B CN 113296092 B CN113296092 B CN 113296092B CN 202110562451 A CN202110562451 A CN 202110562451A CN 113296092 B CN113296092 B CN 113296092B
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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
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary 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
- G01S13/66—Radar-tracking systems; Analogous 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
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Abstract
The invention provides a radar detection method, a device and a storage medium based on multi-source information fusion, wherein the method comprises the following steps: the method comprises the steps of obtaining at least two detection objects from detection signals of at least two radars, combining the shapes of the at least two detection objects, and then respectively calculating the shape similarity of the combined detection shape and at least one template shape which is stored in advance. According to the scheme, when the detection objects detected by more than two radars are judged to be the same detection object, the judgment accuracy can be improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of radar detection, in particular to a radar detection method and device based on multi-source information fusion and a storage medium.
Background
The radar detection technology has wide application in the fields of aviation, maritime affairs and the like. The track of the detected detection object can be tracked by utilizing the radar detection technology.
In the related art, when detecting a detection object by using multiple radars, the detection object is regarded as one mass point, and whether the detection objects detected by the multiple radars are the same detection object is determined according to the motion characteristics of the mass point.
Disclosure of Invention
The embodiment of the invention provides a radar detection method, a device and a storage medium based on multi-source information fusion, which can improve the judgment accuracy when judging whether detection objects detected by more than two radars are the same detection object.
In a first aspect, an embodiment of the present invention provides a radar detection method based on multi-source information fusion, including:
acquiring detection signals of at least two radars;
obtaining at least two detection objects from detection signals of the at least two radars; the at least two detection objects correspond to the at least two radars one by one;
combining the shapes of the at least two detection objects to obtain a combined detection shape;
respectively calculating shape similarity of the combined detection shape and at least one template shape stored in advance to obtain at least one shape similarity; the template shape is an actual shape corresponding to a real detection object;
when one of the at least one shape similarity is greater than a first threshold, it is determined that the at least two detection objects are the same detection object.
Preferably, the first and second electrodes are formed of a metal,
before the acquiring of the detection signals of at least two radars, further comprising:
acquiring initial detection signals of a plurality of radars; each radar initial detection signal corresponds to at least one detection object;
selecting a detection object from the initial detection signal of each radar to obtain a plurality of detection objects; the plurality of detection objects correspond to the plurality of radars one by one, and the plurality of detection objects comprise the at least two detection objects;
determining a direction of motion of each of the plurality of detection objects;
determining a primary radar and at least one secondary radar from the plurality of radars according to the determined direction of motion;
controlling the main radar to work in a microwave detection mode and controlling each auxiliary radar to work in a laser detection mode;
the acquisition of detection signals of at least two radars comprises: acquiring detection signals of the main radar and the at least one auxiliary radar.
Preferably, the determining a primary radar and at least one secondary radar from the plurality of radars according to the determined direction of motion comprises:
for each of the plurality of radars, performing: calculating an included angle between the motion direction of the radar corresponding to the detection object and the normal direction of the radar;
determining the radar corresponding to the included angle which is closest to 180 degrees or 0 degrees in the obtained included angles as a main radar;
and determining at least one radar corresponding to the included angle with the angle closest to 90 degrees in the included angles corresponding to other radars except the main radar in the plurality of included angles as at least one auxiliary radar.
Preferably, before the shape combining the at least two detection objects, the method further comprises:
when the number of the at least one auxiliary radar is more than two, acquiring the side shape of the detection object corresponding to each auxiliary radar to obtain more than two side shapes;
calculating a similarity between the two or more side shapes, and performing shape combination of the at least two detection objects if the calculated similarity between the side shapes is greater than a second threshold value.
Preferably, after the obtaining of the two or more side surface shapes, before calculating the similarity between the two or more side surface shapes, the method further includes:
and correcting the obtained two or more side surface shapes according to the relative position relation between each auxiliary radar in the at least one auxiliary radar and the corresponding detection object, and performing the calculation of the similarity between the two or more side surface shapes according to the corrected two or more side surface shapes.
Preferably, the shape combining the at least two detection objects to obtain a combined detection shape includes:
determining a positional relationship between the at least two radars;
according to the position relation, utilizing a three-view back projection method to carry out edge line smooth connection on the side shapes corresponding to the at least two detection objects respectively to obtain a combined detection shape; the detection shape is a shape corresponding to a three-dimensional contour.
Preferably, after determining that the at least two detection objects are the same detection object, the method further includes:
for each of the at least two radars, performing:
determining the distance between the radar and the same detection object;
acquiring the identification accuracy rate of the radar obtained in the process of testing in advance;
dividing the identification accuracy rate obtained by the radar in the process of pre-testing by the distance between the radar and the same detection object to obtain the identification reliability of the radar;
and acquiring the motion state of the same detection object by using detection signals obtained by identifying the radar with the highest reliability in the at least two radars.
In a second aspect, an embodiment of the present invention further provides a radar detection device based on multi-source information fusion, including:
the device comprises a detection signal acquisition unit, a signal processing unit and a signal processing unit, wherein the detection signal acquisition unit is used for acquiring detection signals of at least two radars;
a detection object selection unit for obtaining at least two detection objects from the detection signals of the at least two radars; the at least two detection objects correspond to the at least two radars one by one;
the shape combination processing unit is used for carrying out shape combination on the at least two detection objects to obtain a combined detection shape;
the calculation unit is used for calculating the shape similarity of the combined detection shape and at least one template shape which is stored in advance respectively to obtain at least one shape similarity; the template shape is an actual shape corresponding to a real detection object;
a determining unit, configured to determine that the at least two detection objects are the same detection object when one of the at least one shape similarity is greater than a first threshold.
In a third aspect, an embodiment of the present invention further provides a computing device, including a memory and a processor, where the memory stores a computer program, and the processor, when executing the computer program, implements the method described in any embodiment of this specification.
In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed in a computer, the computer program causes the computer to execute the method described in any embodiment of the present specification.
The embodiment of the invention provides a radar detection method, a device and a storage medium based on multi-source information fusion, wherein after at least two detection objects are obtained from detection signals of at least two radars, the at least two detection objects are subjected to shape combination to obtain a combined detection shape, then the shape similarity of the combined detection shape and at least one template shape which is stored in advance is respectively calculated, and as the template shape is the actual shape corresponding to a real detection object, if one shape similarity in the obtained at least one shape similarity is larger than a first threshold value, the combined detection shape is similar to the template shape corresponding to the shape similarity larger than the first threshold value, and further the combined detection shape obtained by carrying out shape combination on the at least two detection objects is corresponding to the real detection object, so that the at least two detection objects can be determined to be the same detection object. According to the scheme, when the detection objects detected by more than two radars are judged to be the same detection object, the judgment accuracy can be improved.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flowchart of a radar detection method based on multi-source information fusion according to an embodiment of the present invention;
FIG. 2 is a flowchart of another radar detection method based on multi-source information fusion according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a positional relationship between a radar and a detection object according to an embodiment of the present invention;
FIG. 4 is a diagram of a hardware architecture of a computing device provided by an embodiment of the invention;
FIG. 5 is a structural diagram of a radar detection device based on multi-source information fusion according to an embodiment of the present invention;
FIG. 6 is a structural diagram of another radar detection device based on multi-source information fusion according to an embodiment of the present invention;
FIG. 7 is a structural diagram of another radar detection device based on multi-source information fusion according to an embodiment of the present invention;
fig. 8 is a structural diagram of another radar detection device based on multi-source information fusion according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer and more complete, the technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention, and based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the scope of the present invention.
As described above, in the related art, when detecting a detection object by using multiple radars, the detection object is usually regarded as one particle, then the motion characteristic of the detection object detected by each radar is determined according to the detection signal of each radar, and when the motion characteristics of the detection objects detected by two or more radars are the same, the detection objects detected by the two or more radars are determined to be the same detection object. However, this scheme has a problem in that different detection objects having the same motion characteristic are regarded as the same detection object, and therefore, the accuracy of detection of the detection object is low.
If it is desired to improve the accuracy of determining whether detected objects detected by different radars are the same detected object, the determination cannot be made only by the motion characteristics of the detected object, and the determination can be made by using the shape of the detected object. And analyzing the detection object as a real object, analyzing the shape of the detection object, and determining whether the detection objects detected by different radars are the same detection object or not according to the similarity of the shapes.
Specific implementations of the above concepts are described below.
Referring to fig. 1, an embodiment of the present invention provides a radar detection method based on multi-source information fusion, where the method includes:
102, obtaining at least two detection objects from detection signals of the at least two radars; the at least two detection objects correspond to the at least two radars one by one;
104, combining the shapes of the at least two detection objects to obtain a combined detection shape;
and 108, when one shape similarity exists in the at least one shape similarity and is larger than a first threshold, determining that the at least two detection objects are the same detection object.
In the embodiment of the invention, after at least two detection objects are obtained from detection signals of at least two radars, the at least two detection objects are subjected to shape combination to obtain combined detection shapes, then the shape similarity is respectively calculated between the combined detection shapes and at least one template shape which is stored in advance, and as the template shape is the real shape of a corresponding object, if one shape similarity in the obtained at least one shape similarity is greater than a first threshold value, the combined detection shapes are similar to the template shape corresponding to the shape similarity greater than the first threshold value, and further the combined detection shapes obtained by performing shape combination on the at least two detection objects are corresponding to the real object, so that the at least two detection objects can be determined to be the same detection object. According to the scheme, when the detection objects detected by more than two radars are judged to be the same detection object, the judgment accuracy can be improved.
The manner in which the various steps shown in fig. 1 are performed is described below.
First, for step 100, probe signals of at least two radars are acquired.
Before the step, the radar needs to be deployed in the detection area, when a detection object appears in the detection range of the radar, the radar returns a detection signal to the central platform, and then the central platform analyzes the detection signal to determine whether the detection object obtained from the detection signals of the radars is the same detection object.
The radar may include multiple detection modes, for example, the radar may have a microwave detection mode and a laser detection mode. The microwave detection mode is less affected by weather, and the detection effect on the detection object can be ensured. The detection precision of the laser detection mode is high, and the shape of the detection object can be accurately detected.
In an embodiment of the present invention, when the radar does not detect the detection object, the detection mode of each radar may be set in the microwave detection mode, so that real-time detection of a wider range may be achieved.
When the detection object is detected, the detection mode of the radar needs to be adjusted, then the detection object is detected through the adjusted detection mode, and then a detection signal obtained in the adjusted detection mode (namely, the detection signal obtained in the step) is used for analysis. Therefore, in an embodiment of the present invention, before this step, please refer to fig. 2, further comprising:
200, acquiring initial detection signals of a plurality of radars; each radar has an initial detection signal corresponding to at least one detection object.
The initial detection signal is detected by the radar in a microwave detection mode.
If a plurality of detection objects exist in the detection range of a radar, the initial detection signal of the radar can correspond to the plurality of detection objects.
In the embodiment of the present invention, since one radar may correspond to a plurality of detection objects, if a detection object is randomly selected from the detection objects corresponding to each radar, it may be determined that the probability that the plurality of detection objects are the same detection object is smaller, and therefore, in order to improve the probability that the selected detection objects are the same detection object, when selecting a detection object, for each radar, the following steps are performed: determining one or more of the motion direction, the height, the speed and the shape area of each detection object corresponding to the radar; and then, selecting the detection objects with similar motion directions, heights, speeds and shape areas of the detection objects in the plurality of radars to obtain a plurality of detection objects.
Wherein the moving direction of the detection object can be determined by the position change of the detection object at two adjacent moments.
In one embodiment of the present invention, when determining the primary radar and the secondary radar, the determination may be performed at least by one of the following methods:
first, for each of the plurality of radars, performing: calculating an included angle between the motion direction of the radar corresponding to the detection object and the normal direction of the radar;
then, determining the radar corresponding to the included angle which is closest to 180 degrees or 0 degrees in the obtained included angles as a main radar;
and finally, determining at least one radar corresponding to the included angle with the angle closest to 90 degrees in the included angles corresponding to other radars except the main radar in the plurality of included angles as at least one auxiliary radar.
Referring to fig. 3, the three radars include a radar a, a radar B, and a radar C, and assuming that the detection objects corresponding to the three radars are the same detection object M, an included angle between each radar and the detection object is shown in the figure, where a dotted line with an arrow is a normal direction of each radar, and a solid line with an arrow is a motion direction of the detection object.
In determining the main radar, a radar toward which the moving direction of the detection object M is directed needs to be used as the main radar, that is, the main radar is used for detecting the front surface of the detection object M. In this embodiment, according to the set direction of the detection normal of the radar, if the detection normal is vector, the radar whose included angle between the radar and the detection object is closest to 180 degrees is determined as the main radar, that is, the radar B in fig. 3, and if the detection normal is not vector, the radar whose included angle between the radar and the detection object is closest to 0 degrees is determined as the main radar, that is, the radar B in fig. 3.
Considering that the present embodiment determines whether or not a plurality of detection objects are the same detection object by using the shape of the detection object, the detection object side shape needs to be acquired after the main radar is determined, and therefore, the secondary radar can be determined from the radars located at the side positions of the detection object.
In determining which radars are located at the side positions of the detection object, the angle between the moving direction of the detection object and the normal direction of the radars may be used to determine, if the angle is equal to 90 degrees, that the detecting direction of the radar is directed toward the side of the detection object, and therefore, at least one radar corresponding to the angle closest to 90 degrees among the angles may be determined as an auxiliary radar, such as the radar a and the radar C in fig. 3.
One or more of the secondary radars may be selected. Preferably, two secondary radars are selected, and the two secondary radars are located on both sides of the detection object.
In one embodiment of the present invention, if a target radar having an included angle closest to 90 degrees is determined, it may be determined whether the detection surface of the target radar is directly irradiated with light, such as solar light, and if the detection surface is directly irradiated with light, two radars closest to the target radar are selected as the secondary radars from among the radars located on the side of the detection object and on the same side of the detection object as the target radar, wherein the target radar is located between the two radars closest to the target radar.
When the radar works in a laser detection mode, the detection accuracy is greatly influenced by the direct light, so that the radar which is directly irradiated by the light is abandoned as an auxiliary radar, and two radars in the front and rear positions of the radar are selected as the auxiliary radars, thereby improving the accuracy of shape detection.
And 208, controlling the main radar to work in a microwave detection mode, and controlling each auxiliary radar to work in a laser detection mode.
In view of the detection objects such as aircrafts, ships and the like, the detection objects are designed to be streamline in general, the side areas of the detection objects are large, and the front areas of the detection objects are small, so that in the embodiment of the invention, the laser detection mode which can detect the shapes more accurately can be adopted to detect the side surfaces of the corresponding detection objects, namely, the auxiliary radar is controlled to work in the laser detection mode, and the microwave detection mode which is not suitable for being interfered by weather is used to detect the front surfaces of the detection objects, namely, the main radar is controlled to work in the microwave radar mode.
In this step, when the detection signals of at least two radars are obtained, the detection signals of the main radar and the at least one auxiliary radar are obtained.
It should be noted that, the above-mentioned determining the main radar and the auxiliary radar, and controlling the main radar and the auxiliary radar to operate in different detection modes to obtain the detection signals of the at least two radars is a preferable solution of this embodiment, and besides the above-mentioned solution, the radar that detects the detection object may be directly determined as the at least two radars.
Then, for step 102, obtaining at least two detection objects from detection signals of the at least two radars; the at least two detection objects correspond to the at least two radars one to one.
One detection object is selected from each radar, and then at least two detection objects are obtained.
Wherein, the at least two detection objects are obtained by selecting the detection objects with similar motion direction, height, speed and shape area of the corresponding detection object in the at least two radars.
If the at least two radars are obtained by determining the primary radar and the secondary radar in step 101, the plurality of probe objects selected in step 202 includes the at least two probe objects. That is, in step 202, for example, the detection object A1 selected by the radar a, the detection object B1 selected by the radar B, the detection object C1 selected by the radar C, and the detection object D1 selected by the radar D, if at least two radars in this step are the radar a, the radar B, and the radar C, then at least two detection objects in this step are the detection object A1, the detection object B1, and the detection object C1.
Next, in step 104, the at least two detection objects are combined in shape to obtain a combined detection shape.
In an embodiment of the present invention, it is assumed that the at least two detection objects are the same detection object, and because the arrangement positions of the at least two radars are different, the shapes obtained when the same detection object is detected are also the same shape and are shapes obtained by detection at different positions, so that the at least two detection objects need to be combined in shape, and this step can be implemented at least in one of the following manners: determining a positional relationship between the at least two radars; according to the position relation, utilizing a three-view back projection method to carry out edge line smooth connection on the side shapes corresponding to the at least two detection objects respectively to obtain a combined detection shape; the detection shape is a shape corresponding to a three-dimensional contour.
In one embodiment of the invention, because the detection objects such as spacecrafts, ships and the like are designed symmetrically, the shapes of the two sides are the same. And if the at least two detection objects are the same detection object, the shapes of the sides detected by different radars located at the side positions of the detection object are similar, so that the method may further include, before this step: when the number of the at least one auxiliary radar is more than two, acquiring the side shape of the detection object corresponding to each auxiliary radar to obtain more than two side shapes; calculating a similarity between the two or more side shapes, and performing shape combination of the at least two detection objects if the calculated similarity between the side shapes is greater than a second threshold value.
Since the number of detection objects corresponding to each radar may be plural, when a detection object is selected and it is determined whether or not the selected detection object is the same detection object, the determination frequency is the product of the numbers of detection objects corresponding to each radar.
If the detected objects obtained by more than two auxiliary radars are judged to be similar, the detected objects corresponding to the more than two auxiliary radars can be shown to be the same detected object. If the main radar corresponds to a plurality of detection objects, determining the times of which detection object of the main radar and the detection object of the auxiliary radar are the same detection object after the main radar and each detection object of the main radar are respectively subjected to shape combination, wherein the times is the number of the detection objects corresponding to the main radar; therefore, the judgment frequency can be reduced, the judgment workload is reduced, and the real-time performance of monitoring the detection object is improved.
In an embodiment of the present invention, based on the above embodiment, after obtaining the two or more side surface shapes, before calculating the similarity between the two or more side surface shapes, the method may further include: and correcting the obtained two or more side surface shapes according to the relative position relation between each auxiliary radar in the at least one auxiliary radar and the corresponding detection object, and performing the calculation of the similarity between the two or more side surface shapes according to the corrected two or more side surface shapes.
Since the arrangement positions of the radars are not perfectly symmetrical, and the random occurrence of the azimuth of the detection object causes the relative positional relationship between the detection object and the radars to be not uniform, even if the auxiliary radars detect the same detection object, the side shapes of the detection object detected by the auxiliary radars are difficult to be the same due to the difference of the azimuth, the height and the like. Therefore, in the present embodiment, the shape of the side surface of the detection object detected by each of the auxiliary radars can be corrected. Specifically, the side shape detected by another auxiliary radar can be subjected to three-dimensional graphic transformation by taking the auxiliary radar closest to the main radar as a reference; or, an intersection point of a connecting line of the two auxiliary radars and a detection normal of the main radar is obtained, then a perpendicular line of the normal is drawn at the intersection point, and then the perpendicular line is used as a reference, and three-dimensional graph transformation is carried out on the side shape detected by each auxiliary radar. The above two conversion methods are merely exemplary modifications in the present embodiment, and the present embodiment is not limited to the above conversion methods. The three-dimensional graph transformation method belongs to the conventional prior art in the field of image three-dimensional transformation, and the embodiment is not described again.
In addition to the shape combination method, the combined probe shape may be obtained by randomly splicing the obtained side shapes directly.
Continuing to step 106, respectively calculating shape similarity of the combined detection shape and at least one template shape stored in advance to obtain at least one shape similarity; the template shape is the actual shape corresponding to the real detection object.
The radar detection objects mainly comprise airliners, fighters, helicopters, paragliders, cruise ships, sand mining ships and the like, so that the actual shapes of the real detection objects can be obtained in advance and are used as template shapes.
The shape similarity may be calculated by using an existing calculation method, such as cosine similarity.
Finally, referring to step 108, when there is one of the at least one shape similarity greater than the first threshold, it is determined that the at least two detection objects are the same detection object.
In this embodiment, after step 108, when it is determined that at least two detection objects are the same detection object, each radar marks the detection object, and then tracks the detection object to acquire the motion state of the detection object.
When the motion state of the detection object is obtained, the motion state of the same detection object may be obtained by using a detection signal obtained by a radar with the highest identification reliability in the at least two radars, wherein the identification reliability of each of the at least two radars may be determined as follows: determining the distance between the radar and the same detection object; acquiring the identification accuracy rate of the radar in the process of pre-testing; and dividing the identification accuracy rate obtained by the radar in the process of pre-testing by the distance between the radar and the same detection object to obtain the identification reliability of the radar.
The identification reliability of the radar can be calculated by the following formula:
wherein, con i Indicating the identification reliability of the ith radar, alpha i Representing the recognition accuracy of the ith radar during a preliminary test, d i Indicating the distance of the ith radar from the detected object.
The identification accuracy of the ith radar in the pre-test process can be determined by the following formula:
wherein, beta i Representing the statistical identification accuracy of the radar i, wherein n represents the number of the radars, and is an integer larger than 2. For statistical recognition accuracy beta therein i It may be calculated during testing after each radar has been deployed, e.g. after each radar has been deployed, each radar will be tested in a single testThe radar is determined as a main radar, the other two radars are determined as auxiliary radars, the detection object for test is released, the main radar and the auxiliary radars test the detection object for test at the moment, the main radar is continuously changed in a plurality of tests, the detection success rate of the collected radars as the main radar and the auxiliary radars is calculated when the test times are reached, and accordingly the statistical identification accuracy beta of each radar can be calculated i 。
It can be seen that the recognition accuracy β adopted in this embodiment i Although statistically derived, it corresponds to whether the radar is acting as a primary radar or a secondary radar, in other words, the recognition accuracy α employed when a radar is acting as a primary radar during actual detection i And recognition accuracy alpha when it is used as an auxiliary radar i Is different. Therefore, the embodiment can be more targeted, different parameter values can be adopted according to different conditions, and the detection accuracy can be further improved.
As shown in fig. 4 and 5, an embodiment of the present invention provides a radar detection device based on multi-source information fusion. The device embodiments may be implemented by software, or by hardware, or by a combination of hardware and software. In terms of hardware, as shown in fig. 4, for a hardware architecture diagram of a computing device where a radar detection apparatus based on multi-source information fusion provided in an embodiment of the present invention is located, in addition to the processor, the memory, the network interface, and the nonvolatile memory shown in fig. 4, the computing device where the apparatus is located in the embodiment may also generally include other hardware, such as a forwarding chip responsible for processing a packet, and the like. Taking a software implementation as an example, as shown in fig. 5, as a logically meaningful device, the device is formed by reading a corresponding computer program in a nonvolatile memory into a memory by a CPU of a computing device where the device is located and running the computer program. The embodiment provides a radar detection device based on multisource information fusion, includes:
a detection signal obtaining unit 501, configured to obtain detection signals of at least two radars;
a detection object selection unit 502, configured to obtain at least two detection objects from detection signals of the at least two radars; the at least two detection objects correspond to the at least two radars one by one;
a shape combination processing unit 503, configured to perform shape combination on the at least two detection objects to obtain a combined detection shape;
a calculating unit 504, configured to calculate shape similarities for the combined detection shape and at least one template shape stored in advance, respectively, so as to obtain at least one shape similarity; the template shape is an actual shape corresponding to a real detection object;
a first determining unit 505, configured to determine that the at least two detection objects are the same detection object when one of the at least one shape similarity is greater than a first threshold.
In an embodiment of the present invention, referring to fig. 6, the radar detection apparatus based on multi-source information fusion may further include:
the detection signal acquiring unit 501 is further configured to acquire initial detection signals of multiple radars; each radar initial detection signal corresponds to at least one detection object;
the detection object selecting unit 502 is further configured to select one detection object from the initial detection signal of each radar to obtain a plurality of detection objects; the plurality of detection objects correspond to the plurality of radars one by one, and the plurality of detection objects comprise the at least two detection objects;
a second determination unit 506 for determining a movement direction of each of the plurality of detection objects; and determining a primary radar and at least one secondary radar from the plurality of radars according to the determined direction of motion;
a detection mode control unit 507, configured to control the main radar to operate in a microwave detection mode, and control each of the secondary radars to operate in a laser detection mode;
the detection signal acquiring unit 501 is specifically configured to acquire detection signals of the main radar and the at least one auxiliary radar.
In an embodiment of the present invention, when the second determining unit determines a main radar and at least one auxiliary radar from the plurality of radars according to the determined moving direction, the second determining unit specifically includes:
for each of the plurality of radars, performing: calculating an included angle between the motion direction of the radar corresponding to the detection object and the normal direction of the radar;
determining the radar corresponding to the included angle which is closest to 180 degrees or 0 degrees in the obtained included angles as a main radar;
and determining at least one radar corresponding to the included angle with the angle closest to 90 degrees in the included angles corresponding to other radars except the main radar in the plurality of included angles as at least one auxiliary radar.
In an embodiment of the present invention, the calculating unit 504 is further configured to, when the number of the at least one auxiliary radar is two or more, obtain a side shape of the detection object corresponding to each auxiliary radar, so as to obtain two or more side shapes; calculating a similarity between the two or more side shapes, and performing shape combination of the at least two detection objects if the calculated similarity between the side shapes is greater than a second threshold value.
In an embodiment of the present invention, referring to fig. 7, the radar detection apparatus based on multi-source information fusion may further include:
a correcting unit 508, configured to correct the obtained two or more side surface shapes according to a relative positional relationship between each of the at least one auxiliary radar and the corresponding detection object, and perform the calculation of the similarity between the two or more side surface shapes according to the corrected two or more side surface shapes.
In an embodiment of the present invention, the shape combination processing unit 503 is specifically configured to: determining a positional relationship between the at least two radars; according to the position relation, utilizing a three-view back projection method to carry out edge line smooth connection on the side shapes corresponding to the at least two detection objects respectively to obtain a combined detection shape; the detection shape is a shape corresponding to a three-dimensional contour.
In an embodiment of the present invention, referring to fig. 8, the radar detection apparatus based on multi-source information fusion may further include:
a motion state obtaining unit 509, configured to perform the following operations:
for each of the at least two radars, performing:
determining the distance between the radar and the same detection object;
acquiring the identification accuracy rate of the radar in the process of pre-testing;
dividing the identification accuracy rate obtained in the process of the radar pre-testing by the distance between the radar and the same detection object to obtain the identification reliability of the radar;
and acquiring the motion state of the same detection object by using detection signals obtained by identifying the radar with the highest reliability in the at least two radars.
It is understood that the structure illustrated in the embodiment of the present invention does not specifically limit a radar detection apparatus based on multi-source information fusion. In other embodiments of the invention, a radar detection device based on multi-source information fusion may include more or fewer components than those shown, or combine certain components, or split certain components, or a different arrangement of components. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.
Because the content of information interaction, execution process, and the like among the modules in the device is based on the same concept as the method embodiment of the present invention, specific content can be referred to the description in the method embodiment of the present invention, and is not described herein again.
The embodiment of the invention also provides computing equipment which comprises a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to realize the radar detection method based on the multi-source information fusion in any embodiment of the invention.
An embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the processor is caused to execute a radar detection method based on multi-source information fusion in any embodiment of the present invention.
Specifically, a system or an apparatus equipped with a storage medium on which software program codes that realize the functions of any of the above-described embodiments are stored may be provided, and a computer (or a CPU or MPU) of the system or the apparatus is caused to read out and execute the program codes stored in the storage medium.
In this case, the program code itself read from the storage medium can realize the functions of any of the above-described embodiments, and thus the program code and the storage medium storing the program code constitute a part of the present invention.
Examples of the storage medium for supplying the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (e.g., CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD + RW), a magnetic tape, a nonvolatile memory card, and a ROM. Alternatively, the program code may be downloaded from a server computer by a communications network.
Further, it should be clear that the functions of any one of the above-described embodiments may be implemented not only by executing the program code read out by the computer, but also by causing an operating system or the like operating on the computer to perform a part or all of the actual operations based on instructions of the program code.
Further, it is to be understood that the program code read out from the storage medium is written to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion module connected to the computer, and then causes a CPU or the like mounted on the expansion board or the expansion module to perform part or all of the actual operations based on instructions of the program code, thereby realizing the functions of any of the above-described embodiments.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one of 8230" does not exclude the presence of additional like elements in a process, method, article, or apparatus comprising the element.
Those of ordinary skill in the art will understand that: all or part of the steps for realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium includes: ROM, RAM, magnetic or optical disks, etc. that can store program codes.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A radar detection method based on multi-source information fusion is characterized by comprising the following steps:
acquiring detection signals of at least two radars;
obtaining at least two detection objects from detection signals of the at least two radars; the at least two detection objects correspond to the at least two radars one by one;
combining the shapes of the at least two detection objects to obtain a combined detection shape;
respectively calculating shape similarity of the combined detection shape and at least one template shape stored in advance to obtain at least one shape similarity; the template shape is an actual shape corresponding to a real detection object;
when one shape similarity in the at least one shape similarity is larger than a first threshold value, determining that the at least two detection objects are the same detection object;
before the acquiring of the detection signals of the at least two radars, further comprises:
acquiring initial detection signals of a plurality of radars; each radar initial detection signal corresponds to at least one detection object;
selecting a detection object from the initial detection signal of each radar to obtain a plurality of detection objects; the plurality of detection objects correspond to the plurality of radars one by one, and the plurality of detection objects comprise the at least two detection objects;
determining a direction of motion of each of the plurality of detection objects;
determining a primary radar and at least one secondary radar from the plurality of radars according to the determined direction of motion;
controlling the main radar to work in a microwave detection mode and controlling each auxiliary radar to work in a laser detection mode;
the acquisition of detection signals of at least two radars comprises: acquiring detection signals of the main radar and at least one auxiliary radar;
said determining a primary radar and at least one secondary radar from said plurality of radars according to the determined direction of motion comprises:
for each of the plurality of radars, performing: calculating an included angle between the motion direction of the radar corresponding to the detection object and the normal direction of the radar;
determining the radar corresponding to the included angle which is closest to 180 degrees or 0 degrees in the obtained included angles as a main radar;
determining at least one radar corresponding to an included angle with the angle closest to 90 degrees in the included angles corresponding to other radars except the main radar in the plurality of included angles as at least one auxiliary radar;
before the shape combining the at least two detection objects, further comprising:
when the number of the at least one auxiliary radar is more than two, acquiring the side shape of the detection object corresponding to each auxiliary radar to obtain more than two side shapes;
calculating a similarity between the two or more side shapes, and performing shape combination of the at least two detection objects if the calculated similarity between the side shapes is greater than a second threshold value.
2. The method of claim 1, wherein after said obtaining the two or more lateral surface shapes, before calculating the similarity between the two or more lateral surface shapes, further comprising:
and correcting the obtained more than two side surface shapes according to the relative position relation between each auxiliary radar in the at least one auxiliary radar and the corresponding detection object, and executing the calculation of the similarity between the more than two side surface shapes according to the corrected more than two side surface shapes.
3. The method according to any one of claims 1-2, wherein the combining the shapes of the at least two detection objects into a combined detection shape comprises:
determining a positional relationship between the at least two radars;
according to the position relation, utilizing a three-view back projection method to carry out edge line smooth connection on the side shapes corresponding to the at least two detection objects respectively to obtain a combined detection shape; the detection shape is a shape corresponding to a three-dimensional contour.
4. The method according to any one of claims 1-2, wherein after said determining that the at least two probe objects are the same probe object, further comprising:
for each of the at least two radars, performing:
determining the distance between the radar and the same detection object;
acquiring the identification accuracy rate of the radar obtained in the process of testing in advance;
dividing the identification accuracy rate obtained in the process of the radar pre-testing by the distance between the radar and the same detection object to obtain the identification reliability of the radar;
and acquiring the motion state of the same detection object by using a detection signal obtained by identifying the radar with the highest reliability in the at least two radars.
5. A radar detection device based on multi-source information fusion is characterized by comprising:
the device comprises a detection signal acquisition unit, a signal processing unit and a signal processing unit, wherein the detection signal acquisition unit is used for acquiring detection signals of at least two radars;
a detection object selection unit for obtaining at least two detection objects from the detection signals of the at least two radars; the at least two detection objects correspond to the at least two radars one by one;
the shape combination processing unit is used for carrying out shape combination on the at least two detection objects to obtain a combined detection shape;
the calculation unit is used for calculating the shape similarity of the combined detection shape and at least one template shape which is stored in advance respectively to obtain at least one shape similarity; the template shape is an actual shape corresponding to a real detection object;
the determining unit is used for determining that the at least two detection objects are the same detection object when one shape similarity in the at least one shape similarity is larger than a first threshold value;
the detection signal acquisition unit is further used for acquiring initial detection signals of a plurality of radars; each radar initial detection signal corresponds to at least one detection object;
the detection object selection unit is further configured to select one detection object from the initial detection signal of each radar to obtain a plurality of detection objects; the plurality of detection objects correspond to the plurality of radars one by one, and the plurality of detection objects comprise the at least two detection objects;
a second determination unit configured to determine a movement direction of each of the plurality of detection objects; and determining a primary radar and at least one secondary radar from the plurality of radars according to the determined direction of motion;
the detection mode control unit is used for controlling the main radar to work in a microwave detection mode and controlling each auxiliary radar to work in a laser detection mode;
the detection signal acquisition unit is specifically used for acquiring detection signals of the main radar and the at least one auxiliary radar;
the second determining unit, when determining a main radar and at least one secondary radar from the plurality of radars according to the determined movement direction, is specifically configured to: for each of the plurality of radars, performing: calculating an included angle between the motion direction of the radar corresponding to the detection object and the normal direction of the radar; determining the radar corresponding to the included angle which is closest to 180 degrees or 0 degrees in the obtained included angles as a main radar; determining at least one radar corresponding to an included angle with the angle closest to 90 degrees in the included angles corresponding to other radars except the main radar in the plurality of included angles as at least one auxiliary radar;
the calculation unit is further configured to, when the number of the at least one auxiliary radar is more than two, obtain a side shape of the detection object corresponding to each auxiliary radar, and obtain more than two side shapes; calculating a similarity between the two or more side shapes, and performing shape combination of the at least two detection objects if the similarity between the calculated side shapes is greater than a second threshold value.
6. The apparatus of claim 5, further comprising:
and the correcting unit is used for correcting the obtained two or more side surface shapes according to the relative position relation between each auxiliary radar in the at least one auxiliary radar and the corresponding detection object, and calculating the similarity between the two or more side surface shapes according to the corrected two or more side surface shapes.
7. The apparatus according to any of claims 5-6, wherein the shape combination processing unit is specifically configured to: determining a positional relationship between the at least two radars; according to the position relation, utilizing a three-view back projection method to carry out edge line smooth connection on the side shapes corresponding to the at least two detection objects respectively to obtain a combined detection shape; the detection shape is a shape corresponding to a three-dimensional contour.
8. The apparatus of any of claims 5-6, further comprising:
a motion state acquisition unit for performing the following operations:
for each of the at least two radars, performing: determining the distance between the radar and the same detection object; acquiring the identification accuracy rate of the radar obtained in the process of testing in advance; dividing the identification accuracy rate obtained by the radar in the process of pre-testing by the distance between the radar and the same detection object to obtain the identification reliability of the radar;
and acquiring the motion state of the same detection object by using detection signals obtained by identifying the radar with the highest reliability in the at least two radars.
9. A computing device comprising a memory having stored therein a computer program and a processor that, when executing the computer program, implements the method of any of claims 1-4.
10. A computer-readable storage medium, on which a computer program is stored which, when executed in a computer, causes the computer to carry out the method of any one of claims 1-4.
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