CN113376595B - Evaluation method for initial comprehensive quality of search radar track - Google Patents
Evaluation method for initial comprehensive quality of search radar track Download PDFInfo
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- CN113376595B CN113376595B CN202110538232.2A CN202110538232A CN113376595B CN 113376595 B CN113376595 B CN 113376595B CN 202110538232 A CN202110538232 A CN 202110538232A CN 113376595 B CN113376595 B CN 113376595B
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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
- G01S7/40—Means for monitoring or calibrating
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/415—Identification of targets based on measurements of movement associated with the target
Abstract
The invention discloses an evaluation method for searching radar track initial comprehensive quality, and belongs to the technical field of radar data processing track initial. Aiming at the problems of inhibiting false tracks and improving the track starting accuracy in the process of processing track starting by radar data, the method comprehensively uses the quality of elevation fluctuation conditions, the quality of elevation, the quality of off-axis angles, the quality of same distance, the quality of Doppler channel numbers and Doppler goodness of fit, the quality of amplitude, the quality of related points, the quality of clutter maps, the quality of environmental perception, the quality calculation of related probability, the quality of distance residual errors, the quality of distance azimuth speeds, the quality of adjacent speeds and the quality of physical characteristics to realize the evaluation of comprehensive track quality, and carries out the decision of track confirmation, track termination and waiting confirmation on temporary tracks. The method comprehensively evaluates the track quality, and can effectively reduce the number of false tracks under the condition of ensuring the starting of the real target track.
Description
Technical Field
The invention belongs to the technical field of radar data processing, and particularly relates to an evaluation method for initial comprehensive quality of a search radar track.
Background
Radar data processing can be divided into, according to its basic functional logic: track start, point track-track correlation, track prediction, track filtering, and track stop. Dongbang noted in its research that track initiation should refer to: the process of establishing the flight path before entering the stable tracking (flight path keeping) includes the selection of the flight path head and the formation of the flight path starting flight path segment. In a multi-target dense environment, due to the inherent combined explosion characteristics of the track initiation method and the lack of target information before track initiation, the track initiation problem is considered as the first difficult problem to process radar data. In engineering practice, the navigation path initiation is mostly carried out by adopting an intuitive method and a logic method. The evaluation of the track initiation performance comprises three indexes: track reaction time, track quality, calculated amount and calculated time. The track quality index is used for representing the number of the track quality. It can be measured by scoring, by error in position and velocity of the track, by target indication accuracy, or by average track purity (Dongbei, Lung track Start, Intelligence command control System and simulation techniques, 1999(2): 1-6.).
Juju thinks in studying the track initiation model that the process of determining a target reliable track is the track initiation, and divides the traditional track initiation model into three parts: establishing a track head; starting a temporary track; and establishing a confirmed track, wherein under a track starting model, the trace point data passes through a sequence of starting related logics to establish the confirmed track. In the process of starting the flight path, the temporary flight path contains a large amount of false flight paths, and the direct conversion into the confirmed flight path is not suitable: on one hand, the track starting wave gate is too small, so that the target starting time is long, and even the target is lost; on the other hand, the track initial wave gate is too large, so that error correlation can occur, a large number of false tracks are generated, the track initial accuracy is reduced, and the tracking performance is also influenced. Therefore, it is necessary to reduce the number of redundant tracks and increase the correct track initiation probability by using certain track initiation criteria (courtesy, a general track initiation model, 2009,30(3): 497-504.).
In order to suppress false tracks, a great deal of research work is performed by many researchers and engineering and practice personnel. The skimming adopts three methods of comprehensive residual threshold, clutter area automatic identification and association probability to inhibit the false flight path, and has obvious effects on reducing the number of flight paths and shortening the maintenance time of the false flight path (skimming, a false flight path comprehensive inhibition technology in radar data processing, ship electronic countermeasure, 2015,38(6): 42-47.); based on engineering practice, rochingang et al propose a suppression method based on clutter map, divide into the grid on the radar detection airspace, after accumulating 3 to 5 cycles, judge the clutter environment where the grid locates, adopt different flight path initial methods to strong clutter area, general clutter area, non-clutter area, this method can inhibit the clutter effectively, avoid the false flight path to produce (rochingang, zhanjia, liujia, etc. clutter suppression method in radar data processing. system engineering and electronic technology, 2016,38(1): 37-43.); liu hong Liang et al indicated in the study of track quality assessment using amplitude information that the spot amplitude value was positively correlated with spot quality, and the higher the spot amplitude, the higher the spot quality (Liu hong Liang Hua, Liu hong Wei, etc.. A track quality assessment method using amplitude information, West Ann electronic science and technology university newspaper (Nature science edition), 2017,44(1): 65-70.).
The existing method for evaluating the initial quality of the search radar track mainly evaluates the track quality from one or more aspects, does not fully use the current existing information, and cannot evaluate the initial track quality of the track.
Disclosure of Invention
The invention aims to provide an evaluation method for searching radar track initial comprehensive quality, which is used for calculating the track comprehensive quality at a track initial stage to judge whether a temporary track is used for being converted into a confirmed track, and effectively reducing the number of false tracks under the condition of ensuring the real target track initial.
The technical scheme for realizing the purpose of the invention is as follows: an evaluation method for initial comprehensive quality of a search radar track comprises the following steps:
respectively calculating elevation fluctuation condition quality, elevation quality, off-axis angle quality, distance identity quality, Doppler channel number quality and Doppler goodness of fit quality, amplitude quality, related point quantity quality, clutter map quality, environment perception quality, related probability quality, distance residual quality, distance azimuth speed quality, adjacent speed quality and physical characteristic quality;
calculating the comprehensive quality of the flight path, evaluating according to the comprehensive quality of the flight path, and determining a flight path starting decision, wherein the comprehensive quality of the flight path dfComPfQuc:
dfCompQuc＝dfEleQuc1+dfEleQuc2+dfLZJQuc+dfSameDisQuc+dfDoppQuc1+
dfDoppQuc2+dfAmpQuc+dfAsoNumQuc+dfClutterQuc+dfEnviQuc+dfProbQuc+
dfDistErrQuc+dfDistAzVQuc+dfNeibVQuc+dfPhisQuc
wherein dfEleQuc1, dfEleQuc2, dfLZJQuc, dfsamediquc, dfdopquc 1, dfdopquc 2, dfAmpQuc, dfAsoNumQuc, dfcluttequc, dfEnviQuc, dfProbQuc, dfdisterquc, dfDistAzVQuc, dfNeibVQuc, dfPhisQuc are respectively elevation fluctuation condition quality, elevation angle quality, off-axis angle quality, distance identity quality, doppler channel number quality and doppler goodness quality, amplitude quality, correlation point quantity quality, clutter map quality, environment perception quality, correlation probability quality, distance residual azimuth quality, distance velocity quality, adjacent velocity quality and physical characteristic quality;
the comprehensive quality evaluation formula is as follows:
dfFullQuc is the total mass of the temporary track;
if the dfCompRob is greater than 0.7, the temporary track is changed into a confirmed track, and the track is started;
if 0.6< dfComProb <0.7, the temporary track speed fV, 150< fV <500, the temporary track is delayed by 3 scanning periods at maximum, the comprehensive quality of the track is evaluated in each delay period, and the comprehensive quality reaches the track starting condition, the track is started; if the delay period exceeds 3, the temporary track is terminated;
and thirdly, other temporary flight paths are directly terminated except for the first step and the second step.
Compared with the prior art, the invention has the following remarkable advantages: the invention integrates various evaluation criteria to carry out comprehensive quality evaluation on the temporary track at the track starting stage so as to determine whether the track is started, and can effectively reduce the number of false tracks under the condition of ensuring the normal track starting of a real target.
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FIG. 1 is a schematic flow diagram of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
An evaluation method for initial comprehensive quality of a search radar track is shown in fig. 1, and comprises the following specific steps:
step 1: elevation fluctuation condition quality calculation
Setting the quality range of the elevation fluctuation condition, and calculating the quality of the elevation fluctuation condition by taking the maximum and minimum elevation values of the temporary track related points, wherein the method comprises the following steps of:
step 1.1: setting a quality range [0,2] of the elevation fluctuation condition;
step 1.2: traversing related points used by the temporary track, and taking a maximum pitch angle value dfMaxEle and a minimum pitch angle value dfMinEle in the related points, wherein the unit degree of the elevation angle value is;
step 1.3: calculating the quality of elevation fluctuation situation dfeleqc 1:
if the temporary track is a low elevation target: dfEleQuc1 ═ 1, the low elevation target being a target with an elevation angle below a set threshold;
if the temporary track is not a low elevation target:
dfEleQuc1＝2-(dfMaxEle-dfMinEle)*1.667
if dfEleQuc 1< 0, updating dfEleQuc1 to 0;
step 2: elevation quality calculation
Setting an elevation angle quality range, and calculating an elevation angle quantity by taking a temporary track pitching angle filtering value and a pitching Z-direction filtering value; the method comprises the following steps:
step 2.1: setting an elevation angle quality range [0,2 ];
step 2.2: taking a temporary track pitch angle filtering value fFiltE (unit: degree), and taking a temporary track Z direction filtering value fFiltZ (unit: meter);
step 2.3: calculating the elevation quality dfEleQuc 2:
if the temporary track is a low elevation target: dfEleQuc2 ═ 0;
if the temporary track is not a low elevation target:
dfTemp1＝fFiltE*0.339+0.983
dfTemp2＝fFiltZ*0.00204+0.97959
dfEleQuc2＝max{dfTemp 1,dfTemp 2}
if dfEleQuc 2< 0, updating dfEleQuc2 to 0; if dfEleQuc2 >2, update dfEleQuc2 to 2;
and step 3: off-axis angle mass calculation
Setting the off-axis angle mass range, taking the temporary track off-axis angle and speed to calculate the off-axis angle mass, and the method comprises the following steps:
step 3.1: setting an off-axis angle mass range [0,2 ];
step 3.2: taking a temporary track off-axis angle fLZAngle (unit: degree), and taking a temporary track speed value fV (unit: meter per second);
step 3.3: calculating off-axis angle mass dfLZJQuc:
if fV > 500:
dfLZJQuc＝2-fLZAngle*0.0167
② if fV >500 and fLZANGle > 90:
(iii) if fV >500 and fLZAngle < (90):
if the dfLZJQuc is less than 0, updating the dfLZJQuc to be 0; if the dfLZJQuc is more than 2, updating the dfLZJQuc to be 2;
and 4, step 4: distance same mass calculation
Setting the range of the same distance quality, taking the distance of the related point of the temporary track to calculate the same distance quality, and the steps are as follows:
step 4.1: setting the distance equal mass range of (-2, 2);
step 4.2: taking relevant points of the temporary flight path, comparing distance differences pairwise, and counting the point path pair nCunt value with the distance difference smaller than 10 m;
step 4.3: calculating distance-equal mass dfSameDisQuc:
if ncount is 0: dfsamediquc ═ 1.5;
if nCunt is more than or equal to 1: dfsamediquc ═ nCunt;
③ if dfsamedicquc < -1, updating dfSameDisQuc to-2;
and 5: doppler channel number quality and Doppler goodness of fit quality calculation
Setting a Doppler channel number mass range, and calculating the quality of the Doppler channel number by taking the Doppler channel number; setting a Doppler goodness of fit quality range, taking the average deviation of Doppler channel numbers of relevant points of the temporary track to calculate the Doppler goodness of fit quality, and the steps are as follows:
step 5.1: setting a Doppler channel number mass range [0,3 ];
step 5.2: traversing relevant points used by the temporary flight path, and taking the probability value of the Doppler channel number of each flight path: dfFFTNumPr obi；
Step 5.3: calculating the Doppler channel number quality dfDoppQuc 1:
dfDoppQuc1＝(1-max{dfFFTNumPr ob1...dfFFTNumPr obi})*3
step 5.4: setting a Doppler goodness-of-fit quality range of [ -1.5,0 ];
step 5.5: taking the Doppler channel number of each trace and the theoretical Doppler channel difference value dfVftDelt;
step 5.6: calculating Doppler goodness of fit quality dfDoppQuc 2:
dfDoppQuc2＝1-dfVfftDelt*0.2
if dfDoppQuc2 >0, then dfDoppQuc2 is updated to 0; if dfDoppQuc 2< -1.5,: dfDoppQuc2 ═ 1.5;
step 6: amplitude quality calculation
Setting an amplitude quality range [0,2], taking the amplitude value of the temporary track related point to calculate the amplitude quality, and comprising the following steps:
step 6.1: setting an amplitude quality range [0,2 ];
step 6.2: traversing relevant points used by the temporary flight path, and taking a maximum amplitude value wAmpMax and a minimum amplitude value wAmpMin from the relevant points;
step 6.3: calculating the distance-same mass dfAmpQuc:
dfAmpQuc＝2.8-0.0028*(wAmpMax-wAmpMin)
if dfAmpQuc is less than 0, updating dfAmpQuc to be 0; if dfampQuc >2, updating dfampQuc to 2;
and 7: correlation point quantity quality calculation
Setting the mass range of the number of related points, taking the related points of the temporary track to calculate the mass of the related points, and the steps are as follows:
step 7.1: setting a related point quantity quality range of [ -3,3 ];
step 7.2: taking the number wTestEnviraPlotNum of the related points of the temporary track;
step 7.3: calculating the distance-equal mass dfAsoNumQuc:
dfAsoNumQu c＝3-0.5*wTestEnvir AsoPlotNum
if dfAsoNumQuc is less than-3, updating dfAsoNumQuc to-3;
and 8: clutter map quality calculation
The method comprises the following steps of setting a clutter map quality range, and calculating clutter map quality by taking the type of a temporary track clutter area, wherein the method comprises the following steps:
step 8.1: setting a related point quantity quality range of [ -3,3 ];
step 8.2: the method comprises the steps of taking a temporary track clutter area type ucClutterFlag, setting a clean area ucClutterFlag to be 0, setting a non-clutter area ucClutterFlag to be 1, setting a common clutter area ucClutterFlag to be 2, setting a strong clutter area ucClutterFlag to be 3 and setting a super-strong clutter area ucClutterFlag to be 4.
Step 8.3: calculating clutter map quality dfClutterQuc:
dfClutterQ uc＝3-1.5*ucClutterF lag
if dfClutterQ uc < -3: dfcluttterquc-3;
and step 9: context aware quality computation
Setting an environment perception quality range, and taking an environment perception value of a temporary track related point to calculate the environment perception quality, wherein the method comprises the following steps:
step 9.1: setting an environment perception quality range of [ -3,3 ];
step 9.2: traversing related points used by the temporary track, and taking an environment perception maximum value wEnvirPlotMax in the related points;
step 9.3: computing environment perceived quality dfEnviQuc:
dfEnviQuc＝3-0.75*wEnvirPlot Max
if dfEnviQuc is < -3, updating dfEnviQuc to-3;
step 10: correlation probability mass calculation
Setting a related probability quality range, and calculating related probability quality by taking a related probability value of a temporary track related point, wherein the method comprises the following steps:
step 10.1: setting a related probability quality range [0,2 ];
step 10.2: taking the correlation probability of the correlation points of the last two periods used by the temporary track, and summing the values dfProbSum;
step 10.3: calculating the related probability mass dfProbQuc:
dfProbQuc＝dfProbSum
step 11: distance residual quality calculation
Setting a distance residual quality range, and calculating the distance residual quality by taking a temporary track distance residual value, wherein the method comprises the following steps of:
step 11.1: setting a distance residual error quality range [0,2 ];
step 11.2: taking a temporary track distance direction residual error fErrR (unit: meter), and a system distance precision fSErrR (unit: meter);
step 11.3: calculating distance residual quality dfDistErrQuc:
if dfDistErrQ uc <0, updating dfDistErrQuc to 0;
step 12: range, azimuth, velocity, mass calculation
Setting a range of distance, azimuth and speed quality, taking the distance and azimuth values of the relevant points of the temporary track to calculate the distance, azimuth and speed quality, and the steps are as follows:
step 12.1: setting a range azimuth speed quality range [0,2 ];
step 12.2: traversing relevant points used by the temporary track, taking a system distance error value dfDistErr, a system azimuth error value dfAErr, a temporary track distance direction speed fVr and an azimuth direction speed fVa, and calculating a distance difference dfDelt _ D and an azimuth difference dfDelt _ A of two adjacent periodic points;
step 12.3: calculating the distance azimuth velocity mass dfDistAzVQuc:
setting the initial value of dfDistAzVQuc to be 1.5;
② if fabs (fvr) > dfDistErr, and dfDelt _ D × fVr >0, then dfDistAzVQuc is 0;
if fabs (fVa) > dfAErr and dfDelt _ a × fVa >0, then dfDistAzVQuc ═ 0;
step 13: adjacent velocity mass calculation
Setting the range of the adjacent speed quality, and calculating the adjacent speed quality by taking the horizontal direction speed of the temporary track related point, wherein the method comprises the following steps:
step 13.1: setting adjacent speed mass ranges [0,2 ];
step 13.2: traversing relevant points used by the temporary track, calculating the speeds dfV of two adjacent points, and then taking the speed fV of the temporary track;
step 13.3: calculating the adjacent speed mass dfNeibVQuc:
setting an initial value of dfNeibVQuc to be 1.5;
② if dfV < fV 0.3, or dfV >3 > fV, update dfNeibVQuc to 0;
step 14: physical property quality calculation
Setting a physical characteristic quality range, and calculating the physical characteristic quantity by taking the height, the speed and the distance of the relevant points of the temporary track, wherein the steps are as follows:
step 14.1: setting a physical characteristic quality range [0,2 ];
step 14.2: traversing the related points used by the temporary track, calculating the maximum value dfD of the related points in the distance and the mean value dfH of the related points in the Z direction, and then taking the speed fV of the temporary track, the distance filter value fFiltR, the Z-direction filter value fFiltZ and the off-axis angle fLZAngle;
step 14.3: calculating the physical property mass dfPhisQuc:
setting an initial value of dfPhisQuc to be 1.5;
② if dfD <20000, and fV >500, and fFiltZ > 2000:
dfPhisQuc1＝1.715-0.00143*fV
if dfphisqc 1< dfPhisQucs, dfpisqc ═ dfpisqc 1;
③ if dfD >16000, and fV >200, and dfH < 300:
dfPhisQuc2＝1.2-0.001*fV
if dfphisqc 2< dfPhisQucs, dfpisqc ═ dfpisqc 2;
(iv) if fLZAngle >60, and fV >500, and dfH < 300:
dfPhisQuc3＝1.5-0.0084*fLZAngle
if dfphisqc 3< dfPhisQucs, dfpisqc ═ dfpisqc 3;
fifiltr <25000 and fV >500, and dfH < 500:
dfPhisQuc4＝1.715-0.00143*fV
if dfphisqc 4< dfPhisQucs, dfpisqc ═ dfpisqc 4;
step 15: calculating and evaluating the comprehensive quality of the flight path
Firstly, comprehensively processing the quality calculated in the steps 1-14, and then evaluating whether the track is the track starting according to the comprehensive quality, wherein the method comprises the following steps:
step 15.1: setting the total mass dffullQuc of the temporary track to be 33;
step 15.2: calculating the comprehensive quality of the flight path dfComPfQuc:
dfCompQuc＝dfEleQuc1+dfEleQuc2+dfLZJQuc+dfSameDisQuc+dfDoppQuc1+ dfDoppQuc2+dfAmpQuc+dfAsoNumQuc+dfClutterQuc+dfEnviQuc+dfProbQuc+ dfDistErrQuc+dfDistAzVQuc+dfNeibVQuc+dfPhisQuc
step 15.3: and (3) comprehensive quality evaluation:
step 15.4: and (3) track initial decision:
if the dfCompRob is greater than 0.7, the temporary track is changed into a confirmed track, and the track is started;
if 0.6< dfComProb <0.7, the temporary track speed fV (unit: meter per second), 150< fV <500, the temporary track is delayed for 3 scanning periods at maximum, each delay period carries out the comprehensive quality evaluation of the track, and the comprehensive quality reaches the starting condition of the track, the track is started; if the delay period exceeds 3, the temporary track is terminated;
and thirdly, other temporary flight paths are directly terminated except for the first step and the second step.
Claims (10)
1. A method for evaluating initial comprehensive quality of a search radar track is characterized by comprising the following steps:
respectively calculating elevation fluctuation condition quality, elevation quality, off-axis angle quality, distance same quality, Doppler channel number quality and Doppler goodness of fit quality, amplitude quality, related point quantity quality, clutter map quality, environment perception quality, related probability quality, distance residual quality, distance azimuth speed quality, adjacent speed quality and physical characteristic quality;
calculating the comprehensive quality of the flight path, evaluating according to the comprehensive quality of the flight path, and determining a flight path starting decision, wherein the comprehensive quality of the flight path dfComPfQuc:
dfCompQuc＝dfEleQuc1+dfEleQuc2+dfLZJQuc+dfSameDisQuc+dfDoppQuc1+dfDoppQuc2+dfAmpQuc+dfAsoNumQuc+dfClutterQuc+dfEnviQuc+dfProbQuc+
dfDistErrQuc+dfDistAzVQuc+dfNeibVQuc+dfPhisQuc
wherein dfEleQuc1, dfEleQuc2, dfLZJQuc, dfsamediquc, dfdopquc 1, dfdopquc 2, dfAmpQuc, dfAsoNumQuc, dfcluttequc, dfEnviQuc, dfProbQuc, dfdisterquc, dfDistAzVQuc, dfNeibVQuc, dfPhisQuc are elevation fluctuation condition quality, elevation angle quality, off-axis angle quality, distance identity quality, doppler channel number quality and doppler goodness quality, amplitude quality, correlation point number quality, clutter map quality, environment perception quality, correlation probability quality, distance residual azimuth quality, distance velocity quality, adjacent velocity quality and physical characteristic quality, respectively;
the comprehensive quality evaluation formula is as follows:
dfFullQuc is the total mass of the temporary track;
if the dfCompRob is greater than 0.7, the temporary track is changed into a confirmed track, and the track is started;
if 0.6< dfComProb <0.7, the temporary track speed fV, 150< fV <500, the temporary track is delayed by 3 scanning periods at maximum, the comprehensive quality of the track is evaluated in each delay period, and the comprehensive quality reaches the track starting condition, the track is started; if the delay period exceeds 3, the temporary track is terminated;
and thirdly, other temporary flight paths are directly terminated except for the first step and the second step.
2. The method for evaluating the initial comprehensive quality of the search radar track according to claim 1, wherein the method for calculating the quality of the elevation fluctuation condition comprises the following steps:
step 1.1: setting a quality range [0,2] of the elevation fluctuation condition;
step 1.2: traversing related points used by the temporary track, and taking a maximum pitch angle value dfMaxEle and a minimum pitch angle value dfMinEle in the related points, wherein the unit degree of the elevation angle value is;
step 1.3: calculating the quality of elevation fluctuation situation dfeleqc 1:
if the temporary track is a low elevation target: dfEleQuc1 ═ 1, the low elevation target being a target with an elevation below a set threshold;
if the temporary track is not a low elevation target:
dfEleQuc1＝2-(dfMaxEle-dfMinEle)*1.667
if dfEleQuc 1< 0, updating dfEleQuc1 to 0;
the method for calculating the elevation quality comprises the following steps:
step 2.1: setting an elevation angle quality range [0,2 ];
step 2.2: taking a temporary track pitch angle filtered value fFiltE and a temporary track Z-direction filtered value fFiltZ;
step 2.3: calculating the elevation quality dfEleQuc 2:
if the temporary track is a low elevation target: dfEleQuc2 ═ 0;
if the temporary track is not a low elevation target:
dfTemp1＝fFiltE*0.339+0.983
dfTemp2＝fFiltZ*0.00204+0.97959
dfEleQuc2＝max{dfTemp 1，dfTemp 2}
if dfEleQuc 2< 0, updating dfEleQuc2 to 0; if dfEleQuc2 >2, then dfEleQuc2 is updated to 2.
3. The method for evaluating initial comprehensive quality of search radar track according to claim 1, wherein the step of calculating the off-axis angle quality is as follows:
step 3.1: setting an off-axis angle mass range [0,2 ];
step 3.2: taking a temporary track off-axis angle fLZAngle and a temporary track speed value fV;
step 3.3: calculating off-axis angle mass dfLZJQuc:
if fV > 500:
dfLZJQuc＝2-fLZAngle*0.0167
② if fV >500 and fLZANGle > 90:
(iii) if fV >500 and fLZAngle < (90):
if the dfLZJQuc is less than 0, updating the dfLZJQuc to be 0; if dfllzjquc >2, then dfLZJQuc is updated to 2.
4. The method for evaluating initial comprehensive quality of search radar track according to claim 1, wherein the step of calculating the same quality of distance is as follows:
step 4.1: setting the distance equal mass range of (-2, 2);
step 4.2: taking relevant points of the temporary flight path, comparing distance differences pairwise, and counting the point path pair nCunt value with the distance difference smaller than 10 m;
step 4.3: calculating distance-equal mass dfSameDisQuc:
if ncount is 0: dfsamediquc ═ 1.5;
if nCunt is more than or equal to 1: dfsamediquc ═ nCunt;
③ if dfsamedicquc < -1, update dfSameDisQuc-2.
5. The method for evaluating the initial comprehensive quality of the search radar track according to claim 1, wherein the step of calculating the quality of the Doppler channel number and the quality of the Doppler goodness of fit is as follows:
step 5.1: setting a Doppler channel number mass range [0,3 ];
step 5.2: traversing relevant points used by the temporary flight path, and taking the probability value of the Doppler channel number of each flight path: dfFFTNumPr obi；
Step 5.3: calculating the Doppler channel number quality dfDoppQuc 1:
dfDoppQuc1＝(1-max{dfFFTNumPr ob1...dfFFTNumPr obi})*3
step 5.4: setting a Doppler goodness-of-fit quality range of [ -1.5,0 ];
step 5.5: taking the Doppler channel number of each trace and the theoretical Doppler channel difference value dfVftDelt;
step 5.6: calculating Doppler goodness of fit quality dfDoppQuc 2:
dfDoppQuc2＝1-dfVfftDelt*0.2
if dfDoppQuc2 >0, then dfDoppQuc2 is updated to 0; if dfDoppQuc 2< -1.5, then dfDoppQuc2 is updated to 1.5.
6. The method for evaluating initial comprehensive quality of search radar track according to claim 1, wherein the step of calculating the amplitude quality is as follows:
step 6.1: setting an amplitude quality range [0,2 ];
step 6.2: traversing relevant points used by the temporary flight path, and taking a maximum amplitude value wAmpMax and a minimum amplitude value wAmpMin from the relevant points;
step 6.3: calculating the distance-same mass dfAmpQuc:
dfAmpQuc＝2.8-0.0028*(wAmpMax-wAmpMin)
if dfAmpQuc is less than 0, updating dfAmpQuc to be 0; if dfampQuc >2, updating dfampQuc to 2;
the steps of calculating the quantity and quality of the related points are as follows:
step 7.1: setting a related point quantity quality range of [ -3,3 ];
step 7.2: taking the number wTestEnviraPlotNum of the related points of the temporary track;
step 7.3: calculating the distance-equal mass dfAsoNumQuc:
dfAsoNumQu c＝3-0.5*wTestEnvir AsoPlotNum
if dfAsoNumQuc is < -3, then dfAsoNumQuc is updated to-3.
7. The method for evaluating initial synthetic quality of search radar track according to claim 1, wherein the step of calculating the clutter map quality is as follows:
step 8.1: setting a related point quantity quality range of [ -3,3 ];
step 8.2: taking a temporary track clutter area type ucClutterFlag, wherein a clean area ucClutterFlag is 0, a non-clutter area ucClutterFlag is 1, a common clutter area ucClutterFlag is 2, a strong clutter area ucClutterFlag is 3, and a super-strong clutter area ucClutterFlag is 4;
step 8.3: calculating clutter map quality dfClutterQuc:
dfClutterQ uc＝3-1.5*ucClutterF lag
if dfClutterQ uc < -3: dfcluttterquc-3;
the steps of computing the perceived quality of the environment are as follows:
step 9.1: setting an environment perception quality range of [ -3,3 ];
step 9.2: traversing related points used by the temporary track, and taking an environment perception maximum value wEnvirPlotMax in the related points;
step 9.3: computing environment perceived quality dfEnviQuc:
dfEnviQuc＝3-0.75*wEnvirPlot Max
if dfEnviQuc is < -3, then dfEnviQuc is updated to-3.
8. The method for evaluating initial comprehensive quality of search radar track according to claim 1, wherein the step of calculating the relevant probability quality is as follows:
step 10.1: setting a related probability quality range [0,2 ];
step 10.2: taking the correlation probability of the correlation points of the last two periods used by the temporary track, and summing the values dfProbSum;
step 10.3: calculating the related probability mass dfProbQuc:
dfProbQuc＝dfProbSum
the steps of calculating the distance residual quality are as follows:
step 11.1: setting a distance residual error quality range [0,2 ];
step 11.2: taking a temporary track distance direction residual error fErrR and a system distance precision fSErrR;
step 11.3: calculating distance residual quality dfDistErrQuc:
if dfDistErrQ uc <0, then the dfDistErrQuc is updated to 0.
9. The method for evaluating initial comprehensive quality of search radar track according to claim 1, wherein the step of calculating the range, azimuth and velocity quality is as follows:
step 12.1: setting a range azimuth speed quality range [0,2 ];
step 12.2: traversing relevant points used by the temporary track, taking a system distance error value dfDistErr, a system orientation error value dfAErr, a temporary track distance direction speed fVr and an orientation direction speed fVa, and calculating a distance difference dfDelt _ D and an orientation difference dfDelt _ A of two adjacent periods;
step 12.3: calculating the distance azimuth velocity mass dfDistAzVQuc:
setting the initial value of dfDistAzVQuc to 1.5;
② if fabs (fvr) > dfDistErr, and dfDelt _ D × fVr >0, then dfDistAzVQuc is 0;
if fabs (fVa) > dfAErr, and dfDelt _ a × fVa >0, then dfDistAzVQuc ═ 0;
the steps of calculating the adjacent velocity mass are as follows:
step 13.1: setting adjacent speed mass ranges [0,2 ];
step 13.2: traversing relevant points used by the temporary track, calculating the speeds dfV of two adjacent points, and then taking the speed fV of the temporary track;
step 13.3: calculating the adjacent speed mass dfNeibVQuc:
secondly, setting an initial value of dfNeibVQuc to be 1.5;
② if dfV < fV 0.3, or dfV >3 > fV, update dfNeibVQuc to 0.
10. The method for evaluating initial comprehensive quality of search radar track according to claim 1, wherein the step of calculating the quality of the physical property comprises:
step 14.1: setting a physical characteristic quality range [0,2 ];
step 14.2: traversing the related points used by the temporary track, calculating the maximum value dfD of the related points in the distance and the mean value dfH of the related points in the Z direction, and then taking the speed fV of the temporary track, the distance filter value fFiltR, the Z-direction filter value fFiltZ and the off-axis angle fLZAngle;
step 14.3: calculating the physical property mass dfPhisQuc:
setting an initial value of dfPhisQuc to be 1.5;
② if dfD <20000, and fV >500, and fFiltZ > 2000:
dfPhisQuc1＝1.715-0.00143*fV
if dfphisqc 1< dfPhisQucs, dfpisqc ═ dfpisqc 1;
③ if dfD >16000, and fV >200, and dfH < 300:
dfPhisQuc2＝1.2-0.001*fV
if dfphisqc 2< dfPhisQucs, dfpisqc ═ dfpisqc 2;
(iv) if fLZAngle >60, and fV >500, and dfH < 300:
dfPhisQuc3＝1.5-0.0084*fLZAngle
if dfphisqc 3< dfPhisQucs, dfpisqc ═ dfpisqc 3;
fifiltr <25000 and fV >500, and dfH < 500:
dfPhisQuc4＝1.715-0.00143*fV
if dfphisqc 4< dfPhisQucs, dfpisqc ═ dfpisqc 4.
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