CN113406587A - Multi-radar track fusion method - Google Patents

Multi-radar track fusion method Download PDF

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CN113406587A
CN113406587A CN202110475655.4A CN202110475655A CN113406587A CN 113406587 A CN113406587 A CN 113406587A CN 202110475655 A CN202110475655 A CN 202110475655A CN 113406587 A CN113406587 A CN 113406587A
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track
radar
single radar
systra
radartra
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CN113406587B (en
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杨雄军
宁希
白皓
刘建伟
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Sichuan Jiuzhou Electric Group Co Ltd
Institute of Network Engineering Institute of Systems Engineering Academy of Military Sciences
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Sichuan Jiuzhou Electric Group Co Ltd
Institute of Network Engineering Institute of Systems Engineering Academy of Military Sciences
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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
    • 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
    • G01S7/418—Theoretical aspects
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

A multi-radar track fusion method. The invention belongs to the technical field of information, and is used for multi-radar signal fusion processing in a civil aviation air traffic control system. The advantages of the invention are as follows: the data calculation amount is reduced, the reliability of result data is improved, errors are further inhibited, and the requirements of real-time performance and precision are met by track fusion. The fused track can better represent the real track.

Description

Multi-radar track fusion method
Technical Field
The invention belongs to the field of air traffic control radar signal processing, and particularly relates to a multi-radar track fusion method, a multi-radar track fusion platform and a computer readable storage medium, which can be used for multi-radar signal fusion processing in a civil aviation air traffic control system.
Background
Radar data processing is a process of estimating a target track and predicting a future position of a target by using information provided by radar, and the application of the radar data processing is wide, and civil air traffic control is one important application. The new generation of air traffic control system mostly adopts a multi-radar data processing system, and by implementing multi-radar networking and realizing data fusion, the monitoring range of the radar can be directly expanded to all airspaces covered by each radar, and the monitoring quality of the radar target and the reliability of the system can be improved.
At present, a great deal of research is carried out on people aiming at the problem of multi-radar data processing, a great deal of theories appear, but the practical application effect of some theories is not ideal. This is because many theories are given under ideal conditions, such as gaussian distribution, measurement synchronization, no system deviation, and the like, and these assumptions cannot be satisfied under some engineering backgrounds, so in engineering applications, in the selection of a radar data processing algorithm, we should comprehensively consider, fully consider the technical characteristics in the field of air traffic control, and reasonably select an algorithm with moderate computation amount, simplicity, and high efficiency on the premise of satisfying precision or effect.
Disclosure of Invention
The invention aims to reduce the calculation amount and complexity in the multi-radar track fusion processing, improve the efficiency and the real-time performance of the air traffic control radar data processing, solve the problems in the background technology and meet the requirements of engineering application.
In order to achieve the above object, the present invention provides a multi-radar track fusion method, which is directed to a system track SysTra being scannedmWhen the system track SysTra is determinedmAnd K single radar tracks RadarTrajAfter correlation, j is more than or equal to 1 and less than or equal to K, K is the number of the correlated single radar tracks, K is more than or equal to 2, and a dynamic weighting fusion algorithm is adopted to calculate the system track SysTramThe parameter P of (1), comprising:
SysTra determination and recording and system trackmCorrelated single radar track RadarTrajQuality index Q ofjIn which the jth associated single radar track radartarjIf the characteristic state of (2) is a confirmed track, the quality index Qj1, said quality index Q being the trial track, the extrapolated track, or the end trackjEqual to 0;
repeating the determining and recording steps N times to obtain the single radar track RadarTrajQuality index at last N scans
Figure BDA0003047308750000024
2≤N；
Determining a single radar track RadarTra for the last N scansjFor the step of determining the number of tracks, in which the radartar tra is determined from the most recent N relevant single radar tracksjQuality index of
Figure BDA0003047308750000025
Determining a single radar track RadarTra at the time of the last N scansjNumber of times M for track confirmationj(ii) a Wherein the content of the first and second substances,
Figure BDA0003047308750000021
calculating the related track RadarTra of the single radar during the scanningjQuality factor C ofjIn the step (2) of (a),
in this step, the system track SysTramHaving K single radar tracks RadarTrajCorrelation, jth single radar track quality factor Cj(ii) a Then
Figure BDA0003047308750000022
Determining a fused System track SysTramIn which the SysTra passes through the system trackmCorrelated single radar track RadarTrajParameter P ofjCalculating the corresponding system track SysTramThe parameter P of (a) is,
Figure BDA0003047308750000023
determining a System track SysTramAfter the parameter P, updating the flight path.
Further, the parameters P include position, velocity and altitude.
Further, the system track SysTramAnd K single radar tracks RadarTrajThe step of performing the correlation comprises:
for a new single radar track report, searching a system track to be subjected to relevant judgment in the field according to the position window number of the new single radar track report;
if the system track is not searched, a system track is newly established and marked as an attempt track; if yes, carrying out correlation factor values with the system tracks;
and judging and updating the incidence relation of the system track according to the calculated correlation factor value, or establishing a system track with a new characteristic state as an attempted track.
Further, the correlation factors include position, speed, track number, secondary code, and altitude.
The invention also provides a multi-radar track fusion platform, which is characterized by comprising the following components: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of text classification of any of claims 1 to 4.
The invention also provides a computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, carries out the multi-radar track fusion method of any one of claims 1 to 4.
Advantageous effects
The multi-radar track fusion method reduces the data calculation amount, improves the reliability of the result data, further inhibits errors, and enables the track fusion to meet the requirements of real-time performance and precision. The flight path fused by the multi-radar flight path fusion method can better represent the real flight path.
Drawings
FIG. 1 is a flow chart of a multi-radar track fusion method of the present invention.
Detailed Description
The following describes in detail embodiments of the present invention with reference to the drawings.
In a multi-radar data processing system, after a system track is associated with a plurality of single radar tracks, parameters (position, speed, height and the like) of the system track are fused by the parameters of the plurality of single radar tracks associated with the system track according to a certain algorithm. By performing weighted calculation on the motion parameters such as the position and the speed obtained by observing the same target by a plurality of radars, not only the reliability of the result data can be improved, but also the error can be further suppressed. And (3) the value of the single radar data is taken at the refreshing time set by the system during fusion, so that the obtained system track cannot be uniformly refreshed due to different scanning periods of the selected radar, namely, during fusion, the associated single radar track data are unified to the same time through interpolation and extrapolation, and then fusion calculation is carried out.
Common algorithms for track fusion in multi-radar data processing include the mosaic method and the weighted average method. The mosaic algorithm is simple, the whole airspace is divided into mosaic blocks with proper sizes, radars covering the mosaic blocks are appointed in each mosaic block, and the priority of the mosaic blocks on the target detection effect is determined. When a target enters the mosaic block area, the radar track with the highest priority of the mosaic block is used for updating the system track. When the radar track with the highest priority is lost or the quality is reduced, the radar track with the second priority is used for updating the system track. The advantage of this algorithm is simplicity, but it does not take full advantage of all the information provided by the radar.
The invention adopts the idea of weighted average method to carry out track fusion in a multi-radar system, the weighted coefficient is determined by the quality factor of the track, and the track quality factor determines the track quality according to the characteristic state of the track.
The flight path comprises the characteristic states of trial flight path, confirmed flight path, extrapolated flight path and terminated flight path. The quality index of the single radar track during the last N times of scanning is stored, the quality index of the single radar track is determined according to the characteristic state of the single radar track, and if the single radar track scanned at this time belongs to the trial track or the termination track, the quality factor is zero, namely the single radar track does not participate in fusion calculation. And if the single radar track scanned at this time belongs to the confirmed track, the quality index of the single radar track is 1, and if the attribute of the single radar track is the extrapolated track, the quality index of the single radar track is 0. When the system track fusion weighting factor is calculated, the times of confirming the track and extrapolating the track of a single radar track during the last N times of scanning can be known according to the quality indexes of the last N times. And then calculating the track quality factor of the single radar according to the times. The track quality factor calculated by the method is applied to the fusion of system tracks, and a better effect is achieved in the actual use. And carrying out weighted average on the position, the height and the speed of the associated single radar track through the weighting coefficient, and then updating the corresponding system track.
The multi-radar track fusion method reduces the calculation amount and complexity in the multi-radar track fusion processing, improves the efficiency and the real-time performance of the air traffic control radar data processing, and meets the requirements of engineering application.
As shown in FIG. 1, a first embodiment of the present invention provides a multi-radar track fusion method for a system track SysTra being scannedmDetermining the system track SysTramWith multiple single radar tracks RadarTrajAfter correlation, j is more than or equal to 1 and less than or equal to K, K is the number of the correlated single radar tracks, K is more than or equal to 2, and a dynamic weighting fusion algorithm is adopted to calculate the system track SysTramIncluding position, velocity and altitude, then the system track SysTramThe calculating step of the parameter P comprises the following steps:
SysTra determination and recording and system trackmCorrelated single radar track RadarTrajQuality index Q ofjIn which the jth associated single radar track radartarjIf the characteristic state of (2) is a confirmed track, the quality index Qj1, said quality index Q being the trial track, the extrapolated track, or the end trackjEqual to 0;
repeating the determining and recording steps N times to obtain the single radar track RadarTrajQuality index at last N scans
Figure BDA0003047308750000041
2≤N；
Determining a single radar track Rad for the most recent N scansarTrajIn order to confirm the number of times of flight path,
in this step, RadarTra is determined from the most recent N correlated single radar tracksjQuality index of
Figure BDA0003047308750000051
Determining a single radar track RadarTra at the time of the last N scansjNumber of times M for track confirmationj(ii) a Wherein the content of the first and second substances,
Figure BDA0003047308750000052
calculating the related track RadarTra of the single radar during the scanningjQuality factor C ofjIn the step (2) of (a),
in this step, the system track SysTramHaving K single radar tracks RadarTrajCorrelation, jth single radar track quality factor Cj(ii) a Then
Figure BDA0003047308750000053
Determining a fused System track SysTramIn which the SysTra passes through the system trackmCorrelated single radar track RadarTrajParameter P ofjCalculating the corresponding system track SysTramThe parameter P of (a) is,
Figure BDA0003047308750000054
determining a System track SysTramAfter the parameter P, updating the flight path.
In addition, the system track SysTra in the present inventionmThe association and establishment method is similar to a single radar track, and also uses the field search and the comprehensive judgment of the related factors, and the specific steps are as follows:
and for a new single radar track report, searching the system track to be subjected to relevant judgment in the field according to the position window number of the new single radar track report.
If the system track is not searched, a system track is newly established and marked as an attempt track; if yes, carrying out correlation factor values with the system tracks; correlation factors include position, velocity, track number, secondary code (SSR), and altitude.
And judging and updating the incidence relation of the system track according to the calculated correlation factor value, or establishing a system track with a new characteristic state as an attempted track.
In the association of the system tracks, in order to avoid the possible occurrence of ambiguity of single radar tracks and the corresponding system tracks, one single radar track is only associated with one system track, and in one scanning period of the system tracks, one system track can only be associated with one single radar track of a certain radar but can be associated with tracks of other radars. When associated, the system track should also save and maintain some attributes:
(1) an associated single radar track channel number (radar source number);
(2) the correlated single radar track batch number, the secondary code and the track number;
(3) a number of consecutive associations with the batch radar track;
(4) whether the current scan cycle is already associated with the batch radar track.
The above attributes will be used in the fusion scheme of the flight path. Some basic attributes of the flight path, such as coordinate position, speed, height, etc., are obtained by fusion when the system flight path is refreshed. There are also some attributes of track maintenance, track current state: trying a flight path, confirming the flight path, extrapolating the flight path and ending the flight path; number of attempts, number of extrapolations, etc.
A second embodiment of the present invention relates to a multi-radar track fusion platform, including:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the multi-radar track fusion method described above.
Where the memory and processor are connected by a bus, the bus may comprise any number of interconnected buses and bridges, the buses connecting together one or more of the various circuits of the processor and the memory. The bus may also connect various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. The data processed by the processor is transmitted over a wireless medium via an antenna, which further receives the data and transmits the data to the processor.
The processor is responsible for managing the bus and general processing and may also provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. And the memory may be used to store data used by the processor in performing operations.
A third embodiment of the present invention relates to a computer-readable storage medium storing a computer program. The computer program realizes the above-described method embodiments when executed by a processor.
That is, as can be understood by those skilled in the art, all or part of the steps in the method for implementing the embodiments described above may be implemented by a program instructing related hardware, where the program is stored in a storage medium and includes several instructions to enable a device (which may be a single chip, a chip, or the like) or a processor (processor) to execute all or part of the steps of the method described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalents, improvements, etc. made within the principle of the present invention are included in the scope of the present invention.

Claims (6)

1. A multi-radar track fusion method aims at a system track SysTra which is being scannedmWhen the system track SysTra is determinedmAnd K single radar tracks RadarTrajAfter correlation, j is more than or equal to 1 and less than or equal to K, K is the number of the correlated single radar tracks, K is more than or equal to 2, and a dynamic weighting fusion algorithm is adopted to calculate the system track SysTramThe parameter P of (1), comprising:
SysTra determination and recording and system trackmCorrelated single radar track RadarTrajQuality index Q ofjIn which the jth associated single radar track radartarjIf the characteristic state of (2) is a confirmed track, the quality index Qj1, said quality index Q being the trial track, the extrapolated track, or the end trackjEqual to 0;
repeating the determining and recording steps N times to obtain the single radar track RadarTrajQuality index at last N scans
Figure FDA0003047308740000011
Determining a single radar track RadarTra for the last N scansjFor the step of determining the number of tracks, in which the radartar tra is determined from the most recent N relevant single radar tracksjQuality index of
Figure FDA0003047308740000012
Determining a single radar track RadarTra at the time of the last N scansjNumber of times M for track confirmationj(ii) a Wherein the content of the first and second substances,
Figure FDA0003047308740000013
calculating the related track RadarTra of the single radar during the scanningjQuality factor C ofjIn the step (2) of (a),
in this step, the system track SysTramHaving K single radar tracks RadarTrajCorrelation, jth single radar track quality factor Cj(ii) a Then
Figure FDA0003047308740000014
Determining a fused System track SysTramIn which the SysTra passes through the system trackmCorrelated single radar track RadarTrajParameter P ofjCalculating the corresponding system track SysTramThe parameter P of (a) is,
Figure FDA0003047308740000021
determining a System track SysTramAfter the parameter P, updating the flight path.
2. The multi-radar track fusion method of claim 1 wherein the parameters P include position, velocity and altitude.
3. The multi-radar track fusion method of claim 1 or 2 wherein the system track SysTramAnd K single radar tracks RadarTrajThe step of performing the correlation comprises:
for a new single radar track report, searching a system track to be subjected to relevant judgment in the field according to the position window number of the new single radar track report;
if the system track is not searched, a system track is newly established and marked as an attempt track; if yes, carrying out correlation factor values with the system tracks;
and judging and updating the incidence relation of the system track according to the calculated correlation factor value, or establishing a system track with a new characteristic state as an attempted track.
4. The multi-radar track fusion method of claim 3 wherein correlation factors include position, velocity, track number, quadratic code, and altitude.
5. A multi-radar track fusion platform, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of text classification of any of claims 1 to 4.
6. A computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the multi-radar track fusion method of any one of claims 1 to 4.
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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000131427A (en) * 1998-10-28 2000-05-12 Nec Corp Radar apparatus and method of tracking and processing track
CN104730510A (en) * 2015-04-08 2015-06-24 四川九洲空管科技有限责任公司 Multi-radar track fusion method
CN104749576A (en) * 2015-04-08 2015-07-01 四川九洲空管科技有限责任公司 Multi-radar track association and fusion method
CN104808197A (en) * 2015-05-06 2015-07-29 四川九洲空管科技有限责任公司 Multi-surveillance-source flying target parallel track processing method
CN107024692A (en) * 2017-04-10 2017-08-08 北京海兰信数据科技股份有限公司 The multi-track method for tracking target and system of a kind of marine navigation radar flight path management

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000131427A (en) * 1998-10-28 2000-05-12 Nec Corp Radar apparatus and method of tracking and processing track
CN104730510A (en) * 2015-04-08 2015-06-24 四川九洲空管科技有限责任公司 Multi-radar track fusion method
CN104749576A (en) * 2015-04-08 2015-07-01 四川九洲空管科技有限责任公司 Multi-radar track association and fusion method
CN104808197A (en) * 2015-05-06 2015-07-29 四川九洲空管科技有限责任公司 Multi-surveillance-source flying target parallel track processing method
CN107024692A (en) * 2017-04-10 2017-08-08 北京海兰信数据科技股份有限公司 The multi-track method for tracking target and system of a kind of marine navigation radar flight path management

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