CN113406587B - Multi-radar track fusion method - Google Patents
Multi-radar track fusion method Download PDFInfo
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- CN113406587B CN113406587B CN202110475655.4A CN202110475655A CN113406587B CN 113406587 B CN113406587 B CN 113406587B CN 202110475655 A CN202110475655 A CN 202110475655A CN 113406587 B CN113406587 B CN 113406587B
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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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- 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
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- 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
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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 invention has the following advantages: the data calculation amount is reduced, the reliability of the result data is improved, errors are further suppressed, and the requirements of instantaneity and accuracy are met through track fusion. The fused track can better represent the real track.
Description
Technical Field
The invention belongs to the field of air traffic control radar signal processing, in particular to a multi-radar track fusion method, a 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 the target using information provided by radar, and its application is wide, and civil air traffic control is one of the important applications. The new generation of air traffic control system adopts a multi-radar data processing system, and by implementing multi-radar networking and realizing data fusion, the radar monitoring range can be directly expanded to all airspaces covered by each radar, and the radar target monitoring quality and the reliability of the system can be improved.
At present, a great deal of research is carried out on the problem of multi-radar data processing, a great deal of theory is presented, 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 systematic deviation, etc., and these assumptions cannot be satisfied under some engineering contexts, so in engineering application, in the selection of radar data processing algorithm, we should comprehensively consider, fully consider the technical characteristics of the air traffic control field, and reasonably select an algorithm with moderate calculation amount, simplicity and high efficiency on the premise of satisfying accuracy or effect.
Disclosure of Invention
The invention aims to reduce the calculated amount and complexity in multi-radar track fusion processing, improve the efficiency and real-time performance of air traffic control radar data processing, solve the problems in the background technology and meet the requirements of engineering application.
To achieve the above objective, the present invention provides a multi-radar track fusion method, which aims at a system track SysTra being scanned m In the process of judging the system track SysTra m With K single radar tracks RadarTra j After correlation, j is not less than 1 and not more than K, K is the number of correlated single radar tracks, K is not less than 2, and a dynamic weighting fusion algorithm is adopted to calculate the system track SysTra m The parameter P of (2) includes:
determining and recording system track SysTra m Related single radar track RadarTra j Quality index Q of (2) j In which step the j-th associated single radar track RadarTra j If the characteristic state of (1) is a confirmation track, the quality index Q j 1, the quality index Q is the same as when trying the track, extrapolating the track, or ending the track j Equal to 0;
repeating the above steps for N times to obtain single radar track RadarTra j Quality index at last N scans
2≤N；
Determination of the most recent N scans of the Single Radar track Radar Tra j In order to confirm the track number step, in this step, the relevant single radar track RadarTra is used for N times j Quality index of (2)
Determination of single radar track RadarTra for the last N scans j To confirm the number M of tracks j The method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>
Calculating track RadarTra of single radar related to current scanning j Quality factor C of (2) j In the step (a) of the step (c),
in this step, the system track SysTra m There are K single radar tracks RadarTra j Correlation, jth single radar track quality factor C j The method comprises the steps of carrying out a first treatment on the surface of the Then
/>
System track SysTra after fusion is determined m In which the parameter P is obtained by means of a system track SysTra m Related single radar track RadarTra j Parameter P of (2) j Calculating corresponding system track SysTra m Is set to be equal to the parameter P of (1),
system track determination SysTra m After parameter P of (c), updating the track.
Further, the parameters P include position, velocity and altitude.
Further, system track SysTra m With K single radar tracks RadarTra j The step of correlating includes:
for a new single radar track report, searching a system track to be correlated and judged in the field according to the position window number of the new single radar track report;
if the system track is not searched, a new system track is established and marked as an attempted track; if so, performing correlation factor values with the system tracks;
and judging and updating the association relation of the system tracks according to the calculated correlation factor values, or creating a system track with a characteristic state as an attempted track.
Further, the correlation factors include position, velocity, 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 text classification method of any of claims 1 to 4.
The invention also provides a computer readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements 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 suppresses errors, and enables the track fusion to simultaneously meet the requirements of instantaneity 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 the multi-radar track fusion method of the present invention.
Detailed Description
The following describes specific embodiments of the present invention in detail with reference to the drawings.
In the multi-radar data processing system, after the system track is associated with a plurality of single radar tracks, parameters (position, speed, altitude 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 weighting the motion parameters such as position and speed obtained by jointly observing the same target by a plurality of radars, the reliability of the result data can be improved, and errors can be further suppressed. The value of the single radar data is taken during fusion at the refreshing time set by the system, so that the obtained system track cannot be refreshed uniformly due to different selected radar scanning periods, namely, during fusion, the associated single radar track data are interpolated and extrapolated to be unified to the same time, and then fusion calculation is carried out.
Common algorithms for track fusion in multi-radar data processing include the maacket method and the weighted average method, etc. The mosaic algorithm is relatively simple and divides the entire airspace into mosaic blocks of appropriate size, designates radars covering the mosaic blocks within each mosaic block, and determines their order of preference for the detection of objects within the mosaic block. When a target enters the mosaic block area, the system track is updated with the radar track with the highest mosaic block priority. When the radar track with the highest priority is lost or the quality is reduced, the next-priority radar track is used for updating the system track. The advantage of this algorithm is that it is simple, but it does not make full use of the full information provided by the radar.
The invention adopts the idea of a 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 tracks include try tracks, confirm tracks, extrapolate tracks, terminate tracks, and several feature states. The quality index of the single radar track is determined according to the characteristic state of the single radar track when N scanning is performed recently, and if the single radar track belongs to an attempted track or a terminated track in the current scanning, the quality factor of the single radar track is zero, namely the single radar track does not participate in fusion calculation. And if the attribute of the single radar track is an extrapolated track, the quality index of the single radar track is 0. When calculating the system track fusion weighting factor, the number of times of single radar track confirmation tracks and extrapolation tracks in the last N times of scanning can be known according to the quality index 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 the system tracks, and a good effect is obtained in actual use. And (3) 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 calculated amount and complexity in multi-radar track fusion processing, improves the efficiency and instantaneity of air traffic control radar data processing, and meets the requirements of engineering application.
As shown in fig. 1, in a first embodiment of the present invention, a multi-radar track fusion method is provided, which is specific to a system track SysTra being scanned m Judging the system track SysTra m With a plurality of single radar tracks RadarTra j After correlation, j is not less than 1 and not more than K, K is the number of correlated single radar tracks, K is not less than 2, and a dynamic weighting fusion algorithm is adopted to calculate the system track SysTra m The parameters P of (1) include position, velocity and altitude, then the system track SysTra m The calculating step of the parameter P comprises the following steps:
determining and recording system track SysTra m Related single radar track RadarTra j Quality index Q of (2) j In which step the j-th associated single radar track RadarTra j If the characteristic state of (1) is a confirmation track, the quality index Q j 1, the quality index Q is the same as when trying the track, extrapolating the track, or ending the track j Equal to 0;
repeating the above steps for N times to obtain single radar track RadarTra j Quality index at last N scans
2≤N；
Determination of the most recent N scans of the Single Radar track Radar Tra j In order to confirm the number of track steps,
in this step, the radar track is determined from the last N correlated single radar tracks j Quality index of (2)
Determination of single radar track RadarTra for the last N scans j To confirm the number M of tracks j The method comprises the steps of carrying out a first treatment on the surface of the Wherein, the liquid crystal display device comprises a liquid crystal display device,
calculating track RadarTra of single radar related to current scanning j Quality factor C of (2) j In the step (a) of the step (c),
in this step, the system track SysTra m There are K single radar tracks RadarTra j Correlation, jth single radar track quality factor C j The method comprises the steps of carrying out a first treatment on the surface of the Then
System track SysTra after fusion is determined m In which the parameter P is obtained by means of a system track SysTra m Related single radar track RadarTra j Parameter P of (2) j Calculating corresponding system track SysTra m Is set to be equal to the parameter P of (1),
system track determination SysTra m After parameter P of (c), updating the track.
In addition, the system track SysTra in the specific embodiment of the invention m The association and establishment method of the method is similar to a single radar track, and also uses the field searching and the related factor comprehensive judgment, and the specific steps are as follows:
and for the new single radar track report, searching the system track to be judged in a correlated way according to the position window number of the new single radar track report.
If the system track is not searched, a new system track is established and marked as an attempted track; if so, performing correlation factor values with the system tracks; the correlation factors include position, velocity, track number, secondary code (SSR), and altitude.
And judging and updating the association relation of the system tracks according to the calculated correlation factor values, or creating a system track with a characteristic state as an attempted track.
In the association of system tracks, to avoid the situation that a single radar track and corresponding ambiguity of the system tracks may occur, one single radar track is associated with only one system track, and in one scanning period of the system tracks, one system track is associated with only one single radar track of a certain radar, but may be associated with tracks of other radars. In association, the system track should also save and maintain some attributes:
(1) An associated single radar track channel number (radar source number);
(2) Associated single radar track lot number, secondary code, track number;
(3) A number of consecutive associations with the batch of radar tracks;
(4) Whether the current scanning period is already associated with the lot of radar tracks.
The above attributes will be used in the fusion scheme of the track. Some basic attributes of the track, such as coordinate position, speed, altitude, etc., are obtained by fusion when the system track is refreshed. There are also some attributes of track maintenance, track current state: i.e. try the track, confirm the track, extrapolate the track, end the track; number of attempts, number of extrapolation, etc.
A second embodiment of the present invention is directed to a multi-radar track fusion platform comprising:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein, the liquid crystal display device comprises a liquid crystal display device,
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 the processor are connected by a bus, the bus may comprise any number of interconnected buses and bridges, the buses connecting the various circuits of the one or more processors and the memory together. The bus may also connect various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or may be 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 the wireless medium via the 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 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 implements the above-described method embodiments when executed by a processor.
That is, it will be understood by those skilled in the art that all or part of the steps in implementing the methods of the embodiments described above may be implemented by a program stored in a storage medium, where the program includes several instructions for causing a device (which may be a single-chip microcomputer, a chip or the like) or a processor (processor) to perform all or part of the steps in the methods of the embodiments described herein. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above embodiments are only preferred embodiments of the present invention, and are not intended to limit the present invention, but any modifications, equivalents, improvements, etc. within the principle of the idea of the present invention should be included in the scope of protection of the present invention.
Claims (4)
1. A multi-radar track fusion method aims at a scanning system track SysTra m In the process of judging the system track SysTra m With K single radar tracks RadarTra j After correlation, j is not less than 1 and not more than K, K is the number of correlated single radar tracks, K is not less than 2, and a dynamic weighting fusion algorithm is adopted to calculate the system track SysTra m The parameter P of (2) includes:
determining and recording system track SysTra m Related single radar track RadarTra j Quality index Q of (2) j In which step the j-th associated single radar track RadarTra j If the characteristic state of (1) is a confirmation track, the quality index Q j 1, the quality index Q is the same as when trying the track, extrapolating the track, or ending the track j Equal to 0;
repeating the above steps for N times to obtain single radar track RadarTra j Quality index at last N scans
Determination of single radar track RadarTra for the last N scans j In order to confirm the track number step, in this step, the relevant single radar track RadarTra is used for N times j Quality index of (2)
Determination of single radar track RadarTra for the last N scans j To confirm the number M of tracks j The method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>
Calculating track RadarTra of single radar related to current scanning j Quality factor C of (2) j In the step (a) of the step (c),
in this step, the system track SysTra m There are K single radar tracks RadarTra j Correlation, jth single radar track quality factor C j The method comprises the steps of carrying out a first treatment on the surface of the Then
System track SysTra after fusion is determined m In which the parameter P is obtained by means of a system track SysTra m Related single radar track RadarTra j Parameter P of (2) j Calculating corresponding system track SysTra m Is set to be equal to the parameter P of (1),
system track determination SysTra m After parameter P of (c), updating the track.
2. The multi-radar track fusion method of claim 1, wherein the parameters P include position, velocity, and altitude.
3. A multiple radar track fusion platform, comprising:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein, the liquid crystal display device comprises a liquid crystal display device,
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 of any one of claims 1 to 2.
4. 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 2.
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| JP2000131427A (en) * | 1998-10-28 | 2000-05-12 | Nec Corp | Radar apparatus and method of tracking and processing track |
| CN104749576B (en) * | 2015-04-08 | 2017-08-25 | 四川九洲空管科技有限责任公司 | A kind of many radar track association fusion methods |
| CN104730510B (en) * | 2015-04-08 | 2017-06-06 | 四川九洲空管科技有限责任公司 | A kind of many radar track fusion methods |
| CN104808197B (en) * | 2015-05-06 | 2017-04-05 | 四川九洲空管科技有限责任公司 | A kind of many monitoring source airbound target Parallel Tracking processing methods |
| CN107024692B (en) * | 2017-04-10 | 2020-06-02 | 北京海兰信数据科技股份有限公司 | Multi-tracking target tracking method and system for marine navigation radar track management |
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