CN113625236A - Multi-radar data fusion method and device, storage medium and equipment - Google Patents
Multi-radar data fusion method and device, storage medium and equipment Download PDFInfo
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- G—PHYSICS
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- 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
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- 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
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Abstract
The embodiment of the invention provides a clustering method, a storage medium and an electronic device for vehicle-mounted radar measurement data, wherein the method comprises the steps of acquiring position data of each target object measured by a plurality of radars with overlapped coverage areas; mapping the position data of each target object into position data under a target coordinate system to obtain target position data of each target object; and fusing the target position data of each target object to establish the track of each target object. The method can solve the problem that a reference point needs to be established and an error exists when a fixed microwave radar is used as a standard for conversion in the multi-microwave radar data fusion, so that the subsequent microwave radar data fusion is more accurate, the accuracy of the multi-microwave radar data fusion can be improved, and the method is higher in efficiency, lower in cost and high in reliability.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a multi-radar data fusion method, a multi-radar data fusion device, a storage medium and equipment.
Background
With the continuous development of the technological level, the sensor has larger and larger functions, is closely inseparable with the life of human beings, and is widely applied to the fields of industrial control and aerospace as well as living electric appliances.
The microwave radar device is a sensor utilizing microwave radar technology, the microwave radar utilizes transmitted radio waves to measure, the transmission direction performance of the radio waves is high, the speed of the radio waves is approximate to the light speed, the space range can be detected, the speed of a moving object can be judged, and the shape of the object can be identified according to the reflected radio waves.
For multi-microwave radar data fusion, in the prior art, a coordinate system of one microwave radar is often used as a standard coordinate system, and coordinates of position data acquired by other microwave radars are converted into a target coordinate system by virtue of a conversion relation between coordinates of a reference point in other microwave radar coordinate systems and coordinates of the reference point in the target coordinate system. Because the multi-microwave radar data fusion method in the prior art is based on a fixed microwave radar as a standard for conversion, the conversion result has no uniformity, and therefore errors exist when the multi-microwave radar is used for data fusion.
Disclosure of Invention
The invention provides a multi-radar data fusion method, a multi-radar data fusion device, a multi-radar data fusion storage medium and multi-radar data fusion equipment, which can guarantee the accuracy of detected data under the condition of not establishing a reference point, can uniformly map the position data of a target object into the target position data under a target coordinate system, and improve the accuracy of radar data fusion.
In a first aspect, an embodiment of the present invention provides a radar data fusion method, where the method includes:
acquiring position data of a plurality of radar-measured target objects with overlapped coverage areas;
mapping the position data of the target object to position data in a target coordinate system to obtain target position data of the target object;
and fusing the target position data of the target object to establish the track of the target object.
Further, mapping the position data of the target object to position data in a target coordinate system, and obtaining the target position data of the target object includes:
acquiring position data (sX, sY) of a sampling point in a radar coordinate system, calibrating the sampling point in a target coordinate system, and acquiring longitude and latitude data (sLAT, sLON) of the sampling point;
calculating longitude and latitude data (sLAT, sLON) of the sampling point to obtain an angle value alpha and a distance value d of the sampling point relative to the origin in a radar coordinate system and an included angle value beta between the sampling point and the true north direction of a target coordinate system;
calculating a variation value theta between the sampling point at the fixed time of the radar relative to the radar direction and relative to the true north direction and a correction value ec according to the following formula:
β＝α+θ；
dx＝d*1000*Sin(β*π/180)；
dy＝d*1000*Cos(β*π/180)；
ec＝Eb+(Ea-Eb)*(90.0-gLAT)/90；
ed＝ec*Cos(gLAT*π/180)；
sLON＝dx/ed*180.0/π+gLON；
sLAT＝dy/ec*180.0/π+gLAT；
wherein α ═ arctan (sX/sY) × 180/pi, d ═ sqart (sX ^2+ sY ^2), β ═ α + θ, dx represents the length of the sampling point in the longitudinal direction, dy represents the length of the sampling point in the latitudinal direction, Ea represents the equatorial radius, Eb represents the polar radius, (gLON, golt) represent the longitude and latitude coordinates of the radar origin, respectively, ec is used to correct the polar radius length that varies because of the latitude, and ed represents the latitude circle radius of the latitude where the sampling point is located;
and inputting the position data of the target object measured by the radar into the position data mapped to the target coordinate system by the formula to obtain the target position data of the target object.
Further, the target coordinate system is a WGS-84 coordinate system.
Further, fusing the target position data of the target object, and establishing the track of the target object includes:
when the moving directions of two adjacent groups of target objects are the same, and the longitude difference and the latitude difference between the next target object and the previous target object are both smaller than a preset threshold value, judging that the two adjacent groups of target objects are the same target object;
and establishing the track of the target object according to the target position data of the same target object.
Further, the two adjacent groups of targets have the same moving direction, including:
sequentially connecting two adjacent groups of targets to form two straight lines;
and when the included angle between the two straight lines is in a preset range, judging that the motion directions of the two adjacent groups of target objects are the same.
Further, the method further comprises updating the trajectory of the object.
Further, the updating the trajectory of the target object includes:
taking one target position data of the target object as the vertex of a cone, taking the motion direction of the target object as the axis of the cone, and obtaining the cone according to the preset radius and angle of the cone;
when the target position data of the new target object is not in the range of the cone, judging that the new target object and the target object are not the same target object;
and when the target position data of the new target is in the conical range, forming two adjacent groups of targets by the two previous targets adjacent to the new target, and when the moving directions of the two adjacent groups of targets are the same and the longitude difference and the latitude difference between the new target and the adjacent target are smaller than the preset threshold, judging that the new target and the adjacent target are the same target.
In a second aspect, an embodiment of the present invention provides a radar data fusion apparatus, where the apparatus includes:
the acquisition module is used for acquiring position data of a plurality of radar-measured target objects with overlapped coverage areas;
the mapping module is used for mapping the position data of the target object into position data under a target coordinate system to obtain target position data of the target object;
and the fusion module is used for fusing the target position data of the target object to establish the track of the target object.
In a third aspect, an embodiment of the present invention provides a storage medium, where a computer program is stored in the storage medium, where the computer program is configured to execute the radar data fusion method according to the first aspect when the computer program runs.
In a fourth aspect, an embodiment of the present invention provides an apparatus, including a memory and a processor, where the memory stores a computer program, and the processor is configured to execute the computer program to perform the radar data fusion method according to the first aspect.
The technical scheme provided by the invention can solve the problems that a reference point needs to be established and an error exists when a fixed microwave radar is used as a standard for conversion in the multi-microwave radar data fusion, so that the subsequent microwave radar data fusion is more accurate, the accuracy of the multi-microwave radar data fusion can be improved, and the method has the advantages of higher efficiency, lower cost and high reliability.
Drawings
Fig. 1 is a flowchart of a multi-radar data fusion method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a multi-radar arrangement according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the WGS-84 coordinate system and the radar coordinate system;
FIG. 4 is a schematic view of the WGS-84 coordinate system;
fig. 5 is a schematic structural diagram of a multi-radar data fusion apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to meet the requirement of multi-microwave radar data fusion accuracy, the embodiment of the invention can map the collected position data under the radar coordinate system into the target position data under the target coordinate system, and then fuse the target position data, so that the method is stable and reliable.
Referring to fig. 1, an embodiment of the present invention provides a radar data fusion method, which includes the following steps.
Step 101, acquiring position data of each target object measured by a plurality of radars with overlapped coverage areas.
In this step, the plurality of radars may be vehicle-mounted microwave radars, and each measured data obtained by measurement of the plurality of radars may be a two-dimensional vector, where each vector element represents one physical parameter of the target object measured by the microwave radar during movement of the target object (e.g., a vehicle), for example, 1 position datum is (sX, sY), where sX represents an abscissa of the target object in a radar coordinate system, and sY represents an ordinate of the target object in the radar coordinate system. The acquired position data of the target object may be position data of a plurality of target objects obtained by the plurality of microwave radars at the same time or at different times.
In this step, the radar coverage area refers to an actual action area that can be reached by the microwave radar during scanning, and specifically is a semicircular coverage area that takes the position of the microwave radar as the center of a circle. In this embodiment, storage overlap between coverage areas of multiple microwave radars is required. For example, as shown in fig. 2, fig. 2 is a schematic diagram illustrating an installation of microwave radars in the radar data fusion method provided in the embodiment of the present application, and one microwave radar, that is, microwave radars a, b, c, and d, may be installed in each of four directions of south, east, west, and north of an intersection of an urban road, where coverage areas of the four microwave radars overlap.
And 102, mapping the position data of each target object to position data in a target coordinate system to obtain target position data of each target object.
In step 101, the position data of the target object measured by each microwave radar is position data in a radar coordinate system, and in order to improve the accuracy of data fusion of the multiple microwave radars, the position data of each target object measured by each microwave radar in the radar coordinate system needs to be converted into target position data in a target coordinate system, so that the position data of the target object measured by each microwave radar are unified in the same coordinate system, and the target position data of each target object is obtained.
In a preferred embodiment, the position data of the object is mapped to position data in the WGS-84 coordinate system, which is an internationally adopted geocentric coordinate system. The origin of coordinates is the earth centroid, the Z axis of the rectangular coordinate system of the earth centroid space points to the protocol earth polar (CTP) direction defined by BIH (international time service organization) 1984.0, the X axis points to the intersection point of the meridian plane of BIH 1984.0 and the equator of CTP, and the Y axis, the Z axis and the X axis are perpendicular to form a right-hand coordinate system, which is called the world geodetic coordinate system in 1984.
In the present application, the position data of the target object is mapped to the position data in the WGS-84 coordinate system to obtain the target position data of the target object, and a preferred embodiment may be implemented by the following steps:
s1021, acquiring position data (sX, sY) of the sampling point in a radar coordinate system, calibrating the sampling point in a target coordinate system, and acquiring longitude and latitude data (sLAT, sLON) of the sampling point.
In this step, several high-precision GPS instruments may be arranged around a certain microwave radar (for example, within a range of 50 meters to 100 meters from the microwave radar), and the GPS instruments are used to collect a radar origin and a sampling point, and longitude and latitude coordinates of the radar origin in the WGS-84 coordinate system are set as (gLAT, gLON), and coordinates in the radar coordinate system are set as: (0,0). Setting longitude and latitude coordinates of the sampling point in a WGS-84 coordinate system as (sLAT, sLON), and setting coordinates in a radar coordinate system as: (sX, SY).
The angle of the sampling point relative to the radar origin under the radar coordinate system is as follows: α ═ arctan (sX/sY) × 180/pi;
the distance of the sampling point relative to the origin of the radar is as follows: d ═ sqart (sX ^2+ sY ^ 2);
the angle between the sample points relative to the true north in the WGS-84 coordinate system is: β ═ α + θ;
as shown in fig. 3, fig. 3 is a schematic diagram of a relationship between a radar coordinate system and a WGS-84 coordinate system, in fig. 3, X and Y respectively represent an X axis and a Y axis in the radar coordinate system, an angle a is an included angle between a sampling point and the Y axis of the radar coordinate system, an angle b is an included angle between the Y axis of the radar coordinate system and a north direction in the WGS-84 coordinate system, and an angle c is an included angle between the sampling point and a north direction in the WGS-84 coordinate system, from which angle c + a + b can be found, and when the microwave radar is fixed, angle b is fixed, that is, in the above formula, when the microwave radar is fixed, a variation value θ of the sampling point relative to the radar direction and to the north direction is fixed.
S1022, calculating a variation value theta between the radar direction and the due north direction of the sampling point when the radar is fixed and a correction value ec according to the following formula:
β＝α+θ；
dx＝d*1000*Sin(β*π/180)；
dy＝d*1000*Cos(β*π/180)；
ec＝Eb+(Ea-Eb)*(90.0-gLAT)/90；
ed＝ec*Cos(gLAT*π/180)；
sLON＝dx/ed*180.0/π+gLON；
sLAT＝dy/ec*180.0/π+gLAT；
in the above formula, dx represents the length of the sampling point in the longitude direction, dy represents the length of the sampling point in the latitude direction, in the formula of dx, β × pi/180 is used for converting the angle into radian, the longitude and latitude coordinates are angle values, and the radian is required to be converted during calculation, wherein all the calculations are performed by using the radian. When the true north direction, that is, the direction of the compass is 0 degrees, d represents the distance between the sampling point and the radar origin, dx represents the length in the X-axis direction, that is, the length in the longitude direction, and dy represents the length in the y-axis direction, that is, the length in the latitude direction.
Ea denotes the equatorial radius, Eb denotes the polar radius, the earth is an approximate sphere, and Ea is slightly different from Eb. ec is used to correct the length of the spherical radius that changes with latitude. If at GLAT 0, i.e. on the equator, ec ═ Eb + (Ea-Eb) × (90-0)/90 ═ Ea, then ec is exactly the equator radius Ea; if at the pole GLAT 90, ec ═ Eb + (Ea-Eb) × (90-90)/90 ═ Eb, then ec is exactly the polar radius Eb.
In the formula sLON ═ dx/ed ×. 180.0/pi + golon and the formula sLAT ═ dy/ec ×. 180.0/pi + gLAT, as shown in fig. 4, the length of the longitudinal line segment is constant between every divided latitude. The lengths of the A section and the B section are the same. Between each halve of longitude, the length of the latitude line segment decreases from the equator to the 2 pole. The lengths of the sections C and D are different. That dx/ed is the ratio of the length of the dx to the total length at the latitude of the GLAT, and it is calculated that the length should be a longitude span. The final longitude is given if this longitude span plus the start longitude. Similarly, dy/R is the ratio of dy length at longitude of GLON to the average radius of the earth R, and should be calculated as a latitude span. The final latitude is the latitude if this latitude span plus the initial given latitude.
Therefore, after knowing the radar origin and the coordinates of the sampling point in the radar coordinate system and the WGS-84 coordinate system, iug4 data can be substituted into the mapping formula to obtain position data in the target coordinate system.
And S1023, inputting the position data of each target object measured by the radar into the position data mapped by the formula into a target coordinate system, and obtaining the target position data of each target object.
In this step, for the position data of the target object to be converted in the radar coordinate system, the longitude and latitude coordinates of each position data in the WGS-84 coordinate system can be obtained by using the above formula.
S103, fusing the target position data of the target object to establish the track of the target object.
In this step, each position data of each target object measured by each microwave radar is mapped to target position data in the WGS-84 coordinate system in the above manner, and when coverage areas of a plurality of microwave radars overlap, the measurement data of the microwave radars are fused to establish a track of each target object.
Fusing target position data of the target object to establish a track of the target object, one possible implementation may be achieved by:
and S1031, when the moving directions of the two adjacent groups of target objects are the same, and the longitude difference and the latitude difference between the next target object and the previous target object are both smaller than a preset threshold value, judging that the two adjacent groups of target objects are the same target object.
In this step, assuming that there are 3 targets a, B and C, the targets a and B are adjacent to each other to form a first group of targets, the targets B and C are adjacent to each other to form a second group of targets, the moving directions of the first group of targets and the second group of targets are the same, and the longitude difference and the latitude difference between the targets B and a are smaller than the preset threshold, it is determined that the targets a, B and C are the same target, and a trajectory is established for the target.
Wherein the preset threshold values of the longitude difference and the latitude difference can be set according to the experience value of the person skilled in the art.
S1032, establishing the track of the object according to the target position data of the same object.
In this step, when it is determined that the target object a, the target object B, and the target object C are the same target object, trajectories are established for the 3 target objects.
Specifically, in some embodiments, in step S1031, determining whether the moving directions of two adjacent groups of objects are the same may be implemented by:
and S10311, sequentially connecting the two adjacent groups of target objects to form two straight lines.
In this step, a first set of objects a and B are connected to form a straight line AB, and a second set of objects B and C are connected to form a second straight line BC.
And S10312, when the included angle between the two straight lines is in a preset range, judging that the motion directions of the two adjacent groups of target objects are the same.
In the step, an included angle between two straight lines AB and BC is calculated, and when the included angle between the two straight lines AB and BC is within a preset angle range, it is determined that the motion directions of two adjacent groups of target objects are the same. Wherein the preset angle range may be determined according to an empirical value of a person skilled in the art. Therefore, when the included angle between the straight lines formed by connecting the two adjacent groups of target objects is within the preset angle range, the moving directions of the target object A, the target object B and the target object C are judged to be the same.
In other embodiments, the radar data fusion method may further include step S104. And step S104, updating the track of the target object.
In the present application, taking an object as a traveling vehicle as an example, after the trajectory of the object is established, the trajectory of the object needs to be updated.
Specifically, the track of the target object is updated, and one possible implementation mode is realized by the following steps:
s1041, taking one target position data of the target object as a vertex of the cone, taking the motion direction of the target object as an axis of the cone, and obtaining the cone according to the preset radius and angle of the cone.
In this step, the latest target position data of the target object may be taken as the vertex of the cone, and since the moving direction of the target object has been determined in the foregoing step, the moving direction of the target object may be taken as the axis of the cone, and the cone may be obtained according to the preset cone radius and angle.
And S1042, when the target position data of the new target object is not in the range of the cone, judging that the new target object and the target object are not the same target object.
In this step, it is determined whether the target position data of the target object to be measured is within the range of the cone, and if not, it is determined that the target object to be measured and the target object are not the same target object.
And S1043, when the target position data of the new target is in the conical range, forming two adjacent groups of targets by the two previous targets adjacent to the new target, and when the moving directions of the two adjacent groups of targets are the same and the longitude difference and the latitude difference between the new target and the adjacent targets are smaller than a preset threshold, judging that the new target and the adjacent target are the same target.
In this step, when the target position data of the target object to be detected is within the conical range, it is necessary to further determine whether the target objects are the same target objects, that is, the target object to be detected and the target object nearest to the target object are taken as one group of target objects, the target object nearest to the target object and the previous target object are taken as another group of target objects, and when the moving directions of the two adjacent groups of target objects are the same and the longitude difference and the latitude difference between the new target object and the adjacent target object are both smaller than the preset threshold, it is determined that the new target object and the target object are the same target object. The method for determining whether two adjacent groups of objects are the same object has been described in detail above, and can be understood by referring to the above description, which is not repeated herein.
Therefore, according to the technical scheme provided by the invention, the position data of the target object measured by the radar is converted into the target position data in the target coordinate system, and after the coordinate system is unified, data fusion is carried out. The method can solve the problem that a reference point needs to be established and an error exists when a fixed microwave radar is used as a standard for conversion in the multi-microwave radar data fusion, so that the subsequent microwave radar data fusion is more accurate, the accuracy of the multi-microwave radar data fusion can be improved, and the method is higher in efficiency, lower in cost and high in reliability.
Correspondingly, an embodiment of the present invention further provides a radar data fusion apparatus, referring to fig. 4, the apparatus includes:
an obtaining module 201, configured to obtain position data of a target object measured by multiple radars with overlapping coverage areas;
a mapping module 202, configured to map the position data of the target object to position data in a target coordinate system, so as to obtain target position data of the target object;
and the fusion module 203 is configured to fuse the target position data of the target object to establish a track of the target object.
Further, the mapping module 202 is configured to map the position data of the target object to position data in a target coordinate system, and obtaining the target position data of the target object specifically includes:
the acquiring unit 2021 is configured to acquire position data (sX, sY) of the sampling point in the radar coordinate system, calibrate the sampling point in the target coordinate system, and acquire longitude and latitude data (sLAT, sLON) of the sampling point;
the first calculating unit 2022 is configured to calculate longitude and latitude data (sLAT, sLON) of the sampling point to obtain an angle value α, a distance value d, and an included angle value β between the sampling point and a north direction of the target coordinate system in the radar coordinate system relative to the origin;
a second calculation unit 2023, configured to calculate a variation value θ between the sampling point at the time of radar fixing with respect to the radar direction and with respect to the due north direction, and a correction value ec according to the following formula:
β＝α+θ；
dx＝d*1000*Sin(β*π/180)；
dy＝d*1000*Cos(β*π/180)；
ec＝Eb+(Ea-Eb)*(90.0-gLAT)/90；
ed＝ec*Cos(gLAT*π/180)；
sLON＝dx/ed*180.0/π+gLON；
sLAT＝dy/ec*180.0/π+gLAT；
wherein α ═ arctan (sX/sY) × 180/pi, d ═ sqart (sX ^2+ sY ^2), β ═ α + θ, dx represents the length of the sampling point in the longitudinal direction, dy represents the length of the sampling point in the latitudinal direction, Ea represents the equatorial radius, Eb represents the polar radius, (gLON, golt) represent the longitude and latitude coordinates of the radar origin, respectively, ec is used to correct the polar radius length that varies because of the latitude, and ed represents the latitude circle radius of the latitude where the sampling point is located;
a mapping unit 2024, configured to input the position data of the target object measured by the radar into the position data of the target coordinate system mapped by the above formula, and obtain target position data of the target object.
Further, the target coordinate system is a WGS-84 coordinate system.
Further, the fusion module 203 is configured to fuse the target position data of the target object to establish a trajectory of the target object, and specifically may include:
a determining unit 2031, configured to determine that two adjacent target objects are the same target object when the moving directions of the two adjacent target objects are the same and the longitude difference and the latitude difference between the next target object and the previous target object are both smaller than a preset threshold;
a track unit 2032, configured to establish a track of the same object according to the target position data of the object.
Further, the determining unit 2031 is configured to be implemented by the following sub-units when the moving directions of two adjacent groups of objects are the same:
a connecting subunit 20311, configured to sequentially connect two adjacent sets of targets to form two straight lines;
the judging subunit 20312 is configured to judge that the movement directions of two adjacent groups of targets are the same when the included angle between the two straight lines is within the preset range.
Further, the radar data fusion device may further include an updating module 204 for updating the trajectory of the target object.
Further, the updating module 204 is configured to update the trajectory of the target object, and specifically may include:
the establishing unit 2041 is configured to use one of the target position data of the target as a vertex of a cone, use the moving direction of the target as an axis of the cone, and obtain the cone according to a preset radius and an angle of the cone;
first determining unit 2042, configured to determine that a new target object and the target object are not the same target object when target position data of the new target object is not within the range of the cone;
a second determining unit 2043, configured to, when the target position data of the new target is within the conical range, form two adjacent groups of targets from the two previous target objects adjacent to the new target, and when the moving directions of the two adjacent groups of targets are the same and the longitude difference and the latitude difference between the new target and the adjacent target are both smaller than the preset threshold, determine that the new target and the adjacent target are the same target.
Therefore, according to the technical scheme provided by the invention, the position data of the target object measured by the radar is converted into the target position data in the target coordinate system, and after the coordinate system is unified, data fusion is carried out. The method can solve the problem that a reference point needs to be established and an error exists when a fixed microwave radar is used as a standard for conversion in the multi-microwave radar data fusion, so that the subsequent microwave radar data fusion is more accurate, the accuracy of the multi-microwave radar data fusion can be improved, and the method is higher in efficiency, lower in cost and high in reliability.
It should be noted that the radar data fusion apparatus in the embodiment of the present invention belongs to the same inventive concept as the above method, and the technical details that are not described in detail in the apparatus may refer to the related description of the method, and are not described herein again.
Furthermore, an embodiment of the present invention further provides a storage medium, in which a computer program is stored, where the computer program is configured to execute the foregoing method when running.
An embodiment of the present invention further provides an electronic apparatus, which includes a memory and a processor, where the memory stores a computer program, and the processor is configured to execute the computer program to perform the foregoing method.
It will be understood by those skilled in the art that all or part of the steps of the above methods may be implemented by a program instructing associated hardware (e.g., a processor) to perform the steps, and the program may be stored in a computer readable storage medium, such as a read only memory, a magnetic or optical disk, and the like. Alternatively, all or part of the steps of the above embodiments may be implemented using one or more integrated circuits. Accordingly, each module/unit in the above embodiments may be implemented in hardware, for example, by an integrated circuit to implement its corresponding function, or in software, for example, by a processor executing a program/instruction stored in a memory to implement its corresponding function. The present invention is not limited to any specific form of combination of hardware and software.
Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A method of multi-radar data fusion, the method comprising:
acquiring position data of each target object measured by a plurality of radars with overlapped coverage areas;
mapping the position data of each target object to position data under a target coordinate system to obtain target position data of each target object;
and fusing the target position data of each target object to establish the track of each target object.
2. The multi-radar data fusion method of claim 1, wherein mapping the position data of each target object to position data in a target coordinate system, and obtaining the target position data of each target object comprises:
acquiring position data (sX, sY) of a sampling point in a radar coordinate system, calibrating the sampling point in a target coordinate system, and acquiring longitude and latitude data (sLAT, sLON) of the sampling point;
calculating longitude and latitude data (sLAT, sLON) of the sampling point to obtain an angle value alpha and a distance value d of the sampling point relative to the origin in a radar coordinate system and an included angle value beta between the sampling point and the true north direction of a target coordinate system;
calculating a variation value theta between the sampling point at the fixed time of the radar relative to the radar direction and relative to the true north direction and a correction value ec according to the following formula:
β＝α+θ；
dx＝d*1000*Sin(β*π/180)；
dy＝d*1000*Cos(β*π/180)；
ec＝Eb+(Ea-Eb)*(90.0-gLAT)/90；
ed＝ec*Cos(gLAT*π/180)；
sLON＝dx/ed*180.0/π+gLON；
sLAT＝dy/ec*180.0/π+gLAT；
wherein α ═ arctan (sX/sY) × 180/pi, d ═ sqart (sX ^2+ sY ^2), β ═ α + θ, dx represents the length of the sampling point in the longitudinal direction, dy represents the length of the sampling point in the latitudinal direction, Ea represents the equatorial radius, Eb represents the polar radius, (gLON, golt) represent the longitude and latitude coordinates of the radar origin, respectively, ec is used to correct the polar radius length that varies because of the latitude, and ed represents the latitude circle radius of the latitude where the sampling point is located;
and inputting the position data of each target object measured by the radar into the position data mapped into the target coordinate system by the formula to obtain the target position data of each target object.
3. The multi-radar data fusion method of claim 1 wherein the target coordinate system is the WGS-84 coordinate system.
4. The multi-radar data fusion method of claim 2, wherein fusing the target location data of each target object to establish a trajectory of each target object comprises:
when the moving directions of two adjacent groups of target objects are the same, and the longitude difference and the latitude difference between the next target object and the previous target object are both smaller than a preset threshold value, judging that the two adjacent groups of target objects are the same target object;
and establishing the track of the target object according to the target position data of the same target object.
5. The multi-radar data fusion method of claim 4, wherein the two adjacent groups of targets having the same moving direction comprise:
sequentially connecting two adjacent groups of targets to form two straight lines;
and when the included angle between the two straight lines is in a preset range, judging that the motion directions of the two adjacent groups of target objects are the same.
6. The multi-radar data fusion method of claim 4, further comprising updating a trajectory of the target object.
7. The multi-radar data fusion method of claim 6, wherein updating the trajectory of the target object comprises:
taking one target position data of the target object as the vertex of a cone, taking the motion direction of the target object as the axis of the cone, and obtaining the cone according to the preset radius and angle of the cone;
when the target position data of the new target object is not in the range of the cone, judging that the new target object and the target object are not the same target object;
and when the target position data of the new target is in the conical range, forming two adjacent groups of targets by the two previous targets adjacent to the new target, and when the moving directions of the two adjacent groups of targets are the same and the longitude difference and the latitude difference between the new target and the adjacent target are smaller than the preset threshold, judging that the new target and the adjacent target are the same target.
8. A multi-radar data fusion apparatus, the apparatus comprising:
the acquisition module is used for acquiring position data of each target object measured by a plurality of radars with overlapped coverage areas;
the mapping module is used for mapping the position data of each target object into position data under a target coordinate system to obtain target position data of each target object;
and the fusion module is used for fusing the target position data of each target object to establish the track of each target object.
9. A storage medium, in which a computer program is stored, wherein the computer program is arranged to perform the method of any of claims 1 to 7 when executed.
10. An apparatus comprising a memory and a processor, wherein the memory has stored therein a computer program, and wherein the processor is arranged to execute the computer program to perform the method of any of claims 1 to 7.
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