CN113866734A

CN113866734A - Method and device for correcting track error of distributed radar system

Info

Publication number: CN113866734A
Application number: CN202111464678.1A
Authority: CN
Inventors: 宋扬; 葛建军; 吕文超; 刘光宏; 裴晓帅; 王欢; 武艳伟
Original assignee: CETC Information Science Research Institute
Current assignee: CETC Information Science Research Institute
Priority date: 2021-12-03
Filing date: 2021-12-03
Publication date: 2021-12-31
Anticipated expiration: 2041-12-03
Also published as: CN113866734B

Abstract

The disclosure relates to the technical field of radar system error correction, and relates to a method and a device for correcting track errors of a distributed radar system, wherein the method comprises the following steps: acquiring initial track data; screening tracks with the number of track points larger than or equal to a preset threshold value of the number of continuous track points to obtain intermediate track data; preliminarily matching the intermediate flight path data with the reference flight path data, screening out the flight paths of which the flight path distance difference value with the reference flight path data does not exceed a preset distance error interval, the angle difference value does not exceed a preset angle error interval and the time difference value does not exceed a preset time error interval in the intermediate flight path data, and obtaining target flight path data; calculating the distance offset and the angle offset of the target track data relative to the reference track data by using a point cloud registration method; and correcting the target track data according to the distance offset and the angle offset to obtain corrected track data. The method can effectively correct the error of the single radar system and has higher error correction efficiency.

Description

Method and device for correcting track error of distributed radar system

Technical Field

The disclosure relates to the technical field of radar system error correction, and in particular relates to a method and a device for correcting a track error of a distributed radar system.

Background

The data fusion technology is to transmit the detection data of a plurality of single radar systems to a processing center and to comprehensively process the detection data through the processing center. The technology is used as an important application in the field of distributed radars, and the accuracy of the comprehensive processing result of the technology can be influenced by the system error of a single radar.

Each radar system has the capability of processing data and can independently generate track data of a detected target. Because the system errors generated by different radar systems are different, the processing center needs to correct the system errors of the data of each single radar before data fusion.

The existing method for correcting the track error of the distributed radar system uses ADS-B (Automatic Dependent Surveillance-Broadcast) track data as a reference track, and corrects the system error by using a point cloud registration technology. The method uses all the track data generated by a single radar system in a certain space and time range to register with a reference track, calculates the offset of the track data relative to the reference track, and compensates the system error by using the offset.

However, if there are track points in the track data that cannot correspond to the ADS-B track data or have a certain number of systematic errors, the accuracy of the offset result calculated using the error correction method described above may be degraded. In addition, all track data generated in a certain space and time range are used for registration, so that the number of track points is huge, and the error correction efficiency is seriously influenced.

Disclosure of Invention

The present disclosure is directed to at least one of the problems in the prior art, and provides a method and an apparatus for correcting a track error of a distributed radar system.

In one aspect of the present disclosure, a method for correcting a track error of a distributed radar system is provided, the method including:

acquiring initial track data;

respectively comparing the track point number of each track in the initial track data with a preset continuous track point number threshold value P, and screening out tracks of which the track point number is greater than or equal to the continuous track point number threshold value P to obtain intermediate track data;

preliminarily matching the intermediate flight path data with reference flight path data, respectively comparing each flight path in the intermediate flight path data with each flight path in the reference flight path data, screening out flight paths of which the distance difference value with the flight path in the reference flight path data does not exceed a preset distance error interval, the angle difference value does not exceed a preset angle error interval and the time difference value does not exceed a preset time error interval in the intermediate flight path data, and obtaining target flight path data;

calculating the distance offset and the angle offset of the target track data relative to the reference track data by using a point cloud registration method;

and correcting the target track data according to the distance offset and the angle offset to obtain error-corrected track data.

Optionally, the acquiring initial track data includes:

receiving input initial track data;

establishing a track set according to the track number, the spatial position information of the track point and the generation time information of the track point in the initial track dataTRWherein the spatial position information of the course points comprises distance information and angle information of the course points,

，idrepresenting a track number in the initial track data,Tr _idindicating track numberidA set of corresponding track points, wherein the set of corresponding track points,

，tr _iindicating track numberidCorresponding track pointiThe information corresponding to the information is transmitted to the mobile terminal,

，r _irepresenting waypointsiThe distance information of (a) is obtained,θ _irepresenting waypointsiThe angle information of (a) is obtained,t _irepresenting waypointsiM, N are all positive integers.

Optionally, the step of comparing the track point number of each track in the initial track data with a preset threshold P of the number of continuous track points, and screening out the track with the track point number greater than or equal to the threshold P of the number of continuous track points, so as to obtain intermediate track data includes:

traversing tracks in the initial track data one by one according to the track numbers, and comparing the track point number of each track in the initial track data with the continuous track point number threshold value P;

screening tracks with the track point number larger than or equal to the continuous track point number threshold value P, and establishing a setTR ₁Wherein, in the step (A),

，id1 represents the track number of the screened track,Tr _id1indicating track numberid1, a set of waypoints corresponding to,

，tr _i1indicating track numberid1 corresponding track pointi1 of the information corresponding to the one or more information items,

，r _i1representing waypointsi1 of the distance information,θ _i1representing waypointsi1 of the angle of the optical axis of the optical fiber,t _i1representing waypointsi1 generation time information, M₁、N₁Are all positive integers, and

。

optionally, the preliminarily matching the intermediate track data with the reference track data, respectively comparing each track in the intermediate track data with each track in the reference track data, and screening out the tracks of which the distance difference with the track in the reference track data does not exceed a preset distance error interval, the angle difference does not exceed a preset angle error interval, and the generation time difference does not exceed a preset time error interval, so as to obtain the target track data, includes:

establishing a track set according to the reference track number in the reference track data, the spatial position information of the reference track point and the generation time information of the reference track pointRTWherein the reference track data comprises ADS-B track data,

，idarepresenting a reference track number in the reference track data,Rt _idaindicating a reference track numberidaA set of corresponding reference course points,

，rt _iaindicating a reference track numberidaCorresponding reference track pointiaThe information corresponding to the information is transmitted to the mobile terminal,

，r _iarepresenting reference course pointsiaThe distance information of (a) is obtained,θ _iarepresenting reference course pointsiaThe angle information of (a) is obtained,t _iarepresenting reference course pointsiaGenerating time information of, M_a、N_aAre all positive integers;

aggregating the setRTThe reference track of (1) and the setTR ₁The initial matching is performed on the flight path in (1), and the set is traversedTR ₁The track point in (1), assemble theTR ₁Track point in (2) and the setRTComparing the reference track points in the set and screening out the setTR ₁The distance difference value between the intermediate and corresponding reference track points does not exceed the distance error interval, the angle difference value does not exceed the angle error interval, and the track points with the time difference value not exceeding the time error interval are generated, so that a set is establishedTR ₂Wherein, in the step (A),

，id2 represents the screened track number corresponding to the track point,Tr _id2indicating track numberid2 a set of corresponding course points,

，tr _i2indicating track numberid2 corresponding track pointsi2 of the information corresponding to the position of the user,

，r _i2representing waypointsi2 of the distance information,θ _i2representing waypointsi2 of the angle of the optical system, and,t _i2representing waypointsi2 generation time information, M₂、N₂Are all positive integers.

Optionally, the calculating, by using a point cloud registration method, a distance offset and an angle offset of the target track data relative to the reference track data includes:

traverse the setTR ₂From said setRTRespectively screening out the setsTR ₂Each of (1)Establishing a point pair set { (A) by using the reference course point with the minimum course point distancetr _i2,rt _i2) And (c) the step of (c) in which,

，rt _i2representing the collectionRTNeutralization oftr _i2Corresponding track pointi2Reference track point with minimum distancei2The information corresponding to the information is transmitted to the mobile terminal,

，R _i2representing reference course pointsi2The distance information of (a) is obtained,

representing reference course pointsi2The angle information of (a) is obtained,

representing reference course pointsi2The time information of the generation of (a) is,IDrepresenting reference course pointsi2Corresponding reference track number andIDis a positive integer;

from the set of point pairs { (tr _i2,rt _i2) In the method, the distance of the selected point pair is smaller than a preset distance threshold value R₁Establishing a point pair set { (tr _k,rt _k) And (c) the step of (c) in which,

， tr _krepresenting said sets in selected pairsTR ₂Track point inkThe information corresponding to the information is transmitted to the mobile terminal,rt _krepresenting the collectionRTNeutralization oftr _kCorresponding track pointkReference track point with minimum distancekThe information corresponding to the information is transmitted to the mobile terminal,r _krepresenting waypointskThe distance information of (a) is obtained,θ _krepresenting waypointskThe angle information of (a) is obtained,R _krepresenting reference course pointskIs a distance ofThe information is transmitted to the mobile station via the wireless,

representing reference course pointskThe angle information of (a) is obtained,kis a positive integer;

set according to the point pair { (tr _k,rt _k) Establishing a point cloud registration objective function, wherein the objective function is expressed as

， rThe amount of the distance offset is indicated,θindicates the amount of angular deviation, N_KRepresents the set of point pairs { (tr _k,rt _k) The number of pairs of points in the (f),

indicating the current optimal distance offset parameter,

representing the current optimal angular offset parameter;

solving the objective function by adopting an optimization method to obtain the distance offset parameter

And the angular offset parameter

。

Optionally, the correcting the target track data according to the distance offset and the angle offset to obtain error-corrected track data includes:

according to the distance offset parameter

And the angular offset parameter

Updating the setTR ₂The position information of each track point in the navigation system, and a set is established according to the updated information of each track pointTR ₃Wherein, in the step (A),

，id3 represents and said setTR ₂Track number inid2 the number of the corresponding track number of the vehicle,Tr _id3indicating track numberid3 a set of corresponding course points,

，tr _i3indicating track numberid3 corresponding track pointi3 of the information corresponding to the information of the user,

，r _i3representing waypointsi3 distance information and

，θ _i3representing waypointsi3 angle information of

；

Calculating an average change distance parametereWherein, in the step (A),

；

judging the average variation distance parametereWhether or not it is less than a preset position change threshold value R₂；

If the average variation distance parametereNot less than the position variation threshold R₂Then the set is assembledTR ₂Replace with the setTR ₃Repeating the above-mentioned point cloud registration method to calculate the distance offset and angle offset of the target track data relative to the reference track data, and counting the target track number according to the distance offset and the angle offsetAccording to the correction process until the average variation distance parametereLess than the position change threshold R₂；

If the average variation distance parametereLess than the position change threshold R₂Then the set is assembledTR ₃As error corrected track data.

Optionally, the preset distance error interval is [ -r ]_mean, +r_mean]The predetermined angle error interval is [ -𝜃_mean, +𝜃_mean]The preset time error interval is [ -t [)_mean, +t_mean]Wherein r is_meanRepresents the average distance error between the C track point sets acquired by the radar system in advance and the corresponding reference track point sets,𝜃_meanrepresenting the average angle error between the C track point sets and the corresponding reference track point set, t_meanAnd C is a positive integer, and represents the average time error between the C track point sets and the corresponding reference track point sets.

In another aspect of the present disclosure, there is provided a distributed radar system track error correction apparatus, the apparatus including:

the acquisition module is used for acquiring initial track data;

the screening module is used for respectively comparing the track point number of each track in the initial track data with a preset continuous track point number threshold value P, screening out tracks of which the track point number is greater than or equal to the continuous track point number threshold value P, and obtaining intermediate track data;

the matching module is used for preliminarily matching the intermediate track data with the reference track data, comparing each track in the intermediate track data with each track in the reference track data respectively, and screening out the tracks of which the distance difference value with the tracks in the reference track data does not exceed a preset distance error interval, the angle difference value does not exceed a preset angle error interval and the time difference value does not exceed a preset time error interval in the intermediate track data so as to obtain target track data;

the calculation module is used for calculating the distance offset and the angle offset of the target track data relative to the reference track data by using a point cloud registration method;

and the correction module is used for correcting the target track data according to the distance offset and the angle offset so as to obtain error-corrected track data.

Optionally, the obtaining module is configured to receive input initial track data;

Optionally, the screening module is configured to traverse the tracks in the initial track data one by one according to the track number, and compare the number of track points of each track in the initial track data with the threshold P of the number of continuous track points;

。

optionally, the matching module is configured to establish a track set according to a reference track number in the reference track data, spatial position information of a reference track point, and generation time information of the reference track pointRTWherein the reference track data comprises ADS-B track data,

，r _iarepresenting a reference trackDotiaThe distance information of (a) is obtained,θ _iarepresenting reference course pointsiaThe angle information of (a) is obtained,t _iarepresenting reference course pointsiaGenerating time information of, M_a、N_aAre all positive integers;

Optionally, the computing module is configured to traverse the setTR ₂From said setRTRespectively screening out the setsTR ₂Establishing a point pair set { (A) by using the reference course point with the minimum distance of each course pointtr _i2,rt _i2) And (c) the step of (c) in which,

representing reference course pointsi2The angle information of (a) is obtained,

， tr _krepresenting said sets in selected pairsTR ₂Track point inkThe information corresponding to the information is transmitted to the mobile terminal,rt _krepresenting the collectionRTNeutralization oftr _kCorresponding track pointkReference track point with minimum distancekThe information corresponding to the information is transmitted to the mobile terminal,r _krepresenting waypointskThe distance information of (a) is obtained,θ _krepresenting waypointskThe angle information of (a) is obtained,R _krepresenting reference course pointskThe distance information of (a) is obtained,

indicating the current optimal distance offset parameter,

representing the current optimal angular offset parameter;

And the angular offset parameter

。

Optionally, the correction module is configured to correct the distance offset parameter according to the distance offset parameter

And the angular offset parameter

，r _i3representing waypointsi3 distance information and

，θ _i3representing waypointsi3 angle information of

；

Calculating an average change distance parametereWherein, in the step (A),

；

If the average variation distance parametereNot less than the position variation threshold R₂Then the set is assembledTR ₂Replace with the setTR ₃Calculating the distance offset and the angle offset of the target track data relative to the reference track data by the point cloud registration method through the calculation module, and correcting the target track data according to the distance offset and the angle offset until the average variation distance parametereLess than the position change threshold R₂；

If the average variation distance parametereIs less thanPosition change threshold R₂Then the set is assembledTR ₃As error corrected track data.

In another aspect of the present disclosure, there is provided an electronic device 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 cause the at least one processor to perform the method recited above.

In another aspect of the disclosure, a computer-readable storage medium is provided, in which a computer program is stored, which, when being executed by a processor, implements the method as set forth in the foregoing.

Compared with the prior art, after initial track data are obtained, the number of track points of each track in the initial track data is compared with a preset continuous track point number threshold value, tracks with the track point number larger than or equal to the continuous track point number threshold value are screened out, and therefore poor-continuity track data in the initial track data are filtered out, track data with good continuity are obtained and serve as intermediate track data to be used for subsequent registration, and the quality of subsequent track association and fusion is guaranteed; by comparing each track in the intermediate track data with each track in the reference track data, filtering tracks of which the distance difference value with the tracks in the reference track data does not exceed a preset distance error interval, the angle difference value does not exceed a preset angle error interval and the time difference value does not exceed a preset time error interval in the intermediate track data, so as to obtain target track data, reduce the number of track points needing to be registered and effectively improve the subsequent registration efficiency; by utilizing the point cloud registration method, the distance offset and the angle offset of the target track data relative to the reference track data are calculated, and the target track data are corrected according to the distance offset and the angle offset to obtain error-corrected track data, so that the system error of the single radar is effectively corrected, and the error correction efficiency is improved.

Drawings

One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.

FIG. 1 is a flow chart of a prior art track error correction method;

fig. 2 is a flowchart of a method for correcting a track error of a distributed radar system according to an embodiment of the present disclosure;

FIG. 3 is a flowchart of a method for correcting track errors of a distributed radar system according to another embodiment of the present disclosure;

fig. 4 is a flowchart of track point screening by a track error correction method of a distributed radar system according to another embodiment of the present disclosure;

FIG. 5 is a flowchart illustrating a preliminary track data matching method for a distributed radar system according to another embodiment of the present disclosure;

fig. 6 is a schematic structural diagram of a distributed radar system track error correction apparatus according to another embodiment of the present disclosure;

fig. 7 is a schematic structural diagram of an electronic device according to another embodiment of the present disclosure.

Detailed Description

In the prior art, an ordinary track error correction technology takes ADS-B track data as a reference track, and a point cloud registration technology is used for registering the track data to be corrected with the ADS-B track data, so that track error correction is realized.

In the prior art, a flow of a commonly used track error correction method is shown in fig. 1, after error correction starts, track point pair screening, registration objective function solving, track position updating, and iteration stopping condition determining are sequentially performed, if a current track position does not meet an iteration stopping condition, a track point pair screening step is returned, error correction is performed again, if the current track position meets the iteration stopping condition, error correction is ended, and the current track position is used as the track position after error correction. Specifically, the method comprises the following steps:

step S1: establishing a track set according to the track number, the spatial position information (the track data is represented in a polar coordinate system with a radar center as an origin, so the position information of track points is distance and angle) and the time information (namely the track generation time) of the track dataTR ₂Wherein, in the step (A),

，id2a track number representing the track data,Tr _id2indicating track numberid2A set of corresponding track points, which can be represented as

，tr _i2In which track points are storedi2And time information, which can be expressed as

，r _i2In order to be the distance between the two,

in order to be an angle, the angle is,t _i2time is generated for the track point.

Step S2: using ADS-B data as a reference track, and establishing a track set according to the track number, the spatial position information and the time information of the reference track dataRTWherein, in the step (A),

，

，

，idaa track number representing the reference track data,Rt _idaindicating track numberidaA set of corresponding track points, wherein the set of corresponding track points, rt _iain which track points are storediaThe spatial location information and the temporal information of (c),r _iain order to be the distance between the two,θ _iain order to be an angle, the angle is,t _iatime is generated for the track point.

Step S3: traversal setsTR ₂Course point in (1), preset distance threshold value R₁For screening collectionsRTMedium distance currentTR ₂The closest point of the track point and form a point pair { (tr _k,rt _k)}：

(1) Obtaining andtr _i2minimum distance pointrt _iaAnd saved as a point pair set { (tr _i2,rt _i2) And (c) the step of (c) in which,

representing reference course pointsi2The angle information of (a) is obtained,

(2) preset oftr _i2Andrt _i2threshold value R corresponding to linear distance between track points₁Selecting { (tr _i2,rt _i2) The distance between the point pairs is less than R₁The point pair of (2) is stored as a point pair set { (tr _k,rt _k) And (c) the step of (c) in which,

。

step S4: according to the screened point pair sets { (tr _k,rt _k) Establishing a point cloud registration target function, and solving the target function by adopting an optimization method to obtain the current optimal parameters

And

wherein the objective function is represented as

， rThe amount of the distance offset is indicated,θindicates the amount of angular deviation, N_KThe set of representations { (tr _k,rt _k) The number of pairs of midpoints.

Step S5: according to offset parameter

And

update setTR ₂The position of each track point is stored and updated asTR ₃Wherein, in the step (A),

，

，

，

，

。

step S6: calculating an average change distance parameterePresetting a threshold value R of position change before and after course point registration₂According toeJudging whether the registration is finished:

(1) calculating an average distance parametereWherein, in the step (A),

；

(2) if it is note<R₂Outputting a set of final corrected track resultsTR ₃Otherwise, go to step S3 to get the current oneTR ₃、RTInputting, repeating the steps S3 to S6 until the condition is satisfiede<R₂。

However, in the prior art, all track data generated in a certain space and time range are used for registration, and if track points which cannot correspond to the ADS-B track data or have a large system error in a certain number exist in the track data, the accuracy of error correction is seriously affected, and the number of the track points is huge, so that the error correction efficiency is seriously affected.

To make the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that in the various embodiments of the disclosure, numerous technical details are set forth in order to provide a better understanding of the present application. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments. The following embodiments are divided for convenience of description, and no limitation should be made to specific implementations of the present disclosure, and the embodiments may be mutually incorporated and referred to without contradiction.

One embodiment of the present disclosure relates to a method for correcting track error of a distributed radar system, a flow of which is shown in fig. 2, and the method includes:

step 201, obtaining initial track data.

Specifically, the initial track data refers to the track data of the distributed radar system which needs to be subjected to error correction, and may be the track data generated by a plurality of sensors. The initial track data includes, but is not limited to, a track number, spatial location information of a track point, track generation time information, and the like. The initial track data can be expressed in a polar coordinate system with the radar center as an origin, so that the spatial position information of the track point, such as distance, angle and the like, can be expressed by using coordinates.

Step 202, comparing the track point number of each track in the initial track data with a preset continuous track point number threshold value P, and screening tracks of which the track point number is greater than or equal to the continuous track point number threshold value P to obtain intermediate track data.

It should be noted that, in this embodiment, a specific numerical value of the preset threshold P for the number of consecutive track points is not limited, and when the threshold P for the number of consecutive track points is preset, a person skilled in the art may set the specific numerical value of P by using track generation time information and spatial position information of the track points as assistance, in combination with different error correction requirements, such as accuracy requirements, according to the continuity of a typical track line of a detected target, that is, the number of continuous track points of the track line.

And 203, preliminarily matching the intermediate track data with reference track data, respectively comparing each track in the intermediate track data with each track in the reference track data, and screening out tracks of which the distance difference value with the tracks in the reference track data does not exceed a preset distance error interval, the angle difference value does not exceed a preset angle error interval and the time difference value does not exceed a preset time error interval so as to obtain target track data.

Specifically, the preset distance error interval and the preset angle error interval can be set according to typical distance and angle distribution of a detection target, and the preset time error interval can be set according to flight path generation time information so as to use each error interval for preliminary matching of intermediate flight path data and reference flight path data.

And 204, calculating the distance offset and the angle offset of the target track data relative to the reference track data by using a point cloud registration method.

Step 205, correcting the target track data according to the distance offset and the angle offset to obtain error-corrected track data.

Specifically, in this step, the distance offset and the angle offset may be used to compensate for a system error, so as to correct the target track data to obtain the error-corrected track data.

Compared with the prior art, the method and the device have the advantages that after the initial track data are obtained, the number of track points of each track in the initial track data is compared with the preset threshold value of the number of continuous track points, tracks with the number of track points being larger than or equal to the threshold value of the number of continuous track points are screened out, accordingly, poor-continuity track data in the initial track data are filtered, track data with good continuity are obtained and serve as intermediate track data to be used for subsequent registration, and the quality of subsequent track correlation and fusion is guaranteed; by comparing each track in the intermediate track data with each track in the reference track data, filtering tracks of which the distance difference value with the tracks in the reference track data does not exceed a preset distance error interval, the angle difference value does not exceed a preset angle error interval and the time difference value does not exceed a preset time error interval in the intermediate track data, so as to obtain target track data, reduce the number of track points needing to be registered and effectively improve the subsequent registration efficiency; by utilizing the point cloud registration method, the distance offset and the angle offset of the target track data relative to the reference track data are calculated, and the target track data are corrected according to the distance offset and the angle offset to obtain error-corrected track data, so that the system error of the single radar is effectively corrected, and the error correction efficiency is improved.

Illustratively, step 201 may include:

receiving input initial track data;

Specifically, the initial track data may be input by a user through an input device, or may be input by multiple sensors generating the track data through network connection.

Illustratively, step 202 may include:

。

by screening the tracks with the number of the track points being larger than or equal to the preset threshold value of the number of the continuous track points from the initial track data, the track data with poor continuity in the initial track data can be filtered out, the track data with good continuity can be obtained, and the track data can be used for subsequent registration, so that the quality of subsequent track correlation and fusion is guaranteed.

Illustratively, step 203 may comprise:

，id2 denotes a sieveThe selected track number corresponding to the track point,Tr _id2indicating track numberid2 a set of corresponding course points,

The corresponding error interval is set according to the track generation time information and the spatial position information of the track points, tracks which cannot correspond to the reference track data and have errors exceeding a certain range in the track data are filtered, the track data meeting certain conditions are obtained, the number of the track points needing to be registered is reduced, and the subsequent registration efficiency is effectively improved.

Illustratively, step 204 may include:

traverse the setTR ₂From said setRTRespectively screening out the setsTR ₂Establishing a point pair set { (A) by using the reference course point with the minimum distance of each course pointtr _i2,rt _i2) And (c) the step of (c) in which,

representing reference course pointsi2The angle information of (a) is obtained,

indicating the current optimal distance offset parameter,

representing the current optimal angular offset parameter;

And the angular offset parameter

。

Illustratively, step 205 may include:

according to the distance offset parameter

And the angular offset parameter

，r _i3representing waypointsi3 distance information and

，θ _i3representing waypointsi3 angle information of

；

Calculating an average change distance parametereWherein, in the step (A),

；

If the average variation distance parametereNot less than the position variation threshold R₂Then the set is assembledTR ₂Replace with the setTR ₃Calculating the distance offset and the angle offset of the target track data relative to the reference track data by using the point cloud registration method again, and correcting the target track data according to the distance offset and the angle offset until the average change distance parametereLess than the position change threshold R₂；

Illustratively, the preset distance error interval is [ -r [ ]_mean, +r_mean]The predetermined angle error interval is [ -𝜃_mean, +𝜃_mean]The preset time error interval is [ -t [)_mean, +t_mean]Wherein r is_meanRepresents the average distance error between the C track point sets acquired by the radar system in advance and the corresponding reference track point sets,𝜃_meanrepresenting the C sets of track points and correspondingMean angle error between sets of reference track points, t_meanAnd C is a positive integer, and represents the average time error between the C track point sets and the corresponding reference track point sets.

Specifically, the C track point sets and the reference track point sets corresponding thereto may be obtained by the radar system when the detection task is performed in advance. Respectively counting the distance error, the angle error and the time error of each track point set and the corresponding reference track point set, namely calculating the average distance error r of the C track point sets and the corresponding reference track point sets_meanAverage angle error𝜃_meanAnd average time error t_mean。

Distance error intervals, angle error intervals and time error intervals are set according to average distance errors, average angle errors and average time errors between the C track point sets and the corresponding reference track point sets, which are acquired by the radar system in advance, so that the setting of each error interval is more scientific and reasonable, and the subsequent track registration efficiency is further improved.

In order to make the above embodiments better understood by those skilled in the art, a specific example is described below.

As shown in fig. 3, a method for correcting track errors of a distributed radar system mainly includes two parts, a first part primarily matches input track data, screens tracks meeting conditions, and a second part calculates track offsets and corrects errors by using a registration method for the tracks screened by the first part. After track data are input, the first part firstly presets a continuous distance threshold value and a track point quantity threshold value, then filters track points which do not accord with conditions according to the continuous distance threshold value and the track point quantity threshold value, presets error intervals in the aspects of distance, angle and time by taking ADS-B track as a reference track, and preliminarily matches the reference track with the track data after filtering the track points which do not accord with the conditions according to the error intervals in the aspects of distance, angle and time. And the second part adopts a point cloud registration method to calculate the distance offset and the angle offset of the preliminarily matched track data relative to the reference track after the preliminary matching is completed in the first part, corrects the preliminarily matched track data according to the distance offset and the angle offset, obtains error-corrected track data and outputs the error-corrected track data.

The method for correcting the track error of the distributed radar system shown in fig. 3 may include the following specific steps:

step S110: and presetting a track point number threshold value P according to the typical track continuity of the detected target, namely the continuous track point number of the track.

Step S120: inputting track data, and establishing a track set according to the track number, the spatial position information (the distance and the angle of track points) and the time information (namely the track generation time) of the track dataTRWherein, in the step (A),

，ida track number representing the track data,Tr _idindicating track numberidA set of corresponding track points, which can be represented as

，tr _iIn which the track number is storedidCorresponding track pointiAnd time information, which can be expressed as

，r _iRepresenting waypointsiThe distance information of (a) is obtained,

representing waypointsiThe angle information of (a) is obtained,t _irepresenting waypointsiM, N are positive integers. Traversing tracks one by one according to track numbers, filtering tracks with the number of track points smaller than a threshold P of the number of continuous track points, and screening tracks with the number of track points larger than or equal to the threshold P to establish a setTR ₁Set ofTR ₁Can be expressed as

Wherein, in the step (A),

，

，

，M₁、N₁are all positive integers.

The screening process in this step is shown in FIG. 4, where the sets are first inputTRAnd make an orderid=1，id1= 0; statistics of this time setTr _idThe number n of contained track points; judging whether n is more than or equal to P, if n is more than or equal to P, enablingTr _id1=Tr _idInto collectionsTR ₁If n is not more than n ≧ P, letid= id+1，id1= id1+1, go back to statistics this time setTr _idThe number n of the contained track points; in orderTr _id1=Tr _idInto collectionsTR ₁After the step, judging the current timeidWhether or not to satisfyid>M, ifidSatisfy the requirement ofid>M, then output the setTR ₁If, ifidNot meet the requirements ofid>M, then orderid= id+1，id1= id1+1, go back to statistics this time setTr _idAnd the number n of contained track points.

Step S130: using the ADS-B track as a reference track, and establishing a track set according to the track number, the spatial position information and the time information of the reference track dataRTWherein, in the step (A),

，

，

，M_a、N_aare all positive integers. According to the time information contained in the flight path data, the typical distance and angle distribution of the detection target, C flight path point sets obtained by the radar system executing the detection task in the past and the corresponding reference flight path point sets, the average distance error r between the C flight path point sets and the reference flight path point sets is counted_meanAverage angle error𝜃_meanAnd average time error t_meanIs preset in the setRTReference track and set ofTR ₁Distance error interval [ -r ] when preliminary matching is performed on flight path data_mean, +r_mean]Angle error interval-𝜃_mean, +𝜃_mean]And a time error interval [ -t [ ]_mean, +t_mean]Wherein C is a positive integer.

Step S140: collectionRTReference track and set ofTR ₁And performing preliminary matching on the flight path data. Traversal setsRTThe navigation points in the navigation system are filtered and collected according to the distance error interval, the angle error interval and the time error intervalTR ₁Neutralization setRTAnd the reference track points do not match with the track points. CollectionTR ₁Establishing set of medium-screened eligible track pointsTR ₂Set ofTR ₂Can be expressed as

，

，

，M₂、N₂Are all positive integers.

The preliminary matching process in this step is shown in FIG. 5, and the sets are first collectedTR、ida=1、ia=1 and setTR ₁、id1=1、i1=0、id2=1 as input, sequentially updated

、

、

、

(ii) a Order to

(ii) a Judging whether the current time is satisfied

And is

And is

If it satisfies

And is

And is

Then give an ordertr _i2=tr _i1Is stored inTr _id2If not satisfied

And is

And is

Then give an orderi1= i1+1, back to update

A step (2); in ordertr _i2= tr _i1Is stored inTr _id2After the step, judging whether the current time is satisfiedi1> N₁If not satisfiedi1> N₁Then give an orderi1= i1+1, back to update

If it satisfies (1)i1> N₁Then determine whether the current condition is satisfiedid1> M₁If not satisfiedid1> M₁Then give an orderid1= id1+1, back to update

If it satisfies (1)id1> M₁Then will beTr _id2Logging inTR ₂(ii) a Judging whether the current time is satisfiedia>N_aIf not satisfiedia>N_aThen give an orderia=ia+1, back to update

If it satisfies (1)ia>N_aThen determine whether the current condition is satisfiedida>M_aIf not satisfiedida>M_aThen give an orderida=ida+1, back to update

If it satisfies (1)ida>M_aThen outputTR ₂。

Step S150: traversal setsTR ₂Middle track point, preset distance threshold R₁For screening collectionsRTMedium distance currentTR ₂The closest point of the track point and form a point pair { (tr _i2,rt _i2)}：

(1) Obtaining andtr _i2minimum distance pointrt _i2And saved as a point pair set { (tr _i2,rt _i2) And (c) the step of (c) in which,

；

。

step S160: according to the screened point pair sets { (tr _k,rt _k) Establishing a point cloud registration target function, and solving the target function by adopting an optimization method to obtain the current optimal parameters

And

wherein the objective function can be expressed as

，rIn order to be offset from the distance,θis an angular offset, N_KIs a point pair set { (tr _k,rt _k) The number of pairs of midpoints.

Step S170: according to offset parameter

And

，

，

，

，

。

step 180: calculating an average change distance parameterePresetting a threshold value R of position change before and after course point registration₂According toeJudging whether the registration is finished:

(1) calculating an average change distance parametereWherein

；

(2) If it is note<R₂Outputting a set of final corrected track resultsTR ₃Otherwise, use the current setTR ₃Replacing the set in step S150TR ₂And repeating the steps S150 to S180 until the condition is mete<R₂。

Another embodiment of the present disclosure relates to a distributed radar system track error correction apparatus, as shown in fig. 6, the apparatus including:

an obtaining module 601, configured to obtain initial track data;

the screening module 602 is configured to compare the number of track points of each track in the initial track data with a preset threshold P of the number of continuous track points, and screen out a track of which the number of track points is greater than or equal to the threshold P of the number of continuous track points, so as to obtain intermediate track data;

the matching module 603 is configured to perform preliminary matching on the intermediate track data and the reference track data, compare each track in the intermediate track data with each track in the reference track data, and screen out a track in the intermediate track data, for which a distance difference with a track in the reference track data does not exceed a preset distance error interval, an angle difference does not exceed a preset angle error interval, and a time difference does not exceed a preset time error interval, so as to obtain target track data;

a calculating module 604, configured to calculate a distance offset and an angle offset of the target track data relative to the reference track data by using a point cloud registration method;

and the correcting module 605 is configured to correct the target track data according to the distance offset and the angle offset to obtain error-corrected track data.

Compared with the prior art, the method and the device have the advantages that the initial track data are obtained through the obtaining module, after the initial track data are obtained, the screening module is adopted to respectively compare the number of track points of each track in the initial track data with the preset continuous track point number threshold, and the tracks with the track point number larger than or equal to the continuous track point number threshold are screened out, so that the track data with poor continuity in the initial track data are filtered, the track data with good continuity are obtained and are used as the middle track data for subsequent registration, and the quality of subsequent track correlation and fusion is guaranteed; the method comprises the steps that each track in the intermediate track data is compared with each track in the reference track data through a matching module, and the tracks with the distance difference value not more than a preset distance error interval, the angle difference value not more than a preset angle error interval and the time difference value not more than a preset time error interval in the intermediate track data are filtered out, so that target track data are obtained, the number of track points needing to be registered is reduced, and the subsequent registration efficiency is effectively improved; the distance offset and the angle offset of the target track data relative to the reference track data are calculated by adopting the calculation module and a point cloud registration method, and the target track data are corrected by adopting the correction module according to the distance offset and the angle offset to obtain error-corrected track data, so that the system error of the single radar is effectively corrected, and the error correction efficiency is improved.

Illustratively, the obtaining module 601 is configured to receive input initial track data;

Illustratively, the screening module 602 is configured to traverse the tracks in the initial track data item by item according to the track number, and compare the number of track points of each track in the initial track data with the threshold P of the number of consecutive track points;

，id1 represents the flight path of the screened-out flight pathThe number of the trace is set to be,Tr _id1indicating track numberid1, a set of waypoints corresponding to,

。

illustratively, the matching module 603 is configured to establish a track set according to a reference track number in the reference track data, spatial position information of a reference track point, and generation time information of the reference track pointRTWherein the reference track data comprises ADS-B track data,

，r _iarepresenting reference course pointsiaThe distance information of (a) is obtained,θ _iarepresenting reference course pointsiaThe angle information of (a) is obtained,t _iato representReference track pointiaGenerating time information of, M_a、N_aAre all positive integers;

Illustratively, the computing module 604 is configured to traverse the setTR ₂From said setRTRespectively screening out the setsTR ₂Establishing a point pair set { (A) by using the reference course point with the minimum distance of each course pointtr _i2,rt _i2) And (c) the step of (c) in which,

representing reference course pointsi2The angle information of (a) is obtained,

indicating the current optimal distance offset parameter,

representing the current optimal angular offset parameter;

And the angular offset parameter

。

Illustratively, the correction module 605 is configured to correct the distance offset parameter according to the distance offset

And the angular offset parameter

，r _i3representing waypointsi3 distance information and

，θ _i3representing waypointsi3 angle information of

；

Calculating an average change distance parametereWherein, in the step (A),

；

Illustratively, the preset distance error interval is [ -r [ ]_mean, +r_mean]The predetermined angle error interval is [ -𝜃_mean, +𝜃_mean]The preset time error interval is [ -t [)_mean, +t_mean]Wherein r is_meanRepresents the average distance error between the C track point sets acquired by the radar system in advance and the corresponding reference track point sets,𝜃_meanrepresenting the average angle error between the C track point sets and the corresponding reference track point set, t_meanAnd C is a positive integer, and represents the average time error between the C track point sets and the corresponding reference track point sets.

The specific implementation method of the device for correcting the track error of the distributed radar system provided in the embodiment of the present disclosure may be referred to as the method for correcting the track error of the distributed radar system provided in the embodiment of the present disclosure, and details are not described here.

Another embodiment of the present disclosure relates to an electronic device, as shown in fig. 7, including:

at least one processor 701; and the number of the first and second groups,

a memory 702 communicatively coupled to the at least one processor 701; wherein the content of the first and second substances,

the memory 702 stores instructions executable by the at least one processor 701 to enable the at least one processor 701 to perform the method of the above embodiments.

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.

Another embodiment of the present disclosure relates to a computer-readable storage medium storing a computer program which, when executed by a processor, implements the method of the above embodiment.

That is, as can be understood by those skilled in the art, all or part of the steps in the method according to the foregoing embodiments 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 according to the various embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a ROM (Read-Only Memory), a RAM (Random Access Memory), a magnetic disk, or an optical disk.

It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific embodiments for practicing the present disclosure, and that various changes in form and details may be made therein without departing from the spirit and scope of the present disclosure in practice.

Claims

1. A method for correcting track errors of a distributed radar system, the method comprising:

acquiring initial track data;

2. The method of claim 1, wherein the obtaining initial track data comprises:

receiving input initial track data;

3. The method according to claim 2, wherein the step of comparing the number of track points of each track in the initial track data with a preset threshold value P of the number of continuous track points, and screening out the tracks of which the number of track points is greater than or equal to the threshold value P of the number of continuous track points, so as to obtain intermediate track data comprises:

。

4. the method according to claim 3, wherein the preliminary matching of the intermediate track data with reference track data, comparing each track in the intermediate track data with each track in the reference track data, and screening out the tracks with a distance difference value not exceeding a preset distance error interval, an angle difference value not exceeding a preset angle error interval, and a time difference value not exceeding a preset time error interval from the intermediate track data to the tracks in the reference track data to obtain target track data comprises:

5. The method of claim 4, wherein calculating the distance offset and the angle offset of the target track data relative to the reference track data using a point cloud registration method comprises:

representing reference course pointsi2The angle information of (a) is obtained,

indicating the current optimal distance offset parameter,

representing the current optimal angular offset parameter;

And the angular offset parameter

。

6. The method according to claim 5, wherein the correcting the target track data according to the distance offset and the angle offset to obtain error-corrected track data comprises:

according to the distance offset parameter

And the angular offset parameter

，r _i3representing waypointsi3 distance information and

，θ _i3representing waypointsi3 angle information of

；

Calculating an average change distance parametereWherein, in the step (A),

；

If the average variation distance parametereNot less than the position variation threshold R₂Then will beThe collectionTR ₂Replace with the setTR ₃Calculating the distance offset and the angle offset of the target track data relative to the reference track data by using the point cloud registration method again, and correcting the target track data according to the distance offset and the angle offset until the average change distance parametereLess than the position change threshold R₂；

7. The method according to any one of claims 1 to 6, wherein the preset distance error interval is [ -r ]_mean, +r_mean]The predetermined angle error interval is [ -𝜃_mean, +𝜃_mean]The preset time error interval is [ -t [)_mean, +t_mean]Wherein r is_meanRepresents the average distance error between the C track point sets acquired by the radar system in advance and the corresponding reference track point sets,𝜃_meanrepresenting the average angle error between the C track point sets and the corresponding reference track point set, t_meanAnd C is a positive integer, and represents the average time error between the C track point sets and the corresponding reference track point sets.

8. A distributed radar system track error correction apparatus, the apparatus comprising:

the acquisition module is used for acquiring initial track data;

9. An electronic device, comprising:

at least one processor; and the number of the first and second groups,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 7.

10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method of any one of claims 1 to 7.