CN114740466A - Radar target trace filtering method based on scoring mechanism - Google Patents

Radar target trace filtering method based on scoring mechanism Download PDF

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CN114740466A
CN114740466A CN202210326428.XA CN202210326428A CN114740466A CN 114740466 A CN114740466 A CN 114740466A CN 202210326428 A CN202210326428 A CN 202210326428A CN 114740466 A CN114740466 A CN 114740466A
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score
speed
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胡彬
岳壮壮
顾铭岑
仲凡凡
顾煜洋
仲新
张振华
李跃华
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Nantong University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/66—Radar-tracking systems; Analogous systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
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    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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Abstract

The invention provides a radar target trace filtering method based on a scoring mechanism, which comprises the steps of obtaining trace point data of a radar in one period, carrying out polar coordinate and rectangular coordinate interaction on the distance and the speed of the trace point, scoring the trace point according to the time, the speed and the direction of receiving the trace point in each period, setting weight to calculate the total score of each trace point, and setting cubic gate filtering trace points. The invention sets constraint conditions by using the multi-dimensional measurement information, realizes the full utilization of the multi-dimensional measurement information, solves the problems of a large number of false targets and a large number of false tracks in the radar target tracking process, and improves the quality of point track filtering, thereby better realizing the target tracking.

Description

Radar target trace filtering method based on scoring mechanism
Technical Field
The invention relates to the field of radar target tracking, in particular to a radar target trace filtering method based on a scoring mechanism.
Background
In the radar target tracking process, due to the complexity of the external environment, the performance of the radar is seriously influenced by the reflection echoes from non-targets such as ground objects, trees, cloud rain and the like. Although the clutter and the interference are processed by the radar system, the system still detects the trace points out of the real target, and the target trace points are affected by the radar system and are often split.
The main methods for filtering the target trace of the radar at present comprise: moving Target display (MTI), Moving Target Detection (MTD), and dot blot aggregation. Around the point trace aggregation work, many algorithms have been proposed, including linear regression, clustering, decision trees, support vector machines, bayesian classification, neural networks, and the like. In the traditional method, the point trace filtering is regarded as a two-classification problem, so that the quality of the filtered point trace is low, the flight trace starting efficiency is low, a false flight trace is formed, a target is lost, and the performance and the accuracy of target tracking are seriously influenced.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a radar target track filtering method based on a scoring mechanism, which utilizes multidimensional measurement information to set constraint conditions, realizes full utilization of the multidimensional measurement information, solves the problem that a large number of false targets occur in the radar target tracking process, causes a plurality of false tracks, improves the quality of track filtering, and further realizes target tracking better.
In order to solve the above technical problem, an embodiment of the present invention provides a radar target trace filtering method based on a scoring mechanism, including the following steps:
s1, acquiring trace point data of the radar in one period;
s2, converting the distance and the speed of the point traces acquired in the step S1 from polar coordinates to rectangular coordinates (rho, theta) → (x, y, z), and mapping all the point traces in the point trace data to a coordinate system between the northeast and the sky of the radar;
s3, scoring each trace according to the time, the speed and the direction of receiving the trace in each period, and setting weight to calculate the total score of each trace;
and S4, setting two cube wave gate filtering point tracks with different sizes, and selecting the point track with the highest score as a track point according to the total score condition of the point tracks calculated in the step S3.
In step S2, the polar coordinate to rectangular coordinate conversion formula for the distance and speed of the trace point is:
x＝R*cos(β)*sin(α)；Vx＝Vel*cos(β′)sin(α′)；
y＝R*cos(β)*cos(α)；Vy＝Vel*cos(β′)cos(α′)；
z＝R*sin(β)；Vz＝Vel*sin(β′)；
wherein, R is the radial of the point in the polar coordinate system, Vel represents the radial velocity of the point, β represents the pitch angle of the point, α represents the azimuth angle of the point, β 'represents the pitch angle in the velocity direction of the point, and α' represents the pitch angle in the velocity direction of the point, thereby obtaining various information of each point in the stereo coordinate system.
Wherein the step S3 includes the following steps:
s3.1, scoring according to time: carrying out time change constraint screening on the time of each periodic trace point and the time of the last point of each temporary track;
s3.2, scoring according to speed: carrying out constraint screening on speed change on the speed of each periodic point track and the speed of the last point of each temporary track;
s3.3, scoring according to the direction: carrying out orientation change constraint screening on the orientation of each periodic point track and the orientation of the last point of each temporary track;
and S3.4, calculating the total score of each trace.
Wherein, the specific steps of S3.1 are as follows:
according to the point trace
Figure BDA0003571700460000031
Time measurement information and temporary track
Figure BDA0003571700460000032
The time information of the last point is subjected to time-varying constraint screening, wherein the time-varying constraint screening conditions are as follows:
Figure BDA0003571700460000033
wherein the content of the first and second substances,
Figure BDA0003571700460000034
in order to obtain the trace point time measurement information,
Figure BDA0003571700460000035
time information, Δ t, for the last point of the temporary trackmaxRepresenting the maximum measurement deviation of the allowable target time of one scanning period of the radar;
if the constraint condition of time change is met, dividing the quality of the current trace point into three grades:
the constraint condition of the first-level trace point is
Figure BDA0003571700460000041
If so, the trace-spotting time score is δ1Dividing; the constraint condition of the trace points at the second level is
Figure BDA0003571700460000042
If satisfied, the trace-pointing time is divided into μ1Dividing; the constraint condition of the third-level trace point is
Figure BDA0003571700460000043
Figure BDA0003571700460000044
If yes, the trace point time score is omega1Dividing;
and if the constraint condition of time change is not satisfied, the current trace score is 0.
Wherein the step S3.2 comprises the following specific steps:
according to the trace
Figure BDA0003571700460000045
Speed measurement information and temporary track
Figure BDA0003571700460000046
The speed information of (a) is subjected to constrained screening of speed variations,
Figure BDA0003571700460000047
the formula for setting the speed cell is:
Figure BDA0003571700460000048
where c is the speed of light, T is the pulse repetition period, NFFTNumber of points of FFT, f, for MTD signal processingcIs the carrier frequency;
wherein, the constraint screening conditions of the speed change are as follows:
Figure BDA0003571700460000049
wherein the content of the first and second substances,
Figure BDA00035717004600000410
is the speed measurement information of the point trace,
Figure BDA00035717004600000411
for speed information of temporary tracks, UdopplerIs a speed unit;
if the constraint condition of speed change is met, dividing the current trace point quality into three grades:
the constraint condition of the first-level trace point is
Figure BDA00035717004600000412
If so, the trace-spotting time score is δ2Dividing; the constraint condition of the trace points at the second level is
Figure BDA00035717004600000413
Figure BDA00035717004600000414
If satisfied, the trace-spotting time is scored as μ2Dividing; the constraint condition of the third-level trace point is
Figure BDA0003571700460000051
If yes, the trace point time score is omega2Dividing;
and if the constraint condition of the speed change is not met, the current trace score is 0.
Wherein, the specific steps of the step S3.3 are as follows:
according to the point trace
Figure BDA0003571700460000052
The azimuth measurement information and the temporary track
Figure BDA0003571700460000053
The orientation information is subjected to orientation change constraint screening, wherein the orientation change constraint screening conditions are as follows:
Figure BDA0003571700460000054
wherein the content of the first and second substances,
Figure BDA0003571700460000055
is the direction measurement information of the point trace,
Figure BDA0003571700460000056
for azimuth information of temporary track, theta is squareA bit cell having an azimuth beam width;
if the constraint condition of the azimuth change is met, dividing the quality of the current trace point into three grades:
the constraint condition of the first-level trace point is
Figure BDA0003571700460000057
If yes, trace is clicked
Figure BDA0003571700460000058
Is divided into delta3Dividing; the constraint condition of the trace points at the second level is
Figure BDA0003571700460000059
If yes, trace is clicked
Figure BDA00035717004600000510
Has an orientation of μ3Dividing; the constraint condition of the third-level trace point is
Figure BDA00035717004600000511
3 theta, if satisfied, trace point
Figure BDA00035717004600000512
Is divided into omega3Dividing;
and if the constraint condition of the azimuth change is not met, the current trace point score is 0.
Wherein, the weight formula of the calculated score of S3.4 is:
S＝1/5T+2/5V+2/5A；
wherein T is a time score, V is a speed score, and A is an orientation score.
Wherein the S4 includes the following steps:
s4.1, predicting the position of the next moment of the target through Kalman filtering
Figure BDA00035717004600000513
S4.2, two cubic wave gates with different sizes are set, and the step S4.1 is carried outPredicted position
Figure BDA0003571700460000061
Setting the centers of two cubic wave gates;
s4.3, substituting the point trace coordinates (R, A and P) converted in the step S2 into a cubic wave gate for filtering, and if the point trace does not fall into a small first cubic wave gate, adopting a large second cubic wave gate; and taking the point track falling into the wave gate as a track alternate point, and selecting the point track with the highest score as a track point.
Wherein, the specific steps of the step S4.2 are as follows:
s4.2.1, arranging a first cubic wave gate with the center of the first cubic wave gate
Figure BDA0003571700460000062
Adding or subtracting 1/2 delta R in distance, 1/2 delta A in azimuth and 1/2 delta P in elevation;
s4.2.2, arranging a second cubic wave gate with its center at
Figure BDA0003571700460000063
The distance is increased or decreased by Delta R, the azimuth is increased or decreased by Delta A, and the elevation is increased or decreased by Delta P.
Wherein, the specific steps of the step S4.3 are as follows:
s4.3.1, if the transformed trace coordinates (R, A, P) and predicted point in S4.1
Figure BDA0003571700460000064
Satisfy the requirement of
Figure BDA0003571700460000065
The trace point falls into a first cubic wave gate, and the trace point with the highest score in the wave gate is selected as a track point; if no trace point falls into the first cubic wave gate, selecting a second cubic wave gate;
s4.3.2, if the transformed trace coordinates (R, A, P) and predicted point in S4.1
Figure BDA0003571700460000066
Satisfy the requirement of
Figure BDA0003571700460000067
The trace point falls into a second cubic wave gate, and the trace point with the highest score in the wave gate is selected as the track point.
The technical scheme of the invention has the following beneficial effects:
based on a scoring mechanism, constraint conditions are set by using the multi-dimensional measurement information to realize full utilization of the multi-dimensional measurement information, a large number of false targets and a large number of false air paths in the radar target tracking process are solved, the quality of point trace filtering is improved, and target tracking is better realized.
Drawings
FIG. 1 is a flow chart of trace dotting in step S3 according to the present invention;
FIG. 2 is a schematic diagram of a cubic wave gate in accordance with the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
The embodiment of the invention provides a radar target trace filtering method based on a scoring mechanism, which comprises the following steps:
s1, acquiring trace point data of the radar in one period;
s2, converting the distance and the speed of the point traces acquired in the step S1 from polar coordinates to rectangular coordinates (rho, theta) → (x, y, z), and mapping all the point traces in the point trace data to a coordinate system between the northeast and the sky of the radar;
s3, scoring each trace according to the time, the speed and the direction of receiving the trace in each period, and setting weight to calculate the total score of each trace;
and S4, setting two cube wave gate filtering point tracks with different sizes, and selecting the point track with the highest score as a track point according to the total score condition of the point tracks calculated in the step S3 (see figure 2).
In step S2, the formula for converting the distance and speed of the trace point from the polar coordinate to the rectangular coordinate is:
x＝R*cos(β)*sin(α)；Vx＝Vel*cos(β′)sin(α′)；
y＝R*cos(β)*cos(α)；Vy＝Vel*cos(β′)cos(α′)；
z＝R*sin(β)；Vz＝Vel*sin(β′)；
wherein, R is the radial of the point in the polar coordinate system, Vel represents the radial velocity of the point, β represents the pitch angle of the point, α represents the azimuth angle of the point, β 'represents the pitch angle in the velocity direction of the point, and α' represents the pitch angle in the velocity direction of the point, thereby obtaining various information of each point in the stereo coordinate system.
As shown in fig. 1, the step S3 includes the following steps:
assuming that when the kth point track of the acquired point track set is associated with the jth temporary track in the ith scanning period of the radar,
s3.1, scoring according to time: trace the time of each cycle
Figure BDA0003571700460000081
With each temporary track
Figure BDA0003571700460000082
Time of last point
Figure BDA0003571700460000083
Carrying out constraint screening of time change, wherein the constraint condition of the time change is
Figure BDA0003571700460000084
Wherein, Δ tmaxThe maximum measurement deviation of the allowable target time of one scanning period of the radar is represented;
if the constraint condition of time change is met, dividing the quality of the current trace point into three grades:
the constraint condition of the first-level trace point is
Figure BDA0003571700460000085
If yes, trace is clicked
Figure BDA0003571700460000086
Time score of is δ1Dividing; the constraint condition of the trace point of the second level is
Figure BDA0003571700460000087
Figure BDA0003571700460000091
If yes, trace is clicked
Figure BDA0003571700460000092
Time of (D) is divided into1Dividing; the constraint condition of the third-level trace point is
Figure BDA0003571700460000093
If yes, trace is clicked
Figure BDA0003571700460000094
Time score of (1) is ω1Dividing;
if the constraint condition of time change is not satisfied, then the current trace is pointed
Figure BDA0003571700460000095
The score is 0, and the time score is recorded as T;
s3.2, scoring according to speed: tracing each period
Figure BDA0003571700460000096
Speed of
Figure BDA0003571700460000097
With each temporary track
Figure BDA0003571700460000098
Velocity of last point
Figure BDA0003571700460000099
A constrained screening of the speed variations is performed,
Figure BDA00035717004600000910
the formula for setting the speed cell is:
Figure BDA00035717004600000911
where c is the speed of light, T is the pulse repetition period, NFFTNumber of points of FFT, f, for MTD signal processingcIs the carrier frequency;
wherein, the constraint conditions of the speed change are as follows:
Figure BDA00035717004600000912
wherein, UdopplerIs a speed unit;
if the constraint condition of speed change is met, dividing the current trace point quality into three grades:
the constraint condition of the first-level trace point is
Figure BDA00035717004600000913
If yes, trace is clicked
Figure BDA00035717004600000914
Time score of is δ2Dividing; the constraint condition of the trace points at the second level is
Figure BDA00035717004600000915
If yes, trace is clicked
Figure BDA00035717004600000916
Time of (D) is divided into2Dividing; the constraint condition of the third-level trace point is
Figure BDA00035717004600000917
If yes, trace is clicked
Figure BDA00035717004600000918
Time score of (1) is ω2Dividing;
if the constraint condition of speed change is not satisfied, the current trace is clicked
Figure BDA00035717004600000919
The score is 0, and the velocity score is recorded as V;
s3.3, scoring according to the direction: tracing each period
Figure BDA0003571700460000101
In a direction of
Figure BDA0003571700460000102
With each temporary track
Figure BDA0003571700460000103
Orientation of last point
Figure BDA0003571700460000104
Carrying out orientation change constraint screening, setting an orientation unit as theta degrees and setting the orientation unit as an orientation beam width; the constraint conditions of the orientation change are as follows:
Figure BDA0003571700460000105
if the constraint condition of the azimuth change is met, dividing the quality of the current trace point into three grades:
the constraint condition of the first-level trace point is
Figure BDA0003571700460000106
If yes, trace is clicked
Figure BDA0003571700460000107
Is given an azimuthal score of δ3Dividing; the constraint condition of the trace points at the second level is
Figure BDA0003571700460000108
If yes, trace is clicked
Figure BDA0003571700460000109
Has an orientation of μ3Dividing; the constraint condition of the third-level trace point is
Figure BDA00035717004600001010
If yes, trace is clicked
Figure BDA00035717004600001011
Is divided into omega3Dividing;
if the constraint condition of the azimuth change is not satisfied, the current trace is clicked
Figure BDA00035717004600001012
The score is 0, and the position score is marked as A;
s3.4, calculating the total score of each point, wherein the main factors considered in the point trace filtering are speed and direction, so that the total score calculation formula is as follows:
S＝1/5T+2/5V+2/5A。
the S4 includes the following steps:
s4.1, predicting the position of the next moment of the target through Kalman filtering
Figure BDA00035717004600001013
S4.2, two cubic wave gates with different sizes are adopted by related wave gates of the radar, and the small cubic wave gate is a predicted point
Figure BDA00035717004600001014
For the center, 1/2 Delta R is added and subtracted in distance, 1/2 Delta A is added and subtracted in azimuth, 1/2 Delta P is added and subtracted in elevation, and the selected point trace (R, A, P) and the predicted point need to meet the following requirements:
Figure BDA0003571700460000111
Figure BDA0003571700460000112
large cubic wave gate is also a predictive point
Figure BDA0003571700460000113
For the center, adding and subtracting Delta R in the distance, adding and subtracting Delta A in the azimuth and adding and subtracting Delta P in the elevation, the selected trace points (R, A and P) and the predicted points need to meet the following requirements:
Figure BDA0003571700460000114
s4.3, substituting the converted trace point coordinates (R, A and P) in the step S2 into a cubic wave gate for filtering, and if the trace point does not fall into a small wave gate, adopting a large cubic wave gate; and taking the point track falling into the wave gate as a track point alternative point, and selecting the point track with the highest score as a track point.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (10)

1. A radar target trace filtering method based on a scoring mechanism is characterized by comprising the following steps:
s1, acquiring trace point data of the radar in one period;
s2, converting the distance and the speed of the point traces acquired in the step S1 from polar coordinates to rectangular coordinates (rho, theta) → (x, y, z), and mapping all the point traces in the point trace data to a coordinate system between the northeast and the sky of the radar;
s3, scoring each trace according to the time, speed and direction of receiving the trace points in each period, and setting weight to calculate the total score of each trace;
and S4, setting two cube wave gate filtering point tracks with different sizes, and selecting the point track with the highest score as a track point according to the total score condition of the point tracks calculated in the step S3.
2. The method for filtering radar target traces based on the scoring mechanism as claimed in claim 1, wherein in step S2, the distance and velocity of the trace are transformed from polar coordinates to rectangular coordinates by the following formula:
x＝R*cos(β)*sin(α)； Vx＝Vel*cos(β′)sin(α′)；
y＝R*cos(β)*cos(α)； Vy＝Vel*cos(β′)cos(α′)；
z＝R*sin(β)； Vz＝Vel*sin(β′)；
wherein, R is the polar diameter of the point in the polar coordinate system, Vel represents the radial velocity of the point, β represents the pitch angle of the point, α represents the azimuth angle of the point, β 'represents the pitch angle in the velocity direction of the point, and α' represents the pitch angle in the velocity direction of the point.
3. The scoring mechanism-based radar target point trace filtering method according to claim 1, wherein the S3 comprises the following steps:
s3.1, scoring according to time: carrying out time change constraint screening on the time of each periodic trace point and the time of the last point of each temporary track;
s3.2, scoring according to speed: carrying out constraint screening on speed change on the speed of each periodic point track and the speed of the last point of each temporary track;
s3.3, scoring according to the direction: carrying out orientation change constraint screening on the orientation of each periodic point track and the orientation of the last point of each temporary track;
and S3.4, calculating the total score of each trace.
4. The method for radar target trace filtering based on score mechanism as claimed in claim 3, wherein said step S3.1 comprises the following specific steps:
according to the point trace
Figure FDA0003571700450000021
Time measurement information and temporary track
Figure FDA0003571700450000022
Time-varying constraint of last point time informationScreening, wherein the time-varying constraint screening conditions are as follows:
Figure FDA0003571700450000023
wherein the content of the first and second substances,
Figure FDA0003571700450000024
in order to obtain the trace point time measurement information,
Figure FDA0003571700450000025
time information, Δ t, for the last point of the temporary trackmaxThe maximum measurement deviation of the allowable target time of one scanning period of the radar is represented;
if the constraint condition of time change is met, dividing the quality of the current trace point into three grades:
the constraint condition of the first-level trace point is
Figure FDA0003571700450000026
If so, the trace-spotting time score is δ1Dividing; the constraint condition of the trace point of the second level is
Figure FDA0003571700450000027
If satisfied, the trace-spotting time is scored as μ1Dividing; the constraint condition of the third-level trace point is
Figure FDA0003571700450000031
Figure FDA0003571700450000032
If yes, the trace point time score is omega1Dividing;
and if the constraint condition of time change is not satisfied, the current trace score is 0.
5. The scoring mechanism-based radar target point trace filtering method as claimed in claim 3, wherein the specific steps of step S3.2 are as follows:
according to the point trace
Figure FDA0003571700450000033
Speed measurement information and temporary track
Figure FDA0003571700450000034
The speed information of (a) is subjected to constrained screening of speed variations,
Figure FDA0003571700450000035
the formula for setting the speed cell is:
Figure FDA0003571700450000036
wherein c is the speed of light, T is the pulse repetition period, NFFTNumber of points of FFT, f, for MTD signal processingcIs the carrier frequency;
wherein, the constraint screening conditions of the speed change are as follows:
Figure FDA0003571700450000037
wherein the content of the first and second substances,
Figure FDA0003571700450000038
is the speed measurement information of the point trace,
Figure FDA0003571700450000039
for speed information of temporary tracks, UdopplerIs a speed unit;
if the constraint condition of speed change is met, dividing the current trace point quality into three grades:
the constraint condition of the first-level trace point is
Figure FDA00035717004500000310
If so, the trace-spotting time score is δ2Dividing; the constraint condition of the trace points at the second level is
Figure FDA00035717004500000311
Figure FDA00035717004500000312
If satisfied, the trace-spotting time is scored as μ2Dividing; the constraint condition of the third-level trace point is
Figure FDA00035717004500000313
If yes, the trace point time score is omega2Dividing;
and if the constraint condition of the speed change is not met, the current trace score is 0.
6. The method for radar target trace filtering based on score mechanism as claimed in claim 3, wherein said step S3.3 comprises the following specific steps:
according to the point trace
Figure FDA0003571700450000041
The azimuth measurement information and the temporary track
Figure FDA0003571700450000042
The orientation information is subjected to orientation change constraint screening, wherein the orientation change constraint screening conditions are as follows:
Figure FDA0003571700450000043
wherein the content of the first and second substances,
Figure FDA0003571700450000044
is the direction measurement information of the point trace,
Figure FDA00035717004500000412
the azimuth information of the temporary track is theta degrees, which is an azimuth unit and is an azimuth beam width;
if the constraint condition of the azimuth change is met, dividing the quality of the current trace point into three levels:
the constraint condition of the first-level trace point is
Figure FDA0003571700450000046
If yes, trace is clicked
Figure FDA0003571700450000047
Is given an azimuthal score of δ3Dividing; the constraint condition of the trace points at the second level is
Figure FDA0003571700450000048
If yes, trace is clicked
Figure FDA0003571700450000049
Has an orientation of μ3Dividing; the constraint condition of the third-level trace point is
Figure FDA00035717004500000410
3 theta, if satisfied, trace point
Figure FDA00035717004500000411
Is divided into ω3Dividing;
and if the constraint condition of the azimuth change is not met, the current trace point score is 0.
7. The scoring mechanism-based radar target trace filtering method according to claim 3, wherein the weighting formula of the calculated score of the step S3.4 is as follows:
S＝1/5T+2/5V+2/5A；
wherein T is a time score, V is a speed score, and A is an orientation score.
8. The scoring mechanism-based radar target point trace filtering method according to claim 1, wherein the step S4 comprises the steps of:
s4.1, predicting the position of the next moment of the target through Kalman filtering
Figure FDA0003571700450000051
S4.2, two cubic wave gates with different sizes are arranged, and the position predicted in the step S4.1 is used
Figure FDA0003571700450000052
Setting the centers of two cubic wave gates;
s4.3, substituting the trace point coordinates (R, A and P) converted in the step S2 into a cubic wave gate for filtering, and if the trace point does not fall into the small first cubic wave gate, adopting a large second cubic wave gate; and taking the point track falling into the wave gate as a track alternate point, and selecting the point track with the highest score as a track point.
9. The method for radar target trace filtering based on score mechanism as claimed in claim 8, wherein said step S4.2 comprises the following specific steps:
s4.2.1, arranging a first cubic wave gate with the center of the first cubic wave gate
Figure FDA0003571700450000053
Adding or subtracting 1/2 delta R in distance, 1/2 delta A in azimuth and 1/2 delta P in elevation;
s4.2.2, a second cubic wave gate is arranged with its center at
Figure FDA0003571700450000054
The distance is increased or decreased by Delta R, the azimuth is increased or decreased by Delta A, and the elevation is increased or decreased by Delta P.
10. The scoring mechanism-based radar target point trace filtering method as claimed in claim 8, wherein the specific steps of step S4.3 are:
s4.3.1, if the transformed trace coordinates (R, A, P) and predicted point in S4.1
Figure FDA0003571700450000055
Satisfy the requirement of
Figure FDA0003571700450000056
The trace point falls into a first cubic wave gate, and the trace point with the highest score in the wave gate is selected as a track point; if no trace point falls into the first cubic wave gate, selecting a second cubic wave gate;
s4.3.2, if the transformed trace coordinates (R, A, P) and predicted point in S4.1
Figure FDA0003571700450000061
Satisfy the requirements of
Figure FDA0003571700450000062
The trace point falls into a second cubic wave gate, and the trace point with the highest score in the wave gate is selected as the track point.
CN202210326428.XA 2022-03-30 2022-03-30 Radar target trace filtering method based on scoring mechanism Pending CN114740466A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114994633A (en) * 2022-08-04 2022-09-02 四川九洲空管科技有限责任公司 Method for secondary radar point track correlation processing

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114994633A (en) * 2022-08-04 2022-09-02 四川九洲空管科技有限责任公司 Method for secondary radar point track correlation processing
CN114994633B (en) * 2022-08-04 2022-11-08 四川九洲空管科技有限责任公司 Method for secondary radar point track correlation processing

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