CN115932774A - Fusion simulation method and device of radar target based on conversion matrix - Google Patents
Fusion simulation method and device of radar target based on conversion matrix Download PDFInfo
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Abstract
The invention discloses a conversion matrix-based radar target fusion simulation method and a device thereof, wherein the method comprises the following steps: acquiring self position coordinates calibrated by the radar; acquiring position coordinates of a target identified by a radar, and converting the position coordinates of the target into geographical space coordinates of the target; constructing a three-dimensional geographical simulation coordinate system, and acquiring a conversion matrix of the three-dimensional geographical simulation coordinate system and a geographical space coordinate system; converting the geographic space coordinates of the target into a three-dimensional geographic simulation coordinate system according to the conversion matrix, and acquiring the three-dimensional geographic simulation coordinates of the target; acquiring three-dimensional geographical simulation coordinates of two adjacent points of the same target in a motion track, and acquiring a spatial displacement vector between the three-dimensional geographical simulation coordinates of a first point and the three-dimensional geographical simulation coordinates of a second point; and simulating the direction of the target in the motion trail according to the space displacement vector. The invention enables a user to directly observe the position and the posture of the target identified by the radar from the interface.
Description
Technical Field
The invention belongs to the technical field of signal processing, and particularly relates to a transformation matrix-based radar target fusion simulation method and device.
Background
Radar (radio), which finds and determines the spatial position of a target using a radio method; the radar emits electromagnetic waves to irradiate the target and receives the echo of the target, so that information such as the distance from the target to an electromagnetic wave emission point, a pitch angle and an azimuth angle is obtained.
In the prior art, information of a target detected by a radar is converted into a radar coordinate system, then is converted into an interface, and is displayed, namely, the radar is used as a circle center, a two-dimensional coordinate is used for identifying a target distance and a relative distance between the target distance and the radar, and the distance, a pitch angle and an azimuth angle of the target detected by the radar are used for calculating the position of the target; by using the method, the user can only see the target from the interface, and the method is no longer suitable for three-dimensional display, so that the accuracy of target data is influenced.
Therefore, there is a need to improve the three-dimensional representation of radar detection targets.
Disclosure of Invention
In order to solve the above problems in the prior art, the present invention provides a method and a device for fusion simulation of radar targets based on a transformation matrix. The technical problem to be solved by the invention is realized by the following technical scheme:
in a first aspect, the present invention provides a method for fusion simulation of radar targets of a transform matrix, including:
acquiring self position coordinates calibrated by the radar; the position coordinates calibrated by the radar comprise longitude and latitude and height of the radar;
acquiring position coordinates of a target identified by a radar, and converting the position coordinates of the target into geographical space coordinates of the target;
constructing a three-dimensional geographical simulation coordinate system, and acquiring a conversion matrix of the three-dimensional geographical simulation coordinate system and a geographical space coordinate system;
converting the geospatial coordinate of the target into a three-dimensional geographical simulation coordinate system according to the conversion matrix, and acquiring the three-dimensional geographical simulation coordinate of the target;
acquiring three-dimensional geographical simulation coordinates of two adjacent points of the same target in a motion track, namely the three-dimensional geographical simulation coordinate of a first point and the three-dimensional geographical simulation coordinate of a second point respectively, and acquiring a spatial displacement vector between the three-dimensional geographical simulation coordinate of the first point and the three-dimensional geographical simulation coordinate of the second point; and simulating the direction of the target in the motion trail according to the space displacement vector.
In a second aspect, the present invention further provides a transformation matrix-based radar target fusion simulation apparatus, including:
the data acquisition module I is used for acquiring the position coordinates of the radar calibration; the position coordinates calibrated by the radar comprise longitude and latitude and height of the radar;
the data acquisition module II is used for acquiring the position coordinates of the target identified by the radar and converting the position coordinates of the target into the geographic space coordinates of the target;
the target acquisition module is used for constructing a three-dimensional geographical simulation coordinate system and acquiring a conversion matrix of the three-dimensional geographical simulation coordinate system and a geographical space coordinate system;
the data conversion module is used for converting the geographic space coordinates of the target into a three-dimensional geographic simulation coordinate system according to the conversion matrix and acquiring the three-dimensional geographic simulation coordinates of the target;
the data processing module is used for acquiring three-dimensional geographical simulation coordinates of two adjacent points of the same target in a motion track, namely the three-dimensional geographical simulation coordinates of a first point and the three-dimensional geographical simulation coordinates of a second point respectively, and acquiring a spatial displacement vector between the three-dimensional geographical simulation coordinates of the first point and the three-dimensional geographical simulation coordinates of the second point; and simulating the direction of the target in the motion trail according to the space displacement vector.
The invention has the beneficial effects that:
the invention provides a fusion simulation method and a fusion simulation device of a radar target based on a transformation matrix, which are characterized in that a radar coordinate system is used for representing the position coordinates of the target identified by a radar, the position coordinates of the target are transformed into the geographic space coordinates of the target, and then the geographic space coordinates of the target are transformed into three-dimensional geographic simulation coordinates, so that a user can directly observe the position of the target identified by the radar from an interface; in addition, the method can also predict the movement direction of the point position of the target, obtain the flight direction and the attitude of the target and play a role in monitoring the target in real time.
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Drawings
Fig. 1 is a flowchart of a method for fusion simulation of a radar target based on a transformation matrix according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of four points in space provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of three-dimensional geo-simulation coordinate transformation provided by an embodiment of the present invention;
FIG. 4 is a schematic diagram of a geospatial coordinate system provided by an embodiment of the present invention;
FIG. 5 is a schematic diagram of three-dimensional geographical simulation coordinates of the same target in a motion trajectory according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of an increased sampling point provided by an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a method for fusion simulation of a radar target based on a transformation matrix according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to specific examples, but the embodiments of the present invention are not limited thereto.
Referring to fig. 1, fig. 1 is a flowchart of a transformation matrix-based radar target fusion simulation method according to an embodiment of the present invention, where the transformation matrix-based radar target fusion simulation method according to the present invention includes:
s101, acquiring position coordinates of the radar in calibration; the position coordinates calibrated by the radar comprise longitude and latitude and height of the radar;
s102, acquiring position coordinates of a target identified by the radar, and converting the position coordinates of the target into geographical space coordinates of the target;
s103, constructing a three-dimensional geographical simulation coordinate system, and acquiring a conversion matrix of the three-dimensional geographical simulation coordinate system and a geographical space coordinate system;
s104, converting the geospatial coordinate of the target into a three-dimensional geosynthetic coordinate system according to the conversion matrix, and acquiring the three-dimensional geosynthetic coordinate of the target;
s105, acquiring three-dimensional geographical simulation coordinates of two adjacent points of the same target in a motion track, namely the three-dimensional geographical simulation coordinate of a first point and the three-dimensional geographical simulation coordinate of a second point, and acquiring a spatial displacement vector between the three-dimensional geographical simulation coordinate of the first point and the three-dimensional geographical simulation coordinate of the second point; and simulating the direction of the target in the motion trail according to the space displacement vector.
Specifically, please refer to fig. 1 again, in the method for fusion simulation of a radar target based on a transformation matrix provided in this embodiment, a radar coordinate system is used to represent the position coordinates of the target identified by the radar, the position coordinates of the target are transformed into the geospatial coordinates of the target, and then the geospatial coordinates of the target are transformed into three-dimensional geosynthetic coordinates, so that a user can directly observe the position of the target identified by the radar from an interface; in addition, the embodiment can also predict the movement direction of the target point position, obtain the flight direction and the attitude of the target and play a role in monitoring the target in real time.
It should be noted that the position coordinates of the radar can be calibrated by the radar, and the position coordinates of the radar can also be positioned by the Beidou satellite.
In an optional embodiment of the invention, self-position coordinates calibrated by a plurality of radars are obtained, and the radars are positioned in different radar coordinate systems;
respectively constructing three-dimensional geographical simulation coordinate systems corresponding to different radars, and acquiring conversion matrixes of the three-dimensional geographical coordinate systems and the geographical space coordinate systems corresponding to the different radars to obtain a conversion matrix set;
and converting the geospatial coordinates of the targets identified by all the radars into a three-dimensional geographical simulation coordinate system according to the conversion matrix set, and acquiring the three-dimensional geographical simulation coordinates of the targets.
Specifically, in this embodiment, a plurality of radars may be simulated in the same three-dimensional geographic simulation coordinate system, and a user may directly observe the positions of targets identified by the plurality of radars from the interface; namely, different space targets and radars are fused in the same three-dimensional geographical simulation coordinate, the targets detected by the radars are directly displayed in the same three-dimensional geographical simulation coordinate, and full-scene simulation is realized.
In an optional embodiment of the present invention, the geospatial coordinates of the target are:
T＝(x,y,z)；
wherein x is the latitude of the geospatial coordinate of the target, x = d × cosP × sinA + L, y is the longitude of the geospatial coordinate of the target, x = d × cosP × cosA + B, z is the height of the geospatial coordinate of the target, z = d × sinP + H, d is the distance between the radar and the target, a is the Azimuth angle (Azimuth) between the radar and the target, P is the Pitch angle (Pitch) between the radar and the target, L is the latitude of the radar-calibrated self-position, B is the longitude of the radar-calibrated self-position, and H is the height of the radar-calibrated self-position.
It should be noted that the position coordinates of the target are converted into the geospatial coordinates of the target, which are based on the position of the target itself calibrated by the radar as a reference point.
In an optional embodiment of the present invention, please refer to fig. 2, where fig. 2 is a schematic diagram of four points in a space provided in the embodiment of the present invention, and a process of constructing a three-dimensional geographical simulation coordinate system and acquiring a transformation matrix of the three-dimensional geographical simulation coordinate system and a geographical space coordinate system includes:
four points in space are obtained, P 1 、P 2 、P 3 And P 4 Wherein, the four points are not in the same plane;
acquiring geographic space coordinates P of four points in space, wherein the expression is as follows:
P＝{P 1 (x 1 ,y 1 ,z 1 ),P 2 (x 2 ,y 2 ,z 2 ),P 3 (x 3 ,y 3 ,z 3 ),P 4 (x 4 ,y 4 ,z 4 )}；
constructing a three-dimensional geographical simulation coordinate system according to four points in the space;
mapping the geographic space coordinates of four points in the space to the three-dimensional geographic simulation coordinate system to obtain three-dimensional geographic simulation coordinates A of the four points in the space, wherein the expression of the three-dimensional geographic simulation coordinates A is as follows:
A＝{A 1 (Ln 1 ,La 1 ,Al 1 ),A 2 (Ln 2 ,La 2 ,Al 2 ),A 3 (Ln 3 ,La 3 ,Al 3 ),A 4 (Ln 4 ,La 4 ,Al 4 )}；
obtaining a conversion matrix according to the geographic space coordinates P of the four points and the three-dimensional geographic simulation coordinates A of the four points, wherein the expression of the conversion matrix is as follows:
M＝P -1 A。
it should be noted that, with reference to fig. 2, four points in the space mentioned in this embodiment, which are not on the same plane, may also be understood as three positioning points and one height point on the edge in the three-dimensional geographic simulation coordinate system; the distances between the four points are as far as possible, and the distances between the four points are points selected by calculation in a self-defining mode, so that the longitude of the three-dimensional geographical simulation coordinate system can be improved.
In an optional embodiment of the present invention, the three-dimensional geosynthetic coordinates of the target are:
T m ＝M*T；
where T is the geospatial coordinate of the target.
In an optional embodiment of the present invention, please refer to fig. 3 and 4, fig. 3 is a schematic diagram of three-dimensional geographic simulation coordinate transformation provided in the embodiment of the present invention, fig. 4 is a schematic diagram of a geographic space coordinate system provided in the embodiment of the present invention, the earth is an irregular ellipsoid, and in the process of transforming the geographic space coordinate system into the three-dimensional geographic simulation coordinate system, generally, an actually transformed model is a homogeneous body, and a horizontal direction is a plane, so that there is coordinate transformation inaccuracy between an actual longitude and latitude and a model, there is a certain difficulty in mapping the longitude and latitude to the model, and it is not easy to calculate the corresponding longitude and latitude by a model point; in view of this, the embodiment proposes to use an improved coordinate conversion algorithm, that is, an ellipsoid straight-line distance algorithm, to map a distance g _ d between two points g _ p1 and g _ p2 with known longitude and latitude of a geographic space to a distance m _ d between two points m _ p1 and m _ p2 in a three-dimensional geographic simulation coordinate system, and to map a distance and an orientation from one point m _ p1 with known longitude and latitude to another point m _ p2, and to use an ellipsoid macro integral algorithm to look up the longitude and latitude of m _ p 2.
The process of acquiring the longitude and the latitude by the ellipsoid microspur integration algorithm specifically comprises the following steps:
s201, calculating the longitude and latitude of g _ p1 by using the distance m _ d (north-positive clockwise a degrees) in the three-dimensional geographical simulation coordinate system, wherein the longitude and latitude point in the three-dimensional geographical simulation coordinate system is g _ m0;
s202, taking the longitude and latitude of g _ m0 as the longitude and latitude of an actual geographic space coordinate, and calculating a real distance m _ d, wherein the distance error is r = m _ d-g _ d;
s203, continuously calculating the error r1= m _ r1-g _ d of the next point g _ r1 by taking the differential value r1 as a radius and the azimuth as a;
and S204, repeating the step S203 until the error is within the range allowed by the algorithm, and finding a point g _ p2 as an output result.
In an optional embodiment of the present invention, please refer to fig. 5, where fig. 5 is a schematic diagram of three-dimensional geographical simulation coordinates of the same target on a motion trajectory according to an embodiment of the present invention, further including:
acquiring three-dimensional geographical simulation coordinates of two adjacent points of the same target in a motion track, and acquiring an actual direction value of the target in the motion track, namely a linear velocity, an azimuth angle and a pitch angle of the actual three-dimensional geographical simulation coordinates of a second point of the target;
according to the space displacement vector between the three-dimensional geographical simulation coordinates of two adjacent points of the same target in the motion trail, obtaining a predicted direction value of the target in the motion trail, namely the linear velocity, the azimuth angle and the pitch angle of the predicted three-dimensional geographical simulation coordinate of the second point of the target;
and obtaining the prediction accuracy according to the actual direction value of the target in the motion trail and the predicted direction value of the target in the motion trail.
Specifically, in this embodiment, please refer to fig. 5 again, and it can be understood that, for the same target, the three-dimensional geographic simulation coordinates of the target obtained in the previous frame are the three-dimensional geographic simulation coordinates of the first point, and the three-dimensional geographic simulation coordinates of the target obtained in the current frame are the three-dimensional geographic simulation coordinates of the second point; the three-dimensional geographic simulation coordinate of the target of the current frame is predicted mainly aiming at the three-dimensional geographic simulation coordinate of the target obtained by the previous frame.
As shown in fig. 5, assuming that the three-dimensional geo-simulation coordinate of the target corresponding to the previous frame is P3, and the three-dimensional geo-simulation coordinate of the target corresponding to the current frame is P4, that is, by calculating a spatial displacement vector between the three-dimensional geo-simulation coordinates of the targets of two adjacent frames P3 and P4, the direction values, that is, the linear velocity, the azimuth angle, and the pitch angle, of the three-dimensional geo-simulation coordinate corresponding to the target of the current frame are predicted based on the spatial displacement vector; as shown in fig. 5, the solid line arrow indicates the posture of the target corresponding to the previous frame, and the dotted line arrow indicates the prediction of the posture of the target corresponding to the current frame.
In this embodiment, the actual posture of the target corresponding to the current frame needs to be obtained, the predicted posture is compared with the actual posture, the prediction accuracy is obtained, the prediction accuracy is smoothed by using a smoothing algorithm, the prediction accuracy is improved by using a forward feedback algorithm and a machine learning algorithm, and the authenticity of simulation is achieved.
It should be noted that, in the actual three-dimensional geographic simulation coordinates, the three-dimensional geographic simulation coordinates of the target corresponding to the current frame identified by the radar are hidden, and the direction value corresponding to the target of the current frame is displayed through the three-dimensional geographic simulation coordinates of the target corresponding to the previous frame; and the larger the radar data rate is, the more sampling points are added between two actual physical address points, for example, sampling points (R1, R2.. Rn) are added between actual physical address points P1 and P2, as shown in fig. 6, fig. 6 is a schematic diagram of adding sampling points provided by the embodiment of the present invention, wherein the higher the distance precision is, the more truly reflecting the actual path between P1 and P2, the more accurate the direction is, and the better the simulation effect and the prediction effect are.
In an optional embodiment of the present invention, further comprising: the prediction accuracy is smoothed using interpolation, averaging, plus-one smoothing, or a goodlike algorithm.
Based on the same inventive concept, please refer to fig. 7, where fig. 7 is a schematic structural diagram of a transformation matrix-based fusion-to-fusion 2 simulation method for a radar target according to an embodiment of the present invention, and the present invention further provides a transformation matrix-based fusion simulation apparatus for a radar target, which is applied to the transformation matrix-based fusion simulation method for a radar target according to the above embodiment of the present invention, and please refer to the above, and therefore, the details are not repeated herein; the device includes:
the first data acquisition module 201 is used for acquiring the position coordinates of the radar calibration; the position coordinates calibrated by the radar comprise longitude and latitude and height of the radar;
the second data acquisition module 202 is used for acquiring the position coordinates of the target identified by the radar and converting the position coordinates of the target into the geographic space coordinates of the target;
the target acquisition module 203 is used for constructing a three-dimensional geographical simulation coordinate system and acquiring a conversion matrix of the three-dimensional geographical simulation coordinate system and a geographical space coordinate system;
the data conversion module 204 is used for converting the geospatial coordinates of the target into a three-dimensional geographical simulation coordinate system according to the conversion matrix and acquiring the three-dimensional geographical simulation coordinates of the target;
the data processing module 205 is configured to obtain three-dimensional geographic simulation coordinates of two adjacent points of the same target in a motion trajectory, which are the three-dimensional geographic simulation coordinate of a first point and the three-dimensional geographic simulation coordinate of a second point, respectively, and obtain a spatial displacement vector between the three-dimensional geographic simulation coordinate of the first point and the three-dimensional geographic simulation coordinate of the second point; and simulating the direction of the target in the motion trail according to the space displacement vector.
Specifically, please refer to fig. 7, in the fusion simulation apparatus for a radar target based on a transformation matrix provided in this embodiment, a second data acquisition module is used to acquire a position coordinate of a target identified by a radar in a radar coordinate system, the target acquisition module is used to transform the position coordinate of the target into a geospatial coordinate of the target, and the data transformation module is used to transform the geospatial coordinate of the target into a three-dimensional geosynthetic coordinate, so that a user can directly observe the position of the target identified by the radar from an interface; in addition, the present embodiment can also predict the movement direction of the target point location based on the data processing module, obtain the flight direction and the attitude of the target, and play a role in monitoring the target in real time.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or device that comprises a list of elements does not include only those elements but may include other elements not expressly listed. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in an article or device that comprises the element. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The directional or positional relationships indicated by "upper", "lower", "left", "right", etc., are based on the directional or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the description of the specification, references to descriptions of the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like are intended to mean that a particular feature or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by those skilled in the art.
The foregoing is a further detailed description of the invention in connection with specific preferred embodiments and it is not intended to limit the invention to the specific embodiments described. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (8)
1. A method for fusion simulation of radar targets based on a transformation matrix is characterized by comprising the following steps:
acquiring self-position coordinates calibrated by the radar; the position coordinates calibrated by the radar comprise longitude and latitude and height of the radar;
acquiring position coordinates of a target identified by a radar, and converting the position coordinates of the target into geographic space coordinates of the target;
constructing a three-dimensional geographical simulation coordinate system, and acquiring a conversion matrix of the three-dimensional geographical simulation coordinate system and a geographical space coordinate system;
converting the geospatial coordinates of the target into the three-dimensional geographical simulation coordinate system according to the conversion matrix, and acquiring the three-dimensional geographical simulation coordinates of the target;
acquiring three-dimensional geographical simulation coordinates of two adjacent points of the same target in a motion track, namely a three-dimensional geographical simulation coordinate of a first point and a three-dimensional geographical simulation coordinate of a second point, and acquiring a spatial displacement vector between the three-dimensional geographical simulation coordinate of the first point and the three-dimensional geographical simulation coordinate of the second point; and simulating the direction of the target in the motion trail according to the space displacement vector.
2. The transformation matrix-based radar target fusion simulation method of claim 1, further comprising:
acquiring self position coordinates calibrated by a plurality of radars, wherein the radars are in different radar coordinate systems;
respectively constructing three-dimensional geographical simulation coordinate systems corresponding to different radars, and acquiring conversion matrixes of the three-dimensional geographical coordinate systems corresponding to the different radars and a geographical space coordinate system to obtain a conversion matrix set;
and converting the geospatial coordinates of the targets identified by all the radars into the three-dimensional geographical simulation coordinate system according to the conversion matrix set, and acquiring the three-dimensional geographical simulation coordinates of the targets.
3. The transformation matrix based radar target fusion simulation method of claim 1, wherein the geospatial coordinates of the target are:
T＝(x,y,z)；
wherein x is the latitude of the geospatial coordinate of the target, x = d × cosP × sinA + L, y is the longitude of the geospatial coordinate of the target, x = d × cosP × cosA + B, z is the height of the geospatial coordinate of the target, z = d × sinP + H, d is the distance between the radar and the target, a is the azimuth angle between the radar and the target, P is the pitch angle between the radar and the target, L is the latitude of the self-position calibrated by the radar, B is the longitude of the self-position calibrated by the radar, and H is the height of the self-position calibrated by the radar.
4. The transformation matrix-based radar target fusion simulation method according to claim 1, wherein the process of constructing the three-dimensional geographical simulation coordinate system and obtaining the transformation matrix of the three-dimensional geographical simulation coordinate system and the geospatial coordinate system comprises:
four points in space are obtained, P 1 、P 2 、P 3 And P 4 Wherein, the four points are not in the same plane;
acquiring geographic space coordinates P of four points in space, wherein the expression is as follows:
P＝{P 1 (x 1 ,y 1 ,z 1 ),P 2 (x 2 ,y 2 ,z 2 ),P 3 (x 3 ,y 3 ,z 3 ),P 4 (x 4 ,y 4 ,z 4 )}；
constructing a three-dimensional geographical simulation coordinate system according to four points in the space;
mapping the geographic space coordinates of four points in the space to the three-dimensional geographic simulation coordinate system to obtain three-dimensional geographic simulation coordinates A of the four points in the space, wherein the expression is as follows:
A＝{A 1 (Ln 1 ,La 1 ,Al 1 ),A 2 (Ln 2 ,La 2 ,Al 2 ),A 3 (Ln 3 ,La 3 ,Al 3 ),A 4 (Ln 4 ,La 4 ,Al 4 )}；
obtaining a conversion matrix according to the geographic space coordinates P of the four points and the three-dimensional geographic simulation coordinates A of the four points, wherein the expression of the conversion matrix is as follows:
M＝P -1 A。
5. the transformation matrix-based radar target fusion simulation method of claim 1, wherein the three-dimensional geographical simulation coordinates of the target are:
T m ＝M*T；
where T is the geospatial coordinate of the target.
6. The transformation matrix-based radar target fusion simulation method of claim 1, further comprising:
acquiring three-dimensional geographical simulation coordinates of two adjacent points of the same target in a motion track, and acquiring an actual direction value of the target in the motion track, namely a linear velocity, an azimuth angle and a pitch angle of the actual three-dimensional geographical simulation coordinates of a second point of the target;
according to the space displacement vector between the three-dimensional geographical simulation coordinates of two adjacent points of the same target in the motion trail, obtaining a predicted direction value of the target in the motion trail, namely the linear velocity, the azimuth angle and the pitch angle of the predicted three-dimensional geographical simulation coordinate of the second point of the target;
and obtaining the prediction accuracy according to the actual direction value of the target in the motion trail and the predicted direction value of the target in the motion trail.
7. The transformation matrix-based radar target fusion simulation method of claim 6, further comprising: the prediction accuracy is smoothed using interpolation, averaging, plus-one smoothing, or a goodlike algorithm.
8. A transformation matrix-based radar target fusion simulation device is characterized by comprising:
the data acquisition module I is used for acquiring the position coordinates of the radar calibration; the position coordinates calibrated by the radar comprise longitude and latitude and height of the radar;
the data acquisition module II is used for acquiring the position coordinates of the target identified by the radar and converting the position coordinates of the target into the geographic space coordinates of the target;
the target acquisition module is used for constructing a three-dimensional geographical simulation coordinate system and acquiring a conversion matrix of the three-dimensional geographical simulation coordinate system and a geographical space coordinate system;
the data conversion module is used for converting the geospatial coordinates of the target into the three-dimensional geographical simulation coordinate system according to the conversion matrix and acquiring the three-dimensional geographical simulation coordinates of the target;
the data processing module is used for acquiring three-dimensional geographical simulation coordinates of two adjacent points of the same target in a motion track, namely the three-dimensional geographical simulation coordinate of a first point and the three-dimensional geographical simulation coordinate of a second point respectively, and acquiring a spatial displacement vector between the three-dimensional geographical simulation coordinate of the first point and the three-dimensional geographical simulation coordinate of the second point; and simulating the direction of the target in the motion trail according to the space displacement vector.
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