CN116087938A - Target tracking method based on Doppler measurement - Google Patents

Target tracking method based on Doppler measurement Download PDF

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Publication number
CN116087938A
CN116087938A CN202310249308.9A CN202310249308A CN116087938A CN 116087938 A CN116087938 A CN 116087938A CN 202310249308 A CN202310249308 A CN 202310249308A CN 116087938 A CN116087938 A CN 116087938A
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China
Prior art keywords
tracking
target
module
positioning
sensor
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Pending
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CN202310249308.9A
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Chinese (zh)
Inventor
赵显�
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Kunming University of Science and Technology
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Kunming University of Science and Technology
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Priority to CN202310249308.9A priority Critical patent/CN116087938A/en
Publication of CN116087938A publication Critical patent/CN116087938A/en
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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
    • G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
    • G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
    • G01S13/726—Multiple target tracking
    • 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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/411—Identification of targets based on measurements of radar reflectivity
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/415—Identification of targets based on measurements of movement associated with the target
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The invention discloses a target tracking method based on Doppler measurement, which comprises a tracking module, wherein the tracking module is used for positioning the position of an object according to distance data acquired by Doppler measurement and realizing continuous tracking of the object by detecting the object; the method comprises the following steps: and selecting corresponding sensor types and the number of sensors matched with the tracking module according to the scene, and respectively adjusting and setting the sensor arrangement mode, the signal acquisition and processing mode, the positioning precision, the signal transmission mode and the tracking strategy of the tracking module. The intelligent indoor positioning device has the advantages that accurate intelligent indoor positioning can be realized, the characteristics of indoor environments can be better adapted, and the walking path of a human body can be predicted, so that the intelligent indoor positioning is more accurate, in addition, the accuracy and precision of intelligent indoor positioning can be improved by placing a target to be detected in a set area and transmitting and receiving original signals.

Description

Target tracking method based on Doppler measurement
Technical Field
The invention relates to the technical field of target tracking, in particular to a target tracking method based on Doppler measurement.
Background
Doppler measurement is a positioning technique that detects the position and movement of a measured object by varying the Doppler spectrum of a signal;
with the development of society, doppler measurement has been applied to a plurality of fields, and target tracking achieved by using doppler measurement can be used in a plurality of fields such as emission positioning, autopilot, motion tracking, etc., and this technology can also be applied to different scenes such as video analysis, traffic video monitoring, indoor intelligent positioning, etc., to help track a target object and more accurately position it.
The Chinese patent with application number CN202010833608.8 discloses a conversion measurement tracking method and system integrating Doppler measurement, which aims to solve the problem of high calculation complexity due to the need of two filters and a static estimator.
The Chinese patent of application number CN202111359273.1 discloses a micro Doppler feature extraction method based on phase ranging target tracking, which introduces a sequential filtering algorithm into the micro Doppler feature extraction process, and fully utilizes Doppler measurement information to improve the tracking precision of the target, thereby obtaining more accurate micro motion parameter estimation.
The above technology refers to application and optimization of target tracking, however, doppler measurement is also significant in indoor intelligent positioning, target tracking lacking doppler measurement can cause reduced accuracy of indoor intelligent positioning, positioning is more inaccurate, positioning efficiency can be reduced, in addition, no doppler positioning system is provided, the current position cannot be reflected in real time in an indoor complex environment, positioning accuracy of indoor intelligent positioning cannot meet requirements, and position and movement conditions of a user cannot be accurately detected, so that effective reference is difficult to be provided for indoor intelligent application in different fields through basic information.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides a target tracking method based on Doppler measurement.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the target tracking method based on Doppler measurement comprises a tracking module, wherein the tracking module is used for positioning the position of an object according to the distance data acquired by Doppler measurement and realizing continuous tracking of the object by detecting the object;
the method comprises the following steps:
selecting corresponding sensor types and the number of sensors matched with the tracking module according to the scene, and respectively adjusting and setting the sensor arrangement mode, the signal acquisition and processing mode, the positioning precision, the signal transmission mode and the tracking strategy of the tracking module;
establishing a guiding model for acquiring object information by a position establishment between the current position and the target position through a tracking module;
acquiring and tracking the real position of the target by using an image processing technology through a computer vision method, and comparing and predicting;
finally, the Doppler signals are utilized to measure the positions of the targets in real time so as to accurately estimate the positions of the targets and realize accurate target tracking.
Further, the tracking module comprises at least one sensor, a positioning processing module, a target detection module and a tracking module.
Further, the sensor is used for acquiring the space position information of the target object to realize indoor positioning;
the positioning processing module is used for analyzing Doppler measurement results and providing specific position information for the target detection module so as to identify specific target objects;
the tracking module is used for realizing continuous tracking of the object and improving the success rate of target detection;
the object detection module is used for identifying objects and realizing the tracking of indoor objects.
Further, the specific process of tracking by the tracking module comprises the following steps:
the sensor can acquire the space position information of the indoor target object and transmit the space position information to the positioning processing module;
the positioning processing module and the target detection module work cooperatively, the positioning module analyzes Doppler measurement results to generate position information of an object, and the detection module identifies a specific target object;
the continuous tracking of the target object can be realized through the tracking module;
the sensor, the positioning processing module and the tracking module are combined with the target detection module, and the object is identified through the target detection module, so that the indoor object is tracked.
Further, in step S1, the selected sensor includes a doppler sensor, an ultrasonic sensor, or an infrared sensor, where the arrangement mode should be selected from a partial area segment arrangement, a large coverage arrangement, or a multiple coverage arrangement in combination with the indoor space and the area, respectively, when the sensor is arranged, so as to form a sensor network in a coverage room.
Further, the specific arrangement mode flow of the sensor is as follows:
partial area segment arrangement: dividing an indoor area into different areas, and arranging a sensor in each area according to actual conditions to form a sensor network covering the indoor area;
amplifying covering arrangement: the method is characterized in that the method is arranged by using denser sensor density in an indoor key area, so that the accuracy of position information is ensured;
multiple covering arrangement: using various sensors, such as ultrasonic sensors, infrared sensors, magnetic sensors, electronic maps, etc., in indoor spaces to achieve space coverage and multiple information collection
Further, in step S1, the signal transmission mode adopted by the tracking module includes Wi-Fi network signal transmission, bluetooth transmission, zigBee wireless transmission, etc., where the collected signal is processed by a digital signal processing mode;
the positioning accuracy is set to be in the order of centimeters, wherein the positioning algorithm comprises Kalman filtering, a characteristic tracking algorithm and nonlinear least square estimation.
Further, in step S1, the tracking policy performs tracking for the method based on pattern recognition, and different tracking policies are set to meet the positioning accuracy requirement, where the tracking policies include a greedy policy, a minimum path policy, and a multi-point tracking policy.
Compared with the prior art, the invention has the beneficial effects that:
the intelligent indoor positioning device has the advantages that accurate intelligent indoor positioning can be realized, the characteristics of indoor environments can be better adapted, and the walking path of a human body can be predicted, so that the intelligent indoor positioning is more accurate, in addition, the accuracy and precision of intelligent indoor positioning can be improved by placing a target to be detected in a set area and transmitting and receiving original signals.
Detailed Description
The following description of the technical solutions in the embodiments of the present invention will be clear and complete, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments.
The target tracking method based on Doppler measurement comprises a tracking module, wherein the tracking module is used for positioning the position of an object according to the distance data acquired by Doppler measurement and realizing continuous tracking of the object by detecting the object;
the tracking module comprises at least one sensor, a positioning processing module, a target detection module and a tracking module, wherein,
the sensor is used for acquiring the space position information of the target object and realizing indoor positioning;
the positioning processing module is used for analyzing Doppler measurement results and providing specific position information for the target detection module so as to identify specific target objects;
the tracking module is used for realizing continuous tracking of the object and improving the success rate of target detection;
the object detection module is used for identifying objects and realizing the tracking of indoor objects.
The specific process of tracking by the tracking module comprises the following steps:
the sensor can acquire the space position information of the indoor target object and transmit the space position information to the positioning processing module;
the positioning processing module and the target detection module work cooperatively, the positioning module analyzes Doppler measurement results to generate position information of an object, and the detection module identifies a specific target object;
then, continuous tracking of the target object can be realized through the tracking module;
finally, the sensor, the positioning processing module and the tracking module are combined with the target detection module, and the object is identified through the target detection module, so that the indoor object is tracked.
Example 1
A method of target tracking based on doppler measurement, the method comprising the steps of:
selecting corresponding sensor types and the number of sensors matched with the tracking module according to the scene, and respectively adjusting and setting the sensor arrangement mode, the signal acquisition and processing mode, the positioning precision, the signal transmission mode and the tracking strategy of the tracking module;
establishing a guiding model for acquiring object information by a position establishment between the current position and the target position through a tracking module;
then, the real position of the target is acquired and tracked by a computer vision method by using an image processing technology, and compared and predicted;
finally, the Doppler signals are utilized to measure the positions of the targets in real time so as to accurately estimate the positions of the targets and realize accurate target tracking.
Example two
On the basis of the first embodiment of the present invention,
in this embodiment, in step S1, the selected sensor includes a doppler sensor, an ultrasonic sensor, or an infrared sensor, where, when the sensor is arranged, the arrangement mode should be combined with the indoor space and the area to select a local area segment arrangement, a large coverage arrangement, or a multiple coverage arrangement, respectively, so as to form a sensor network in a coverage room;
further, the specific arrangement flow of the sensor is as follows: partial area segment arrangement: dividing an indoor area into different areas, and arranging a sensor in each area according to actual conditions to form a sensor network covering the indoor area;
amplifying covering arrangement: the method is characterized in that the method is arranged by using denser sensor density in an indoor key area, so that the accuracy of position information is ensured;
multiple covering arrangement: using various sensors, such as ultrasonic sensors, infrared sensors, magnetic sensors, electronic maps, etc., in indoor spaces to achieve space coverage and multiple information collection
In step S1, the signal transmission mode adopted by the tracking module includes Wi-Fi network signal transmission, bluetooth transmission, zigBee wireless transmission, etc., where the collected signal is processed by a digital signal processing mode;
the positioning accuracy is set to be in the order of centimeters, wherein the positioning algorithm comprises Kalman filtering, a characteristic tracking algorithm and nonlinear least square estimation.
Specifically, kalman filtering: the measurement and prediction data are fused, so that measurement errors are eliminated, and the positioning accuracy is improved;
feature tracking algorithm: the characteristic information of the target is detected, and is compared with the information of the previous frame, so that tracking of the target is realized;
nonlinear least squares estimation: an optimal positioning accuracy calculation can be achieved given a set of measurement data and prediction data.
In addition, in step S1, the tracking policy performs tracking for the method based on pattern recognition, and different tracking policies are set to meet the positioning accuracy requirement, where the tracking policies include a greedy policy, a minimum path policy, and a multipoint tracking policy.
Specifically, greedy strategy: for focusing on only the target nearest to the current position according to the principle of nearest distance;
minimum path policy: the method is used for searching paths by utilizing a minimum path algorithm according to the actual map situation so as to realize optimal path tracking;
multipoint tracking strategy: the method is used for simultaneously implementing tracking at a plurality of positions, improves tracking precision and better completes tracking tasks.
By using the mode, the error brought by GMT (GlobalMomentumTransfer) under the condition of space movement can be eliminated in the indoor intelligent positioning process, the accuracy and precision of indoor positioning are improved, the propagation distance of broadcast signals is improved, the indoor positioning delay is reduced, the application efficiency under an intelligent management system is improved, and the problem of unstable propagation of wireless broadcast signals in an indoor environment is solved.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.

Claims (8)

1. The target tracking method based on Doppler measurement comprises a tracking module, and is characterized in that the tracking module is used for positioning the position of an object according to distance data acquired by Doppler measurement and realizing continuous tracking of the object by detecting the object;
the method comprises the following steps:
selecting corresponding sensor types and the number of sensors matched with the tracking module according to the scene, and respectively adjusting and setting the sensor arrangement mode, the signal acquisition and processing mode, the positioning precision, the signal transmission mode and the tracking strategy of the tracking module;
establishing a guiding model for acquiring object information by a position establishment between the current position and the target position through a tracking module;
acquiring and tracking the real position of the target by using an image processing technology through a computer vision method, and comparing and predicting;
finally, the Doppler signals are utilized to measure the positions of the targets in real time so as to accurately estimate the positions of the targets and realize accurate target tracking.
2. The method of claim 1, wherein the tracking module comprises at least one sensor, a positioning processing module, a target detection module, and a tracking module.
3. The target tracking method based on doppler measurement according to claim 2, wherein the sensor is configured to obtain spatial position information of a target object, so as to implement indoor positioning;
the positioning processing module is used for analyzing Doppler measurement results and providing specific position information for the target detection module so as to identify specific target objects;
the tracking module is used for realizing continuous tracking of the object and improving the success rate of target detection;
the object detection module is used for identifying objects and realizing the tracking of indoor objects.
4. The method for tracking a target based on Doppler measurement as claimed in claim 3, wherein,
the specific process of tracking by the tracking module comprises the following steps:
the sensor can acquire the space position information of the indoor target object and transmit the space position information to the positioning processing module;
the positioning processing module and the target detection module work cooperatively, the positioning module analyzes Doppler measurement results to generate position information of an object, and the detection module identifies a specific target object;
the continuous tracking of the target object can be realized through the tracking module;
the sensor, the positioning processing module and the tracking module are combined with the target detection module, and the object is identified through the target detection module, so that the indoor object is tracked.
5. The method of claim 4, wherein the sensors used in step S1 include doppler sensors, ultrasonic sensors or infrared sensors, and the arrangement mode is to select a partial area segment arrangement, a large coverage arrangement or a multiple coverage arrangement according to the indoor space and the area, respectively, when the sensors are arranged, so as to form a sensor network in a coverage room.
6. The method for tracking a target based on doppler measurement according to claim 5, wherein the specific arrangement flow of the sensor is as follows:
partial area segment arrangement: dividing an indoor area into different areas, and arranging a sensor in each area according to actual conditions to form a sensor network covering the indoor area;
amplifying covering arrangement: the method is characterized in that the method is arranged by using denser sensor density in an indoor key area, so that the accuracy of position information is ensured;
multiple covering arrangement: a variety of sensors, such as ultrasonic sensors, infrared sensors, magnetic sensors, electronic maps, etc., are used in indoor spaces to achieve space coverage and multiple information collection.
7. The method of claim 6, wherein in step S1, the signal transmission mode adopted by the tracking module includes Wi-Fi network signal transmission, bluetooth transmission, zigBee wireless transmission, etc., and the collected signals are processed by a digital signal processing mode;
the positioning accuracy is set to be in the order of centimeters, wherein the positioning algorithm comprises Kalman filtering, a characteristic tracking algorithm and nonlinear least square estimation.
8. The method according to claim 7, wherein in step S1, the tracking strategy is a pattern recognition based method, and different tracking strategies are set to meet the positioning accuracy requirement, wherein the tracking strategies include a greedy strategy, a minimum path strategy and a multi-point tracking strategy.
CN202310249308.9A 2023-03-15 2023-03-15 Target tracking method based on Doppler measurement Pending CN116087938A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310249308.9A CN116087938A (en) 2023-03-15 2023-03-15 Target tracking method based on Doppler measurement

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310249308.9A CN116087938A (en) 2023-03-15 2023-03-15 Target tracking method based on Doppler measurement

Publications (1)

Publication Number Publication Date
CN116087938A true CN116087938A (en) 2023-05-09

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Country Status (1)

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