CN116203552A - Tracking path optimization method of radar target - Google Patents
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Abstract
The invention discloses a tracking path optimization method of a radar target, which relates to the technical field of radar tracking and comprises the following steps: acquiring an area map of a radar monitoring area, and setting the area map as a monitoring area map; dividing a monitoring area map into a plurality of functional areas, and setting corresponding conventional monitoring parameters in the functional areas; according to the invention, different supervision modes can be set for areas with different risks by dividing supervision areas, and meanwhile, the tracking path of the target object can be limited and optimized in advance in the supervision process, so that the accuracy of tracking the target object can be improved, and the problems that the existing target monitoring process lacks a targeted monitoring mode, the data processing amount in the target tracking process is large, and meanwhile, the target object cannot be effectively monitored can be solved.
Description
Technical Field
The invention relates to the technical field of radar tracking, in particular to a tracking path optimization method of a radar target.
Background
The radar finds out targets and determines the space positions of the targets by using a radio method, and emits electromagnetic waves to irradiate the targets and receive echoes of the targets, so that information such as the distance from the targets to an electromagnetic wave emission point, the distance change rate (radial speed), the azimuth, the altitude and the like is obtained; in the existing application field, the accuracy of object positioning can be improved through a technology with higher measurement accuracy, for example, a millimeter wave radar sensor can be not easily influenced by environment, so that the millimeter wave radar sensor can be dominant in a wider civil field.
In the prior art, when radar monitoring is performed on a moving object in an area, feedback is generally performed on the moving speed of the moving object, early warning is performed on the basis of comparison of the moving speeds, for example, the method is applied to the process of bank protection monitoring, and only monitoring on running speed data of a ship is greatly provided with monitoring holes.
Disclosure of Invention
The invention aims to solve at least one of the technical problems in the prior art to a certain extent, different supervision modes can be set for areas with different risks by dividing supervision areas, and meanwhile, the tracking path of the target object can be limited and optimized in advance in the supervision process, so that the accuracy of tracking the target object is improved, and the problems that the data processing amount is large in the target tracking process and the target object cannot be effectively monitored due to the lack of a targeted monitoring mode in the existing target monitoring process are solved.
In order to achieve the above object, the present invention provides a method for optimizing a tracking path of a radar target, including: acquiring an area map of a radar monitoring area, and setting the area map as a monitoring area map;
dividing a monitoring area map into a plurality of functional areas, and setting corresponding conventional monitoring parameters in the functional areas;
monitoring objects in a plurality of functional areas through a radar, comparing object monitoring results, and screening out target objects based on the comparison results;
and tracking and monitoring the target object, and optimizing a tracking path based on the data obtained by the tracking and monitoring.
Further, acquiring an area map of the radar monitoring area, setting the area map to the monitoring area map further includes: the monitoring area map comprises an end point inlet and an open area, wherein the end point inlet is a point location through which a target passes finally after passing through the open area, and the open area is used for passing the target;
establishing an area plane coordinate system, wherein the area plane coordinate system comprises an X axis and a Y axis, a monitoring area map is corresponding to the area plane coordinate system, and the X axis and the Y axis of the area plane coordinate system are divided by a first interval unit;
and determining coordinates of the end point entrance and the open area according to the divided area plane coordinate system.
Further, dividing the monitoring area map into a plurality of functional areas includes: setting a first dividing radius and a second dividing radius, wherein the second dividing radius is larger than the first dividing radius;
establishing a first dividing circle by using the end point inlet as a circle center and establishing a second dividing circle by using a second dividing radius;
setting a part of the first divided circle belonging to the open area as a first supervision area, setting a part of the second divided circle belonging to the open area as a second supervision area, and setting a part of the open area excluding the first supervision area and the second supervision area as a third supervision area;
the plurality of functional areas comprise a first supervision area, a second supervision area and a third supervision area.
Further, setting corresponding conventional monitoring parameters in a plurality of functional areas includes: the method comprises the steps of obtaining the area of a first supervision area, dividing the area of the first supervision area by a first monitoring area to obtain a first number, and setting a first number of monitoring points in the first supervision area;
obtaining the area of a second supervision area, dividing the area of the second supervision area by a second monitoring area to obtain a second number, and setting a second number of monitoring points in the second supervision area;
obtaining the area of a third supervision area, dividing the area of the third supervision area by a third monitoring area to obtain a third number, and setting a third number of monitoring points in the third supervision area;
the first monitoring area is smaller than the second monitoring area, and the second monitoring area is smaller than the third monitoring area.
Further, objects in a plurality of functional areas are monitored through the radar, object monitoring results are compared, and screening out target objects based on the comparison results comprises: monitoring the moving speed of the object in a third supervision area through a radar;
setting the moving speed of the object in the third monitoring area as a third area monitoring speed, and marking the object as a third area target object when the third area monitoring speed is greater than or equal to a third area monitoring threshold;
tracking and monitoring the third area target object, obtaining a moving point position of the third area target object, connecting the moving point positions to obtain a moving path, and marking the moving path of the third area target object in an area plane coordinate system;
carrying out path fluctuation analysis on the moving path of the third area target object, obtaining a path fluctuation value based on the path fluctuation analysis, and setting the third area target object as a third area supervision target object when the path fluctuation value of the third area target object is larger than or equal to a third path fluctuation threshold value;
the distance between the moving point position of the third area supervision object and the terminal point inlet is acquired, the distance is set as the third area object terminal point distance, and the third area object terminal point distances are ordered according to the time for acquiring the moving point position of the third area supervision object from front to back;
subtracting the target end point distance of the next third region from the target end point distance of the previous third region according to the sequence to obtain a target end point indentation difference value, and accumulating the target end point indentation difference values of the third region supervision targets to obtain a target end point indentation total difference value;
and when the total difference value of the target end point indentation of the third region supervision target object is larger than or equal to a third indentation threshold value, setting the third region supervision target object as a third region tracking target object.
Further, objects in a plurality of functional areas are monitored through the radar, object monitoring results are compared, and screening out target objects based on the comparison results comprises: monitoring the moving speed of the object in a second supervision area through a radar;
setting the moving speed of the object in the second monitoring area as a second area monitoring speed, and marking the object as a second area target object when the second area monitoring speed is greater than or equal to a second area monitoring threshold;
tracking and monitoring a second area target object, obtaining a moving point position of the second area target object, connecting the moving point position to obtain a moving path, and marking the moving path of the second area target object in an area plane coordinate system;
carrying out path fluctuation analysis on the moving path of the second area target object, obtaining a path fluctuation value based on the path fluctuation analysis, and setting the second area target object as a second area supervision target object when the path fluctuation value of the second area target object is larger than or equal to a second path fluctuation threshold value;
the distance between the moving point position of the second area supervision object and the terminal point inlet is acquired, the distance is set as the second area object terminal point distance, and the second area object terminal point distances are ordered according to the time for acquiring the moving point position of the second area supervision object from front to back;
subtracting the target end point distance of the next second area from the target end point distance of the previous second area according to the sequence to obtain a target end point indentation difference value, and accumulating the target end point indentation difference values of the second area supervision targets to obtain a target end point indentation total difference value;
and when the total difference value of the target end point indentation of the second area supervision target object is larger than or equal to a second indentation threshold value, setting the second area supervision target object as a second area tracking target object.
Further, the path fluctuation analysis includes: setting a first acquired moving point position on a moving path as a fluctuation monitoring starting point position, and setting the last moving point position in the first fluctuation monitoring quantity as a fluctuation monitoring cut-off point position;
connecting the fluctuation monitoring starting point position and the fluctuation monitoring cut-off point position, setting the fluctuation monitoring starting point position and the fluctuation monitoring cut-off point position as fluctuation path calibration lines, and setting the moving point position between the fluctuation monitoring starting point position and the fluctuation monitoring cut-off point position as fluctuation monitoring point positions;
and setting the distance between the fluctuation monitoring point and the fluctuation path calibration line as a fluctuation monitoring distance, and adding a plurality of fluctuation monitoring distances to obtain a path fluctuation value.
Further, tracking and monitoring the target object, and optimizing the tracking path based on the data obtained by the tracking and monitoring comprises the following steps: acquiring the nearest point position of the third area tracking target object and the second supervision area, and setting the nearest point position as the point position of the second area entering the preset point position;
setting the distance between the second area entering preset point and the third area tracking target object as the second area entering distance;
calculating and updating the second area entering distance in real time, and setting a second area entering preset point position as a second area entering tracking point position when the second area entering distance is smaller than or equal to a second area entering threshold value;
connecting a second area entering tracking point position with an end point inlet, setting a second area entering tracking line, taking the end point inlet as a second radiation angle vertex, and setting a second radiation angle;
and keeping the second area entering tracking line to be an angular bisector of the second radiation angle, and setting the range of the second radiation angle in the second monitoring area as a second area tracking optimization path.
Further, tracking and monitoring the target object, and optimizing the tracking path based on the data obtained by the tracking and monitoring comprises the following steps: acquiring the nearest point position of the second area tracking target object and the first supervision area, and setting the nearest point position as the point position of the first area entering the preset point position;
setting the distance between a first area entering preset point and a second area tracking target object as a first area entering distance;
calculating and updating the first area entering distance in real time, and setting a first area entering preset point position as a first area entering tracking point position when the first area entering distance is smaller than or equal to a first area entering threshold value;
connecting a first area entering tracking point position with an end point inlet, setting a first area entering tracking line, taking the end point inlet as a first radiation angle vertex, and setting a first radiation angle;
and keeping the first area entering tracking line as an angular bisector of the first radiation angle, and setting the range of the first radiation angle in the first monitoring area as a first area tracking optimization path.
The invention has the beneficial effects that: according to the method, the regional map of the radar monitoring region is set as the monitoring regional map, the monitoring regional map is divided into a plurality of functional regions, and corresponding conventional monitoring parameters are set in the functional regions;
according to the invention, objects in a plurality of functional areas are monitored through the radar, object monitoring results are compared, the object is screened out based on the comparison results, then the object is tracked and monitored, and the tracking path is optimized based on the data obtained by tracking and monitoring.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application. The objectives and other advantages of the application will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
FIG. 1 is a flow chart of the steps of the method of the present invention;
FIG. 2 is a schematic diagram showing the division of a map of a monitored area into functional areas according to the present invention;
fig. 3 is a schematic view showing the division of the second radiation angle according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, the present invention provides a method for optimizing a tracking path of a radar target, which can set different supervision modes for areas with different risks by dividing supervision areas, and can define and optimize a tracking path of a target in advance in a supervision process, thereby being beneficial to improving accuracy of tracking the target.
The method for optimizing the tracking path of the radar target comprises the following steps: step S10, obtaining an area map of a radar monitoring area, and setting the area map as a monitoring area map; step S10 comprises the following sub-steps: step S101, a monitoring area map comprises an end point inlet and an open area, wherein the end point inlet is a point position through which a target object finally passes after passing through the open area, the open area is used for passing through the target object, for example, the end point inlet is set as a port in the coast ship supervision process, the middle point of the port is set as a point position of the end point inlet in an area plane coordinate system, and the open area is a divergent area taking the end point inlet as a starting point;
referring to fig. 2, step S102, an area plane coordinate system is established, the area plane coordinate system includes an X axis and a Y axis, the monitored area map is corresponding to the area plane coordinate system, the X axis and the Y axis of the area plane coordinate system are divided by a first interval unit, in a specific setting process, the area plane coordinate system is divided by referring to a conversion ratio of the area plane coordinate system, for example, a first interval unit represents an actual distance of 100m, and an actual distance of the first interval unit in the area coordinate system is 0.5cm;
step S103, determining coordinates of an end point inlet and an open area according to the divided area plane coordinate system, wherein the coordinates of the end point inlet are point coordinates, the coordinates of the open area are coordinates of a whole area, and a point is randomly selected in the open area, so that corresponding coordinates can be found in the area plane coordinate system.
Step S20, dividing the monitoring area map into a plurality of functional areas, wherein the functional areas comprise a first monitoring area, a second monitoring area and a third monitoring area, and setting corresponding conventional monitoring parameters in the functional areas; step S20 further comprises the following sub-steps: step S2011, setting a first dividing radius and a second dividing radius, wherein the second dividing radius is larger than the first dividing radius, the first dividing radius is set to be 2km, and the second dividing radius is set to be 5km; in fig. 2, r1 is a first dividing radius, and r2 is a second dividing radius;
step S2012, a first dividing circle is established through a first dividing radius by taking the end point inlet as a circle center, and a second dividing circle is established through a second dividing radius;
in step S2013, the portion of the first divided circle belonging to the open area is set as a first supervision area, the portion of the second divided circle belonging to the open area is set as a second supervision area, and the portion of the open area excluding the first supervision area and the second supervision area is set as a third supervision area.
Step S20 further comprises the following sub-steps: step S2021, obtaining the area of a first supervision area, dividing the area of the first supervision area by a first monitoring area to obtain a first number, setting a first number of monitoring points in the first supervision area, and setting the first monitoring area to be 5 square kilometers to set a monitoring point;
step S2022, obtaining the area of the second supervision area, dividing the area of the second supervision area by the second monitoring area to obtain a second number, and setting a second number of monitoring points in the second supervision area; setting a monitoring point position for setting the second monitoring area to be 10 square kilometers;
step S2023, obtaining the area of the third supervision area, dividing the area of the third supervision area by the third monitoring area to obtain a third number, and setting a third number of monitoring points in the third supervision area; the third monitoring area is set to 20 square kilometers to set a monitoring point, wherein the first monitoring area, the second monitoring area and the third monitoring area are areas which are required to be monitored by the monitoring point of the first monitoring area, the second monitoring area and the third monitoring area respectively, the smaller the monitoring area is, the smaller the area which is required to be monitored by each monitoring point is, the higher the monitoring precision is, so that the first monitoring area is required to be smaller than the second monitoring area and the second monitoring area is required to be smaller than the third monitoring area in specific setting, so that the monitoring precision of the first monitoring area is larger than the second monitoring area, and the monitoring precision of the second monitoring area is larger than the third monitoring area.
Step S30, monitoring objects in a plurality of functional areas through a radar, comparing object monitoring results, and screening out target objects based on the comparison results; step S30 comprises the following sub-steps: step S3011, monitoring the moving speed of the object in a third supervision area through a radar;
step S3012, setting the moving speed of the object in the third monitoring area as a third area monitoring speed, when the third area monitoring speed is greater than or equal to a third area monitoring threshold, marking the object as a third area target object, and setting the third area monitoring threshold to be 60km/h when the third area monitoring speed is specifically set;
step S3013, tracking and monitoring a third area target object, obtaining a moving point position of the third area target object, connecting the moving point positions to obtain a moving path, and marking the moving path of the third area target object in an area plane coordinate system;
step S3014, carrying out path fluctuation analysis on the moving path of the third area target object, obtaining a path fluctuation value based on the path fluctuation analysis, and setting the third area target object as a third area supervision target object when the path fluctuation value of the third area target object is more than or equal to a third path fluctuation threshold value, wherein the third path fluctuation threshold value is set to be 500m;
step S3015, obtaining the distance between the moving point position of the third area supervision object and the destination entry, setting the distance as the third area object destination distance, and sequencing the third area object destination distance from front to back according to the time of obtaining the moving point position of the third area supervision object;
step S3016, subtracting the target end point distance of the next third area from the target end point distance of the previous third area according to the sequence to obtain a target end point indentation difference value, and accumulating the target end point indentation difference values of the third area supervision targets to obtain a target end point indentation total difference value;
step S3017, setting the third area supervision object as a third area tracking object when the total difference of the target end points of the third area supervision object is greater than or equal to a third indentation threshold value, wherein the third indentation threshold value is set to be 5km; when the target destination retraction difference value obtained each time is positive, the target object is indicated to always run towards the destination entrance, if the running speed is too high, important supervision is needed, the area where the target object possibly enters is defined in advance in a second supervision area, and reinforced supervision is needed.
Step S30 further comprises the sub-steps of: step S3021, monitoring a moving speed of the object by the radar in the second supervision area;
step S3022, setting the moving speed of the object in the second monitoring area as a second area monitoring speed, when the second area monitoring speed is greater than or equal to a second area monitoring threshold, marking the object as a second area target object, and when the object enters the second monitoring area, the moving speed of the target object needs to be reduced, wherein the setting of the second area monitoring threshold is smaller than the third area monitoring threshold, and the second area monitoring threshold is set to 40km/h;
step S3023, tracking and monitoring a second area target object, obtaining a moving point position of the second area target object, connecting the moving point positions to obtain a moving path, and marking the moving path of the second area target object in an area plane coordinate system;
step S3024, performing path fluctuation analysis on the moving path of the second area target object, obtaining a path fluctuation value based on the path fluctuation analysis, setting the second area target object as a second area supervision target object when the path fluctuation value of the second area target object is greater than or equal to a second path fluctuation threshold value, wherein after entering the second supervision area, the area of the target object is reduced, the moving range of the target object is reduced, and the setting of the corresponding second path fluctuation threshold value is less than the setting of a third path fluctuation threshold value, and the second path fluctuation threshold value is set to 300m;
step S3025, obtaining a distance between a moving point location of the second area supervision object and the destination entry, setting the distance as a second area object destination distance, and sorting the second area object destination distances according to the time for obtaining the moving point location of the second area supervision object from front to back;
step S3026, subtracting the target end point distance of the second area from the target end point distance of the second area according to the sequence to obtain a target end point indentation difference value, and accumulating the target end point indentation difference values of the second area supervision targets to obtain a target end point indentation total difference value;
step S3027, when the total difference of the target end point setbacks of the second area supervision objects is greater than or equal to the second setback threshold, setting the second area supervision objects as second area tracking objects, wherein the maximum distance between the second supervision area and the end point entrance is 5km, and the maximum distance between the second supervision area and the first supervision area is 3km, so that the second setback threshold is smaller than the maximum distance between the second supervision area and the first supervision area, and the second setback threshold is set to 2km with reference to the specification;
the path fluctuation analysis in step S3014 and step S3024 includes the following sub-steps: step S3031, setting a first acquired moving point position on the moving path as a fluctuation monitoring starting point position, and setting the last moving point position in the first fluctuation monitoring quantity as a fluctuation monitoring cut-off point position; the first fluctuation monitoring quantity is set to be 5, and path fluctuation analysis is performed once every five moving points are obtained;
step S3032, connecting the fluctuation monitoring starting point position and the fluctuation monitoring cut-off point position, setting the fluctuation path calibration line, and setting the moving point position between the fluctuation monitoring starting point position and the fluctuation monitoring cut-off point position as the fluctuation monitoring point position;
step S3033, the distance between the fluctuation monitoring point position and the fluctuation path calibration line is set as the fluctuation monitoring distance, and a plurality of fluctuation monitoring distances are added to obtain a path fluctuation value.
Referring to fig. 3, step S40 is performed to track and monitor the target object, and track path optimization is performed based on the data obtained by the tracking and monitoring; step S40 further comprises the sub-steps of: step S4011, obtaining a point position of the third area tracking target object closest to the second supervision area, and setting the point position as a preset point position for the second area to enter;
step S4012, setting a distance between a second area entering preset point and a third area tracking target object as a second area entering distance;
step S4013, the entering distance of the second area is calculated and updated in real time, when the entering distance of the second area is smaller than or equal to a second entering threshold value of the second area, a preset entering point position of the second area is set as a second entering tracking point position, the second entering threshold value of the second area is set as 1km, and when the minimum distance between a tracking target object of the third area and the second monitoring area is smaller than or equal to 1km, tracking path planning is needed in the second monitoring area;
step S4014, connecting the second area entering tracking point position with the end point entrance, setting the second area entering tracking line, taking the end point entrance as a second radiation angle vertex, setting a second radiation angle, and setting the second radiation angle to be 30 degrees; in fig. 3, rf2 is the second radiation angle;
in step S4015, the second area entering tracking line is kept as an angular bisector of the second radiation angle, and the range of the second radiation angle in the second monitored area is set as the second area tracking optimization path.
Step S40 further comprises the sub-steps of: step S4021, obtaining the point position of the second area tracking target object, which is closest to the first supervision area, and setting the point position as the point position of the first area entering the preset point position;
step S4022, setting the distance between the first area entering preset point and the second area tracking target object as the first area entering distance;
step S4023, performing real-time calculation and updating on the first area entering distance, setting a first area entering preset point position as a first area entering tracking point position when the first area entering distance is smaller than or equal to a first area entering threshold value, setting the first area entering threshold value as 500m, and planning a tracking path in a first supervision area when the minimum distance between a second area tracking target object and the first supervision area is smaller than or equal to 500m;
step S4024, connecting the first area entering tracking point with the terminal point inlet, setting the first area entering tracking line as a first area entering tracking line, setting the terminal point inlet as a first radiation angle vertex, setting a first radiation angle, and adjusting the first radiation angle and the second radiation angle according to the data processing pressure and the monitoring pressure in the data processing process when the first radiation angle is set to 15 degrees, wherein the first radiation angle and the second radiation angle can be enlarged to enlarge the tracking area of the target object when the data processing pressure and the monitoring pressure in the data processing process are smaller;
in step S4025, the first area entering tracking line is kept as an angular bisector of the first radiation angle, the range of the first radiation angle in the first monitored area is set as a first area tracking optimization path, and the tracking path of the target object can be planned in advance through the obtained first area tracking optimization path and the second area tracking optimization path, so that the accuracy of tracking the target object is improved, and meanwhile, the data processing amount in the tracking process is reduced.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media having computer-usable program code embodied therein. The storage medium may be implemented by any type or combination of volatile or nonvolatile Memory devices, such as static random access Memory (Static Random Access Memory, SRAM), electrically erasable Programmable Read-Only Memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), erasable Programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), programmable Read-Only Memory (PROM), read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk, or optical disk. These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
Claims (9)
1. A method for optimizing a tracking path of a radar target, comprising: acquiring an area map of a radar monitoring area, and setting the area map as a monitoring area map;
dividing a monitoring area map into a plurality of functional areas, and setting corresponding conventional monitoring parameters in the functional areas;
monitoring objects in a plurality of functional areas through a radar, comparing object monitoring results, and screening out target objects based on the comparison results;
and tracking and monitoring the target object, and optimizing a tracking path based on the data obtained by the tracking and monitoring.
2. The method for optimizing a tracking path of a radar target according to claim 1, wherein acquiring a region map of a radar monitoring region, setting the region map as the monitoring region map further comprises: the monitoring area map comprises an end point inlet and an open area, wherein the end point inlet is a point location through which a target passes finally after passing through the open area, and the open area is used for passing the target;
establishing an area plane coordinate system, wherein the area plane coordinate system comprises an X axis and a Y axis, a monitoring area map is corresponding to the area plane coordinate system, and the X axis and the Y axis of the area plane coordinate system are divided by a first interval unit;
and determining coordinates of the end point entrance and the open area according to the divided area plane coordinate system.
3. The method of claim 2, wherein dividing the monitored area map into a plurality of functional areas comprises: setting a first dividing radius and a second dividing radius, wherein the second dividing radius is larger than the first dividing radius;
establishing a first dividing circle by using the end point inlet as a circle center and establishing a second dividing circle by using a second dividing radius;
setting a part of the first divided circle belonging to the open area as a first supervision area, setting a part of the second divided circle belonging to the open area as a second supervision area, and setting a part of the open area excluding the first supervision area and the second supervision area as a third supervision area;
the plurality of functional areas comprise a first supervision area, a second supervision area and a third supervision area.
4. A method of optimizing a tracking path of a radar target according to claim 3, wherein setting corresponding conventional monitoring parameters in a plurality of functional areas comprises: the method comprises the steps of obtaining the area of a first supervision area, dividing the area of the first supervision area by a first monitoring area to obtain a first number, and setting a first number of monitoring points in the first supervision area;
obtaining the area of a second supervision area, dividing the area of the second supervision area by a second monitoring area to obtain a second number, and setting a second number of monitoring points in the second supervision area;
obtaining the area of a third supervision area, dividing the area of the third supervision area by a third monitoring area to obtain a third number, and setting a third number of monitoring points in the third supervision area;
the first monitoring area is smaller than the second monitoring area, and the second monitoring area is smaller than the third monitoring area.
5. The method for optimizing a tracking path of a radar target according to claim 4, wherein monitoring objects in a plurality of functional areas by a radar, comparing object monitoring results, and screening out a target based on the comparison results comprises: monitoring the moving speed of the object in a third supervision area through a radar;
setting the moving speed of the object in the third monitoring area as a third area monitoring speed, and marking the object as a third area target object when the third area monitoring speed is greater than or equal to a third area monitoring threshold;
tracking and monitoring the third area target object, obtaining a moving point position of the third area target object, connecting the moving point positions to obtain a moving path, and marking the moving path of the third area target object in an area plane coordinate system;
carrying out path fluctuation analysis on the moving path of the third area target object, obtaining a path fluctuation value based on the path fluctuation analysis, and setting the third area target object as a third area supervision target object when the path fluctuation value of the third area target object is larger than or equal to a third path fluctuation threshold value;
the distance between the moving point position of the third area supervision object and the terminal point inlet is acquired, the distance is set as the third area object terminal point distance, and the third area object terminal point distances are ordered according to the time for acquiring the moving point position of the third area supervision object from front to back;
subtracting the target end point distance of the next third region from the target end point distance of the previous third region according to the sequence to obtain a target end point indentation difference value, and accumulating the target end point indentation difference values of the third region supervision targets to obtain a target end point indentation total difference value;
and when the total difference value of the target end point indentation of the third region supervision target object is larger than or equal to a third indentation threshold value, setting the third region supervision target object as a third region tracking target object.
6. The method for optimizing a tracking path of a radar target according to claim 5, wherein monitoring objects in a plurality of functional areas by a radar, comparing object monitoring results, and screening out a target based on the comparison results comprises: monitoring the moving speed of the object in a second supervision area through a radar;
setting the moving speed of the object in the second monitoring area as a second area monitoring speed, and marking the object as a second area target object when the second area monitoring speed is greater than or equal to a second area monitoring threshold;
tracking and monitoring a second area target object, obtaining a moving point position of the second area target object, connecting the moving point position to obtain a moving path, and marking the moving path of the second area target object in an area plane coordinate system;
carrying out path fluctuation analysis on the moving path of the second area target object, obtaining a path fluctuation value based on the path fluctuation analysis, and setting the second area target object as a second area supervision target object when the path fluctuation value of the second area target object is larger than or equal to a second path fluctuation threshold value;
the distance between the moving point position of the second area supervision object and the terminal point inlet is acquired, the distance is set as the second area object terminal point distance, and the second area object terminal point distances are ordered according to the time for acquiring the moving point position of the second area supervision object from front to back;
subtracting the target end point distance of the next second area from the target end point distance of the previous second area according to the sequence to obtain a target end point indentation difference value, and accumulating the target end point indentation difference values of the second area supervision targets to obtain a target end point indentation total difference value;
and when the total difference value of the target end point indentation of the second area supervision target object is larger than or equal to a second indentation threshold value, setting the second area supervision target object as a second area tracking target object.
7. The method for optimizing a tracking path of a radar target according to claim 6, wherein the path fluctuation analysis includes: setting a first acquired moving point position on a moving path as a fluctuation monitoring starting point position, and setting the last moving point position in the first fluctuation monitoring quantity as a fluctuation monitoring cut-off point position;
connecting the fluctuation monitoring starting point position and the fluctuation monitoring cut-off point position, setting the fluctuation monitoring starting point position and the fluctuation monitoring cut-off point position as fluctuation path calibration lines, and setting the moving point position between the fluctuation monitoring starting point position and the fluctuation monitoring cut-off point position as fluctuation monitoring point positions;
and setting the distance between the fluctuation monitoring point and the fluctuation path calibration line as a fluctuation monitoring distance, and adding a plurality of fluctuation monitoring distances to obtain a path fluctuation value.
8. The method for optimizing a tracking path of a radar target according to claim 6, wherein tracking and monitoring the target object, and performing the tracking path optimization based on data obtained by the tracking and monitoring comprises: acquiring the nearest point position of the third area tracking target object and the second supervision area, and setting the nearest point position as the point position of the second area entering the preset point position;
setting the distance between the second area entering preset point and the third area tracking target object as the second area entering distance;
calculating and updating the second area entering distance in real time, and setting a second area entering preset point position as a second area entering tracking point position when the second area entering distance is smaller than or equal to a second area entering threshold value;
connecting a second area entering tracking point position with an end point inlet, setting a second area entering tracking line, taking the end point inlet as a second radiation angle vertex, and setting a second radiation angle;
and keeping the second area entering tracking line to be an angular bisector of the second radiation angle, and setting the range of the second radiation angle in the second monitoring area as a second area tracking optimization path.
9. The method for optimizing a tracking path of a radar target according to claim 8, wherein tracking and monitoring the target object, and performing the tracking path optimization based on data obtained by the tracking and monitoring comprises: acquiring the nearest point position of the second area tracking target object and the first supervision area, and setting the nearest point position as the point position of the first area entering the preset point position;
setting the distance between a first area entering preset point and a second area tracking target object as a first area entering distance;
calculating and updating the first area entering distance in real time, and setting a first area entering preset point position as a first area entering tracking point position when the first area entering distance is smaller than or equal to a first area entering threshold value;
connecting a first area entering tracking point position with an end point inlet, setting a first area entering tracking line, taking the end point inlet as a first radiation angle vertex, and setting a first radiation angle;
and keeping the first area entering tracking line as an angular bisector of the first radiation angle, and setting the range of the first radiation angle in the first monitoring area as a first area tracking optimization path.
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