CN116430373A - Method for detecting sea detection ship target track by radar and storage medium - Google Patents

Method for detecting sea detection ship target track by radar and storage medium Download PDF

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CN116430373A
CN116430373A CN202310355272.2A CN202310355272A CN116430373A CN 116430373 A CN116430373 A CN 116430373A CN 202310355272 A CN202310355272 A CN 202310355272A CN 116430373 A CN116430373 A CN 116430373A
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target point
target
point
radar
threshold value
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刘仍莉
王金峰
钟雪莲
胡虹
杨雪亚
竺宏伟
顾庆远
梁之勇
邓海涛
陈仁元
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CETC 38 Research Institute
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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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • 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
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
    • 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
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

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  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
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Abstract

The embodiment of the invention provides a method for detecting a target track of a large ship by a radar and a storage medium, belonging to the technical field of radar sea detection. The detection method comprises the following steps: acquiring radar measurement values; judging whether the radar measured value is a target point or not; and under the condition that the radar measurement is judged to be the target point, positioning the target point. The method for detecting the sea detection ship target track by the radar provided by the invention comprises the steps of judging whether a radar measured value is a target point or not, determining whether the target point is a strong point target or not, and if the target point is the strong point target, carrying out main lobe constraint filtering and two-dimensional condensation to obtain an effective target point, so that radar detection results are further concentrated, and the detection positioning precision of the ship target is effectively improved.

Description

Method for detecting sea detection ship target track by radar and storage medium
Technical Field
The invention relates to the technical field of radar sea detection, in particular to a method for detecting a target track of a large ship by using radar sea detection and a storage medium.
Background
The radar can search and detect sea surface moving ship targets in a large range, obtain information such as the position, the speed, the advancing direction and the like of the sea surface ship targets, and realize detection, tracking and positioning of the sea surface targets. However, the sea surface working environment is complex, the statistical characteristics of sea clutter are not stable, and the target characteristics are not known under normal conditions, so that great difficulty is brought to realizing constant false alarm detection and high-precision positioning of a sea surface target.
The sea surface ship targets are different in size, the backward scattering sectional area of the large target is large, the output signal-to-noise ratio of the target in signal processing is large, and the number of visible times in multi-wave-level observation is increased, so that the detection is facilitated. However, due to the strong signal-to-noise ratio of the large target, the large target is easy to enter the system from the edge or the side lobe of the beam, and the original point of the target detected at the edge or the side lobe of the beam is increased in angle measurement error and deviates from the true angle measurement value, so that the original point of the same target is observed to be dispersed in azimuth and exceeds a reasonable condensation range.
The inventors of the present application found that the above-described solution of the prior art has a drawback of reducing the accuracy of target positioning in the process of implementing the present invention.
Disclosure of Invention
The invention aims to provide a method for detecting a target track of a large ship by using a radar and a storage medium.
In order to achieve the above object, an embodiment of the present invention provides a method for detecting a target track of a marine detection vessel by using a radar, including:
acquiring radar measurement values;
judging whether the radar measured value is a target point or not;
under the condition that the radar measurement is judged to be a target point, positioning the target point;
judging whether the target point is a strong point target or not;
under the condition that the target point is judged to be a strong point target, main lobe beam constraint filtering is carried out on the target point, and qualified target points are output;
performing two-dimensional aggregation on the qualified target points to obtain a rectangular area and a plurality of target points in the rectangular area;
and generating an effective target point according to the qualified target point and a plurality of target points in the rectangular area.
Optionally, determining whether the radar measurement is a target point includes:
calculating the signal-to-noise ratio of the radar measurement according to equation (1),
SCNR＝10lg(S)-10lg(C+N)，(1)
wherein, SCNR is the signal-to-noise ratio of the radar measurement value, S is the signal energy of the radar measurement value, C is the background clutter of the radar measurement value, and N is the noise energy of the radar measurement value;
judging whether the signal-to-noise ratio of the radar measured value is greater than or equal to a detection threshold value;
under the condition that the signal-to-noise ratio of the radar measured value is larger than or equal to a detection threshold value, judging the radar measured value as a target point, and positioning the target point;
and under the condition that the signal-to-noise ratio of the radar measured value is smaller than a detection threshold value, judging the radar measured value as interference, and discarding the target point.
Optionally, in the case that the radar measurement is determined to be the target point, locating the target point includes:
the amplitude ratio of the sum and difference beams of the target point is calculated according to equation (2),
Figure BDA0004163184720000031
where μ is the amplitude ratio of the sum and difference beams of the target point, Σ is the complex form of the sum beam of the target point, Σ=Σ I +jΣ Q ，Σ I Sigma is the real part of the sum beam of the target points Q For the imaginary part of the sum beam of the target point, Δ is the complex form of the difference beam of the target point, Δ=Δ I +jΔ Q ，Δ I Delta as the real part of the difference beam of the target point Q Taking the I as a modulus value for the imaginary part of the difference beam of the target point;
and acquiring the angle value of the target point according to the amplitude ratio of the sum beam and the difference beam of the target point.
Optionally, in the case that the radar measurement is determined to be the target point, locating the target point further includes:
the phase ratio of the sum and difference beams of the target point is calculated according to equation (3),
Figure BDA0004163184720000032
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure BDA0004163184720000033
for the phase ratio of the sum and difference beams of the target point, atan is an arctangent function;
judging whether the phase ratio of the sum beam and the difference beam of the target point is greater than or equal to 0;
under the condition that the phase ratio of the sum beam and the difference beam of the target point is larger than or equal to 0, the sign of the angle value is judged to be positive;
and in the case that the phase ratio of the sum beam and the difference beam of the target point is judged to be smaller than 0, judging that the sign of the angle value is negative.
Optionally, determining whether the target point is a strong point target includes:
calculating the threshold value of the strong point object according to the formula (4),
Th 1 ＝Th+α const ，(4)
wherein Th is 1 Th is the detection threshold value, alpha const Is constant;
judging whether the signal-to-noise ratio of the target point is greater than a threshold value of the strong point target;
under the condition that the signal-to-noise ratio of the target point is larger than the threshold value of the strong point target, the target point is judged to be the strong point target;
and under the condition that the signal-to-noise ratio of the target point is less than or equal to the threshold value of the strong point target, outputting the target point as a general target.
Optionally, under the condition that the target point is judged to be a strong point target, performing main lobe beam constraint filtering on the target point, and outputting the qualified target point includes:
calculating a threshold value of the main lobe beam constraint filtering angle range according to the formula (5),
Figure BDA0004163184720000041
wherein θ th Is about to main lobe beamThreshold value of beam filtering angle range, beta is constant, theta 3dB For radar working beam main lobe width, θ error The positioning precision is the positioning precision; judging whether the magnitude of the angle value is larger than or equal to the threshold value;
judging whether the magnitude of the angle value is larger than or equal to the threshold value;
under the condition that the angle value is larger than or equal to the threshold value, judging that the target point is positioned in the main lobe beam range, and outputting the target point as a qualified target point;
and if the magnitude of the angle value is judged to be smaller than the threshold value, judging that the target point is not in the range of the main lobe beam, and discarding the target point.
Optionally, performing two-dimensional aggregation on the qualified target points to obtain a rectangular region and a plurality of target points in the rectangular region includes:
calculating the range of the distance to the condensing unit according to the formula (6),
Figure BDA0004163184720000042
wherein R is bin To the extent of the condensing unit, L ship Is of the ship length, C is the speed of light, F s Is the sampling rate.
Optionally, performing two-dimensional aggregation on the qualified target points to obtain a rectangular region and a plurality of target points in the rectangular region further includes:
the azimuth condensing unit range is calculated according to the formula (7),
A bin ＝L ship /(rρ azi )，(7)
wherein A is bin For the range of the azimuth condensing units, r is the acting distance and ρ is azi Is azimuth angle resolution;
and generating a rectangular area according to the distance-oriented condensing unit range and the azimuth-oriented condensing unit range.
Optionally, generating the valid target point from the eligible target point and the plurality of target points in the rectangular area comprises:
judging whether the signal-to-noise ratio of the qualified target point is larger than any target point in the rectangular area;
under the condition that the signal-to-noise ratio of the qualified target point is larger than any target point in the rectangular area, outputting the qualified target point as an effective target point;
and discarding the qualified target point under the condition that the signal-to-noise ratio of the qualified target point is not larger than any target point in the rectangular area.
In another aspect, the present invention also provides a computer-readable storage medium storing instructions for being read by a machine to cause the machine to perform a detection method as described in any one of the above.
According to the technical scheme, the radar detection method for the sea detection of the target track of the large ship comprises the steps of judging whether a radar measured value is the target point or not, determining whether the target point is the strong point target or not, and if the target point is the strong point target, carrying out main lobe constraint filtering and two-dimensional condensation to obtain an effective target point, so that radar detection results are further concentrated, and detection positioning accuracy of the large ship target is effectively improved.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain, without limitation, the embodiments of the invention. In the drawings:
FIG. 1 is a flow chart of a method of radar to sea detection of a marine vessel target track according to one embodiment of the invention;
FIG. 2 is a flow chart of a target point determination method in a radar-to-sea detection method for detecting a target track of a large vessel according to an embodiment of the present invention;
FIG. 3 is a flow chart of target point location in a method of radar-to-sea detection of a marine vessel target track according to one embodiment of the invention;
FIG. 4 is a flow chart of strong point target determination in a radar-to-sea detection method for detecting a marine vessel target track according to one embodiment of the present invention;
FIG. 5 is a flow chart of strong point target filtering in a method of radar-to-sea detection of a marine vessel target track according to one embodiment of the invention;
FIG. 6 is a flow chart of the effective target point output in a radar-to-sea detection method for detecting a target track of a large vessel according to one embodiment of the present invention;
FIG. 7 is a plot of a neutralization beam pattern and an angle measurement curve in a method of radar versus sea detection of a marine vessel target track in accordance with one embodiment of the present invention;
FIG. 8 is an exemplary diagram of a radar to sea detection method for detecting a target track of a large vessel in accordance with one embodiment of the present invention with a main lobe constraint filter for detecting a locating target point before and after;
fig. 9 is an exemplary diagram of a main lobe constraint filter before and after a track in a method of radar versus sea detection of a target track of a large vessel according to one embodiment of the present invention.
Detailed Description
The following describes the detailed implementation of the embodiments of the present invention with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.
FIG. 1 is a flow chart of a method of radar to sea detection of a marine vessel target track according to one embodiment of the invention. In fig. 1, the probing method includes:
in step S10, radar measurement values are acquired. The radar measured value is a measured value of information such as the position of a large target such as a sea surface ship after sea detection.
In step S11, it is determined whether the radar measurement value is the target point. The radar measurement value is initially judged through the CFAR detection technology, and whether the radar measurement value is a target point or not is judged, so that preliminary screening is realized. Specifically, the CFAR detection technology is to set a CFAR detection threshold value, that is, a judgment threshold value of a target point, according to a constraint condition by maximizing the detection probability under the condition that the false alarm rate is ensured to be a constant value.
In step S12, if the radar measurement value is determined to be the target point, the target point is located. If the radar measurement is a target point, the target point needs to be further located.
In step S13, it is determined whether the target point is a strong point target. The CFAR detection technology is used for determining target points, and the target points are further divided to judge whether the target points are strong targets or weak targets. Specifically, the weak target means a target point of a small target, and the target point of the small target is output.
In step S14, if the target point is determined to be a strong point target, main lobe beam constraint filtering is performed on the target point, and a qualified target point is output. If the target point is a strong point target, main lobe beam constraint filtering needs to be performed on the strong point target to obtain a high-quality target point entering from a beam main lobe, namely a qualified target point.
In step S15, two-dimensional aggregation is performed on the target points to be joined to obtain a rectangular region and a plurality of target points in the rectangular region. The qualified target points which are output by the main lobe beam constraint are subjected to two-dimensional aggregation at multi-distance and multi-azimuth angles, so that a rectangular area and a plurality of target points in the rectangular area can be obtained.
In step S16, an effective target point is generated from the eligible target point and the plurality of target points in the rectangular area. And comparing the qualified target point with a plurality of target points in the rectangular area, finding out the strongest energy point in the rectangular area, and outputting the strongest energy point as an effective target point as a detection result of the radar on the large-scale target.
In steps S10 to S16, a preliminary determination is made on the radar measurement value to determine whether the radar measurement value is the target point. If the radar measurement is a target point, further judging whether the target point is a strong point target. If the target point is a strong point target, main lobe constraint filtering is carried out on the strong point target, and a qualified target point is output. And finally, carrying out two-dimensional aggregation on the qualified target points, and acquiring effective target points in a rectangular area formed by the two-dimensional aggregation, namely, the detection results of large targets such as large ships and the like, wherein the detection results participate in track positioning, so that tracks are more concentrated and more accurate.
When the traditional radar detects sea, the signal-to-noise ratio of targets such as large ships is high, the large targets easily enter the system from the edges of the main lobes or the side lobes of the beams, the angle measurement errors are increased and deviate from the angle measurement true values, so that the original points of the same targets are observed to be dispersed in azimuth and exceed a reasonable condensation range, and further, the positioning accuracy of the flight path is poor, so that the heading speed estimation is inaccurate. In the embodiment of the invention, a main lobe constraint filtering mode is adopted for the strong point target, so that the qualified target point of the detection output of the large target can be ensured to be a high-quality radar measured value from a main lobe wave beam, and the detection result of the radar is screened; meanwhile, the radar detection result is further screened by adopting two-dimensional condensation, so that the acquisition of the track of the large ship target is more accurate, the detection and positioning precision of the large ship target is improved, and the false alarm rate is reduced.
In this embodiment of the present invention, when the CFAR detection technique is used to detect whether the radar measurement is the target point, it is necessary to calculate the signal-to-noise ratio (SCNR) of the radar measurement, and determine the signal-to-noise ratio of the radar measurement, and the specific determination step may be as shown in fig. 2. Specifically, in fig. 2, the detection method may further include:
in step S20, the signal-to-noise ratio of the radar measurement is calculated according to equation (1),
SCNR＝10lg(S)-10lg(C+N)，(1)
wherein, SCNR is the signal-to-noise ratio of the radar measurement, the unit is decibel (dB), S is the signal energy of the radar measurement, C is the background clutter of the radar measurement, and N is the noise energy of the radar measurement.
In step S21, it is determined whether the signal-to-noise ratio of the radar measurement is greater than or equal to the detection threshold value Th.
In step S22, if it is determined that the signal-to-noise ratio of the radar measurement is greater than or equal to the detection threshold Th, the radar measurement is determined as the target point, and the target point is located. If the signal-to-noise ratio of the radar measurement value is greater than or equal to the detection threshold value Th, the radar measurement value is the target point, and the target point needs to be positioned.
In step S23, if it is determined that the signal-to-noise ratio of the radar measurement is smaller than the detection threshold Th, the radar measurement is determined to be interference, and the target point is discarded. If the signal-to-noise ratio of the radar measurement is smaller than the detection threshold value Th, the radar measurement is indicated to be interference, and the radar measurement is designed.
In step S20 to step S23, the signal-to-noise ratio of the obtained radar measurement value is calculated first, then the signal-to-noise ratio is compared with the detection threshold value Th, if the signal-to-noise ratio of the radar measurement value is greater than or equal to the detection threshold value Th, the radar measurement value is the target, otherwise, the radar measurement value is the interference, and further the preliminary judgment and screening of the radar measurement value are realized, so that the target point which preliminarily meets the requirement of the radar detection result is obtained.
In this embodiment of the present invention, it is also necessary to locate the target point after the target point is acquired. Specifically, according to the monopulse angle measurement principle, the ratio of the beam to the difference beam and the beam angle have a one-to-one correspondence, so that the angle measurement value and the direction of the target point can be measured according to the relationship, and the positioning of the target point can be realized. Specifically, the acquisition step of the target point ground goniometer value may be as shown in fig. 3. Specifically, in fig. 3, the detection method may include:
in step S30, the amplitude ratio of the sum beam and the difference beam of the target point is calculated according to formula (2),
Figure BDA0004163184720000091
where μ is the ratio of the amplitudes of the sum and difference beams of the target point, Σ is the complex form of the sum beam signal of the target point, Σ=Σ I +jΣ Q ，Σ I Sigma, the real part of the sum beam signal for the target point Q For the imaginary part of the sum beam signal of the target point, Δ is the complex form of the difference beam signal of the target point, Δ=Δ I +jΔ Q ，Δ I Is the real part of the difference beam signal of the target point, delta Q Is the imaginary part of the difference beam signal of the target point, || is modulo.
In step S31, an angle value of the target point is acquired from the amplitude ratio of the sum beam and the difference beam of the target point. In practical applications, the antenna and beam and difference beam patterns designed by the known system may be used to create corresponding angle measurement curves of the amplitude ratio and the beam angle of the sum beam and the difference beam, i.e. corresponding angle measurement values (i.e. angle values of the target point) may be obtained according to the amplitude ratio of the sum beam and the difference beam, as shown in the example of fig. 7. Specifically, in order to increase the processing speed, the angle measurement curve can be quantized to obtain an angle measurement table, and angle measurement is performed in a table look-up mode, so that the method is more convenient and rapid.
In step S32, the phase ratio of the sum beam and the difference beam of the target point is calculated according to formula (3),
Figure BDA0004163184720000101
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure BDA0004163184720000102
for the phase ratio of the sum and difference beams of the target point, atan is an arctangent function.
In step S33, it is determined whether the phase ratio of the sum beam and the difference beam of the target point is greater than or equal to 0.
In step S34, in the case where it is determined that the phase ratio of the sum beam and the difference beam of the target point is greater than or equal to 0, the sign of the determination angle value is positive. If the phase ratio of the sum beam and the difference beam of the target point is greater than or equal to 0, the sign indicating the angle value of the target point is positive.
In step S35, when it is determined that the phase ratio of the sum beam and the difference beam of the target point is less than 0, it is determined that the sign of the angle value is negative. If the phase ratio of the sum beam and the difference beam of the target point is smaller than 0, the sign of the angle value indicating the target point is negative.
In steps S30 to S35, the angle value of the target point is calculated from the amplitude ratio of the sum beam and the difference beam of the target point. And determining the direction of the target point, namely the direction from the left half-wave beam or the right half-wave beam according to the phase ratio of the sum wave beam and the difference wave beam of the target point, so that the reliable positioning of the target point can be realized.
In this embodiment of the present invention, in order to determine whether the target point is a general target or a strong target, further screening of the target point is also required, and specifically the screening step may be as shown in fig. 4. Specifically, in fig. 4, the detection method may further include:
in step S40, a threshold value of the strong point target is calculated according to formula (4),
Th 1 ＝Th+α const ，(4)
wherein Th is 1 Threshold value for strong point target, th is detection threshold value, alpha const Is constant and alpha const ≥0，α const Calculated according to the difference of the scattering areas of the classical ships.
In step S41, it is determined whether the signal-to-noise ratio of the target point is greater than the threshold value of the strong point target.
In step S42, if it is determined that the signal-to-noise ratio of the target point is greater than the threshold value of the strong point target, the target point is determined to be the strong point target. If the signal-to-noise ratio of the target point is greater than that of the strong point target, the strong point marking can be performed on the positioned target point, and the subsequent filtering processing can be performed.
In step S43, in the case where it is determined that the signal-to-noise ratio of the target point is less than or equal to the threshold value of the strong point target, the target point is output as a general target. If the signal-to-noise ratio of the target point is smaller than or equal to the threshold value of the strong point target, the target point is a weak small target (small target), and the weak small target can be directly output as a general target. In this way, it is possible to prevent the loss of a small target and to suppress the track break of a large target such as a large ship.
In steps S40 to S43, a threshold value of the strong point target is acquired, and the target point that has been located is compared with the threshold value of the strong point target. If the target point is larger than the threshold value of the strong point target, the target point is judged to be the strong point target, and the next filtering process is carried out. Meanwhile, if the target point is smaller than or equal to the threshold value of the strong point target, the target point is a weak and small target and is directly output. The method can ensure that the track splitting of a large target is inhibited under the condition that a weak target is not lost, and has wider applicability.
In this embodiment of the invention, in order to improve the accuracy of the radar detection results, it is also necessary to filter the strong point targets to discard the target points where large targets enter the radar system from the beam main lobe edge or side lobe. In particular the filtering step may be as shown in fig. 5. Specifically, in fig. 5, the detection method may further include:
in step S50, a threshold value of the main lobe beam constraint filter angle range is calculated according to formula (5),
Figure BDA0004163184720000121
wherein θ th The threshold value of the main lobe wave beam constraint filtering angle range is that beta is constant and theta 3dB For radar working beam main lobe width, θ error The positioning precision is the positioning precision; whether the magnitude of the angle value is larger than or equal to a threshold value is judged. Specifically, θ error Is a known parameter, typically the index requirement of the system.
In step S51, it is determined whether the magnitude of the angle value is greater than or equal to a threshold value.
In step S52, in the case where the magnitude of the angle value is determined to be greater than or equal to the threshold value, it is determined that the target point is located within the main lobe beam range, and the target point is output as a qualified target point. The large-scale target with strong energy easily enters the radar system from the edge of the main lobe or the side lobe of the beam, and the angle measurement error of the target point entering at the main lobe or the side lobe of the beam is increased, and the position of the target point observing the same target is dispersed in azimuth angle due to the deviation from the angle measurement true value. Under the condition, scattered target points participate in track formation, so that the problem of target track splitting of a large ship can be generated, a plurality of false tracks are formed, and the accuracy of target positioning is reduced. Therefore, a high-quality target point where the beam main lobe enters is reserved, and the separation of a large-scale target track can be effectively restrained.
In step S53, when it is determined that the magnitude of the angle value is smaller than the threshold value, it is determined that the target point is not within the main lobe beam range, and the target point is discarded. And in the same way, the target point entering from the edge of the main lobe or the side lobe of the beam is abandoned, so that the precision of the large target track can be improved.
In steps S50 to S53, after a threshold value of the main lobe beam constraint filter angle range is calculated, the angle value of the strong point target is compared with the threshold value. If the angle value of the strong point target is larger than or equal to the threshold value, the strong point target is indicated to be in the range of the main lobe beam, and the strong point target is reserved; otherwise, discarding the strong point object. The method of limiting the strong point target by the threshold value of the main lobe beam constraint filtering angle range can reduce the influence of the main lobe edge or the target point entering the auxiliary lobe on the splitting of the large target track, namely the precision of the large target track is effectively improved. Specifically, the main lobe constraint front and rear large ship target multiframe continuous detection positioning target point result may be as an example shown in fig. 8, and the main lobe constraint front and rear large ship target track result may be as an example shown in fig. 9.
In this embodiment of the present invention, after the main lobe beam constraint is performed on the strong point target, an effective target point needs to be obtained according to the strong point target meeting the constraint condition, specifically, the steps may include, as shown in fig. 6, specifically, in fig. 6, the detection method may include:
in step S60, the range of the distance to the condensing unit is calculated according to formula (6),
Figure BDA0004163184720000131
wherein R is bin To the extent of the coacervation unit, L ship Is of the ship length, C is the speed of light, F s Is the sampling rate.
In step S61, the azimuth condensing unit range is calculated according to formula (7),
A bin ＝L ship /(rρ azi )，(7)
wherein A is bin Is the range of azimuth condensing units, r is the acting distance and ρ is azi Is the azimuth angle resolution.
In step S62, a rectangular region is generated from the distance-wise aggregation unit range and the azimuth-wise aggregation unit range.
In step S63, it is determined whether the signal-to-noise ratio of the qualified target point is greater than any one target point in the rectangular region.
In step S64, in the case where it is determined that the signal-to-noise ratio of the eligible target point is greater than any one target point in the rectangular area, the eligible target point is output as an effective target point. If the signal-to-noise ratio of the qualified target point is larger than that of any target point in the rectangular area, the maximum energy of the qualified target point is indicated, the qualified target point is used as an effective target point to be output, and the effective target point is used as a detection result of the radar on the large-scale target.
In step S65, in the case where it is determined that the signal-to-noise ratio of the eligible target point is not greater than any one of the target points in the rectangular area, the eligible target point is discarded. If the signal-to-noise ratio of the qualified target point is not larger than any target point in the rectangular area, the qualified target point is not the target point with the largest energy in the rectangular area, and the qualified target point is discarded. Specifically, according to the target point with the largest output energy (the largest signal-to-noise ratio) as a criterion, the target point with the largest energy in the rectangular area is output as a detection result of the radar on the large-scale target detection, so that the detection result of the radar on the large-scale target detection is more concentrated, and the risk of splitting a large-scale target track is reduced.
In step S60 to step S65, a two-dimensional aggregation distance aggregation unit range and an azimuth aggregation unit azimuth are acquired, a two-dimensional aggregation rectangular range is acquired according to the distance aggregation unit range and the azimuth aggregation unit azimuth, and a target point with the largest capability in the rectangular range is taken as a radar detection result. The mode enables the detection result positions of the radar for large-scale target detection to be more centralized, and reduces the risk of large-scale target track splitting.
In another aspect, the present invention also provides a computer-readable storage medium storing instructions for being read by a machine to cause the machine to perform any one of the above detection methods.
According to the technical scheme, the radar detection method for the sea detection of the target track of the large ship comprises the steps of judging whether a radar measured value is the target point or not, determining whether the target point is the strong point target or not, and if the target point is the strong point target, carrying out main lobe constraint filtering and two-dimensional condensation to obtain an effective target point, so that radar detection results are further concentrated, and detection positioning accuracy of the large ship target is effectively improved.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
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.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.

Claims (10)

1. A method for detecting a sea detection ship target track by using a radar is characterized by comprising the following steps:
acquiring radar measurement values;
judging whether the radar measured value is a target point or not;
under the condition that the radar measurement is judged to be a target point, positioning the target point;
judging whether the target point is a strong point target or not;
under the condition that the target point is judged to be a strong point target, main lobe beam constraint filtering is carried out on the target point, and qualified target points are output;
performing two-dimensional aggregation on the qualified target points to obtain a rectangular area and a plurality of target points in the rectangular area;
and generating an effective target point according to the qualified target point and a plurality of target points in the rectangular area.
2. The detection method according to claim 1, wherein determining whether the radar measurement is a target point comprises:
calculating the signal-to-noise ratio of the radar measurement according to equation (1),
SCNR＝10lg(S)-10lg(C+N)， (1)
wherein, SCNR is the signal-to-noise ratio of the radar measurement value, S is the signal energy of the radar measurement value, C is the background clutter of the radar measurement value, and N is the noise energy of the radar measurement value;
judging whether the signal-to-noise ratio of the radar measured value is greater than or equal to a detection threshold value;
under the condition that the signal-to-noise ratio of the radar measured value is larger than or equal to a detection threshold value, judging the radar measured value as a target point, and positioning the target point;
and under the condition that the signal-to-noise ratio of the radar measured value is smaller than a detection threshold value, judging the radar measured value as interference, and discarding the target point.
3. The detection method according to claim 2, wherein in the case where the radar measurement is determined to be a target point, locating the target point includes:
the amplitude ratio of the sum and difference beams of the target point is calculated according to equation (2),
Figure FDA0004163184710000021
wherein μ is the sum and difference beams of the target pointAmplitude ratio, Σ is complex form of sum beam of the target point, Σ=Σ I +jΣ q ，Σ I Sigma is the real part of the sum beam of the target points Q For the imaginary part of the sum beam of the target point, Δ is the complex form of the difference beam of the target point, Δ=Δ I +jΔ Q ，Δ I Delta as the real part of the difference beam of the target point Q Taking the I as a modulus value for the imaginary part of the difference beam of the target point;
and acquiring the angle value of the target point according to the amplitude ratio of the sum beam and the difference beam of the target point.
4. The detection method according to claim 3, wherein in the case where the radar measurement is determined to be a target point, locating the target point further includes:
the phase ratio of the sum and difference beams of the target point is calculated according to equation (3),
Figure FDA0004163184710000022
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure FDA0004163184710000023
for the phase ratio of the sum and difference beams of the target point, atan is an arctangent function;
judging whether the phase ratio of the sum beam and the difference beam of the target point is greater than or equal to 0;
under the condition that the phase ratio of the sum beam and the difference beam of the target point is larger than or equal to 0, the sign of the angle value is judged to be positive;
and in the case that the phase ratio of the sum beam and the difference beam of the target point is judged to be smaller than 0, judging that the sign of the angle value is negative.
5. The detection method according to claim 4, wherein determining whether the target point is a strong point target comprises:
calculating the threshold value of the strong point object according to the formula (4),
Th 1 ＝Th+α const ， (4)
wherein Th is 1 Th is the detection threshold value, alpha const Is constant;
judging whether the signal-to-noise ratio of the target point is greater than a threshold value of the strong point target;
under the condition that the signal-to-noise ratio of the target point is larger than the threshold value of the strong point target, the target point is judged to be the strong point target;
and under the condition that the signal-to-noise ratio of the target point is less than or equal to the threshold value of the strong point target, outputting the target point as a general target.
6. The detection method according to claim 5, wherein, in the case where the target point is determined to be a strong point target, performing main lobe beam constraint filtering on the target point, and outputting a qualified target point includes:
calculating a threshold value of the main lobe beam constraint filtering angle range according to the formula (5),
Figure FDA0004163184710000031
wherein θ th The threshold value of the main lobe wave beam constraint filtering angle range is that beta is constant and theta 3dB For radar working beam main lobe width, θ error The positioning precision is the positioning precision; judging whether the magnitude of the angle value is larger than or equal to the threshold value;
judging whether the magnitude of the angle value is larger than or equal to the threshold value;
under the condition that the angle value is larger than or equal to the threshold value, judging that the target point is positioned in the main lobe beam range, and outputting the target point as a qualified target point;
and if the magnitude of the angle value is judged to be smaller than the threshold value, judging that the target point is not in the range of the main lobe beam, and discarding the target point.
7. The detection method according to claim 6, wherein performing two-dimensional aggregation on the eligible target points to obtain a rectangular region and a plurality of target points in the rectangular region comprises:
calculating the range of the distance to the condensing unit according to the formula (6),
Figure FDA0004163184710000041
wherein R is bin To the extent of the condensing unit, L ship Is of the ship length, C is the speed of light, F s Is the sampling rate.
8. The detection method according to claim 7, wherein performing two-dimensional aggregation on the eligible target points to obtain a rectangular region and a plurality of target points in the rectangular region further comprises:
the azimuth condensing unit range is calculated according to the formula (7),
A bin ＝L ship /(rρ azi )， (7)
wherein A is bin For the range of the azimuth condensing units, r is the acting distance and ρ is azi Is azimuth angle resolution;
and generating a rectangular area according to the distance-oriented condensing unit range and the azimuth-oriented condensing unit range.
9. The detection method of claim 8, wherein generating an effective target point from the eligible target point and a plurality of target points in the rectangular area comprises:
judging whether the signal-to-noise ratio of the qualified target point is larger than any target point in the rectangular area;
under the condition that the signal-to-noise ratio of the qualified target point is larger than any target point in the rectangular area, outputting the qualified target point as an effective target point;
and discarding the qualified target point under the condition that the signal-to-noise ratio of the qualified target point is not larger than any target point in the rectangular area.
10. A computer readable storage medium storing instructions for being read by a machine to cause the machine to perform the detection method of any one of claims 1 to 9.
CN202310355272.2A 2023-03-31 2023-03-31 Method for detecting sea detection ship target track by radar and storage medium Pending CN116430373A (en)

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