CN118033777A - Target compounding algorithm based on electromagnetic detector and photoelectric detector data - Google Patents
Target compounding algorithm based on electromagnetic detector and photoelectric detector data Download PDFInfo
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Abstract
The invention relates to a target compounding algorithm based on electromagnetic detector and photoelectric detector data, which comprises the following steps: s1, data access; s2, synchronizing in real time; s3, data conversion; s4, unifying a coordinate system; s5, concentric error processing; s6, target position mapping processing: judging whether the targets detected by the electromagnetic detector and the photoelectric detector are the same target or not by adopting a target position mapping algorithm; s7, target threat judgment: and finally judging the threat level of the target according to the specific target position information detected and judged by the S6 according to the electronic fence divided by the detection area by the user. The method is based on an electromagnetic detector and a photoelectric detector, and the same target is determined to be the same target through the combination of detection data output of two different types of detectors, and more effective attribute data of the target are acquired. By the technical application of the method, the false alarm rate of the detection target can be effectively reduced, the usability of the detection equipment is improved, and the influence of the environment on the detection equipment is reduced.
Description
Technical Field
The invention relates to the field of detection, in particular to a target compounding algorithm based on electromagnetic detector and photoelectric detector data.
Background
The detector for the security field in the market at present generally has the problems of high false alarm rate and large environmental influence. Even if a plurality of detectors are installed in the same security area, the data of the detectors are not consistent in data attribute and attribute unit output by each detector in the monitoring platform, so that simple information superposition is only performed, and effective application of the data attribute of each detector is not realized. In the prior art, no better solution to the technical problems is available at present.
Disclosure of Invention
Aiming at the technical problems in the related art, the invention provides a target compounding algorithm based on electromagnetic detector and photoelectric detector data, which can overcome the defects in the prior art.
In order to achieve the technical purpose, the technical scheme of the invention is realized as follows:
The invention provides a target compounding algorithm based on electromagnetic detector and photoelectric detector data, which comprises the following steps:
S1, data access: the detection equipment is connected to the data output end of the electromagnetic detector, the data output end of the photoelectric detector and the auxiliary module unit; the auxiliary module unit is used for testing information data such as time, position, azimuth or orientation of the detection equipment or generating and sending out warning data;
s2, real-time synchronization: the method comprises the steps of performing clock unification and time point unification on target data detected and output by the electromagnetic detector and the photoelectric detector respectively, namely performing effective and reasonable deduction on the target data of the electromagnetic detector and the photoelectric detector through time difference;
s3, data conversion: acquiring the orientation of the detection equipment and correcting the orientation so that the detection equipment can detect a target object, acquiring target position information I through the photoelectric detector, and acquiring target position information II through the electromagnetic detector;
After acquiring real-time position information of the detection equipment through the auxiliary module unit, converting the first target position information and the second target position information into a first target coordinate system and a second target coordinate system which express geodetic coordinate information respectively based on the real-time position information of the detection equipment;
In implementation, the data given by the detector are all data with the detector facing 0 degrees (in true north direction), but in actual installation, the orientation of the detection equipment is not necessarily true north (azimuth 0), so that the azimuth needs to be corrected to ensure the true accuracy of the detection data;
s4, unifying a coordinate system: converting the first target coordinate system and the second target coordinate system into a corresponding first rectangular coordinate system and a corresponding second rectangular coordinate system respectively, and then unifying the first rectangular coordinate system and the second rectangular coordinate system into a total rectangular coordinate system in a coordinate conversion mode;
When the method is implemented, after coordinate conversion, the target appears above an image when the target is far away from the detection equipment, and appears below the image when the target is close to the detection equipment; and when the target appears in the first quadrant and the fourth quadrant of the total rectangular coordinate system, the target information output by the photoelectric detector is consistent with the target information output by the electromagnetic detector in sign.
S5, concentric error processing: adopting a concentric error algorithm to eliminate errors caused by the fact that the electromagnetic detector and the photoelectric detector are not concentric in the total rectangular coordinate system;
s6, target position mapping processing: judging whether the targets detected by the electromagnetic detector and the photoelectric detector are the same target or not by adopting a target position mapping algorithm;
S7, target threat judgment: and finally judging the threat level of the target according to the specific target position information detected and judged by the S6 according to the electronic fence divided by the detection area by the user.
Further, the electromagnetic detector is used for detecting information such as azimuth, distance and the like of the target through the reflection principle of electromagnetic waves, and acquiring the moving speed and direction of the target through Doppler phenomenon;
The photoelectric detector is used for imaging a target to acquire target information.
Further, the auxiliary module unit preferably comprises a GPS/Beidou module, an electronic compass module and a switching value generator module.
Further, the GPS/Beidou module is used for providing accurate time data and real-time position information of the detection equipment;
the electronic compass module is used for providing azimuth information, namely the direction, of the detection surface of the detection equipment;
the switching value generator module is used for generating warning information or switching value information.
Further, the specific step of S3 is as follows:
S301, after the orientation of the detection equipment is obtained through the auxiliary module unit, correcting the orientation of the detection equipment to enable the detection equipment to detect a target object, obtaining target position information I through the photoelectric detector, and obtaining target position information II through the electromagnetic detector;
s302: acquiring real-time position information of the detection equipment through the auxiliary module unit;
S303: converting the first target position information (i.e., the pixel point in the image) into a first target coordinate system (as shown in fig. 2) with the upper left corner of the corresponding image as the origin, the downward direction as the Y-axis forward direction, and the rightward direction as the X-axis forward direction based on the real-time position information acquired in S302;
S304: based on the real-time position information acquired in S302, the target position information two is converted into the target coordinate system two (as shown in fig. 3) rotated by the sequential needle with the true north being 0 azimuth.
Further, the step S4 specifically includes the following substeps:
S401: converting the target coordinate system I into a rectangular coordinate system I which takes half of the width of an image as an origin, takes the lower side of the image as an X axis, takes the right direction as the X axis and takes the upward direction as the Y axis positive direction;
s402: converting the target coordinate system II into a rectangular coordinate system II with the direction of the detection equipment as the Y-axis positive direction and the right direction as the X-axis positive direction;
s403: finally, the first rectangular coordinate system and the second rectangular coordinate system are combined to form the final total rectangular coordinate system (as shown in fig. 4).
Further, the concentric error algorithm in S5 (as shown in fig. 5) includes the steps of:
s501: selecting a rectangular coordinate system with an origin of O and target coordinate values of (X1, Y1);
S502: converting the rectangular coordinate system into a concentric coordinate system with an origin of O ', the target coordinate values in the concentric coordinate system being converted into (X ' 1, y ' 1);
s503: then, measuring the coordinates of O 'in the rectangular coordinate system as (Xo 1, yo 1) according to the position relation between O and O';
s504: calculating the (X '1, y' 1) by the following formula:
Xˊ1＝X1-Xo1；
Yˊ1＝Y1-Yo1。
further, the specific step of S6 is as follows:
S601, naming the target position information acquired by the photodetector as a point set T ' (x ', y '), and the unit is a pixel; the second target position information acquired by the electromagnetic detector is named as a point set T (x, y) and the unit is meter;
S602: establishing a mapping relation corresponding to each point position for the T '(x, y') and the T (x, y) through a static data acquisition method or a dynamic data acquisition method (as shown in fig. 6), and generating a fitting formula according to the mapping relation;
s603: substituting each numerical value in the T '(x, y') into the fitting formula successively to calculate, and taking the maximum difference between the calculated value of the fitting formula and the corresponding actual value of the T (x, y) as an error extremum, wherein the error extremum is used for judging whether the values belong to the same target;
S604: firstly, selecting the position information of a certain target N acquired by the photoelectric detector, and calculating an expected point Q of the target position of the electromagnetic detector corresponding to the position information through the fitting formula;
S605: traversing the position information of all the targets acquired by the electromagnetic detector, and judging that the target M and the target N are the same target if the difference value between the position information of one target M and the expected point Q is found to be within the error extremum; otherwise, the object is not found after traversing, and the judgment is not the same object.
Further, the process of generating the fitting formula in S602 is:
S6021: selecting each photoelectric point (X ', Y') in the T '(X, Y'), and each corresponding electromagnetic point (X, Y) in the T (X, Y), namely establishing the mapping relation;
s6022: according to the mapping relation, a data relation set Tn (Xn, yn) is calculated by the following formula:
Xn＝Xˊ/X；
Yn＝Yˊ/Y；
s6023: and finally, obtaining a linear relation formula between each Xn and the corresponding X and Yn and the corresponding Y, namely the fitting formula.
Further, the electronic fence is preferably a closed loop area.
Further, the shape of the electronic fence is determined according to actual needs, and the electronic fence can be rectangular, square, polygonal or round.
Further, the specific step of S7 is as follows:
s701, dividing the electronic fence into a plurality of early warning areas or warning areas;
S702: the specific target after detection and judgment in S6 is judged to be positioned in which region according to the position information, and then different threat values are assigned according to the region type and the target type;
s703: finding a central point of each region, and then taking a ratio of a distance between a specific target and each central point to half of a maximum distance between two points in each region as an auxiliary threat value;
S704: the true threat value of the specific target is obtained by adding the threat value judged by the region and the auxiliary threat value with different weights. In implementation, if the targets are only endowed with threat values according to the areas, a plurality of targets with equal threat values in the same kind of areas exist, so that management and sequencing of the targets are not facilitated. Therefore, through the unique step design of the S7, the real threat level of the targets can be represented, a plurality of targets can be effectively managed through sequencing, and better management of target detection is facilitated.
The beneficial effects of the present disclosure are: the method is based on electromagnetic detector and photoelectric detector data, the same target is compositely judged to be the same target through detection data output of two different types of detectors through technical innovation, and more effective attribute data of the target are acquired. By the technical application of the method, the false alarm rate of the detection target can be effectively reduced, the usability of the detection equipment is improved, and the influence of the environment on the detection equipment is reduced.
The method combines the electromagnetic detector and the photoelectric detector data, avoids the fact that the electromagnetic detector cannot give specific types of targets (people, vehicles or small animals and the like) and has high false alarm rate when the sensitivity is high, and also avoids the fact that the photoelectric detector only has the function of imaging the targets. The method and the device can be used for identifying and analyzing the target image, can acquire the type of the target (human, vehicle or animal and the like) and the relative position information (pixel point) of the target in the image, and have the following advantages: (A) Whether targets exist in the image or not is given out through image analysis, and false verification is carried out on the targets output by the electromagnetic detector under high sensitivity, so that false alarm rate of detection equipment can be effectively reduced; (B) When the true target exists, whether the target is from the same target or not can be effectively judged through the relative position information (pixel points) of the target in the image and the electromagnetic attribute (azimuth and distance) of the target at the same time point, and if the target is from the same target, the attribute of the target type (human, vehicle or animal) can be obtained. Different targets can be effectively monitored and managed through the target types and the electronic fence; (C) Under the condition of limited environment (the environment leads to the failure of the information of the photoelectric detector), the detection device can give an alarm in time by reducing the detection sensitivity of the electromagnetic detector and sacrificing some detection performance.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method of the target compounding algorithm according to the present invention.
Fig. 2 is a first target coordinate system corresponding to the photodetector according to the present invention.
Fig. 3 is a second target coordinate system corresponding to the electromagnetic detector according to the present invention.
Fig. 4 is a diagram of the combined rectangular coordinate system according to the present invention.
Fig. 5 is a concentric coordinate system corresponding to the concentric error algorithm according to the present invention.
Fig. 6 is a schematic diagram of the dynamic data acquisition method according to the present invention. In fig. 6, red represents the effective detection area of the photodetector and the set of T' (x, y) acquired when the target is in motion; black represents the effective detection area of the electromagnetic detector and the set of T (x, y) acquired as the target moves.
Fig. 7 is a schematic diagram of the application of the fitting formula according to the present invention.
Fig. 8 is a schematic diagram of the generation of YN in the fitting formula according to the present invention.
Fig. 9 is a schematic diagram of the generation of XN in the fitting equation 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 are derived by a person skilled in the art based on the embodiments of the invention, fall within the scope of protection of the invention.
As shown in fig. 1 to 9, in order to facilitate understanding of the above technical solutions of the present invention, the following describes the above technical solutions of the present invention in detail by a specific usage manner.
The target compounding algorithm based on the electromagnetic detector and photoelectric detector data provided by the invention comprises the following steps:
S1, data access: the detection equipment is connected to the data output end of the electromagnetic detector, the data output end of the photoelectric detector and the auxiliary module unit; the auxiliary module unit is used for testing information data such as time, position, azimuth or orientation of the detection equipment or generating and sending out warning data;
s2, real-time synchronization: the method comprises the steps of performing clock unification and time point unification on target data detected and output by the electromagnetic detector and the photoelectric detector respectively, namely performing effective and reasonable deduction on the target data of the electromagnetic detector and the photoelectric detector through time difference;
s3, data conversion: acquiring the orientation of the detection equipment and correcting the orientation so that the detection equipment can detect a target object, acquiring target position information I through the photoelectric detector, and acquiring target position information II through the electromagnetic detector;
After acquiring real-time position information of the detection equipment through the auxiliary module unit, converting the first target position information and the second target position information into a first target coordinate system and a second target coordinate system which express geodetic coordinate information respectively based on the real-time position information of the detection equipment;
In implementation, the data given by the detector are all data with the detector facing 0 degrees (in true north direction), but in actual installation, the orientation of the detection equipment is not necessarily true north (azimuth 0), so that the azimuth needs to be corrected to ensure the true accuracy of the detection data;
s4, unifying a coordinate system: converting the first target coordinate system and the second target coordinate system into a corresponding first rectangular coordinate system and a corresponding second rectangular coordinate system respectively, and then unifying the first rectangular coordinate system and the second rectangular coordinate system into a total rectangular coordinate system in a coordinate conversion mode;
When the method is implemented, after coordinate conversion, the target appears above an image when the target is far away from the detection equipment, and appears below the image when the target is close to the detection equipment; and when the target appears in the first quadrant and the fourth quadrant of the total rectangular coordinate system, the target information output by the photoelectric detector is consistent with the target information output by the electromagnetic detector in sign.
S5, concentric error processing: adopting a concentric error algorithm to eliminate errors caused by the fact that the electromagnetic detector and the photoelectric detector are not concentric in the total rectangular coordinate system;
s6, target position mapping processing: judging whether the targets detected by the electromagnetic detector and the photoelectric detector are the same target or not by adopting a target position mapping algorithm;
S7, target threat judgment: and finally judging the threat level of the target according to the specific target position information detected and judged by the S6 according to the electronic fence divided by the detection area by the user.
In a preferred embodiment, the electromagnetic detector is used for detecting information such as azimuth, distance and the like of the target through the reflection principle of electromagnetic waves, and acquiring the moving speed and direction of the target through the Doppler phenomenon;
The photoelectric detector is used for imaging a target to acquire target information.
In a preferred embodiment, the auxiliary module unit preferably comprises a GPS/beidou module, an electronic compass module and a switching value generator module.
In a preferred embodiment, the GPS/beidou module is used for providing accurate time data and real-time location information of the detection device;
the electronic compass module is used for providing azimuth information, namely the direction, of the detection surface of the detection equipment;
the switching value generator module is used for generating warning information or switching value information.
In a preferred embodiment, the specific step of S3 is as follows:
S301, after the orientation of the detection equipment is obtained through the auxiliary module unit, correcting the orientation of the detection equipment to enable the detection equipment to detect a target object, obtaining target position information I through the photoelectric detector, and obtaining target position information II through the electromagnetic detector;
s302: acquiring real-time position information of the detection equipment through the auxiliary module unit;
S303: converting the first target position information (i.e., the pixel point in the image) into a first target coordinate system (as shown in fig. 2) with the upper left corner of the corresponding image as the origin, the downward direction as the Y-axis forward direction, and the rightward direction as the X-axis forward direction based on the real-time position information acquired in S302;
S304: based on the real-time position information acquired in S302, the target position information two is converted into the target coordinate system two (as shown in fig. 3) rotated by the sequential needle with the true north being 0 azimuth.
In a preferred embodiment, the step S4 specifically includes the following substeps:
S401: converting the target coordinate system I into a rectangular coordinate system I which takes half of the width of an image as an origin, takes the lower side of the image as an X axis, takes the right direction as the X axis and takes the upward direction as the Y axis positive direction;
s402: converting the target coordinate system II into a rectangular coordinate system II with the direction of the detection equipment as the Y-axis positive direction and the right direction as the X-axis positive direction;
s403: finally, the first rectangular coordinate system and the second rectangular coordinate system are combined to form the final total rectangular coordinate system (as shown in fig. 4).
In a preferred embodiment, the concentric error algorithm in S5 (as shown in fig. 5) comprises the steps of:
s501: selecting a rectangular coordinate system with an origin of O and target coordinate values of (X1, Y1);
S502: converting the rectangular coordinate system into a concentric coordinate system with an origin of O ', the target coordinate values in the concentric coordinate system being converted into (X ' 1, y ' 1);
s503: then, measuring the coordinates of O 'in the rectangular coordinate system as (Xo 1, yo 1) according to the position relation between O and O';
s504: calculating the (X '1, y' 1) by the following formula:
Xˊ1＝X1-Xo1；
Yˊ1＝Y1-Yo1。
In a preferred embodiment, the specific step of S6 is as follows:
S601, naming the target position information acquired by the photodetector as a point set T ' (x ', y '), and the unit is a pixel; the second target position information acquired by the electromagnetic detector is named as a point set T (x, y) and the unit is meter;
S602: establishing a mapping relation corresponding to each point position for the T '(x, y') and the T (x, y) through a static data acquisition method or a dynamic data acquisition method (as shown in fig. 6), and generating a fitting formula according to the mapping relation;
s603: substituting each numerical value in the T '(x, y') into the fitting formula successively to calculate, and taking the maximum difference between the calculated value of the fitting formula and the corresponding actual value of the T (x, y) as an error extremum, wherein the error extremum is used for judging whether the values belong to the same target;
S604: firstly, selecting the position information of a certain target N acquired by the photoelectric detector, and calculating an expected point Q of the target position of the electromagnetic detector corresponding to the position information through the fitting formula;
S605: traversing the position information of all the targets acquired by the electromagnetic detector, and judging that the target M and the target N are the same target if the difference value between the position information of one target M and the expected point Q is found to be within the error extremum; otherwise, the object is not found after traversing, and the judgment is not the same object.
In a preferred embodiment, the process of generating the fitting formula in S602 is:
S6021: selecting each photoelectric point (X ', Y') in the T '(X, Y'), and each corresponding electromagnetic point (X, Y) in the T (X, Y), namely establishing the mapping relation;
s6022: according to the mapping relation, a data relation set Tn (Xn, yn) is calculated by the following formula:
Xn＝Xˊ/X；
Yn＝Yˊ/Y；
s6023: and finally, obtaining a linear relation formula between each Xn and the corresponding X and Yn and the corresponding Y, namely the fitting formula.
In a preferred embodiment, the electronic fence is preferably a closed loop area.
In a preferred embodiment, the shape of the electronic fence is rectangular, square, polygonal or circular, etc. as required.
In a preferred embodiment, the specific step of S7 is as follows:
s701, dividing the electronic fence into a plurality of early warning areas or warning areas;
S702: the specific target after detection and judgment in S6 is judged to be positioned in which region according to the position information, and then different threat values are assigned according to the region type and the target type;
s703: finding a central point of each region, and then taking a ratio of a distance between a specific target and each central point to half of a maximum distance between two points in each region as an auxiliary threat value;
S704: the true threat value of the specific target is obtained by adding the threat value judged by the region and the auxiliary threat value with different weights. In implementation, if the targets are only endowed with threat values according to the areas, a plurality of targets with equal threat values in the same kind of areas exist, so that management and sequencing of the targets are not facilitated. Therefore, through the unique step design of the S7, the real threat level of the targets can be represented, a plurality of targets can be effectively managed through sequencing, and better management of target detection is facilitated.
The method for generating the fitting formula belongs to the prior art, belongs to common sense related to the technical field of detection, and can be realized by adopting related office software and other common sense. The specific steps (as shown in fig. 8 and 9) for the applicant to specifically generate the relevant fitting formula are:
(A) Establishing a mapping relation corresponding to each point location for the T '(x, y') and the T (x, y), and importing all data into a WPS table (as shown in fig. 8).
(B) Yn is calculated from the formula yn=y'/Y and the Yn dataset is stored in column K.
(C) Selecting the column E and the column K simultaneously by using a mouse, clicking the 'insert' - 'insert scatter diagram' in the menu bar to generate a chart.
(D) Data points in the chart are selected, then the right key is clicked, and the 'adding trend chart' is selected in a right key menu.
(E) Selecting data points in the chart, clicking a right key, selecting 'set trend line format' in a right key menu, and popping up a trend line attribute menu on the right.
(F) Selecting a "trend line option" in the properties menu, and selecting an appropriate fitting formula and fine tuning to bring the fitting formula into "overlap" with the data points in the scatter plot.
(G) Selecting a display formula in the attribute menu and then displaying a required fitting formula in the chart.
(H) The fitting formula for Xn derives a derivation similar to Yn.
In summary, by means of the above technical solution of the present invention, the present disclosure is based on electromagnetic detector and photoelectric detector data, and by technological innovation, the same target is determined to be the same target through the combination of the detection data output of two different types of detectors, and more effective attribute data of the target are obtained. By the technical application of the method, the false alarm rate of the detection target can be effectively reduced, the usability of the detection equipment is improved, and the influence of the environment on the detection equipment is reduced.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (10)
1. A target compounding algorithm based on electromagnetic detector and photodetector data, comprising the steps of:
s1, data access: the detection equipment is connected to the data output end of the electromagnetic detector, the data output end of the photoelectric detector and the auxiliary module unit; the auxiliary module unit is used for testing information data of time, position, azimuth or orientation of the detection equipment or generating and sending out warning data;
S2, real-time synchronization: the clock unification and the time point unification are carried out on the target data detected and output by the electromagnetic detector and the photoelectric detector respectively;
s3, data conversion: acquiring the orientation of the detection equipment and correcting the orientation so that the detection equipment can detect a target object, acquiring target position information I through the photoelectric detector, and acquiring target position information II through the electromagnetic detector;
After acquiring real-time position information of the detection equipment through the auxiliary module unit, converting the first target position information and the second target position information into a first target coordinate system and a second target coordinate system which express geodetic coordinate information respectively based on the real-time position information of the detection equipment;
s4, unifying a coordinate system: converting the first target coordinate system and the second target coordinate system into a corresponding first rectangular coordinate system and a corresponding second rectangular coordinate system respectively, and then unifying the first rectangular coordinate system and the second rectangular coordinate system into a total rectangular coordinate system in a coordinate conversion mode;
S5, concentric error processing: adopting a concentric error algorithm to eliminate errors caused by the fact that the electromagnetic detector and the photoelectric detector are not concentric in the total rectangular coordinate system;
s6, target position mapping processing: judging whether the targets detected by the electromagnetic detector and the photoelectric detector are the same target or not by adopting a target position mapping algorithm;
S7, target threat judgment: and finally judging the threat level of the target according to the specific target position information detected and judged by the S6 according to the electronic fence divided by the detection area by the user.
2. The target compounding algorithm according to claim 1, wherein the electromagnetic detector is configured to detect information such as a direction, a distance, etc. of a target by using a reflection principle of electromagnetic waves, and obtain a moving speed and a moving direction of the target by using a doppler phenomenon;
The photoelectric detector is used for imaging a target to acquire target information.
3. The target compounding algorithm of claim 1, wherein the auxiliary module unit includes a GPS/beidou module, an electronic compass module, and a switching value generator module.
4. The target compounding algorithm of claim 3, wherein,
The GPS/Beidou module is used for providing accurate time data and real-time position information of the detection equipment;
the electronic compass module is used for providing azimuth information, namely the direction, of the detection surface of the detection equipment;
the switching value generator module is used for generating warning information or switching value information.
5. The target compounding algorithm according to claim 1, wherein the specific step of S3 is:
S301, after the orientation of the detection equipment is obtained through the auxiliary module unit, correcting the orientation of the detection equipment to enable the detection equipment to detect a target object, obtaining target position information I through the photoelectric detector, and obtaining target position information II through the electromagnetic detector;
s302: acquiring real-time position information of the detection equipment through the auxiliary module unit;
S303: based on the real-time position information acquired in the step S302, converting the first target position information into a first target coordinate system taking the upper left corner of the corresponding image as an original point, taking the downward direction as the Y-axis forward direction and taking the right direction as the X-axis forward direction;
s304: and based on the real-time position information acquired in the step S302, converting the second target position information into a second target coordinate system rotated by a sequential needle with the true north of 0 azimuth.
6. The target compounding algorithm according to claim 1, wherein the step S4 specifically includes the following sub-steps:
S401: converting the target coordinate system I into a rectangular coordinate system I which takes half of the width of an image as an origin, takes the lower side of the image as an X axis, takes the right direction as the X axis and takes the upward direction as the Y axis positive direction;
s402: converting the target coordinate system II into a rectangular coordinate system II with the direction of the detection equipment as the Y-axis positive direction and the right direction as the X-axis positive direction;
S403: and finally, combining the first rectangular coordinate system with the second rectangular coordinate system to form the final total rectangular coordinate system.
7. The target compounding algorithm of claim 1, wherein the concentric error algorithm in S5 comprises the steps of:
s501: selecting a rectangular coordinate system with an origin of O and target coordinate values of (X1, Y1);
S502: converting the rectangular coordinate system into a concentric coordinate system with an origin of O ', the target coordinate values in the concentric coordinate system being converted into (X ' 1, y ' 1);
s503: then, measuring the coordinates of O 'in the rectangular coordinate system as (Xo 1, yo 1) according to the position relation between O and O';
s504: calculating the (X '1, y' 1) by the following formula:
Xˊ1＝X1-Xo1；
Yˊ1＝Y1-Yo1。
8. the target compounding algorithm according to claim 1, wherein the specific step of S6 is:
S601, naming the target position information acquired by the photodetector as a point set T ' (x ', y '), and the unit is a pixel; the second target position information acquired by the electromagnetic detector is named as a point set T (x, y) and the unit is meter;
S602: establishing a mapping relation corresponding to each point position for the T '(x, y') and the T (x, y) by a static data acquisition method or a dynamic data acquisition method, and generating a fitting formula according to the mapping relation;
s603: substituting each numerical value in the T '(x, y') into the fitting formula successively to calculate, and taking the maximum difference between the calculated value of the fitting formula and the corresponding actual value of the T (x, y) as an error extremum, wherein the error extremum is used for judging whether the values belong to the same target;
S604: firstly, selecting the position information of a certain target N acquired by the photoelectric detector, and calculating an expected point Q of the target position of the electromagnetic detector corresponding to the position information through the fitting formula;
S605: traversing the position information of all the targets acquired by the electromagnetic detector, and judging that the target M and the target N are the same target if the difference value between the position information of one target M and the expected point Q is found to be within the error extremum; otherwise, it is determined that the same object is not present.
9. The target compounding algorithm of claim 1, wherein the generating the fitting formula in S602 is:
S6021: selecting each photoelectric point (X ', Y') in the T '(X, Y'), and each corresponding electromagnetic point (X, Y) in the T (X, Y), namely establishing the mapping relation;
s6022: according to the mapping relation, a data relation set Tn (Xn, yn) is calculated by the following formula:
Xn＝Xˊ/X；
Yn＝Yˊ/Y；
s6023: and finally, obtaining a linear relation formula between each Xn and the corresponding X and Yn and the corresponding Y, namely the fitting formula.
10. The target compounding algorithm according to claim 1, wherein the specific step of S7 is:
s701, dividing the electronic fence into a plurality of early warning areas or warning areas;
S702: the specific target after detection and judgment in S6 is judged to be positioned in which region according to the position information, and then different threat values are assigned according to the region type and the target type;
s703: finding a central point of each region, and then taking a ratio of a distance between a specific target and each central point to half of a maximum distance between two points in each region as an auxiliary threat value;
S704: the true threat value of the specific target is obtained by adding the threat value judged by the region and the auxiliary threat value with different weights.
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