WO2020102932A1 - Method, system, electronic device and storage medium for logic-based trajectory initiation - Google Patents

Method, system, electronic device and storage medium for logic-based trajectory initiation

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Publication number
WO2020102932A1
WO2020102932A1 PCT/CN2018/116152 CN2018116152W WO2020102932A1 WO 2020102932 A1 WO2020102932 A1 WO 2020102932A1 CN 2018116152 W CN2018116152 W CN 2018116152W WO 2020102932 A1 WO2020102932 A1 WO 2020102932A1
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measurement
trajectory
tentative
measurements
new
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PCT/CN2018/116152
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French (fr)
Chinese (zh)
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刘宗香
甘捷
李良群
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深圳大学
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Priority to PCT/CN2018/116152 priority Critical patent/WO2020102932A1/en
Publication of WO2020102932A1 publication Critical patent/WO2020102932A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations

Definitions

  • the invention belongs to the technical field of multi-sensor information fusion, and particularly relates to a logic-based trajectory starting method, system, electronic device and storage medium.
  • trajectory initiation The main task of trajectory initiation is to use sensors to measure in multiple different scanning cycles to detect new targets that appear in the observation space and initiate their trajectory.
  • the commonly used trajectory starting method is the rule-based trajectory starting method, but the false alarm rate of this trajectory starting method is relatively high. How to reduce the false alarm rate and effectively start a new trajectory is a key technical problem that needs to be explored and solved at present.
  • the invention provides a logic-based trajectory starting method, system, electronic device and storage medium, and aims to solve the problem of high false alarm rate in the commonly used trajectory starting method.
  • the first aspect of the present invention provides a logic-based trajectory starting method, the method includes:
  • Step 1 Use the measurement sets of the first two scan cycles to form a tentative trajectory set.
  • the method is to sequentially take one measurement from each of the two measurement sets, and form a measurement group with the two measurements taken, and test the measurement group Whether the two measurements in the test meet the preset speed condition, if the preset speed condition is met, use the two measurements in the measurement group to form a tentative trajectory, and use the two measurements to estimate the tentative trajectory State and covariance; if there are multiple measurement groups that meet the preset speed conditions, use two measurements in each measurement group that meet the preset speed conditions to establish a tentative trajectory, and finally form a tentative trajectory set;
  • Step 2 Use the measurement set of the third scan cycle to confirm the new trajectory.
  • the method of confirmation is to take a tentative trajectory from the tentative trajectory set and a measurement from the third scan cycle.
  • the tentative trajectory of determines the predicted state of the retrieved tentative trajectory in the third scan cycle, and establishes a receiving gate centered on the predicted state, if the taken measurement falls into the receiving gate, Confirm that the extracted tentative trajectory is a new trajectory, and use the tentative trajectory and the extracted measurements to obtain the state estimate and covariance estimate of the new trajectory; repeat the above method to confirm all possible in the tentative trajectory set New trajectories, to obtain state estimates and covariance estimates of all possible new trajectories.
  • the second aspect of the present invention provides a logic-based trajectory starting system, the system includes:
  • the heuristic trajectory formation module is used to form a tentative trajectory set using the measurement sets of the first two scan periods.
  • the method of forming the tentative trajectory set is to sequentially take one measurement from each of the two measurement sets and use the two measurements taken Form a measurement group to test whether the two measurements in the measurement group meet the preset speed conditions. If the preset speed conditions are met, use the two measurements in the measurement group to form a tentative trajectory and use These two measurements estimate the state and covariance of the tentative trajectory; if there are multiple measurement groups that meet the preset speed conditions, use two measurements from each measurement group that meet the preset speed conditions to establish a tentative trajectory , Eventually forming a set of tentative trajectories;
  • the new trajectory confirmation module is used to confirm the new trajectory by using the measurement set of the third scan period.
  • the confirmation method is to take a tentative trajectory from the tentative trajectory set and take a tentative trajectory from the third scan period. Measurement; use the retrieved tentative trajectory to determine the predicted state of the retrieved tentative trajectory in the third scan cycle, and establish a receiving gate centered on the predicted state if the retrieved measurement falls into the Within the receiving gate, confirm that the extracted tentative trajectory is a new trajectory, and use the tentative trajectory and the extracted measurements to obtain the state estimate and covariance estimate of the new trajectory; repeat the above method to confirm the tentative trajectory In the trajectory set, all possible new trajectories are obtained, and all possible new trajectory state estimates and covariance estimates are obtained.
  • a third aspect of the present invention provides an electronic device including: a memory, a processor, and a computer program stored on the memory and executable on the processor, the processing When the computer executes the computer program, it implements the steps in the logic-based track start method provided by the first aspect of the present invention.
  • the fourth aspect of the present invention also provides a storage medium on which a computer program is stored, and when the computer program is executed by a processor, the track start of the logic basis provided by the first aspect of the present invention is realized Steps in the method.
  • the present invention has the following beneficial effects:
  • the present invention provides a logic-based trajectory starting method, system, electronic device, and storage medium.
  • a tentative trajectory set is formed by using the measurement set of the first two scanning periods, and a tentative trajectory set is measured using the measurement set of the third scanning period.
  • Accurate tracking and detection thereby reducing the false alarm rate caused by inaccurate target track start, and effectively solving the problem of new track start.
  • the invention can be used in the field of multi-target tracking and has strong practicability.
  • FIG. 1 is a schematic flowchart of an embodiment of a method for starting a track of a logic basis provided by this application;
  • FIG. 2 is a graph of measurement data obtained by measuring targets in three scanning cycles in this application;
  • FIG. 3 is a schematic diagram of the real trajectory and position estimation of the target based on the data of each target in FIG. 2;
  • FIG. 5 is a schematic structural diagram of another embodiment of an electronic device provided by this application.
  • an embodiment of the present application provides a logic-based trajectory starting method.
  • the method includes the following steps:
  • S101 Use the measurement sets of the first two scan periods to form a tentative trajectory set.
  • the method is to sequentially take one measurement from each of the two measurement sets, and form a measurement group with the two measurements taken, and test the measurement group. Whether the two measurements of the test meet the preset speed condition, if the preset speed condition is met, use the two measurements in the measurement group to form a tentative trajectory, and use these two measurements to estimate the tentative trajectory State and covariance; if there are multiple measurement groups that meet the preset speed conditions, use two measurements in each measurement group that meet the preset speed conditions to establish a tentative trajectory, and finally form a tentative trajectory set;
  • the method of the embodiment of the present application can achieve the trajectory start of multiple targets.
  • multiple sensors set in advance can be used in each scanning cycle to obtain the position and speed of each target in the two-dimensional space to form the measurement of each target in each scanning cycle, and finally form the measurement set of each scanning cycle .
  • the interval of the scanning period is 1S (in practice, the interval of the scanning period can be set arbitrarily, this embodiment does not limit this), then in the first scanning period, that is, the 1S , Acquire the position and speed of 3 targets, and generate the measurement of each target based on the position and speed of each target.
  • the measurement of 3 targets constitutes the measurement set of the first scan cycle; in the second scan cycle, that is, the 2S , Acquire the position and speed of 3 targets, and generate the measurement of each target based on the position and speed of each target.
  • the measurement of 3 targets constitutes the measurement set of the second scan cycle, and so on, to get the third scan cycle Measurement set.
  • estimating the state of the tentative trajectory includes estimating the position and speed of the tentative trajectory.
  • the method of confirmation is to take a tentative trajectory from the tentative trajectory set and a measurement from the measurement set of the third scanning cycle.
  • the tentative trajectory determines the predicted state of the retrieved tentative trajectory during the third scan cycle, and establishes a receiving gate centered on the predicted state. If the retrieved measurement falls into the receiving gate, confirm the location
  • the extracted tentative trajectory is a new trajectory, and the state estimation and covariance estimation of the new trajectory are obtained using the tentative trajectory and the extracted measurements; repeat the above method to confirm all possible new Trajectory, to obtain all possible new trajectory state estimates and covariance estimates.
  • step 102 when the predicted state of the retrieved tentative trajectory is determined in the third scanning period by using the retrieved tentative trajectory, and a receiving gate is established centering on the predicted state, the retrieved tentative trajectory can be used
  • the state and covariance of the sexual trajectory calculated in step 101 determine the predicted state of the retrieved tentative trajectory in the third scan cycle, and establish a receiving gate to analyze whether the retrieved measurement falls into the receiving gate.
  • the specific method for forming a tentative trajectory set using the measurement sets of the first two scan periods in S101 includes the following steps a-e:
  • Step b Test whether the two measurements z k, e and z k + 1, f in the measurement group meet the following preset speed conditions:
  • v min and v max are the minimum speed and maximum speed respectively,
  • 2 represents the 2 norm of the vector;
  • Step c If the two measurements z k, e and z k + 1, f in the measurement group satisfy the preset speed condition, use the two measurements z k, e and z k + 1, f to form a trial Trajectory, and then use least squares to estimate the state and covariance of the tentative trajectory, the estimation method is as follows:
  • Use Represents the state vector of the tentative trajectory during the second scan period, where with Represent the x and y components of the position, with Respectively represent the x and y components of speed;
  • Step d After the test of one measurement group is completed, take another measurement from the measurement sets Y k and Y k + 1 to form the next measurement group, and repeat the test to test whether the two measurements in the measurement group meet the preset The operation of the speed condition until all the measurement combinations have been tested;
  • the solution for confirming the new trajectory using the measurement set of the third scan period in S102 specifically includes the following steps f-j:
  • Step f Take a tentative trajectory from the tentative trajectory set Take a measurement z k + 2, g from the measurement set Y k + 2 of the third scan period to test whether the measurement z k + 2, g falls into the exploratory trajectory Within the receiving door, the formula used for the test is
  • g 0 is the preset threshold, and its value range is 1 to 4;
  • Step g if the formula If not, it is determined that the measurement z k + 2, g does not fall into the tentative trajectory The receiving door;
  • Step h If the formula is established, determine that the measurement z k + 2, g falls into a tentative trajectory Within the receiving door, confirm the tentative trajectory For a new trajectory, and then estimate the state and covariance of the new trajectory, the estimation method is as follows:
  • the state of the new trajectory during the third scan cycle is estimated as
  • the covariance of the new trajectory in the third scan period is estimated as
  • Step i In the tentative trajectory After the test of measuring z k + 2, g is completed, a tentative trajectory and a measurement are taken from the tentative trajectory set and the measurement set of the third scanning cycle to form the next combination, and the above is repeated Test operations until all combinations have been tested;
  • the scenes considered are five targets that move at a constant speed in a two-dimensional space.
  • the initial position of target 1 is [-100m, -70m] T
  • the initial speed is [40m / s, 30m / s] T
  • the initial position of target 2 is [-100m, 70m] T
  • the initial speed is [40m / s, -30m / s] T
  • the initial position of target 3 is [-100m, 0m] T
  • the initial speed is [40m / s, 0m / s] T
  • the initial position of target 4 is [-100m, -35m ] T
  • the initial speed is [40m / s, 0m / s] T
  • the initial position of target 5 is [-100m, 35m] T
  • the initial speed is [40m / s, 0m / s] T.
  • the position of the target is measured by a sensor set in space.
  • the measured value is the position of the target plus the measurement noise.
  • the standard deviation of the measurement noise of the sensor in the x direction in FIG. 2 is ⁇ x and
  • at t 1 1s
  • the measurement of the target 1-5 forms the measurement set of the first scan period
  • the measurement of the target at each moment includes the measurement derived from the target and the clutter measurement.
  • the measurement data obtained by the measurement of the target 1-5 at time t 1 -t 3 by the sensor is shown in FIG. 2.
  • the minimum speed v min 30 m / s
  • the maximum speed v max 60 m / s
  • this embodiment also shows a logic-based trajectory starting system.
  • the system includes:
  • the tentative trajectory forming module 401 is used to form a tentative trajectory set using the measurement sets of the first two scan periods.
  • the method for forming the tentative trajectory set is to sequentially take one measurement from each of the two measurement sets and use the two
  • the measurement forms a measurement group, and tests whether two measurements in the measurement group satisfy a preset speed condition, and if the preset speed condition is met, uses the two measurements in the measurement group to form a tentative trajectory, Use these two measurements to estimate the state and covariance of the tentative trajectory; if there are multiple measurement groups that meet the preset speed conditions, use two measurements from each measurement group that meet the preset speed conditions to establish a heuristic Trajectories, eventually forming a set of tentative trajectories;
  • the new trajectory confirmation module 402 is used to confirm the new trajectory by using the measurement set of the third scanning cycle.
  • the method of confirmation is to take a tentative trajectory from the tentative trajectory set and take it from the measurement set of the third scanning cycle A measurement; use the retrieved tentative trajectory to determine the predicted state of the retrieved tentative trajectory in the third scan period, and establish a receiving gate centered on the predicted state, if the retrieved measurement falls into the In the receiving gate, confirm that the extracted tentative trajectory is a new trajectory, and use the tentative trajectory and the extracted measurements to obtain the state estimate and covariance estimate of the new trajectory; repeat the above method to confirm the tentative trajectory Set of all possible new trajectories in the trajectory, obtain the state estimation and covariance estimation of all possible new trajectories
  • v min and v max are the minimum speed and maximum speed respectively,
  • 2 represents the 2 norm of the vector;
  • the estimation method is as follows:
  • Use Represents the state vector of the tentative trajectory during the second scan period, where with Represent the x and y components of the position, with Respectively represent the x and y components of speed;
  • the new trajectory confirmation module 402 is used to take a tentative trajectory from the tentative trajectory set Take a measurement z k + 2, g from the measurement set Y k + 2 of the third scan period to test whether the measurement z k + 2, g falls into the exploratory trajectory Within the receiving door, the formula used for the test is
  • g 0 is the preset threshold, and its value range is 1 to 4;
  • the estimation method is as follows:
  • the state of the new trajectory during the third scan cycle is estimated as
  • the covariance of the new trajectory in the third scan period is estimated as
  • FIG. 5 is an electronic device provided by an embodiment of the present application.
  • the electronic device can be used to implement the logic-based track start method in the embodiment shown in FIG. 1.
  • the electronic device mainly includes:
  • the electronic device further includes:
  • the aforementioned memory 501, processor 502 and sensor device 503 are connected via a bus 504.
  • the sensor device 503 includes a position sensor and a speed sensor.
  • the memory 501 may be a high-speed random access memory (RAM, Random Access Memory) memory, or may be a non-volatile memory (non-volatile memory), such as a disk memory.
  • RAM Random Access Memory
  • non-volatile memory such as a disk memory.
  • the memory 501 is used to store a set of executable program codes, and the processor 502 is coupled to the memory 501.
  • a tentative trajectory set can be formed by using the measurement sets of the first two scan periods, and the tentativeness of the tentative trajectory set using the measurement set of the third scan period The trajectory is analyzed, the new trajectory is confirmed, and the state estimation and covariance estimation of the new trajectory are finally obtained, thereby reducing the false alarm rate and effectively solving the problem of the start of the new trajectory.
  • This application can be used in the field of multi-target tracking Strong practicality.
  • an embodiment of the present application further provides a storage medium
  • the storage medium may be provided in the electronic device in the foregoing embodiments
  • the computer-readable storage medium may be the memory in the foregoing embodiment shown in FIG. 5 .
  • a computer program is stored on the storage medium, and when the program is executed by the processor, the logic-based track start method in the embodiment shown in FIG. 1 is implemented.
  • the computer storable medium may also be various media that can store program codes, such as a U disk, a mobile hard disk, a read-only memory (ROM), a RAM, a magnetic disk, or an optical disk.
  • the disclosed device and method may be implemented in other ways.
  • the device embodiments described above are only schematic.
  • the division of the modules is only a division of logical functions.
  • there may be other divisions for example, multiple modules or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or modules, and may be in electrical, mechanical, or other forms.
  • modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, that is, they may be located in one place, or may be distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional module in each embodiment of the present application may be integrated into one processing module, or each module may exist alone physically, or two or more modules may be integrated into one module.
  • the above integrated modules may be implemented in the form of hardware or software function modules.
  • the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may be stored in a computer-readable storage medium.
  • the technical solution of the present application can essentially be a part that contributes to the existing technology or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a readable storage
  • the medium includes several instructions to enable a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application.
  • the foregoing readable storage media include various media that can store program codes, such as a U disk, a mobile hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.

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Abstract

A logic-based trajectory initiation method, comprising: using measurement sets of first two scanning cycles to form a trial trajectory set (S101), and using a measurement set of a third scanning cycle to verify a new trajectory (S102). The invention further relates to a system, an electronic device and a storage medium for logic-based trajectory initiation.

Description

一种逻辑基的轨迹起始方法、系统、电子装置和存储介质Logic-based trajectory starting method, system, electronic device and storage medium 技术领域Technical field
本发明属于多传感器信息融合技术领域，尤其涉及一种逻辑基的轨迹起始方法、系统、电子装置和存储介质。The invention belongs to the technical field of multi-sensor information fusion, and particularly relates to a logic-based trajectory starting method, system, electronic device and storage medium.
背景技术Background technique
轨迹起始的主要任务是利用传感器在多个不同扫描周期的测量，探测出现于观测空间中的新目标，并起始其轨迹。目前，常用的轨迹起始方法为规则基的轨迹起始方法，但是这种轨迹起始方法的虚警率较高。如何减少虚警率，有效起始新轨迹是目前需要探索和解决的一个关键技术问题。The main task of trajectory initiation is to use sensors to measure in multiple different scanning cycles to detect new targets that appear in the observation space and initiate their trajectory. At present, the commonly used trajectory starting method is the rule-based trajectory starting method, but the false alarm rate of this trajectory starting method is relatively high. How to reduce the false alarm rate and effectively start a new trajectory is a key technical problem that needs to be explored and solved at present.
发明内容Summary of the invention
本发明提供了一种逻辑基的轨迹起始方法、系统、电子装置和存储介质，旨在解决常用的轨迹起始方法中虚警率高的问题。The invention provides a logic-based trajectory starting method, system, electronic device and storage medium, and aims to solve the problem of high false alarm rate in the commonly used trajectory starting method.
为解决上述技术问题，本发明第一方面提供了一种逻辑基的轨迹起始方法，所述方法包括：To solve the above technical problems, the first aspect of the present invention provides a logic-based trajectory starting method, the method includes:
步骤1、利用前两个扫描周期的测量集形成试探性轨迹集，其方法是依次从这两个测量集中各取出一个测量，并用所取出的两个测量形成一测量组，测试所述测量组中的两个测量是否满足预设的速度条件，若满足所述预设的速度条件，用所述测量组中的两个测量形成一个试探性轨迹，并用这两个测量估计所述试探性轨迹的状态和协方差；若有多个测量组满足预设的速度条件，用每一个满足预设速度条件的测量组中的两个测量建立一个试探性轨迹，最终形成试探性轨迹集；Step 1. Use the measurement sets of the first two scan cycles to form a tentative trajectory set. The method is to sequentially take one measurement from each of the two measurement sets, and form a measurement group with the two measurements taken, and test the measurement group Whether the two measurements in the test meet the preset speed condition, if the preset speed condition is met, use the two measurements in the measurement group to form a tentative trajectory, and use the two measurements to estimate the tentative trajectory State and covariance; if there are multiple measurement groups that meet the preset speed conditions, use two measurements in each measurement group that meet the preset speed conditions to establish a tentative trajectory, and finally form a tentative trajectory set;
步骤2、利用第三个扫描周期的测量集对新轨迹加以确认，确认的方法是 从所述试探性轨迹集中取出一个试探性轨迹，从第三个扫描周期的测量集中取出一个测量；用取出的试探性轨迹确定出所述取出的试探性轨迹在第三个扫描周期的预测状态，并以所述预测状态为中心建立一接收门，如果所取出的测量落入到所述接收门内，确认所取出的试探性轨迹为一个新轨迹，并用所述试探性轨迹和所取出的测量获得所述新轨迹的状态估计和协方差估计；重复上述方法，确认出所述试探性轨迹集中所有可能的新轨迹，获得所有可能的新轨迹的状态估计和协方差估计。Step 2. Use the measurement set of the third scan cycle to confirm the new trajectory. The method of confirmation is to take a tentative trajectory from the tentative trajectory set and a measurement from the third scan cycle. The tentative trajectory of determines the predicted state of the retrieved tentative trajectory in the third scan cycle, and establishes a receiving gate centered on the predicted state, if the taken measurement falls into the receiving gate, Confirm that the extracted tentative trajectory is a new trajectory, and use the tentative trajectory and the extracted measurements to obtain the state estimate and covariance estimate of the new trajectory; repeat the above method to confirm all possible in the tentative trajectory set New trajectories, to obtain state estimates and covariance estimates of all possible new trajectories.
为解决上述技术问题，本发明第二方面提供了一种逻辑基的轨迹起始系统，所述系统包括：To solve the above technical problems, the second aspect of the present invention provides a logic-based trajectory starting system, the system includes:
试探性轨迹形成模块，用于利用前两个扫描周期的测量集形成试探性轨迹集，形成试探性轨迹集的方法是依次从这两个测量集中各取出一个测量，并用所取出的两个测量形成一测量组，测试所述测量组中的两个测量是否满足预设的速度条件，若满足所述预设的速度条件，用所述测量组中的两个测量形成一个试探性轨迹，并用这两个测量估计所述试探性轨迹的状态和协方差；若有多个测量组满足预设的速度条件，用每一个满足预设速度条件的测量组中的两个测量建立一个试探性轨迹，最终形成试探性轨迹集；The heuristic trajectory formation module is used to form a tentative trajectory set using the measurement sets of the first two scan periods. The method of forming the tentative trajectory set is to sequentially take one measurement from each of the two measurement sets and use the two measurements taken Form a measurement group to test whether the two measurements in the measurement group meet the preset speed conditions. If the preset speed conditions are met, use the two measurements in the measurement group to form a tentative trajectory and use These two measurements estimate the state and covariance of the tentative trajectory; if there are multiple measurement groups that meet the preset speed conditions, use two measurements from each measurement group that meet the preset speed conditions to establish a tentative trajectory , Eventually forming a set of tentative trajectories;
新轨迹确认模块，用于利用第三个扫描周期的测量集对新轨迹加以确认，确认的方法是从所述试探性轨迹集中取出一个试探性轨迹，从第三个扫描周期的测量集中取出一个测量；用取出的试探性轨迹确定出所述取出的试探性轨迹在第三个扫描周期的预测状态，并以所述预测状态为中心建立一接收门，如果所取出的测量落入到所述接收门内，确认所取出的试探性轨迹为一个新轨迹，并用所述试探性轨迹和所取出的测量获得所述新轨迹的状态估计和协方差估计；重复上述方法，确认出所述试探性轨迹集中所有可能的新轨迹，获得所有可能的新轨迹的状态估计和协方差估计。The new trajectory confirmation module is used to confirm the new trajectory by using the measurement set of the third scan period. The confirmation method is to take a tentative trajectory from the tentative trajectory set and take a tentative trajectory from the third scan period. Measurement; use the retrieved tentative trajectory to determine the predicted state of the retrieved tentative trajectory in the third scan cycle, and establish a receiving gate centered on the predicted state if the retrieved measurement falls into the Within the receiving gate, confirm that the extracted tentative trajectory is a new trajectory, and use the tentative trajectory and the extracted measurements to obtain the state estimate and covariance estimate of the new trajectory; repeat the above method to confirm the tentative trajectory In the trajectory set, all possible new trajectories are obtained, and all possible new trajectory state estimates and covariance estimates are obtained.
为解决上述技术问题，本发明第三方面提供了一种电子装置，该电子装置包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算 机程序，所述处理器执行所述计算机程序时，实现本发明第一方面提供的逻辑基的轨迹起始方法中的步骤。In order to solve the above technical problems, a third aspect of the present invention provides an electronic device including: a memory, a processor, and a computer program stored on the memory and executable on the processor, the processing When the computer executes the computer program, it implements the steps in the logic-based track start method provided by the first aspect of the present invention.
为解决上述技术问题，本发明第四方面还提供了一种存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时，实现本发明第一方面提供的逻辑基的轨迹起始方法中的步骤。In order to solve the above technical problems, the fourth aspect of the present invention also provides a storage medium on which a computer program is stored, and when the computer program is executed by a processor, the track start of the logic basis provided by the first aspect of the present invention is realized Steps in the method.
本发明与现有技术相比，有益效果在于：Compared with the prior art, the present invention has the following beneficial effects:
本发明提供的一种逻辑基的轨迹起始方法、系统、电子装置和存储介质，通过利用前两个扫描周期的测量集形成试探性轨迹集，以及利用第三个扫描周期的测量集对试探性轨迹集中的试探性轨迹加以分析，确认出新轨迹，最终获得新轨迹的状态估计和协方差估计，可以提升对同一个目标在运动过程中产生的新轨迹的识别准确性，实现对目标的准确跟踪和探测，从而降低了因对目标轨迹起始不准确导致的虚警率，有效地解决了新轨迹起始的问题，本发明可用于多目标跟踪领域，具有很强的实用性。The present invention provides a logic-based trajectory starting method, system, electronic device, and storage medium. A tentative trajectory set is formed by using the measurement set of the first two scanning periods, and a tentative trajectory set is measured using the measurement set of the third scanning period. Analyze the tentative trajectories in the set of sexual trajectories, confirm the new trajectory, and finally obtain the state estimation and covariance estimation of the new trajectory, which can improve the recognition accuracy of the new trajectory generated during the movement of the same target and achieve the goal of the target. Accurate tracking and detection, thereby reducing the false alarm rate caused by inaccurate target track start, and effectively solving the problem of new track start. The invention can be used in the field of multi-target tracking and has strong practicability.
附图说明BRIEF DESCRIPTION
图1为本申请提供的逻辑基的轨迹起始方法一个实施例流程示意图；FIG. 1 is a schematic flowchart of an embodiment of a method for starting a track of a logic basis provided by this application;
图2为本申请中在三个扫描周期对目标进行测量得到各目标的测量数据图；FIG. 2 is a graph of measurement data obtained by measuring targets in three scanning cycles in this application;
图3为基于图2中各目标的数据得到的目标的真实轨迹与位置估计的示意图；FIG. 3 is a schematic diagram of the real trajectory and position estimation of the target based on the data of each target in FIG. 2;
图4为本申请提供的电子装置一实施例结构示意图；4 is a schematic structural diagram of an embodiment of an electronic device provided by this application;
图5为本申请提供的电子装置另一实施例结构示意图。5 is a schematic structural diagram of another embodiment of an electronic device provided by this application.
具体实施方式detailed description
为使得本申请的发明目的、特征、优点能够更加的明显和易懂，下面将结 合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而非全部实施例。基于本申请中的实施例，本领域技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。In order to make the purpose, features and advantages of the invention of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the drawings in the embodiments of the present application. Obviously, the description The embodiment of is only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work fall within the protection scope of the present application.
参见图1，本申请实施例提供了一种逻辑基的轨迹起始方法，该方法包括以下的步骤：Referring to FIG. 1, an embodiment of the present application provides a logic-based trajectory starting method. The method includes the following steps:
S101、利用前两个扫描周期的测量集形成试探性轨迹集，其方法是依次从这两个测量集中各取出一个测量，并用所取出的两个测量形成一测量组，测试所述测量组中的两个测量是否满足预设的速度条件，若满足所述预设的速度条件，用所述测量组中的两个测量形成一个试探性轨迹，并用这两个测量估计所述试探性轨迹的状态和协方差；若有多个测量组满足预设的速度条件，用每一个满足预设速度条件的测量组中的两个测量建立一个试探性轨迹，最终形成试探性轨迹集；S101. Use the measurement sets of the first two scan periods to form a tentative trajectory set. The method is to sequentially take one measurement from each of the two measurement sets, and form a measurement group with the two measurements taken, and test the measurement group. Whether the two measurements of the test meet the preset speed condition, if the preset speed condition is met, use the two measurements in the measurement group to form a tentative trajectory, and use these two measurements to estimate the tentative trajectory State and covariance; if there are multiple measurement groups that meet the preset speed conditions, use two measurements in each measurement group that meet the preset speed conditions to establish a tentative trajectory, and finally form a tentative trajectory set;
本申请实施例的方法可以实现对多目标的轨迹起始，本申请实施例中，在S101之前，需获取在三个扫描周期中对目标的测量组成的测量集，其中，目标的数量可以是多个。本实施例中可利用预先设置的多个传感器在各个扫描周期，获取各个目标在二维空间中的位置、速度等，以形成各个扫描周期对各个目标的测量，最终形成各个扫描周期的测量集。例如，本实施例中的目标为3个，扫描周期的间隔为1S(实际中，扫描周期的间隔可以任意设置，本实施例对此没有限定)，则在第一个扫描周期，即第1S，对3个目标进行位置和速度的获取，基于各个目标的位置和速度生成各个目标的测量，3个目标的测量组成第一个扫描周期的测量集；在第二个扫描周期，即第2S，对3个目标进行位置和速度的获取，基于各个目标的位置和速度生成各个目标的测量，3个目标的测量组成第二个扫描周期的测量集，以此类推，得到第三个扫描周期的测量集。The method of the embodiment of the present application can achieve the trajectory start of multiple targets. In the embodiment of the present application, before S101, it is necessary to obtain a measurement set composed of the measurements of the target in three scan cycles, where the number of targets can be Multiple. In this embodiment, multiple sensors set in advance can be used in each scanning cycle to obtain the position and speed of each target in the two-dimensional space to form the measurement of each target in each scanning cycle, and finally form the measurement set of each scanning cycle . For example, in this embodiment, there are 3 targets, and the interval of the scanning period is 1S (in practice, the interval of the scanning period can be set arbitrarily, this embodiment does not limit this), then in the first scanning period, that is, the 1S , Acquire the position and speed of 3 targets, and generate the measurement of each target based on the position and speed of each target. The measurement of 3 targets constitutes the measurement set of the first scan cycle; in the second scan cycle, that is, the 2S , Acquire the position and speed of 3 targets, and generate the measurement of each target based on the position and speed of each target. The measurement of 3 targets constitutes the measurement set of the second scan cycle, and so on, to get the third scan cycle Measurement set.
本实施例中，估计试探性轨迹的状态包括估计试探性轨迹的位置和速度。In this embodiment, estimating the state of the tentative trajectory includes estimating the position and speed of the tentative trajectory.
S102、利用第三个扫描周期的测量集对新轨迹加以确认，确认的方法是从 所述试探性轨迹集中取出一个试探性轨迹，从第三个扫描周期的测量集中取出一个测量；用取出的试探性轨迹确定出该取出的试探性轨迹在第三个扫描周期的预测状态，并以所述预测状态为中心建立一接收门，如果所取出的测量落入到所述接收门内，确认所取出的试探性轨迹为一个新轨迹，并用所述试探性轨迹和所取出的测量获得所述新轨迹的状态估计和协方差估计；重复上述方法，确认出所述试探性轨迹集中所有可能的新轨迹，获得所有可能的新轨迹的状态估计和协方差估计。S102. Use the measurement set of the third scanning cycle to confirm the new trajectory. The method of confirmation is to take a tentative trajectory from the tentative trajectory set and a measurement from the measurement set of the third scanning cycle. The tentative trajectory determines the predicted state of the retrieved tentative trajectory during the third scan cycle, and establishes a receiving gate centered on the predicted state. If the retrieved measurement falls into the receiving gate, confirm the location The extracted tentative trajectory is a new trajectory, and the state estimation and covariance estimation of the new trajectory are obtained using the tentative trajectory and the extracted measurements; repeat the above method to confirm all possible new Trajectory, to obtain all possible new trajectory state estimates and covariance estimates.
上述步骤102中，在用取出的试探性轨迹确定出该取出的试探性轨迹在第三个扫描周期的预测状态，并以所述预测状态为中心建立一接收门时，可以以该取出的试探性轨迹在步骤101中计算得到的状态和协方差，确定出该取出的试探性轨迹在第三个扫描周期的预测状态，建立接收门，以分析取出的测量是否落入到接收门内。In the above step 102, when the predicted state of the retrieved tentative trajectory is determined in the third scanning period by using the retrieved tentative trajectory, and a receiving gate is established centering on the predicted state, the retrieved tentative trajectory can be used The state and covariance of the sexual trajectory calculated in step 101 determine the predicted state of the retrieved tentative trajectory in the third scan cycle, and establish a receiving gate to analyze whether the retrieved measurement falls into the receiving gate.
可选的，三个扫描周期的测量集为Y k、Y k+1和Y k+2，其中
Figure PCTCN2018116152-appb-000001
Figure PCTCN2018116152-appb-000002
和
Figure PCTCN2018116152-appb-000003
N k、N k+1和N k+2分别表示测量集Y k、Y k+1和Y k+2中测量的数目，t k、t k+1和t k+2分别表示三个扫描周期的时间，
Figure PCTCN2018116152-appb-000004
表示第一个扫描周期的测量集Y k中的第e个测量，其中e＝1,2,…,N k，
Figure PCTCN2018116152-appb-000005
和
Figure PCTCN2018116152-appb-000006
分别表示测量z k,e的x分量和y分量，
Figure PCTCN2018116152-appb-000007
表示第二个扫描周期的测量集Y k+1中的第f个测量，其中f＝1,2,…,N k+1，
Figure PCTCN2018116152-appb-000008
和
Figure PCTCN2018116152-appb-000009
分别表示测量z k+1,f的x分量和y分量，
Figure PCTCN2018116152-appb-000010
表示第三个扫描周期测量集Y k+2中的第g个测量，其中g＝1,2,…,N k+2，
Figure PCTCN2018116152-appb-000011
和
Figure PCTCN2018116152-appb-000012
分别表示测量z k+2,g的x分量和y分量。 Optionally, the measurement sets of the three scan periods are Y k , Y k + 1 and Y k + 2 , where
Figure PCTCN2018116152-appb-000001
Figure PCTCN2018116152-appb-000002
with
Figure PCTCN2018116152-appb-000003
N k , N k + 1 and N k + 2 represent the number of measurements in the measurement set Y k , Y k + 1 and Y k + 2 respectively, and t k , t k + 1 and t k + 2 represent the three scans respectively Cycle time,
Figure PCTCN2018116152-appb-000004
Represents the e-th measurement in the measurement set Y k of the first scan period, where e = 1, 2, ..., N k ,
Figure PCTCN2018116152-appb-000005
with
Figure PCTCN2018116152-appb-000006
Respectively measure the x and y components of z k, e ,
Figure PCTCN2018116152-appb-000007
Represents the f-th measurement in the measurement set Y k + 1 of the second scan period, where f = 1, 2, ..., N k + 1 ,
Figure PCTCN2018116152-appb-000008
with
Figure PCTCN2018116152-appb-000009
Respectively measure the x and y components of z k + 1, f ,
Figure PCTCN2018116152-appb-000010
Represents the g-th measurement in the measurement set Y k + 2 of the third scan period, where g = 1, 2, ..., N k + 2 ,
Figure PCTCN2018116152-appb-000011
with
Figure PCTCN2018116152-appb-000012
Respectively measure the x and y components of z k + 2, g .
可选的，S101中利用前两个扫描周期的测量集形成试探性轨迹集的具体方法包括以下的步骤a-e：Optionally, the specific method for forming a tentative trajectory set using the measurement sets of the first two scan periods in S101 includes the following steps a-e:
步骤a、分别从前两个扫描周期的测量集Y k和Y k+1中各取出一个测量z k,e和z k+1,f形成一测量组，其中e＝1,2,…,N k，f＝1,2,…,N k+1； Step a. Take a measurement z k, e and z k + 1, f from the measurement sets Y k and Y k + 1 of the first two scan periods respectively to form a measurement group, where e = 1, 2, ..., N k , f = 1, 2, ..., N k + 1 ;
步骤b、测试该测量组中的两个测量z k,e和z k+1,f是否满足下列预设的速度条件： Step b: Test whether the two measurements z k, e and z k + 1, f in the measurement group meet the following preset speed conditions:
Figure PCTCN2018116152-appb-000013
其中，v min和v max分别为最小速度和最大速度，||·|| 2表示向量的2范数；
Figure PCTCN2018116152-appb-000013
Among them, v min and v max are the minimum speed and maximum speed respectively, || · || 2 represents the 2 norm of the vector;
步骤c、若该测量组中的两个测量z k,e和z k+1,f满足预设的速度条件，利用所述两个测量z k,e和z k+1,f形成一试探性轨迹，然后用最小二乘法估计所述试探性轨迹的状态和协方差，估计方法如下： Step c. If the two measurements z k, e and z k + 1, f in the measurement group satisfy the preset speed condition, use the two measurements z k, e and z k + 1, f to form a trial Trajectory, and then use least squares to estimate the state and covariance of the tentative trajectory, the estimation method is as follows:
利用已形成试探性轨迹的所述测量组中的两个测量z k,e和z k+1,f形成列向量m y，得到
Figure PCTCN2018116152-appb-000014
Using the two measurements z k, e and z k + 1, f in the measurement group that has formed the tentative trajectory to form the column vector m y , we get
Figure PCTCN2018116152-appb-000014
用
Figure PCTCN2018116152-appb-000015
表示所述试探性轨迹在第二个扫描周期的状态向量，其中
Figure PCTCN2018116152-appb-000016
和
Figure PCTCN2018116152-appb-000017
分别表示位置的x分量和y分量，
Figure PCTCN2018116152-appb-000018
和
Figure PCTCN2018116152-appb-000019
分别表示速度的x分量和y分量； use
Figure PCTCN2018116152-appb-000015
Represents the state vector of the tentative trajectory during the second scan period, where
Figure PCTCN2018116152-appb-000016
with
Figure PCTCN2018116152-appb-000017
Represent the x and y components of the position,
Figure PCTCN2018116152-appb-000018
with
Figure PCTCN2018116152-appb-000019
Respectively represent the x and y components of speed;
令
Figure PCTCN2018116152-appb-000020
则所述试探性轨迹在第二个扫描周期的状态估计为
Figure PCTCN2018116152-appb-000021
make
Figure PCTCN2018116152-appb-000020
Then the state of the tentative trajectory during the second scan cycle is estimated as
Figure PCTCN2018116152-appb-000021
令
Figure PCTCN2018116152-appb-000022
其中，σ x和σ y分别为x方向和y方向测量噪声的方差，则所述试探性轨迹在第二个扫描周期的协方差估计为
Figure PCTCN2018116152-appb-000023
make
Figure PCTCN2018116152-appb-000022
Where σ x and σ y are the variance of the measurement noise in the x and y directions, respectively, then the covariance of the tentative trajectory in the second scan period is estimated as
Figure PCTCN2018116152-appb-000023
步骤d、在一个测量组的测试完成后，分别从测量集Y k和Y k+1中再取出一个测量形成下一测量组，重复执行测试所述测量组中的两个测量是否满足预设的速度条件的操作，直至所有的测量组合都进行了测试； Step d. After the test of one measurement group is completed, take another measurement from the measurement sets Y k and Y k + 1 to form the next measurement group, and repeat the test to test whether the two measurements in the measurement group meet the preset The operation of the speed condition until all the measurement combinations have been tested;
步骤e、测试结束后，用测试获得的试探性轨迹形成试探性轨迹集，表示为
Figure PCTCN2018116152-appb-000024
其中N c表示试探性轨迹的数目，
Figure PCTCN2018116152-appb-000025
i＝1,2,…,N c。 Step e. After the test, use the tentative trajectory obtained by the test to form a tentative trajectory set, which is expressed as
Figure PCTCN2018116152-appb-000024
Where N c represents the number of tentative trajectories,
Figure PCTCN2018116152-appb-000025
i = 1, 2, ..., N c .
可选的，对于S102中利用第三个扫描周期的测量集对新轨迹加以确认的方案具体包括以下的步骤f-j：Optionally, the solution for confirming the new trajectory using the measurement set of the third scan period in S102 specifically includes the following steps f-j:
步骤f、从所述试探性轨迹集中取一个试探性轨迹
Figure PCTCN2018116152-appb-000026
从所述第三个扫描周期的测量集Y k+2中取一测量z k+2,g，测试所述测量z k+2,g是否落入到所述试探性轨迹
Figure PCTCN2018116152-appb-000027
的接收门内，测试所用的公式为 Step f. Take a tentative trajectory from the tentative trajectory set
Figure PCTCN2018116152-appb-000026
Take a measurement z k + 2, g from the measurement set Y k + 2 of the third scan period to test whether the measurement z k + 2, g falls into the exploratory trajectory
Figure PCTCN2018116152-appb-000027
Within the receiving door, the formula used for the test is
Figure PCTCN2018116152-appb-000028
Figure PCTCN2018116152-appb-000028
其中，g 0为预设的门限，其取值范围为1～4；
Figure PCTCN2018116152-appb-000029
Figure PCTCN2018116152-appb-000030
Figure PCTCN2018116152-appb-000031
Among them, g 0 is the preset threshold, and its value range is 1 to 4;
Figure PCTCN2018116152-appb-000029
Figure PCTCN2018116152-appb-000030
Figure PCTCN2018116152-appb-000031
步骤g、若公式
Figure PCTCN2018116152-appb-000032
不成立，则确定所述测量z k+2,g未落入所述试探性轨迹
Figure PCTCN2018116152-appb-000033
的接收门； Step g, if the formula
Figure PCTCN2018116152-appb-000032
If not, it is determined that the measurement z k + 2, g does not fall into the tentative trajectory
Figure PCTCN2018116152-appb-000033
The receiving door;
步骤h、若所述公式成立，则确定所述测量z k+2,g落入试探性轨迹
Figure PCTCN2018116152-appb-000034
的接收门内，确认所述试探性轨迹
Figure PCTCN2018116152-appb-000035
为一新轨迹，然后估计新轨迹的状态与协方差，估计方法如下： Step h. If the formula is established, determine that the measurement z k + 2, g falls into a tentative trajectory
Figure PCTCN2018116152-appb-000034
Within the receiving door, confirm the tentative trajectory
Figure PCTCN2018116152-appb-000035
For a new trajectory, and then estimate the state and covariance of the new trajectory, the estimation method is as follows:
所述新轨迹在第三个扫描周期的状态估计为The state of the new trajectory during the third scan cycle is estimated as
Figure PCTCN2018116152-appb-000036
Figure PCTCN2018116152-appb-000036
其中，
Figure PCTCN2018116152-appb-000037
Figure PCTCN2018116152-appb-000038
among them,
Figure PCTCN2018116152-appb-000037
Figure PCTCN2018116152-appb-000038
所述新轨迹在第三个扫描周期的协方差估计为The covariance of the new trajectory in the third scan period is estimated as
Figure PCTCN2018116152-appb-000039
Figure PCTCN2018116152-appb-000039
步骤i、在对所述试探性轨迹
Figure PCTCN2018116152-appb-000040
和测量z k+2,g的测试完成后，再分别从所述试探性轨迹集和所述第三个扫描周期的测量集中取一个试探性轨迹和一个测量形成下一个组合，重复以上所述的测试操作，直至所有的组合都进行了测试； Step i. In the tentative trajectory
Figure PCTCN2018116152-appb-000040
After the test of measuring z k + 2, g is completed, a tentative trajectory and a measurement are taken from the tentative trajectory set and the measurement set of the third scanning cycle to form the next combination, and the above is repeated Test operations until all combinations have been tested;
步骤j、在测试结束后，用测试获得的新轨迹形成轨迹集，所述轨迹集表示为
Figure PCTCN2018116152-appb-000041
其中N r表示新轨迹的数目，
Figure PCTCN2018116152-appb-000042
i＝1,2,…,N r。 Step j. After the test is completed, a new trajectory obtained by the test is used to form a trajectory set, and the trajectory set is expressed as
Figure PCTCN2018116152-appb-000041
Where N r represents the number of new trajectories,
Figure PCTCN2018116152-appb-000042
i = 1, 2, ..., N r .
下面以目标1-5为例，结合图2和图3，对本实施例的逻辑基的轨迹起始方法进行说明。The following uses target 1-5 as an example, and in conjunction with FIG. 2 and FIG. 3, a method of starting the track of the logic basis of this embodiment will be described.
本示例中，所考虑的场景为在二维空间中作匀速运动的五个目标。其中，目标1的初始位置为[-100m,-70m] T，初始速度为[40m/s,30m/s] T；目标2的初始位置为[-100m,70m] T，初始速度为[40m/s,-30m/s] T；目标3的初始位置为[-100m,0m] T，初始速度为[40m/s,0m/s] T；目标4的初始位置为[-100m,-35m] T，初始速度为[40m/s,0m/s] T；目标5的初始位置为[-100m,35m] T，初始速度为[40m/s,0m/s] T。 In this example, the scenes considered are five targets that move at a constant speed in a two-dimensional space. Among them, the initial position of target 1 is [-100m, -70m] T , the initial speed is [40m / s, 30m / s] T ; the initial position of target 2 is [-100m, 70m] T , the initial speed is [40m / s, -30m / s] T ; the initial position of target 3 is [-100m, 0m] T , the initial speed is [40m / s, 0m / s] T ; the initial position of target 4 is [-100m, -35m ] T , the initial speed is [40m / s, 0m / s] T ; the initial position of target 5 is [-100m, 35m] T , and the initial speed is [40m / s, 0m / s] T.
通过设置在空间中的传感器测量目标的位置，传感器的采样周期为T＝1s，测量值为目标的位置加上测量噪声，传感器在图2中的x方向上的测量噪声标准差σ x和在y方向上的测量噪声的标准差σ y取为σ x＝σ y＝1m，传感器在t 1＝1s、t 2＝2s和t 3＝3s对目标1-5测量，在t 1＝1s对目标1-5的测量形成第一个扫描周期的测量集，在t 2＝2s对目标1-5的测量形成第二个扫描周期的测量集，在t 3＝3s对目标1-5的测量形成第三个扫描周期的测量集。 The position of the target is measured by a sensor set in space. The sampling period of the sensor is T = 1s. The measured value is the position of the target plus the measurement noise. The standard deviation of the measurement noise of the sensor in the x direction in FIG. 2 is σ x and The standard deviation σ y of the measurement noise in the y direction is taken as σ x = σ y = 1m, the sensor measures the target 1-5 at t 1 = 1s, t 2 = 2s and t 3 = 3s, and at t 1 = 1s The measurement of the target 1-5 forms the measurement set of the first scan period, the measurement of the target 1-5 at t 2 = 2s forms the measurement set of the second scan period, and the measurement of the target 1-5 at t 3 = 3s Form the measurement set for the third scan cycle.
本实施例中，每一时刻对目标的测量包括源于目标的测量和杂波测量，传感器对目标1-5在t 1-t 3时刻的测量得到的测量数据如图2所示。 In this embodiment, the measurement of the target at each moment includes the measurement derived from the target and the clutter measurement. The measurement data obtained by the measurement of the target 1-5 at time t 1 -t 3 by the sensor is shown in FIG. 2.
为了处理图2所示的测量数据，设最小速度v min＝30m/s、最大速度v max＝60m/s，σ x＝σ y＝1m。通过对图2的测量数据处理，可得到如图3所示的五 个目标的位置估计和及其真实轨迹。从图3的实验结果可以看出，采用本发明所提供的逻辑基的轨迹起始方法，能在杂波的环境中探测出五个目标，并估计出其初始状态，从而实现了轨迹的起始。 In order to process the measurement data shown in FIG. 2, the minimum speed v min = 30 m / s, the maximum speed v max = 60 m / s, and σ x = σ y = 1m. By processing the measurement data of FIG. 2, the position estimates and their true trajectories of the five targets shown in FIG. 3 can be obtained. It can be seen from the experimental results in FIG. 3 that, using the logic-based trajectory initiation method provided by the present invention, five targets can be detected in the clutter environment, and the initial state can be estimated, thereby achieving the trajectory beginning.
采用本发明实施例所提供的方法对图2的测量数据进行处理，得到上述五个目标在t 1＝1s时的状态估计与它们的真实状态值，如下表1所示： Using the method provided by the embodiment of the present invention to process the measurement data in FIG. 2, the state estimates and their true state values of the above five targets at t 1 = 1 s are obtained, as shown in Table 1 below:
表1：实验的五个目标在t 1＝1s时的状态估计与它们的真实状态值对比表 Table 1: Comparison between the state estimates of the five targets of the experiment at t 1 = 1s and their true state values
Figure PCTCN2018116152-appb-000043
Figure PCTCN2018116152-appb-000043
上表1中，x(m)和y(m)分别为目标在t 1＝1s时的位置在图2所示的x轴和y轴上的分量，
Figure PCTCN2018116152-appb-000044
和
Figure PCTCN2018116152-appb-000045
分别为目标在t 1＝1s时的速度在x轴和y轴上的分量。 In Table 1 above, x (m) and y (m) are the components of the target's position on the x-axis and y-axis shown in Fig. 2 at t 1 = 1s,
Figure PCTCN2018116152-appb-000044
with
Figure PCTCN2018116152-appb-000045
Respectively, the components of the target's velocity on the x-axis and y-axis at t 1 = 1s.
为了提升状态估计的准确度，本实施例采用上述的逻辑基的轨迹起始方法，进行了100次蒙特·卡罗统计模拟实验，得到上述五个目标在t 1＝1s时的状态估计与它们的真实状态值，如下表2所示： In order to improve the accuracy of state estimation, this embodiment uses the above logic-based trajectory initiation method to perform 100 Monte Carlo statistical simulation experiments to obtain the state estimates of the above five targets at t 1 = 1s and their The true state value of is shown in Table 2 below:
表2：通过100次蒙特·卡罗统计模拟得到的五个目标在t 1＝1s时的状态估计与它们的真实状态值对比表 Table 2: Comparison of the state estimates of the five targets obtained through 100 Monte Carlo statistical simulations at t 1 = 1s and their true state values
Figure PCTCN2018116152-appb-000046
Figure PCTCN2018116152-appb-000046
Figure PCTCN2018116152-appb-000047
Figure PCTCN2018116152-appb-000047
综上所示，从上表1和表2的实验结果表明，本发明所提供的一种逻辑基的轨迹起始方法，可以获得较为精确和可靠的目标状态估计、各目标的状态估计非常接近它们真实的状态值。In summary, from the experimental results in Tables 1 and 2 above, it is shown that a logic-based trajectory starting method provided by the present invention can obtain a more accurate and reliable target state estimation, and the state estimation of each target is very close Their true state value.
参见图4，本实施例还示出一种逻辑基的轨迹起始系统，该系统包括：Referring to FIG. 4, this embodiment also shows a logic-based trajectory starting system. The system includes:
试探性轨迹形成模块401，用于利用前两个扫描周期的测量集形成试探性轨迹集，形成试探性轨迹集的方法是依次从这两个测量集中各取出一个测量，并用所取出的两个测量形成一测量组，测试所述测量组中的两个测量是否满足预设的速度条件，若满足所述预设的速度条件，用所述测量组中的两个测量形成一个试探性轨迹，并用这两个测量估计所述试探性轨迹的状态和协方差；若有多个测量组满足预设的速度条件，用每一个满足预设速度条件的测量组中的两个测量建立一个试探性轨迹，最终形成试探性轨迹集；The tentative trajectory forming module 401 is used to form a tentative trajectory set using the measurement sets of the first two scan periods. The method for forming the tentative trajectory set is to sequentially take one measurement from each of the two measurement sets and use the two The measurement forms a measurement group, and tests whether two measurements in the measurement group satisfy a preset speed condition, and if the preset speed condition is met, uses the two measurements in the measurement group to form a tentative trajectory, Use these two measurements to estimate the state and covariance of the tentative trajectory; if there are multiple measurement groups that meet the preset speed conditions, use two measurements from each measurement group that meet the preset speed conditions to establish a heuristic Trajectories, eventually forming a set of tentative trajectories;
新轨迹确认模402，用于利用第三个扫描周期的测量集对新轨迹加以确认，确认的方法是从所述试探性轨迹集中取出一个试探性轨迹，从第三个扫描周期的测量集中取出一个测量；用取出的试探性轨迹确定出所述取出的试探性轨迹在第三个扫描周期的预测状态，并以所述预测状态为中心建立一接收门，如果所取出的测量落入到所述接收门内，确认所取出的试探性轨迹为一个新轨迹，并用所述试探性轨迹和所取出的测量获得所述新轨迹的状态估计和协方差估计；重复上述方法，确认出所述试探性轨迹集中所有可能的新轨迹，获得所有可能的新轨迹的状态估计和协方差估计The new trajectory confirmation module 402 is used to confirm the new trajectory by using the measurement set of the third scanning cycle. The method of confirmation is to take a tentative trajectory from the tentative trajectory set and take it from the measurement set of the third scanning cycle A measurement; use the retrieved tentative trajectory to determine the predicted state of the retrieved tentative trajectory in the third scan period, and establish a receiving gate centered on the predicted state, if the retrieved measurement falls into the In the receiving gate, confirm that the extracted tentative trajectory is a new trajectory, and use the tentative trajectory and the extracted measurements to obtain the state estimate and covariance estimate of the new trajectory; repeat the above method to confirm the tentative trajectory Set of all possible new trajectories in the trajectory, obtain the state estimation and covariance estimation of all possible new trajectories
设三个扫描周期的测量集为Y k、Y k+1和Y k+2，其中
Figure PCTCN2018116152-appb-000048
Figure PCTCN2018116152-appb-000049
和
Figure PCTCN2018116152-appb-000050
N k、N k+1和N k+2分别表示测量集Y k、Y k+1和Y k+2中测量的数目，t k、t k+1和t k+2分别表示三个扫描周期的时间，
Figure PCTCN2018116152-appb-000051
表示第一个扫描周期的测量集Yk中的第e个测量，其中e＝1,2,…,N k，
Figure PCTCN2018116152-appb-000052
和
Figure PCTCN2018116152-appb-000053
分别表示测量z k,e的x分量和y分量，
Figure PCTCN2018116152-appb-000054
表示第二个扫描周期的测量集Y k+1中的第f个测量，其中f＝1,2,…,N k+1，
Figure PCTCN2018116152-appb-000055
和
Figure PCTCN2018116152-appb-000056
分别表示测量z k+1,f的x分量和y分量，
Figure PCTCN2018116152-appb-000057
表示第三个扫描周期的测量集Y k+2中的第g个测量，其中g＝1,2,…,N k+2，
Figure PCTCN2018116152-appb-000058
和
Figure PCTCN2018116152-appb-000059
分别表示测量z k+2,g的x分量和y分量； Let the measurement set of three scan periods be Y k , Y k + 1 and Y k + 2 , where
Figure PCTCN2018116152-appb-000048
Figure PCTCN2018116152-appb-000049
with
Figure PCTCN2018116152-appb-000050
N k , N k + 1 and N k + 2 represent the number of measurements in the measurement set Y k , Y k + 1 and Y k + 2 respectively, and t k , t k + 1 and t k + 2 represent the three scans respectively Cycle time,
Figure PCTCN2018116152-appb-000051
Represents the e-th measurement in the measurement set Yk of the first scan period, where e = 1, 2, ..., N k ,
Figure PCTCN2018116152-appb-000052
with
Figure PCTCN2018116152-appb-000053
Respectively measure the x and y components of z k, e ,
Figure PCTCN2018116152-appb-000054
Represents the f-th measurement in the measurement set Y k + 1 of the second scan period, where f = 1, 2, ..., N k + 1 ,
Figure PCTCN2018116152-appb-000055
with
Figure PCTCN2018116152-appb-000056
Respectively measure the x and y components of z k + 1, f ,
Figure PCTCN2018116152-appb-000057
Represents the g-th measurement in the measurement set Y k + 2 of the third scan period, where g = 1, 2, ..., N k + 2 ,
Figure PCTCN2018116152-appb-000058
with
Figure PCTCN2018116152-appb-000059
Respectively measure the x and y components of z k + 2, g ;
可选的，试探性轨迹形成模块401，用于分别从前两个扫描周期的测量集Y k和Y k+1中各取出一个测量z k,e和z k+1,f形成一测量组，其中e＝1,2,…,N k，f＝1,2,…,N k+1；测试该测量组中的两个测量z k,e和z k+1,f是否满足下列预设的速度条件： Optionally, the tentative trajectory formation module 401 is used to take out a measurement z k, e and z k + 1, f from the measurement sets Y k and Y k + 1 of the first two scan periods respectively to form a measurement group, Where e = 1, 2, ..., N k , f = 1, 2, ..., N k + 1 ; test whether the two measurements z k, e and z k + 1, f in the measurement group satisfy the following presets Speed conditions:
Figure PCTCN2018116152-appb-000060
其中，v min和v max分别为最小速度和最大速度，||·|| 2表示向量的2范数；
Figure PCTCN2018116152-appb-000060
Among them, v min and v max are the minimum speed and maximum speed respectively, || · || 2 represents the 2 norm of the vector;
若该测量组中的两个测量z k,e和z k+1,f满足预设的速度条件，利用所述两个测量z k,e和z k+1,f形成一试探性轨迹，然后用最小二乘法估计所述试探性轨迹的状态和协方差，估计方法如下： If the two measurements z k, e and z k + 1, f in the measurement group satisfy the preset speed condition, use the two measurements z k, e and z k + 1, f to form a tentative trajectory, Then the least square method is used to estimate the state and covariance of the tentative trajectory. The estimation method is as follows:
利用已形成试探性轨迹的所述测量组中的两个测量z k,e和z k+1,f形成列向量m y，得到
Figure PCTCN2018116152-appb-000061
Using the two measurements z k, e and z k + 1, f in the measurement group that has formed the tentative trajectory to form the column vector m y , we get
Figure PCTCN2018116152-appb-000061
用
Figure PCTCN2018116152-appb-000062
表示所述试探性轨迹在第二个扫描周期的状态向量，其中
Figure PCTCN2018116152-appb-000063
和
Figure PCTCN2018116152-appb-000064
分别表示位置的x分量和y分量，
Figure PCTCN2018116152-appb-000065
和
Figure PCTCN2018116152-appb-000066
分别表示速度的x分量和y分量； use
Figure PCTCN2018116152-appb-000062
Represents the state vector of the tentative trajectory during the second scan period, where
Figure PCTCN2018116152-appb-000063
with
Figure PCTCN2018116152-appb-000064
Represent the x and y components of the position,
Figure PCTCN2018116152-appb-000065
with
Figure PCTCN2018116152-appb-000066
Respectively represent the x and y components of speed;
令
Figure PCTCN2018116152-appb-000067
则所述试探性轨迹在第二个扫描周期的状态估计为
Figure PCTCN2018116152-appb-000068
make
Figure PCTCN2018116152-appb-000067
Then the state of the tentative trajectory during the second scan cycle is estimated as
Figure PCTCN2018116152-appb-000068
令
Figure PCTCN2018116152-appb-000069
其中，σ x和σ y分别为x方向和y方向测量噪声的方差，则所述试探性轨迹在第二个扫描周期的协方差为
Figure PCTCN2018116152-appb-000070
make
Figure PCTCN2018116152-appb-000069
Where σ x and σ y are the variance of the measurement noise in the x and y directions, respectively, then the covariance of the tentative trajectory in the second scan period is
Figure PCTCN2018116152-appb-000070
在一个测量组的测试完成后，分别从测量集合Y k和Y k+1中再取出一个测量形成下一测量组，重复执行测试所述测量组中的两个测量是否满足预设的速度条件的操作，直至所有的测量组合都进行了测试； After the test of one measurement group is completed, another measurement is taken from the measurement sets Y k and Y k + 1 respectively to form the next measurement group, and repeated execution is performed to test whether the two measurements in the measurement group meet the preset speed condition Operation until all measurement combinations have been tested;
测试结束后，用测试获得的试探性轨迹形成试探性轨迹集，所述试探性轨迹集表示为
Figure PCTCN2018116152-appb-000071
其中，N c表示试探性轨迹的数目，
Figure PCTCN2018116152-appb-000072
i＝1,2,…,N c。 After the test, the tentative trajectory obtained by the test is used to form a tentative trajectory set, which is expressed as
Figure PCTCN2018116152-appb-000071
Where N c represents the number of tentative trajectories,
Figure PCTCN2018116152-appb-000072
i = 1, 2, ..., N c .
可选的，所述新轨迹确认模块402，用于从所述试探性轨迹集中取一个试探性轨迹
Figure PCTCN2018116152-appb-000073
从所述第三个扫描周期的测量集Y k+2中取一测量z k+2,g，测试所述测量z k+2,g是否落入到所述试探性轨迹
Figure PCTCN2018116152-appb-000074
的接收门内，测试所用的公式为 Optionally, the new trajectory confirmation module 402 is used to take a tentative trajectory from the tentative trajectory set
Figure PCTCN2018116152-appb-000073
Take a measurement z k + 2, g from the measurement set Y k + 2 of the third scan period to test whether the measurement z k + 2, g falls into the exploratory trajectory
Figure PCTCN2018116152-appb-000074
Within the receiving door, the formula used for the test is
Figure PCTCN2018116152-appb-000075
Figure PCTCN2018116152-appb-000075
其中，g 0为预设的门限，其取值范围为1～4；
Figure PCTCN2018116152-appb-000076
Figure PCTCN2018116152-appb-000077
Figure PCTCN2018116152-appb-000078
Among them, g 0 is the preset threshold, and its value range is 1 to 4;
Figure PCTCN2018116152-appb-000076
Figure PCTCN2018116152-appb-000077
Figure PCTCN2018116152-appb-000078
若公式
Figure PCTCN2018116152-appb-000079
不成立，则确定所述测量z k+2,g未落入所述试探性轨迹
Figure PCTCN2018116152-appb-000080
的接收门； If formula
Figure PCTCN2018116152-appb-000079
If not, it is determined that the measurement z k + 2, g does not fall into the tentative trajectory
Figure PCTCN2018116152-appb-000080
The receiving door;
若所述公式成立，则确定所述测量z k+2,g落入试探性轨迹
Figure PCTCN2018116152-appb-000081
的接收门内，确认所述试探性轨迹
Figure PCTCN2018116152-appb-000082
为一新轨迹，然后估计新轨迹的状态与协方差，估计方法如下： If the formula holds, it is determined that the measurement z k + 2, g falls into a tentative trajectory
Figure PCTCN2018116152-appb-000081
Within the receiving door, confirm the tentative trajectory
Figure PCTCN2018116152-appb-000082
For a new trajectory, and then estimate the state and covariance of the new trajectory, the estimation method is as follows:
所述新轨迹在第三个扫描周期的状态估计为The state of the new trajectory during the third scan cycle is estimated as
Figure PCTCN2018116152-appb-000083
Figure PCTCN2018116152-appb-000083
其中，
Figure PCTCN2018116152-appb-000084
Figure PCTCN2018116152-appb-000085
among them,
Figure PCTCN2018116152-appb-000084
Figure PCTCN2018116152-appb-000085
所述新轨迹在第三个扫描周期的协方差估计为The covariance of the new trajectory in the third scan period is estimated as
Figure PCTCN2018116152-appb-000086
Figure PCTCN2018116152-appb-000086
在对所述试探性轨迹
Figure PCTCN2018116152-appb-000087
和测量z k+2,g的测试完成后，再分别从所述试探性轨迹集和所述第三个扫描周期的测量集中取一个试探性轨迹和一个测量形成下一个组合，重复以上所述的测试操作，直至所有的组合都进行了测试； On the tentative trajectory
Figure PCTCN2018116152-appb-000087
After the test of measuring z k + 2, g is completed, a tentative trajectory and a measurement are taken from the tentative trajectory set and the measurement set of the third scanning cycle to form the next combination, and the above is repeated Test operations until all combinations have been tested;
在测试结束后，用测试获得的新轨迹形成轨迹集，所述轨迹集表示为
Figure PCTCN2018116152-appb-000088
其中N r表示新轨迹的数目，
Figure PCTCN2018116152-appb-000089
i＝1,2,…,N r。 After the test, the new trajectory obtained by the test is used to form a trajectory set, which is expressed as
Figure PCTCN2018116152-appb-000088
Where N r represents the number of new trajectories,
Figure PCTCN2018116152-appb-000089
i = 1, 2, ..., N r .
图5为本申请实施例提供的一种电子装置。该电子装置可用于实现图1所示实施例中的逻辑基的轨迹起始方法。如图5所示，该电子装置主要包括：FIG. 5 is an electronic device provided by an embodiment of the present application. The electronic device can be used to implement the logic-based track start method in the embodiment shown in FIG. 1. As shown in FIG. 5, the electronic device mainly includes:
存储器501、处理器502及存储在存储器501上并可在处理器502上运行的计算机程序，处理器502执行该计算机程序时，实现图1所示实施例中的逻辑基的轨迹起始方法。The memory 501, the processor 502, and a computer program stored on the memory 501 and runable on the processor 502, when the processor 502 executes the computer program, implements the logic-based track start method in the embodiment shown in FIG.
进一步的，该电子装置还包括：Further, the electronic device further includes:
至少一个传感器设备503。At least one sensor device 503.
上述存储器501、处理器502和传感器设备503，通过总线504连接。The aforementioned memory 501, processor 502 and sensor device 503 are connected via a bus 504.
其中，传感器设备503包括位置传感器和速度传感器，。Among them, the sensor device 503 includes a position sensor and a speed sensor.
存储器501可以是高速随机存取记忆体(RAM，Random Access Memory)存储器，也可为非不稳定的存储器(non-volatile memory)，例如磁盘存储器。存储器501用于存储一组可执行程序代码，处理器502与存储器501耦合。The memory 501 may be a high-speed random access memory (RAM, Random Access Memory) memory, or may be a non-volatile memory (non-volatile memory), such as a disk memory. The memory 501 is used to store a set of executable program codes, and the processor 502 is coupled to the memory 501.
基于本申请实施例上述的逻辑基的轨迹起始方法，可通过利用前两个扫描周期的测量集形成试探性轨迹集，以及利用第三个扫描周期的测量集对试探性轨迹集中的试探性轨迹加以分析，确认出新轨迹，最终获得新轨迹的状态估计和协方差估计，从而降低了虚警率，有效地解决了新轨迹起始的问题，本申请可用于多目标跟踪领域，具有很强的实用性。Based on the logic-based trajectory starting method described in the embodiments of the present application, a tentative trajectory set can be formed by using the measurement sets of the first two scan periods, and the tentativeness of the tentative trajectory set using the measurement set of the third scan period The trajectory is analyzed, the new trajectory is confirmed, and the state estimation and covariance estimation of the new trajectory are finally obtained, thereby reducing the false alarm rate and effectively solving the problem of the start of the new trajectory. This application can be used in the field of multi-target tracking Strong practicality.
进一步的，本申请实施例还提供了一种存储介质，该存储介质可以是设置于上述各实施例中的电子装置中，该计算机可读存储介质可以是前述图5所示实施例中的存储器。该存储介质上存储有计算机程序，该程序被处理器执行时实现图1所示实施例中的逻辑基的轨迹起始方法。进一步的，该计算机可存储介质还可以是U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、RAM、磁碟或者光盘等各种可以存储程序代码的介质。Further, an embodiment of the present application further provides a storage medium, the storage medium may be provided in the electronic device in the foregoing embodiments, and the computer-readable storage medium may be the memory in the foregoing embodiment shown in FIG. 5 . A computer program is stored on the storage medium, and when the program is executed by the processor, the logic-based track start method in the embodiment shown in FIG. 1 is implemented. Further, the computer storable medium may also be various media that can store program codes, such as a U disk, a mobile hard disk, a read-only memory (ROM), a RAM, a magnetic disk, or an optical disk.
在本申请所提供的几个实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述模块的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个模块或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或模块的间接耦合或通信连接，可以是电性，机械或其它的形式。In the several embodiments provided in this application, it should be understood that the disclosed device and method may be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules is only a division of logical functions. In actual implementation, there may be other divisions, for example, multiple modules or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or modules, and may be in electrical, mechanical, or other forms.
所述作为分离部件说明的模块可以是或者也可以不是物理上分开的，作为模块显示的部件可以是或者也可以不是物理模块，即可以位于一个地方，或者也可以分布到多个网络模块上。可以根据实际的需要选择其中的部分或者全部 模块来实现本实施例方案的目的。The modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, that is, they may be located in one place, or may be distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
另外，在本申请各个实施例中的各功能模块可以集成在一个处理模块中，也可以是各个模块单独物理存在，也可以两个或两个以上模块集成在一个模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。In addition, each functional module in each embodiment of the present application may be integrated into one processing module, or each module may exist alone physically, or two or more modules may be integrated into one module. The above integrated modules may be implemented in the form of hardware or software function modules.
所述集成的模块如果以软件功能模块的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个可读存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的可读存储介质包括：U盘、移动硬盘、ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application can essentially be a part that contributes to the existing technology or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a readable storage The medium includes several instructions to enable a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. The foregoing readable storage media include various media that can store program codes, such as a U disk, a mobile hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.
需要说明的是，对于前述的各方法实施例，为了简便描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本申请并不受所描述的动作顺序的限制，因为依据本申请，某些步骤可以采用其它顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作和模块并不一定都是本申请所必须的。It should be noted that, for the convenience of description, the foregoing method embodiments are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the sequence of actions described. Because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其它实施例的相关描述。In the above embodiments, the description of each embodiment has its own emphasis. For a part that is not detailed in an embodiment, you can refer to the related descriptions of other embodiments.
以上为对本申请所提供的逻辑基的轨迹起始方法、系统、电子装置及存储介质的描述，对于本领域的技术人员，依据本申请实施例的思想，在具体实施方式及应用范围上均会有改变之处，综上，本说明书内容不应理解为对本申请的限制。The above is a description of the method, system, electronic device, and storage medium of the logic-based trajectory provided by the present application. For those skilled in the art, according to the ideas of the embodiments of the present application, the specific implementation and application scope will be There are changes, in summary, the content of this specification should not be understood as a limitation of this application.

Claims (8)

  1. 一种逻辑基的轨迹起始方法，其特征在于，所述方法包括：A logic-based trajectory starting method, characterized in that the method includes:
    步骤1、利用前两个扫描周期的测量集形成试探性轨迹集，其方法是依次从这两个测量集中各取出一个测量，并用所取出的两个测量形成一测量组，测试所述测量组中的两个测量是否满足预设的速度条件，若满足所述预设的速度条件，用所述测量组中的两个测量形成一个试探性轨迹，并用这两个测量估计所述试探性轨迹的状态和协方差；若有多个测量组满足预设的速度条件，用每一个满足预设速度条件的测量组中的两个测量建立一个试探性轨迹，最终形成试探性轨迹集；Step 1. Use the measurement sets of the first two scan cycles to form a tentative trajectory set. The method is to sequentially take one measurement from each of the two measurement sets, and form a measurement group with the two measurements taken, and test the measurement group Whether the two measurements in the test meet the preset speed condition, if the preset speed condition is met, use the two measurements in the measurement group to form a tentative trajectory, and use the two measurements to estimate the tentative trajectory State and covariance; if there are multiple measurement groups that meet the preset speed conditions, use two measurements in each measurement group that meet the preset speed conditions to establish a tentative trajectory, and finally form a tentative trajectory set;
    步骤2、利用第三个扫描周期的测量集对新轨迹加以确认，确认的方法是从所述试探性轨迹集中取出一个试探性轨迹，从第三个扫描周期的测量集中取出一个测量；用取出的试探性轨迹确定出所述取出的试探性轨迹在第三个扫描周期的预测状态，并以所述预测状态为中心建立一接收门，如果所取出的测量落入到所述接收门内，确认所取出的试探性轨迹为一个新轨迹，并用所述试探性轨迹和所取出的测量获得所述新轨迹的状态估计和协方差估计；重复上述方法，确认出所述试探性轨迹集中所有可能的新轨迹，获得所有可能的新轨迹的状态估计和协方差估计。Step 2. Use the measurement set of the third scan cycle to confirm the new trajectory. The method of confirmation is to take a tentative trajectory from the tentative trajectory set and a measurement from the third scan cycle. The tentative trajectory of determines the predicted state of the retrieved tentative trajectory in the third scan cycle, and establishes a receiving gate centered on the predicted state, if the taken measurement falls into the receiving gate, Confirm that the extracted tentative trajectory is a new trajectory, and use the tentative trajectory and the extracted measurements to obtain the state estimate and covariance estimate of the new trajectory; repeat the above method to confirm all possible in the tentative trajectory set New trajectories, to obtain state estimates and covariance estimates of all possible new trajectories.
  2. 如权利要求1所述的方法，其特征在于，The method of claim 1, wherein:
    设三个扫描周期的测量集为Y k、Y k+1和Y k+2，其中
    Figure PCTCN2018116152-appb-100001
    Figure PCTCN2018116152-appb-100002
    和
    Figure PCTCN2018116152-appb-100003
    N k、N k+1和N k+2分别表示测量集Y k、Y k+1和Y k+2中测量的数目，t k、t k+1和t k+2分别表示三个扫描周期的时间，
    Figure PCTCN2018116152-appb-100004
    表示第一个扫描周期的测量集Y k中的第e个测量，其中e＝1,2,…,N k，
    Figure PCTCN2018116152-appb-100005
    和
    Figure PCTCN2018116152-appb-100006
    分别表示测量z k,e的x分量和y分量，
    Figure PCTCN2018116152-appb-100007
    表示第二个扫描周期的测量集Y k+1中的第f个测量，其中f＝1,2,…,N k+1，
    Figure PCTCN2018116152-appb-100008
    和
    Figure PCTCN2018116152-appb-100009
    分别表示测量z k+1,f的x分量和y分量，
    Figure PCTCN2018116152-appb-100010
    表示第三个扫描周期的测量集Y k+2中的第g个测量，其中g＝1,2,…,N k+2，
    Figure PCTCN2018116152-appb-100011
    和
    Figure PCTCN2018116152-appb-100012
    分别表示测量z k+2,g的x分量和y分量；     Let the measurement set of three scan periods be Y k , Y k + 1 and Y k + 2 , where
    Figure PCTCN2018116152-appb-100001
    Figure PCTCN2018116152-appb-100002
    with
    Figure PCTCN2018116152-appb-100003
    N k , N k + 1 and N k + 2 represent the number of measurements in the measurement set Y k , Y k + 1 and Y k + 2 respectively, and t k , t k + 1 and t k + 2 represent the three scans respectively Cycle time,
    Figure PCTCN2018116152-appb-100004
    Represents the e-th measurement in the measurement set Y k of the first scan period, where e = 1, 2, ..., N k ,
    Figure PCTCN2018116152-appb-100005
    with
    Figure PCTCN2018116152-appb-100006
    Respectively measure the x and y components of z k, e ,
    Figure PCTCN2018116152-appb-100007
    Represents the f-th measurement in the measurement set Y k + 1 of the second scan period, where f = 1, 2, ..., N k + 1 ,
    Figure PCTCN2018116152-appb-100008
    with
    Figure PCTCN2018116152-appb-100009
    Respectively measure the x and y components of z k + 1, f ,
    Figure PCTCN2018116152-appb-100010
    Represents the g-th measurement in the measurement set Y k + 2 of the third scan period, where g = 1, 2, ..., N k + 2 ,
    Figure PCTCN2018116152-appb-100011
    with
    Figure PCTCN2018116152-appb-100012
    Respectively measure the x and y components of z k + 2, g ;
    所述步骤1中利用前两个扫描周期的测量集形成试探性轨迹集的具体方法为：The specific method for forming the tentative trajectory set by using the measurement sets of the first two scan periods in step 1 is:
    分别从前两个扫描周期的测量集Y k和Y k+1中各取出一个测量z k,e和z k+1,f形成一测量组，其中e＝1,2,…,N k，f＝1,2,…,N k+1； Take a measurement z k, e and z k + 1, f from the measurement sets Y k and Y k + 1 of the first two scan periods respectively to form a measurement group, where e = 1, 2, ..., N k , f = 1,2, ..., N k + 1 ;
    测试该测量组中的两个测量z k,e和z k+1,f是否满足下列预设的速度条件： Test whether the two measurements z k, e and z k + 1, f in the measurement group meet the following preset speed conditions:
    Figure PCTCN2018116152-appb-100013
    其中，v min和v max分别为最小速度和最大速度，||·|| 2表示向量的2范数；
    Figure PCTCN2018116152-appb-100013
    Among them, v min and v max are the minimum speed and maximum speed respectively, || · || 2 represents the 2 norm of the vector;
    若该测量组中的两个测量z k,e和z k+1,f满足所述预设的速度条件，利用所述两个测量z k,e和z k+1,f形成一试探性轨迹，然后用最小二乘法估计所述试探性轨迹的状态和协方差，估计方法如下： If the two measurements z k, e and z k + 1, f in the measurement group satisfy the preset speed condition, the two measurements z k, e and z k + 1, f are used to form a heuristic Trajectory, and then use least squares to estimate the state and covariance of the tentative trajectory, the estimation method is as follows:
    利用已形成试探性轨迹的所述测量组中的两个测量z k,e和z k+1,f形成列向量m y，得到
    Figure PCTCN2018116152-appb-100014
    Using the two measurements z k, e and z k + 1, f in the measurement group that has formed the tentative trajectory to form the column vector m y , we get
    Figure PCTCN2018116152-appb-100014
    用
    Figure PCTCN2018116152-appb-100015
    表示所述试探性轨迹在第二个扫描周期的状态向量，其中
    Figure PCTCN2018116152-appb-100016
    和
    Figure PCTCN2018116152-appb-100017
    分别表示位置的x分量和y分量，
    Figure PCTCN2018116152-appb-100018
    和
    Figure PCTCN2018116152-appb-100019
    分别表示速度的x分量和y分量；     use
    Figure PCTCN2018116152-appb-100015
    Represents the state vector of the tentative trajectory during the second scan period, where
    Figure PCTCN2018116152-appb-100016
    with
    Figure PCTCN2018116152-appb-100017
    Represent the x and y components of the position,
    Figure PCTCN2018116152-appb-100018
    with
    Figure PCTCN2018116152-appb-100019
    Respectively represent the x and y components of speed;
    令
    Figure PCTCN2018116152-appb-100020
    则所述试探性轨迹在第二个扫描周期的状态估计为
    Figure PCTCN2018116152-appb-100021
    make
    Figure PCTCN2018116152-appb-100020
    Then the state of the tentative trajectory during the second scan cycle is estimated as
    Figure PCTCN2018116152-appb-100021
    令
    Figure PCTCN2018116152-appb-100022
    其中，σ x和σ y分别为x方向和y方向测量噪声的方差，则所述试探性轨迹在第二个扫描周期的协方差估计为
    Figure PCTCN2018116152-appb-100023
    make
    Figure PCTCN2018116152-appb-100022
    Where σ x and σ y are the variance of the measurement noise in the x and y directions, respectively, then the covariance of the tentative trajectory in the second scan period is estimated as
    Figure PCTCN2018116152-appb-100023
    在一个测量组的测试完成后，分别从测量集合Y k和Y k+1中再取出一个测量形成下一测量组，重复执行测试所述测量组中的两个测量是否满足预设的速度条件的操作，直至所有的测量组合都进行了测试； After the test of one measurement group is completed, another measurement is taken from the measurement sets Y k and Y k + 1 respectively to form the next measurement group, and repeated execution is performed to test whether the two measurements in the measurement group meet the preset speed condition Operation until all measurement combinations have been tested;
    测试结束后，用测试获得的试探性轨迹形成试探性轨迹集，表示为
    Figure PCTCN2018116152-appb-100024
    其中N c表示试探性轨迹的数目，
    Figure PCTCN2018116152-appb-100025
    Figure PCTCN2018116152-appb-100026
    After the test, the tentative trajectory obtained by the test is used to form a tentative trajectory set, expressed as
    Figure PCTCN2018116152-appb-100024
    Where N c represents the number of tentative trajectories,
    Figure PCTCN2018116152-appb-100025
    Figure PCTCN2018116152-appb-100026
  3. 如权利要求2所述的方法，其特征在于，所述步骤2中利用第三个扫描周期的测量集对新轨迹加以确认具体为：The method according to claim 2, wherein the step 2 uses the measurement set of the third scan period to confirm the new trajectory specifically:
    从所述试探性轨迹集中取一个试探性轨迹
    Figure PCTCN2018116152-appb-100027
    从所述第三个扫描周期的测量集Y k+2中取一测量z k+2,g，测试所述测量z k+2,g是否落入到所述试探性轨迹
    Figure PCTCN2018116152-appb-100028
    的接收门内，测试所用的公式为     Take a tentative trajectory from the set
    Figure PCTCN2018116152-appb-100027
    Take a measurement z k + 2, g from the measurement set Y k + 2 of the third scan period to test whether the measurement z k + 2, g falls into the exploratory trajectory
    Figure PCTCN2018116152-appb-100028
    Within the receiving door, the formula used for the test is
    Figure PCTCN2018116152-appb-100029
    Figure PCTCN2018116152-appb-100029
    其中，g 0为预设的门限，其取值范围为1～4；
    Figure PCTCN2018116152-appb-100030
    Figure PCTCN2018116152-appb-100031
    Among them, g 0 is the preset threshold, and its value range is 1 to 4;
    Figure PCTCN2018116152-appb-100030
    Figure PCTCN2018116152-appb-100031
    若公式
    Figure PCTCN2018116152-appb-100032
    不成立，则所述测量z k+2,g未落入所述试探性轨迹
    Figure PCTCN2018116152-appb-100033
    的接收门；     If formula
    Figure PCTCN2018116152-appb-100032
    Not true, the measurement z k + 2, g does not fall into the tentative trajectory
    Figure PCTCN2018116152-appb-100033
    The receiving door;
    若所述公式成立，则所述测量z k+2,g落入试探性轨迹
    Figure PCTCN2018116152-appb-100034
    的接收门内，确认所述试探性轨迹
    Figure PCTCN2018116152-appb-100035
    为一新轨迹，然后估计新轨迹的状态与协方差，估计方法如下：     If the formula holds, the measurement z k + 2, g falls into a tentative trajectory
    Figure PCTCN2018116152-appb-100034
    Within the receiving door, confirm the tentative trajectory
    Figure PCTCN2018116152-appb-100035
    For a new trajectory, and then estimate the state and covariance of the new trajectory, the estimation method is as follows:
    所述新轨迹在第三个扫描周期的状态估计为The state of the new trajectory during the third scan cycle is estimated as
    Figure PCTCN2018116152-appb-100036
    其中，
    Figure PCTCN2018116152-appb-100037
    Figure PCTCN2018116152-appb-100038
    Figure PCTCN2018116152-appb-100036
    among them,
    Figure PCTCN2018116152-appb-100037
    Figure PCTCN2018116152-appb-100038
    所述新轨迹在第三个扫描周期的协方差估计为The covariance of the new trajectory in the third scan period is estimated as
    Figure PCTCN2018116152-appb-100039
    Figure PCTCN2018116152-appb-100039
    在对所述试探性轨迹
    Figure PCTCN2018116152-appb-100040
    和测量z k+2,g的测试完成后，再分别从所述试探性轨迹集和所述第三个扫描周期的测量集中取一个试探性轨迹和一个测量形成下一个组合，重复以上所述的测试操作，直至所有的组合都进行了测试；     On the tentative trajectory
    Figure PCTCN2018116152-appb-100040
    After the test of measuring z k + 2, g is completed, a tentative trajectory and a measurement are taken from the tentative trajectory set and the measurement set of the third scanning cycle to form the next combination, and the above is repeated Test operations until all combinations have been tested;
    在测试结束后，用测试获得的新轨迹形成轨迹集，所述轨迹集表示为
    Figure PCTCN2018116152-appb-100041
    其中N r表示新轨迹的数目，
    Figure PCTCN2018116152-appb-100042
    Figure PCTCN2018116152-appb-100043
    After the test, the new trajectory obtained by the test is used to form a trajectory set, which is expressed as
    Figure PCTCN2018116152-appb-100041
    Where N r represents the number of new trajectories,
    Figure PCTCN2018116152-appb-100042
    Figure PCTCN2018116152-appb-100043
  4. 一种逻辑基的轨迹起始系统，其特征在于，所述系统包括：A logic-based trajectory starting system, characterized in that the system includes:
    试探性轨迹形成模块，用于利用前两个扫描周期的测量集形成试探性轨迹集，形成试探性轨迹集的方法是依次从这两个测量集中各取出一个测量，并用所取出的两个测量形成一测量组，测试所述测量组中的两个测量是否满足预设的速度条件，若满足所述预设的速度条件，用所述测量组中的两个测量形成一个试探性轨迹，并用这两个测量估计所述试探性轨迹的状态和协方差；若有多个测量组满足预设的速度条件，用每一个满足预设速度条件的测量组中的两个测量建立一个试探性轨迹，最终形成试探性轨迹集；The heuristic trajectory formation module is used to form a tentative trajectory set using the measurement sets of the first two scan periods. The method of forming the tentative trajectory set is to sequentially take one measurement from each of the two measurement sets and use the two measurements taken Form a measurement group to test whether the two measurements in the measurement group meet the preset speed conditions. If the preset speed conditions are met, use the two measurements in the measurement group to form a tentative trajectory and use These two measurements estimate the state and covariance of the tentative trajectory; if there are multiple measurement groups that meet the preset speed conditions, use two measurements from each measurement group that meet the preset speed conditions to establish a tentative trajectory , Eventually forming a set of tentative trajectories;
    新轨迹确认模块，用于利用第三个扫描周期的测量集对新轨迹加以确认，确认的方法是从所述试探性轨迹集中取出一个试探性轨迹，从第三个扫描周期的测量集中取出一个测量；用取出的试探性轨迹确定出所述取出的试探性轨迹在第三个扫描周期的预测状态，并以所述预测状态为中心建立一接收门，如果所取出的测量落入到所述接收门内，确认所取出的试探性轨迹为一个新轨迹， 并用所述试探性轨迹和所取出的测量获得所述新轨迹的状态估计和协方差估计；重复上述方法，确认出所述试探性轨迹集中所有可能的新轨迹，获得所有可能的新轨迹的状态估计和协方差估计。The new trajectory confirmation module is used to confirm the new trajectory by using the measurement set of the third scan period. The confirmation method is to take a tentative trajectory from the tentative trajectory set and take a tentative trajectory from the third scan period. Measurement; use the retrieved tentative trajectory to determine the predicted state of the retrieved tentative trajectory in the third scan cycle, and establish a receiving gate centered on the predicted state if the retrieved measurement falls into the Within the receiving gate, confirm that the extracted tentative trajectory is a new trajectory, and obtain the state estimate and covariance estimate of the new trajectory using the tentative trajectory and the extracted measurements; repeat the above method to confirm the tentative trajectory In the trajectory set, all possible new trajectories are obtained, and all possible new trajectory state estimates and covariance estimates are obtained.
  5. 如权利要求4所述的逻辑基的轨迹起始系统，其特征在于，设三个扫描周期的测量集为Y k、Y k+1和Y k+2，其中
    Figure PCTCN2018116152-appb-100044
    Figure PCTCN2018116152-appb-100045
    和
    Figure PCTCN2018116152-appb-100046
    N k、N k+1和N k+2分别表示测量集Y k、Y k+1和Y k+2中测量的数目，t k、t k+1和t k+2分别表示三个扫描周期的时间，
    Figure PCTCN2018116152-appb-100047
    表示第一个扫描周期的测量集Y k中的第e个测量，其中e＝1,2,…,N k，
    Figure PCTCN2018116152-appb-100048
    和
    Figure PCTCN2018116152-appb-100049
    分别表示测量z k,e的x分量和y分量，
    Figure PCTCN2018116152-appb-100050
    表示第二个扫描周期的测量集Y k+1中的第f个测量，其中f＝1,2,…,N k+1，
    Figure PCTCN2018116152-appb-100051
    和
    Figure PCTCN2018116152-appb-100052
    分别表示测量z k+1,f的x分量和y分量，
    Figure PCTCN2018116152-appb-100053
    表示第三个扫描周期的测量集Y k+2中的第g个测量，其中g＝1,2,…,N k+2，
    Figure PCTCN2018116152-appb-100054
    和
    Figure PCTCN2018116152-appb-100055
    分别表示测量z k+2,g的x分量和y分量；     The logic-based trajectory initiation system according to claim 4, wherein the measurement set of the three scanning periods is Yk , Yk + 1 and Yk + 2 , wherein
    Figure PCTCN2018116152-appb-100044
    Figure PCTCN2018116152-appb-100045
    with
    Figure PCTCN2018116152-appb-100046
    N k , N k + 1 and N k + 2 represent the number of measurements in the measurement set Y k , Y k + 1 and Y k + 2 respectively, and t k , t k + 1 and t k + 2 represent the three scans respectively Cycle time,
    Figure PCTCN2018116152-appb-100047
    Represents the e-th measurement in the measurement set Y k of the first scan period, where e = 1, 2, ..., N k ,
    Figure PCTCN2018116152-appb-100048
    with
    Figure PCTCN2018116152-appb-100049
    Respectively measure the x and y components of z k, e ,
    Figure PCTCN2018116152-appb-100050
    Represents the f-th measurement in the measurement set Y k + 1 of the second scan period, where f = 1, 2, ..., N k + 1 ,
    Figure PCTCN2018116152-appb-100051
    with
    Figure PCTCN2018116152-appb-100052
    Respectively measure the x and y components of z k + 1, f ,
    Figure PCTCN2018116152-appb-100053
    Represents the g-th measurement in the measurement set Y k + 2 of the third scan period, where g = 1, 2, ..., N k + 2 ,
    Figure PCTCN2018116152-appb-100054
    with
    Figure PCTCN2018116152-appb-100055
    Respectively measure the x and y components of z k + 2, g ;
    所述试探性轨迹形成模块，用于分别从前两个扫描周期的测量集Y k和Y k+1中各取出一个测量z k,e和z k+1,f形成一测量组，其中e＝1,2,…,N k，f＝1,2,…,N k+1；测试该测量组中的两个测量z k,e和z k+1,f是否满足下列预设的速度条件： The tentative trajectory forming module is used to take out a measurement z k, e and z k + 1, f from the measurement sets Y k and Y k + 1 of the first two scan periods respectively to form a measurement group, where e = 1,2, ..., N k , f = 1, 2, ..., N k + 1 ; test whether the two measurements z k, e and z k + 1, f in the measurement group meet the following preset speed conditions :
    Figure PCTCN2018116152-appb-100056
    其中，v min和v max分别为最小速度和最大速度，||·|| 2表示向量的2范数；
    Figure PCTCN2018116152-appb-100056
    Among them, v min and v max are the minimum speed and maximum speed respectively, || · || 2 represents the 2 norm of the vector;
    若该测量组中的两个测量z k,e和z k+1,f满足预设的速度条件，利用所述两个测量z k,e和z k+1,f形成一试探性轨迹，然后用最小二乘法估计所述试探性轨迹的状态和协方差，估计方法如下： If the two measurements z k, e and z k + 1, f in the measurement group satisfy the preset speed condition, use the two measurements z k, e and z k + 1, f to form a tentative trajectory, Then the least square method is used to estimate the state and covariance of the tentative trajectory. The estimation method is as follows:
    利用已形成试探性轨迹的所述测量组中的两个测量z k,e和z k+1,f形成列向量m y，得到
    Figure PCTCN2018116152-appb-100057
    Using the two measurements z k, e and z k + 1, f in the measurement group that has formed the tentative trajectory to form the column vector m y , we get
    Figure PCTCN2018116152-appb-100057
    用
    Figure PCTCN2018116152-appb-100058
    表示所述试探性轨迹在第二个扫描周期的状态向量，其中
    Figure PCTCN2018116152-appb-100059
    和
    Figure PCTCN2018116152-appb-100060
    分别表示位置的x分量和y分量，
    Figure PCTCN2018116152-appb-100061
    和
    Figure PCTCN2018116152-appb-100062
    分别表示速度的x分量和y分量；     use
    Figure PCTCN2018116152-appb-100058
    Represents the state vector of the tentative trajectory during the second scan period, where
    Figure PCTCN2018116152-appb-100059
    with
    Figure PCTCN2018116152-appb-100060
    Represent the x and y components of the position,
    Figure PCTCN2018116152-appb-100061
    with
    Figure PCTCN2018116152-appb-100062
    Respectively represent the x and y components of speed;
    令
    Figure PCTCN2018116152-appb-100063
    则所述试探性轨迹在第二个扫描周期的状态估计为
    Figure PCTCN2018116152-appb-100064
    make
    Figure PCTCN2018116152-appb-100063
    Then the state of the tentative trajectory during the second scan cycle is estimated as
    Figure PCTCN2018116152-appb-100064
    令
    Figure PCTCN2018116152-appb-100065
    其中，σ x和σ y分别为x方向和y方向测量噪声的方差，则所述试探性轨迹在第二个扫描周期的协方差为
    Figure PCTCN2018116152-appb-100066
    make
    Figure PCTCN2018116152-appb-100065
    Where σ x and σ y are the variance of the measurement noise in the x and y directions, respectively, then the covariance of the tentative trajectory in the second scan period is
    Figure PCTCN2018116152-appb-100066
    在一个测量组的测试完成后，分别从测量集合Y k和Y k+1中再取出一个测量形成下一测量组，重复执行测试所述测量组中的两个测量是否满足预设的速度条件的操作，直至所有的测量组合都进行了测试； After the test of one measurement group is completed, another measurement is taken from the measurement sets Y k and Y k + 1 respectively to form the next measurement group, and repeated execution is performed to test whether the two measurements in the measurement group meet the preset speed condition Operation until all measurement combinations have been tested;
    测试结束后，用测试获得的试探性轨迹形成试探性轨迹集，所述试探性轨迹集表示为
    Figure PCTCN2018116152-appb-100067
    其中，N c表示试探性轨迹的数目，
    Figure PCTCN2018116152-appb-100068
    After the test, the tentative trajectory obtained by the test is used to form a tentative trajectory set, and the tentative trajectory set is expressed as
    Figure PCTCN2018116152-appb-100067
    Where N c represents the number of tentative trajectories,
    Figure PCTCN2018116152-appb-100068
  6. 如权利要求5所述的逻辑基的轨迹起始系统，其特征在于，所述新轨迹确认模块，用于从所述试探性轨迹集中取一个试探性轨迹
    Figure PCTCN2018116152-appb-100069
    从所述第三个扫描周期的测量集Y k+2中取一测量z k+2,g，测试所述测量z k+2,g是否落入到所述试探性轨迹
    Figure PCTCN2018116152-appb-100070
    的接收门内，测试所用的公式为     The logic-based trajectory starting system according to claim 5, wherein the new trajectory confirmation module is configured to take a tentative trajectory from the tentative trajectory set
    Figure PCTCN2018116152-appb-100069
    Take a measurement z k + 2, g from the measurement set Y k + 2 of the third scan period to test whether the measurement z k + 2, g falls into the exploratory trajectory
    Figure PCTCN2018116152-appb-100070
    Within the receiving door, the formula used for the test is
    Figure PCTCN2018116152-appb-100071
    Figure PCTCN2018116152-appb-100071
    其中，g 0为预设的门限，其取值范围为1～4；
    Figure PCTCN2018116152-appb-100072
    Figure PCTCN2018116152-appb-100073
    Among them, g 0 is the preset threshold, and its value range is 1 to 4;
    Figure PCTCN2018116152-appb-100072
    Figure PCTCN2018116152-appb-100073
    若公式
    Figure PCTCN2018116152-appb-100074
    不成立，则确定所述测量z k+2,g未落入所述试探性轨迹
    Figure PCTCN2018116152-appb-100075
    的接收门；     If formula
    Figure PCTCN2018116152-appb-100074
    If not, it is determined that the measurement z k + 2, g does not fall into the tentative trajectory
    Figure PCTCN2018116152-appb-100075
    The receiving door;
    若所述公式成立，则确定所述测量z k+2,g落入试探性轨迹
    Figure PCTCN2018116152-appb-100076
    的接收门内，确认所述试探性轨迹
    Figure PCTCN2018116152-appb-100077
    为一新轨迹，然后估计新轨迹的状态与协方差，估计方法如下：     If the formula holds, it is determined that the measurement z k + 2, g falls into a tentative trajectory
    Figure PCTCN2018116152-appb-100076
    Within the receiving door, confirm the tentative trajectory
    Figure PCTCN2018116152-appb-100077
    For a new trajectory, then estimate the state and covariance of the new trajectory.
    所述新轨迹在第三个扫描周期的状态估计为The state of the new trajectory during the third scan cycle is estimated as
    Figure PCTCN2018116152-appb-100078
    Figure PCTCN2018116152-appb-100078
    其中，
    Figure PCTCN2018116152-appb-100079
    among them,
    Figure PCTCN2018116152-appb-100079
    所述新轨迹在第三个扫描周期的协方差估计为The covariance of the new trajectory in the third scan period is estimated as
    Figure PCTCN2018116152-appb-100080
    Figure PCTCN2018116152-appb-100080
    在对所述试探性轨迹
    Figure PCTCN2018116152-appb-100081
    和测量z k+2,g的测试完成后，再分别从所述试探性轨迹集和所述第三个扫描周期的测量集中取一个试探性轨迹和一个测量形成下一个组合，重复以上所述的测试操作，直至所有的组合都进行了测试；     On the tentative trajectory
    Figure PCTCN2018116152-appb-100081
    After the test of measuring z k + 2, g is completed, a tentative trajectory and a measurement are taken from the tentative trajectory set and the measurement set of the third scanning cycle to form the next combination, and the above is repeated Test operations until all combinations have been tested;
    在测试结束后，用测试获得的新轨迹形成轨迹集，所述轨迹集表示为
    Figure PCTCN2018116152-appb-100082
    其中N r表示新轨迹的数目，
    Figure PCTCN2018116152-appb-100083
    Figure PCTCN2018116152-appb-100084
    After the test, the new trajectory obtained by the test is used to form a trajectory set, which is expressed as
    Figure PCTCN2018116152-appb-100082
    Where N r represents the number of new trajectories,
    Figure PCTCN2018116152-appb-100083
    Figure PCTCN2018116152-appb-100084
  7. 一种电子装置，其特征在于，包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，其特征在于，所述处理器执行所述计算机程序时，实现权利要求1至3中任意一项所述方法中的步骤。An electronic device, comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein when the processor executes the computer program, The steps in the method according to any one of claims 1 to 3 are realized.
  8. 一种存储介质，其上存储有计算机程序，其特征在于，所述计算机程序被处理器执行时，实现权利要求1至3中的任意一项所述方法中的步骤。A storage medium on which a computer program is stored, characterized in that when the computer program is executed by a processor, the steps in the method according to any one of claims 1 to 3 are implemented.
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