WO2022151627A1 - Flight track initiation method and system based on target velocity characteristics - Google Patents

Abstract

Disclosed in the present invention is a flight track initiation method and system based on target velocity characteristics. The method comprises: on the basis of a priority order principle, performing flight track point trace association processing on a measurement point trace at the current moment with a reliable flight track, a temporary flight track, and a source flight track to obtain an associated flight track of the measurement point trace; if the associated flight track is a reliable flight track or a temporary flight track, obtaining an associated measurement point trace at an adjacent moment; estimating a motion direction of a target; obtaining a motion velocity estimation value of the target in a motion estimation direction by means of radial velocity of the target; calculating a mean square velocity measurement error sum on the basis that a velocity measurement error complies with a Gaussian distribution that is not 0; performing, on the basis of motion characteristics of the target and the mean square velocity measurement error sum, flight track quality detection corresponding to the associated flight track; and updating a flight track state of the associated flight track according to the quality detection result. The present invention can effectively suppress a false flight track due to an interference measurement point trace caused by the target, thereby improving flight track initiation precision.

Description

Track initiation method and system based on target speed characteristics technical field

The present invention relates to the technical field of target tracking, in particular to a method and system for starting a track based on a target speed feature.

Background technique

Multi-target tracking technology is very important in engineering applications, and track initiation as the basis of multi-target tracking technology directly determines the performance of multi-target trackers. For the sea surface target tracking problem in the environment of severe sea clutter and the existence of ship wakes, at this time, the measurement point traces include both target point traces and a large number of sea clutter point traces, while the sea clutter traces The wavy trace also contains wake clutter traces related to the target motion characteristics. The interference measurement traces caused by these targets can easily cause false tracks, making track tracking extremely difficult.

SUMMARY OF THE INVENTION

The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a track initiation method based on target speed characteristics, which can effectively suppress false tracks in the track initiation process.

The present invention also proposes a track initiation system based on the target speed feature having the above-mentioned track initiation method based on the target speed feature.

The present invention also provides a computer-readable storage medium having the above-mentioned method for initiating a track based on a target speed feature.

The method for starting a track based on a target speed feature according to the embodiment of the first aspect of the present invention includes the following steps: S100 , based on the principle of order priority, sequentially associate the measurement point track at the current moment with the reliable track, the temporary track Perform track point-track correlation processing with the source track and obtain the associated track of the measurement point track; S200, if the associated track is the reliable track or the temporary track, obtain the adjacent moments The associated measurement traces, according to the measurement traces and the associated measurement traces, estimate the motion direction of the target, and obtain the motion velocity estimate of the target in the motion estimation direction by the radial velocity of the target value, based on the velocity measurement error subject to a non-zero Gaussian distribution, the statistical mean squared velocity measurement error sum, and, based on the motion characteristics of the target and the mean squared velocity measurement error sum, executes corresponding to the associated track The quality of the track is detected, and the track status of the associated track is updated according to the quality detection result.

The method for starting a track based on the target speed feature according to the embodiment of the present invention has at least the following beneficial effects: the track is divided into three state levels: a reliable track, a temporary track and a source track, and the measurement point is pressed by The order is prioritized to be associated, and based on the motion characteristics of the target and the sum of the mean square velocity measurement errors, quality detection is performed. Suppress the false track caused by the interference measurement point track caused by the target, and improve the starting accuracy of the track.

According to some embodiments of the present invention, the motion estimation direction of the target obtained by the associated measurement traces Z _i (k) and Z _j (k+1) at moments k and k+1 is:

The estimated moving velocity V _e (k)=V _d (k)/cosθ is obtained from the radial velocity V _d (k) of the target, where V _e (k) represents the estimated moving velocity, and θ represents The angle between the radar line of sight and the motion estimation direction.

According to some embodiments of the present invention, the calculation method of the mean square velocity measurement error sum is:

in,

k represents the observation time, ΔV(k) represents the error between the measured value and the estimated value of the moving speed of the target, and the speed measurement error obeys the mean value of μ _v and the variance is

The Gaussian distribution of , μ _v is not 0; ∈ _v represents the normalized mean square velocity measurement error sum, and obeys the chi-square distribution with N degrees of freedom.

According to some embodiments of the present invention, if the associated track is the reliable track, the step S200 includes: S211, obtaining a first evaluation factor according to the motion characteristics of the target, if the first evaluation If the factor is less than the first threshold, the quality detection result is to be deleted; if the first evaluation factor is greater than the second threshold, go to S212; otherwise, the quality detection result is to be maintained; The value of the threshold is less than the value of the second threshold; S212, the sum of the mean square velocity measurement errors is less than the third threshold, and the quality detection result is to be deleted; otherwise, the quality detection result is to be maintained; S213, if all If the quality detection result is to be maintained, the reliable track is filtered to update the track display, and if the quality detection result is to be deleted, the reliable track is deleted.

According to some embodiments of the present invention, if the associated track is the reliable track, the step S200 includes: S221, obtaining a first evaluation factor according to the motion feature and amplitude feature of the target, if the If the first evaluation factor is less than the first threshold, the quality detection result is to be deleted; if the first evaluation factor is greater than the second threshold, go to S222; otherwise, the quality detection result is to be maintained; The value of the first threshold is less than the value of the second threshold; S222, the sum of the mean square velocity measurement errors is less than the third threshold, then the quality detection result is to be deleted; otherwise, the quality detection result is to be maintained; S223 , if the quality detection result is to be maintained, the reliable track is filtered to update the track display, and if the quality detection result is to be deleted, the reliable track is deleted.

According to some embodiments of the present invention, if the associated track is the temporary track, the step S200 includes: S231, obtaining a second evaluation factor according to the motion characteristics of the target, if the second evaluation If the factor is less than the fifth threshold, the quality detection result is to be deleted; if the second evaluation factor is greater than the sixth threshold, go to S232; otherwise, the quality detection result is to be maintained; wherein, the fifth The value of the threshold is less than the value of the sixth threshold; S232, the sum of the mean square velocity measurement errors is less than the seventh threshold, and the quality detection result is to be deleted; if the sum of the mean square velocity measurement errors is greater than the eighth threshold, then The quality detection result is to determine the track; otherwise, the quality detection result is to be maintained; wherein, the value of the seventh threshold is less than the value of the eighth threshold; S233, if the quality detection result is to determine the track, The temporary track is converted into the reliable track; if the quality detection result is to be deleted, the temporary track is deleted; otherwise, the temporary track is maintained.

According to some embodiments of the present invention, if the associated track is the temporary track, the step S200 includes: S241, obtaining a second evaluation factor according to the motion feature and amplitude feature of the target, if the If the second evaluation factor is less than the fifth threshold, the quality detection result is to be deleted; if the second evaluation factor is greater than the sixth threshold, go to S242; otherwise, the quality detection result is to be maintained; The value of the fifth threshold is less than the value of the sixth threshold; S242, the sum of the mean squared velocity measurement errors is less than the seventh threshold, then the quality detection result is to be deleted; if the sum of the mean squared velocity measurement errors is greater than the eighth threshold threshold, the quality detection result is to determine the track; otherwise, the quality detection result is to be maintained; wherein, the value of the seventh threshold is less than the value of the eighth threshold; S243, if the quality detection result is determined If the quality detection result is to be deleted, delete the temporary track; otherwise, maintain the temporary track.

According to some embodiments of the present invention, the method further includes: if the associated track is the source track, performing a temporary track check, and if the temporary track standard is not met, executing a flight track on the source track. The track head is eliminated, and if the temporary track criteria are met, the original track is converted into the temporary track.

The track initiation system based on the target velocity feature according to the embodiment of the second aspect of the present invention includes: a radar module for acquiring a measurement point trace of the target, and collecting the radial velocity and target position measurement values of the target; The association module is used for, based on the principle of order priority, to perform track point association processing on the measurement point trace at the current moment with the reliable trace, the temporary trace and the source trace in turn, and obtain the information of the measurement point trace. The associated track; the track processing module is used to obtain the associated measurement point track at the adjacent moment if the associated track is the reliable track or the temporary track, and according to the measurement point track and the The associated measurement point traces estimate the movement direction of the target, and obtain the estimated value of the movement speed of the target in the movement estimation direction through the radial velocity of the target, and the velocity measurement error is subject to a Gaussian distribution that is not 0, Statistical mean square velocity measurement error sum, and, based on the motion characteristics of the target and the mean square velocity measurement error sum, perform track quality detection corresponding to the associated track, and update the The track status of the associated track.

The track initiation system based on the target speed feature according to the embodiment of the present invention has at least the following beneficial effects: the track is divided into three status levels: a reliable track, a temporary track and a source track, and the measurement point is pressed by The order is prioritized to be associated, and based on the motion characteristics of the target and the sum of the mean square velocity measurement errors, quality detection is performed. Suppress the false track caused by the interference measurement point track caused by the target, and improve the starting accuracy of the track.

A computer-readable storage medium according to an embodiment of the third aspect of the present invention has a computer program stored thereon, and when the computer program is executed by a processor, implements the method according to the embodiment of the first aspect of the present invention.

The computer-readable storage medium according to the embodiment of the present invention has at least the same beneficial effects as the method of the embodiment of the first aspect of the present invention.

Additional aspects and advantages of the present invention will be set forth, in part, from the following description, and in part will be apparent from the following description, or may be learned by practice of the invention.

Description of drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of embodiments taken in conjunction with the accompanying drawings, wherein:

1 is a schematic flowchart of a method according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a process flow diagram of a method for starting a track according to an embodiment of the present invention;

Fig. 3 is one of the relationship diagrams of absolute velocity and radial velocity change;

Figure 4 is the second diagram of the relationship between absolute velocity and radial velocity;

5 is a schematic diagram of the existence range of the movement speed of the target;

6 is a schematic diagram of the relationship between the radial velocity and the estimated value of the motion velocity in the method according to the embodiment of the present invention;

FIG. 7 is a schematic diagram of a process flow of track quality evaluation in an embodiment of the present invention;

FIG. 8 is a schematic block diagram of modules of a system according to an embodiment of the present invention.

Reference number:

Radar module 100 , association module 200 , track processing module 300 .

Detailed ways

The following describes in detail the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as a limitation of the present invention.

In the description of the present invention, the meaning of several is one or more, the meaning of multiple is two or more, greater than, less than, exceeding, etc. are understood as not including this number, above, below, within, etc. are understood as including this number . If it is described that the first and the second are only for the purpose of distinguishing technical features, it cannot be understood as indicating or implying relative importance, or indicating the number of the indicated technical features or the order of the indicated technical features. relation.

Referring to FIG. 1, the method of the embodiment of the present invention includes the following steps: S100, based on the principle of order priority, perform track tracking of the measured track at the current moment with the reliable track, the temporary track and the original track in turn Correlation processing, obtaining the associated track of the measurement point track; S200, if the associated track is a reliable track or a temporary track, obtain the associated measurement point track at an adjacent moment, and according to the measurement point track and the associated measurement point trace, estimate the moving direction of the target, obtain the estimated value of the moving speed of the target in the direction of motion estimation through the radial velocity of the target, based on the velocity measurement error obeying a Gaussian distribution that is not 0, the statistical mean square velocity measurement error sum, and, Based on the motion characteristics of the target and the sum of the mean square velocity measurement errors, the track quality detection corresponding to the associated track is performed, and the track status of the associated track is updated according to the quality detection result.

In the embodiment of the present invention, the track is divided into three different types: the reliable track, the temporary track and the original track. The flow of the track initiation process is shown in Figure 2, and the measurement point at the current moment is obtained. track, and perform track point-track correlation processing with reliable track, temporary track and origin track in turn. Among them, track-point-track association follows the principle of order priority, that is, after a certain measurement point-track is associated with a reliable track, It is no longer associated with the temporary track and the original track. Similarly, after it is associated with the temporary track, it is no longer associated with the original track, and it is not associated with the reliable track, the temporary track, and the original track. The measurement point track is finally used as the track header of the newly added source track. After completing the track association processing, the corresponding track quality evaluation will be performed on the associated track. The track quality evaluation mainly completes the evaluation of the current track status. If the track quality does not meet the track quality standard, the track elimination process will be performed, otherwise Maintain the current track status and wait for the track update data at the next moment. For a reliable track, evaluate the track quality. If the evaluation result is maintained, update the track for the filter display (for example, perform Kalman filter), maintain the existing track status and wait for the next moment. Track update data; if the evaluation result is deletion, the reliable track will be cleared. Obviously, the reliable track can also be filtered and displayed first, and then the track quality can be evaluated. When the evaluation result is deleted, the reliable track and the corresponding display are cleared. If the evaluation result is maintained, the existing track is maintained. It can be seen that the display of reliable tracks in the order of quality evaluation does not affect the processing results of track status. For the temporary track, if the evaluation result is maintained, maintain the existing track status and wait for the associated data of the point track at the next moment; if the evaluation result is delete, clear the temporary track; if the evaluation result is the confirmed track, then The temporary track is transferred to a reliable track, that is, the track status of the temporary track is converted into a reliable track and added to the set of reliable tracks. For the original track, the temporary track detection is performed, and the original track that does not meet the temporary track standard is eliminated by the track header and waits for the associated data of the point track at the next moment, and the original track that meets the temporary track standard The track is transferred to the temporary track.

At present, the existing track quality evaluation methods usually use the motion characteristics of the target instead of the attribute characteristics of the target, because the attribute characteristics of the target itself have great uncertainty, such as the target at different times within the coherence time. The amplitude can be considered as a constant, but the amplitude of the target at different times outside the coherence time is greatly affected by the scintillation of the target’s RCS, and the update period of the target’s measurement point trace data is usually greater than the coherence processing time of the radar; The speed will also change drastically due to the influence of the target movement posture. As shown in Figure 3, it describes the situation where the absolute velocity of the target is the same for 5 consecutive sampling moments, but its radial velocity (Doppler measurement value) changes significantly; as shown in Figure 4, it describes the situation where the target has more A situation in which the Puller measurement (radial velocity) is the same while the absolute velocity varies drastically.

Pulse Doppler radar can measure the radial velocity of the target by measuring the Doppler frequency shift. However, the radial velocity of the target is only a component of the target velocity in the direction of the radar line of sight. Through Figure 3 and Figure 4 As shown, there is no one-to-one correspondence between the actual moving speed of the target and the radial speed. In the target tracking problem, the possible value of the actual velocity of the target exists within the interval formed by the target radial velocity and the maximum velocity, as shown by the triangle formed by the dotted line in Figure 5. Since the target radial velocity cannot accurately reflect the absolute velocity and heading of the target, the track quality evaluation method based only on the target radial velocity attribute cannot effectively realize the track quality evaluation. When the ship moves in the line-of-sight direction, and the wake generated by the ship moves approximately in the direction of the radar line-of-sight, only relying on the single attribute feature of radial velocity cannot effectively suppress the temporary effect formed by the correlation between the target measurement point trace and the wake clutter target measurement point trace. track.

In order to make better use of the target radial velocity attribute feature, the embodiment of the present invention estimates the moving direction of the target through the associated measurement point traces at adjacent times, and then estimates the absolute velocity and heading of the target. As shown in FIG. 6 , by k The associated measurement traces Z _i (k) and Z _j (k+1) at time k+1 estimate the direction of the target movement as

Then, according to the projection of the target velocity in the direction of the radar line of sight as the radial velocity V _d (k), the velocity value of the target in the estimated direction can be obtained as V _e (k), so the measured value of the target movement velocity can be expressed as

V _m (k)=V _e (k)+ΔV(k)

in,

Represents the target velocity measurement value estimated from the associated target measurement trace, T is the interval time between k and k+1; V _e (k)=V _d (k)/cosθ is the estimation of the target velocity value, θ is the angle between the radar sight line and the estimated value of the target moving direction; ΔV(k) is the error between the measured value and the estimated value of the target moving speed, which is called the speed measurement noise.

From a longer sampling time, assuming that the velocity measurement error obeys the independent and identical distribution, the mean is 0 and the variance is

The Gaussian distribution of , but it is affected by the instantaneous motion characteristics of the target. Generally speaking, for a small sampling time interval, the velocity measurement error does not satisfy the assumption of mutual independence, and its mean value is not 0. At this time, it is assumed that the velocity measurement error obeys the The mean is _μ and the variance is

Gaussian distribution. The normalized mean square speed measurement error is defined as

Among them, k=1, 2, ..., N represents the kth observation. Then ∈ _v (k) obeys the standard normal distribution, so for the method that only relies on single observation data to perform track quality evaluation, only when -erf ^-1 (α)≤∈ _v (k)≤erf ^-1 ( α), the track quality can be considered valid when the velocity measurement error is within the confidence interval with probability α. For track quality assessment methods that rely on batch data, define

is the normalized sum of mean squared velocity measurement errors and obeys a chi-squared distribution with N degrees of freedom if and only if

The track is considered valid. The mean square velocity measurement error sum is used as a velocity evaluation factor, combined with the motion evaluation factor, to evaluate the track quality, which can effectively suppress false tracks.

An embodiment of the present invention provides a track quality evaluation method based on target motion characteristics and speed characteristics. Refer to FIG. 7 for the evaluation process. The method of track quality evaluation is carried out in two steps; the first step is the evaluation based on the target motion characteristics, and the second step is the evaluation based on the speed characteristics; the two-step evaluation adopts the cascade logic method to jointly realize the determination of the track quality. , the process is as follows:

The first step is to obtain the motion evaluation factor, and compare the motion evaluation factor with the thresholds T1 and T2 (T1<T2). If the evaluation factor is less than the threshold T1, the evaluation result is marked as to be deleted; if the evaluation factor is greater than the threshold T2, then Continue to evaluate the track quality based on the speed feature; otherwise, mark the evaluation result as pending. In some embodiments of the present invention, the motion evaluation factor is obtained according to the motion feature of the target; in other real examples of the present invention, the motion evaluation factor is obtained according to the motion feature and amplitude feature of the target.

The second step is to obtain the estimated motion direction of the target according to the measurement point trace Z _j (k+1) at the current moment and the measurement point trace Z _i (k) at the previous moment associated with it, and obtain the estimated movement direction of the target according to the radial velocity of the target. Calculate the velocity value V _e (k) of the target in the estimated direction, calculate the mean square velocity measurement error sum ∈ _v , take the mean square velocity measurement error sum ∈ _v as the velocity characteristic evaluation factor, and the thresholds H1 and H2 (H1<H2 ) for comparison, if the sum of the mean squared velocity measurement errors is less than the threshold H1, the evaluation result is marked as to be deleted; if the mean squared velocity measurement error sum is greater than the threshold H2, the marked detection result is a confirmed track; otherwise, the marked evaluation result is to be maintained.

In one of the embodiments of the present invention, the same track quality evaluation method can be invoked for the temporary track and the reliable track. For the temporary track, if the evaluation result is to be deleted, delete the temporary track; if the evaluation result is to be maintained, maintain the temporary track and wait for the associated measurement point track at the next moment; if the evaluation result is to confirm the track , the temporary track is transferred to a reliable track. For the reliable track, if the evaluation result is to be deleted, the reliable track is deleted; if the evaluation result is the track to be maintained or confirmed, the reliable track is maintained. The two groups of threshold values corresponding to the temporary track are: the first threshold and the second threshold, where the value of the second threshold is greater than the first threshold; the third threshold and the fourth threshold, where the value of the fourth threshold is greater than the first threshold. Three thresholds. The two groups of threshold values corresponding to the reliable track are: the fifth threshold and the sixth threshold, where the value of the fifth threshold is greater than the sixth threshold; the seventh threshold and the eighth threshold, where the value of the eighth threshold is greater than the value of the sixth threshold. Seven thresholds. The two sets of threshold values corresponding to the temporary track may be the same as the two sets of threshold values corresponding to the reliable track, or may be configured differently. When the associated track calls the track quality evaluation method, the configuration of the corresponding two sets of threshold values can be read through the type of the associated track, and then the track quality evaluation can be realized.

In the second real example of the present invention, the steps shown in Figure 7 are performed for the track quality evaluation of the temporary track; but for the track quality evaluation of the reliable track, in the second step evaluation, only the threshold H1 For comparison, if the mean square velocity measurement error sum is less than the threshold H1, the evaluation result is marked as to be deleted; otherwise, the evaluation result is marked as to be maintained.

If the track associated with the current measurement point is a reliable track, there are two methods for track quality evaluation and track status update. The first method includes the following steps: S211, obtaining a first evaluation factor according to the motion characteristics of the target, if the first evaluation factor is less than the first threshold, the quality detection result is to be deleted; if the first evaluation factor is greater than the second threshold, then go to S212; otherwise, the quality detection result is to be maintained; wherein, the value of the first threshold is less than the value of the second threshold; S212, the mean square velocity measurement error sum is less than the third threshold, then the quality detection result is to be deleted ; otherwise, the quality detection result is to be maintained; S213, if the quality detection result is to be maintained, the reliable track is filtered to update the track display, and if the quality detection result is to be deleted, the reliable track is deleted. The second method includes: 221, obtaining a first evaluation factor according to the motion feature and amplitude feature of the target, if the first evaluation factor is less than the first threshold, the quality detection result is to be deleted; if the first evaluation factor is greater than the second threshold , then go to S222; otherwise, the quality detection result is to be maintained; wherein, the value of the first threshold is less than the value of the second threshold; S222, the mean square velocity measurement error sum is less than the third threshold, then the quality detection result is to be deleted; Otherwise, the quality detection result is to be maintained; S223, if the quality detection result is to be maintained, filter the reliable track to update the track display, and if the quality detection result is to be deleted, delete the reliable track.

If the track associated with the current measurement point is a temporary track, the track quality evaluation and track status update also include two methods. Wherein, the first method includes: S231, obtaining a second evaluation factor according to the motion characteristics of the target, if the second evaluation factor is less than the fifth threshold, the quality detection result is to be deleted; if the second evaluation factor is greater than the sixth threshold, Then go to S232; otherwise, the quality detection result is to be maintained; wherein, the value of the fifth threshold is less than the value of the sixth threshold; S232, the mean square velocity measurement error sum is less than the seventh threshold, then the quality detection result is to be deleted; if If the sum of the mean square velocity measurement errors is greater than the eighth threshold, the quality detection result is the confirmed track; otherwise, the quality detection result is to be maintained; wherein, the value of the seventh threshold is less than the value of the eighth threshold; S233, if the quality detection result is If the track is determined, the temporary track is converted into a reliable track; if the quality inspection result is to be deleted, the temporary track is deleted; otherwise, the temporary track is maintained. The second method includes: S241, obtaining a second evaluation factor according to the motion feature and amplitude feature of the target, if the second evaluation factor is less than the fifth threshold, the quality detection result is to be deleted; if the second evaluation factor is greater than the sixth threshold , then go to S242; otherwise, the quality detection result is to be maintained; wherein, the value of the fifth threshold is less than the value of the sixth threshold; S242, the mean square velocity measurement error sum is less than the seventh threshold, then the quality detection result is to be deleted; If the sum of the mean square velocity measurement errors is greater than the eighth threshold, the quality detection result is the confirmed track; otherwise, the quality detection result is to be maintained; wherein, the value of the seventh threshold is less than the value of the eighth threshold; S243, if the quality detection result In order to determine the track, the temporary track is converted into a reliable track; if the quality inspection result is to be deleted, the temporary track is deleted; otherwise, the temporary track is maintained. It should be understood that, in the embodiment of the present invention, the above-mentioned first evaluation factor and second evaluation factor may be the same or different. That is, different motion evaluation factors can be set for the reliable track and the temporary track respectively, or the same motion evaluation factor can be configured.

8 , a system according to an embodiment of the present invention includes: a radar module 100 for acquiring a measurement point trace of a target, and collecting the radial velocity and target position measurement values of the target; an association module 200 for, based on the principle of order priority, Correlate the measured point traces at the current moment with the reliable traces, the temporary traces, and the source traces in turn, and obtain the associated traces of the measured point traces; If the track is a reliable track or a temporary track, the associated measurement point traces at adjacent times are obtained, and the moving direction of the target is estimated according to the measurement point trace and the associated measurement point trace, and the target is obtained by the radial velocity of the target. The motion velocity estimate in the motion estimation direction, based on the velocity measurement error obeying a non-zero Gaussian distribution, the statistical mean square velocity measurement error sum, and, based on the target's motion characteristics and the mean square velocity measurement error sum, perform the associated navigation The corresponding track quality detection of the track is performed, and the track status of the associated track is updated according to the quality detection result.

Although specific embodiments are described herein, those of ordinary skill in the art will recognize that many other modifications or alternative embodiments are also within the scope of this disclosure. For example, any of the functions and/or processing capabilities described in connection with a particular device or component may be performed by any other device or component. Additionally, although various exemplary implementations and architectures have been described in accordance with embodiments of the present disclosure, those of ordinary skill in the art will recognize that many other modifications to the exemplary implementations and architectures described herein are within within the scope of this disclosure.

Certain aspects of the present disclosure are described above with reference to block diagrams and flowchart illustrations of systems, methods, systems and/or computer program products according to example embodiments. It will be understood that one or more blocks of the block diagrams and flowchart illustrations, and combinations of blocks in the block diagrams and flowchart illustrations, respectively, can be implemented by the execution of computer-executable program instructions. Also, some blocks of the block diagrams and flowchart illustrations may not need to be performed in the order shown, or all of the blocks may not need to be performed in accordance with some implementations. Additionally, additional components and/or operations beyond those illustrated by blocks in the block diagrams and flowcharts may be present in certain embodiments.

Accordingly, blocks in the block diagrams and flowchart illustrations support combinations of means for performing the specified functions, combinations of elements or steps for performing the specified functions and program instruction means for performing the specified functions. It will also be understood that each block of the block diagrams and flowchart illustrations, and combinations of blocks in the block diagrams and flowchart illustrations, can be implemented by special purpose hardware computer systems, or combinations of special purpose hardware and computer instructions, that perform the specified functions, elements, or steps.

Program modules, applications, and the like described herein may include one or more software components, including, for example, software objects, methods, data structures, and the like. Each such software component may include computer-executable instructions that, in response to execution, cause at least a portion of the functions described herein (eg, one or more operations of the exemplary methods described herein) be executed.

Software components can be coded in any of a variety of programming languages. An exemplary programming language may be a low-level programming language, such as assembly language associated with a particular hardware architecture and/or operating system platform. Software components that include assembly language instructions may need to be converted into executable machine code by an assembler prior to execution by a hardware architecture and/or platform. Another exemplary programming language may be a higher level programming language that is portable across multiple architectures. Software components including higher level programming languages may need to be converted into an intermediate representation by an interpreter or compiler before execution. Other examples of programming languages include, but are not limited to, macro languages, shell or command languages, job control languages, scripting languages, database query or search languages, or report writing languages. In one or more exemplary implementations, a software component containing instructions from one of the above-described programming language examples can be directly executed by an operating system or other software component without first being converted to another form.

Software components may be stored as files or other data storage constructs. Software components with similar types or related functions may be stored together, for example, in a particular directory, folder, or library. Software components may be static (eg, preset or fixed) or dynamic (eg, created or modified at execution time).

The embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned embodiments, and within the scope of knowledge possessed by those of ordinary skill in the art, various Variety.

Claims (10)

1. A method for starting a track based on a target speed feature, comprising the following steps:

   S100, based on the principle of order priority, perform track-point correlation processing on the measurement track at the current moment with the reliable track, the temporary track and the source track in turn, and obtain the associated track of the measurement track;

   S200, if the associated track is the reliable track or the temporary track, obtain the associated measurement track at an adjacent moment, and estimate the associated measurement track according to the measurement track and the associated measurement track. the direction of motion of the target, the estimated value of the motion velocity of the target in the direction of motion estimation is derived from the radial velocity of the target, based on the velocity measurement error subject to a non-zero Gaussian distribution, the statistical mean square velocity measurement error sum, and , based on the motion characteristics of the target and the sum of the mean square velocity measurement errors, perform track quality detection corresponding to the associated track, and update the track status of the associated track according to the quality detection result.
2. The track initiation method based on the target speed feature according to claim 1, characterized in that, obtained by the associated measurement point traces Z _i (k) and Z _j (k+1) at moments k and k+1 The motion estimation direction of the target is

   

   The estimated moving velocity V _e (k)=V _d (k)/cosθ is obtained from the radial velocity V _d (k) of the target, where V _e (k) represents the estimated moving velocity, and θ represents The angle between the radar line of sight and the motion estimation direction.
3. The method for starting a track based on a target velocity feature according to claim 2, wherein the method for calculating the sum of the mean square velocity measurement errors is:

   

   in,

   

   k represents the observation time, ΔV(k) represents the error between the measured value and the estimated value of the moving speed of the target, and the speed measurement error obeys the mean value of μ _v and the variance is

   

   The Gaussian distribution of , μ _v is not 0; ε _v is the normalized mean square velocity measurement error sum, and obeys the chi-square distribution with N degrees of freedom.
4. The method for starting a track based on a target speed feature according to claim 1, wherein if the associated track is the reliable track, the step S200 comprises:

   S211, obtain a first evaluation factor according to the motion characteristics of the target, if the first evaluation factor is less than a first threshold, the quality detection result is to be deleted; if the first evaluation factor is greater than the second threshold, Then go to S212; otherwise, the quality detection result is to be maintained; wherein, the value of the first threshold is less than the value of the second threshold;

   S212, the sum of the mean square velocity measurement errors is less than a third threshold, and the quality detection result is to be deleted; otherwise, the quality detection result is to be maintained;

   S213, if the quality detection result is to be maintained, perform filtering on the reliable track to update the track display, and if the quality detection result is to be deleted, delete the reliable track.
5. The method for starting a track based on a target speed feature according to claim 1, wherein if the associated track is the reliable track, the step S200 comprises:

   S221: Obtain a first evaluation factor according to the motion feature and amplitude feature of the target, if the first evaluation factor is less than a first threshold, the quality detection result is to be deleted; if the first evaluation factor is greater than the first evaluation factor Two thresholds, then go to S222; otherwise, the quality detection result is to be maintained; wherein, the value of the first threshold is less than the value of the second threshold;

   S222, the sum of the mean square velocity measurement errors is less than a third threshold, and the quality detection result is to be deleted; otherwise, the quality detection result is to be maintained;

   S223, if the quality detection result is to be maintained, perform filtering on the reliable track to update the track display, and if the quality detection result is to be deleted, delete the reliable track.
6. The method for starting a track based on a target speed feature according to claim 1, wherein if the associated track is the temporary track, the step S200 comprises:

   S231: Obtain a second evaluation factor according to the motion characteristics of the target, if the second evaluation factor is less than the fifth threshold, the quality detection result is to be deleted; if the second evaluation factor is greater than the sixth threshold, Then go to S232; otherwise, the quality detection result is to be maintained; wherein, the value of the fifth threshold is less than the value of the sixth threshold;

   S232, the sum of the mean squared velocity measurement errors is less than the seventh threshold, and the quality detection result is to be deleted; if the sum of the mean squared velocity measurement errors is greater than the eighth threshold, the quality detection result is to determine the track; Otherwise, the quality detection result is to be maintained; wherein, the value of the seventh threshold is less than the value of the eighth threshold;

   S233, if the quality detection result is a confirmed track, convert the temporary track into the reliable track; if the quality detection result is to be deleted, delete the temporary track; otherwise, maintain the Temporary track.
7. The method for starting a track based on a target speed feature according to claim 1, wherein if the associated track is the temporary track, the step S200 comprises:

   S241: Obtain a second evaluation factor according to the motion feature and amplitude feature of the target. If the second evaluation factor is less than the fifth threshold, the quality detection result is to be deleted; if the second evaluation factor is greater than the fifth threshold, the quality detection result is to be deleted; Six thresholds, then go to S242; otherwise, the quality detection result is to be maintained; wherein, the value of the fifth threshold is less than the value of the sixth threshold;

   S242, the sum of the mean squared velocity measurement errors is less than the seventh threshold, and the quality detection result is to be deleted; if the sum of the mean squared velocity measurement errors is greater than the eighth threshold, the quality detection result is to determine the track; Otherwise, the quality detection result is to be maintained; wherein, the value of the seventh threshold is less than the value of the eighth threshold;

   S243, if the quality detection result is a confirmed track, convert the temporary track into the reliable track; if the quality detection result is to be deleted, delete the temporary track; otherwise, maintain the Temporary track.
8. The method for starting a track based on a target speed feature according to claim 1, further comprising: if the associated track is the source track, performing a temporary track check, if the temporary track is not satisfied If the track standard is satisfied, the original track is subjected to track header elimination, and if the temporary track standard is met, the original track is converted into the temporary track.
9. A track initiation system based on target speed characteristics, using the method of any one of claims 1 to 8, characterized in that, comprising:

   The radar module is used to obtain the measurement point trace of the target, and collect the radial velocity and target position measurement values of the target;

   The association module is used for, based on the principle of order priority, to perform track point association processing on the measurement point trace at the current moment with the reliable trace, the temporary trace and the source trace in turn, and obtain the information of the measurement point trace. associated track;

   The track processing module is used to obtain the associated measurement point traces at adjacent moments if the associated track is the reliable track or the temporary track, and according to the measurement point track and the associated quantity Measure the point trace, estimate the moving direction of the target, obtain the estimated value of the moving speed of the target in the direction of motion estimation through the radial velocity of the target, based on the velocity measurement error subject to a Gaussian distribution that is not 0, the statistical mean square velocity The measurement error sum, and, based on the motion characteristics of the target and the mean square velocity measurement error sum, perform a track quality detection corresponding to the associated track, and update the associated track according to the quality detection result. track status.
10. A computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of any one of claims 1 to 8.

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