Millimeter wave radar target trace point condensation method for unmanned ship

Abstract

The invention discloses a millimeter wave radar target trace point condensation method for an unmanned ship and belongs to the field of radar data processing. According to the invention, the millimeter wave radar target trace point condensation is realized by combining a threshold filtering method with a clustering method based on Euclidean distance. Firstly, target plot data in front of the unmanned ship are obtained from a millimeter-wave radar, a threshold filtering method is adopted for carrying out plot data preprocessing, and invalid target plots are filtered out; effective target plotsare rearranged according to relative distance values from near to far; the Euclidean distances among the plots is calculated according to the rule that the plots belonging to the same target are closein position and the same in speed, the similarity among the plots is measured by using the Euclidean distances, the target plots are clustered, the main information of an obstacle target is calculated, the size range of the obstacle target is represented, and the target plot aggregation is completed. According to the method, the data volume is reduced, the data processing efficiency and the accuracy of a radar detection result are improved, and good data support is provided for the autonomous collision avoidance of the unmanned ship.

Description

technical field

[0001] The invention relates to the field of radar data processing, in particular to a method for agglomerating millimeter-wave radar target spots. Background technique

[0002] Millimeter wave radar is currently widely used in automobiles, such as automatic driving and collision avoidance warning. Due to the complex sea surface environment, when millimeter-wave radar is applied to unmanned ships, there will be a large number of invalid targets in the detection results. At the same time, it is affected by factors such as the size of the target reflection surface, target material, distance, and radar resolution. Multiple echoes will be reflected, so the radar may recognize it as multiple target traces, resulting in the problem of target trace splitting.

[0003] In the existing technology, after obtaining the target point track information returned by the radar, the relative distance and angle of the point track information are used as judgment conditions for...

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