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X-band radar target detection and tracking method based on density clustering

A radar target and density clustering technology, applied in the field of unmanned vehicle perception, can solve the problems of reliability and accuracy limitations

Active Publication Date: 2020-11-13
SHANGHAI JIAO TONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, this technique has certain limitations in terms of reliability and accuracy.

Method used

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  • X-band radar target detection and tracking method based on density clustering
  • X-band radar target detection and tracking method based on density clustering
  • X-band radar target detection and tracking method based on density clustering

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Embodiment

[0087] The experiment is set in a curved channel with a length of 100 meters and a width of 50 meters (such as image 3 As shown), there are two ships in total for the target to be identified by radar, one of which is single-point moored with an anchor chain, and the other moves along a straight line at a certain speed.

[0088] The data obtained by nautical radar scanning are preprocessed and visualized, as follows: Figure 4 The radar data scatter diagram shown, and then through the DBSCAN clustering algorithm, the points with similar distances are divided into groups according to the density between each point, and different point cloud sets are output; each point is obtained through the Welzl algorithm The minimum enveloping circle of the cloud set, and calculate the position and diameter of each circle, Figure 4 Medium blue circles represent detected targets.

[0089] Finally, the optimal data joint algorithm is made for the detection target and the existing target, an...

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Abstract

The invention relates to an X-band radar target detection and tracking method based on density clustering, and the method comprises the following steps: 1), obtaining the point cloud data of a radar under a polar coordinate, converting the point cloud data from the polar coordinate into a Cartesian coordinate, introducing the ship body position and heading correction, and obtaining the radar pointcloud data under a global coordinate system; (2) adopting a DBSCAN clustering algorithm, dividing points with the close distances into one group according to the density degree between the points, outputting different point cloud sets, obtaining the minimum envelope circle of each point cloud set, wherein the minimum envelope circle represents the detection target of the radar; and 3) performingoptimal data combination on the detection target and the existing target, and estimating the position and speed of the target to realize multi-target tracking. Compared with the prior art, the accuracy and stability of radar target detection and tracking are effectively improved, and accurate target position, speed and size information can be provided, so that a reliable reference basis is provided for safe navigation and collision avoidance of ships.

Description

technical field [0001] The invention relates to the technical field of unmanned boat perception, in particular to a method for detecting and tracking an X-band radar target based on density clustering. Background technique [0002] X-band radar is of great significance to ensure the safety of maritime navigation. It is less affected by weather and light, and can assist navigation and collision avoidance in congested waterways. Although existing technologies can detect and display real-time Obstacles, but relying on manual observation and plotting to obtain the target position and size of obstacles often has disadvantages such as low efficiency, high delay, and low accuracy. [0003] Use computer technology to process radar data, realize automatic detection of targets, and obtain the target's position, course and speed. At the same time, combined with the position and speed of its own hull, it predicts the position of the collision point between itself and the target and the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S13/72G01S7/41
CPCG01S13/726G01S7/411Y02A90/10
Inventor 张卫东胡智焕杨子恒刘笑成韩鹏
Owner SHANGHAI JIAO TONG UNIV
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