Unlock instant, AI-driven research and patent intelligence for your innovation.

An 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, and achieve the effects of improving accuracy, reducing computational complexity, and simple and reliable algorithms

Active Publication Date: 2022-07-08
SHANGHAI JIAOTONG UNIV
View PDF5 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

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

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • An X-band Radar Target Detection and Tracking Method Based on Density Clustering
  • An X-band Radar Target Detection and Tracking Method Based on Density Clustering
  • An X-band Radar Target Detection and Tracking Method Based on Density Clustering

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0087] The experiment was set up in a curved river channel with a length of 100 meters and a width of 50 meters (e.g. image 3 As shown), there are two ships that need to be identified by radar, one of which is moored at a single point with an anchor chain, and the other ship moves in a straight line at a certain speed.

[0088] Preprocess and visualize the data obtained from the marine radar scan, and get the following results: Figure 4 The radar data scatter plot shown, and then through the DBSCAN clustering algorithm, the points with similar distances are grouped into a group according to the density between each point, and different point cloud sets are output; each point is obtained by the Welzl algorithm. the minimum envelope 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...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention relates to an X-band radar target detection and tracking method based on density clustering, comprising the following steps: 1) obtaining point cloud data of radar in polar coordinates, converting the point cloud data from polar coordinates to Cartesian coordinates, and introducing The hull position and heading are corrected to obtain the radar point cloud data in the global coordinate system; 2) Using the DBSCAN clustering algorithm, the points with similar distances are grouped into a group according to the density between each point, and different points are output. Cloud set, obtain the minimum envelope circle of each point cloud set, and the minimum envelope circle represents the detection target of the radar; 3) Combine the detection target and the existing target with the optimal data, and estimate the position and speed of the target to achieve Multi-target tracking. Compared with the prior art, the invention effectively improves the accuracy and stability of radar target detection and tracking, and can provide accurate target position, speed and size information, thereby providing a reliable reference 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 an X-band radar target detection and tracking method 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 avoid collisions in congested waterways. Although the existing technology can detect and display the surrounding ships in real time. Obstacles, but relying on manual observation and plotting to obtain the target position and size of obstacles often has shortcomings such as low efficiency, high delay, and low accuracy. [0003] Using computer technology to process radar data, it can automatically detect the target, and obtain the target's position, heading 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 a...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(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 JIAOTONG UNIV