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Topological structure-based radar photoelectric sensor target association fusion method

A photoelectric sensor and topological structure technology, which is applied in the direction of instruments, radio wave measurement systems, radio wave reflection/reradiation, etc., can solve the problems of fusion system performance degradation, blurred corresponding interconnection, etc.

Pending Publication Date: 2020-11-20
NANJING LES CYBERSECURITY & INFORMATION TECH RES INST CO LTD
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Problems solved by technology

However, in the fusion process of heterogeneous sensors, considering the different data dimensions of each sensor and the influence of various factors such as positioning deviation and measurement error of the sensor itself, coordinate conversion errors, false targets and missed targets during data processing, the above-mentioned The traditional improvement method makes the corresponding interconnection of multiple different heterogeneous sensor platform targets blurred, resulting in a decrease in the performance of the fusion system

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  • Topological structure-based radar photoelectric sensor target association fusion method
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  • Topological structure-based radar photoelectric sensor target association fusion method

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Embodiment Construction

[0066] The invention provides a radar photoelectric sensor target correlation fusion method based on topology. The method processing flow is as follows figure 1 As shown, the steps are as follows:

[0067] In step 1, the Kalman filter model is used to filter the received VTS system detection target and the image system detection target.

[0068] Take the detection of a target i by the VTS system as an example. At time k, the detection position of target i detected by VTS system is Z(k)=(x k ,y k ), then the Kalman filter outputs the target state X(k)=[x k 0 0 y k 0 0]. At time k+1, the detection position of VTS target i is Z(k+1)=(x k+1 ,y k+1 ), then the Kalman filter outputs the target state X(k+1)=[x k+1 v x 0 y k+1 v y 0]. in,

[0069] v x =(x k+1 -x k ) / T

[0070] v y =(y k+1 -y k ) / T

[0071] From time k+2, the Kalman filter equation is used to iteratively filter the target i detected by the VTS system. At the same time, the filtering result ...

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Abstract

The invention provides a topological structure-based radar photoelectric sensor target association fusion method, which realizes tracking, monitoring and identification of a heterogeneous sensor fusion system on a target, and can be applied to monitoring and management of ships in important ports and inland waterway by a ship traffic management system. The method can be applied to a ship traffic management system. The method is different from traditional radar target discovery. According to the ship traffic management system, an image detection target and a VTS system detection target are automatically associated and fused by adopting a topological structure-based multi-source heterogeneous sensor information fusion technology in a manual working mode of photoelectric cooperation monitoring and verification, so that automatic monitoring and identification of a ship target are realized, and the intelligent level of the ship traffic management system is greatly improved.

Description

technical field [0001] The invention relates to a radar photoelectric sensor target correlation fusion method based on topology. Background technique [0002] The Vessel Traffic Management System (VTS for short) is composed of radar, CCTV, AIS, wireless communication and other subsystems. It uses very high frequency (VHF) and radar, combined with electronic chart (ECDIS) and satellite positioning to monitor the traffic in the harbor or in and out of the port. A system for monitoring, coordinating and providing advisory services for ships. With the increase of human commercial production activities, the number of ships navigating in major ports and waterways is increasing, and it is necessary to grasp various ship information in real time. In order to obtain the best supervision effect, relying on radar, AIS and other sensors to provide information can no longer meet the demand, which makes the development of surveillance management system have a new idea: from single sensor...

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Application Information

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IPC IPC(8): G06T5/00G06T7/277G06T7/70G06K9/62G06F17/16G06F17/11G01S13/86
CPCG06T7/277G06T7/70G06F17/11G06F17/16G01S13/867G06F18/25G06T5/70
Inventor 郑浩朱德理萨出拉许建峰隋德良何红韩晓宁顾晶
Owner NANJING LES CYBERSECURITY & INFORMATION TECH RES INST CO LTD
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