Tracking method and device of extended target, sensing equipment and vehicle
A technology of expanding target and measurement equations, which is applied in the field of radar data processing, can solve the problems of target information loss, detection underreporting, tracking divergence, etc., and achieve the effects of reducing fracture, fast convergence speed, and high tracking accuracy
Pending Publication Date: 2021-07-09
福瑞泰克智能系统有限公司
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If the traditional point target tracking method is used to track the extended target, many useful target information will be lost, resulting in tracking divergence or detection omission
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[0051] The following will clearly and completely describe the technical solutions in the embodiments of the application with reference to the drawings in the embodiments of the application. Apparently, the described embodiments are only some of the embodiments of the application, not all of them. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the protection scope of the present application.
[0052]It should be noted that the terms "first" and "second" in the description and claims of the present application and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances such that the embodiments of the application described herein can be practiced in sequences other than those illustrated or desc...
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The invention relates to a tracking method and device of an extended target, a sensing device and a vehicle. The method comprises the steps of obtaining historical track information of an extended target at a historical moment; respectively predicting the historical track information based on the obtained first prediction model and second prediction model to obtain first prediction track information and second prediction track information of the extended target at the current moment; acquiring trace point information of the extended target at the current moment; associating the trace point information with the first predicted track information to obtain an association result; determining first track information of the extended target at the current moment according to the association result and an obtained first update model; and determining second track information of the extended target at the current moment based on the first track information, the second predicted track information and an obtained second update model. Therefore, close following of the extended target can be realized, the possibility of track information breakage is reduced, and the method is high in tracking precision, good in tracking stability and high in convergence speed.
Description
technical field [0001] The present application relates to the technical field of radar data processing, and in particular to an extended target tracking method, device, sensing device and vehicle. Background technique [0002] The working principle of radar is to use the reflection characteristics of electromagnetic waves to measure the distance, azimuth and other information of the target. Tracking radar first appeared on the eve of World War II and played a vital role in the war. Since then, target tracking technology has played an increasingly important role in radar signal processing and data processing. At present, target tracking technology has been widely used in military fields such as ballistic missile defense, missile early warning, air and sea surveillance, and precision guidance, as well as in civilian systems such as air (sea) traffic control, satellite navigation, and positioning. Due to the importance of radar in military and civilian applications, all countr...
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IPC IPC(8): G01S7/41
CPCG01S7/41Y02T90/00
Inventor 刘佳佳张天宇刘熙时光明
Owner 福瑞泰克智能系统有限公司