Millimeter wave radar multi-target tracking method based on category information feedback
A millimeter-wave radar and multi-target tracking technology, applied in the radar field, can solve the problems of discontinuous track interruption and low tracking accuracy, and achieve the effects of improving tracking accuracy, improving robustness, and avoiding the decline of tracking accuracy
Pending Publication Date: 2022-01-21
XIDIAN UNIV
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[0004] The purpose of the present invention is to overcome the deficiencies in the above-mentioned prior art, and propose a millimeter-wave radar multi-target tracking method based on category information feedback, which is used for the track interruption caused by the low tracking accuracy existing in the prior art. Continuous problems are conducive to improving the stability of road target tracking
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[0036] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0037] refer to figure 1 , the present invention comprises the following steps:
[0038] Step 1) Obtain the target observation value of the millimeter wave radar:
[0039] (1a) Obtain the K-frame target measured data S={S of the millimeter-wave radar 1 ,S 2 ,...,S k ,...,S K}, and for each frame of target measured data S k Perform Fourier transform FFT along the distance dimension and velocity dimension respectively, and obtain the target original range Doppler RD map S'={S' 1 ,S' 2 ,...,S' k ,...,S' K}, where, K≥2, S k Indicates that the kth frame includes the measured data of M targets, M≥2, S' k means S k Corresponding target original range Doppler RD map; In this embodiment, the millimeter-wave radar is deployed on a fixed platform, and the actual measurement data of the target is obtained by transmitting linear freque...
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The invention provides a millimeter wave radar multi-target tracking method based on category information feedback. The method comprises the following steps: (1) obtaining a target observation value of a millimeter wave radar; (2) constructing a tracker model based on an interactive multi-model IMM structure; (3) pre-tracking the target based on an adaptive Kalman filtering (AKF) method; (4) constructing a training sample set and a test sample set; (5) constructing a classifier model and carrying out iterative training on the classifier model; (6) obtaining target category information in each RD image; (7) obtaining a target tracking result of the millimeter wave radar based on target category information feedback. When multi-target tracking is carried out, category information of different targets is considered to assist a tracker in selecting a proper motion model. According to the method, the problem that in the prior art, due to the fact that targets with different motion characteristics are tracked only by using a single motion model, the tracking precision is reduced and the target trajectory is interrupted is solved; and the robustness of multi-target tracking is improved.
Description
technical field [0001] The invention belongs to the field of radar technology, and relates to a radar target tracking method, in particular to a millimeter-wave radar multi-target tracking method based on category information feedback. Background technique [0002] Radar target tracking is an important part of radar data processing. Usually, it is necessary to perform target detection on the original echo of the target to form a target point track, cluster the target point track and condense the centroid to obtain the observed value of the target, establish a tracker and use The filtering algorithm filters the observed value to obtain the target tracking result. As an important sensor, millimeter-wave radar has a wide range of applications in many fields such as security monitoring, indoor personnel detection, and unmanned driving due to its all-day, all-weather, high resolution, and easy integration. At present, the research on multi-target tracking algorithm for millimete...
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IPC IPC(8): G01S13/72
CPCG01S13/726
Inventor 杜兰王纯鑫解蒙李增辉刘桂平
Owner XIDIAN UNIV